version: 66.13
glider: 137
mission: 5
dive: 121
start: 3 27 117 11 47 40
data:
$ID,137
$MISSION,5
$DIVE,121
$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,52
$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
$GPS1,270317,113835,1351.3789,6103.1611,44,0.8,48,-0.6,0.4,264.9,11,9.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-66.8
$GPS2,270317,114706,1351.3370,6103.1240,14,0.8,24,-0.6,0.0,0.0,11,9.7
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1351.858,6106.456
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,70.6,6068,-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,-146.0,92,2079,333,563,0.0,0.0,0,108,0.00,0.00,-98.53,0.000,16386,0.000,0.000,92,2080,3104,3020,3188,0,0,0,0,0,0,14.88,28.83,14.90
$GC,111,-1.28,-146.0,92,2080,3020,3189,4.7,-7.1,17,137,13.55,2.67,-5.00,0.000,18980,0.406,2.088,2890,640,3384,3281,3488,0,0,0,0,0,0,14.38,13.72,14.59
$GC,154,-0.94,-146.0,2889,639,3283,3488,17.8,-22.5,24,162,0.35,2.33,0.00,0.000,3206,0.235,0.039,2970,2049,3385,3282,3488,0,0,0,0,0,0,14.49,14.65,14.67
$GC,464,-1.10,-146.0,2970,2049,3283,3488,46.2,-8.8,85,473,0.12,2.35,0.00,0.000,4516,0.120,0.059,2894,3459,3385,3283,3488,0,0,0,0,0,0,14.78,14.73,14.79
$GC,499,-1.15,-146.0,2894,3458,3283,3488,49.8,-11.0,91,507,0.12,2.33,0.00,0.000,3206,0.230,0.038,2922,2036,3385,3283,3488,0,0,0,0,0,0,14.62,14.77,14.79
$GC,806,-1.21,-146.0,2922,2035,3283,3488,80.0,-9.4,122,814,0.00,2.28,0.00,0.000,676,0.000,0.057,2923,655,3385,3283,3488,0,0,0,0,0,0,15.04,14.80,15.06
$GC,880,-1.29,-146.0,2923,655,3283,3488,87.4,-9.1,137,888,0.00,2.28,0.00,0.000,1190,0.000,0.040,2914,2053,3385,3283,3488,0,0,0,0,0,0,14.89,14.83,14.90
$GC,1187,-1.39,-146.0,2914,2054,3283,3488,115.2,-8.9,168,1197,0.12,2.38,0.00,0.000,4772,0.126,0.057,2843,642,3385,3283,3488,0,0,0,0,0,0,14.85,14.83,14.89
$GC,1220,-1.39,-146.0,2843,642,3283,3488,118.9,-12.0,174,1230,0.17,2.30,0.00,0.000,3078,0.246,0.040,2874,2067,3385,3283,3488,0,0,0,0,0,0,14.69,14.86,14.88
$GC,1530,-1.39,-146.0,2874,2068,3283,3488,155.7,-11.0,206,1538,0.00,2.28,0.00,0.000,260,0.000,0.060,2865,3453,3385,3283,3488,0,0,0,0,0,0,15.10,14.85,15.12
$GC,1594,-1.46,-146.0,2865,3453,3284,3487,161.9,-9.3,219,1600,0.00,2.28,0.00,0.000,1190,0.000,0.037,2865,2050,3385,3283,3488,0,0,0,0,0,0,14.94,14.88,14.96
$GC,1901,-1.46,-146.0,2865,2050,3283,3488,192.1,-9.9,250,1902,0.00,0.00,0.00,0.000,38,0.000,0.000,2865,2050,3385,3283,3488,0,0,0,0,0,0,15.11,15.14,15.14
$GC,2202,-1.51,-146.0,2865,2050,3283,3488,221.5,-8.4,280,2203,0.00,0.00,0.00,0.000,166,0.000,0.000,2865,2050,3385,3283,3488,0,0,0,0,0,0,15.09,15.12,15.11
$GC,2504,-1.56,-146.0,2865,2050,3283,3488,246.2,-8.0,310,2509,0.12,2.35,0.00,0.000,4516,0.130,0.060,2802,3450,3385,3283,3488,0,0,0,0,0,0,14.88,14.85,14.91
$GC,2539,-1.53,-146.0,2801,3450,3283,3488,249.6,-11.2,316,2546,0.17,2.28,0.00,0.000,3206,0.235,0.040,2843,2047,3385,3283,3488,0,0,0,0,0,0,14.71,14.89,14.90
$GC,2854,-1.53,-146.0,2842,2047,3282,3488,280.6,-10.2,328,2860,0.00,2.30,0.00,0.000,516,0.000,0.060,2843,657,3385,3283,3488,0,0,0,0,0,0,15.10,14.87,15.13
$GC,2922,-1.53,-146.0,2843,655,3282,3488,288.8,-11.7,341,2928,0.00,2.28,0.00,0.000,1030,0.000,0.041,2834,2054,3385,3282,3488,0,0,0,0,0,0,14.96,14.90,14.97
$GC,3251,-1.53,-146.0,2834,2054,3280,3488,323.8,-10.1,356,3257,0.00,2.35,0.00,0.000,516,0.000,0.063,2834,659,3383,3280,3487,0,0,0,0,0,0,15.11,14.87,15.13
$GC,3304,-1.53,-146.0,2834,660,3280,3488,329.9,-11.2,366,3309,0.00,2.28,0.00,0.000,1030,0.000,0.044,2825,2052,3383,3279,3488,0,0,0,0,0,0,14.96,14.89,14.98
$GC,3617,-1.53,-146.0,2824,2052,3278,3488,363.0,-10.7,378,3622,0.00,2.38,0.00,0.000,516,0.000,0.066,2824,651,3383,3278,3488,0,0,0,0,0,0,15.11,14.87,15.14
$GC,3660,-1.53,-146.0,2824,651,3278,3488,368.2,-11.7,386,3666,0.12,2.30,0.00,0.000,3078,0.260,0.044,2841,2056,3383,3278,3488,0,0,0,0,0,0,14.73,14.90,14.92
$GC,3985,-1.56,-146.0,2841,2056,3275,3487,401.1,-10.4,400,3986,0.00,0.00,0.00,0.000,134,0.000,0.000,2841,2056,3381,3275,3487,0,0,0,0,0,0,15.13,15.15,15.14
$GC,4285,-1.60,-146.0,2841,2056,3274,3486,432.4,-10.4,410,4286,0.00,0.00,0.00,0.000,134,0.000,0.000,2841,2056,3380,3274,3486,0,0,0,0,0,0,15.12,15.15,15.15
$GC,4585,-1.64,-146.0,2841,2057,3272,3485,459.6,-8.3,420,4587,0.10,0.00,0.00,0.000,4262,0.156,0.000,2811,2057,3377,3271,3484,0,0,0,0,0,0,14.90,14.99,14.97
$GC,4887,-1.64,-146.0,2810,2057,3271,3481,488.2,-10.0,430,4888,0.00,0.00,0.00,0.000,38,0.000,0.000,2810,2057,3376,3271,3482,0,0,0,0,0,0,15.14,15.16,15.16
$GC,5184,-1.64,-146.0,2810,2057,3269,3479,520.2,-10.9,440,5185,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2057,3374,3269,3479,0,0,0,0,0,0,15.12,15.15,15.14
$GC,5484,-1.64,-146.0,2810,2057,3268,3478,555.1,-11.9,450,5491,0.00,2.40,0.00,0.000,516,0.000,0.069,2811,653,3373,3268,3478,0,0,0,0,0,0,15.13,14.85,15.15
$GC,5508,-1.64,-146.0,2810,653,3268,3478,558.4,-13.2,454,5513,0.00,2.33,0.00,0.000,1030,0.000,0.047,2800,2049,3372,3267,3478,0,0,0,0,0,0,14.97,14.89,14.98
$GC,5821,-1.64,-146.0,2799,2049,3266,3477,597.3,-12.6,466,5822,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2049,3372,3267,3477,0,0,0,0,0,0,15.12,15.15,15.14
$GC,6123,-1.64,-146.0,2800,2049,3266,3477,636.3,-13.1,476,6124,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2049,3371,3266,3477,0,0,0,0,0,0,15.12,15.15,15.15
$GC,6422,-1.64,-146.0,2799,2049,3264,3475,675.6,-13.3,486,6427,0.00,2.38,0.00,0.000,516,0.000,0.070,2800,662,3369,3264,3475,0,0,0,0,0,0,15.12,14.84,15.14
$GC,6476,-1.60,-146.0,2800,661,3264,3475,683.3,-14.6,496,6482,0.15,2.30,0.00,0.000,3206,0.257,0.047,2824,2059,3369,3264,3475,0,0,0,0,0,0,14.66,14.88,14.90
$GC,6791,-1.60,-146.0,2824,2058,3262,3474,720.9,-11.9,508,6792,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2058,3367,3261,3474,0,0,0,0,0,0,15.12,15.15,15.14
$GC,7091,-1.60,-146.0,2824,2059,3261,3472,755.3,-11.3,518,7092,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2058,3366,3261,3472,0,0,0,0,0,0,15.12,15.14,15.14
$GC,7391,-1.64,-146.0,2824,2058,3260,3471,788.0,-10.7,528,7392,0.00,0.00,0.00,0.000,134,0.000,0.000,2824,2058,3365,3260,3471,0,0,0,0,0,0,15.12,15.15,15.14
$GC,7693,-1.64,-146.0,2824,2058,3260,3470,818.5,-10.0,538,7694,0.00,0.00,0.00,0.000,38,0.000,0.000,2824,2058,3365,3260,3470,0,0,0,0,0,0,15.13,15.16,15.15
$GC,7992,-1.67,-146.0,2824,2058,3259,3469,847.6,-9.6,548,7996,0.00,2.40,0.00,0.000,676,0.000,0.068,2825,662,3364,3259,3470,0,0,0,0,0,0,15.12,14.83,15.14
$GC,8040,-1.67,-146.0,2824,661,3259,3469,852.7,-10.1,557,8047,0.00,2.30,0.00,0.000,1030,0.000,0.048,2817,2048,3363,3258,3469,0,0,0,0,0,0,14.94,14.86,14.96
$GC,8362,-1.67,-146.0,2817,2049,3257,3469,882.2,-9.2,570,8367,0.00,2.38,0.00,0.000,548,0.000,0.068,2817,661,3363,3257,3469,0,0,0,0,0,0,15.12,14.82,15.14
$GC,8428,-1.67,-146.0,2817,661,3257,3468,889.3,-9.5,583,8432,0.00,2.30,0.00,0.000,1062,0.000,0.048,2807,2050,3362,3257,3468,0,0,0,0,0,0,14.93,14.85,14.95
$GC,8757,-1.67,-146.0,2807,2051,3256,3467,922.8,-10.4,598,8762,0.00,2.40,0.00,0.000,516,0.000,0.069,2808,654,3361,3256,3467,0,0,0,0,0,0,15.11,14.81,15.14
$GC,8783,-1.67,-146.0,2807,654,3256,3467,926.3,-12.0,603,8790,0.00,2.33,0.00,0.000,1030,0.000,0.049,2798,2050,3361,3256,3467,0,0,0,0,0,0,14.92,14.85,14.95
$GC,9092,-1.67,-146.0,2797,2050,3256,3466,961.5,-11.9,614,9097,0.00,2.38,0.00,0.000,516,0.000,0.070,2798,657,3360,3256,3465,0,0,0,0,0,0,15.11,14.78,15.14
$GC,9125,-1.63,-146.0,2797,657,3256,3465,965.8,-12.4,620,9133,0.15,2.33,0.00,0.000,3206,0.262,0.050,2820,2057,3360,3256,3465,0,0,0,0,0,0,14.61,14.84,14.82
$STATE,9339,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9339,begin apogee
$GC,9343,-0.33,0.0,2821,1802,3255,3465,990.7,-11.6,632,9474,1.08,0.00,127.10,2.680,10246,0.261,0.000,3101,1802,2789,2677,2901,0,0,0,0,0,0,14.56,14.05,13.09
$STATE,9475,end apogee,CONTROL_FINISHED_OK
$STATE,9475,begin climb
$GC,9477,1.28,146.0,3102,1802,2672,2897,995.1,0.0,636,9616,1.20,0.00,134.40,2.636,10758,0.165,0.000,3451,1802,2193,2066,2321,0,0,0,0,0,0,14.02,13.92,12.97
$GC,9910,1.10,146.0,3450,1802,2043,2317,957.4,11.6,666,9917,0.15,2.45,0.00,0.000,4740,0.348,0.073,3430,408,2179,2042,2317,0,0,0,0,0,0,14.32,14.53,14.50
$GC,9978,0.94,146.0,3429,408,2038,2317,949.6,10.9,680,9983,0.17,2.35,0.00,0.000,5254,0.318,0.048,3386,1797,2177,2037,2317,0,0,0,0,0,0,14.40,14.60,14.63
$GC,10296,0.89,154.4,3385,1797,2036,2317,919.9,9.6,693,10308,0.00,2.47,4.93,1.902,8612,0.000,0.070,3376,3205,2160,2019,2301,0,0,0,0,0,0,14.95,14.68,13.57
$GC,10344,0.82,155.5,3376,3205,2019,2301,914.9,9.9,703,10349,0.15,2.38,0.00,0.000,5286,0.343,0.057,3356,1810,2160,2020,2301,0,0,0,0,0,0,14.51,14.69,14.72
$GC,10651,0.82,157.5,3355,1810,2020,2301,885.7,9.9,714,10663,0.00,2.53,4.18,1.702,8740,0.000,0.080,3365,398,2147,2006,2289,0,0,0,0,0,0,14.99,14.73,13.62
$GC,10729,0.79,157.5,3365,398,2007,2289,877.0,10.7,730,10734,0.00,2.35,0.00,0.000,1158,0.000,0.047,3365,1800,2148,2007,2289,0,0,0,0,0,0,14.81,14.75,14.83
$GC,11036,0.76,157.5,3365,1800,2007,2290,842.9,11.2,741,11038,0.12,0.00,0.00,0.000,4230,0.334,0.000,3344,1805,2148,2007,2289,0,0,0,0,0,0,14.56,14.85,14.81
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$STATE,18861,end climb,SURFACE_DEPTH_REACHED
$STATE,18861,begin surface coast
$FINISH,1.6,1.023663
$STATE,18887,end surface coast,CONTROL_FINISHED_OK
$STATE,18888,begin surface
$SM_CCo,18905,105.68,0.081,0,0,450,573.99
$SM_GC,2.24,9.82,0.45,105.68,0.088,0.051,0.081,99,2087,450,-14.09,-0.96,573.99,0,0,0,0,0,0,14.76,14.85,14.73
$IRIDIUM_FIX,1343.07,6101.04,270317,114009
$TT8_MAMPS,0.023968,0.158788
$HUMID,47.16
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,24.10
$XPDR_PINGS,12
$24V_AH,12.97,40.942
$10V_AH,13.40,0.000
$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,28.375,182.325,428.725,105.675,0.000,0.000,0.000,287.650,96.750,0.000,25.759,3016.039,13023.610,761.089,2529.335,194.961,0.000,2198.108,0.000,1942.425,0.000,629.725,0.000
$DEVICE_MAMPS,406.215,2087.685,2679.795,81.090,0.000,0.000,0.000,175.950,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,693.152,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225052
$DATA_FILE_SIZE,60036,1365
$CAP_FILE_SIZE,213832,0
$CFSIZE,260034560,249540608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.027,104.95,1
$GPS,270317,170544,1352.237,6106.257,24,1.0,37,-0.6,0.4,54.2,9,9.9