version: 66.13
glider: 137
mission: 5
dive: 114
start: 3 25 117 22 59 28
data:
$ID,137
$MISSION,5
$DIVE,114
$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,48
$R_STBD_OVSHOOT,68
$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
$GPS1,250317,224307,1356.1580,6106.4170,38,0.8,44,-0.6,0.0,173.6,10,9.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-66.5
$GPS2,250317,225853,1356.0941,6106.4849,9,0.8,18,-0.6,0.0,78.9,10,9.8
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1352.639,6104.986
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,214.7,6943,-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,4,begin dive
$GC,7,-1.28,-146.0,96,2024,334,562,0.0,0.0,0,109,0.00,0.00,-99.53,0.000,16386,0.000,0.000,96,2024,3123,3041,3206,0,0,0,0,0,0,14.88,28.83,14.90
$GC,111,-1.28,-146.0,96,2024,3042,3206,4.6,-7.0,17,138,13.95,2.50,-4.60,0.000,18980,0.420,2.092,2895,662,3386,3286,3487,0,0,0,0,0,0,14.39,13.74,14.60
$GC,279,-1.28,-146.0,2895,661,3288,3487,36.7,-13.4,49,286,0.00,2.25,0.00,0.000,1030,0.000,0.041,2887,2035,3387,3288,3487,0,0,0,0,0,0,14.78,14.71,14.79
$GC,595,-1.28,-146.0,2886,2036,3288,3487,75.3,-12.1,90,596,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2035,3387,3288,3487,0,0,0,0,0,0,15.02,15.04,15.04
$GC,893,-1.28,-146.0,2886,2036,3288,3488,115.2,-11.8,120,903,0.00,2.33,0.00,0.000,260,0.000,0.060,2876,3446,3388,3288,3488,0,0,0,0,0,0,15.07,14.82,15.09
$GC,927,-1.32,-146.0,2876,3446,3289,3488,118.4,-9.1,126,936,0.00,2.22,0.00,0.000,1190,0.000,0.037,2876,2055,3388,3288,3488,0,0,0,0,0,0,14.86,14.83,14.88
$GC,1236,-1.36,-146.0,2876,2055,3288,3487,147.9,-10.5,158,1245,0.00,2.33,0.00,0.000,388,0.000,0.059,2867,3446,3387,3288,3487,0,0,0,0,0,0,15.09,14.85,15.11
$GC,1307,-1.43,-146.0,2866,3446,3287,3487,155.7,-11.1,172,1311,0.00,2.28,0.00,0.000,1158,0.000,0.037,2867,2039,3388,3288,3488,0,0,0,0,0,0,14.94,14.88,14.95
$GC,1618,-1.47,-146.0,2866,2039,3288,3488,195.2,-10.4,204,1628,0.00,2.28,0.00,0.000,644,0.000,0.056,2867,647,3387,3287,3488,0,0,0,0,0,0,15.11,14.87,15.14
$GC,1676,-1.51,-146.0,2866,646,3287,3487,201.3,-9.8,215,1683,0.00,2.28,0.00,0.000,1190,0.000,0.040,2857,2055,3387,3287,3487,0,0,0,0,0,0,14.95,14.89,14.97
$GC,1984,-1.55,-146.0,2856,2055,3287,3487,228.8,-9.8,246,1989,0.00,2.33,0.00,0.000,676,0.000,0.056,2857,655,3387,3288,3487,0,0,0,0,0,0,15.10,14.87,15.12
$GC,2028,-1.58,-146.0,2857,654,3287,3487,233.7,-10.8,254,2033,0.00,2.28,0.00,0.000,1158,0.000,0.040,2848,2053,3387,3287,3488,0,0,0,0,0,0,14.95,14.89,14.97
$GC,2342,-1.61,-146.0,2847,2053,3285,3487,265.0,-9.2,276,2347,0.10,2.35,0.00,0.000,4772,0.154,0.059,2809,652,3387,3286,3488,0,0,0,0,0,0,14.90,14.88,14.95
$GC,2400,-1.56,-146.0,2809,652,3285,3488,271.6,-11.0,287,2408,0.15,2.28,0.00,0.000,3206,0.259,0.043,2833,2052,3386,3285,3488,0,0,0,0,0,0,14.74,14.90,14.92
$GC,2709,-1.56,-146.0,2832,2053,3284,3488,306.1,-11.9,298,2714,0.00,2.30,0.00,0.000,260,0.000,0.062,2824,3450,3385,3284,3487,0,0,0,0,0,0,15.12,14.88,15.14
$GC,2775,-1.60,-146.0,2824,3450,3283,3488,314.5,-11.2,311,2780,0.00,2.28,0.00,0.000,1158,0.000,0.040,2824,2052,3385,3284,3487,0,0,0,0,0,0,14.97,14.90,14.99
$GC,3104,-1.60,-146.0,2823,2052,3282,3488,350.8,-11.1,326,3109,0.00,2.35,0.00,0.000,260,0.000,0.063,2814,3446,3384,3282,3487,0,0,0,0,0,0,15.12,14.88,15.15
$GC,3161,-1.60,-146.0,2814,3445,3282,3487,357.7,-11.4,337,3170,0.00,2.30,0.00,0.000,1030,0.000,0.041,2814,2041,3384,3282,3487,0,0,0,0,0,0,14.97,14.90,14.99
$GC,3467,-1.60,-146.0,2814,2040,3280,3487,394.1,-12.0,348,3474,0.00,2.38,0.00,0.000,260,0.000,0.063,2804,3446,3383,3280,3487,0,0,0,0,0,0,15.11,14.88,15.14
$GC,3524,-1.60,-146.0,2804,3446,3280,3487,401.5,-12.4,359,3533,0.10,2.30,0.00,0.000,3078,0.243,0.042,2824,2042,3383,3280,3486,0,0,0,0,0,0,14.75,14.90,14.92
$GC,3832,-1.60,-146.0,2824,2041,3277,3487,436.2,-11.0,370,3837,0.00,2.40,0.00,0.000,260,0.000,0.069,2815,3444,3381,3277,3486,0,0,0,0,0,0,15.12,14.87,15.15
$GC,3875,-1.60,-146.0,2815,3444,3277,3486,440.9,-10.6,378,3881,0.00,2.28,0.00,0.000,1030,0.000,0.042,2815,2047,3382,3278,3486,0,0,0,0,0,0,14.92,14.88,14.95
$GC,4198,-1.60,-146.0,2815,2048,3275,3484,476.5,-10.8,392,4199,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2048,3379,3275,3484,0,0,0,0,0,0,15.12,15.14,15.14
$GC,4500,-1.60,-146.0,2815,2047,3273,3482,510.0,-11.3,402,4506,0.00,2.38,0.00,0.000,260,0.000,0.067,2805,3443,3377,3273,3481,0,0,0,0,0,0,15.12,14.87,15.14
$GC,4578,-1.60,-146.0,2805,3443,3273,3480,519.3,-11.1,417,4584,0.10,2.30,0.00,0.000,3078,0.251,0.046,2825,2052,3377,3273,3481,0,0,0,0,0,0,14.73,14.90,14.92
$GC,4898,-1.60,-146.0,2825,2052,3272,3479,550.6,-9.4,430,4905,0.00,2.35,0.00,0.000,548,0.000,0.068,2825,649,3375,3271,3479,0,0,0,0,0,0,15.13,14.86,15.14
$GC,4933,-1.60,-146.0,2825,650,3271,3479,553.8,-9.2,436,4938,0.00,2.30,0.00,0.000,1062,0.000,0.045,2817,2053,3375,3271,3479,0,0,0,0,0,0,14.97,14.90,14.98
$GC,5265,-1.60,-146.0,2816,2054,3269,3477,586.8,-10.1,452,5270,0.00,2.35,0.00,0.000,260,0.000,0.067,2807,3454,3373,3269,3478,0,0,0,0,0,0,15.11,14.85,15.14
$GC,5303,-1.60,-146.0,2807,3454,3270,3477,591.2,-10.5,459,5308,0.00,2.35,0.00,0.000,1030,0.000,0.045,2807,2038,3373,3269,3477,0,0,0,0,0,0,14.96,14.89,14.98
$GC,5632,-1.60,-146.0,2806,2038,3267,3477,628.9,-11.9,474,5637,0.00,2.42,0.00,0.000,260,0.000,0.068,2797,3455,3372,3268,3477,0,0,0,0,0,0,15.12,14.85,15.14
$GC,5679,-1.60,-146.0,2797,3456,3267,3476,635.2,-13.1,483,5684,0.12,2.33,0.00,0.000,3078,0.242,0.044,2824,2049,3371,3267,3476,0,0,0,0,0,0,14.71,14.88,14.91
$GC,5997,-1.60,-146.0,2824,2049,3266,3475,671.9,-11.7,496,5998,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2049,3370,3266,3475,0,0,0,0,0,0,15.11,15.14,15.14
$GC,6300,-1.63,-146.0,2824,2049,3266,3474,704.8,-10.7,506,6301,0.00,0.00,0.00,0.000,134,0.000,0.000,2824,2049,3370,3266,3474,0,0,0,0,0,0,15.13,15.16,15.15
$GC,6598,-1.66,-146.0,2824,2049,3263,3473,735.8,-10.3,516,6603,0.00,2.38,0.00,0.000,644,0.000,0.070,2824,642,3368,3264,3473,0,0,0,0,0,0,15.12,14.85,15.14
$GC,6633,-1.66,-146.0,2824,642,3264,3472,739.5,-10.6,522,6637,0.00,2.33,0.00,0.000,1030,0.000,0.046,2816,2056,3368,3264,3472,0,0,0,0,0,0,14.96,14.89,14.97
$GC,6967,-1.66,-146.0,2816,2056,3262,3471,773.1,-9.6,538,6968,0.00,0.00,0.00,0.000,38,0.000,0.000,2816,2056,3366,3262,3470,0,0,0,0,0,0,15.13,15.15,15.15
$GC,7266,-1.66,-146.0,2816,2056,3262,3470,801.2,-9.3,548,7268,0.00,0.00,0.00,0.000,38,0.000,0.000,2816,2056,3366,3262,3470,0,0,0,0,0,0,15.11,15.14,15.14
$GC,7566,-1.66,-146.0,2815,2056,3261,3469,831.0,-10.2,558,7567,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2057,3365,3261,3469,0,0,0,0,0,0,15.12,15.15,15.14
$GC,7867,-1.66,-146.0,2815,2056,3260,3468,861.7,-10.3,568,7872,0.00,2.42,0.00,0.000,516,0.000,0.063,2816,637,3364,3261,3468,0,0,0,0,0,0,15.12,14.85,15.15
$GC,7948,-1.66,-146.0,2816,638,3261,3467,871.6,-12.5,584,7953,0.00,2.35,0.00,0.000,1030,0.000,0.045,2806,2060,3364,3260,3468,0,0,0,0,0,0,14.95,14.87,14.97
$GC,8261,-1.66,-146.0,2806,2060,3260,3466,908.7,-12.3,596,8262,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2060,3363,3260,3466,0,0,0,0,0,0,15.11,15.14,15.13
$GC,8562,-1.66,-146.0,2806,2060,3259,3465,945.6,-11.9,606,8569,0.00,2.40,0.00,0.000,516,0.000,0.063,2806,647,3362,3259,3465,0,0,0,0,0,0,15.11,14.84,15.14
$GC,8636,-1.66,-146.0,2806,647,3259,3465,954.9,-12.0,620,8641,0.00,2.35,0.00,0.000,1030,0.000,0.050,2796,2056,3362,3259,3465,0,0,0,0,0,0,14.93,14.85,14.95
$GC,8959,-1.66,-146.0,2796,2056,3258,3464,989.0,-10.4,634,8960,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2056,3361,3258,3464,0,0,0,0,0,0,15.11,15.14,15.13
$STATE,8988,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8988,begin apogee
$GC,8993,-0.33,0.0,2795,1796,3258,3464,992.1,-10.3,635,9123,1.15,0.00,126.07,2.667,10246,0.253,0.000,3099,1794,2789,2678,2900,0,0,0,0,0,0,14.58,14.06,13.11
$STATE,9124,end apogee,CONTROL_FINISHED_OK
$STATE,9124,begin climb
$GC,9125,1.28,146.0,3099,1794,2673,2897,993.1,0.0,639,9268,1.20,2.65,132.23,2.588,10756,0.153,0.090,3465,399,2188,2059,2317,0,0,0,0,0,0,14.04,13.94,13.02
$GC,9308,1.05,146.0,3464,400,2048,2317,977.0,14.2,679,9313,0.28,2.47,0.00,0.000,5254,0.336,0.054,3408,1798,2182,2048,2317,0,0,0,0,0,0,14.04,14.21,14.26
$GC,9615,0.94,146.0,3408,1798,2038,2317,939.4,12.0,690,9622,0.12,2.45,0.00,0.000,4484,0.412,0.077,3384,3204,2177,2038,2317,0,0,0,0,0,0,14.35,14.57,14.54
$GC,9638,0.84,146.0,3384,3205,2038,2317,936.5,10.5,695,9646,0.17,2.42,0.00,0.000,5254,0.388,0.058,3362,1794,2177,2038,2317,0,0,0,0,0,0,14.38,14.61,14.65
$GC,9945,0.86,165.4,3362,1794,2035,2317,907.6,9.1,706,9967,0.00,2.53,16.62,2.402,8484,0.000,0.079,3362,3211,2110,1967,2254,0,0,0,0,0,0,14.96,14.54,13.62
$GC,9989,0.87,201.5,3361,3212,1967,2250,903.5,8.3,715,10028,0.00,2.45,33.45,2.444,9382,0.000,0.056,3371,1790,1967,1823,2112,0,0,0,0,0,0,14.64,14.57,13.34
$GC,10335,0.87,201.5,3370,1790,1805,2108,868.1,10.2,734,10341,0.00,2.50,0.00,0.000,260,0.000,0.068,3371,3212,1956,1805,2108,0,0,0,0,0,0,14.87,14.63,14.90
$GC,10358,0.83,201.5,3370,3212,1806,2107,865.6,10.5,739,10366,0.12,2.42,0.00,0.000,5254,0.369,0.052,3360,1785,1956,1805,2108,0,0,0,0,0,0,14.45,14.67,14.70
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$STATE,18138,end climb,SURFACE_DEPTH_REACHED
$STATE,18138,begin surface coast
$FINISH,1.3,1.009450
$STATE,18170,end surface coast,CONTROL_FINISHED_OK
$STATE,18170,begin surface
$SM_CCo,18187,108.70,0.081,0,0,449,573.99
$SM_GC,2.25,9.68,0.43,108.70,0.076,0.053,0.081,94,2069,449,-14.11,-1.22,573.99,0,0,0,0,0,0,14.75,14.84,14.71
$IRIDIUM_FIX,1349.73,6107.95,250317,224727
$TT8_MAMPS,0.023968,0.15729
$HUMID,47.75
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,24.20
$XPDR_PINGS,10
$24V_AH,13.02,38.382
$10V_AH,13.44,0.000
$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
$DEVICE_SECS,28.325,186.700,413.375,108.700,0.000,0.000,0.000,490.175,108.250,0.000,19.859,2925.301,12675.100,721.106,2738.883,186.993,0.000,2364.370,0.000,1916.092,0.000,710.629,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,654.815,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225072
$DATA_FILE_SIZE,56653,1346
$CAP_FILE_SIZE,215725,0
$CFSIZE,260034560,250146816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.036,124.03,1
$GPS,260317,040534,1353.621,6105.035,31,0.7,34,-0.6,0.0,140.5,10,10.0