version: 66.13
glider: 137
mission: 5
dive: 88
start: 3 20 117 11 27 43
data:
$ID,137
$MISSION,5
$DIVE,88
$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,330
$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,0.0034
$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,7156.2998
$TGT_DEFAULT_LON,2002.3
$TGT_AUTO_DEFAULT,0
$SM_CC,573.99261
$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,8
$CALL_WAIT,120
$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,30
$R_STBD_OVSHOOT,56
$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,0
$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
$GPS1,200317,110929,1405.7220,6054.9126,39,0.8,49,-0.6,0.5,223.0,9,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-66.4
$GPS2,200317,112707,1405.6919,6054.7861,6,0.9,6,-0.6,0.0,0.0,7,0.0
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1405.391,6051.107
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,258.7,6632,-16.6,-10.000,-19.21,2243
$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,5,begin dive
$GC,7,-1.28,-146.0,91,2084,333,565,0.0,0.0,0,109,0.00,0.00,-99.20,0.000,16386,0.000,0.000,92,2084,3137,3059,3215,0,0,0,0,0,0,14.90,28.83,14.92
$GC,111,-1.28,-146.0,91,2085,3060,3215,4.8,-7.6,17,137,14.40,2.65,-4.40,0.000,19236,0.438,2.092,2895,643,3386,3287,3486,0,0,0,0,0,0,14.45,13.77,14.73
$GC,294,-1.28,-146.0,2895,643,3288,3486,39.8,-15.4,52,301,0.00,2.30,0.00,0.000,1030,0.000,0.043,2886,2044,3387,3288,3486,0,0,0,0,0,0,14.81,14.74,14.82
$GC,608,-1.25,-146.0,2886,2044,3289,3486,85.1,-14.0,90,617,0.00,2.33,0.00,0.000,388,0.000,0.063,2876,3447,3387,3289,3486,0,0,0,0,0,0,15.04,14.81,15.06
$GC,651,-1.25,-146.0,2876,3447,3288,3486,91.0,-12.3,99,660,0.08,2.35,0.00,0.000,3078,0.236,0.040,2897,2036,3387,3288,3486,0,0,0,0,0,0,14.69,14.83,14.81
$GC,959,-1.28,-146.0,2897,2035,3288,3486,125.8,-12.2,130,968,0.00,2.28,0.00,0.000,644,0.000,0.059,2898,651,3387,3289,3486,0,0,0,0,0,0,15.09,14.85,15.11
$GC,1003,-1.37,-146.0,2897,651,3288,3486,131.5,-11.7,139,1010,0.00,2.28,0.00,0.000,1158,0.000,0.041,2888,2056,3387,3288,3486,0,0,0,0,0,0,14.94,14.88,14.95
$GC,1311,-1.44,-146.0,2888,2056,3288,3486,165.1,-8.9,170,1321,0.12,2.30,0.00,0.000,4516,0.136,0.060,2819,3453,3387,3288,3486,0,0,0,0,0,0,14.90,14.88,14.93
$GC,1356,-1.39,-146.0,2819,3453,3288,3485,170.3,-12.0,179,1363,0.20,2.30,0.00,0.000,3206,0.237,0.039,2867,2036,3387,3288,3486,0,0,0,0,0,0,14.76,14.90,14.92
$GC,1665,-1.44,-146.0,2867,2035,3289,3486,203.7,-12.2,210,1670,0.00,2.28,0.00,0.000,644,0.000,0.060,2868,651,3387,3288,3486,0,0,0,0,0,0,15.11,14.89,15.13
$GC,1757,-1.47,-146.0,2868,651,3288,3486,214.4,-10.6,226,1761,0.00,2.28,0.00,0.000,1158,0.000,0.042,2859,2055,3387,3288,3486,0,0,0,0,0,0,14.97,14.91,14.99
$GC,2070,-1.53,-146.0,2859,2055,3288,3486,241.1,-8.6,258,2077,0.00,2.30,0.00,0.000,420,0.000,0.063,2849,3449,3387,3288,3486,0,0,0,0,0,0,15.11,14.89,15.14
$GC,2133,-1.60,-146.0,2849,3448,3288,3486,247.3,-9.3,269,2143,0.00,2.28,0.00,0.000,1190,0.000,0.040,2850,2045,3387,3288,3486,0,0,0,0,0,0,14.98,14.92,15.00
$GC,2443,-1.63,-146.0,2849,2045,3285,3486,279.9,-10.6,282,2448,0.12,2.35,0.00,0.000,4484,0.137,0.062,2789,3447,3385,3285,3486,0,0,0,0,0,0,14.91,14.90,14.96
$GC,2515,-1.59,-146.0,2788,3447,3285,3486,290.2,-13.7,296,2522,0.17,2.28,0.00,0.000,3206,0.261,0.041,2829,2048,3385,3285,3486,0,0,0,0,0,0,14.79,14.93,14.96
$GC,2841,-1.59,-146.0,2829,2047,3283,3486,330.7,-12.5,310,2846,0.00,2.30,0.00,0.000,516,0.000,0.063,2830,655,3384,3283,3486,0,0,0,0,0,0,15.14,14.91,15.16
$GC,2904,-1.59,-146.0,2830,655,3283,3486,338.9,-12.9,322,2909,0.00,2.28,0.00,0.000,1030,0.000,0.045,2822,2049,3384,3283,3486,0,0,0,0,0,0,15.00,14.92,15.01
$GC,3237,-1.59,-146.0,2821,2049,3281,3485,375.9,-10.2,338,3242,0.00,2.33,0.00,0.000,260,0.000,0.065,2811,3453,3383,3281,3486,0,0,0,0,0,0,15.14,14.91,15.16
$GC,3258,-1.59,-146.0,2811,3453,3281,3486,378.3,-10.8,342,3263,0.00,2.30,0.00,0.000,1030,0.000,0.043,2811,2046,3383,3281,3486,0,0,0,0,0,0,15.00,14.93,15.02
$GC,3571,-1.59,-146.0,2811,2046,3278,3485,409.3,-10.2,354,3576,0.00,2.33,0.00,0.000,516,0.000,0.066,2811,644,3381,3278,3485,0,0,0,0,0,0,15.14,14.91,15.16
$GC,3608,-1.56,-146.0,2811,644,3278,3485,413.6,-11.4,361,3614,0.15,2.30,0.00,0.000,3206,0.259,0.047,2836,2051,3381,3278,3485,0,0,0,0,0,0,14.80,14.93,14.97
$GC,3939,-1.59,-146.0,2835,2051,3276,3483,448.1,-11.1,376,3944,0.00,2.33,0.00,0.000,388,0.000,0.068,2826,3448,3379,3277,3482,0,0,0,0,0,0,15.14,14.91,15.16
$GC,3965,-1.63,-146.0,2826,3449,3276,3481,451.7,-12.1,381,3974,0.00,2.30,0.00,0.000,1158,0.000,0.044,2827,2050,3379,3276,3482,0,0,0,0,0,0,15.00,14.93,15.02
$GC,4273,-1.63,-146.0,2826,2049,3274,3480,487.4,-11.3,392,4277,0.00,2.35,0.00,0.000,516,0.000,0.068,2827,641,3377,3274,3480,0,0,0,0,0,0,15.14,14.91,15.16
$GC,4314,-1.63,-146.0,2826,640,3274,3479,492.6,-11.6,400,4319,0.00,2.33,0.00,0.000,1030,0.000,0.048,2817,2054,3376,3274,3479,0,0,0,0,0,0,15.00,14.93,15.02
$GC,4637,-1.63,-146.0,2817,2054,3272,3478,527.5,-11.0,414,4643,0.00,2.40,0.00,0.000,516,0.000,0.066,2817,644,3375,3272,3478,0,0,0,0,0,0,15.14,14.90,15.16
$GC,4701,-1.63,-146.0,2817,644,3271,3478,535.4,-11.8,426,4708,0.00,2.33,0.00,0.000,1030,0.000,0.047,2808,2060,3374,3271,3478,0,0,0,0,0,0,15.00,14.92,15.01
$GC,5036,-1.63,-146.0,2807,2060,3270,3477,572.7,-11.2,442,5038,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2060,3373,3271,3476,0,0,0,0,0,0,15.14,15.16,15.16
$GC,5336,-1.63,-146.0,2807,2060,3269,3474,606.5,-11.3,452,5343,0.00,2.40,0.00,0.000,516,0.000,0.067,2808,647,3371,3269,3474,0,0,0,0,0,0,15.14,14.90,15.16
$GC,5435,-1.63,-146.0,2807,647,3268,3474,618.8,-12.1,471,5441,0.10,2.33,0.00,0.000,3078,0.288,0.047,2817,2059,3371,3268,3474,0,0,0,0,0,0,14.76,14.92,14.95
$GC,5765,-1.63,-146.0,2816,2060,3266,3472,656.7,-11.9,486,5766,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2060,3369,3267,3472,0,0,0,0,0,0,15.14,15.16,15.16
$GC,6064,-1.63,-146.0,2816,2060,3266,3471,693.3,-12.3,496,6065,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2060,3368,3266,3471,0,0,0,0,0,0,15.14,15.16,15.16
$GC,6364,-1.63,-146.0,2816,2059,3264,3470,727.9,-11.1,506,6371,0.00,2.40,0.00,0.000,516,0.000,0.067,2817,646,3367,3264,3470,0,0,0,0,0,0,15.14,14.90,15.16
$GC,6401,-1.63,-146.0,2817,646,3264,3470,732.6,-11.4,513,6409,0.00,2.33,0.00,0.000,1030,0.000,0.049,2809,2050,3366,3263,3470,0,0,0,0,0,0,15.00,14.92,15.01
$GC,6732,-1.63,-146.0,2808,2050,3263,3468,767.0,-10.2,528,6737,0.00,2.40,0.00,0.000,516,0.000,0.069,2810,642,3365,3263,3468,0,0,0,0,0,0,15.13,14.89,15.16
$GC,6808,-1.63,-146.0,2809,641,3262,3468,775.4,-10.7,542,6813,0.00,2.33,0.00,0.000,1030,0.000,0.048,2801,2052,3365,3262,3468,0,0,0,0,0,0,14.99,14.92,15.00
$GC,7130,-1.63,-146.0,2801,2052,3261,3466,808.9,-10.5,556,7135,0.00,2.40,0.00,0.000,516,0.000,0.069,2801,652,3363,3261,3466,0,0,0,0,0,0,15.13,14.89,15.15
$GC,7168,-1.60,-146.0,2801,652,3261,3466,813.6,-11.6,563,7173,0.15,2.33,0.00,0.000,3206,0.278,0.049,2824,2060,3363,3261,3466,0,0,0,0,0,0,14.74,14.92,14.92
$GC,7498,-1.64,-146.0,2823,2060,3260,3465,846.5,-10.2,578,7499,0.00,0.00,0.00,0.000,134,0.000,0.000,2824,2060,3362,3260,3465,0,0,0,0,0,0,15.14,15.16,15.16
$GC,7797,-1.68,-146.0,2823,2060,3259,3464,877.0,-10.1,588,7798,0.00,0.00,0.00,0.000,134,0.000,0.000,2824,2060,3362,3260,3464,0,0,0,0,0,0,15.14,15.16,15.16
$GC,8097,-1.72,-146.0,2823,2060,3259,3464,906.1,-9.6,598,8105,0.10,2.40,0.00,0.000,4772,0.158,0.068,2797,643,3360,3258,3463,0,0,0,0,0,0,14.90,14.88,14.97
$GC,8166,-1.68,-146.0,2796,643,3258,3463,914.1,-11.6,610,8171,0.00,2.33,0.00,0.000,1158,0.000,0.050,2788,2050,3360,3258,3463,0,0,0,0,0,0,14.98,14.91,15.00
$GC,8500,-1.68,-146.0,2787,2050,3257,3462,952.8,-11.4,626,8505,0.00,2.40,0.00,0.000,516,0.000,0.070,2789,644,3359,3257,3462,0,0,0,0,0,0,15.14,14.88,15.16
$GC,8533,-1.63,-146.0,2789,644,3257,3462,956.7,-11.1,632,8541,0.17,2.33,0.00,0.000,3206,0.276,0.050,2824,2052,3359,3257,3462,0,0,0,0,0,0,14.72,14.90,14.85
$GC,8869,-1.67,-146.0,2823,2052,3255,3462,987.0,-8.7,648,8876,0.00,2.38,0.00,0.000,420,0.000,0.074,2815,3452,3358,3255,3461,0,0,0,0,0,0,15.13,14.87,15.15
$STATE,8903,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8903,begin apogee
$GC,8910,-0.33,0.0,2815,1799,3255,3461,990.1,-8.5,654,9039,1.08,0.00,125.57,2.650,10246,0.259,0.000,3099,1798,2789,2679,2900,0,0,0,0,0,0,14.68,14.07,13.12
$STATE,9040,end apogee,CONTROL_FINISHED_OK
$STATE,9040,begin climb
$GC,9041,1.28,146.0,3099,1798,2674,2897,991.0,0.0,658,9179,1.23,0.00,134.00,2.571,10246,0.163,0.000,3453,1798,2194,2067,2321,0,0,0,0,0,0,14.06,13.97,13.06
$GC,9474,1.11,146.0,3454,1798,2042,2317,938.7,14.6,673,9479,0.17,2.45,0.00,0.000,4484,0.344,0.063,3418,3210,2179,2041,2317,0,0,0,0,0,0,14.40,14.59,14.57
$GC,9496,0.96,146.0,3418,3210,2041,2317,935.4,14.2,677,9502,0.20,2.42,0.00,0.000,5254,0.372,0.054,3385,1793,2179,2041,2317,0,0,0,0,0,0,14.41,14.62,14.65
$GC,9809,0.90,146.0,3385,1792,2037,2316,900.2,11.1,689,9810,0.00,0.00,0.00,0.000,134,0.000,0.000,3385,1792,2177,2037,2317,0,0,0,0,0,0,14.96,14.98,14.98
$GC,10109,0.85,146.0,3385,1792,2035,2317,867.6,10.7,699,10111,0.12,0.00,0.00,0.000,4230,0.376,0.000,3364,1793,2175,2035,2316,0,0,0,0,0,0,14.59,14.87,14.84
$GC,10409,0.89,173.8,3363,1793,2034,2317,840.5,8.7,709,10439,0.00,0.00,23.98,2.395,8230,0.000,0.000,3364,1793,2074,1930,2219,0,0,0,0,0,0,15.06,14.42,13.66
$GC,10739,0.90,183.4,3363,1792,1922,2219,809.9,9.6,720,10753,0.00,2.45,9.07,2.183,8484,0.000,0.069,3360,3202,2037,1890,2185,0,0,0,0,0,0,14.95,14.50,13.70
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$STATE,18546,end climb,SURFACE_DEPTH_REACHED
$STATE,18546,begin surface coast
$FINISH,1.4,0.999432
$STATE,18573,end surface coast,CONTROL_FINISHED_OK
$STATE,18573,begin surface
$SM_CCo,18590,114.22,0.080,0,0,449,573.99
$SM_GC,2.14,9.82,0.38,114.22,0.090,0.064,0.080,97,2068,449,-14.09,-1.16,573.99,0,0,0,0,0,0,14.76,14.83,14.73
$IRIDIUM_FIX,1358.61,6056.94,200317,111100
$TT8_MAMPS,0.023968,0.158039
$HUMID,46.02
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,24.30
$XPDR_PINGS,11
$24V_AH,13.06,29.879
$10V_AH,13.67,0.000
$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
$DEVICE_SECS,28.800,190.100,397.300,114.225,0.000,0.000,0.000,498.400,114.750,0.000,7.996,3009.374,12982.860,769.065,2834.042,173.891,0.000,2418.565,0.000,1998.143,0.000,751.705,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,666.791,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225112
$DATA_FILE_SIZE,59948,1404
$CAP_FILE_SIZE,221794,0
$CFSIZE,260034560,252329984
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,1361.68,0x213b0c,0,24
$CURRENT,0.032,285.36,1
$GPS,200317,164053,1404.886,6051.841,31,0.8,48,-0.6,0.0,265.0,9,10.0