version: 66.13
glider: 133
mission: 5
dive: 74
start: 3 18 117 22 34 24
data:
$ID,133
$MISSION,5
$DIVE,74
$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,99
$R_STBD_OVSHOOT,48
$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
$GPS1,180317,222901,1405.8862,6051.5923,41,0.8,43,-0.6,0.0,0.0,9,8.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-69.2
$GPS2,180317,223351,1405.9156,6051.5879,15,0.8,18,-0.6,0.2,349.9,9,8.7
$SPEED_LIMITS,0.159,0.279
$TGT_NAME,SG133_TGT
$TGT_LATLONG,1405.264,6047.442
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,253.7,7545,-15.3,-9.167,-18.21,2446
$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,-1.20,-146.0,139,2607,1216,1306,0.0,0.0,0,75,0.00,0.00,-65.43,0.000,16386,0.000,0.000,139,2608,3645,3690,3601,0,0,0,0,0,0,14.94,28.83,14.96
$GC,77,-1.20,-146.0,139,2608,3690,3602,4.0,-8.6,11,98,14.18,2.15,-0.70,0.000,18724,0.444,2.073,2895,3808,3700,3730,3671,1,0,0,0,0,0,14.50,13.92,14.76
$GC,210,-1.20,-146.0,2894,3809,3729,3674,32.5,-12.5,36,217,0.00,1.77,0.00,0.000,1030,0.000,0.022,2895,2570,3702,3730,3675,0,0,0,0,0,0,14.84,14.81,14.85
$GC,518,-1.20,-146.0,2895,2571,3730,3675,70.2,-12.8,81,523,0.00,2.00,0.00,0.000,516,0.000,0.027,2895,1246,3702,3729,3676,0,0,0,0,0,0,15.05,14.87,15.07
$GC,559,-1.20,-146.0,2895,1246,3729,3676,75.2,-12.3,89,564,0.00,2.10,0.00,0.000,1030,0.000,0.036,2888,2599,3703,3729,3677,0,0,0,0,0,0,14.91,14.86,14.92
$GC,872,-1.20,-146.0,2888,2599,3729,3677,118.1,-13.5,121,876,0.00,1.95,0.00,0.000,260,0.000,0.057,2879,3815,3703,3729,3677,0,0,0,0,0,0,15.11,14.89,15.12
$GC,896,-1.20,-146.0,2879,3816,3729,3677,121.3,-12.1,126,904,0.10,1.77,0.00,0.000,3078,0.252,0.021,2905,2600,3703,3729,3677,0,0,0,0,0,0,14.74,14.95,14.88
$GC,1204,-1.26,-146.0,2905,2600,3729,3679,145.9,-9.3,157,1208,0.00,1.95,0.00,0.000,388,0.000,0.057,2898,3809,3704,3729,3679,0,0,0,0,0,0,15.14,14.92,15.16
$GC,1249,-1.33,-146.0,2897,3809,3730,3679,150.0,-8.4,166,1256,0.00,1.73,0.00,0.000,1190,0.000,0.022,2898,2585,3704,3729,3679,0,0,0,0,0,0,15.02,14.99,15.02
$GC,1555,-1.41,-146.0,2898,2585,3729,3681,177.7,-11.5,197,1560,0.12,1.98,0.00,0.000,4484,0.132,0.053,2814,3815,3705,3729,3681,0,0,0,0,0,0,14.97,14.95,14.99
$GC,1630,-1.32,-146.0,2814,3815,3730,3681,188.5,-14.4,212,1638,0.22,1.75,0.00,0.000,3206,0.272,0.021,2876,2606,3705,3729,3681,0,0,0,0,0,0,14.81,15.00,14.93
$GC,1938,-1.38,-146.0,2876,2605,3730,3682,211.9,-7.4,243,1939,0.00,0.00,0.00,0.000,166,0.000,0.000,2876,2606,3705,3729,3682,0,0,0,0,0,0,15.17,15.19,15.19
$GC,2238,-1.44,-146.0,2875,2605,3729,3682,241.6,-11.4,273,2242,0.00,1.95,0.00,0.000,388,0.000,0.057,2870,3817,3705,3729,3682,0,0,0,0,0,0,15.18,14.97,15.20
$GC,2269,-1.50,-146.0,2869,3817,3729,3682,245.5,-12.3,279,2274,0.10,1.73,0.00,0.000,5254,0.145,0.022,2807,2589,3705,3728,3682,0,0,0,0,0,0,14.97,15.03,15.04
$GC,2581,-1.45,-146.0,2807,2588,3727,3682,283.4,-11.3,293,2586,0.17,2.00,0.00,0.000,2692,0.272,0.022,2853,1259,3704,3726,3682,0,0,0,0,0,0,14.84,15.02,14.97
$GC,2644,-1.50,-146.0,2853,1259,3727,3682,289.0,-8.2,305,2648,0.00,2.08,0.00,0.000,1190,0.000,0.034,2846,2603,3704,3726,3682,0,0,0,0,0,0,15.05,15.00,15.07
$GC,2976,-1.53,-146.0,2845,2603,3722,3682,314.2,-7.2,321,2980,0.00,1.92,0.00,0.000,420,0.000,0.057,2837,3810,3701,3721,3682,0,0,0,0,0,0,15.21,15.00,15.23
$GC,3055,-1.53,-146.0,2836,3810,3721,3682,320.8,-8.7,337,3060,0.00,1.75,0.00,0.000,1062,0.000,0.022,2837,2606,3701,3720,3682,0,0,0,0,0,0,15.05,15.04,15.07
$GC,3367,-1.53,-146.0,2837,2605,3717,3682,349.0,-9.4,349,3368,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2605,3700,3718,3682,0,0,0,0,0,0,15.21,15.23,15.23
$GC,3667,-1.57,-146.0,2837,2605,3714,3682,378.9,-10.2,359,3671,0.00,2.03,0.00,0.000,644,0.000,0.026,2837,1258,3698,3714,3682,0,0,0,0,0,0,15.22,15.04,15.23
$GC,3742,-1.60,-146.0,2837,1253,3713,3682,386.8,-10.6,374,3746,0.00,2.10,0.00,0.000,1158,0.000,0.035,2829,2607,3697,3713,3682,0,0,0,0,0,0,15.07,15.01,15.08
$GC,4054,-1.60,-146.0,2829,2607,3709,3682,419.6,-10.2,386,4057,0.00,1.92,0.00,0.000,260,0.000,0.057,2820,3813,3695,3709,3682,0,0,0,0,0,0,15.22,15.01,15.23
$GC,4097,-1.60,-146.0,2820,3813,3708,3682,424.2,-10.6,395,4101,0.00,1.77,0.00,0.000,1030,0.000,0.023,2820,2598,3695,3708,3682,0,0,0,0,0,0,15.07,15.06,15.07
$GC,4414,-1.60,-146.0,2820,2598,3706,3681,450.1,-7.7,408,4418,0.00,1.95,0.00,0.000,292,0.000,0.055,2814,3810,3693,3706,3681,0,0,0,0,0,0,15.21,15.01,15.23
$GC,4446,-1.60,-146.0,2814,3810,3706,3680,452.7,-8.9,414,4450,0.00,1.75,0.00,0.000,1062,0.000,0.024,2815,2594,3693,3706,3680,0,0,0,0,0,0,15.09,15.07,15.10
$GC,4777,-1.60,-146.0,2814,2594,3704,3678,480.9,-8.9,430,4778,0.00,0.00,0.00,0.000,38,0.000,0.000,2814,2594,3691,3704,3678,0,0,0,0,0,0,15.22,15.24,15.23
$GC,5076,-1.60,-146.0,2814,2594,3702,3676,508.4,-9.2,440,5077,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2593,3689,3702,3676,0,0,0,0,0,0,15.22,15.24,15.24
$GC,5377,-1.60,-146.0,2814,2594,3701,3674,537.6,-9.9,450,5378,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2594,3688,3701,3675,0,0,0,0,0,0,15.23,15.25,15.24
$GC,5676,-1.60,-146.0,2814,2594,3700,3673,567.4,-9.8,460,5677,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2594,3686,3700,3673,0,0,0,0,0,0,15.23,15.25,15.25
$GC,5977,-1.60,-146.0,2814,2594,3699,3671,595.3,-9.1,470,5981,0.00,1.98,0.00,0.000,292,0.000,0.056,2807,3817,3685,3699,3671,0,0,0,0,0,0,15.23,15.01,15.24
$GC,6021,-1.60,-146.0,2807,3817,3699,3671,599.8,-9.7,479,6025,0.00,1.80,0.00,0.000,1030,0.000,0.024,2807,2603,3685,3699,3671,0,0,0,0,0,0,15.07,15.06,15.09
$GC,6337,-1.60,-146.0,2807,2602,3697,3671,630.7,-10.0,492,6338,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2603,3683,3696,3671,0,0,0,0,0,0,15.22,15.25,15.24
$GC,6638,-1.60,-146.0,2807,2602,3695,3669,662.4,-10.8,502,6639,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2602,3682,3695,3670,0,0,0,0,0,0,15.22,15.25,15.24
$GC,6937,-1.60,-146.0,2807,2602,3694,3667,696.7,-11.6,512,6941,0.00,2.08,0.00,0.000,516,0.000,0.028,2808,1246,3680,3693,3668,0,0,0,0,0,0,15.23,15.04,15.24
$GC,6981,-1.60,-146.0,2807,1235,3694,3667,702.0,-11.1,521,6986,0.00,2.15,0.00,0.000,1030,0.000,0.037,2800,2606,3680,3693,3667,0,0,0,0,0,0,15.07,15.02,15.09
$GC,7298,-1.60,-146.0,2800,2607,3691,3667,737.9,-10.9,534,7299,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2607,3679,3692,3666,0,0,0,0,0,0,15.22,15.24,15.24
$GC,7598,-1.60,-146.0,2800,2606,3691,3666,767.7,-9.6,544,7599,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2607,3678,3691,3666,0,0,0,0,0,0,15.22,15.25,15.24
$GC,7898,-1.60,-146.0,2800,2606,3690,3665,795.2,-9.0,554,7902,0.00,1.92,0.00,0.000,292,0.000,0.057,2791,3810,3677,3690,3665,0,0,0,0,0,0,15.22,15.01,15.24
$GC,7932,-1.57,-146.0,2791,3810,3690,3664,798.7,-9.8,561,7938,0.17,1.75,0.00,0.000,3206,0.291,0.024,2830,2605,3677,3690,3664,0,0,0,0,0,0,14.84,15.07,15.03
$GC,8261,-1.62,-146.0,2829,2605,3687,3664,822.8,-7.0,576,8265,0.00,2.08,0.00,0.000,676,0.000,0.028,2830,1247,3675,3687,3663,0,0,0,0,0,0,15.21,15.03,15.23
$GC,8305,-1.68,-146.0,2830,1240,3688,3663,825.9,-6.7,585,8310,0.00,2.12,0.00,0.000,1190,0.000,0.036,2827,2601,3675,3688,3663,0,0,0,0,0,0,15.07,15.01,15.09
$GC,8623,-1.72,-146.0,2826,2601,3687,3662,846.1,-6.3,598,8630,0.12,2.08,0.00,0.000,4772,0.133,0.024,2768,1240,3674,3687,3662,0,0,0,0,0,0,15.00,15.03,15.04
$GC,8652,-1.66,-146.0,2768,1240,3687,3661,848.4,-8.8,604,8660,0.22,2.12,0.00,0.000,3238,0.309,0.036,2808,2602,3674,3687,3661,0,0,0,0,0,0,14.82,15.01,15.02
$GC,8982,-1.66,-146.0,2808,2602,3686,3661,873.2,-7.8,620,8986,0.00,1.95,0.00,0.000,292,0.000,0.057,2802,3815,3673,3686,3661,0,0,0,0,0,0,15.21,15.00,15.23
$GC,9026,-1.66,-146.0,2802,3814,3686,3660,877.1,-8.5,629,9031,0.00,1.83,0.00,0.000,1062,0.000,0.024,2802,2554,3673,3686,3660,0,0,0,0,0,0,15.08,15.05,15.09
$GC,9343,-1.66,-146.0,2802,2554,3684,3660,906.9,-9.6,642,9347,0.00,2.03,0.00,0.000,260,0.000,0.057,2793,3810,3672,3684,3660,0,0,0,0,0,0,15.21,15.00,15.23
$GC,9417,-1.66,-146.0,2793,3811,3684,3659,914.6,-9.9,657,9422,0.00,1.77,0.00,0.000,1030,0.000,0.025,2793,2617,3671,3684,3659,0,0,0,0,0,0,15.04,15.04,15.06
$GC,9734,-1.66,-146.0,2792,2617,3683,3659,945.3,-9.4,670,9735,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2617,3671,3683,3659,0,0,0,0,0,0,15.21,15.23,15.23
$GC,10034,-1.66,-146.0,2793,2617,3683,3658,971.6,-8.6,680,10035,0.00,0.00,0.00,0.000,38,0.000,0.000,2793,2617,3670,3683,3658,0,0,0,0,0,0,15.21,15.23,15.23
$STATE,10272,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10272,begin apogee
$GC,10277,-0.33,0.0,2793,2283,3683,3657,991.4,-8.2,688,10416,1.08,0.00,135.70,2.012,10246,0.237,0.000,3094,2283,3100,3081,3120,0,0,0,0,0,0,14.85,14.17,13.51
$STATE,10417,end apogee,CONTROL_FINISHED_OK
$STATE,10417,begin climb
$GC,10419,1.20,146.0,3094,2283,3075,3116,991.9,0.0,692,10570,1.08,2.25,142.02,2.003,10756,0.113,0.036,3446,981,2497,2447,2547,0,0,0,0,0,0,14.16,14.09,13.43
$GC,10671,1.01,146.0,3446,981,2442,2532,968.9,13.8,747,10676,0.25,2.17,0.00,0.000,5254,0.290,0.034,3392,2317,2487,2442,2532,0,0,0,0,0,0,14.31,14.47,14.50
$GC,10988,0.89,146.0,3392,2317,2437,2529,933.2,10.9,760,10990,0.15,0.00,0.00,0.000,4230,0.327,0.000,3362,2317,2483,2437,2529,0,0,0,0,0,0,14.58,14.78,14.76
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$STATE,20396,end climb,SURFACE_DEPTH_REACHED
$STATE,20396,begin surface coast
$FINISH,0.4,0.999096
$STATE,20423,end surface coast,CONTROL_FINISHED_OK
$STATE,20423,begin surface
$SM_CCo,20439,31.35,0.083,0,0,1265,450.12
$SM_GC,1.11,9.35,0.45,31.35,0.073,0.057,0.083,143,2615,1265,-13.86,-1.16,450.12,0,0,0,0,0,0,14.81,14.88,14.81
$IRIDIUM_FIX,1358.61,6056.94,180317,164007
$TT8_MAMPS,0.023968,0.205226
$HUMID,47.28
$INTERNAL_PRESSURE,8.97285
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,13.43,19.008
$10V_AH,13.34,0.000
$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,28.650,144.825,495.400,31.350,0.000,0.000,0.000,196.175,0.000,0.000,19.555,2976.329,14737.392,640.149,2284.955,123.804,0.000,2011.432,0.000,2050.391,0.000,0.549,0.000
$DEVICE_MAMPS,444.465,2073.150,2011.950,82.620,0.000,0.000,0.000,167.535,420.000,0.000,19.470,8.820,2.190,8.820,28.290,32.780,0.000,15.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,735.936,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,75.650,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,193828
$DATA_FILE_SIZE,60018,1441
$CAP_FILE_SIZE,178237,0
$CFSIZE,260034560,253308928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0
$CURRENT,0.024,281.85,1
$GPS,190317,041639,1405.131,6048.302,26,1.1,29,-0.6,0.0,0.0,7,9.6