version: 66.13
glider: 133
mission: 5
dive: 130
start: 3 31 117 21 3 17
data:
$ID,133
$MISSION,5
$DIVE,130
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,5
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,360
$T_MISSION,420
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54382
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0034
$HD_B,0.0082
$HD_C,4.2000001e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3235
$TGT_DEFAULT_LON,-11731
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,150
$PITCH_MAX,3830
$C_PITCH,3170
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,15
$PITCH_TIMEOUT,30
$PITCH_AD_RATE,100
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,157
$ROLL_MAX,3825
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2310
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,98
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3960
$C_VBD,3101
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-18.083
$PRESSURE_SLOPE,0.00011564888
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,2
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.090000004
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043768995
$SEABIRD_T_H,0.00063528348
$SEABIRD_T_I,2.4782157e-05
$SEABIRD_T_J,2.6511516e-06
$SEABIRD_C_G,-9.8739452
$SEABIRD_C_H,1.0990992
$SEABIRD_C_I,-0.0013875214
$SEABIRD_C_J,0.00019236583
$GPS1,310317,205726,1339.4944,6102.9277,41,0.9,44,-0.7,0.0,162.6,9,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-69.2
$GPS2,310317,210229,1339.4608,6102.9209,15,0.9,18,-0.7,0.4,141.7,9,9.5
$SPEED_LIMITS,0.159,0.279
$TGT_NAME,SG133_TGT
$TGT_LATLONG,1339.864,6105.952
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,73.4,5506,-17.2,-9.167,-19.89,1976
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,8,-1.29,-117.9,146,2606,1217,1305,0.0,0.0,0,70,0.00,0.00,-59.33,0.000,16386,0.000,0.000,146,2606,3385,3437,3334,0,0,0,0,0,0,14.93,28.83,14.95
$GC,72,-1.32,-146.0,145,2606,3437,3335,3.2,-5.7,10,98,13.85,2.10,-4.43,0.000,18724,0.435,2.070,2871,3806,3700,3721,3680,0,0,0,0,0,0,14.45,13.89,14.73
$GC,121,-1.20,-146.0,2871,3806,3721,3683,16.7,-18.9,18,128,0.15,1.80,0.00,0.000,3206,0.264,0.022,2910,2568,3702,3721,3684,0,0,0,0,0,0,14.55,14.74,14.71
$GC,436,-1.28,-146.0,2910,2568,3721,3686,51.4,-9.6,79,440,0.00,2.00,0.00,0.000,644,0.000,0.026,2911,1253,3703,3721,3686,0,0,0,0,0,0,15.00,14.81,15.02
$GC,537,-1.42,-146.0,2911,1249,3721,3686,60.8,-8.8,99,547,0.17,2.12,0.00,0.000,5286,0.099,0.034,2814,2613,3703,3721,3686,0,0,0,0,0,0,14.83,14.81,14.88
$GC,847,-1.36,-146.0,2814,2612,3721,3687,104.2,-13.8,131,856,0.22,2.08,0.00,0.000,2692,0.268,0.024,2874,1243,3704,3721,3687,0,0,0,0,0,0,14.69,14.88,14.81
$GC,898,-1.45,-146.0,2874,1243,3721,3688,110.7,-11.8,141,903,0.00,2.10,0.00,0.000,1158,0.000,0.036,2871,2595,3704,3721,3687,0,0,0,0,0,0,14.92,14.87,14.94
$GC,1210,-1.50,-146.0,2871,2595,3721,3690,149.2,-11.8,173,1215,0.12,1.95,0.00,0.000,4484,0.130,0.053,2791,3813,3705,3721,3690,0,0,0,0,0,0,14.90,14.88,14.93
$GC,1286,-1.41,-146.0,2790,3813,3721,3691,159.7,-13.3,188,1293,0.28,1.73,0.00,0.000,3206,0.259,0.021,2861,2586,3706,3721,3691,0,0,0,0,0,0,14.73,14.95,14.93
$GC,1592,-1.47,-146.0,2861,2586,3721,3692,188.5,-9.8,219,1594,0.00,0.00,0.00,0.000,134,0.000,0.000,2861,2585,3706,3721,3692,0,0,0,0,0,0,15.14,15.16,15.16
$GC,1894,-1.54,-146.0,2860,2585,3720,3692,215.7,-8.9,249,1899,0.12,2.00,0.00,0.000,4772,0.130,0.022,2793,1250,3706,3720,3692,0,0,0,0,0,0,14.94,14.95,14.96
$GC,1996,-1.54,-146.0,2793,1250,3720,3692,227.9,-11.9,269,2001,0.20,2.10,0.00,0.000,3078,0.281,0.034,2832,2606,3706,3721,3692,0,0,0,0,0,0,14.73,14.93,14.94
$GC,2308,-1.58,-146.0,2832,2606,3720,3692,259.2,-9.8,295,2310,0.00,0.00,0.00,0.000,134,0.000,0.000,2832,2606,3706,3721,3692,0,0,0,0,0,0,15.16,15.19,15.18
$GC,2609,-1.63,-146.0,2831,2606,3720,3692,286.6,-9.1,305,2613,0.00,2.05,0.00,0.000,676,0.000,0.026,2832,1259,3706,3720,3692,0,0,0,0,0,0,15.17,14.98,15.19
$GC,2641,-1.69,-146.0,2832,1258,3720,3692,289.6,-9.2,311,2647,0.12,2.08,0.00,0.000,5254,0.130,0.036,2773,2600,3706,3720,3692,0,0,0,0,0,0,14.95,14.95,15.01
$GC,2971,-1.64,-146.0,2773,2601,3716,3692,327.0,-11.4,327,2973,0.17,0.00,0.00,0.000,2182,0.272,0.000,2811,2601,3704,3716,3692,0,0,0,0,0,0,14.77,15.00,14.97
$GC,3270,-1.64,-146.0,2810,2600,3713,3692,358.1,-10.6,337,3275,0.00,2.03,0.00,0.000,516,0.000,0.026,2812,1259,3702,3712,3692,0,0,0,0,0,0,15.19,14.98,15.21
$GC,3316,-1.68,-146.0,2811,1259,3712,3692,363.3,-10.8,346,3320,0.00,2.10,0.00,0.000,1158,0.000,0.035,2804,2609,3702,3712,3692,0,0,0,0,0,0,15.02,14.97,15.04
$GC,3627,-1.68,-146.0,2804,2610,3709,3690,398.9,-11.2,358,3628,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2609,3699,3709,3690,0,0,0,0,0,0,15.19,15.21,15.20
$GC,3927,-1.68,-146.0,2804,2609,3707,3687,431.9,-11.3,368,3931,0.00,2.05,0.00,0.000,516,0.000,0.027,2804,1269,3697,3707,3688,0,0,0,0,0,0,15.19,14.99,15.21
$GC,3981,-1.72,-146.0,2804,1258,3706,3687,438.4,-11.6,379,3988,0.00,2.10,0.00,0.000,1158,0.000,0.036,2800,2602,3697,3707,3687,0,0,0,0,0,0,15.02,14.96,15.04
$GC,4288,-1.72,-146.0,2800,2602,3705,3686,475.1,-12.0,390,4292,0.00,2.05,0.00,0.000,516,0.000,0.026,2800,1264,3696,3706,3686,0,0,0,0,0,0,15.19,14.99,15.21
$GC,4332,-1.75,-146.0,2800,1252,3705,3685,480.7,-12.4,399,4336,0.00,2.12,0.00,0.000,1158,0.000,0.036,2791,2611,3695,3705,3685,0,0,0,0,0,0,15.02,14.97,15.04
$GC,4644,-1.75,-146.0,2791,2611,3703,3684,515.9,-11.1,411,4647,0.00,2.05,0.00,0.000,516,0.000,0.028,2791,1270,3692,3702,3683,0,0,0,0,0,0,15.19,14.98,15.21
$GC,4677,-1.75,-146.0,2791,1260,3702,3683,519.7,-11.5,418,4681,0.00,2.10,0.00,0.000,1030,0.000,0.037,2786,2600,3692,3702,3683,0,0,0,0,0,0,15.02,14.96,15.04
$GC,5004,-1.75,-146.0,2786,2600,3701,3683,554.2,-10.5,433,5009,0.00,1.95,0.00,0.000,260,0.000,0.055,2777,3811,3691,3700,3682,0,0,0,0,0,0,15.19,14.95,15.21
$GC,5066,-1.75,-146.0,2777,3811,3700,3681,561.3,-11.9,445,5070,0.00,1.73,0.00,0.000,1030,0.000,0.024,2777,2606,3690,3700,3681,0,0,0,0,0,0,15.04,15.02,15.05
$GC,5397,-1.75,-146.0,2777,2606,3698,3680,596.7,-10.7,461,5398,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2606,3688,3698,3679,0,0,0,0,0,0,15.19,15.21,15.21
$GC,5697,-1.75,-146.0,2777,2606,3697,3678,629.1,-10.9,471,5701,0.00,2.08,0.00,0.000,516,0.000,0.027,2778,1255,3687,3697,3678,0,0,0,0,0,0,15.19,14.98,15.21
$GC,5766,-1.75,-146.0,2777,1239,3697,3677,636.8,-10.7,485,5771,0.00,2.15,0.00,0.000,1030,0.000,0.035,2773,2609,3687,3698,3677,0,0,0,0,0,0,15.02,14.96,15.04
$GC,6088,-1.75,-146.0,2773,2610,3695,3677,670.8,-10.3,499,6091,0.00,1.92,0.00,0.000,260,0.000,0.056,2765,3810,3686,3695,3677,0,0,0,0,0,0,15.19,14.94,15.21
$GC,6137,-1.72,-146.0,2764,3810,3695,3676,676.3,-10.9,509,6142,0.15,1.75,0.00,0.000,3206,0.292,0.024,2793,2610,3685,3694,3676,0,0,0,0,0,0,14.71,15.01,14.95
$GC,6450,-1.75,-146.0,2793,2610,3694,3675,704.1,-8.8,521,6451,0.00,0.00,0.00,0.000,166,0.000,0.000,2793,2610,3684,3693,3675,0,0,0,0,0,0,15.19,15.21,15.21
$GC,6750,-1.78,-146.0,2793,2610,3692,3674,730.9,-9.0,531,6751,0.00,0.00,0.00,0.000,166,0.000,0.000,2793,2610,3683,3692,3674,0,0,0,0,0,0,15.19,15.21,15.21
$GC,7050,-1.82,-146.0,2793,2610,3691,3673,758.1,-9.1,541,7055,0.00,2.10,0.00,0.000,676,0.000,0.027,2793,1233,3682,3691,3673,0,0,0,0,0,0,15.19,14.97,15.21
$GC,7082,-1.86,-146.0,2793,1233,3691,3672,761.1,-9.2,547,7089,0.10,2.15,0.00,0.000,5254,0.162,0.035,2751,2605,3681,3691,3672,0,0,0,0,0,0,14.90,14.95,15.00
$GC,7412,-1.81,-146.0,2750,2604,3691,3671,796.4,-10.7,563,7416,0.12,1.95,0.00,0.000,2436,0.328,0.053,2769,3813,3681,3691,3671,0,0,0,0,0,0,14.66,14.92,14.83
$GC,7467,-1.81,-146.0,2769,3813,3691,3671,802.4,-10.2,574,7474,0.00,1.80,0.00,0.000,1030,0.000,0.024,2769,2583,3680,3690,3671,0,0,0,0,0,0,15.03,15.00,15.04
$GC,7773,-1.81,-146.0,2769,2583,3690,3669,832.1,-9.8,585,7775,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2583,3679,3690,3669,0,0,0,0,0,0,15.19,15.21,15.21
$GC,8074,-1.81,-146.0,2769,2583,3688,3669,863.9,-10.8,595,8075,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2583,3678,3688,3669,0,0,0,0,0,0,15.19,15.21,15.21
$GC,8373,-1.81,-146.0,2769,2583,3687,3668,897.6,-11.4,605,8375,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2583,3677,3687,3668,0,0,0,0,0,0,15.19,15.21,15.21
$GC,8673,-1.81,-146.0,2768,2582,3686,3667,933.4,-12.2,615,8677,0.00,2.05,0.00,0.000,516,0.000,0.028,2769,1251,3676,3686,3667,0,0,0,0,0,0,15.19,14.97,15.21
$GC,8722,-1.81,-146.0,2769,1242,3686,3667,939.5,-12.1,625,8727,0.00,2.12,0.00,0.000,1030,0.000,0.035,2763,2598,3676,3686,3667,0,0,0,0,0,0,15.01,14.94,15.02
$GC,9034,-1.81,-146.0,2763,2598,3684,3666,977.9,-12.3,637,9035,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2598,3675,3684,3667,0,0,0,0,0,0,15.19,15.21,15.21
$STATE,9152,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9153,begin apogee
$GC,9157,-0.33,0.0,2763,2276,3684,3666,992.6,-12.3,641,9295,1.23,0.00,133.82,2.064,10246,0.244,0.000,3099,2277,3100,3080,3120,0,0,0,0,0,0,14.71,14.16,13.49
$STATE,9296,end apogee,CONTROL_FINISHED_OK
$STATE,9296,begin climb
$GC,9297,1.32,146.0,3098,2276,3074,3116,996.1,0.0,645,9448,1.12,2.17,140.75,2.045,10756,0.103,0.036,3473,999,2498,2449,2548,0,0,0,0,0,0,14.16,14.07,13.40
$GC,9509,1.14,146.0,3473,999,2444,2537,980.9,13.4,692,9516,0.25,2.15,0.00,0.000,5254,0.295,0.033,3417,2312,2490,2443,2537,0,0,0,0,0,0,14.21,14.36,14.39
$GC,9816,1.01,146.0,3417,2312,2437,2532,943.0,12.4,703,9823,0.12,2.30,0.00,0.000,4484,0.338,0.052,3389,3709,2485,2437,2533,0,0,0,0,0,0,14.47,14.66,14.62
$GC,9864,0.88,146.0,3389,3709,2436,2532,936.4,12.7,713,9869,0.17,2.08,0.00,0.000,5254,0.321,0.024,3361,2358,2484,2437,2531,0,0,0,0,0,0,14.50,14.73,14.71
$GC,10170,0.88,146.0,3361,2357,2435,2530,903.8,10.6,724,10175,0.00,2.28,0.00,0.000,516,0.000,0.036,3369,937,2482,2435,2530,0,0,0,0,0,0,15.00,14.80,15.02
$GC,10227,0.88,146.0,3369,936,2435,2528,897.9,10.2,735,10231,0.00,2.17,0.00,0.000,1030,0.000,0.033,3369,2315,2481,2435,2528,0,0,0,0,0,0,14.85,14.79,14.88
$GC,10553,0.84,146.0,3369,2315,2434,2527,863.2,10.5,750,10558,0.00,2.28,0.00,0.000,388,0.000,0.055,3369,3706,2480,2434,2527,0,0,0,0,0,0,15.06,14.83,15.08
$GC,10588,0.74,146.0,3369,3706,2434,2527,859.0,11.9,757,10594,0.22,2.12,0.00,0.000,5254,0.295,0.025,3330,2310,2480,2434,2527,0,0,0,0,0,0,14.65,14.89,14.87
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$STATE,19353,end climb,SURFACE_DEPTH_REACHED
$STATE,19353,begin surface coast
$FINISH,0.5,1.009740
$STATE,19386,end surface coast,CONTROL_FINISHED_OK
$STATE,19386,begin surface
$SM_CCo,19403,53.47,0.082,0,0,1265,450.12
$SM_GC,1.34,9.45,0.40,53.47,0.071,0.060,0.082,139,2603,1265,-13.88,-1.72,450.12,0,0,0,0,0,0,14.78,14.85,14.77
$IRIDIUM_FIX,1334.19,6107.07,310317,150735
$TT8_MAMPS,0.023968,0.205975
$HUMID,47.87
$INTERNAL_PRESSURE,8.96308
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,13.40,35.284
$10V_AH,13.38,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,30.450,157.550,439.950,53.475,0.000,0.000,0.000,207.175,0.000,0.000,20.076,2937.419,13796.036,630.447,2262.929,149.956,0.000,1999.849,0.000,2022.002,0.000,0.548,0.000
$DEVICE_MAMPS,434.520,2070.090,2063.970,81.855,0.000,0.000,0.000,167.535,420.000,0.000,19.470,8.820,2.190,8.820,28.290,32.780,0.000,15.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,718.579,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,75.650,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,193836
$DATA_FILE_SIZE,60019,1421
$CAP_FILE_SIZE,179335,0
$CFSIZE,260034560,248733696
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,9444.59,0x213b0c,1,24
$CURRENT,0.063,208.66,1
$GPS,010417,022837,1339.933,6105.184,26,0.7,28,-0.7,0.0,0.0,10,9.7