version: 66.13
glider: 137
mission: 5
dive: 110
start: 3 25 117 2 25 2
data:
$ID,137
$MISSION,5
$DIVE,110
$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,54
$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
$GPS1,250317,021149,1400.9941,6109.5127,28,0.8,46,-0.6,0.0,32.9,9,10.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-66.2
$GPS2,250317,022427,1400.9867,6109.5386,9,0.8,21,-0.6,0.0,197.3,9,9.0
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1404.044,6110.175
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,2.7,5776,-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,-146.0,96,2076,331,563,0.0,0.0,0,108,0.00,0.00,-98.88,0.000,16386,0.000,0.000,97,2076,3092,3008,3176,0,0,0,0,0,0,14.88,28.83,14.90
$GC,111,-1.28,-146.0,96,2075,3009,3176,4.5,-6.4,17,137,14.38,2.58,-5.30,0.000,18724,0.435,2.088,2881,3430,3389,3284,3494,0,0,0,0,0,0,14.39,13.60,14.69
$GC,208,-1.28,-146.0,2881,3430,3285,3494,25.2,-14.1,35,215,0.00,2.30,0.00,0.000,1030,0.000,0.037,2881,2034,3389,3285,3494,0,0,0,0,0,0,14.75,14.69,14.76
$GC,522,-1.25,-146.0,2880,2034,3285,3494,70.2,-14.1,83,532,0.10,2.30,0.00,0.000,2692,0.296,0.059,2899,649,3389,3285,3494,0,0,0,0,0,0,14.63,14.76,14.79
$GC,593,-1.25,-146.0,2899,648,3285,3494,80.0,-13.2,97,598,0.00,2.28,0.00,0.000,1030,0.000,0.042,2891,2042,3389,3285,3494,0,0,0,0,0,0,14.86,14.81,14.88
$GC,905,-1.29,-146.0,2891,2043,3285,3494,115.3,-8.8,129,910,0.00,2.35,0.00,0.000,676,0.000,0.060,2891,644,3389,3285,3493,0,0,0,0,0,0,15.07,14.83,15.09
$GC,957,-1.32,-146.0,2891,644,3285,3494,119.7,-9.0,139,966,0.00,2.30,0.00,0.000,1190,0.000,0.042,2881,2057,3389,3285,3494,0,0,0,0,0,0,14.92,14.85,14.93
$GC,1267,-1.35,-146.0,2881,2057,3285,3494,147.3,-10.7,171,1271,0.00,2.30,0.00,0.000,388,0.000,0.060,2871,3450,3389,3285,3494,0,0,0,0,0,0,15.10,14.85,15.12
$GC,1322,-1.41,-146.0,2870,3450,3285,3494,153.6,-11.1,182,1329,0.00,2.28,0.00,0.000,1158,0.000,0.039,2871,2052,3389,3285,3494,0,0,0,0,0,0,14.95,14.88,14.96
$GC,1628,-1.46,-146.0,2870,2051,3284,3494,189.8,-12.4,213,1633,0.00,2.35,0.00,0.000,388,0.000,0.060,2861,3450,3389,3285,3494,0,0,0,0,0,0,15.11,14.87,15.14
$GC,1702,-1.54,-146.0,2861,3450,3285,3494,199.0,-11.9,228,1710,0.00,2.30,0.00,0.000,1158,0.000,0.040,2861,2038,3389,3285,3494,0,0,0,0,0,0,14.96,14.90,14.97
$GC,2011,-1.59,-146.0,2861,2038,3285,3494,230.5,-9.2,259,2018,0.12,2.30,0.00,0.000,4772,0.132,0.059,2808,644,3389,3285,3494,0,0,0,0,0,0,14.90,14.87,14.92
$GC,2084,-1.52,-146.0,2808,644,3285,3494,239.3,-11.7,272,2092,0.20,2.30,0.00,0.000,3206,0.251,0.041,2845,2061,3389,3285,3494,0,0,0,0,0,0,14.73,14.89,14.91
$GC,2412,-1.55,-146.0,2845,2061,3284,3494,269.2,-9.2,291,2419,0.00,2.30,0.00,0.000,420,0.000,0.063,2835,3450,3389,3284,3494,0,0,0,0,0,0,15.11,14.88,15.13
$GC,2431,-1.58,-146.0,2835,3450,3284,3494,271.3,-9.7,294,2438,0.00,2.30,0.00,0.000,1190,0.000,0.041,2835,2040,3389,3284,3494,0,0,0,0,0,0,14.97,14.90,14.98
$GC,2752,-1.58,-146.0,2835,2040,3283,3494,303.2,-9.2,307,2757,0.00,2.40,0.00,0.000,292,0.000,0.064,2825,3461,3388,3283,3494,0,0,0,0,0,0,15.12,14.88,15.14
$GC,2794,-1.62,-146.0,2825,3461,3283,3494,307.4,-9.3,315,2799,0.00,2.33,0.00,0.000,1190,0.000,0.042,2825,2039,3388,3283,3493,0,0,0,0,0,0,14.97,14.91,14.99
$GC,3116,-1.62,-146.0,2825,2038,3282,3494,338.9,-10.6,329,3124,0.00,2.30,0.00,0.000,516,0.000,0.064,2826,651,3388,3282,3494,0,0,0,0,0,0,15.12,14.88,15.14
$GC,3167,-1.62,-146.0,2825,651,3281,3493,345.0,-11.8,338,3172,0.00,2.30,0.00,0.000,1030,0.000,0.044,2815,2057,3387,3281,3494,0,0,0,0,0,0,14.97,14.90,15.00
$GC,3484,-1.62,-146.0,2815,2057,3279,3494,385.2,-13.0,351,3485,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2057,3386,3279,3494,0,0,0,0,0,0,15.12,15.15,15.14
$GC,3785,-1.62,-146.0,2815,2058,3278,3492,421.0,-11.4,361,3792,0.00,2.38,0.00,0.000,516,0.000,0.065,2815,654,3385,3278,3492,0,0,0,0,0,0,15.13,14.89,15.15
$GC,3814,-1.62,-146.0,2815,654,3278,3491,424.8,-12.5,366,3821,0.00,2.30,0.00,0.000,1030,0.000,0.047,2805,2050,3384,3277,3492,0,0,0,0,0,0,14.98,14.90,15.00
$GC,4121,-1.62,-146.0,2805,2050,3276,3489,462.0,-12.6,377,4122,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2050,3382,3276,3489,0,0,0,0,0,0,15.14,15.16,15.16
$GC,4421,-1.62,-146.0,2805,2050,3274,3487,500.7,-13.1,387,4425,0.00,2.38,0.00,0.000,516,0.000,0.068,2805,655,3380,3274,3487,0,0,0,0,0,0,15.13,14.88,15.15
$GC,4458,-1.58,-146.0,2805,655,3274,3487,506.2,-13.7,394,4464,0.15,2.33,0.00,0.000,3206,0.254,0.050,2828,2061,3380,3273,3487,0,0,0,0,0,0,14.73,14.90,14.90
$GC,4786,-1.58,-146.0,2828,2061,3271,3486,543.8,-11.0,409,4794,0.00,2.35,0.00,0.000,260,0.000,0.071,2820,3457,3378,3271,3486,0,0,0,0,0,0,15.12,14.87,15.14
$GC,4841,-1.61,-146.0,2819,3458,3271,3485,550.2,-11.8,419,4846,0.00,2.35,0.00,0.000,1158,0.000,0.050,2820,2046,3378,3271,3485,0,0,0,0,0,0,14.97,14.90,14.99
$GC,5153,-1.61,-146.0,2819,2046,3270,3484,584.8,-11.1,431,5154,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2046,3377,3270,3484,0,0,0,0,0,0,15.12,15.15,15.14
$GC,5454,-1.61,-146.0,2819,2046,3268,3482,616.5,-10.6,441,5462,0.00,2.42,0.00,0.000,260,0.000,0.071,2810,3458,3374,3268,3481,0,0,0,0,0,0,15.12,14.86,15.14
$GC,5524,-1.61,-146.0,2809,3458,3268,3481,624.4,-10.5,454,5528,0.00,2.35,0.00,0.000,1030,0.000,0.048,2810,2047,3374,3268,3481,0,0,0,0,0,0,14.97,14.89,14.98
$GC,5852,-1.61,-146.0,2809,2047,3267,3479,659.2,-10.6,469,5853,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2048,3373,3267,3480,0,0,0,0,0,0,15.13,15.16,15.15
$GC,6152,-1.61,-146.0,2809,2047,3266,3479,692.9,-11.4,479,6157,0.00,2.42,0.00,0.000,260,0.000,0.072,2800,3457,3372,3266,3479,0,0,0,0,0,0,15.12,14.85,15.14
$GC,6177,-1.61,-146.0,2799,3457,3266,3478,696.1,-11.7,484,6188,0.10,2.35,0.00,0.000,3078,0.255,0.053,2819,2053,3372,3266,3478,0,0,0,0,0,0,14.71,14.88,14.92
$GC,6485,-1.61,-146.0,2819,2053,3264,3477,728.6,-10.7,495,6489,0.00,2.42,0.00,0.000,260,0.000,0.074,2810,3458,3371,3264,3478,0,0,0,0,0,0,15.12,14.85,15.14
$GC,6521,-1.61,-146.0,2810,3458,3264,3477,733.0,-10.9,502,6526,0.00,2.35,0.00,0.000,1030,0.000,0.049,2810,2051,3370,3264,3477,0,0,0,0,0,0,14.96,14.88,14.97
$GC,6850,-1.61,-146.0,2810,2050,3263,3477,768.8,-10.8,517,6856,0.00,2.38,0.00,0.000,516,0.000,0.068,2811,635,3370,3263,3477,0,0,0,0,0,0,15.13,14.86,15.15
$GC,6898,-1.61,-146.0,2810,635,3263,3477,774.7,-12.4,526,6903,0.10,2.38,0.00,0.000,3078,0.279,0.053,2825,2056,3369,3262,3477,0,0,0,0,0,0,14.68,14.87,14.81
$GC,7217,-1.65,-146.0,2824,2056,3262,3476,805.4,-9.1,539,7218,0.00,0.00,0.00,0.000,166,0.000,0.000,2825,2056,3368,3261,3476,0,0,0,0,0,0,15.12,15.15,15.14
$GC,7519,-1.68,-146.0,2825,2056,3260,3475,831.7,-8.5,549,7520,0.00,0.00,0.00,0.000,166,0.000,0.000,2825,2056,3368,3261,3475,0,0,0,0,0,0,15.13,15.16,15.15
$GC,7817,-1.72,-146.0,2825,2056,3260,3473,856.1,-7.9,559,7819,0.12,0.00,0.00,0.000,4262,0.165,0.000,2793,2056,3366,3260,3473,0,0,0,0,0,0,14.83,14.97,14.94
$GC,8116,-1.72,-146.0,2793,2056,3259,3472,883.4,-9.1,569,8124,0.00,2.45,0.00,0.000,548,0.000,0.075,2794,635,3365,3259,3472,0,0,0,0,0,0,15.12,14.83,15.14
$GC,8141,-1.68,-146.0,2794,635,3259,3472,886.0,-10.1,573,8148,0.12,2.38,0.00,0.000,3206,0.300,0.054,2815,2054,3365,3259,3471,0,0,0,0,0,0,14.62,14.87,14.79
$GC,8457,-1.68,-146.0,2814,2054,3258,3471,911.1,-8.0,585,8458,0.00,0.00,0.00,0.000,38,0.000,0.000,2815,2055,3364,3258,3471,0,0,0,0,0,0,15.13,15.15,15.15
$GC,8757,-1.68,-146.0,2814,2054,3258,3470,936.7,-8.7,595,8761,0.00,2.42,0.00,0.000,548,0.000,0.070,2815,642,3364,3258,3470,0,0,0,0,0,0,15.12,14.83,15.14
$GC,8794,-1.68,-146.0,2815,641,3258,3470,940.5,-9.1,602,8799,0.00,2.35,0.00,0.000,1062,0.000,0.048,2806,2056,3364,3258,3470,0,0,0,0,0,0,14.95,14.87,14.97
$GC,9122,-1.68,-146.0,2806,2055,3257,3469,972.4,-10.1,617,9124,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2056,3363,3257,3469,0,0,0,0,0,0,15.12,15.14,15.14
$STATE,9301,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9301,begin apogee
$GC,9306,-0.33,0.0,2806,1786,3256,3469,990.7,-10.3,623,9437,1.17,0.00,127.18,2.684,10246,0.288,0.000,3101,1785,2789,2678,2901,0,0,0,0,0,0,14.58,14.06,13.10
$STATE,9438,end apogee,CONTROL_FINISHED_OK
$STATE,9438,begin climb
$GC,9439,1.28,146.0,3101,1785,2673,2897,992.9,0.0,627,9584,1.25,2.65,135.02,2.625,10756,0.182,0.084,3463,401,2186,2056,2316,0,0,0,0,0,0,14.03,13.94,13.00
$GC,9602,1.06,146.0,3462,401,2049,2317,982.2,12.4,643,9609,0.28,2.47,0.00,0.000,5254,0.342,0.054,3410,1798,2182,2048,2317,0,0,0,0,0,0,13.94,14.12,14.17
$GC,9932,0.96,146.0,3410,1798,2037,2317,945.7,10.7,659,9939,0.12,2.45,0.00,0.000,4484,0.410,0.073,3384,3209,2176,2037,2316,0,0,0,0,0,0,14.34,14.57,14.54
$GC,9985,0.87,146.0,3383,3209,2037,2317,940.2,10.6,670,9993,0.12,2.40,0.00,0.000,5254,0.342,0.055,3366,1804,2176,2037,2316,0,0,0,0,0,0,14.41,14.63,14.66
$GC,10292,0.91,183.9,3365,1804,2035,2317,914.3,8.3,681,10330,0.00,2.53,32.88,2.480,8740,0.000,0.083,3371,393,2035,1892,2179,0,0,0,0,0,0,14.96,14.24,13.46
$GC,10350,0.95,216.5,3371,393,1884,2178,909.3,8.5,693,10386,0.00,2.42,30.42,2.450,9254,0.000,0.050,3371,1796,1906,1762,2051,0,0,0,0,0,0,14.50,14.42,13.27
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$STATE,18772,end climb,SURFACE_DEPTH_REACHED
$STATE,18772,begin surface coast
$FINISH,1.4,1.007501
$STATE,18804,end surface coast,CONTROL_FINISHED_OK
$STATE,18804,begin surface
$SM_CCo,18823,102.00,0.080,0,0,449,573.99
$SM_GC,2.22,9.73,1.98,102.00,0.076,0.042,0.080,94,2043,449,-14.10,1.05,573.99,0,0,0,0,0,0,14.77,14.82,14.73
$IRIDIUM_FIX,1351.95,6107.95,240317,205402
$TT8_MAMPS,0.023968,0.158039
$HUMID,47.71
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,24.20
$XPDR_PINGS,10
$24V_AH,13.00,36.988
$10V_AH,13.64,0.000
$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,28.775,191.550,428.750,102.000,0.000,0.000,0.000,418.375,101.000,0.000,22.602,2950.913,13154.225,763.219,2648.586,171.166,0.000,2317.150,0.000,1914.983,0.000,661.750,0.000
$DEVICE_MAMPS,435.285,2087.685,2684.385,80.325,0.000,0.000,0.000,173.655,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,673.775,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,56800,1346
$CAP_FILE_SIZE,212435,0
$CFSIZE,260034560,250482688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.039,127.70,1
$GPS,250317,074151,1403.589,6110.086,38,1.0,47,-0.6,0.0,228.4,7,9.8