version: 66.13
glider: 137
mission: 5
dive: 124
start: 3 28 117 3 37 59
data:
$ID,137
$MISSION,5
$DIVE,124
$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,78
$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
$GPS1,280317,032407,1347.7220,6110.6587,25,0.7,31,-0.6,0.5,127.2,10,9.4
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-66.4
$GPS2,280317,033723,1347.6174,6110.7383,6,0.7,19,-0.6,0.6,79.8,11,10.0
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1343.895,6112.630
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,156.3,7688,-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,-146.0,89,1996,333,561,0.0,0.0,0,110,0.00,0.00,-99.88,0.000,16386,0.000,0.000,89,1997,3137,3058,3216,0,0,0,0,0,0,14.90,28.83,14.92
$GC,112,-1.28,-146.0,89,1997,3059,3216,4.8,-7.8,17,138,13.90,2.40,-4.32,0.000,18980,0.418,2.088,2895,690,3387,3289,3486,0,0,0,0,0,0,14.38,13.74,14.59
$GC,275,-1.28,-146.0,2894,689,3289,3487,35.5,-13.1,48,282,0.00,2.20,0.00,0.000,1030,0.000,0.039,2887,2036,3388,3289,3487,0,0,0,0,0,0,14.78,14.71,14.79
$GC,583,-1.28,-146.0,2886,2036,3289,3487,77.7,-13.2,89,588,0.00,2.35,0.00,0.000,260,0.000,0.060,2876,3453,3388,3289,3487,0,0,0,0,0,0,15.02,14.76,15.04
$GC,609,-1.28,-146.0,2876,3453,3289,3487,81.5,-13.4,94,615,0.00,2.22,0.00,0.000,1030,0.000,0.037,2876,2086,3388,3289,3487,0,0,0,0,0,0,14.86,14.81,14.88
$GC,915,-1.28,-146.0,2876,2086,3289,3487,123.0,-12.5,125,920,0.00,2.38,0.00,0.000,516,0.000,0.057,2876,652,3388,3289,3487,0,0,0,0,0,0,15.07,14.81,15.09
$GC,970,-1.32,-146.0,2876,651,3290,3486,130.1,-11.3,136,978,0.10,2.28,0.00,0.000,3206,0.269,0.039,2886,2056,3387,3289,3486,0,0,0,0,0,0,14.69,14.84,14.86
$GC,1277,-1.38,-146.0,2885,2056,3289,3487,159.2,-8.8,167,1286,0.00,2.30,0.00,0.000,420,0.000,0.060,2877,3450,3387,3289,3486,0,0,0,0,0,0,15.09,14.83,15.11
$GC,1299,-1.44,-146.0,2876,3450,3289,3487,161.3,-9.1,171,1307,0.00,2.28,0.00,0.000,1190,0.000,0.037,2877,2046,3388,3290,3487,0,0,0,0,0,0,14.93,14.87,14.95
$GC,1609,-1.50,-146.0,2877,2046,3289,3487,189.2,-9.2,203,1611,0.12,0.00,0.00,0.000,4262,0.129,0.000,2825,2045,3388,3289,3487,0,0,0,0,0,0,14.89,14.96,14.94
$GC,1910,-1.50,-146.0,2825,2045,3289,3487,224.5,-11.9,233,1916,0.10,2.30,0.00,0.000,2564,0.255,0.056,2845,648,3388,3289,3487,0,0,0,0,0,0,14.73,14.85,14.89
$GC,1965,-1.50,-146.0,2845,647,3290,3487,231.7,-11.8,243,1971,0.00,2.28,0.00,0.000,1030,0.000,0.040,2836,2052,3388,3289,3487,0,0,0,0,0,0,14.95,14.88,14.96
$GC,2280,-1.50,-146.0,2836,2051,3290,3487,266.3,-10.8,265,2281,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2052,3387,3289,3486,0,0,0,0,0,0,15.09,15.12,15.11
$GC,2581,-1.50,-146.0,2836,2051,3286,3486,302.1,-12.6,275,2586,0.00,2.35,0.00,0.000,516,0.000,0.059,2836,651,3386,3286,3487,0,0,0,0,0,0,15.11,14.87,15.14
$GC,2607,-1.50,-146.0,2836,650,3287,3486,306.2,-13.9,280,2615,0.10,2.30,0.00,0.000,3078,0.257,0.043,2847,2059,3386,3286,3487,0,0,0,0,0,0,14.74,14.89,14.92
$GC,2916,-1.54,-146.0,2847,2058,3285,3487,342.9,-11.5,291,2920,0.00,2.30,0.00,0.000,388,0.000,0.063,2838,3444,3385,3285,3486,0,0,0,0,0,0,15.12,14.86,15.14
$GC,2942,-1.59,-146.0,2838,3444,3285,3486,346.3,-11.4,296,2949,0.00,2.28,0.00,0.000,1158,0.000,0.041,2838,2055,3385,3285,3486,0,0,0,0,0,0,14.96,14.90,14.98
$GC,3250,-1.63,-146.0,2838,2055,3283,3486,380.4,-11.3,307,3255,0.00,2.35,0.00,0.000,644,0.000,0.063,2838,637,3385,3283,3487,0,0,0,0,0,0,15.12,14.87,15.14
$GC,3297,-1.63,-146.0,2838,637,3283,3486,386.3,-12.1,316,3301,0.00,2.33,0.00,0.000,1030,0.000,0.044,2828,2057,3384,3282,3486,0,0,0,0,0,0,14.96,14.89,14.97
$GC,3614,-1.63,-146.0,2828,2058,3280,3486,421.1,-10.8,329,3622,0.00,2.40,0.00,0.000,516,0.000,0.066,2828,641,3384,3281,3487,0,0,0,0,0,0,15.11,14.85,15.14
$GC,3637,-1.63,-146.0,2827,641,3280,3487,424.0,-11.7,333,3644,0.00,2.33,0.00,0.000,1030,0.000,0.046,2819,2047,3383,3280,3487,0,0,0,0,0,0,14.96,14.88,14.97
$GC,3951,-1.63,-146.0,2818,2047,3278,3486,458.1,-11.0,345,3959,0.00,2.38,0.00,0.000,516,0.000,0.064,2819,650,3382,3278,3486,0,0,0,0,0,0,15.11,14.85,15.14
$GC,4010,-1.63,-146.0,2818,650,3278,3486,465.2,-11.4,356,4017,0.00,2.33,0.00,0.000,1030,0.000,0.045,2809,2058,3382,3278,3486,0,0,0,0,0,0,14.95,14.88,14.97
$GC,4318,-1.63,-146.0,2808,2059,3276,3485,501.0,-11.9,367,4319,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2058,3380,3276,3485,0,0,0,0,0,0,15.12,15.15,15.14
$GC,4617,-1.63,-146.0,2809,2059,3275,3483,535.2,-11.1,377,4618,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2058,3378,3274,3483,0,0,0,0,0,0,15.11,15.14,15.14
$GC,4917,-1.63,-146.0,2808,2058,3273,3481,568.3,-11.1,387,4924,0.00,2.40,0.00,0.000,516,0.000,0.066,2809,651,3377,3273,3481,0,0,0,0,0,0,15.12,14.84,15.14
$GC,4955,-1.63,-146.0,2808,651,3273,3480,573.1,-11.6,394,4962,0.10,2.33,0.00,0.000,3078,0.268,0.047,2818,2058,3376,3272,3480,0,0,0,0,0,0,14.69,14.88,14.89
$GC,5285,-1.63,-146.0,2818,2058,3271,3479,608.9,-10.8,409,5291,0.00,2.35,0.00,0.000,260,0.000,0.069,2810,3453,3375,3271,3479,0,0,0,0,0,0,15.11,14.83,15.14
$GC,5320,-1.63,-146.0,2809,3453,3271,3478,612.6,-10.3,415,5325,0.00,2.33,0.00,0.000,1030,0.000,0.044,2809,2048,3374,3271,3478,0,0,0,0,0,0,14.95,14.88,14.97
$GC,5654,-1.63,-146.0,2809,2046,3269,3478,649.9,-11.4,431,5659,0.00,2.35,0.00,0.000,516,0.000,0.068,2809,650,3373,3269,3478,0,0,0,0,0,0,15.11,14.83,15.14
$GC,5741,-1.63,-146.0,2809,650,3269,3477,660.8,-11.4,448,5749,0.00,2.33,0.00,0.000,1030,0.000,0.047,2799,2053,3372,3268,3477,0,0,0,0,0,0,14.94,14.86,14.96
$GC,6049,-1.63,-146.0,2799,2053,3268,3477,696.2,-11.5,459,6054,0.10,2.38,0.00,0.000,2308,0.285,0.068,2810,3466,3372,3268,3476,0,0,0,0,0,0,14.68,14.81,14.85
$GC,6070,-1.63,-146.0,2810,3467,3268,3476,698.9,-11.6,463,6075,0.00,2.35,0.00,0.000,1030,0.000,0.045,2810,2051,3372,3268,3476,0,0,0,0,0,0,14.94,14.86,14.96
$GC,6382,-1.63,-146.0,2809,2051,3267,3476,732.9,-11.1,475,6387,0.00,2.38,0.00,0.000,516,0.000,0.069,2810,642,3371,3266,3476,0,0,0,0,0,0,15.11,14.82,15.13
$GC,6420,-1.63,-146.0,2809,642,3267,3475,737.5,-11.6,482,6425,0.00,2.35,0.00,0.000,1030,0.000,0.047,2801,2058,3370,3266,3475,0,0,0,0,0,0,14.94,14.85,14.95
$GC,6749,-1.63,-146.0,2801,2058,3266,3473,776.6,-12.2,497,6755,0.00,2.35,0.00,0.000,260,0.000,0.070,2791,3450,3369,3266,3473,0,0,0,0,0,0,15.11,14.81,15.14
$GC,6791,-1.63,-146.0,2791,3450,3266,3473,782.4,-12.6,505,6797,0.12,2.33,0.00,0.000,3078,0.246,0.046,2817,2050,3369,3266,3473,0,0,0,0,0,0,14.64,14.85,14.87
$GC,7115,-1.63,-146.0,2817,2050,3264,3472,818.3,-11.0,519,7121,0.00,2.38,0.00,0.000,516,0.000,0.067,2818,642,3368,3264,3472,0,0,0,0,0,0,15.10,14.81,15.12
$GC,7184,-1.63,-146.0,2818,641,3264,3472,826.3,-10.7,532,7189,0.00,2.35,0.00,0.000,1030,0.000,0.047,2809,2056,3368,3264,3472,0,0,0,0,0,0,14.92,14.85,14.95
$GC,7511,-1.63,-146.0,2809,2056,3263,3470,860.4,-10.1,547,7518,0.00,2.42,0.00,0.000,516,0.000,0.067,2809,640,3366,3263,3470,0,0,0,0,0,0,15.10,14.80,15.12
$GC,7584,-1.63,-146.0,2809,640,3263,3470,868.1,-10.0,561,7589,0.00,2.35,0.00,0.000,1030,0.000,0.048,2800,2053,3366,3262,3470,0,0,0,0,0,0,14.92,14.84,14.94
$GC,7907,-1.63,-146.0,2800,2053,3262,3469,899.1,-9.7,575,7914,0.00,2.42,0.00,0.000,548,0.000,0.068,2800,642,3365,3262,3469,0,0,0,0,0,0,15.10,14.80,15.12
$GC,7935,-1.63,-146.0,2800,642,3262,3469,902.2,-10.2,580,7944,0.12,2.35,0.00,0.000,3078,0.274,0.050,2816,2052,3365,3261,3469,0,0,0,0,0,0,14.60,14.83,14.84
$GC,8244,-1.63,-146.0,2816,2051,3260,3469,928.9,-8.4,591,8248,0.00,2.40,0.00,0.000,548,0.000,0.067,2817,650,3364,3260,3469,0,0,0,0,0,0,15.11,14.80,15.13
$GC,8286,-1.63,-146.0,2816,650,3260,3469,933.1,-9.0,599,8291,0.00,2.35,0.00,0.000,1062,0.000,0.049,2808,2057,3364,3260,3469,0,0,0,0,0,0,14.91,14.83,14.93
$GC,8609,-1.63,-146.0,2808,2057,3260,3468,961.6,-8.9,613,8617,0.00,2.45,0.00,0.000,548,0.000,0.067,2808,640,3364,3260,3468,0,0,0,0,0,0,15.10,14.78,15.12
$GC,8648,-1.63,-146.0,2808,640,3260,3467,965.7,-9.5,620,8655,0.10,2.38,0.00,0.000,3110,0.275,0.049,2817,2062,3363,3259,3467,0,0,0,0,0,0,14.61,14.83,14.82
$STATE,8916,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8917,begin apogee
$GC,8921,-0.33,0.0,2817,1794,3258,3467,990.8,-9.6,633,9053,1.08,0.00,127.53,2.692,10246,0.256,0.000,3100,1793,2789,2680,2899,0,0,0,0,0,0,14.54,14.04,13.07
$STATE,9054,end apogee,CONTROL_FINISHED_OK
$STATE,9054,begin climb
$GC,9055,1.28,146.0,3100,1793,2675,2896,993.0,0.0,637,9200,1.17,2.55,134.07,2.616,10756,0.155,0.076,3461,408,2187,2060,2315,0,0,0,0,0,0,14.04,13.77,12.99
$GC,9227,1.07,146.0,3461,408,2051,2315,982.5,12.3,675,9232,0.25,2.45,0.00,0.000,5254,0.329,0.047,3413,1802,2183,2051,2315,0,0,0,0,0,0,13.97,14.15,14.20
$GC,9545,0.95,147.7,3413,1802,2040,2315,950.7,9.9,688,9552,0.12,2.40,0.00,0.000,4516,0.389,0.065,3383,3202,2177,2040,2315,0,0,0,0,0,0,14.32,14.57,14.52
$GC,9588,0.89,171.4,3383,3202,2040,2315,946.6,8.9,697,9619,0.12,2.40,22.38,2.445,13478,0.388,0.055,3372,1804,2086,1944,2229,0,0,0,0,0,0,14.36,14.60,13.45
$GC,9937,0.90,206.2,3372,1804,1933,2228,917.1,8.4,716,9974,0.00,2.55,31.48,2.462,8868,0.000,0.084,3381,395,1944,1798,2090,0,0,0,0,0,0,14.88,14.32,13.42
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$STATE,18226,end climb,SURFACE_DEPTH_REACHED
$STATE,18226,begin surface coast
$FINISH,1.4,1.009876
$STATE,18262,end surface coast,CONTROL_FINISHED_OK
$STATE,18262,begin surface
$SM_CCo,18279,108.97,0.080,0,0,449,573.99
$SM_GC,2.24,9.75,0.38,108.97,0.084,0.067,0.080,90,2061,449,-14.13,-1.19,573.99,0,0,0,0,0,0,14.76,14.83,14.72
$IRIDIUM_FIX,1343.07,6109.02,270317,223936
$TT8_MAMPS,0.024717,0.160286
$HUMID,47.55
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,24.10
$XPDR_PINGS,11
$24V_AH,12.99,42.006
$10V_AH,13.39,0.000
$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,28.075,186.525,419.975,108.975,0.000,0.000,0.000,341.550,108.000,0.000,20.346,2885.526,12839.822,736.318,2540.228,192.844,0.000,2212.926,0.000,1867.431,0.000,706.328,0.000
$DEVICE_MAMPS,417.690,2088.450,2692.035,80.325,0.000,0.000,0.000,172.890,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,652.285,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,56695,1312
$CAP_FILE_SIZE,213687,0
$CFSIZE,260034560,249290752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.059,152.66,1
$GPS,280317,084545,1344.509,6112.280,27,1.3,41,-0.6,0.7,179.7,5,10.0