version: 66.13
glider: 133
mission: 5
dive: 374
start: 6 1 117 3 18 57
data:
$ID,133
$MISSION,5
$DIVE,374
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,360
$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,120
$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,180
$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,0.00287
$HD_B,0.041900001
$HD_C,3.3399999e-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,3020
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,12
$PITCH_TIMEOUT,30
$PITCH_AD_RATE,50
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,2
$ROLL_MIN,157
$ROLL_MAX,3825
$ROLL_DEG,40
$C_ROLL_DIVE,2900
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,85
$R_STBD_OVSHOOT,65
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3960
$C_VBD,3060
$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
$GPS1,010617,031339,918.0275,5925.3657,61,1.1,65,-1.4,0.7,93.4,7,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-66.0
$GPS2,010617,031758,917.9640,5925.4526,24,0.9,27,-1.4,1.3,116.4,8,9.9
$SPEED_LIMITS,0.173,0.183
$TGT_NAME,T9
$TGT_LATLONG,900.000,6000.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,90.7,71417,-16.0,-10.000,-28.63,4534
$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,8,-1.55,-175.2,110,2783,1174,1254,0.0,0.0,0,58,0.00,0.00,-47.83,0.000,16386,0.000,0.000,109,2782,2937,2983,2892,0,0,0,0,0,0,14.94,28.83,14.97
$GC,61,-1.55,-175.2,104,2782,2984,2892,3.2,-5.3,8,93,11.85,1.80,-13.25,0.000,18724,0.404,1.984,2788,3786,3777,3801,3753,0,0,0,0,0,0,14.28,13.50,14.64
$GC,157,-1.46,-175.2,2787,3786,3801,3756,20.9,-15.2,25,166,0.05,1.35,0.00,0.000,5254,0.120,0.022,2632,2854,3778,3801,3756,0,0,0,0,0,0,14.54,14.71,14.63
$GC,469,-1.36,-175.2,2632,2854,3801,3757,64.1,-12.1,76,479,0.15,2.00,0.00,0.000,2692,0.270,0.019,2692,1540,3778,3801,3756,0,0,0,0,0,0,14.40,14.66,14.56
$GC,504,-1.31,-175.2,2692,1540,3801,3756,68.4,-11.9,83,512,0.08,2.12,0.00,0.000,5254,0.186,0.034,2676,2880,3778,3801,3756,0,0,0,0,0,0,14.63,14.73,14.76
$GC,814,-1.21,-175.2,2672,2880,3801,3756,101.2,-3.8,114,818,0.35,1.48,0.00,0.000,2468,0.266,0.048,2739,3813,3779,3801,3757,0,0,0,0,0,0,14.37,14.66,14.54
$GC,907,-1.21,-175.2,2728,3813,3801,3757,108.7,-13.0,132,911,0.03,1.30,0.00,0.000,3078,0.246,0.022,2764,2899,3779,3801,3757,0,0,0,0,0,0,14.60,14.81,14.66
$GC,1219,-1.25,-175.2,2758,2899,3801,3758,141.2,-5.1,164,1223,0.00,2.05,0.00,0.000,676,0.000,0.021,2724,1555,3780,3801,3759,0,0,0,0,0,0,15.09,14.83,15.10
$GC,1326,-1.30,-175.2,2724,1530,3801,3759,147.5,-7.0,185,1334,0.08,2.17,0.00,0.000,5286,0.181,0.035,2752,2899,3780,3801,3759,0,0,0,0,0,0,14.71,14.78,14.82
$GC,1632,-1.30,-175.2,2750,2898,3801,3758,176.9,-7.5,216,1636,0.00,1.50,0.00,0.000,292,0.000,0.054,2736,3817,3780,3801,3759,0,0,0,0,0,0,15.09,14.71,15.11
$GC,1738,-1.26,-175.2,2734,3818,3801,3759,183.6,-6.2,237,1746,0.00,1.30,0.00,0.000,1190,0.000,0.021,2735,2887,3780,3801,3759,0,0,0,0,0,0,14.85,14.83,14.84
$GC,2044,-1.26,-175.2,2734,2886,3801,3759,207.3,-9.0,268,2048,0.00,2.00,0.00,0.000,548,0.000,0.021,2734,1559,3780,3801,3760,0,0,0,0,0,0,15.10,14.84,15.12
$GC,2055,-1.26,-175.2,2734,1547,3801,3759,208.4,-9.2,270,2065,0.22,2.15,0.00,0.000,3110,0.245,0.036,2757,2906,3780,3801,3760,0,0,0,0,0,0,14.46,14.78,14.71
$GC,2367,-1.30,-175.2,2752,2906,3802,3760,229.5,-6.4,302,2370,0.00,1.48,0.00,0.000,420,0.000,0.054,2742,3812,3780,3801,3760,0,0,0,0,0,0,15.11,14.71,15.12
$GC,2418,-1.30,-175.2,2740,3812,3801,3760,232.8,-6.4,312,2422,0.00,1.27,0.00,0.000,1062,0.000,0.022,2740,2917,3780,3801,3760,0,0,0,0,0,0,14.85,14.83,14.85
$GC,2730,-1.35,-175.2,2739,2917,3801,3760,255.7,-8.4,340,2733,0.00,2.08,0.00,0.000,676,0.000,0.021,2740,1567,3780,3800,3760,0,0,0,0,0,0,15.11,14.85,15.12
$GC,2791,-1.42,-175.2,2739,1533,3801,3760,261.1,-9.1,352,2800,0.12,2.17,0.00,0.000,5286,0.120,0.035,2686,2908,3780,3801,3759,0,0,0,0,0,0,14.78,14.79,14.85
$GC,3123,-1.42,-175.2,2683,2909,3798,3760,290.0,-7.9,368,3127,0.25,1.42,0.00,0.000,2340,0.223,0.050,2749,3813,3779,3799,3760,0,0,0,0,0,0,14.47,14.71,14.62
$GC,3185,-1.42,-175.2,2744,3813,3798,3760,294.2,-6.5,380,3190,0.12,1.33,0.00,0.000,5158,0.057,0.022,2617,2888,3779,3798,3760,0,0,0,0,0,0,14.76,14.83,14.79
$GC,3518,-1.42,-175.2,2647,2888,3795,3760,314.4,-5.5,396,3522,0.20,1.48,0.00,0.000,2340,0.230,0.049,2790,3813,3777,3795,3760,0,0,0,0,0,0,14.45,14.71,14.61
$GC,3573,-1.42,-175.2,2790,3813,3795,3760,317.4,-5.1,407,3580,0.05,1.30,0.00,0.000,5158,0.095,0.022,2649,2900,3777,3795,3760,0,0,0,0,0,0,14.68,14.83,14.74
$GC,3882,-1.42,-175.2,2648,2900,3791,3760,335.0,-6.2,418,3886,0.20,1.48,0.00,0.000,2340,0.230,0.048,2789,3821,3775,3791,3759,0,0,0,0,0,0,14.45,14.70,14.60
$GC,3967,-1.42,-175.2,2789,3821,3790,3760,341.4,-7.5,435,3974,0.05,1.33,0.00,0.000,5158,0.096,0.021,2648,2891,3775,3790,3760,0,0,0,0,0,0,14.66,14.83,14.74
$STATE,4182,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4182,begin apogee
$GC,4188,-0.42,0.0,2646,2384,3789,3759,360.5,-9.1,443,4326,0.93,0.00,134.50,1.302,10246,0.220,0.000,2988,2384,3059,3032,3086,0,0,0,0,0,0,14.42,14.32,13.69
$STATE,4327,end apogee,CONTROL_FINISHED_OK
$STATE,4327,begin climb
$GC,4329,1.55,175.2,2988,2384,3028,3083,368.1,0.0,447,4480,1.30,2.47,136.77,1.293,10500,0.144,0.047,3352,3803,2340,2278,2402,0,0,0,0,0,0,14.26,14.26,13.66
$GC,4616,1.68,318.4,3351,3803,2270,2397,355.9,6.8,509,4737,0.08,2.15,111.57,1.268,11430,0.180,0.020,3346,2366,1757,1684,1831,0,0,0,0,0,0,14.51,14.65,13.66
$GC,5059,1.68,318.4,3346,2366,1674,1823,313.4,10.1,547,5066,0.25,2.35,0.00,0.000,2308,0.080,0.045,3412,3799,1748,1674,1823,0,0,0,0,0,0,14.69,14.67,14.73
$GC,5138,1.53,318.4,3413,3799,1674,1823,302.0,14.2,563,5143,0.17,2.08,0.00,0.000,5254,0.302,0.021,3372,2420,1748,1674,1822,0,0,0,0,0,0,14.39,14.78,14.70
$GC,5446,1.43,318.4,3375,2420,1674,1819,259.7,14.1,574,5448,0.05,0.00,0.00,0.000,4230,0.408,0.000,3333,2420,1746,1673,1819,0,0,0,0,0,0,14.65,14.83,14.78
$GC,5747,1.37,344.5,3346,2420,1674,1818,224.3,9.4,598,5776,0.08,2.28,21.40,1.135,13220,0.368,0.047,3310,3801,1651,1579,1723,0,0,0,0,0,0,14.57,14.53,14.03
$GC,5852,1.28,344.5,3310,3801,1574,1723,213.2,10.4,619,5860,0.10,2.12,0.00,0.000,5254,0.309,0.021,3086,2383,1648,1574,1723,0,0,0,0,0,0,14.43,14.78,14.68
$GC,6161,1.23,356.3,3086,2383,1571,1723,184.0,9.7,650,6182,0.08,2.38,10.52,1.099,10660,0.192,0.049,3408,3799,1603,1529,1678,0,0,0,0,0,0,14.75,14.71,14.02
$GC,6240,1.12,356.3,3408,3799,1526,1678,175.3,10.2,665,6248,0.22,2.10,0.00,0.000,5254,0.282,0.020,3232,2399,1602,1526,1678,0,0,0,0,0,0,14.41,14.81,14.68
$GC,6545,1.12,356.3,3269,2399,1523,1677,147.6,10.1,696,6554,0.00,2.12,0.00,0.000,516,0.000,0.030,3316,1039,1600,1523,1678,0,0,0,0,0,0,15.05,14.77,15.07
$GC,6689,1.27,474.7,3318,1039,1523,1674,135.8,7.3,724,6800,0.10,2.15,102.65,1.014,13350,0.278,0.028,3286,2425,1119,1035,1204,0,0,0,0,0,0,14.39,14.79,13.89
$GC,7099,1.41,527.0,3288,2424,1023,1202,104.0,8.8,776,7151,0.12,2.28,42.65,0.974,11172,0.135,0.032,3466,1035,903,816,991,0,0,0,0,0,0,14.66,14.55,13.99
$GC,7214,1.41,527.0,3471,1035,814,985,90.2,12.6,798,7224,0.20,2.15,0.00,0.000,5126,0.246,0.027,3372,2408,899,813,985,0,0,0,0,0,0,14.35,14.62,14.59
$GC,7525,1.47,534.0,3374,2407,808,985,49.9,9.8,830,7539,0.05,2.20,3.88,0.756,12964,0.356,0.030,3366,1047,883,796,970,0,0,0,0,0,0,14.62,14.66,13.81
$GC,7770,1.67,619.5,3366,1047,796,970,33.4,8.1,877,7845,0.00,2.10,67.50,0.866,9382,0.000,0.028,3368,2392,527,458,597,0,0,0,0,0,0,14.81,14.76,14.04
$STATE,8027,end climb,SURFACE_DEPTH_REACHED
$STATE,8027,begin surface coast
$FINISH,0.9,1.009979
$STATE,8050,end surface coast,CONTROL_FINISHED_OK
$STATE,8050,begin surface
$SM_CCo,8129,0.00,0.000,0,0,519,623.05
$SM_GC,1.56,9.00,0.82,0.00,0.061,0.048,0.000,100,2891,519,-13.21,-1.41,623.05,0,0,0,0,0,0,14.61,14.68,14.70
$IRIDIUM_FIX,912.33,5926.53,010617,020213
$TT8_MAMPS,0.023968,0.200732
$HUMID,57.87
$INTERNAL_PRESSURE,8.97285
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,13.50,127.156
$10V_AH,13.06,0.000
$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,26.525,69.500,631.450,0.000,0.000,0.000,0.000,166.925,0.000,0.000,28.898,1845.677,4271.303,645.253,1526.899,144.614,0.000,1601.498,0.000,1328.267,0.000,0.547,0.000
$DEVICE_MAMPS,407.745,1983.645,1302.030,0.000,0.000,0.000,0.000,144.585,420.000,0.000,19.470,8.820,2.190,8.820,28.290,32.780,0.000,15.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,461.467,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,75.650,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,194148
$DATA_FILE_SIZE,43444,929
$CAP_FILE_SIZE,100417,0
$CFSIZE,260034560,224800768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.170,171.50,1
$GPS,010617,053537,917.116,5925.670,35,0.9,37,-1.4,2.0,113.8,9,9.8