version: 66.13
glider: 133
mission: 5
dive: 7
start: 3 4 117 14 11 59
data:
$ID,133
$MISSION,5
$DIVE,7
$N_DIVES,8
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,360
$D_ABORT,450
$D_NO_BLEED,50
$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,145
$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,0.00174
$HD_B,0.0054000001
$HD_C,2.24e-05
$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,578.71039
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,87
$R_STBD_OVSHOOT,45
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3960
$C_VBD,2880
$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
$GPS1,040317,140734,1338.8051,6122.7729,40,0.9,45,-0.8,0.7,267.0,8,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-65.6
$GPS2,040317,141121,1338.8019,6122.7261,14,0.9,17,-0.8,0.3,275.0,8,9.4
$SPEED_LIMITS,0.173,0.318
$TGT_NAME,N
$TGT_LATLONG,1000.000,6000.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,162.0,432399,-13.1,-10.000,-17.47,2042
$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,-1.05,-146.0,139,2604,473,580,0.0,0.0,0,85,0.00,0.00,-75.38,0.000,16386,0.000,0.000,139,2605,3210,3257,3163,0,0,0,0,0,0,15.09,28.83,15.11
$GC,87,-1.05,-146.0,138,2605,3257,3163,3.2,-6.1,13,113,13.77,2.30,-4.40,0.000,18980,0.431,2.059,2940,1224,3477,3500,3455,0,0,0,0,0,0,14.66,14.04,14.82
$GC,209,-1.05,-146.0,2940,1224,3500,3455,24.1,-14.3,36,216,0.00,2.17,0.00,0.000,1030,0.000,0.047,2934,2600,3477,3500,3455,0,0,0,0,0,0,14.92,14.86,14.95
$GC,518,-1.01,-146.0,2933,2600,3500,3455,70.2,-15.5,84,522,0.00,2.10,0.00,0.000,644,0.000,0.034,2934,1221,3477,3500,3455,0,0,0,0,0,0,15.16,14.96,15.19
$GC,543,-0.97,-146.0,2934,1221,3500,3455,74.2,-15.0,89,548,0.15,2.17,0.00,0.000,3206,0.275,0.047,2957,2605,3477,3499,3455,0,0,0,0,0,0,14.81,14.95,14.98
$GC,848,-0.97,-146.0,2957,2605,3500,3455,114.1,-13.1,120,852,0.00,1.95,0.00,0.000,260,0.000,0.073,2950,3811,3477,3500,3455,0,0,0,0,0,0,15.21,14.97,15.23
$GC,902,-0.97,-146.0,2950,3812,3500,3455,121.4,-13.6,131,909,0.00,1.80,0.00,0.000,1030,0.000,0.031,2950,2590,3477,3500,3455,0,0,0,0,0,0,15.07,15.03,15.08
$GC,1209,-0.97,-146.0,2950,2590,3499,3456,154.5,-9.2,162,1213,0.00,1.98,0.00,0.000,292,0.000,0.070,2945,3813,3477,3500,3455,0,0,0,0,0,0,15.23,14.99,15.25
$GC,1234,-1.01,-146.0,2945,3813,3500,3455,157.0,-9.5,167,1241,0.00,1.80,0.00,0.000,1190,0.000,0.031,2944,2601,3477,3500,3455,0,0,0,0,0,0,15.09,15.06,15.10
$GC,1541,-1.06,-146.0,2945,2602,3499,3456,185.6,-10.0,198,1545,0.00,2.08,0.00,0.000,676,0.000,0.034,2945,1222,3478,3500,3456,0,0,0,0,0,0,15.24,15.04,15.26
$GC,1626,-1.12,-146.0,2945,1222,3500,3456,194.2,-9.5,215,1633,0.00,2.15,0.00,0.000,1190,0.000,0.045,2940,2601,3478,3500,3457,0,0,0,0,0,0,15.09,15.02,15.10
$GC,1932,-1.16,-146.0,2940,2602,3500,3456,219.1,-8.3,246,1938,0.10,1.95,0.00,0.000,4516,0.158,0.067,2883,3817,3478,3500,3457,0,0,0,0,0,0,15.03,15.01,15.08
$GC,2064,-1.10,-146.0,2883,3817,3500,3456,236.9,-14.4,272,2069,0.20,1.77,0.00,0.000,3206,0.221,0.031,2933,2596,3478,3500,3457,0,0,0,0,0,0,14.91,15.08,15.07
$GC,2376,-1.16,-146.0,2933,2595,3500,3457,268.5,-10.3,292,2380,0.00,2.08,0.00,0.000,644,0.000,0.034,2933,1231,3478,3500,3456,0,0,0,0,0,0,15.26,15.06,15.28
$GC,2565,-1.23,-146.0,2933,1225,3500,3457,289.6,-10.4,330,2570,0.12,2.15,0.00,0.000,5254,0.132,0.046,2869,2603,3478,3499,3457,0,0,0,0,0,0,15.04,15.04,15.10
$GC,2888,-1.18,-146.0,2869,2603,3498,3457,323.1,-9.5,344,2894,0.15,1.95,0.00,0.000,2468,0.243,0.068,2902,3814,3476,3497,3456,0,0,0,0,0,0,14.92,15.03,15.03
$GC,2930,-1.18,-146.0,2901,3814,3497,3456,327.1,-9.1,353,2935,0.00,1.83,0.00,0.000,1062,0.000,0.032,2901,2613,3476,3497,3456,0,0,0,0,0,0,15.10,15.08,15.11
$GC,3247,-1.18,-146.0,2901,2613,3494,3456,355.7,-9.3,366,3252,0.00,2.12,0.00,0.000,548,0.000,0.035,2901,1218,3475,3494,3457,0,0,0,0,0,0,15.27,15.07,15.29
$STATE,3291,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3291,begin apogee
$GC,3296,-0.33,0.0,2897,2407,3493,3456,360.4,-10.0,375,3450,0.70,0.00,150.45,1.043,10246,0.209,0.000,3099,2407,2879,2848,2910,0,0,0,0,0,0,14.93,14.52,14.08
$STATE,3451,end apogee,CONTROL_FINISHED_OK
$STATE,3451,begin climb
$GC,3452,1.05,146.0,3099,2407,2841,2902,362.9,0.0,380,3573,0.95,2.28,110.95,1.106,10756,0.132,0.041,3413,1030,2271,2218,2325,0,0,0,0,0,0,14.46,14.40,13.97
$GC,3608,0.93,146.0,3412,1031,2211,2311,347.9,14.3,413,3613,0.20,2.20,0.00,0.000,5254,0.255,0.043,3368,2402,2260,2210,2311,0,0,0,0,0,0,14.45,14.57,14.62
$GC,3925,0.87,146.0,3368,2402,2204,2306,306.0,13.2,426,3926,0.00,0.00,0.00,0.000,134,0.000,0.000,3368,2402,2255,2204,2306,0,0,0,0,0,0,15.09,15.11,15.11
$GC,4225,0.81,146.0,3368,2402,2204,2302,270.5,11.4,436,4230,0.10,2.15,0.00,0.000,4740,0.334,0.038,3355,1028,2252,2203,2302,0,0,0,0,0,0,14.82,14.96,14.97
$GC,4304,0.81,146.0,3355,1027,2203,2300,261.3,10.8,452,4312,0.00,2.20,0.00,0.000,1030,0.000,0.043,3355,2401,2252,2204,2300,0,0,0,0,0,0,14.99,14.95,15.01
$GC,4612,0.78,146.0,3355,2401,2201,2300,229.0,10.5,475,4621,0.00,2.15,0.00,0.000,644,0.000,0.042,3363,1024,2251,2202,2300,0,0,0,0,0,0,15.20,15.00,15.23
$GC,4683,0.78,146.0,3363,1025,2201,2299,221.4,10.6,489,4688,0.12,2.17,0.00,0.000,5126,0.267,0.043,3338,2407,2251,2202,2300,0,0,0,0,0,0,14.85,14.99,15.04
$GC,4988,0.83,191.2,3337,2407,2200,2298,196.5,7.7,520,5029,0.00,2.28,33.53,1.025,8484,0.000,0.068,3337,3791,2088,2031,2145,0,0,0,0,0,0,15.22,14.75,14.40
$GC,5085,0.86,213.9,3336,3791,2025,2142,188.2,8.9,539,5112,0.00,2.12,17.48,1.034,9254,0.000,0.032,3342,2393,2000,1942,2059,0,0,0,0,0,0,14.95,14.90,14.34
$GC,5411,0.90,213.9,3342,2393,1936,2051,159.2,10.1,574,5416,0.10,2.15,0.00,0.000,2692,0.166,0.039,3400,1022,1993,1936,2051,0,0,0,0,0,0,14.90,14.93,14.96
$GC,5493,0.85,213.9,3399,1022,1937,2049,150.2,10.7,590,5499,0.20,2.17,0.00,0.000,5254,0.244,0.042,3352,2409,1992,1936,2049,0,0,0,0,0,0,14.81,14.94,14.98
$GC,5806,0.93,251.2,3352,2409,1935,2048,123.4,8.1,622,5840,0.00,2.28,28.77,0.923,8612,0.000,0.067,3352,3792,1846,1784,1909,0,0,0,0,0,0,15.19,14.76,14.42
$GC,5865,0.95,269.5,3351,3792,1777,1906,118.2,9.1,634,5885,0.00,2.12,14.52,0.962,9254,0.000,0.031,3357,2395,1775,1711,1839,0,0,0,0,0,0,14.93,14.90,14.38
$GC,6192,1.00,269.5,3356,2394,1703,1828,87.8,10.4,669,6197,0.12,2.10,0.00,0.000,2692,0.139,0.037,3439,1033,1766,1703,1829,0,0,0,0,0,0,14.92,14.93,14.95
$GC,6239,0.92,269.5,3438,1033,1703,1827,80.9,15.6,678,6245,0.28,2.15,0.00,0.000,5254,0.245,0.042,3370,2396,1765,1703,1827,0,0,0,0,0,0,14.81,14.92,14.97
$GC,6546,0.98,280.8,3370,2396,1703,1827,45.1,9.4,714,6560,0.00,2.20,7.95,0.883,8868,0.000,0.041,3376,1029,1728,1666,1791,0,0,0,0,0,0,15.18,14.94,14.52
$GC,6592,1.03,280.8,3376,1029,1666,1789,40.2,11.3,722,6600,0.00,2.17,0.00,0.000,1158,0.000,0.042,3377,2407,1728,1667,1789,0,0,0,0,0,0,15.00,14.94,15.02
$GC,6902,1.03,280.8,3376,2407,1666,1789,5.9,11.5,783,6909,0.00,2.15,0.00,0.000,516,0.000,0.041,3385,1032,1727,1666,1788,0,0,0,0,0,0,15.18,14.97,15.19
$STATE,6928,end climb,SURFACE_DEPTH_REACHED
$STATE,6929,begin surface coast
$FINISH,0.3,0.997468
$STATE,6955,end surface coast,CONTROL_FINISHED_OK
$STATE,6955,begin surface
$SM_CCo,6973,128.45,0.080,0,0,518,578.90
$SM_GC,1.36,9.07,2.53,128.45,0.065,0.040,0.080,137,2605,518,-13.86,-1.24,578.90,0,0,0,0,0,0,14.95,14.97,14.89
$IRIDIUM_FIX,1331.97,6124.97,040317,121208
$TT8_MAMPS,0.023968,0.152796
$HUMID,45.98
$INTERNAL_PRESSURE,9.05098
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,13.97,3.241
$10V_AH,13.76,0.000
$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,26.350,75.825,363.650,128.450,0.000,0.000,0.000,159.075,0.000,0.000,18.507,1643.956,3758.156,586.574,1322.933,43.641,0.000,1392.019,0.000,1137.866,0.000,0.550,0.000
$DEVICE_MAMPS,430.695,2058.615,1106.190,79.560,0.000,0.000,0.000,148.410,420.000,0.000,19.470,8.820,2.190,8.820,28.290,32.780,0.000,15.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,413.098,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,75.650,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,192232
$DATA_FILE_SIZE,33462,793
$CAP_FILE_SIZE,89856,0
$CFSIZE,260034560,258691072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.202,304.99,1
$GPS,040317,161138,1338.242,6122.451,42,0.8,45,-0.8,0.0,211.8,10,8.7