version: 66.13
glider: 137
mission: 5
dive: 96
start: 3 22 117 1 59 35
data:
$ID,137
$MISSION,5
$DIVE,96
$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,32
$R_STBD_OVSHOOT,57
$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
$GPS1,220317,015357,1403.0604,6050.2720,36,0.9,43,-0.6,0.0,193.5,8,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-67.4
$GPS2,220317,015847,1403.0338,6050.2666,11,0.9,17,-0.6,0.0,77.6,9,9.3
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1400.881,6052.504
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,138.7,5662,-17.7,-10.000,-20.26,1974
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-1.34,-128.5,97,2081,330,564,0.0,0.0,0,108,0.00,0.00,-98.75,0.000,16386,0.000,0.000,97,2081,3083,2998,3169,0,0,0,0,0,0,14.89,28.83,14.91
$GC,111,-1.36,-146.0,97,2081,2998,3169,4.4,-6.5,17,137,14.45,2.72,-5.38,0.000,18980,0.443,2.104,2875,647,3388,3279,3497,0,0,0,0,0,0,14.45,13.66,14.71
$GC,234,-1.30,-146.0,2875,646,3281,3497,31.6,-16.3,40,241,0.12,2.28,0.00,0.000,3206,0.298,0.039,2891,2034,3389,3281,3497,0,0,0,0,0,0,14.54,14.70,14.72
$GC,548,-1.30,-146.0,2891,2034,3281,3497,75.4,-12.7,83,552,0.00,2.35,0.00,0.000,260,0.000,0.062,2883,3447,3388,3281,3496,0,0,0,0,0,0,15.01,14.77,15.03
$GC,585,-1.34,-146.0,2882,3447,3281,3497,80.0,-12.1,90,594,0.00,2.33,0.00,0.000,1158,0.000,0.041,2883,2032,3389,3281,3497,0,0,0,0,0,0,14.87,14.81,14.88
$GC,894,-1.34,-146.0,2882,2031,3281,3497,119.7,-12.3,122,903,0.00,2.28,0.00,0.000,516,0.000,0.058,2883,650,3389,3282,3497,0,0,0,0,0,0,15.07,14.83,15.09
$GC,936,-1.39,-146.0,2882,649,3282,3497,125.0,-12.5,130,945,0.00,2.28,0.00,0.000,1158,0.000,0.040,2872,2054,3389,3282,3497,0,0,0,0,0,0,14.92,14.85,14.93
$GC,1245,-1.39,-146.0,2872,2054,3283,3497,166.1,-13.0,162,1250,0.00,2.30,0.00,0.000,260,0.000,0.061,2862,3446,3390,3283,3497,0,0,0,0,0,0,15.09,14.85,15.11
$GC,1407,-1.47,-146.0,2862,3447,3282,3497,184.4,-10.5,194,1416,0.00,2.28,0.00,0.000,1158,0.000,0.040,2862,2042,3389,3282,3496,0,0,0,0,0,0,14.95,14.89,14.97
$GC,1719,-1.53,-146.0,2862,2042,3282,3497,212.9,-10.4,226,1724,0.00,2.28,0.00,0.000,644,0.000,0.058,2862,653,3389,3282,3496,0,0,0,0,0,0,15.09,14.88,15.11
$GC,1780,-1.59,-146.0,2862,652,3283,3497,220.0,-11.0,237,1790,0.10,2.28,0.00,0.000,5254,0.152,0.041,2815,2058,3389,3283,3496,0,0,0,0,0,0,14.88,14.90,14.95
$GC,2097,-1.59,-146.0,2814,2058,3282,3496,261.8,-12.6,263,2102,0.00,2.30,0.00,0.000,260,0.000,0.061,2804,3451,3389,3282,3496,0,0,0,0,0,0,15.10,14.88,15.12
$GC,2123,-1.59,-146.0,2804,3451,3282,3496,265.1,-11.4,268,2131,0.10,2.28,0.00,0.000,3078,0.257,0.041,2824,2050,3389,3283,3496,0,0,0,0,0,0,14.77,14.90,14.93
$GC,2431,-1.59,-146.0,2824,2050,3282,3496,298.5,-11.1,279,2432,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2050,3390,3284,3497,0,0,0,0,0,0,15.12,15.14,15.14
$GC,2730,-1.59,-146.0,2823,2050,3282,3497,336.0,-12.8,289,2732,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2050,3389,3282,3496,0,0,0,0,0,0,15.12,15.15,15.14
$GC,3030,-1.59,-146.0,2823,2050,3281,3496,371.0,-11.2,299,3037,0.00,2.30,0.00,0.000,516,0.000,0.063,2825,648,3389,3282,3497,0,0,0,0,0,0,15.13,14.90,15.15
$GC,3113,-1.59,-146.0,2824,648,3281,3497,380.5,-12.0,315,3120,0.00,2.28,0.00,0.000,1030,0.000,0.044,2816,2045,3389,3281,3497,0,0,0,0,0,0,14.99,14.92,15.01
$GC,3428,-1.59,-146.0,2815,2045,3279,3496,414.2,-11.1,327,3429,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2045,3387,3279,3496,0,0,0,0,0,0,15.13,15.15,15.15
$GC,3730,-1.59,-146.0,2816,2045,3278,3494,449.0,-11.8,337,3735,0.00,2.35,0.00,0.000,516,0.000,0.063,2816,651,3386,3278,3494,0,0,0,0,0,0,15.14,14.91,15.16
$GC,3811,-1.59,-146.0,2816,651,3277,3494,459.7,-12.6,353,3816,0.00,2.30,0.00,0.000,1030,0.000,0.045,2807,2054,3385,3278,3493,0,0,0,0,0,0,14.99,14.92,15.01
$GC,4124,-1.59,-146.0,2807,2054,3276,3492,496.7,-11.8,365,4129,0.00,2.38,0.00,0.000,516,0.000,0.066,2808,656,3384,3276,3492,0,0,0,0,0,0,15.13,14.90,15.15
$GC,4198,-1.59,-146.0,2807,655,3276,3491,506.1,-12.3,379,4204,0.12,2.28,0.00,0.000,3078,0.275,0.043,2824,2056,3382,3275,3490,0,0,0,0,0,0,14.76,14.92,14.95
$GC,4522,-1.64,-146.0,2824,2056,3273,3489,541.9,-11.4,393,4528,0.00,2.33,0.00,0.000,388,0.000,0.070,2815,3442,3380,3273,3488,0,0,0,0,0,0,15.13,14.89,15.15
$GC,4550,-1.68,-146.0,2815,3442,3273,3488,545.3,-11.6,398,4559,0.00,2.30,0.00,0.000,1158,0.000,0.050,2815,2056,3380,3273,3488,0,0,0,0,0,0,14.99,14.92,15.01
$GC,4855,-1.68,-146.0,2815,2056,3272,3487,581.2,-11.6,409,4861,0.00,2.38,0.00,0.000,516,0.000,0.070,2815,639,3379,3272,3487,0,0,0,0,0,0,15.13,14.90,15.15
$GC,4890,-1.68,-146.0,2815,639,3272,3487,585.1,-12.0,415,4895,0.00,2.33,0.00,0.000,1030,0.000,0.050,2806,2042,3379,3272,3487,0,0,0,0,0,0,14.98,14.90,15.00
$GC,5224,-1.68,-146.0,2806,2042,3270,3486,621.0,-10.2,431,5229,0.00,2.40,0.00,0.000,516,0.000,0.073,2806,643,3378,3270,3486,0,0,0,0,0,0,15.14,14.88,15.16
$GC,5257,-1.68,-146.0,2805,643,3270,3486,624.5,-10.1,437,5264,0.00,2.35,0.00,0.000,1030,0.000,0.050,2796,2065,3378,3270,3486,0,0,0,0,0,0,14.98,14.91,15.00
$GC,5592,-1.68,-146.0,2796,2065,3268,3484,659.8,-10.8,453,5593,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2065,3376,3268,3484,0,0,0,0,0,0,15.12,15.15,15.14
$GC,5893,-1.68,-146.0,2796,2065,3268,3482,695.1,-12.2,463,5900,0.00,2.42,0.00,0.000,516,0.000,0.070,2796,643,3375,3268,3482,0,0,0,0,0,0,15.13,14.89,15.15
$GC,5946,-1.68,-146.0,2795,643,3267,3482,702.5,-14.1,473,5953,0.10,2.35,0.00,0.000,3078,0.304,0.050,2803,2060,3374,3267,3482,0,0,0,0,0,0,14.73,14.90,14.94
$GC,6261,-1.68,-146.0,2803,2060,3266,3480,742.7,-12.9,485,6266,0.00,2.42,0.00,0.000,516,0.000,0.071,2804,641,3373,3266,3480,0,0,0,0,0,0,15.12,14.88,15.14
$GC,6304,-1.68,-146.0,2803,641,3266,3480,749.1,-14.4,493,6309,0.00,2.35,0.00,0.000,1030,0.000,0.050,2795,2060,3373,3266,3480,0,0,0,0,0,0,14.97,14.90,15.00
$GC,6628,-1.68,-146.0,2795,2060,3266,3479,793.1,-13.5,507,6633,0.00,2.42,0.00,0.000,516,0.000,0.070,2795,640,3372,3266,3479,0,0,0,0,0,0,15.13,14.88,15.16
$GC,6669,-1.68,-146.0,2795,639,3266,3479,799.4,-14.3,515,6674,0.12,2.38,0.00,0.000,3078,0.286,0.052,2810,2061,3372,3265,3479,0,0,0,0,0,0,14.71,14.89,14.92
$GC,6992,-1.71,-146.0,2810,2061,3264,3478,838.9,-11.8,529,7000,0.00,2.42,0.00,0.000,644,0.000,0.073,2810,650,3371,3264,3478,0,0,0,0,0,0,15.12,14.87,15.15
$GC,7037,-1.71,-146.0,2810,649,3264,3478,844.5,-11.4,537,7043,0.00,2.35,0.00,0.000,1030,0.000,0.054,2802,2057,3370,3263,3478,0,0,0,0,0,0,14.97,14.89,14.99
$GC,7361,-1.71,-146.0,2801,2058,3262,3477,880.4,-10.7,551,7365,0.00,2.42,0.00,0.000,516,0.000,0.072,2802,644,3369,3262,3477,0,0,0,0,0,0,15.11,14.87,15.14
$GC,7403,-1.71,-146.0,2801,643,3262,3477,885.1,-10.5,559,7408,0.00,2.35,0.00,0.000,1030,0.000,0.054,2792,2050,3369,3262,3477,0,0,0,0,0,0,14.97,14.89,14.99
$GC,7727,-1.71,-146.0,2791,2050,3261,3476,918.6,-10.4,573,7732,0.00,2.42,0.00,0.000,516,0.000,0.074,2792,640,3368,3261,3476,0,0,0,0,0,0,15.13,14.86,15.14
$GC,7768,-1.71,-146.0,2792,640,3261,3476,923.4,-10.3,581,7774,0.00,2.38,0.00,0.000,1030,0.000,0.055,2782,2060,3368,3261,3476,0,0,0,0,0,0,14.97,14.89,14.98
$GC,8091,-1.71,-146.0,2782,2061,3260,3474,958.9,-11.6,595,8098,0.00,2.42,0.00,0.000,516,0.000,0.072,2782,648,3367,3260,3474,0,0,0,0,0,0,15.11,14.86,15.14
$GC,8130,-1.68,-146.0,2781,648,3260,3474,963.9,-12.3,602,8137,0.15,2.35,0.00,0.000,3206,0.286,0.054,2808,2056,3367,3260,3474,0,0,0,0,0,0,14.67,14.88,14.83
$STATE,8398,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8399,begin apogee
$GC,8403,-0.33,0.0,2809,1791,3259,3474,992.2,-10.4,615,8534,1.10,0.00,126.70,2.663,10246,0.258,0.000,3101,1790,2789,2675,2904,0,0,0,0,0,0,14.66,14.06,13.12
$STATE,8535,end apogee,CONTROL_FINISHED_OK
$STATE,8535,begin climb
$GC,8536,1.36,146.0,3100,1790,2670,2901,994.0,0.0,619,8674,1.27,0.00,134.00,2.579,10246,0.163,0.000,3471,1790,2192,2062,2323,0,0,0,0,0,0,14.05,13.95,13.05
$GC,8970,1.18,146.0,3470,1790,2040,2320,942.7,14.4,634,8972,0.20,0.00,0.00,0.000,4230,0.340,0.000,3433,1790,2180,2040,2320,0,0,0,0,0,0,14.40,14.66,14.63
$GC,9270,1.07,146.0,3433,1790,2036,2320,903.2,13.3,644,9277,0.12,2.47,0.00,0.000,4484,0.386,0.073,3407,3209,2178,2036,2320,0,0,0,0,0,0,14.48,14.69,14.67
$GC,9343,0.98,146.0,3407,3209,2036,2319,893.9,12.4,659,9348,0.12,2.40,0.00,0.000,5254,0.354,0.057,3394,1793,2177,2036,2319,0,0,0,0,0,0,14.52,14.74,14.78
$GC,9655,0.94,146.0,3394,1793,2034,2319,859.8,10.7,671,9661,0.00,2.45,0.00,0.000,644,0.000,0.086,3403,392,2176,2034,2319,0,0,0,0,0,0,15.02,14.76,15.04
$GC,9685,0.88,146.0,3402,391,2034,2319,856.5,11.4,677,9691,0.15,2.38,0.00,0.000,5254,0.346,0.054,3368,1796,2176,2034,2319,0,0,0,0,0,0,14.57,14.79,14.83
$GC,10018,0.90,163.3,3368,1796,2033,2319,825.0,9.1,693,10037,0.00,2.42,14.27,2.318,8484,0.000,0.078,3368,3203,2118,1975,2262,0,0,0,0,0,0,15.06,14.54,13.77
$GC,10083,0.90,163.3,3367,3203,1975,2257,818.5,10.7,706,10088,0.00,2.40,0.00,0.000,1030,0.000,0.057,3374,1795,2116,1975,2257,0,0,0,0,0,0,14.76,14.70,14.78
$GC,10400,0.90,168.3,3374,1795,1972,2257,787.6,9.7,719,10408,0.00,2.42,3.83,1.532,8484,0.000,0.067,3371,3203,2102,1960,2245,0,0,0,0,0,0,15.00,14.59,13.66
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$STATE,17887,end climb,SURFACE_DEPTH_REACHED
$STATE,17887,begin surface coast
$FINISH,1.4,1.010000
$STATE,17908,end surface coast,CONTROL_FINISHED_OK
$STATE,17908,begin surface
$SM_CCo,17926,113.07,0.080,0,0,450,573.99
$SM_GC,2.26,9.80,0.38,113.07,0.085,0.054,0.080,92,2082,450,-14.12,-1.30,573.99,0,0,0,0,0,0,14.76,14.85,14.73
$IRIDIUM_FIX,1358.61,6047.01,210317,203638
$TT8_MAMPS,0.024717,0.15729
$HUMID,46.49
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,24.20
$XPDR_PINGS,10
$24V_AH,13.05,32.093
$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,28.475,186.250,426.800,113.075,0.000,0.000,0.000,195.275,103.250,0.000,18.895,2837.065,12176.829,775.103,2385.114,171.341,0.000,2078.714,0.000,1873.619,0.000,676.071,0.000
$DEVICE_MAMPS,442.935,2103.750,2662.965,80.325,0.000,0.000,0.000,181.305,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,634.738,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225076
$DATA_FILE_SIZE,56683,1316
$CAP_FILE_SIZE,205976,0
$CFSIZE,260034560,251686912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.016,205.03,1
$GPS,220317,070135,1401.116,6052.259,36,0.8,45,-0.6,0.4,228.2,10,9.6