version: 66.13
glider: 133
mission: 5
dive: 161
start: 4 8 117 9 57 58
data:
$ID,133
$MISSION,5
$DIVE,161
$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,100
$R_STBD_OVSHOOT,49
$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
$GPS1,080417,095207,1312.9993,6047.8755,37,0.8,39,-0.8,0.8,245.2,10,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-69.0
$GPS2,080417,095709,1312.9727,6047.7979,19,0.8,21,-0.8,0.7,208.1,9,9.8
$SPEED_LIMITS,0.159,0.279
$TGT_NAME,SG133_TGT
$TGT_LATLONG,1312.745,6044.381
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,269.3,6175,-18.7,-9.167,-21.34,1669
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-1.37,-99.5,139,2606,1220,1296,0.0,0.0,0,69,0.00,0.00,-59.88,0.000,16386,0.000,0.000,139,2606,3422,3472,3373,0,0,0,0,0,0,14.92,28.83,14.94
$GC,72,-1.41,-133.6,139,2606,3472,3373,3.5,-7.1,10,98,13.77,2.10,-3.17,0.000,18724,0.431,2.066,2848,3808,3649,3673,3626,0,0,0,0,0,0,14.41,13.66,14.71
$GC,270,-1.41,-133.6,2849,3808,3673,3630,40.0,-14.0,48,276,0.00,1.77,0.00,0.000,1030,0.000,0.022,2855,2566,3651,3673,3630,0,0,0,0,0,0,14.81,14.78,14.82
$GC,584,-1.45,-133.6,2854,2566,3674,3633,77.7,-11.0,86,588,0.00,1.98,0.00,0.000,644,0.000,0.026,2855,1258,3653,3673,3633,0,0,0,0,0,0,15.03,14.83,15.04
$GC,598,-1.49,-133.6,2855,1257,3673,3633,79.5,-10.4,89,606,0.00,2.10,0.00,0.000,1158,0.000,0.034,2847,2605,3653,3673,3634,0,0,0,0,0,0,14.87,14.81,14.88
$GC,905,-1.53,-133.6,2846,2605,3673,3635,115.0,-12.9,120,906,0.00,0.00,0.00,0.000,134,0.000,0.000,2846,2605,3654,3674,3635,0,0,0,0,0,0,15.07,15.10,15.10
$GC,1207,-1.58,-133.6,2846,2605,3674,3637,146.8,-11.0,150,1210,0.00,1.95,0.00,0.000,388,0.000,0.056,2837,3816,3655,3674,3637,0,0,0,0,0,0,15.10,14.86,15.12
$GC,1239,-1.61,-133.6,2836,3816,3674,3637,150.5,-11.9,156,1243,0.00,1.73,0.00,0.000,1158,0.000,0.022,2837,2594,3654,3673,3636,0,0,0,0,0,0,14.97,14.94,14.97
$GC,1550,-1.67,-134.6,2837,2594,3674,3639,186.4,-9.1,188,1552,0.12,0.00,0.00,0.000,4262,0.120,0.000,2780,2593,3656,3674,3639,0,0,0,0,0,0,14.91,14.97,14.96
$GC,1850,-1.67,-134.6,2779,2594,3674,3639,212.6,-9.4,218,1854,0.12,1.95,0.00,0.000,2308,0.269,0.050,2801,3810,3656,3674,3639,0,0,0,0,0,0,14.67,14.88,14.83
$GC,1893,-1.67,-134.6,2801,3812,3674,3639,217.7,-11.0,227,1902,0.00,1.77,0.00,0.000,1030,0.000,0.021,2800,2588,3656,3674,3639,0,0,0,0,0,0,14.94,14.92,14.95
$GC,2211,-1.67,-134.6,2801,2588,3674,3639,253.4,-10.9,257,2212,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2588,3656,3674,3639,0,0,0,0,0,0,15.14,15.17,15.16
$GC,2511,-1.67,-134.6,2801,2588,3673,3639,284.5,-10.2,267,2512,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2588,3656,3673,3639,0,0,0,0,0,0,15.16,15.19,15.19
$GC,2811,-1.70,-134.6,2801,2588,3670,3639,317.1,-11.6,277,2816,0.00,2.03,0.00,0.000,644,0.000,0.027,2801,1246,3654,3670,3639,0,0,0,0,0,0,15.17,14.96,15.19
$GC,2857,-1.76,-134.6,2801,1246,3670,3639,322.9,-12.4,286,2861,0.00,2.10,0.00,0.000,1158,0.000,0.034,2793,2602,3654,3669,3640,0,0,0,0,0,0,14.99,14.93,15.01
$GC,3169,-1.76,-134.6,2792,2602,3666,3639,358.4,-10.7,298,3172,0.00,2.05,0.00,0.000,516,0.000,0.025,2792,1254,3652,3666,3639,0,0,0,0,0,0,15.17,14.96,15.19
$GC,3200,-1.79,-134.6,2792,1245,3666,3638,361.7,-9.8,304,3204,0.00,2.12,0.00,0.000,1158,0.000,0.034,2787,2606,3652,3666,3639,0,0,0,0,0,0,15.00,14.93,15.00
$GC,3531,-1.79,-134.6,2786,2606,3659,3639,395.9,-10.1,320,3532,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2607,3650,3661,3639,0,0,0,0,0,0,15.17,15.20,15.19
$GC,3831,-1.79,-134.6,2786,2607,3657,3639,424.9,-9.5,330,3832,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2606,3648,3657,3639,0,0,0,0,0,0,15.18,15.21,15.20
$GC,4131,-1.82,-134.6,2786,2607,3656,3636,456.8,-11.0,340,4132,0.00,0.00,0.00,0.000,134,0.000,0.000,2787,2606,3646,3656,3636,0,0,0,0,0,0,15.18,15.20,15.20
$GC,4432,-1.86,-134.6,2786,2606,3655,3634,487.8,-9.9,350,4436,0.00,2.08,0.00,0.000,644,0.000,0.027,2787,1250,3644,3655,3634,0,0,0,0,0,0,15.19,14.96,15.20
$GC,4466,-1.91,-134.6,2786,1250,3654,3634,491.7,-10.3,357,4472,0.12,2.12,0.00,0.000,5254,0.127,0.036,2723,2615,3644,3654,3634,0,0,0,0,0,0,14.92,14.94,14.99
$GC,4794,-1.84,-134.6,2721,2615,3652,3631,532.2,-12.7,372,4796,0.22,0.00,0.00,0.000,2182,0.324,0.000,2766,2615,3641,3652,3631,0,0,0,0,0,0,14.61,14.97,14.90
$GC,5094,-1.84,-134.6,2765,2615,3651,3630,565.2,-10.7,382,5099,0.00,2.08,0.00,0.000,516,0.000,0.027,2768,1256,3640,3650,3630,0,0,0,0,0,0,15.18,14.96,15.20
$GC,5128,-1.84,-134.6,2767,1256,3650,3629,568.9,-10.3,389,5134,0.00,2.15,0.00,0.000,1030,0.000,0.036,2762,2601,3639,3650,3629,0,0,0,0,0,0,14.94,14.91,14.97
$GC,5456,-1.84,-134.6,2762,2601,3648,3628,600.4,-9.3,404,5459,0.00,2.05,0.00,0.000,516,0.000,0.026,2762,1262,3638,3648,3628,0,0,0,0,0,0,15.18,14.95,15.19
$GC,5489,-1.84,-134.6,2762,1254,3648,3628,603.9,-10.2,411,5493,0.00,2.15,0.00,0.000,1030,0.000,0.035,2754,2601,3638,3648,3628,0,0,0,0,0,0,14.94,14.90,14.96
$GC,5817,-1.84,-134.6,2754,2601,3647,3626,638.8,-11.3,426,5820,0.00,2.05,0.00,0.000,516,0.000,0.026,2754,1262,3636,3647,3626,0,0,0,0,0,0,15.17,14.95,15.19
$GC,5851,-1.84,-134.6,2754,1254,3646,3626,643.1,-11.8,433,5856,0.12,2.10,0.00,0.000,3078,0.347,0.035,2766,2601,3636,3647,3625,0,0,0,0,0,0,14.61,14.92,14.90
$GC,6178,-1.84,-134.6,2765,2601,3644,3625,678.8,-11.0,448,6182,0.00,1.95,0.00,0.000,260,0.000,0.054,2760,3813,3634,3644,3624,0,0,0,0,0,0,15.17,14.90,15.19
$GC,6202,-1.84,-134.6,2760,3813,3645,3624,681.9,-12.7,453,6210,0.00,1.77,0.00,0.000,1030,0.000,0.024,2765,2617,3634,3645,3624,0,0,0,0,0,0,14.97,14.95,14.98
$GC,6509,-1.84,-134.6,2765,2618,3642,3623,717.7,-12.0,464,6510,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2618,3633,3643,3623,0,0,0,0,0,0,15.17,15.19,15.19
$GC,6809,-1.84,-134.6,2765,2618,3643,3622,756.1,-13.1,474,6813,0.00,2.12,0.00,0.000,516,0.000,0.028,2766,1240,3632,3643,3621,0,0,0,0,0,0,15.17,14.94,15.19
$GC,6833,-1.84,-134.6,2765,1240,3643,3621,759.6,-13.3,479,6840,0.00,2.15,0.00,0.000,1030,0.000,0.034,2760,2608,3632,3643,3621,0,0,0,0,0,0,14.98,14.92,15.00
$GC,7141,-1.84,-134.6,2760,2608,3641,3621,800.3,-13.0,490,7145,0.00,2.10,0.00,0.000,516,0.000,0.027,2760,1251,3630,3641,3620,0,0,0,0,0,0,15.17,14.94,15.19
$GC,7202,-1.84,-134.6,2759,1235,3640,3620,807.9,-12.7,502,7208,0.00,2.15,0.00,0.000,1030,0.000,0.035,2752,2608,3630,3641,3620,0,0,0,0,0,0,14.97,14.91,15.00
$GC,7532,-1.84,-134.6,2751,2608,3640,3618,843.3,-9.9,518,7533,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2608,3628,3639,3618,0,0,0,0,0,0,15.17,15.19,15.19
$GC,7832,-1.84,-134.6,2751,2608,3638,3618,872.0,-9.6,528,7833,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2608,3628,3638,3618,0,0,0,0,0,0,15.17,15.19,15.19
$GC,8132,-1.84,-134.6,2751,2608,3637,3617,902.3,-10.3,538,8136,0.00,2.10,0.00,0.000,516,0.000,0.028,2752,1258,3627,3638,3617,0,0,0,0,0,0,15.17,14.92,15.19
$GC,8181,-1.84,-134.6,2750,1242,3637,3617,907.7,-10.6,548,8185,0.12,2.15,0.00,0.000,3078,0.321,0.037,2764,2607,3627,3637,3617,0,0,0,0,0,0,14.59,14.90,14.87
$GC,8493,-1.84,-134.6,2763,2608,3636,3616,939.6,-10.3,560,8496,0.00,2.10,0.00,0.000,516,0.000,0.028,2766,1258,3626,3636,3616,0,0,0,0,0,0,15.16,14.92,15.19
$GC,8532,-1.89,-134.6,2766,1244,3636,3615,943.9,-10.2,568,8536,0.00,2.15,0.00,0.000,1158,0.000,0.037,2760,2611,3625,3636,3615,0,0,0,0,0,0,14.96,14.90,14.98
$GC,8848,-1.89,-134.6,2759,2611,3635,3615,976.2,-10.3,581,8853,0.00,1.95,0.00,0.000,260,0.000,0.056,2751,3814,3624,3635,3614,0,0,0,0,0,0,15.17,14.87,15.19
$GC,8894,-1.89,-134.6,2751,3814,3635,3614,981.3,-11.1,590,8897,0.00,1.77,0.00,0.000,1030,0.000,0.025,2751,2596,3624,3635,3614,0,0,0,0,0,0,14.99,14.96,15.00
$STATE,8998,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8998,begin apogee
$GC,9003,-0.33,0.0,2751,2290,3635,3614,991.9,-10.0,596,9131,1.27,0.00,123.90,2.043,10246,0.256,0.000,3092,2290,3101,3082,3120,0,0,0,0,0,0,14.63,14.17,13.49
$STATE,9132,end apogee,CONTROL_FINISHED_OK
$STATE,9132,begin climb
$GC,9133,1.41,134.6,3092,2290,3078,3117,993.6,0.0,600,9274,1.20,2.25,131.25,2.007,10756,0.100,0.035,3493,991,2545,2498,2593,0,0,0,0,0,0,14.17,14.07,13.39
$GC,9345,1.23,134.6,3493,990,2493,2582,975.6,13.6,644,9350,0.25,2.15,0.00,0.000,5254,0.311,0.034,3438,2309,2536,2492,2581,0,0,0,0,0,0,14.17,14.36,14.39
$GC,9663,1.11,134.6,3438,2310,2485,2577,937.6,11.9,657,9668,0.12,2.33,0.00,0.000,4484,0.356,0.050,3411,3715,2531,2485,2578,0,0,0,0,0,0,14.41,14.64,14.57
$GC,9743,0.97,134.6,3410,3714,2484,2578,927.6,11.8,673,9749,0.17,2.10,0.00,0.000,5254,0.338,0.024,3385,2344,2531,2484,2578,0,0,0,0,0,0,14.45,14.73,14.71
$GC,10056,0.94,134.6,3385,2343,2483,2575,897.8,9.4,685,10061,0.00,2.22,0.00,0.000,644,0.000,0.035,3392,950,2529,2483,2575,0,0,0,0,0,0,15.00,14.78,15.02
$GC,10127,0.94,134.6,3392,950,2483,2573,890.9,10.0,699,10131,0.00,2.15,0.00,0.000,1030,0.000,0.032,3391,2309,2527,2483,2572,0,0,0,0,0,0,14.85,14.80,14.87
$GC,10444,0.89,134.6,3392,2309,2481,2572,860.7,9.9,712,10451,0.12,2.28,0.00,0.000,4484,0.319,0.050,3366,3712,2526,2481,2572,0,0,0,0,0,0,14.56,14.80,14.73
$GC,10476,0.84,134.6,3366,3712,2481,2572,857.2,10.5,719,10481,0.00,2.17,0.00,0.000,1158,0.000,0.024,3373,2302,2526,2481,2572,0,0,0,0,0,0,14.86,14.85,14.88
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$STATE,19043,end climb,SURFACE_DEPTH_REACHED
$STATE,19043,begin surface coast
$FINISH,0.6,1.023399
$STATE,19075,end surface coast,CONTROL_FINISHED_OK
$STATE,19075,begin surface
$SM_CCo,19092,60.47,0.083,0,0,1265,450.12
$SM_GC,1.23,9.52,0.45,60.47,0.069,0.060,0.083,148,2604,1265,-13.85,-1.30,450.12,0,0,0,0,0,0,14.72,14.81,14.73
$IRIDIUM_FIX,1309.80,5855.34,080417,035728
$TT8_MAMPS,0.023968,0.205975
$HUMID,48.85
$INTERNAL_PRESSURE,8.95332
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,13.39,45.543
$10V_AH,13.29,0.000
$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,28.800,161.950,420.350,60.475,0.000,0.000,0.000,201.125,0.000,0.000,23.228,2861.847,13652.964,631.371,2170.146,156.472,0.000,1949.029,0.000,1931.565,0.000,0.548,0.000
$DEVICE_MAMPS,431.460,2065.500,2042.550,82.620,0.000,0.000,0.000,166.770,420.000,0.000,19.470,8.820,2.190,8.820,28.290,32.780,0.000,15.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,704.212,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,75.650,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,193840
$DATA_FILE_SIZE,59987,1357
$CAP_FILE_SIZE,172593,0
$CFSIZE,260034560,246046720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.052,313.28,1
$GPS,080417,151834,1313.260,6044.776,43,0.9,48,-0.8,0.4,257.1,9,9.4