version: 66.13
glider: 133
mission: 5
dive: 9
start: 3 4 117 19 34 0
data:
$ID,133
$MISSION,5
$DIVE,9
$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,330
$T_MISSION,360
$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,0
$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,85
$R_STBD_OVSHOOT,35
$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
$GPS1,040317,192920,1340.2706,6122.8008,29,1.8,43,-0.8,0.0,249.3,5,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-63.6
$GPS2,040317,193322,1340.2922,6122.7798,17,1.1,21,-0.8,0.0,267.5,8,9.7
$SPEED_LIMITS,0.173,0.318
$TGT_NAME,HEADING
$TGT_LATLONG,1351.091,6122.780
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,20.0,20000,-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,4,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,6,-1.05,-146.0,149,2597,468,574,0.0,0.0,0,85,0.00,0.00,-75.97,0.000,16386,0.000,0.000,149,2597,3229,3276,3182,0,0,0,0,0,0,15.03,28.83,15.05
$GC,87,-1.05,-146.0,149,2597,3275,3183,3.2,-5.8,13,113,13.75,2.17,-4.25,0.000,18724,0.431,2.106,2932,3816,3479,3500,3458,0,0,0,0,0,0,14.62,13.95,14.85
$GC,195,-0.99,-146.0,2932,3816,3500,3459,23.3,-14.7,33,202,0.10,1.83,0.00,0.000,3206,0.257,0.029,2950,2585,3479,3500,3459,0,0,0,0,0,0,14.68,14.85,14.84
$GC,504,-0.99,-146.0,2950,2585,3500,3459,68.6,-14.9,82,508,0.00,2.03,0.00,0.000,260,0.000,0.070,2944,3820,3479,3500,3459,0,0,0,0,0,0,15.11,14.88,15.13
$GC,547,-0.99,-146.0,2943,3820,3500,3459,75.5,-15.5,91,556,0.00,1.85,0.00,0.000,1030,0.000,0.029,2944,2593,3479,3499,3459,0,0,0,0,0,0,14.95,14.94,14.97
$GC,854,-0.99,-146.0,2943,2593,3500,3459,116.0,-13.1,122,858,0.00,2.05,0.00,0.000,516,0.000,0.033,2944,1235,3479,3500,3459,0,0,0,0,0,0,15.16,14.96,15.19
$GC,907,-0.99,-146.0,2943,1232,3500,3459,123.0,-13.4,133,915,0.00,2.20,0.00,0.000,1030,0.000,0.045,2937,2603,3479,3500,3459,0,0,0,0,0,0,14.97,14.93,15.00
$GC,1215,-0.99,-146.0,2937,2603,3500,3459,159.2,-10.5,164,1219,0.00,2.10,0.00,0.000,516,0.000,0.033,2937,1232,3479,3500,3459,0,0,0,0,0,0,15.19,15.00,15.21
$GC,1265,-0.99,-146.0,2937,1220,3500,3459,164.2,-10.2,174,1270,0.12,2.17,0.00,0.000,3078,0.278,0.045,2955,2611,3479,3500,3459,0,0,0,0,0,0,14.85,14.97,15.01
$GC,1571,-1.05,-146.0,2955,2612,3500,3460,190.2,-9.6,205,1575,0.00,1.95,0.00,0.000,420,0.000,0.070,2950,3810,3479,3500,3459,0,0,0,0,0,0,15.21,14.97,15.23
$GC,1715,-1.13,-146.0,2950,3810,3500,3460,205.2,-9.6,234,1722,0.10,1.83,0.00,0.000,5286,0.161,0.029,2893,2555,3480,3500,3460,0,0,0,0,0,0,14.97,15.04,15.05
$GC,2022,-1.08,-146.0,2893,2555,3500,3460,238.4,-7.1,265,2031,0.15,1.98,0.00,0.000,2724,0.249,0.030,2931,1236,3480,3500,3461,0,0,0,0,0,0,14.88,15.02,14.98
$GC,2107,-1.13,-146.0,2931,1236,3500,3461,244.6,-7.9,282,2114,0.00,2.15,0.00,0.000,1190,0.000,0.044,2926,2602,3480,3500,3461,0,0,0,0,0,0,15.07,15.00,15.08
$GC,2413,-1.16,-146.0,2926,2602,3500,3461,276.2,-10.7,297,2417,0.00,1.98,0.00,0.000,388,0.000,0.070,2919,3816,3480,3500,3461,0,0,0,0,0,0,15.24,15.00,15.26
$GC,2447,-1.16,-146.0,2919,3816,3500,3461,280.0,-11.0,304,2451,0.00,1.75,0.00,0.000,1030,0.000,0.030,2919,2613,3480,3500,3460,0,0,0,0,0,0,15.10,15.07,15.11
$GC,2774,-1.19,-146.0,2919,2613,3499,3461,307.5,-7.5,319,2779,0.00,2.10,0.00,0.000,676,0.000,0.034,2919,1220,3480,3500,3461,0,0,0,0,0,0,15.25,15.05,15.27
$GC,2836,-1.22,-146.0,2919,1220,3500,3461,312.0,-6.7,331,2841,0.00,2.17,0.00,0.000,1190,0.000,0.045,2912,2599,3480,3499,3461,0,0,0,0,0,0,15.09,15.02,15.11
$GC,3168,-1.22,-146.0,2912,2600,3497,3461,335.1,-7.1,347,3173,0.00,2.10,0.00,0.000,548,0.000,0.034,2912,1228,3479,3497,3461,0,0,0,0,0,0,15.26,15.06,15.28
$GC,3223,-1.22,-146.0,2912,1228,3497,3461,339.6,-7.8,358,3230,0.00,2.17,0.00,0.000,1062,0.000,0.047,2906,2603,3479,3497,3461,0,0,0,0,0,0,15.10,15.04,15.11
$GC,3530,-1.22,-146.0,2906,2603,3493,3461,365.6,-8.4,369,3531,0.00,0.00,0.00,0.000,38,0.000,0.000,2907,2603,3477,3493,3461,0,0,0,0,0,0,15.26,15.28,15.28
$GC,3830,-1.22,-146.0,2906,2603,3491,3461,389.0,-7.4,379,3834,0.00,1.95,0.00,0.000,292,0.000,0.071,2898,3812,3475,3490,3461,0,0,0,0,0,0,15.27,15.03,15.28
$GC,3891,-1.22,-146.0,2898,3811,3490,3460,393.9,-8.1,391,3896,0.00,1.77,0.00,0.000,1062,0.000,0.033,2898,2610,3475,3490,3460,0,0,0,0,0,0,15.12,15.09,15.14
$GC,4222,-1.22,-146.0,2898,2610,3487,3460,423.2,-10.3,407,4227,0.00,2.10,0.00,0.000,516,0.000,0.034,2898,1220,3473,3487,3460,0,0,0,0,0,0,15.27,15.07,15.28
$GC,4297,-1.22,-146.0,2898,1220,3486,3459,432.7,-13.2,422,4301,0.00,2.22,0.00,0.000,1030,0.000,0.046,2893,2602,3473,3487,3459,0,0,0,0,0,0,15.07,15.03,15.09
$GC,4614,-1.22,-146.0,2892,2602,3485,3458,476.5,-13.8,435,4615,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2602,3471,3485,3458,0,0,0,0,0,0,15.26,15.29,15.28
$GC,4914,-1.22,-146.0,2892,2602,3484,3456,510.6,-10.1,445,4917,0.00,1.95,0.00,0.000,260,0.000,0.071,2884,3812,3470,3484,3456,0,0,0,0,0,0,15.26,15.03,15.29
$GC,4957,-1.22,-146.0,2884,3812,3483,3455,515.0,-9.6,454,4962,0.00,1.85,0.00,0.000,1062,0.000,0.033,2884,2597,3469,3484,3455,0,0,0,0,0,0,15.09,15.08,15.11
$GC,5274,-1.22,-146.0,2884,2597,3481,3455,537.4,-6.5,467,5276,0.00,0.00,0.00,0.000,38,0.000,0.000,2884,2597,3468,3481,3455,0,0,0,0,0,0,15.26,15.29,15.28
$GC,5574,-1.22,-146.0,2884,2597,3479,3454,557.6,-7.1,477,5575,0.00,0.00,0.00,0.000,38,0.000,0.000,2884,2597,3466,3480,3453,0,0,0,0,0,0,15.26,15.29,15.28
$GC,5874,-1.22,-146.0,2884,2597,3478,3452,581.4,-8.2,487,5876,0.00,0.00,0.00,0.000,38,0.000,0.000,2884,2597,3465,3478,3452,0,0,0,0,0,0,15.26,15.29,15.28
$GC,6174,-1.22,-146.0,2884,2597,3476,3450,606.1,-8.1,497,6178,0.00,2.10,0.00,0.000,548,0.000,0.035,2884,1214,3463,3476,3450,0,0,0,0,0,0,15.26,15.07,15.28
$GC,6204,-1.22,-146.0,2884,1214,3476,3449,608.8,-8.5,503,6209,0.10,2.20,0.00,0.000,3110,0.288,0.047,2900,2606,3463,3476,3450,0,0,0,0,0,0,14.92,15.04,15.08
$GC,6531,-1.27,-146.0,2900,2606,3474,3449,632.1,-7.3,518,6535,0.00,1.95,0.00,0.000,420,0.000,0.072,2894,3810,3462,3475,3449,0,0,0,0,0,0,15.26,15.02,15.28
$GC,6565,-1.30,-146.0,2894,3810,3475,3449,635.0,-8.3,525,6569,0.00,1.85,0.00,0.000,1190,0.000,0.034,2894,2609,3461,3474,3449,0,0,0,0,0,0,15.09,15.07,15.10
$GC,6893,-1.34,-146.0,2894,2609,3473,3448,663.9,-9.5,540,6899,0.00,2.12,0.00,0.000,676,0.000,0.035,2895,1213,3460,3473,3448,0,0,0,0,0,0,15.26,15.06,15.28
$GC,6940,-1.37,-146.0,2894,1213,3473,3447,668.9,-9.4,550,6945,0.00,2.22,0.00,0.000,1190,0.000,0.047,2888,2603,3460,3473,3447,0,0,0,0,0,0,15.10,15.03,15.12
$GC,7247,-1.37,-146.0,2888,2603,3471,3446,699.2,-9.8,561,7248,0.00,0.00,0.00,0.000,38,0.000,0.000,2888,2603,3459,3472,3447,0,0,0,0,0,0,15.26,15.28,15.28
$GC,7547,-1.37,-146.0,2888,2603,3470,3445,726.3,-8.7,571,7548,0.00,0.00,0.00,0.000,38,0.000,0.000,2888,2603,3457,3470,3445,0,0,0,0,0,0,15.26,15.28,15.28
$GC,7847,-1.37,-146.0,2888,2603,3470,3444,752.8,-9.1,581,7851,0.00,2.15,0.00,0.000,548,0.000,0.036,2888,1208,3456,3470,3443,0,0,0,0,0,0,15.26,15.05,15.28
$GC,7911,-1.37,-146.0,2888,1207,3470,3443,759.1,-9.7,594,7915,0.00,2.20,0.00,0.000,1062,0.000,0.048,2886,2600,3456,3470,3443,0,0,0,0,0,0,15.10,15.03,15.11
$GC,8238,-1.37,-146.0,2886,2600,3469,3442,789.2,-9.3,609,8239,0.00,0.00,0.00,0.000,38,0.000,0.000,2886,2600,3455,3469,3442,0,0,0,0,0,0,15.26,15.28,15.28
$GC,8538,-1.37,-146.0,2886,2600,3469,3440,816.1,-8.9,619,8542,0.00,2.00,0.00,0.000,292,0.000,0.073,2877,3816,3454,3469,3440,0,0,0,0,0,0,15.26,15.01,15.28
$GC,8572,-1.37,-146.0,2877,3816,3468,3440,819.8,-9.9,626,8576,0.00,1.88,0.00,0.000,1062,0.000,0.034,2877,2599,3454,3468,3440,0,0,0,0,0,0,15.08,15.05,15.09
$GC,8899,-1.37,-146.0,2877,2598,3464,3442,851.8,-10.2,641,8903,0.00,2.12,0.00,0.000,516,0.000,0.036,2877,1214,3452,3464,3441,0,0,0,0,0,0,15.25,15.04,15.27
$GC,8933,-1.37,-146.0,2877,1214,3464,3441,855.5,-10.8,648,8937,0.00,2.20,0.00,0.000,1030,0.000,0.048,2871,2604,3453,3464,3442,0,0,0,0,0,0,15.09,15.02,15.11
$GC,9259,-1.37,-146.0,2870,2605,3464,3441,890.8,-10.7,663,9261,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2605,3452,3463,3441,0,0,0,0,0,0,15.24,15.28,15.27
$GC,9560,-1.37,-146.0,2870,2605,3464,3440,920.3,-9.3,673,9561,0.00,0.00,0.00,0.000,38,0.000,0.000,2871,2605,3452,3464,3440,0,0,0,0,0,0,15.25,15.28,15.27
$GC,9860,-1.37,-146.0,2871,2605,3464,3439,943.5,-7.2,683,9864,0.00,2.00,0.00,0.000,292,0.000,0.073,2862,3817,3451,3464,3438,0,0,0,0,0,0,15.25,15.00,15.27
$GC,9930,-1.37,-146.0,2862,3817,3463,3439,948.9,-7.8,697,9934,0.00,1.85,0.00,0.000,1062,0.000,0.034,2862,2587,3450,3463,3438,0,0,0,0,0,0,15.10,15.06,15.11
$GC,10251,-1.37,-146.0,2862,2587,3463,3438,970.3,-6.4,711,10253,0.00,0.00,0.00,0.000,38,0.000,0.000,2862,2588,3450,3463,3438,0,0,0,0,0,0,15.25,15.27,15.27
$STATE,10550,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10550,begin apogee
$GC,10554,-0.33,0.0,2862,2377,3463,3437,990.3,-6.7,721,10696,0.82,0.00,137.95,1.604,10246,0.213,0.000,3097,2375,2880,2853,2908,0,0,0,0,0,0,14.88,14.26,13.73
$STATE,10697,end apogee,CONTROL_FINISHED_OK
$STATE,10697,begin climb
$GC,10698,1.05,146.0,3097,2376,2846,2900,988.6,0.0,725,10854,0.95,2.20,144.45,1.574,10756,0.121,0.041,3408,1048,2272,2221,2323,0,0,0,0,0,0,14.23,14.05,13.60
$GC,10886,0.90,146.0,3407,1048,2215,2312,962.0,18.8,762,10894,0.20,2.25,0.00,0.000,5254,0.298,0.045,3368,2412,2262,2213,2312,0,0,0,0,0,0,14.22,14.37,14.41
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$STATE,19023,end climb,SURFACE_DEPTH_REACHED
$STATE,19024,begin surface coast
$FINISH,2.5,1.024012
$STATE,19030,end surface coast,CONTROL_FINISHED_OK
$STATE,19030,begin surface
$SM_CCo,19048,138.02,0.083,0,0,519,578.90
$SM_GC,1.03,9.75,2.55,138.02,0.119,0.044,0.083,145,2600,519,-13.86,-1.22,578.90,0,0,0,0,0,0,14.88,14.94,14.84
$IRIDIUM_FIX,1331.97,6120.01,040317,161249
$TT8_MAMPS,0.024717,0.20223
$HUMID,45.39
$INTERNAL_PRESSURE,8.94355
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,13.60,3.663
$10V_AH,13.69,0.000
$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,27.475,165.125,390.625,138.025,0.000,0.000,0.000,162.925,0.000,0.000,22.471,2818.387,13665.155,691.741,2185.308,88.656,0.000,1985.328,0.000,1975.335,0.000,0.549,0.000
$DEVICE_MAMPS,430.695,2106.045,1604.205,83.385,0.000,0.000,0.000,155.295,420.000,0.000,19.470,8.820,2.190,8.820,28.290,32.780,0.000,15.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,675.441,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,75.650,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,192940
$DATA_FILE_SIZE,59989,1386
$CAP_FILE_SIZE,173805,0
$CFSIZE,260034560,258461696
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,19002.20,0x233daa,1,24
$CURRENT,0.083,281.79,1
$GPS,050317,005504,1343.266,6123.169,38,0.9,43,-0.8,0.0,290.1,9,9.6