version: 66.13
glider: 137
mission: 5
dive: 115
start: 3 26 117 4 10 59
data:
$ID,137
$MISSION,5
$DIVE,115
$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,37
$R_STBD_OVSHOOT,58
$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
$GPS1,260317,040534,1353.6212,6105.0347,31,0.7,34,-0.6,0.0,140.5,10,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-66.7
$GPS2,260317,041023,1353.5872,6105.0664,9,0.7,18,-0.6,0.0,0.0,11,9.4
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1349.673,6103.826
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,204.6,7584,-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,-146.0,93,2074,328,565,0.0,0.0,0,109,0.00,0.00,-99.88,0.000,16386,0.000,0.000,94,2074,3119,3036,3202,0,0,0,0,0,0,14.88,28.83,14.90
$GC,112,-1.28,-146.0,94,2074,3036,3202,4.6,-6.8,17,138,13.90,2.62,-4.70,0.000,18980,0.418,2.101,2891,653,3387,3280,3494,0,0,0,0,0,0,14.39,13.72,14.59
$GC,275,-1.28,-146.0,2890,653,3282,3494,35.7,-13.5,48,281,0.00,2.28,0.00,0.000,1030,0.000,0.040,2882,2040,3388,3282,3494,0,0,0,0,0,0,14.77,14.71,14.78
$GC,588,-1.28,-146.0,2882,2041,3282,3494,81.3,-14.0,89,593,0.00,2.35,0.00,0.000,260,0.000,0.059,2871,3453,3388,3283,3494,0,0,0,0,0,0,15.01,14.76,15.03
$GC,623,-1.28,-146.0,2871,3453,3283,3494,85.9,-11.9,96,631,0.10,2.30,0.00,0.000,3078,0.262,0.037,2890,2038,3388,3282,3494,0,0,0,0,0,0,14.64,14.81,14.81
$GC,930,-1.32,-146.0,2890,2038,3283,3493,118.1,-11.5,127,939,0.00,2.28,0.00,0.000,644,0.000,0.058,2891,655,3388,3283,3494,0,0,0,0,0,0,15.06,14.81,15.08
$GC,965,-1.39,-146.0,2891,655,3284,3494,122.6,-11.8,134,972,0.00,2.28,0.00,0.000,1158,0.000,0.042,2883,2049,3388,3283,3494,0,0,0,0,0,0,14.90,14.83,14.92
$GC,1272,-1.44,-146.0,2882,2050,3284,3494,154.2,-9.7,165,1276,0.00,2.33,0.00,0.000,420,0.000,0.060,2872,3461,3389,3284,3494,0,0,0,0,0,0,15.09,14.84,15.11
$GC,1337,-1.53,-146.0,2872,3461,3284,3494,161.0,-10.2,178,1345,0.12,2.30,0.00,0.000,5254,0.130,0.037,2819,2043,3389,3284,3494,0,0,0,0,0,0,14.87,14.88,14.93
$GC,1643,-1.49,-146.0,2819,2042,3284,3494,199.4,-11.3,209,1645,0.12,0.00,0.00,0.000,2182,0.264,0.000,2845,2040,3389,3284,3494,0,0,0,0,0,0,14.73,14.94,14.90
$GC,1944,-1.49,-146.0,2844,2040,3284,3494,229.6,-10.9,239,1951,0.00,2.30,0.00,0.000,516,0.000,0.061,2845,650,3389,3284,3494,0,0,0,0,0,0,15.09,14.86,15.11
$GC,1970,-1.49,-146.0,2845,650,3284,3494,232.4,-10.9,243,1974,0.00,2.30,0.00,0.000,1030,0.000,0.043,2836,2057,3389,3284,3494,0,0,0,0,0,0,14.95,14.88,14.97
$GC,2304,-1.49,-146.0,2836,2057,3284,3494,268.8,-10.1,265,2309,0.00,2.38,0.00,0.000,516,0.000,0.062,2836,643,3389,3284,3494,0,0,0,0,0,0,15.11,14.86,15.13
$GC,2337,-1.49,-146.0,2836,643,3284,3494,272.3,-10.2,271,2345,0.10,2.30,0.00,0.000,3078,0.269,0.044,2846,2055,3389,3284,3494,0,0,0,0,0,0,14.74,14.89,14.91
$GC,2673,-1.54,-146.0,2846,2056,3283,3494,304.2,-10.0,287,2678,0.00,2.33,0.00,0.000,388,0.000,0.068,2837,3451,3388,3283,3494,0,0,0,0,0,0,15.11,14.88,15.13
$GC,2716,-1.61,-146.0,2837,3451,3283,3494,309.0,-10.8,295,2721,0.00,2.30,0.00,0.000,1158,0.000,0.041,2837,2043,3388,3283,3494,0,0,0,0,0,0,14.97,14.90,14.98
$GC,3040,-1.64,-146.0,2837,2042,3281,3494,343.2,-10.4,309,3045,0.00,2.40,0.00,0.000,388,0.000,0.067,2827,3457,3387,3281,3494,0,0,0,0,0,0,15.12,14.87,15.14
$GC,3082,-1.68,-146.0,2826,3457,3282,3494,347.8,-9.9,317,3088,0.00,2.33,0.00,0.000,1190,0.000,0.042,2827,2040,3388,3282,3494,0,0,0,0,0,0,14.97,14.90,14.98
$GC,3406,-1.68,-146.0,2826,2040,3279,3493,382.6,-11.3,331,3412,0.00,2.40,0.00,0.000,260,0.000,0.066,2817,3453,3386,3278,3494,0,0,0,0,0,0,15.11,14.87,15.14
$GC,3444,-1.72,-146.0,2816,3453,3279,3494,387.2,-10.7,338,3448,0.00,2.30,0.00,0.000,1158,0.000,0.043,2817,2053,3386,3279,3494,0,0,0,0,0,0,14.97,14.90,14.98
$GC,3772,-1.72,-146.0,2817,2053,3277,3494,427.1,-12.3,353,3778,0.00,2.40,0.00,0.000,260,0.000,0.070,2807,3457,3385,3277,3493,0,0,0,0,0,0,15.12,14.86,15.14
$GC,3814,-1.72,-146.0,2807,3457,3277,3493,432.7,-11.9,361,3820,0.00,2.33,0.00,0.000,1030,0.000,0.045,2807,2050,3385,3277,3493,0,0,0,0,0,0,14.97,14.90,14.98
$GC,4137,-1.72,-146.0,2807,2050,3275,3490,471.8,-12.0,375,4138,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2050,3382,3275,3490,0,0,0,0,0,0,15.11,15.14,15.14
$GC,4439,-1.72,-146.0,2807,2050,3273,3488,505.9,-11.2,385,4445,0.00,2.38,0.00,0.000,260,0.000,0.070,2797,3444,3380,3273,3487,0,0,0,0,0,0,15.12,14.86,15.15
$GC,4497,-1.72,-146.0,2797,3444,3273,3487,513.0,-11.2,396,4505,0.00,2.33,0.00,0.000,1030,0.000,0.045,2797,2040,3380,3273,3487,0,0,0,0,0,0,14.96,14.89,14.98
$GC,4803,-1.72,-146.0,2797,2040,3271,3487,548.5,-11.7,407,4809,0.00,2.42,0.00,0.000,260,0.000,0.070,2788,3455,3378,3271,3486,0,0,0,0,0,0,15.11,14.85,15.14
$GC,4845,-1.72,-146.0,2787,3456,3272,3486,553.9,-11.6,415,4850,0.00,2.35,0.00,0.000,1030,0.000,0.045,2787,2043,3378,3271,3486,0,0,0,0,0,0,14.96,14.88,14.98
$GC,5168,-1.68,-146.0,2787,2042,3270,3485,592.7,-12.1,429,5175,0.10,2.40,0.00,0.000,2436,0.289,0.070,2796,3448,3377,3270,3485,0,0,0,0,0,0,14.69,14.84,14.88
$GC,5196,-1.68,-146.0,2796,3448,3270,3485,596.4,-11.7,434,5206,0.00,2.33,0.00,0.000,1030,0.000,0.046,2796,2050,3377,3270,3485,0,0,0,0,0,0,14.96,14.88,14.97
$GC,5502,-1.68,-146.0,2796,2050,3269,3484,631.3,-11.5,445,5508,0.00,2.40,0.00,0.000,260,0.000,0.070,2787,3447,3376,3268,3484,0,0,0,0,0,0,15.11,14.85,15.14
$GC,5546,-1.68,-146.0,2786,3447,3268,3483,636.4,-11.6,453,5552,0.10,2.35,0.00,0.000,3078,0.291,0.049,2804,2036,3375,3268,3483,0,0,0,0,0,0,14.66,14.88,14.90
$GC,5871,-1.68,-146.0,2804,2036,3267,3482,670.3,-10.4,467,5876,0.00,2.42,0.00,0.000,260,0.000,0.074,2795,3444,3374,3267,3481,0,0,0,0,0,0,15.12,14.84,15.14
$GC,5904,-1.68,-146.0,2795,3444,3267,3481,673.8,-10.0,473,5912,0.00,2.33,0.00,0.000,1062,0.000,0.050,2795,2052,3374,3267,3481,0,0,0,0,0,0,14.95,14.88,14.97
$GC,6240,-1.68,-146.0,2795,2052,3266,3480,709.5,-10.6,489,6246,0.00,2.38,0.00,0.000,516,0.000,0.072,2795,646,3373,3266,3480,0,0,0,0,0,0,15.11,14.84,15.14
$GC,6306,-1.63,-146.0,2795,645,3266,3479,717.0,-11.0,501,6312,0.15,2.35,0.00,0.000,3206,0.289,0.050,2817,2058,3372,3266,3479,0,0,0,0,0,0,14.64,14.88,14.88
$GC,6640,-1.63,-146.0,2816,2059,3265,3479,749.4,-9.6,517,6641,0.00,0.00,0.00,0.000,38,0.000,0.000,2817,2058,3371,3264,3479,0,0,0,0,0,0,15.11,15.14,15.13
$GC,6941,-1.63,-146.0,2816,2058,3263,3478,779.9,-10.4,527,6942,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2058,3370,3263,3478,0,0,0,0,0,0,15.11,15.14,15.13
$GC,7242,-1.63,-146.0,2816,2059,3262,3477,812.3,-10.9,537,7247,0.00,2.35,0.00,0.000,260,0.000,0.069,2808,3454,3369,3262,3477,0,0,0,0,0,0,15.12,14.83,15.14
$GC,7275,-1.63,-146.0,2808,3454,3262,3477,816.1,-11.0,543,7282,0.00,2.35,0.00,0.000,1030,0.000,0.045,2808,2035,3369,3262,3477,0,0,0,0,0,0,14.95,14.88,14.97
$GC,7610,-1.63,-146.0,2808,2034,3261,3477,851.3,-10.3,559,7611,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2034,3369,3261,3477,0,0,0,0,0,0,15.11,15.14,15.13
$GC,7911,-1.63,-146.0,2808,2034,3261,3477,883.6,-10.9,569,7918,0.00,2.42,0.00,0.000,260,0.000,0.067,2799,3450,3368,3261,3476,0,0,0,0,0,0,15.11,14.83,15.13
$GC,7955,-1.63,-146.0,2798,3450,3261,3476,888.8,-10.5,577,7961,0.10,2.35,0.00,0.000,3078,0.259,0.044,2817,2038,3368,3261,3476,0,0,0,0,0,0,14.66,14.87,14.88
$GC,8279,-1.63,-146.0,2817,2038,3260,3476,921.7,-10.0,591,8284,0.00,2.35,0.00,0.000,516,0.000,0.072,2817,654,3368,3260,3476,0,0,0,0,0,0,15.11,14.82,15.13
$GC,8333,-1.63,-146.0,2817,653,3260,3475,927.6,-10.8,601,8339,0.00,2.33,0.00,0.000,1030,0.000,0.046,2809,2057,3367,3260,3475,0,0,0,0,0,0,14.93,14.85,14.95
$GC,8648,-1.63,-146.0,2808,2057,3259,3474,960.7,-10.6,613,8649,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2057,3366,3259,3474,0,0,0,0,0,0,15.11,15.14,15.13
$STATE,8946,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8946,begin apogee
$GC,8951,-0.33,0.0,2809,1781,3258,3473,990.5,-9.7,623,9083,1.10,0.00,128.02,2.664,10246,0.259,0.000,3096,1781,2788,2676,2901,0,0,0,0,0,0,14.59,14.05,13.09
$STATE,9083,end apogee,CONTROL_FINISHED_OK
$STATE,9084,begin climb
$GC,9085,1.28,146.0,3096,1781,2672,2898,991.5,0.0,627,9230,1.20,2.67,133.45,2.622,10500,0.160,0.077,3449,3195,2187,2059,2316,0,0,0,0,0,0,14.03,13.93,12.98
$GC,9286,1.08,146.0,3449,3195,2056,2311,972.7,15.2,671,9291,0.22,2.47,0.00,0.000,5254,0.366,0.065,3413,1819,2182,2055,2310,0,0,0,0,0,0,14.05,14.23,14.29
$GC,9604,0.96,146.0,3413,1818,2048,2310,932.3,12.4,684,9611,0.12,2.50,0.00,0.000,4740,0.373,0.072,3396,380,2179,2048,2310,0,0,0,0,0,0,14.38,14.59,14.56
$GC,9683,0.86,146.0,3396,380,2045,2310,922.9,11.2,700,9688,0.17,2.40,0.00,0.000,5254,0.319,0.047,3362,1801,2178,2045,2311,0,0,0,0,0,0,14.43,14.64,14.68
$GC,9989,0.90,176.7,3362,1801,2043,2310,894.9,8.6,711,10023,0.00,2.50,27.12,2.411,8484,0.000,0.077,3360,3197,2064,1925,2204,0,0,0,0,0,0,14.97,14.44,13.58
$GC,10073,0.90,176.7,3360,3197,1924,2198,886.9,10.5,728,10080,0.00,2.45,0.00,0.000,1030,0.000,0.059,3368,1790,2061,1923,2199,0,0,0,0,0,0,14.59,14.52,14.61
$GC,10380,0.91,179.6,3367,1791,1919,2198,857.1,9.9,739,10386,0.00,2.45,0.00,0.000,548,0.000,0.081,3378,383,2058,1918,2198,0,0,0,0,0,0,14.92,14.67,14.95
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$STATE,18462,end climb,SURFACE_DEPTH_REACHED
$STATE,18462,begin surface coast
$FINISH,1.4,1.010388
$STATE,18468,end surface coast,CONTROL_FINISHED_OK
$STATE,18468,begin surface
$SM_CCo,18488,103.90,0.082,0,0,449,573.99
$SM_GC,2.20,9.85,2.00,103.90,0.086,0.044,0.082,94,2035,449,-14.11,0.68,573.99,0,0,0,0,0,0,14.74,14.81,14.72
$IRIDIUM_FIX,1351.95,6104.93,250317,225515
$TT8_MAMPS,0.024717,0.156541
$HUMID,47.71
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,24.10
$XPDR_PINGS,11
$24V_AH,12.98,38.746
$10V_AH,13.43,0.000
$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,28.250,181.650,424.050,103.900,0.000,0.000,0.000,193.550,106.250,0.000,19.648,2885.315,12681.749,734.649,2404.146,181.768,0.000,2060.512,0.000,1884.999,0.000,693.429,0.000
$DEVICE_MAMPS,418.455,2100.690,2663.730,81.855,0.000,0.000,0.000,182.070,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,654.093,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225096
$DATA_FILE_SIZE,56680,1324
$CAP_FILE_SIZE,208917,0
$CFSIZE,260034560,250064896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.044,145.39,1
$GPS,260317,092209,1350.619,6104.113,32,0.9,41,-0.6,0.0,171.6,8,10.0