version: 66.13
glider: 137
mission: 5
dive: 99
start: 3 22 117 17 14 30
data:
$ID,137
$MISSION,5
$DIVE,99
$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,35
$R_STBD_OVSHOOT,60
$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
$GPS1,220317,170629,1406.2339,6052.8174,29,1.2,48,-0.6,0.0,227.6,7,9.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-66.1
$GPS2,220317,171356,1406.2123,6052.7690,8,0.8,20,-0.6,0.0,204.3,10,9.7
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1410.077,6053.279
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,8.1,7216,-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,-146.0,95,2083,323,576,0.0,0.0,0,110,0.00,0.00,-99.45,0.000,16386,0.000,0.000,95,2083,3136,3062,3210,0,0,0,0,0,0,14.90,28.83,14.92
$GC,112,-1.28,-146.0,95,2083,3062,3209,4.7,-7.5,17,138,14.75,2.50,-4.38,0.000,18724,0.448,2.102,2883,3429,3387,3288,3486,0,0,0,0,0,0,14.42,13.76,14.71
$GC,191,-1.28,-146.0,2883,3429,3289,3486,23.2,-14.2,31,197,0.00,2.30,0.00,0.000,1030,0.000,0.042,2883,2041,3387,3289,3486,0,0,0,0,0,0,14.74,14.69,14.76
$GC,499,-1.28,-146.0,2883,2040,3289,3486,66.7,-13.5,80,508,0.00,2.33,0.00,0.000,516,0.000,0.061,2883,640,3387,3289,3486,0,0,0,0,0,0,15.01,14.76,15.02
$GC,534,-1.25,-146.0,2883,640,3289,3486,71.7,-14.2,87,541,0.12,2.28,0.00,0.000,3206,0.277,0.043,2899,2030,3388,3289,3487,0,0,0,0,0,0,14.64,14.80,14.82
$GC,840,-1.25,-146.0,2899,2031,3289,3486,109.2,-12.7,118,841,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2031,3387,3289,3486,0,0,0,0,0,0,15.07,15.09,15.09
$GC,1141,-1.32,-146.0,2899,2031,3290,3486,144.4,-10.4,148,1150,0.00,2.35,0.00,0.000,388,0.000,0.061,2890,3456,3388,3290,3486,0,0,0,0,0,0,15.10,14.85,15.11
$GC,1184,-1.41,-146.0,2890,3455,3290,3486,149.1,-10.3,157,1192,0.10,2.30,0.00,0.000,5254,0.153,0.041,2845,2048,3388,3290,3486,0,0,0,0,0,0,14.87,14.88,14.94
$GC,1491,-1.41,-146.0,2845,2047,3290,3486,186.5,-13.5,188,1496,0.10,2.30,0.00,0.000,2564,0.278,0.059,2863,650,3388,3290,3486,0,0,0,0,0,0,14.76,14.88,14.91
$GC,1581,-1.41,-146.0,2863,649,3290,3486,199.4,-14.1,206,1589,0.00,2.28,0.00,0.000,1030,0.000,0.043,2855,2050,3388,3291,3486,0,0,0,0,0,0,14.96,14.90,14.97
$GC,1889,-1.45,-146.0,2854,2050,3290,3486,236.5,-10.9,237,1894,0.00,2.30,0.00,0.000,388,0.000,0.061,2845,3449,3388,3290,3487,0,0,0,0,0,0,15.10,14.88,15.12
$GC,1944,-1.50,-146.0,2844,3448,3290,3486,242.1,-9.8,247,1949,0.00,2.28,0.00,0.000,1190,0.000,0.040,2845,2049,3388,3290,3486,0,0,0,0,0,0,14.97,14.90,14.98
$GC,2259,-1.50,-146.0,2844,2048,3290,3486,277.6,-11.4,263,2263,0.00,2.33,0.00,0.000,516,0.000,0.063,2844,641,3388,3290,3486,0,0,0,0,0,0,15.12,14.89,15.14
$GC,2344,-1.50,-146.0,2844,641,3289,3486,288.2,-10.7,280,2352,0.00,2.30,0.00,0.000,1030,0.000,0.044,2834,2049,3388,3290,3486,0,0,0,0,0,0,14.97,14.90,14.99
$GC,2653,-1.50,-146.0,2834,2049,3287,3486,318.8,-9.7,291,2658,0.00,2.38,0.00,0.000,548,0.000,0.066,2834,640,3386,3287,3486,0,0,0,0,0,0,15.13,14.89,15.16
$GC,2695,-1.50,-146.0,2834,640,3286,3486,323.5,-10.1,299,2700,0.12,2.33,0.00,0.000,3078,0.249,0.048,2852,2053,3386,3286,3486,0,0,0,0,0,0,14.78,14.90,14.94
$GC,3019,-1.56,-146.0,2851,2053,3284,3486,353.8,-9.4,313,3025,0.00,2.35,0.00,0.000,420,0.000,0.072,2843,3457,3385,3284,3486,0,0,0,0,0,0,15.13,14.90,15.15
$GC,3054,-1.63,-146.0,2842,3457,3284,3486,357.3,-9.5,319,3059,0.00,2.30,0.00,0.000,1190,0.000,0.044,2843,2053,3385,3284,3486,0,0,0,0,0,0,14.99,14.92,15.00
$GC,3388,-1.67,-146.0,2842,2053,3283,3486,390.0,-9.7,335,3390,0.12,0.00,0.00,0.000,4262,0.142,0.000,2803,2052,3384,3283,3486,0,0,0,0,0,0,14.91,15.01,14.99
$GC,3687,-1.67,-146.0,2802,2052,3282,3486,424.4,-11.6,345,3689,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2052,3384,3282,3486,0,0,0,0,0,0,15.14,15.16,15.16
$GC,3989,-1.67,-146.0,2802,2051,3280,3486,459.7,-11.9,355,3994,0.00,2.35,0.00,0.000,516,0.000,0.067,2803,642,3383,3280,3486,0,0,0,0,0,0,15.14,14.90,15.16
$GC,4047,-1.63,-146.0,2802,642,3279,3486,467.2,-12.6,366,4056,0.12,2.33,0.00,0.000,3206,0.292,0.048,2817,2051,3382,3279,3486,0,0,0,0,0,0,14.74,14.92,14.95
$GC,4352,-1.63,-146.0,2817,2051,3278,3485,499.6,-10.3,377,4359,0.00,2.38,0.00,0.000,260,0.000,0.076,2808,3455,3381,3278,3485,0,0,0,0,0,0,15.13,14.88,15.15
$GC,4406,-1.63,-146.0,2808,3455,3278,3484,505.2,-10.2,387,4411,0.00,2.33,0.00,0.000,1030,0.000,0.047,2808,2049,3381,3278,3484,0,0,0,0,0,0,14.99,14.91,15.00
$GC,4719,-1.63,-146.0,2808,2049,3276,3482,535.8,-10.1,399,4724,0.00,2.35,0.00,0.000,516,0.000,0.070,2809,645,3378,3276,3481,0,0,0,0,0,0,15.14,14.88,15.16
$GC,4762,-1.63,-146.0,2809,644,3276,3481,540.6,-10.7,407,4767,0.00,2.33,0.00,0.000,1030,0.000,0.047,2800,2059,3378,3276,3481,0,0,0,0,0,0,14.99,14.91,15.00
$GC,5086,-1.63,-146.0,2800,2058,3274,3479,575.4,-11.1,421,5090,0.00,2.40,0.00,0.000,516,0.000,0.067,2800,647,3376,3274,3479,0,0,0,0,0,0,15.14,14.88,15.16
$GC,5164,-1.58,-146.0,2800,646,3273,3479,585.3,-13.2,436,5170,0.17,2.30,0.00,0.000,3206,0.272,0.044,2830,2058,3376,3273,3479,0,0,0,0,0,0,14.73,14.91,14.90
$GC,5483,-1.62,-146.0,2829,2058,3272,3478,617.3,-10.0,449,5488,0.00,2.40,0.00,0.000,644,0.000,0.066,2830,643,3375,3272,3478,0,0,0,0,0,0,15.13,14.88,15.15
$GC,5526,-1.62,-146.0,2830,643,3272,3478,622.3,-11.1,457,5531,0.00,2.28,0.00,0.000,1030,0.000,0.044,2821,2044,3375,3272,3478,0,0,0,0,0,0,14.93,14.90,14.96
$GC,5850,-1.62,-146.0,2821,2045,3270,3477,654.9,-10.1,471,5855,0.00,2.38,0.00,0.000,516,0.000,0.061,2822,636,3373,3270,3477,0,0,0,0,0,0,15.14,14.88,15.16
$GC,5887,-1.62,-146.0,2821,636,3270,3477,659.1,-10.5,478,5893,0.00,2.33,0.00,0.000,1030,0.000,0.046,2812,2047,3373,3270,3477,0,0,0,0,0,0,14.97,14.90,15.00
$GC,6216,-1.62,-146.0,2811,2047,3269,3476,692.4,-10.1,493,6217,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2047,3372,3269,3476,0,0,0,0,0,0,15.12,15.15,15.14
$GC,6518,-1.62,-146.0,2811,2047,3268,3474,722.9,-10.0,503,6522,0.00,2.42,0.00,0.000,516,0.000,0.074,2812,639,3371,3268,3474,0,0,0,0,0,0,15.14,14.86,15.16
$GC,6580,-1.62,-146.0,2811,639,3268,3473,729.9,-10.9,515,6585,0.00,2.35,0.00,0.000,1030,0.000,0.051,2802,2053,3370,3268,3473,0,0,0,0,0,0,14.97,14.90,15.00
$GC,6913,-1.62,-146.0,2802,2053,3267,3472,764.8,-10.5,531,6918,0.00,2.42,0.00,0.000,516,0.000,0.075,2806,647,3369,3266,3472,0,0,0,0,0,0,15.12,14.85,15.15
$GC,6950,-1.62,-146.0,2806,647,3267,3472,769.3,-11.0,538,6956,0.12,2.35,0.00,0.000,3078,0.275,0.054,2823,2051,3369,3267,3472,0,0,0,0,0,0,14.71,14.88,14.91
$GC,7280,-1.65,-146.0,2823,2051,3266,3471,802.4,-10.3,553,7285,0.00,2.40,0.00,0.000,644,0.000,0.070,2823,647,3368,3266,3471,0,0,0,0,0,0,15.13,14.86,15.16
$GC,7333,-1.65,-146.0,2823,647,3266,3471,808.6,-11.4,563,7340,0.00,2.35,0.00,0.000,1030,0.000,0.050,2815,2061,3368,3266,3471,0,0,0,0,0,0,14.97,14.88,14.98
$GC,7648,-1.65,-146.0,2814,2062,3265,3470,843.9,-11.4,575,7655,0.00,2.42,0.00,0.000,516,0.000,0.070,2815,643,3367,3265,3470,0,0,0,0,0,0,15.12,14.86,15.14
$GC,7691,-1.65,-146.0,2814,643,3264,3470,849.3,-12.6,583,7697,0.00,2.38,0.00,0.000,1030,0.000,0.053,2805,2058,3367,3264,3470,0,0,0,0,0,0,14.96,14.88,14.98
$GC,8014,-1.65,-146.0,2804,2058,3263,3469,886.5,-11.5,597,8019,0.00,2.42,0.00,0.000,516,0.000,0.075,2804,647,3366,3264,3469,0,0,0,0,0,0,15.11,14.85,15.14
$GC,8092,-1.65,-146.0,2804,647,3263,3468,896.2,-11.8,612,8098,0.00,2.38,0.00,0.000,1030,0.000,0.055,2795,2060,3365,3263,3468,0,0,0,0,0,0,14.95,14.87,14.97
$GC,8410,-1.65,-146.0,2794,2061,3262,3468,931.4,-11.0,625,8415,0.00,2.45,0.00,0.000,516,0.000,0.078,2795,646,3365,3262,3468,0,0,0,0,0,0,15.11,14.83,15.14
$GC,8476,-1.61,-146.0,2794,646,3262,3467,939.1,-11.6,637,8482,0.12,2.38,0.00,0.000,3206,0.288,0.055,2817,2069,3364,3261,3467,0,0,0,0,0,0,14.66,14.87,14.81
$GC,8810,-1.61,-146.0,2817,2069,3260,3467,970.6,-9.2,653,8811,0.00,0.00,0.00,0.000,38,0.000,0.000,2817,2069,3363,3260,3467,0,0,0,0,0,0,15.11,15.14,15.14
$STATE,9049,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9049,begin apogee
$GC,9054,-0.33,0.0,2816,1792,3260,3466,992.7,-9.3,661,9185,1.10,0.00,127.55,2.647,10246,0.279,0.000,3099,1789,2789,2681,2897,0,0,0,0,0,0,14.61,14.07,13.13
$STATE,9186,end apogee,CONTROL_FINISHED_OK
$STATE,9186,begin climb
$GC,9187,1.28,146.0,3099,1789,2675,2894,994.3,0.0,665,9326,1.27,0.00,134.40,2.574,10246,0.193,0.000,3453,1789,2194,2071,2317,0,0,0,0,0,0,14.04,13.95,13.05
$GC,9620,1.11,146.0,3453,1789,2045,2314,948.4,12.9,680,9622,0.17,0.00,0.00,0.000,4230,0.327,0.000,3421,1790,2179,2045,2314,0,0,0,0,0,0,14.37,14.65,14.62
$GC,9919,0.99,146.0,3421,1789,2042,2314,914.8,11.1,690,9925,0.12,2.45,0.00,0.000,4484,0.386,0.068,3395,3206,2178,2042,2314,0,0,0,0,0,0,14.50,14.69,14.67
$GC,9946,0.89,146.0,3395,3206,2041,2314,911.7,10.8,695,9953,0.15,2.40,0.00,0.000,5254,0.334,0.057,3372,1794,2177,2042,2313,0,0,0,0,0,0,14.54,14.73,14.76
$GC,10252,0.92,172.8,3372,1794,2039,2313,884.0,8.8,706,10282,0.00,2.50,23.33,2.431,8740,0.000,0.088,3381,392,2078,1936,2220,0,0,0,0,0,0,15.01,14.38,13.62
$GC,10318,0.88,172.8,3380,391,1930,2220,877.9,10.7,719,10322,0.00,2.42,0.00,0.000,1158,0.000,0.055,3381,1797,2075,1930,2220,0,0,0,0,0,0,14.63,14.56,14.65
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$STATE,18850,end climb,SURFACE_DEPTH_REACHED
$STATE,18850,begin surface coast
$FINISH,1.4,1.023769
$STATE,18883,end surface coast,CONTROL_FINISHED_OK
$STATE,18883,begin surface
$SM_CCo,18900,126.03,0.080,0,0,450,573.99
$SM_GC,2.23,9.62,0.43,126.03,0.067,0.056,0.080,88,2063,450,-14.13,-1.19,573.99,0,0,0,0,0,0,14.78,14.85,14.73
$IRIDIUM_FIX,1400.84,6050.89,220317,170800
$TT8_MAMPS,0.024717,0.158039
$HUMID,46.18
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,24.30
$XPDR_PINGS,12
$24V_AH,13.05,33.084
$10V_AH,13.68,0.000
$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,28.800,201.775,383.500,126.025,0.000,0.000,0.000,234.425,116.500,0.000,21.254,3020.995,12927.739,759.723,2590.791,182.326,0.000,2164.127,0.000,2001.535,0.000,760.555,0.000
$DEVICE_MAMPS,447.525,2102.220,2646.900,79.560,0.000,0.000,0.000,178.245,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,667.461,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,59966,1407
$CAP_FILE_SIZE,222511,0
$CFSIZE,260034560,251412480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.022,84.65,1
$GPS,220317,223306,1409.114,6052.860,49,0.9,54,-0.5,0.0,0.0,8,9.5