version: 66.13
glider: 133
mission: 5
dive: 200
start: 4 17 117 17 36 25
data:
$ID,133
$MISSION,5
$DIVE,200
$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,96
$R_STBD_OVSHOOT,53
$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
$GPS1,170417,173032,1314.2595,6003.8765,39,0.9,41,-0.7,0.0,0.0,9,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-70.4
$GPS2,170417,173534,1314.2677,6003.8477,14,0.8,19,-0.7,0.0,0.0,10,8.9
$SPEED_LIMITS,0.159,0.279
$TGT_NAME,SG133_TGT
$TGT_LATLONG,1311.749,6002.521
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,199.6,5242,-18.4,-9.167,-21.04,1727
$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,4,begin dive
$GC,7,-1.35,-103.0,140,2615,1166,1290,0.0,0.0,0,68,0.00,0.00,-58.97,0.000,16386,0.000,0.000,140,2615,3346,3400,3292,0,0,0,0,0,0,14.89,28.83,14.91
$GC,70,-1.41,-146.0,140,2615,3401,3293,3.4,-5.9,10,97,13.73,2.42,-4.88,0.000,18980,0.427,2.031,2867,1228,3700,3722,3678,0,0,0,0,0,0,14.37,13.58,14.68
$GC,175,-1.50,-146.0,2868,1228,3721,3683,24.3,-13.0,29,183,0.00,2.17,0.00,0.000,1158,0.000,0.034,2860,2596,3702,3722,3682,0,0,0,0,0,0,14.73,14.66,14.74
$GC,491,-1.55,-146.0,2860,2596,3721,3684,59.7,-11.0,82,500,0.10,2.12,0.00,0.000,4740,0.155,0.023,2807,1214,3703,3722,3684,0,0,0,0,0,0,14.75,14.78,14.80
$GC,522,-1.55,-146.0,2807,1214,3722,3683,64.0,-13.5,88,527,0.15,2.20,0.00,0.000,3078,0.276,0.034,2832,2614,3702,3721,3684,0,0,0,0,0,0,14.55,14.76,14.76
$GC,827,-1.55,-146.0,2832,2614,3722,3686,104.0,-11.7,119,831,0.00,1.92,0.00,0.000,260,0.000,0.056,2826,3807,3704,3722,3686,0,0,0,0,0,0,15.05,14.79,15.07
$GC,858,-1.55,-146.0,2825,3807,3722,3686,107.3,-10.1,125,862,0.00,1.77,0.00,0.000,1030,0.000,0.021,2826,2558,3704,3722,3686,0,0,0,0,0,0,14.90,14.88,14.91
$GC,1169,-1.55,-146.0,2825,2558,3722,3688,140.5,-12.4,157,1173,0.00,2.03,0.00,0.000,260,0.000,0.053,2818,3806,3705,3722,3688,0,0,0,0,0,0,15.09,14.83,15.11
$GC,1241,-1.55,-146.0,2817,3807,3722,3688,149.8,-12.5,171,1244,0.00,1.70,0.00,0.000,1030,0.000,0.021,2817,2597,3705,3722,3689,0,0,0,0,0,0,14.93,14.91,14.95
$GC,1551,-1.55,-146.0,2817,2595,3722,3691,182.2,-10.8,203,1555,0.00,2.03,0.00,0.000,516,0.000,0.026,2817,1257,3706,3722,3691,0,0,0,0,0,0,15.11,14.89,15.13
$GC,1687,-1.59,-146.0,2817,1256,3722,3692,196.9,-10.3,230,1693,0.00,2.10,0.00,0.000,1158,0.000,0.033,2808,2608,3707,3722,3692,0,0,0,0,0,0,14.92,14.87,14.95
$GC,1992,-1.59,-146.0,2807,2608,3723,3692,224.3,-7.8,261,1997,0.00,2.05,0.00,0.000,548,0.000,0.025,2808,1256,3707,3722,3693,0,0,0,0,0,0,15.12,14.90,15.14
$GC,2028,-1.62,-146.0,2807,1256,3723,3692,227.6,-8.7,268,2034,0.00,2.10,0.00,0.000,1190,0.000,0.034,2802,2604,3708,3723,3693,0,0,0,0,0,0,14.94,14.88,14.95
$GC,2335,-1.62,-146.0,2802,2604,3722,3692,260.7,-11.6,293,2336,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2604,3707,3722,3692,0,0,0,0,0,0,15.14,15.16,15.16
$GC,2634,-1.62,-146.0,2801,2604,3722,3692,293.3,-10.2,303,2638,0.00,1.95,0.00,0.000,260,0.000,0.054,2792,3819,3707,3723,3692,0,0,0,0,0,0,15.15,14.87,15.17
$GC,2669,-1.62,-146.0,2792,3819,3722,3692,297.0,-10.5,310,2673,0.12,1.73,0.00,0.000,3078,0.277,0.021,2817,2603,3707,3722,3692,0,0,0,0,0,0,14.61,14.96,14.87
$GC,2997,-1.68,-146.0,2816,2603,3720,3692,323.1,-8.0,325,2998,0.00,0.00,0.00,0.000,166,0.000,0.000,2816,2603,3706,3720,3692,0,0,0,0,0,0,15.15,15.17,15.17
$GC,3295,-1.75,-146.0,2816,2603,3717,3692,349.4,-9.4,335,3302,0.12,2.08,0.00,0.000,4740,0.138,0.023,2759,1245,3704,3717,3692,0,0,0,0,0,0,14.88,14.92,14.92
$GC,3358,-1.75,-146.0,2759,1245,3716,3692,357.0,-12.1,348,3363,0.17,2.12,0.00,0.000,3078,0.285,0.034,2786,2611,3704,3716,3692,0,0,0,0,0,0,14.61,14.90,14.87
$GC,3685,-1.75,-146.0,2786,2611,3713,3692,393.8,-11.1,363,3689,0.00,2.08,0.00,0.000,516,0.000,0.026,2788,1256,3702,3713,3692,0,0,0,0,0,0,15.16,14.93,15.18
$GC,3705,-1.79,-146.0,2788,1256,3713,3692,396.2,-11.1,367,3709,0.00,2.10,0.00,0.000,1158,0.000,0.034,2783,2601,3702,3713,3691,0,0,0,0,0,0,14.96,14.90,14.97
$GC,4012,-1.79,-146.0,2783,2600,3712,3689,428.1,-10.4,378,4013,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2601,3700,3711,3689,0,0,0,0,0,0,15.16,15.19,15.18
$GC,4311,-1.79,-146.0,2783,2601,3709,3688,457.7,-9.8,388,4315,0.00,1.95,0.00,0.000,260,0.000,0.053,2774,3812,3698,3709,3688,0,0,0,0,0,0,15.17,14.87,15.19
$GC,4335,-1.79,-146.0,2775,3812,3709,3687,460.3,-10.5,393,4343,0.00,1.77,0.00,0.000,1030,0.000,0.022,2774,2609,3698,3709,3687,0,0,0,0,0,0,14.95,14.93,14.96
$GC,4642,-1.79,-146.0,2774,2610,3707,3687,491.9,-10.5,404,4645,0.00,2.08,0.00,0.000,516,0.000,0.026,2774,1264,3697,3707,3687,0,0,0,0,0,0,15.16,14.92,15.19
$GC,4712,-1.85,-146.0,2774,1249,3707,3686,499.5,-10.9,418,4716,0.00,2.12,0.00,0.000,1158,0.000,0.034,2766,2609,3696,3707,3686,0,0,0,0,0,0,14.96,14.90,14.98
$GC,5028,-1.85,-146.0,2766,2608,3705,3684,532.9,-10.6,431,5032,0.00,1.95,0.00,0.000,260,0.000,0.054,2759,3813,3695,3706,3684,0,0,0,0,0,0,15.16,14.86,15.19
$GC,5089,-1.85,-146.0,2758,3813,3705,3683,539.3,-10.7,443,5093,0.00,1.75,0.00,0.000,1030,0.000,0.023,2759,2598,3694,3705,3684,0,0,0,0,0,0,14.99,14.95,15.00
$GC,5420,-1.85,-146.0,2758,2595,3703,3682,574.3,-10.6,459,5423,0.00,2.08,0.00,0.000,516,0.000,0.027,2759,1256,3692,3703,3682,0,0,0,0,0,0,15.16,14.91,15.18
$GC,5463,-1.85,-146.0,2758,1242,3703,3682,579.2,-10.5,468,5467,0.00,2.15,0.00,0.000,1030,0.000,0.034,2751,2610,3692,3703,3681,0,0,0,0,0,0,14.95,14.89,14.97
$GC,5781,-1.85,-146.0,2751,2609,3701,3680,611.7,-10.1,481,5785,0.00,1.95,0.00,0.000,260,0.000,0.054,2743,3816,3690,3701,3680,0,0,0,0,0,0,15.16,14.85,15.18
$GC,5821,-1.80,-146.0,2743,3815,3701,3679,616.0,-10.3,489,5826,0.17,1.77,0.00,0.000,3206,0.315,0.023,2776,2604,3689,3700,3679,0,0,0,0,0,0,14.51,14.95,14.83
$GC,6144,-1.83,-146.0,2775,2604,3699,3678,645.6,-9.2,503,6145,0.00,0.00,0.00,0.000,134,0.000,0.000,2775,2604,3688,3699,3678,0,0,0,0,0,0,15.16,15.19,15.18
$GC,6443,-1.87,-146.0,2775,2604,3698,3677,675.3,-9.9,513,6444,0.00,0.00,0.00,0.000,134,0.000,0.000,2775,2603,3687,3698,3677,0,0,0,0,0,0,15.16,15.19,15.19
$GC,6743,-1.90,-146.0,2775,2603,3696,3677,705.4,-10.1,523,6747,0.00,2.10,0.00,0.000,644,0.000,0.027,2780,1253,3686,3696,3676,0,0,0,0,0,0,15.16,14.90,15.19
$GC,6783,-1.96,-146.0,2780,1236,3696,3676,709.4,-9.8,531,6788,0.12,2.15,0.00,0.000,5254,0.129,0.034,2722,2607,3685,3695,3675,0,0,0,0,0,0,14.84,14.88,14.93
$GC,7100,-1.91,-146.0,2722,2606,3694,3674,747.6,-12.1,544,7105,0.15,1.95,0.00,0.000,2436,0.311,0.050,2745,3805,3684,3694,3674,0,0,0,0,0,0,14.45,14.78,14.66
$GC,7185,-1.91,-146.0,2745,3805,3694,3674,757.4,-10.7,561,7193,0.00,1.83,0.00,0.000,1030,0.000,0.023,2751,2589,3684,3694,3674,0,0,0,0,0,0,14.92,14.90,14.97
$GC,7492,-1.91,-146.0,2751,2589,3691,3673,789.2,-10.4,572,7496,0.00,2.08,0.00,0.000,516,0.000,0.027,2751,1251,3682,3692,3673,0,0,0,0,0,0,15.16,14.89,15.18
$GC,7523,-1.91,-146.0,2751,1236,3693,3672,792.6,-11.3,578,7529,0.00,2.15,0.00,0.000,1030,0.000,0.034,2745,2603,3682,3693,3672,0,0,0,0,0,0,14.94,14.88,14.96
$GC,7853,-1.91,-146.0,2745,2604,3692,3671,829.0,-11.2,594,7857,0.00,1.95,0.00,0.000,260,0.000,0.053,2736,3808,3682,3692,3672,0,0,0,0,0,0,15.15,14.83,15.17
$GC,7893,-1.86,-146.0,2736,3808,3692,3671,833.9,-11.9,602,7898,0.15,1.77,0.00,0.000,3206,0.316,0.024,2762,2596,3681,3692,3671,0,0,0,0,0,0,14.46,14.93,14.78
$GC,8215,-1.86,-146.0,2762,2596,3692,3670,866.9,-9.9,616,8218,0.00,2.10,0.00,0.000,516,0.000,0.028,2763,1250,3680,3691,3670,0,0,0,0,0,0,15.15,14.88,15.17
$GC,8249,-1.89,-146.0,2762,1233,3691,3669,870.5,-10.3,623,8253,0.00,2.17,0.00,0.000,1158,0.000,0.035,2759,2604,3680,3691,3669,0,0,0,0,0,0,14.92,14.85,14.95
$GC,8576,-1.89,-146.0,2758,2604,3690,3669,900.9,-9.0,638,8580,0.00,1.95,0.00,0.000,292,0.000,0.054,2749,3809,3679,3690,3669,0,0,0,0,0,0,15.15,14.83,15.17
$GC,8615,-1.89,-146.0,2749,3809,3690,3669,905.0,-10.1,646,8619,0.00,1.77,0.00,0.000,1030,0.000,0.024,2749,2594,3679,3690,3668,0,0,0,0,0,0,14.96,14.93,14.97
$GC,8937,-1.89,-146.0,2749,2593,3688,3668,936.0,-10.0,660,8941,0.00,2.08,0.00,0.000,516,0.000,0.028,2749,1258,3678,3688,3668,0,0,0,0,0,0,15.15,14.88,15.17
$GC,8986,-1.89,-146.0,2749,1245,3688,3667,941.2,-9.8,670,8990,0.00,2.15,0.00,0.000,1030,0.000,0.034,2742,2605,3677,3688,3667,0,0,0,0,0,0,14.92,14.85,14.95
$GC,9293,-1.89,-146.0,2742,2605,3686,3667,974.4,-11.0,681,9297,0.00,1.95,0.00,0.000,260,0.000,0.054,2733,3808,3676,3687,3666,0,0,0,0,0,0,15.16,14.82,15.17
$GC,9343,-1.84,-146.0,2733,3808,3686,3666,980.1,-11.6,691,9348,0.17,1.77,0.00,0.000,3206,0.304,0.024,2766,2611,3676,3686,3666,0,0,0,0,0,0,14.44,14.92,14.76
$STATE,9443,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9443,begin apogee
$GC,9448,-0.33,0.0,2766,2263,3686,3666,990.2,-10.0,696,9587,1.17,0.00,135.00,2.086,10246,0.230,0.000,3093,2262,3100,3080,3120,0,0,0,0,0,0,14.57,14.13,13.40
$STATE,9588,end apogee,CONTROL_FINISHED_OK
$STATE,9588,begin climb
$GC,9590,1.41,146.0,3093,2261,3075,3117,993.3,0.0,700,9740,1.20,2.12,140.62,2.049,10756,0.097,0.033,3492,1000,2500,2450,2550,0,0,0,0,0,0,14.14,13.90,13.33
$GC,9821,1.22,146.0,3491,1000,2444,2538,976.1,12.6,751,9826,0.25,2.15,0.00,0.000,5254,0.306,0.033,3435,2315,2491,2444,2538,0,0,0,0,0,0,14.12,14.35,14.35
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$STATE,19350,end climb,SURFACE_DEPTH_REACHED
$STATE,19350,begin surface coast
$FINISH,0.9,1.023163
$STATE,19371,end surface coast,CONTROL_FINISHED_OK
$STATE,19371,begin surface
$SM_CCo,19391,43.67,0.084,0,0,1265,450.12
$SM_GC,1.41,9.60,2.70,43.67,0.071,0.031,0.084,137,2610,1265,-13.88,-1.19,450.12,0,0,0,0,0,0,14.70,14.76,14.69
$IRIDIUM_FIX,1312.02,6003.76,170417,113044
$TT8_MAMPS,0.023968,0.205226
$HUMID,49.84
$INTERNAL_PRESSURE,8.95332
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,13.33,57.647
$10V_AH,13.18,0.000
$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,28.725,194.500,469.775,43.675,0.000,0.000,0.000,201.525,0.000,0.000,20.248,2952.626,13629.692,657.729,2330.207,185.082,0.000,2087.077,0.000,2094.035,0.000,0.549,0.000
$DEVICE_MAMPS,426.870,2031.075,2086.155,84.150,0.000,0.000,0.000,168.300,420.000,0.000,19.470,8.820,2.190,8.820,28.290,32.780,0.000,15.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,708.137,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,75.650,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,193876
$DATA_FILE_SIZE,63377,1472
$CAP_FILE_SIZE,186409,0
$CFSIZE,260034560,242606080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.017,1.63,1
$GPS,170417,230138,1312.205,6003.043,41,1.0,43,-0.7,0.3,0.0,8,9.7