version: 66.13
glider: 137
mission: 5
dive: 42
start: 3 11 117 10 41 22
data:
$ID,137
$MISSION,5
$DIVE,42
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,4
$D_TGT,990
$D_ABORT,1020
$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,300
$T_MISSION,450
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$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,54893
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,7156.2998
$TGT_DEFAULT_LON,2002.3
$TGT_AUTO_DEFAULT,0
$SM_CC,313
$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,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,100
$PITCH_MAX,3680
$C_PITCH,3175
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,15
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,120
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3920
$ROLL_DEG,40
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3900
$C_VBD,2790
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$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,1
$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,-84.34626
$PRESSURE_SLOPE,0.0001160319
$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,1
$ALTIM_PING_DEPTH,200
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,0.004399877
$SEABIRD_T_H,0.00063904078
$SEABIRD_T_I,2.611986e-05
$SEABIRD_T_J,3.2216672e-06
$SEABIRD_C_G,-9.9096279
$SEABIRD_C_H,1.1330101
$SEABIRD_C_I,-0.0017902254
$SEABIRD_C_J,0.00021440489
$GPS1,110317,103605,1356.8776,6108.4805,38,0.7,43,-0.6,0.0,237.5,11,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-71.2
$GPS2,110317,104048,1356.8733,6108.4326,13,0.7,21,-0.6,0.0,245.1,11,9.5
$SPEED_LIMITS,0.191,0.268
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1357.662,6105.334
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,273.7,5757,-19.8,-11.000,-22.30,2034
$D_GRID,990
$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,6,-1.50,-146.0,95,2073,1428,1576,0.0,0.0,0,72,0.00,0.00,-63.58,0.000,16386,0.000,0.000,96,2075,3180,3094,3266,0,0,0,0,0,0,14.90,28.83,14.92
$GC,74,-1.50,-146.0,95,2076,3095,3266,4.4,-6.7,11,102,14.95,2.58,-3.55,0.000,18724,0.469,2.121,2835,3442,3388,3287,3490,0,0,0,0,0,0,14.49,13.78,14.72
$GC,255,-1.45,-146.0,2834,3441,3288,3491,45.2,-19.0,45,262,0.12,2.33,0.00,0.000,3206,0.269,0.041,2860,2042,3389,3288,3491,0,0,0,0,0,0,14.59,14.71,14.74
$GC,564,-1.45,-146.0,2860,2042,3289,3491,101.2,-16.8,78,568,0.00,2.33,0.00,0.000,516,0.000,0.060,2861,651,3390,3289,3491,0,0,0,0,0,0,15.02,14.79,15.04
$GC,620,-1.45,-146.0,2861,650,3290,3491,109.7,-13.9,89,629,0.00,2.28,0.00,0.000,1030,0.000,0.042,2853,2049,3390,3289,3491,0,0,0,0,0,0,14.88,14.83,14.90
$GC,930,-1.49,-146.0,2852,2050,3292,3491,150.3,-13.9,121,934,0.00,2.35,0.00,0.000,388,0.000,0.066,2842,3458,3391,3292,3491,0,0,0,0,0,0,15.07,14.85,15.09
$GC,1045,-1.57,-146.0,2842,3458,3292,3491,166.4,-14.1,144,1052,0.00,2.30,0.00,0.000,1158,0.000,0.041,2842,2045,3391,3292,3491,0,0,0,0,0,0,14.94,14.88,14.96
$GC,1352,-1.63,-146.0,2842,2044,3293,3491,207.3,-11.0,175,1361,0.00,2.30,0.00,0.000,676,0.000,0.060,2842,641,3392,3293,3491,0,0,0,0,0,0,15.11,14.89,15.13
$GC,1477,-1.67,-146.0,2842,640,3293,3492,220.8,-9.7,200,1484,0.00,2.33,0.00,0.000,1190,0.000,0.044,2833,2063,3392,3293,3491,0,0,0,0,0,0,14.97,14.91,14.99
$GC,1793,-1.74,-146.0,2833,2063,3293,3491,257.6,-12.3,228,1799,0.12,2.30,0.00,0.000,4484,0.148,0.062,2776,3461,3392,3293,3491,0,0,0,0,0,0,14.90,14.90,14.95
$GC,1819,-1.74,-146.0,2776,3461,3293,3492,261.3,-13.8,233,1826,0.00,2.33,0.00,0.000,1030,0.000,0.043,2776,2041,3392,3293,3491,0,0,0,0,0,0,14.99,14.93,15.01
$GC,2125,-1.74,-146.0,2776,2040,3293,3491,304.4,-13.9,244,2130,0.00,2.30,0.00,0.000,516,0.000,0.062,2777,651,3392,3293,3491,0,0,0,0,0,0,15.15,14.92,15.17
$GC,2145,-1.71,-146.0,2776,651,3293,3491,307.5,-14.6,248,2151,0.15,2.28,0.00,0.000,3206,0.285,0.044,2798,2055,3392,3293,3491,0,0,0,0,0,0,14.81,14.95,14.97
$GC,2459,-1.71,-146.0,2798,2056,3293,3491,343.2,-11.5,260,2463,0.00,2.33,0.00,0.000,260,0.000,0.066,2790,3454,3392,3293,3491,0,0,0,0,0,0,15.14,14.93,15.16
$GC,2483,-1.71,-146.0,2789,3454,3293,3491,346.8,-12.8,265,2490,0.00,2.30,0.00,0.000,1030,0.000,0.044,2790,2054,3392,3293,3492,0,0,0,0,0,0,15.02,14.96,15.04
$GC,2790,-1.71,-146.0,2789,2054,3291,3491,388.5,-13.7,276,2794,0.00,2.35,0.00,0.000,516,0.000,0.065,2790,640,3391,3291,3491,0,0,0,0,0,0,15.17,14.95,15.19
$GC,2839,-1.71,-146.0,2790,640,3290,3491,395.8,-14.0,286,2844,0.00,2.33,0.00,0.000,1030,0.000,0.045,2782,2059,3390,3290,3491,0,0,0,0,0,0,15.02,14.96,15.04
$GC,3151,-1.71,-146.0,2781,2058,3289,3491,436.8,-13.3,298,3153,0.10,0.00,0.00,0.000,2054,0.317,0.000,2799,2059,3390,3289,3491,0,0,0,0,0,0,14.84,15.03,15.00
$GC,3451,-1.75,-146.0,2799,2059,3288,3491,474.3,-12.4,308,3456,0.00,2.40,0.00,0.000,644,0.000,0.067,2800,644,3389,3288,3491,0,0,0,0,0,0,15.18,14.95,15.20
$GC,3526,-1.75,-146.0,2799,644,3287,3491,484.5,-13.7,323,3530,0.00,2.33,0.00,0.000,1030,0.000,0.048,2791,2051,3389,3287,3491,0,0,0,0,0,0,15.04,14.97,15.05
$GC,3843,-1.75,-146.0,2791,2051,3286,3491,525.0,-12.9,336,3844,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2051,3388,3286,3491,0,0,0,0,0,0,15.18,15.21,15.20
$GC,4143,-1.78,-146.0,2791,2051,3284,3491,564.2,-13.0,346,4149,0.00,2.40,0.00,0.000,644,0.000,0.070,2792,643,3387,3284,3491,0,0,0,0,0,0,15.18,14.95,15.20
$GC,4241,-1.78,-146.0,2792,643,3284,3491,578.2,-14.1,366,4245,0.00,2.35,0.00,0.000,1030,0.000,0.050,2783,2063,3387,3283,3491,0,0,0,0,0,0,15.04,14.97,15.05
$GC,4564,-1.78,-146.0,2783,2064,3282,3490,621.1,-13.3,380,4565,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2063,3386,3282,3490,0,0,0,0,0,0,15.16,15.19,15.18
$GC,4864,-1.78,-146.0,2783,2063,3281,3489,660.7,-13.1,390,4865,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2063,3385,3281,3489,0,0,0,0,0,0,15.16,15.19,15.18
$GC,5163,-1.78,-146.0,2782,2064,3278,3481,699.2,-12.7,400,5167,0.00,2.42,0.00,0.000,516,0.000,0.070,2783,643,3379,3278,3481,0,0,0,0,0,0,15.19,14.95,15.21
$GC,5208,-1.78,-146.0,2783,643,3278,3481,705.6,-14.1,409,5212,0.00,2.35,0.00,0.000,1030,0.000,0.050,2774,2063,3379,3277,3481,0,0,0,0,0,0,15.04,14.97,15.06
$GC,5520,-1.78,-146.0,2773,2062,3277,3481,746.1,-13.1,421,5526,0.00,2.35,0.00,0.000,260,0.000,0.075,2763,3454,3379,3277,3481,0,0,0,0,0,0,15.19,14.95,15.21
$GC,5543,-1.78,-146.0,2763,3454,3277,3481,749.6,-14.5,426,5551,0.10,2.35,0.00,0.000,3078,0.269,0.050,2782,2040,3379,3277,3481,0,0,0,0,0,0,14.85,14.97,15.01
$GC,5850,-1.78,-146.0,2782,2039,3276,3481,787.7,-12.3,437,5856,0.00,2.35,0.00,0.000,516,0.000,0.071,2783,646,3378,3276,3481,0,0,0,0,0,0,15.18,14.95,15.20
$GC,5922,-1.78,-146.0,2782,646,3275,3481,797.8,-13.7,452,5928,0.00,2.35,0.00,0.000,1030,0.000,0.051,2774,2058,3378,3275,3481,0,0,0,0,0,0,15.04,14.97,15.05
$GC,6240,-1.78,-146.0,2774,2059,3274,3481,838.0,-12.7,465,6241,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2059,3377,3274,3481,0,0,0,0,0,0,15.18,15.21,15.20
$GC,6539,-1.78,-146.0,2774,2059,3273,3481,878.2,-13.5,475,6543,0.00,2.42,0.00,0.000,516,0.000,0.070,2774,641,3377,3273,3481,0,0,0,0,0,0,15.18,14.95,15.21
$GC,6603,-1.78,-146.0,2774,641,3273,3481,887.8,-14.7,488,6609,0.10,2.35,0.00,0.000,3078,0.314,0.051,2782,2055,3377,3273,3481,0,0,0,0,0,0,14.83,14.97,15.00
$GC,6926,-1.78,-146.0,2781,2056,3271,3481,930.2,-13.2,502,6930,0.00,2.35,0.00,0.000,260,0.000,0.075,2773,3446,3377,3273,3481,0,0,0,0,0,0,15.18,14.95,15.20
$GC,6950,-1.78,-146.0,2773,3445,3272,3481,933.7,-13.6,507,6957,0.00,2.33,0.00,0.000,1030,0.000,0.050,2773,2053,3376,3272,3481,0,0,0,0,0,0,15.04,14.97,15.05
$GC,7257,-1.78,-146.0,2773,2052,3271,3480,972.4,-12.5,518,7261,0.00,2.35,0.00,0.000,516,0.000,0.071,2773,644,3375,3270,3481,0,0,0,0,0,0,15.18,14.95,15.20
$GC,7313,-1.78,-146.0,2772,644,3271,3480,979.5,-12.5,529,7318,0.12,2.33,0.00,0.000,3078,0.317,0.051,2786,2051,3375,3270,3480,0,0,0,0,0,0,14.81,14.97,15.00
$STATE,7404,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7404,begin apogee
$GC,7408,-0.33,0.0,2786,1780,3270,3480,990.3,-11.1,537,7542,1.17,0.00,129.35,2.641,10246,0.270,0.000,3099,1779,2789,2675,2903,0,0,0,0,0,0,14.81,14.04,13.07
$STATE,7543,end apogee,CONTROL_FINISHED_OK
$STATE,7543,begin climb
$GC,7544,1.50,146.0,3099,1779,2670,2900,992.0,0.0,541,7686,1.38,2.53,133.60,2.569,10756,0.173,0.078,3507,408,2188,2061,2316,0,0,0,0,0,0,14.01,13.81,13.03
$GC,7701,1.35,146.0,3506,408,2053,2315,979.2,13.5,556,7710,0.17,2.47,0.00,0.000,5254,0.354,0.053,3475,1798,2183,2051,2316,0,0,0,0,0,0,13.97,14.13,14.18
$GC,8008,1.28,146.0,3475,1798,2041,2316,935.7,14.0,567,8010,0.12,0.00,0.00,0.000,4230,0.399,0.000,3454,1798,2178,2041,2316,0,0,0,0,0,0,14.46,14.71,14.68
$GC,8308,1.23,146.0,3454,1798,2037,2315,897.6,12.5,577,8314,0.00,2.42,0.00,0.000,388,0.000,0.072,3453,3210,2176,2037,2316,0,0,0,0,0,0,14.97,14.74,14.99
$GC,8368,1.16,146.0,3452,3210,2036,2315,889.7,13.5,589,8375,0.17,2.40,0.00,0.000,5254,0.391,0.061,3430,1810,2176,2037,2316,0,0,0,0,0,0,14.60,14.76,14.82
$GC,8699,1.16,146.0,3429,1810,2035,2315,851.2,11.7,605,8705,0.00,2.45,0.00,0.000,516,0.000,0.087,3439,397,2175,2034,2316,0,0,0,0,0,0,15.04,14.80,15.06
$GC,8720,1.16,146.0,3439,397,2035,2316,848.1,12.1,610,8728,0.00,2.40,0.00,0.000,1030,0.000,0.053,3439,1812,2175,2034,2316,0,0,0,0,0,0,14.90,14.83,14.92
$GC,9028,1.16,146.0,3439,1812,2033,2315,808.2,13.5,621,9032,0.00,2.38,0.00,0.000,260,0.000,0.073,3439,3207,2174,2034,2315,0,0,0,0,0,0,15.07,14.85,15.10
$GC,9090,1.13,146.0,3439,3206,2034,2315,799.4,14.8,633,9097,0.15,2.40,0.00,0.000,5254,0.380,0.060,3420,1793,2174,2034,2315,0,0,0,0,0,0,14.70,14.87,14.92
$GC,9419,1.13,146.0,3420,1793,2033,2315,757.8,12.0,649,9425,0.00,2.45,0.00,0.000,516,0.000,0.086,3429,389,2174,2032,2316,0,0,0,0,0,0,15.10,14.87,15.12
$GC,9442,1.13,146.0,3429,389,2031,2315,755.0,12.0,654,9449,0.00,2.38,0.00,0.000,1030,0.000,0.053,3429,1804,2173,2031,2315,0,0,0,0,0,0,14.96,14.90,14.98
$GC,9749,1.13,146.0,3428,1804,2031,2315,718.9,11.6,665,9755,0.00,2.38,0.00,0.000,260,0.000,0.071,3428,3206,2173,2031,2315,0,0,0,0,0,0,15.11,14.89,15.14
$GC,9817,1.13,146.0,3428,3206,2031,2316,710.7,11.7,679,9822,0.00,2.40,0.00,0.000,1030,0.000,0.061,3437,1795,2173,2031,2316,0,0,0,0,0,0,14.97,14.90,15.00
$GC,10134,1.13,146.0,3437,1795,2030,2316,674.3,11.4,692,10139,0.00,2.45,0.00,0.000,260,0.000,0.071,3432,3214,2173,2030,2316,0,0,0,0,0,0,15.13,14.90,15.15
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$STATE,15704,end climb,SURFACE_DEPTH_REACHED
$STATE,15704,begin surface coast
$FINISH,1.3,1.024004
$STATE,15721,end surface coast,CONTROL_FINISHED_OK
$STATE,15721,begin surface
$SM_CCo,15738,10.73,0.080,0,0,1513,313.24
$SM_GC,3.71,10.05,0.40,10.73,0.095,0.067,0.080,94,2068,1513,-14.12,-0.82,313.24,0,0,0,0,0,0,14.76,14.83,14.78
$IRIDIUM_FIX,1351.95,6107.95,110317,063051
$TT8_MAMPS,0.024717,0.15729
$HUMID,48.50
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,24.00
$XPDR_PINGS,9
$24V_AH,13.03,15.300
$10V_AH,13.37,0.000
$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
$DEVICE_SECS,29.500,177.275,375.825,10.725,0.000,0.000,0.000,195.475,12.250,0.000,23.435,2379.034,10955.798,596.684,2011.611,101.429,0.000,1796.314,0.000,1743.098,0.000,67.757,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,554.046,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225188
$DATA_FILE_SIZE,53287,1221
$CAP_FILE_SIZE,154758,0
$CFSIZE,260034560,255995904
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,88.04,0x233da8,0,24
$CURRENT,0.084,339.47,1
$GPS,110317,150511,1357.153,6105.792,29,1.1,45,-0.6,0.8,38.7,8,9.5