version: 66.13
glider: 137
mission: 5
dive: 118
start: 3 26 117 20 18 39
data:
$ID,137
$MISSION,5
$DIVE,118
$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,32
$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
$GPS1,260317,200907,1344.9565,6101.8354,34,1.0,40,-0.6,0.3,206.1,8,9.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-65.1
$GPS2,260317,201800,1344.8873,6101.8032,10,1.0,20,-0.6,0.0,178.1,8,10.0
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1346.654,6103.753
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,40.2,4797,-18.6,-10.000,-21.15,1781
$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,-1.39,-115.8,92,2067,327,565,0.0,0.0,0,108,0.00,0.00,-98.22,0.000,16386,0.000,0.000,92,2068,3096,3015,3177,0,0,0,0,0,0,14.88,28.83,14.90
$GC,111,-1.42,-146.0,92,2068,3015,3177,4.6,-6.9,17,137,14.02,2.53,-5.15,0.000,18724,0.426,2.089,2848,3440,3386,3285,3488,0,0,0,0,0,0,14.40,13.73,14.60
$GC,153,-1.11,-146.0,2848,3440,3285,3488,17.9,-22.3,24,161,0.35,2.33,0.00,0.000,3206,0.258,0.037,2934,2026,3387,3286,3488,0,0,0,0,0,0,14.50,14.66,14.67
$GC,468,-1.24,-146.0,2934,2025,3285,3489,55.2,-11.5,82,473,0.12,2.28,0.00,0.000,4740,0.131,0.054,2885,651,3387,3285,3489,0,0,0,0,0,0,14.76,14.75,14.78
$GC,521,-1.30,-146.0,2885,651,3286,3488,62.5,-14.7,92,530,0.00,2.28,0.00,0.000,1158,0.000,0.037,2875,2054,3387,3286,3488,0,0,0,0,0,0,14.85,14.78,14.86
$GC,831,-1.35,-146.0,2874,2054,3286,3488,105.4,-11.4,124,839,0.00,2.35,0.00,0.000,644,0.000,0.057,2874,650,3387,3286,3489,0,0,0,0,0,0,15.05,14.81,15.07
$GC,892,-1.42,-146.0,2874,650,3286,3488,113.3,-12.1,136,900,0.00,2.28,0.00,0.000,1158,0.000,0.038,2865,2059,3386,3285,3488,0,0,0,0,0,0,14.90,14.84,14.92
$GC,1201,-1.49,-146.0,2864,2058,3286,3489,147.5,-10.0,168,1210,0.00,2.35,0.00,0.000,644,0.000,0.056,2865,648,3387,3286,3489,0,0,0,0,0,0,15.09,14.85,15.11
$GC,1237,-1.56,-146.0,2864,649,3286,3488,151.8,-11.3,175,1243,0.00,2.28,0.00,0.000,1158,0.000,0.041,2855,2051,3387,3286,3488,0,0,0,0,0,0,14.93,14.87,14.95
$GC,1543,-1.64,-146.0,2855,2052,3286,3488,182.2,-9.8,206,1548,0.12,2.30,0.00,0.000,4516,0.129,0.056,2791,3453,3387,3286,3488,0,0,0,0,0,0,14.88,14.85,14.92
$GC,1625,-1.64,-146.0,2790,3453,3286,3488,192.4,-13.0,222,1630,0.12,2.28,0.00,0.000,3078,0.251,0.037,2818,2043,3387,3286,3489,0,0,0,0,0,0,14.73,14.89,14.90
$GC,1938,-1.68,-146.0,2818,2043,3286,3488,233.0,-13.0,254,1944,0.00,2.28,0.00,0.000,644,0.000,0.057,2818,656,3387,3286,3488,0,0,0,0,0,0,15.09,14.87,15.11
$GC,1984,-1.68,-146.0,2818,656,3286,3488,239.2,-13.5,262,1990,0.00,2.28,0.00,0.000,1030,0.000,0.039,2810,2057,3387,3286,3488,0,0,0,0,0,0,14.95,14.89,14.97
$GC,2308,-1.71,-146.0,2810,2057,3286,3488,278.8,-11.3,279,2309,0.00,0.00,0.00,0.000,134,0.000,0.000,2810,2057,3387,3286,3489,0,0,0,0,0,0,15.11,15.14,15.13
$GC,2610,-1.75,-146.0,2809,2057,3285,3489,309.7,-10.4,289,2611,0.00,0.00,0.00,0.000,134,0.000,0.000,2810,2057,3386,3284,3488,0,0,0,0,0,0,15.12,15.15,15.14
$GC,2909,-1.79,-146.0,2810,2058,3283,3488,342.7,-11.2,299,2911,0.10,0.00,0.00,0.000,4230,0.168,0.000,2780,2058,3385,3283,3488,0,0,0,0,0,0,14.88,14.99,14.97
$GC,3208,-1.79,-146.0,2779,2058,3281,3488,383.2,-13.9,309,3209,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2058,3384,3281,3488,0,0,0,0,0,0,15.12,15.15,15.14
$GC,3510,-1.79,-146.0,2779,2058,3279,3488,426.2,-14.6,319,3515,0.00,2.38,0.00,0.000,516,0.000,0.066,2780,656,3383,3279,3488,0,0,0,0,0,0,15.13,14.88,15.16
$GC,3556,-1.79,-146.0,2779,656,3278,3488,434.2,-15.9,328,3561,0.00,2.28,0.00,0.000,1030,0.000,0.045,2769,2047,3383,3278,3488,0,0,0,0,0,0,14.97,14.91,15.00
$GC,3873,-1.79,-146.0,2769,2047,3277,3487,479.7,-13.9,341,3880,0.00,2.35,0.00,0.000,516,0.000,0.064,2769,658,3382,3277,3487,0,0,0,0,0,0,15.12,14.88,15.14
$GC,3903,-1.75,-146.0,2769,658,3277,3487,484.1,-14.6,346,3912,0.15,2.30,0.00,0.000,3206,0.288,0.045,2790,2063,3382,3277,3487,0,0,0,0,0,0,14.69,14.90,14.91
$GC,4208,-1.75,-146.0,2789,2062,3274,3486,520.9,-11.5,357,4214,0.00,2.33,0.00,0.000,260,0.000,0.068,2782,3449,3379,3274,3485,0,0,0,0,0,0,15.12,14.87,15.14
$GC,4251,-1.78,-146.0,2781,3448,3274,3485,526.1,-11.9,365,4258,0.00,2.30,0.00,0.000,1158,0.000,0.044,2781,2054,3379,3274,3485,0,0,0,0,0,0,14.97,14.90,14.99
$GC,4577,-1.78,-146.0,2781,2054,3273,3483,563.0,-11.1,379,4578,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2054,3378,3273,3483,0,0,0,0,0,0,15.13,15.16,15.15
$GC,4876,-1.78,-146.0,2781,2054,3271,3481,594.7,-10.4,389,4878,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2054,3376,3272,3481,0,0,0,0,0,0,15.12,15.14,15.14
$GC,5177,-1.78,-146.0,2781,2054,3270,3479,625.6,-10.3,399,5183,0.00,2.40,0.00,0.000,260,0.000,0.068,2772,3456,3374,3270,3478,0,0,0,0,0,0,15.13,14.85,15.14
$GC,5211,-1.78,-146.0,2771,3456,3270,3479,629.4,-10.5,405,5216,0.00,2.33,0.00,0.000,1030,0.000,0.046,2772,2050,3374,3270,3479,0,0,0,0,0,0,14.97,14.89,14.99
$GC,5544,-1.78,-146.0,2772,2050,3268,3478,665.4,-11.1,421,5549,0.00,2.40,0.00,0.000,260,0.000,0.069,2761,3451,3372,3268,3477,0,0,0,0,0,0,15.11,14.85,15.14
$GC,5578,-1.78,-146.0,2761,3451,3268,3477,669.2,-11.8,427,5584,0.12,2.33,0.00,0.000,3078,0.262,0.044,2787,2040,3372,3268,3477,0,0,0,0,0,0,14.69,14.89,14.90
$GC,5913,-1.78,-146.0,2786,2039,3267,3477,706.1,-11.3,443,5918,0.00,2.33,0.00,0.000,516,0.000,0.064,2787,650,3372,3267,3477,0,0,0,0,0,0,15.13,14.85,15.15
$GC,5950,-1.78,-146.0,2787,650,3267,3477,711.0,-12.1,450,5955,0.00,2.33,0.00,0.000,1030,0.000,0.047,2779,2057,3371,3266,3476,0,0,0,0,0,0,14.96,14.88,14.97
$GC,6278,-1.78,-146.0,2779,2057,3266,3475,751.6,-12.4,465,6279,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2057,3370,3266,3475,0,0,0,0,0,0,15.11,15.14,15.14
$GC,6579,-1.78,-146.0,2779,2057,3265,3474,789.7,-12.7,475,6586,0.00,2.40,0.00,0.000,516,0.000,0.066,2779,650,3369,3264,3474,0,0,0,0,0,0,15.11,14.85,15.14
$GC,6613,-1.78,-146.0,2779,650,3264,3474,794.4,-13.7,481,6618,0.00,2.33,0.00,0.000,1030,0.000,0.047,2769,2056,3368,3263,3473,0,0,0,0,0,0,14.95,14.88,14.97
$GC,6946,-1.78,-146.0,2769,2056,3262,3472,837.3,-12.9,497,6947,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2055,3367,3262,3472,0,0,0,0,0,0,15.11,15.14,15.14
$GC,7247,-1.78,-146.0,2769,2056,3262,3471,876.5,-13.3,507,7253,0.00,2.42,0.00,0.000,516,0.000,0.066,2769,643,3366,3262,3470,0,0,0,0,0,0,15.11,14.84,15.14
$GC,7312,-1.78,-146.0,2769,643,3261,3470,885.8,-13.6,519,7319,0.12,2.35,0.00,0.000,3078,0.291,0.048,2783,2063,3365,3261,3470,0,0,0,0,0,0,14.63,14.87,14.83
$GC,7647,-1.81,-146.0,2783,2062,3260,3469,928.5,-12.5,535,7652,0.00,2.35,0.00,0.000,388,0.000,0.071,2775,3449,3365,3260,3470,0,0,0,0,0,0,15.11,14.83,15.14
$GC,7725,-1.86,-146.0,2774,3449,3260,3469,938.6,-12.8,550,7731,0.00,2.33,0.00,0.000,1158,0.000,0.046,2775,2050,3364,3260,3469,0,0,0,0,0,0,14.94,14.86,14.95
$GC,8044,-1.86,-146.0,2774,2050,3259,3469,977.0,-11.8,563,8049,0.00,2.38,0.00,0.000,516,0.000,0.069,2775,643,3364,3259,3469,0,0,0,0,0,0,15.11,14.82,15.13
$GC,8078,-1.86,-146.0,2774,643,3259,3468,981.0,-12.2,569,8083,0.00,2.35,0.00,0.000,1030,0.000,0.049,2765,2057,3363,3259,3468,0,0,0,0,0,0,14.93,14.85,14.95
$STATE,8169,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8170,begin apogee
$GC,8174,-0.33,0.0,2765,1788,3259,3468,992.3,-11.7,577,8305,1.27,0.00,126.75,2.652,10246,0.265,0.000,3096,1788,2789,2678,2901,0,0,0,0,0,0,14.59,14.06,13.13
$STATE,8306,end apogee,CONTROL_FINISHED_OK
$STATE,8306,begin climb
$GC,8307,1.42,146.0,3096,1788,2673,2897,993.6,0.0,581,8446,1.33,0.00,134.88,2.622,10246,0.154,0.000,3485,1787,2193,2067,2319,0,0,0,0,0,0,14.05,13.93,13.00
$GC,8740,1.25,146.0,3484,1787,2043,2316,935.3,16.0,596,8747,0.15,2.42,0.00,0.000,4740,0.343,0.070,3463,401,2179,2042,2316,0,0,0,0,0,0,14.34,14.54,14.52
$GC,8789,1.10,146.0,3462,401,2038,2316,927.7,15.1,606,8794,0.22,2.38,0.00,0.000,5254,0.324,0.047,3416,1804,2177,2038,2316,0,0,0,0,0,0,14.39,14.61,14.64
$GC,9101,1.04,146.0,3416,1803,2037,2316,889.3,11.7,618,9106,0.00,2.40,0.00,0.000,388,0.000,0.068,3411,3209,2176,2037,2316,0,0,0,0,0,0,14.95,14.69,14.98
$GC,9181,0.97,146.0,3411,3209,2037,2316,879.7,11.3,634,9187,0.17,2.38,0.00,0.000,5254,0.366,0.055,3387,1808,2176,2037,2316,0,0,0,0,0,0,14.49,14.73,14.77
$GC,9494,0.97,146.0,3387,1808,2035,2316,848.0,10.1,646,9495,0.00,0.00,0.00,0.000,6,0.000,0.000,3387,1808,2175,2035,2316,0,0,0,0,0,0,15.02,15.05,15.04
$GC,9794,1.00,166.8,3387,1808,2034,2316,820.3,8.8,656,9816,0.00,2.42,17.12,2.341,8484,0.000,0.070,3383,3201,2103,1962,2245,0,0,0,0,0,0,15.05,14.64,13.75
$GC,9848,1.00,171.5,3382,3201,1963,2242,815.3,9.7,667,9858,0.00,2.40,3.97,1.580,9254,0.000,0.057,3392,1800,2089,1949,2230,0,0,0,0,0,0,14.72,14.65,13.57
$GC,10185,1.01,179.1,3391,1800,1949,2230,783.0,9.6,684,10199,0.00,2.42,9.48,2.173,8484,0.000,0.067,3382,3201,2055,1913,2198,0,0,0,0,0,0,14.97,14.52,13.74
$GC,10242,1.01,179.1,3382,3201,1913,2195,777.3,10.6,695,10248,0.00,2.40,0.00,0.000,1030,0.000,0.056,3391,1796,2054,1912,2196,0,0,0,0,0,0,14.74,14.67,14.76
$GC,10572,1.01,179.2,3391,1796,1909,2196,744.7,10.0,711,10578,0.00,2.42,0.00,0.000,292,0.000,0.067,3382,3204,2052,1908,2196,0,0,0,0,0,0,15.00,14.74,15.02
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$STATE,17570,end climb,SURFACE_DEPTH_REACHED
$STATE,17570,begin surface coast
$FINISH,1.4,1.000247
$STATE,17592,end surface coast,CONTROL_FINISHED_OK
$STATE,17592,begin surface
$SM_CCo,17611,124.35,0.080,0,0,450,573.99
$SM_GC,2.17,9.77,1.98,124.35,0.069,0.042,0.080,95,2041,450,-14.10,0.99,573.99,0,0,0,0,0,0,14.75,14.80,14.71
$IRIDIUM_FIX,1338.63,6104.06,260317,201040
$TT8_MAMPS,0.023968,0.156541
$HUMID,46.45
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,24.20
$XPDR_PINGS,13
$24V_AH,13.00,39.855
$10V_AH,13.62,0.000
$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,28.775,179.850,389.850,124.350,0.000,0.000,0.000,314.950,90.500,0.000,21.493,2835.852,12040.246,750.327,2484.130,167.147,0.000,2161.623,0.000,1888.912,0.000,585.378,0.000
$DEVICE_MAMPS,426.105,2089.215,2652.255,79.560,0.000,0.000,0.000,175.185,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,644.239,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225092
$DATA_FILE_SIZE,56668,1327
$CAP_FILE_SIZE,202352,0
$CFSIZE,260034560,249815040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.033,178.51,1
$GPS,270317,011545,1346.732,6103.267,40,0.7,54,-0.6,0.0,194.4,9,8.1