version: 66.13
glider: 137
mission: 5
dive: 109
start: 3 24 117 20 58 7
data:
$ID,137
$MISSION,5
$DIVE,109
$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,34
$R_STBD_OVSHOOT,51
$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
$GPS1,240317,204941,1358.6536,6109.1118,31,0.9,41,-0.6,0.2,173.5,9,9.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-66.7
$GPS2,240317,205733,1358.6202,6109.0918,12,0.9,22,-0.6,0.0,213.7,8,9.1
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1402.124,6109.867
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,3.0,6637,-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,8,-1.28,-146.0,91,2076,327,568,0.0,0.0,0,110,0.00,0.00,-99.62,0.000,16386,0.000,0.000,91,2077,3109,3033,3185,0,0,0,0,0,0,14.89,28.83,14.92
$GC,112,-1.28,-146.0,91,2077,3033,3185,4.5,-6.5,17,138,14.10,2.50,-5.00,0.000,18724,0.425,2.098,2880,3436,3387,3288,3487,0,0,0,0,0,0,14.40,13.74,14.70
$GC,220,-1.28,-146.0,2880,3436,3289,3487,27.2,-13.4,37,228,0.00,2.30,0.00,0.000,1030,0.000,0.040,2880,2043,3387,3289,3486,0,0,0,0,0,0,14.76,14.69,14.77
$GC,530,-1.24,-146.0,2880,2042,3289,3487,71.9,-14.1,83,539,0.12,2.33,0.00,0.000,2692,0.283,0.058,2911,643,3387,3289,3486,0,0,0,0,0,0,14.62,14.76,14.75
$GC,594,-1.27,-146.0,2911,643,3289,3487,80.3,-11.0,96,602,0.00,2.30,0.00,0.000,1158,0.000,0.042,2903,2047,3387,3289,3486,0,0,0,0,0,0,14.86,14.80,14.88
$GC,902,-1.32,-146.0,2902,2047,3289,3486,114.3,-10.8,127,910,0.00,2.38,0.00,0.000,644,0.000,0.063,2903,641,3387,3289,3486,0,0,0,0,0,0,15.07,14.81,15.09
$GC,953,-1.40,-146.0,2902,641,3289,3486,119.5,-9.5,137,958,0.10,2.30,0.00,0.000,5286,0.158,0.043,2850,2058,3387,3289,3486,0,0,0,0,0,0,14.82,14.85,14.90
$GC,1265,-1.37,-146.0,2849,2058,3290,3487,154.6,-12.6,169,1271,0.12,2.30,0.00,0.000,2436,0.269,0.058,2870,3450,3388,3290,3487,0,0,0,0,0,0,14.69,14.85,14.83
$GC,1359,-1.45,-146.0,2870,3450,3290,3486,164.2,-9.6,187,1368,0.00,2.28,0.00,0.000,1190,0.000,0.041,2870,2038,3388,3290,3486,0,0,0,0,0,0,14.89,14.85,14.91
$GC,1668,-1.50,-146.0,2870,2038,3289,3487,199.3,-11.3,219,1670,0.10,0.00,0.00,0.000,4230,0.152,0.000,2824,2036,3387,3289,3486,0,0,0,0,0,0,14.90,14.97,14.95
$GC,1969,-1.47,-146.0,2824,2036,3290,3487,238.7,-13.1,249,1971,0.15,0.00,0.00,0.000,2182,0.256,0.000,2857,2033,3388,3290,3486,0,0,0,0,0,0,14.73,14.95,14.92
$GC,2271,-1.51,-146.0,2856,2034,3290,3486,267.7,-9.2,267,2272,0.00,0.00,0.00,0.000,166,0.000,0.000,2856,2033,3388,3290,3487,0,0,0,0,0,0,15.12,15.14,15.14
$GC,2570,-1.56,-146.0,2856,2033,3289,3486,293.4,-8.7,277,2576,0.00,2.38,0.00,0.000,420,0.000,0.063,2848,3445,3388,3289,3487,0,0,0,0,0,0,15.13,14.89,15.15
$GC,2598,-1.62,-146.0,2847,3444,3289,3486,296.1,-8.7,282,2608,0.10,2.28,0.00,0.000,5286,0.163,0.041,2813,2051,3388,3289,3487,0,0,0,0,0,0,14.88,14.91,14.97
$GC,2904,-1.58,-146.0,2812,2050,3286,3486,330.1,-11.6,293,2909,0.00,2.33,0.00,0.000,644,0.000,0.063,2813,644,3386,3287,3486,0,0,0,0,0,0,15.13,14.88,15.15
$GC,2972,-1.53,-146.0,2813,644,3286,3486,339.3,-12.8,306,2979,0.17,2.30,0.00,0.000,3206,0.262,0.043,2842,2057,3386,3286,3486,0,0,0,0,0,0,14.74,14.91,14.91
$GC,3302,-1.57,-146.0,2842,2058,3284,3486,375.2,-10.9,321,3308,0.00,2.33,0.00,0.000,388,0.000,0.065,2833,3454,3385,3284,3486,0,0,0,0,0,0,15.12,14.88,15.14
$GC,3340,-1.61,-146.0,2832,3454,3284,3487,379.6,-10.7,328,3345,0.00,2.30,0.00,0.000,1158,0.000,0.042,2833,2052,3385,3284,3486,0,0,0,0,0,0,14.97,14.91,15.00
$GC,3668,-1.61,-146.0,2832,2051,3283,3486,414.6,-10.5,343,3670,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2052,3384,3282,3486,0,0,0,0,0,0,15.13,15.16,15.15
$GC,3968,-1.61,-146.0,2832,2052,3281,3486,444.8,-10.0,353,3974,0.00,2.35,0.00,0.000,548,0.000,0.067,2833,643,3383,3281,3486,0,0,0,0,0,0,15.13,14.88,15.15
$GC,4026,-1.61,-146.0,2832,643,3280,3486,451.3,-10.0,364,4034,0.00,2.33,0.00,0.000,1030,0.000,0.047,2823,2053,3383,3280,3486,0,0,0,0,0,0,14.98,14.91,15.00
$GC,4334,-1.61,-146.0,2823,2053,3278,3485,482.6,-10.2,375,4335,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2053,3382,3278,3486,0,0,0,0,0,0,15.13,15.16,15.15
$GC,4634,-1.61,-146.0,2823,2053,3277,3484,512.1,-9.7,385,4635,0.00,0.00,0.00,0.000,38,0.000,0.000,2823,2053,3380,3277,3484,0,0,0,0,0,0,15.13,15.16,15.15
$GC,4934,-1.61,-146.0,2823,2053,3275,3482,542.9,-10.3,395,4940,0.00,2.40,0.00,0.000,516,0.000,0.067,2823,643,3379,3276,3482,0,0,0,0,0,0,15.13,14.88,15.14
$GC,5012,-1.61,-146.0,2823,643,3275,3481,552.1,-11.5,410,5017,0.00,2.33,0.00,0.000,1030,0.000,0.047,2813,2047,3378,3275,3481,0,0,0,0,0,0,14.97,14.89,14.99
$GC,5329,-1.61,-146.0,2812,2047,3274,3479,588.5,-11.6,423,5331,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2047,3376,3274,3479,0,0,0,0,0,0,15.12,15.15,15.14
$GC,5631,-1.61,-146.0,2812,2047,3273,3478,623.7,-11.8,433,5632,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2048,3375,3273,3478,0,0,0,0,0,0,15.14,15.16,15.16
$GC,5930,-1.61,-146.0,2813,2047,3271,3477,658.4,-11.6,443,5935,0.00,2.40,0.00,0.000,516,0.000,0.073,2813,652,3374,3271,3477,0,0,0,0,0,0,15.13,14.86,15.15
$GC,5994,-1.61,-146.0,2812,651,3271,3477,666.0,-11.2,455,5999,0.00,2.33,0.00,0.000,1030,0.000,0.050,2803,2056,3374,3271,3477,0,0,0,0,0,0,14.97,14.89,14.99
$GC,6327,-1.61,-146.0,2803,2056,3270,3476,704.6,-11.6,471,6328,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2056,3373,3270,3476,0,0,0,0,0,0,15.12,15.15,15.14
$GC,6627,-1.61,-146.0,2803,2056,3269,3475,739.5,-11.8,481,6635,0.00,2.40,0.00,0.000,516,0.000,0.069,2803,650,3372,3269,3475,0,0,0,0,0,0,15.12,14.85,15.14
$GC,6706,-1.57,-146.0,2803,650,3268,3474,749.7,-11.7,496,6712,0.15,2.33,0.00,0.000,3206,0.288,0.050,2828,2053,3371,3268,3474,0,0,0,0,0,0,14.65,14.88,14.81
$GC,7025,-1.60,-146.0,2828,2053,3267,3474,783.4,-10.9,509,7032,0.00,2.38,0.00,0.000,388,0.000,0.075,2819,3451,3370,3267,3474,0,0,0,0,0,0,15.12,14.83,15.14
$GC,7071,-1.65,-146.0,2819,3451,3267,3473,788.5,-10.4,517,7076,0.00,2.35,0.00,0.000,1158,0.000,0.052,2819,2047,3370,3267,3473,0,0,0,0,0,0,14.95,14.87,14.97
$GC,7394,-1.65,-146.0,2819,2048,3266,3472,823.9,-11.0,531,7399,0.00,2.38,0.00,0.000,516,0.000,0.073,2819,643,3369,3266,3472,0,0,0,0,0,0,15.11,14.84,15.14
$GC,7436,-1.65,-146.0,2819,643,3266,3471,829.1,-12.2,539,7441,0.00,2.35,0.00,0.000,1030,0.000,0.055,2809,2043,3368,3266,3471,0,0,0,0,0,0,14.95,14.85,14.97
$GC,7760,-1.65,-146.0,2809,2043,3265,3471,865.4,-11.1,553,7761,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2043,3367,3265,3470,0,0,0,0,0,0,15.12,15.14,15.14
$GC,8059,-1.65,-146.0,2809,2043,3264,3470,899.7,-11.5,563,8064,0.00,2.40,0.00,0.000,516,0.000,0.073,2809,650,3367,3264,3470,0,0,0,0,0,0,15.11,14.83,15.14
$GC,8175,-1.65,-146.0,2809,649,3263,3469,914.0,-13.3,585,8180,0.00,2.35,0.00,0.000,1030,0.000,0.054,2799,2053,3366,3263,3469,0,0,0,0,0,0,14.94,14.85,14.96
$GC,8489,-1.65,-146.0,2799,2054,3263,3468,950.6,-11.6,597,8495,0.00,2.42,0.00,0.000,516,0.000,0.073,2799,648,3365,3263,3468,0,0,0,0,0,0,15.11,14.82,15.14
$GC,8548,-1.61,-146.0,2799,648,3263,3468,957.9,-11.9,608,8556,0.15,2.38,0.00,0.000,3206,0.307,0.057,2820,2058,3365,3262,3468,0,0,0,0,0,0,14.59,14.85,14.85
$GC,8852,-1.61,-146.0,2819,2058,3261,3468,989.3,-10.2,619,8854,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2058,3364,3261,3468,0,0,0,0,0,0,15.11,15.14,15.13
$STATE,8882,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8882,begin apogee
$GC,8887,-0.33,0.0,2821,1799,3261,3468,992.2,-10.0,620,9023,1.08,0.00,132.82,2.604,10246,0.274,0.000,3097,1796,2789,2681,2897,0,0,0,0,0,0,14.58,14.07,13.16
$STATE,9024,end apogee,CONTROL_FINISHED_OK
$STATE,9025,begin climb
$GC,9026,1.28,146.0,3097,1796,2676,2895,994.7,0.0,624,9165,1.20,0.00,134.75,2.586,10246,0.164,0.000,3450,1796,2193,2070,2317,0,0,0,0,0,0,14.04,13.94,13.03
$GC,9453,1.10,146.0,3449,1796,2046,2313,948.8,13.4,639,9459,0.15,2.47,0.00,0.000,4740,0.331,0.087,3426,404,2178,2044,2313,0,0,0,0,0,0,14.35,14.52,14.52
$GC,9530,0.96,146.0,3426,404,2040,2313,939.0,11.7,655,9535,0.20,2.40,0.00,0.000,5254,0.337,0.056,3387,1801,2176,2039,2313,0,0,0,0,0,0,14.40,14.60,14.65
$GC,9838,0.89,149.8,3387,1801,2038,2313,908.5,9.8,666,9844,0.00,2.40,0.00,0.000,420,0.000,0.075,3387,3205,2175,2038,2313,0,0,0,0,0,0,14.96,14.69,14.98
$GC,9886,0.80,150.2,3386,3205,2038,2313,903.5,10.0,676,9891,0.22,2.40,0.00,0.000,5286,0.347,0.057,3350,1794,2176,2038,2314,0,0,0,0,0,0,14.50,14.73,14.75
$GC,10193,0.85,192.2,3350,1794,2036,2313,878.3,8.1,687,10240,0.00,2.58,39.83,2.466,8740,0.000,0.089,3359,404,2000,1857,2144,0,0,0,0,0,0,15.02,14.34,13.45
$GC,10291,0.85,192.2,3359,404,1848,2143,869.2,10.0,707,10295,0.00,2.42,0.00,0.000,1030,0.000,0.053,3359,1803,1995,1848,2143,0,0,0,0,0,0,14.54,14.47,14.56
$GC,10607,0.85,192.2,3358,1803,1844,2143,837.5,10.3,720,10611,0.00,2.42,0.00,0.000,260,0.000,0.076,3359,3207,1994,1844,2144,0,0,0,0,0,0,14.92,14.67,14.94
$GC,10646,0.85,192.2,3359,3207,1844,2144,833.1,11.0,728,10650,0.00,2.42,0.00,0.000,1030,0.000,0.059,3368,1797,1993,1844,2143,0,0,0,0,0,0,14.78,14.70,14.80
$GC,10963,0.85,192.2,3368,1797,1842,2144,798.1,11.3,741,10968,0.00,2.47,0.00,0.000,260,0.000,0.074,3368,3214,1992,1842,2143,0,0,0,0,0,0,15.00,14.75,15.02
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$STATE,18582,end climb,SURFACE_DEPTH_REACHED
$STATE,18582,begin surface coast
$FINISH,1.3,1.015910
$STATE,18614,end surface coast,CONTROL_FINISHED_OK
$STATE,18614,begin surface
$SM_CCo,18630,108.70,0.080,0,0,448,573.99
$SM_GC,2.21,9.50,0.45,108.70,0.064,0.053,0.080,96,2071,448,-14.09,-1.02,573.99,0,0,0,0,0,0,14.77,14.85,14.73
$IRIDIUM_FIX,1347.51,6109.89,240317,160150
$TT8_MAMPS,0.023968,0.158788
$HUMID,47.75
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,24.10
$XPDR_PINGS,10
$24V_AH,13.03,36.608
$10V_AH,13.66,0.000
$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,28.300,187.350,419.200,108.700,0.000,0.000,0.000,256.725,102.750,0.000,23.214,2930.720,12825.010,771.272,2519.861,172.100,0.000,2162.884,0.000,1944.671,0.000,671.785,0.000
$DEVICE_MAMPS,425.340,2098.395,2604.060,80.325,0.000,0.000,0.000,175.950,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,656.972,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225144
$DATA_FILE_SIZE,60059,1367
$CAP_FILE_SIZE,213208,0
$CFSIZE,260034560,250560512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.054,131.43,1
$GPS,250317,021149,1400.994,6109.513,28,0.8,46,-0.6,0.0,32.9,9,10.0