version: 66.13
glider: 133
mission: 5
dive: 48
start: 3 13 117 9 7 35
data:
$ID,133
$MISSION,5
$DIVE,48
$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,0.0020999999
$HD_B,0.0049999999
$HD_C,2.9999999e-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,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,113
$R_STBD_OVSHOOT,47
$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
$GPS1,130317,090207,1401.8936,6106.2578,27,0.8,29,-0.7,0.5,196.8,9,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-68.9
$GPS2,130317,090656,1401.8729,6106.2329,17,0.9,19,-0.7,0.0,0.0,9,9.8
$SPEED_LIMITS,0.159,0.318
$TGT_NAME,SG133_TGT
$TGT_LATLONG,1400.606,6102.369
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,238.8,7329,-12.4,-9.167,-16.07,2218
$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,-1.00,-146.0,141,2587,1216,1301,0.0,0.0,0,62,0.00,0.00,-52.83,0.000,16386,0.000,0.000,141,2587,3090,3142,3039,0,0,0,0,0,0,14.99,28.83,15.01
$GC,64,-1.00,-146.0,141,2587,3142,3041,3.2,-5.3,9,96,13.80,2.15,-11.10,0.000,18724,0.426,2.082,2937,3808,3698,3712,3684,0,0,0,0,0,0,14.57,13.98,14.73
$GC,283,-1.00,-146.0,2937,3808,3712,3686,32.9,-12.7,51,290,0.00,1.75,0.00,0.000,1030,0.000,0.023,2937,2583,3699,3712,3687,0,0,0,0,0,0,14.89,14.87,14.90
$GC,597,-1.00,-146.0,2937,2583,3712,3687,75.8,-14.2,95,598,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2583,3699,3712,3687,0,0,0,0,0,0,15.09,15.11,15.11
$GC,897,-1.00,-146.0,2937,2583,3712,3687,113.4,-13.8,125,901,0.00,1.98,0.00,0.000,260,0.000,0.058,2931,3809,3699,3712,3687,0,0,0,0,0,0,15.14,14.92,15.15
$GC,928,-1.00,-146.0,2931,3809,3712,3687,118.0,-16.1,131,932,0.00,1.70,0.00,0.000,1030,0.000,0.023,2932,2593,3699,3712,3687,0,0,0,0,0,0,15.01,14.99,15.02
$GC,1239,-1.00,-146.0,2931,2593,3712,3688,160.9,-10.9,163,1242,0.00,2.00,0.00,0.000,516,0.000,0.026,2932,1253,3700,3712,3688,0,0,0,0,0,0,15.16,14.97,15.19
$GC,1349,-1.00,-146.0,2931,1251,3712,3688,173.3,-11.7,185,1354,0.12,2.08,0.00,0.000,3078,0.256,0.036,2952,2601,3700,3712,3688,0,0,0,0,0,0,14.85,14.97,15.00
$GC,1655,-1.08,-146.0,2952,2601,3712,3689,201.1,-8.1,216,1658,0.00,1.92,0.00,0.000,420,0.000,0.058,2947,3809,3700,3712,3689,0,0,0,0,0,0,15.18,14.97,15.20
$GC,1705,-1.16,-146.0,2947,3809,3712,3689,206.2,-10.6,226,1711,0.12,1.70,0.00,0.000,5254,0.133,0.023,2875,2604,3701,3712,3690,0,0,0,0,0,0,14.98,15.03,15.04
$GC,2018,-1.11,-146.0,2874,2604,3712,3690,246.3,-11.1,258,2023,0.17,1.92,0.00,0.000,2436,0.224,0.055,2915,3806,3701,3712,3690,0,0,0,0,0,0,14.88,14.98,14.97
$GC,2050,-1.15,-146.0,2916,3806,3712,3690,249.9,-11.0,264,2054,0.00,1.70,0.00,0.000,1158,0.000,0.023,2915,2596,3701,3712,3690,0,0,0,0,0,0,15.07,15.04,15.08
$GC,2361,-1.19,-146.0,2916,2596,3712,3690,290.7,-12.8,276,2364,0.00,2.00,0.00,0.000,644,0.000,0.026,2916,1252,3701,3712,3690,0,0,0,0,0,0,15.21,15.03,15.23
$GC,2391,-1.23,-146.0,2915,1249,3712,3690,294.1,-11.7,282,2396,0.00,2.10,0.00,0.000,1158,0.000,0.036,2912,2605,3701,3712,3690,0,0,0,0,0,0,15.07,15.01,15.08
$GC,2724,-1.27,-146.0,2912,2605,3712,3690,323.0,-7.6,298,2725,0.00,0.00,0.00,0.000,166,0.000,0.000,2912,2605,3701,3712,3690,0,0,0,0,0,0,15.22,15.24,15.24
$GC,3023,-1.32,-146.0,2912,2605,3711,3690,350.2,-10.2,308,3027,0.12,1.92,0.00,0.000,4484,0.132,0.055,2832,3813,3700,3710,3690,0,0,0,0,0,0,15.04,15.02,15.07
$GC,3133,-1.22,-146.0,2831,3813,3709,3690,367.7,-17.3,330,3139,0.28,1.70,0.00,0.000,3206,0.220,0.023,2906,2605,3699,3709,3690,0,0,0,0,0,0,14.92,15.08,15.06
$GC,3446,-1.27,-146.0,2906,2605,3707,3690,404.0,-10.1,342,3450,0.00,2.05,0.00,0.000,644,0.000,0.027,2907,1234,3698,3706,3690,0,0,0,0,0,0,15.23,15.05,15.26
$GC,3556,-1.33,-146.0,2906,1234,3706,3689,414.3,-8.5,364,3561,0.10,2.12,0.00,0.000,5286,0.151,0.036,2847,2608,3697,3707,3688,0,0,0,0,0,0,15.02,15.02,15.08
$GC,3862,-1.28,-146.0,2847,2608,3704,3687,449.7,-12.9,375,3864,0.17,0.00,0.00,0.000,2182,0.226,0.000,2890,2608,3695,3704,3687,0,0,0,0,0,0,14.92,15.09,15.06
$GC,4162,-1.32,-146.0,2889,2608,3702,3687,484.9,-10.9,385,4166,0.00,2.05,0.00,0.000,644,0.000,0.028,2890,1245,3694,3702,3686,0,0,0,0,0,0,15.24,15.05,15.26
$GC,4201,-1.36,-146.0,2889,1245,3702,3686,489.1,-10.1,393,4205,0.00,2.10,0.00,0.000,1158,0.000,0.037,2886,2600,3693,3702,3685,0,0,0,0,0,0,15.09,15.04,15.11
$GC,4524,-1.39,-146.0,2886,2600,3700,3683,517.3,-8.8,407,4528,0.00,1.95,0.00,0.000,420,0.000,0.058,2880,3816,3692,3700,3684,0,0,0,0,0,0,15.23,15.02,15.26
$GC,4558,-1.39,-146.0,2880,3816,3700,3683,520.8,-10.4,414,4563,0.00,1.77,0.00,0.000,1030,0.000,0.024,2880,2605,3691,3700,3683,0,0,0,0,0,0,15.09,15.09,15.10
$GC,4885,-1.39,-146.0,2880,2606,3698,3681,554.4,-10.6,429,4886,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2605,3689,3698,3681,0,0,0,0,0,0,15.24,15.26,15.26
$GC,5185,-1.39,-146.0,2880,2605,3696,3679,584.2,-9.6,439,5189,0.00,2.05,0.00,0.000,516,0.000,0.028,2880,1249,3687,3696,3679,0,0,0,0,0,0,15.24,15.05,15.26
$GC,5205,-1.43,-146.0,2879,1239,3696,3679,586.2,-9.6,443,5209,0.00,2.12,0.00,0.000,1158,0.000,0.037,2876,2605,3687,3696,3679,0,0,0,0,0,0,15.09,15.04,15.11
$GC,5511,-1.43,-146.0,2875,2605,3693,3677,613.9,-8.8,454,5512,0.00,0.00,0.00,0.000,38,0.000,0.000,2876,2605,3685,3694,3677,0,0,0,0,0,0,15.24,15.26,15.26
$GC,5810,-1.43,-146.0,2876,2605,3692,3677,642.5,-10.2,464,5814,0.00,2.08,0.00,0.000,516,0.000,0.028,2876,1243,3684,3692,3676,0,0,0,0,0,0,15.25,15.06,15.26
$GC,5855,-1.46,-146.0,2875,1234,3692,3675,647.4,-10.3,473,5859,0.00,2.15,0.00,0.000,1158,0.000,0.038,2874,2606,3683,3692,3675,0,0,0,0,0,0,15.09,15.04,15.11
$GC,6171,-1.46,-146.0,2873,2606,3691,3674,681.5,-10.8,486,6172,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2606,3681,3690,3673,0,0,0,0,0,0,15.24,15.26,15.26
$GC,6471,-1.46,-146.0,2874,2606,3689,3673,713.0,-10.3,496,6475,0.00,1.95,0.00,0.000,260,0.000,0.061,2867,3817,3681,3689,3673,0,0,0,0,0,0,15.24,15.02,15.26
$GC,6501,-1.46,-146.0,2866,3817,3689,3672,716.2,-11.3,502,6506,0.00,1.75,0.00,0.000,1030,0.000,0.026,2867,2603,3680,3689,3672,0,0,0,0,0,0,15.11,15.08,15.12
$GC,6833,-1.46,-146.0,2867,2602,3687,3671,750.1,-10.0,518,6837,0.00,2.05,0.00,0.000,516,0.000,0.028,2867,1236,3679,3687,3671,0,0,0,0,0,0,15.24,15.05,15.26
$GC,6872,-1.46,-146.0,2867,1236,3687,3671,754.3,-10.3,526,6877,0.00,2.17,0.00,0.000,1030,0.000,0.037,2864,2628,3679,3687,3671,0,0,0,0,0,0,15.09,15.03,15.10
$GC,7194,-1.46,-146.0,2864,2628,3684,3670,784.1,-9.0,540,7198,0.00,2.12,0.00,0.000,548,0.000,0.028,2864,1231,3677,3685,3670,0,0,0,0,0,0,15.23,15.05,15.26
$GC,7229,-1.46,-146.0,2864,1231,3685,3669,787.5,-9.2,547,7233,0.00,2.15,0.00,0.000,1062,0.000,0.037,2860,2606,3677,3685,3669,0,0,0,0,0,0,15.09,15.03,15.10
$GC,7545,-1.46,-146.0,2860,2606,3684,3668,817.3,-9.9,560,7549,0.00,1.95,0.00,0.000,260,0.000,0.060,2854,3817,3676,3684,3668,0,0,0,0,0,0,15.23,15.02,15.26
$GC,7589,-1.46,-146.0,2853,3817,3683,3668,822.1,-11.0,569,7593,0.00,1.80,0.00,0.000,1030,0.000,0.025,2854,2603,3675,3683,3668,0,0,0,0,0,0,15.08,15.07,15.09
$GC,7905,-1.46,-146.0,2853,2602,3682,3667,855.7,-10.9,582,7910,0.00,2.08,0.00,0.000,516,0.000,0.027,2854,1229,3675,3683,3667,0,0,0,0,0,0,15.23,15.05,15.26
$GC,7940,-1.46,-146.0,2853,1229,3683,3666,859.9,-12.1,589,7944,0.00,2.20,0.00,0.000,1030,0.000,0.037,2847,2605,3674,3683,3666,0,0,0,0,0,0,15.06,15.02,15.07
$GC,8267,-1.46,-146.0,2846,2605,3682,3665,900.5,-12.6,604,8270,0.00,1.95,0.00,0.000,260,0.000,0.060,2839,3816,3673,3682,3665,0,0,0,0,0,0,15.23,15.02,15.26
$GC,8331,-1.43,-146.0,2839,3817,3682,3665,908.9,-12.2,617,8335,0.00,1.77,0.00,0.000,1158,0.000,0.025,2839,2590,3673,3682,3664,0,0,0,0,0,0,15.10,15.07,15.11
$GC,8658,-1.39,-146.0,2839,2590,3680,3664,944.9,-10.4,632,8664,0.12,2.05,0.00,0.000,2692,0.252,0.024,2872,1234,3671,3679,3663,0,0,0,0,0,0,14.89,15.05,15.00
$GC,8701,-1.43,-146.0,2872,1234,3680,3663,949.0,-8.4,641,8705,0.00,2.15,0.00,0.000,1190,0.000,0.037,2872,2608,3671,3680,3663,0,0,0,0,0,0,15.08,15.02,15.09
$GC,9013,-1.46,-146.0,2872,2608,3678,3663,974.3,-8.1,653,9017,0.00,1.95,0.00,0.000,420,0.000,0.060,2865,3819,3671,3679,3663,0,0,0,0,0,0,15.23,15.01,15.24
$GC,9052,-1.46,-146.0,2865,3819,3678,3662,977.8,-9.0,661,9056,0.00,1.80,0.00,0.000,1062,0.000,0.026,2866,2610,3670,3679,3662,0,0,0,0,0,0,15.07,15.05,15.08
$STATE,9192,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9192,begin apogee
$GC,9196,-0.33,0.0,2866,2277,3678,3662,990.1,-8.7,669,9323,0.80,0.00,123.28,1.711,10246,0.191,0.000,3100,2276,3100,3079,3121,0,0,0,0,0,0,14.90,14.28,13.69
$STATE,9324,end apogee,CONTROL_FINISHED_OK
$STATE,9324,begin climb
$GC,9326,1.00,146.0,3100,2276,3074,3117,991.5,0.0,673,9467,0.90,2.17,130.95,1.660,10756,0.099,0.036,3404,992,2498,2449,2547,0,0,0,0,0,0,14.26,14.16,13.59
$GC,9492,0.81,146.0,3403,992,2446,2539,978.4,14.1,708,9500,0.25,2.15,0.00,0.000,5254,0.266,0.034,3348,2311,2492,2445,2539,0,0,0,0,0,0,14.21,14.35,14.38
$GC,9799,0.69,146.0,3348,2311,2440,2532,939.7,12.6,719,9806,0.12,2.30,0.00,0.000,4484,0.282,0.054,3315,3715,2486,2440,2532,0,0,0,0,0,0,14.62,14.72,14.72
$GC,9832,0.59,146.0,3315,3715,2439,2532,935.5,12.4,726,9838,0.12,2.08,0.00,0.000,5254,0.283,0.025,3297,2343,2485,2439,2531,0,0,0,0,0,0,14.63,14.78,14.78
$GC,10160,0.59,152.2,3297,2342,2438,2528,905.4,8.9,741,10164,0.00,2.20,0.00,0.000,548,0.000,0.036,3305,945,2482,2437,2528,0,0,0,0,0,0,15.04,14.85,15.07
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$STATE,19010,end climb,SURFACE_DEPTH_REACHED
$STATE,19010,begin surface coast
$FINISH,0.7,1.023952
$STATE,19026,end surface coast,CONTROL_FINISHED_OK
$STATE,19026,begin surface
$SM_CCo,19042,58.03,0.079,0,0,1265,450.12
$SM_GC,1.64,9.43,0.45,58.03,0.079,0.055,0.079,143,2605,1265,-13.86,-1.41,450.12,0,0,0,0,0,0,14.86,14.95,14.86
$IRIDIUM_FIX,1354.17,6111.84,130317,033750
$TT8_MAMPS,0.023968,0.205226
$HUMID,45.98
$INTERNAL_PRESSURE,9.01191
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,13.59,12.316
$10V_AH,13.86,0.000
$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,28.075,166.725,403.775,58.025,0.000,0.000,0.000,197.850,0.000,0.000,20.381,2878.492,13557.320,597.089,2250.377,116.929,0.000,1948.595,0.000,2012.715,0.000,0.550,0.000
$DEVICE_MAMPS,426.105,2081.565,1710.540,78.795,0.000,0.000,0.000,162.180,420.000,0.000,19.470,8.820,2.190,8.820,28.290,32.780,0.000,15.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,685.733,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,60096,1414
$CAP_FILE_SIZE,178454,0
$CFSIZE,260034560,255352832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.101,33.29,1
$GPS,130317,142707,1400.763,6103.754,35,0.9,37,-0.7,0.0,0.0,9,8.4