version: 66.13
glider: 137
mission: 5
dive: 97
start: 3 22 117 7 7 9
data:
$ID,137
$MISSION,5
$DIVE,97
$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,33
$R_STBD_OVSHOOT,72
$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
$GPS1,220317,070135,1401.1165,6052.2588,36,0.8,45,-0.6,0.4,228.2,10,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-65.7
$GPS2,220317,070635,1401.0804,6052.2515,8,0.9,21,-0.6,0.0,293.0,9,9.8
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1403.823,6053.494
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,24.3,5548,-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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-1.28,-146.0,92,2088,330,564,0.0,0.0,0,107,0.00,0.00,-97.90,0.000,16386,0.000,0.000,92,2089,3051,2969,3133,0,0,0,0,0,0,14.88,28.83,14.90
$GC,110,-1.28,-146.0,92,2089,2969,3133,4.2,-5.3,17,136,14.20,2.50,-6.28,0.000,18724,0.431,2.105,2881,3412,3388,3283,3494,0,0,0,0,0,0,14.42,13.65,14.70
$GC,167,-1.28,-146.0,2881,3413,3284,3495,17.9,-14.3,27,174,0.00,2.28,0.00,0.000,1030,0.000,0.038,2882,2033,3389,3284,3494,0,0,0,0,0,0,14.73,14.68,14.76
$GC,476,-1.23,-146.0,2881,2032,3284,3494,64.4,-15.3,79,486,0.12,2.30,0.00,0.000,2692,0.283,0.055,2912,646,3389,3284,3494,0,0,0,0,0,0,14.62,14.76,14.75
$GC,507,-1.23,-146.0,2911,646,3284,3494,69.0,-14.2,85,512,0.00,2.25,0.00,0.000,1030,0.000,0.039,2904,2028,3389,3284,3494,0,0,0,0,0,0,14.85,14.79,14.86
$GC,819,-1.23,-146.0,2903,2029,3284,3495,110.7,-11.8,117,823,0.00,2.33,0.00,0.000,516,0.000,0.058,2903,641,3390,3285,3495,0,0,0,0,0,0,15.06,14.82,15.08
$GC,840,-1.23,-146.0,2903,640,3285,3494,113.2,-11.9,121,845,0.00,2.30,0.00,0.000,1030,0.000,0.040,2894,2056,3389,3284,3494,0,0,0,0,0,0,14.90,14.84,14.92
$GC,1153,-1.28,-146.0,2894,2056,3286,3494,145.1,-9.5,153,1157,0.00,2.35,0.00,0.000,676,0.000,0.059,2894,650,3390,3286,3494,0,0,0,0,0,0,15.09,14.85,15.11
$GC,1215,-1.35,-146.0,2894,650,3286,3494,151.4,-10.0,165,1220,0.00,2.28,0.00,0.000,1190,0.000,0.041,2884,2053,3390,3286,3495,0,0,0,0,0,0,14.94,14.88,14.95
$GC,1527,-1.42,-146.0,2884,2053,3286,3494,182.2,-8.7,197,1532,0.00,2.30,0.00,0.000,420,0.000,0.062,2874,3451,3390,3286,3494,0,0,0,0,0,0,15.11,14.87,15.14
$GC,1579,-1.50,-146.0,2874,3451,3286,3494,186.6,-8.5,207,1589,0.10,2.28,0.00,0.000,5286,0.157,0.040,2831,2050,3390,3286,3494,0,0,0,0,0,0,14.88,14.90,14.95
$GC,1890,-1.50,-146.0,2831,2049,3286,3494,219.3,-10.7,239,1897,0.00,2.35,0.00,0.000,260,0.000,0.061,2821,3450,3390,3286,3494,0,0,0,0,0,0,15.09,14.88,15.11
$GC,1904,-1.50,-146.0,2820,3451,3286,3494,220.8,-10.5,241,1910,0.12,2.30,0.00,0.000,3078,0.245,0.041,2848,2036,3390,3286,3494,0,0,0,0,0,0,14.76,14.90,14.92
$GC,2228,-1.50,-146.0,2848,2036,3286,3494,257.1,-11.1,270,2229,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2036,3390,3286,3494,0,0,0,0,0,0,15.11,15.13,15.13
$GC,2528,-1.50,-146.0,2848,2035,3286,3494,288.4,-10.2,280,2533,0.00,2.30,0.00,0.000,516,0.000,0.063,2849,646,3390,3286,3494,0,0,0,0,0,0,15.11,14.90,15.14
$GC,2639,-1.50,-146.0,2848,646,3285,3494,299.8,-10.5,301,2647,0.00,2.30,0.00,0.000,1030,0.000,0.043,2839,2056,3389,3285,3494,0,0,0,0,0,0,14.98,14.92,15.00
$GC,2961,-1.50,-146.0,2839,2056,3285,3494,332.2,-10.9,314,2966,0.00,2.38,0.00,0.000,516,0.000,0.062,2840,651,3389,3285,3494,0,0,0,0,0,0,15.13,14.90,15.15
$GC,3018,-1.50,-146.0,2839,650,3285,3494,339.4,-12.1,325,3027,0.00,2.30,0.00,0.000,1030,0.000,0.044,2830,2058,3390,3286,3494,0,0,0,0,0,0,14.98,14.92,15.00
$GC,3324,-1.50,-146.0,2830,2057,3283,3494,374.4,-11.6,336,3330,0.00,2.40,0.00,0.000,516,0.000,0.067,2830,647,3388,3283,3494,0,0,0,0,0,0,15.12,14.89,15.15
$GC,3381,-1.50,-146.0,2830,647,3283,3494,381.7,-12.2,347,3390,0.12,2.30,0.00,0.000,3078,0.256,0.045,2847,2052,3388,3283,3494,0,0,0,0,0,0,14.78,14.92,14.95
$GC,3691,-1.55,-146.0,2847,2052,3282,3494,411.2,-9.4,358,3696,0.00,2.38,0.00,0.000,676,0.000,0.067,2847,650,3387,3281,3494,0,0,0,0,0,0,15.14,14.89,15.16
$GC,3737,-1.55,-146.0,2847,649,3281,3494,416.3,-10.8,367,3742,0.00,2.30,0.00,0.000,1030,0.000,0.047,2838,2047,3387,3281,3494,0,0,0,0,0,0,14.99,14.91,15.00
$GC,4056,-1.55,-146.0,2838,2046,3279,3493,445.3,-8.7,380,4063,0.00,2.35,0.00,0.000,548,0.000,0.066,2838,657,3386,3279,3493,0,0,0,0,0,0,15.13,14.89,15.15
$GC,4079,-1.55,-146.0,2838,657,3279,3493,447.7,-9.6,384,4084,0.00,2.33,0.00,0.000,1062,0.000,0.049,2829,2061,3385,3278,3493,0,0,0,0,0,0,14.98,14.91,15.00
$GC,4392,-1.55,-146.0,2829,2061,3278,3490,475.5,-8.9,396,4399,0.00,2.40,0.00,0.000,548,0.000,0.071,2829,655,3384,3278,3490,0,0,0,0,0,0,15.13,14.89,15.15
$GC,4442,-1.55,-146.0,2828,654,3278,3490,480.8,-10.5,405,4448,0.00,2.30,0.00,0.000,1030,0.000,0.047,2820,2058,3383,3277,3490,0,0,0,0,0,0,14.99,14.92,15.00
$GC,4761,-1.55,-146.0,2819,2058,3277,3487,513.3,-10.6,418,4765,0.00,2.38,0.00,0.000,516,0.000,0.067,2819,657,3382,3277,3487,0,0,0,0,0,0,15.13,14.89,15.16
$GC,4797,-1.55,-146.0,2819,657,3276,3487,517.8,-11.1,425,4803,0.12,2.30,0.00,0.000,3078,0.275,0.049,2836,2053,3381,3276,3487,0,0,0,0,0,0,14.76,14.92,14.94
$GC,5128,-1.59,-146.0,2835,2053,3274,3486,551.2,-10.3,440,5133,0.00,2.38,0.00,0.000,644,0.000,0.070,2835,658,3380,3274,3486,0,0,0,0,0,0,15.14,14.88,15.16
$GC,5169,-1.59,-146.0,2835,658,3274,3486,556.2,-10.7,448,5174,0.00,2.30,0.00,0.000,1030,0.000,0.047,2827,2053,3380,3274,3486,0,0,0,0,0,0,14.98,14.92,15.00
$GC,5492,-1.59,-146.0,2826,2053,3273,3485,590.0,-10.5,462,5499,0.00,2.38,0.00,0.000,516,0.000,0.067,2827,656,3379,3273,3485,0,0,0,0,0,0,15.13,14.88,15.15
$GC,5601,-1.59,-146.0,2826,656,3272,3485,602.4,-10.5,483,5606,0.00,2.33,0.00,0.000,1030,0.000,0.050,2818,2052,3378,3272,3485,0,0,0,0,0,0,14.97,14.90,15.00
$GC,5920,-1.59,-146.0,2818,2053,3271,3482,635.7,-10.6,496,5924,0.00,2.38,0.00,0.000,516,0.000,0.070,2818,658,3376,3271,3482,0,0,0,0,0,0,15.13,14.88,15.15
$GC,5983,-1.59,-146.0,2818,658,3271,3482,643.0,-10.4,508,5988,0.10,2.30,0.00,0.000,3078,0.283,0.051,2826,2050,3376,3271,3482,0,0,0,0,0,0,14.73,14.90,14.92
$GC,6316,-1.59,-146.0,2826,2050,3269,3480,678.5,-10.9,524,6321,0.00,2.40,0.00,0.000,516,0.000,0.072,2827,648,3375,3270,3480,0,0,0,0,0,0,15.12,14.87,15.14
$GC,6341,-1.59,-146.0,2826,648,3270,3480,681.7,-11.8,529,6352,0.00,2.33,0.00,0.000,1030,0.000,0.051,2818,2048,3374,3269,3480,0,0,0,0,0,0,14.97,14.90,15.00
$GC,6648,-1.59,-146.0,2818,2048,3268,3479,714.2,-10.3,540,6653,0.00,2.38,0.00,0.000,516,0.000,0.067,2818,654,3373,3268,3479,0,0,0,0,0,0,15.12,14.88,15.14
$GC,6746,-1.59,-146.0,2818,654,3268,3478,724.8,-10.7,558,6752,0.10,2.33,0.00,0.000,3078,0.293,0.048,2826,2063,3373,3267,3479,0,0,0,0,0,0,14.71,14.89,14.92
$GC,7082,-1.62,-146.0,2825,2062,3267,3478,756.6,-9.2,574,7083,0.00,0.00,0.00,0.000,166,0.000,0.000,2826,2063,3372,3266,3478,0,0,0,0,0,0,15.13,15.16,15.15
$GC,7381,-1.65,-146.0,2826,2063,3266,3477,784.0,-9.1,584,7386,0.00,2.40,0.00,0.000,676,0.000,0.072,2827,658,3371,3266,3477,0,0,0,0,0,0,15.13,14.87,15.15
$GC,7439,-1.65,-146.0,2826,658,3266,3477,790.0,-10.0,595,7447,0.00,2.30,0.00,0.000,1062,0.000,0.050,2819,2049,3371,3266,3477,0,0,0,0,0,0,14.97,14.89,14.99
$GC,7748,-1.65,-146.0,2818,2050,3265,3476,819.1,-9.4,606,7753,0.00,2.40,0.00,0.000,548,0.000,0.072,2819,650,3371,3265,3477,0,0,0,0,0,0,15.14,14.86,15.15
$GC,7815,-1.65,-146.0,2818,650,3264,3477,826.2,-9.8,619,7820,0.00,2.33,0.00,0.000,1062,0.000,0.052,2810,2047,3370,3264,3477,0,0,0,0,0,0,14.96,14.88,14.98
$GC,8144,-1.65,-146.0,2809,2047,3263,3476,858.4,-10.0,634,8149,0.00,2.38,0.00,0.000,516,0.000,0.070,2809,658,3369,3263,3476,0,0,0,0,0,0,15.13,14.85,15.15
$GC,8230,-1.65,-146.0,2809,658,3263,3476,868.2,-11.0,651,8238,0.00,2.30,0.00,0.000,1030,0.000,0.044,2799,2061,3369,3263,3475,0,0,0,0,0,0,14.96,14.89,14.98
$GC,8538,-1.65,-146.0,2798,2061,3262,3474,901.5,-11.1,662,8543,0.00,2.38,0.00,0.000,516,0.000,0.062,2799,657,3368,3262,3474,0,0,0,0,0,0,15.13,14.86,15.15
$GC,8617,-1.62,-146.0,2799,657,3262,3473,911.1,-12.2,677,8623,0.15,2.30,0.00,0.000,3206,0.296,0.045,2820,2058,3367,3261,3473,0,0,0,0,0,0,14.64,14.89,14.90
$GC,8936,-1.62,-146.0,2820,2058,3260,3473,943.1,-9.8,690,8941,0.00,2.40,0.00,0.000,548,0.000,0.071,2820,657,3367,3261,3473,0,0,0,0,0,0,15.11,14.85,15.14
$GC,9004,-1.62,-146.0,2819,657,3261,3473,950.5,-10.1,703,9011,0.00,2.30,0.00,0.000,1030,0.000,0.046,2811,2053,3366,3260,3473,0,0,0,0,0,0,14.95,14.89,14.97
$GC,9334,-1.62,-146.0,2811,2053,3259,3471,983.7,-10.2,718,9339,0.00,2.38,0.00,0.000,516,0.000,0.063,2811,651,3365,3259,3471,0,0,0,0,0,0,15.11,14.85,15.14
$STATE,9390,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9390,begin apogee
$GC,9396,-0.33,0.0,2803,1799,3259,3471,990.3,-10.2,729,9530,1.17,0.00,130.30,2.627,10246,0.289,0.000,3099,1804,2789,2677,2901,0,0,0,0,0,0,14.59,14.07,13.16
$STATE,9531,end apogee,CONTROL_FINISHED_OK
$STATE,9531,begin climb
$GC,9533,1.28,146.0,3099,1804,2673,2898,992.6,0.0,733,9677,1.25,2.67,133.35,2.575,10756,0.184,0.081,3465,404,2187,2059,2316,0,0,0,0,0,0,14.04,13.95,13.05
$GC,9708,1.06,146.0,3463,404,2049,2315,980.1,13.3,772,9713,0.22,2.47,0.00,0.000,5254,0.323,0.052,3410,1806,2182,2048,2316,0,0,0,0,0,0,14.03,14.19,14.24
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$STATE,18877,end climb,SURFACE_DEPTH_REACHED
$STATE,18877,begin surface coast
$FINISH,1.4,1.023719
$STATE,18903,end surface coast,CONTROL_FINISHED_OK
$STATE,18903,begin surface
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$TT8_MAMPS,0.023968,0.158788
$HUMID,47.04
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,24.20
$XPDR_PINGS,12
$24V_AH,13.05,32.469
$10V_AH,13.46,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,28.950,203.800,442.950,101.825,0.000,0.000,0.000,203.500,130.000,0.000,22.252,3011.427,12760.383,746.277,2625.279,184.483,0.000,2164.806,0.000,2025.195,0.000,850.260,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,661.998,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225148
$DATA_FILE_SIZE,59953,1424
$CAP_FILE_SIZE,229118,0
$CFSIZE,260034560,251576320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.035,46.70,1
$GPS,220317,122536,1404.005,6053.321,39,1.1,48,-0.6,0.2,268.1,8,9.7