version: 66.13
glider: 137
mission: 5
dive: 125
start: 3 28 117 8 59 36
data:
$ID,137
$MISSION,5
$DIVE,125
$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,28
$R_STBD_OVSHOOT,49
$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
$GPS1,280317,084545,1344.5085,6112.2798,27,1.3,41,-0.6,0.7,179.7,5,10.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-67.1
$GPS2,280317,085901,1344.4067,6112.2417,6,1.1,27,-0.6,0.5,137.4,8,9.7
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1341.146,6114.325
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,147.9,7108,-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,-146.0,89,2069,329,562,0.0,0.0,0,108,0.00,0.00,-99.05,0.000,16386,0.000,0.000,89,2070,3111,3028,3195,0,0,0,0,0,0,14.90,28.83,14.92
$GC,111,-1.28,-146.0,89,2070,3028,3195,4.6,-7.4,17,137,14.12,2.65,-4.95,0.000,18980,0.425,2.085,2895,636,3386,3285,3488,0,0,0,0,0,0,14.40,13.74,14.70
$GC,245,-1.28,-146.0,2895,636,3286,3488,31.1,-14.0,42,253,0.00,2.33,0.00,0.000,1030,0.000,0.040,2887,2050,3387,3286,3488,0,0,0,0,0,0,14.77,14.71,14.78
$GC,560,-1.28,-146.0,2886,2052,3286,3488,71.6,-12.7,87,561,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2052,3387,3286,3488,0,0,0,0,0,0,15.02,15.04,15.04
$GC,861,-1.28,-146.0,2886,2052,3286,3488,113.1,-14.6,117,862,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2051,3387,3286,3488,0,0,0,0,0,0,15.06,15.08,15.08
$GC,1161,-1.32,-146.0,2886,2052,3285,3488,145.0,-6.5,147,1170,0.00,2.35,0.00,0.000,676,0.000,0.059,2886,636,3387,3286,3488,0,0,0,0,0,0,15.09,14.81,15.11
$GC,1216,-1.41,-146.0,2886,635,3286,3488,148.5,-5.2,158,1224,0.00,2.30,0.00,0.000,1190,0.000,0.041,2876,2054,3387,3286,3488,0,0,0,0,0,0,14.93,14.87,14.95
$GC,1522,-1.46,-146.0,2876,2054,3286,3488,174.4,-11.6,189,1526,0.00,2.30,0.00,0.000,388,0.000,0.063,2866,3452,3387,3286,3488,0,0,0,0,0,0,15.11,14.85,15.13
$GC,1554,-1.53,-146.0,2866,3452,3286,3488,178.0,-11.7,195,1564,0.10,2.30,0.00,0.000,5254,0.149,0.038,2823,2028,3387,3286,3488,0,0,0,0,0,0,14.86,14.88,14.94
$GC,1865,-1.53,-146.0,2823,2028,3285,3488,216.8,-10.8,227,1870,0.00,2.28,0.00,0.000,516,0.000,0.059,2823,643,3386,3285,3488,0,0,0,0,0,0,15.09,14.86,15.11
$GC,2001,-1.49,-146.0,2823,643,3286,3488,230.4,-9.8,251,2007,0.15,2.30,0.00,0.000,3238,0.243,0.042,2847,2056,3387,3286,3488,0,0,0,0,0,0,14.72,14.88,14.90
$GC,2335,-1.53,-146.0,2847,2056,3284,3487,264.1,-11.5,277,2340,0.00,2.30,0.00,0.000,388,0.000,0.062,2838,3452,3386,3284,3488,0,0,0,0,0,0,15.10,14.85,15.12
$GC,2404,-1.59,-146.0,2838,3452,3284,3488,272.4,-11.8,290,2412,0.00,2.28,0.00,0.000,1158,0.000,0.041,2838,2055,3386,3284,3488,0,0,0,0,0,0,14.95,14.89,14.97
$GC,2735,-1.59,-146.0,2838,2055,3283,3488,306.2,-9.6,305,2736,0.00,0.00,0.00,0.000,38,0.000,0.000,2838,2055,3385,3283,3488,0,0,0,0,0,0,15.11,15.14,15.13
$GC,3035,-1.59,-146.0,2837,2054,3281,3488,335.6,-10.1,315,3042,0.00,2.38,0.00,0.000,260,0.000,0.064,2828,3457,3384,3281,3488,0,0,0,0,0,0,15.11,14.87,15.14
$GC,3059,-1.59,-146.0,2827,3457,3281,3488,338.2,-9.8,319,3064,0.00,2.33,0.00,0.000,1062,0.000,0.042,2828,2039,3384,3281,3488,0,0,0,0,0,0,14.97,14.90,14.98
$GC,3372,-1.59,-146.0,2827,2038,3278,3488,369.6,-10.3,331,3379,0.00,2.30,0.00,0.000,516,0.000,0.063,2827,651,3383,3279,3488,0,0,0,0,0,0,15.12,14.88,15.14
$GC,3422,-1.59,-146.0,2828,650,3278,3488,375.4,-11.3,340,3427,0.00,2.30,0.00,0.000,1030,0.000,0.044,2818,2053,3383,3278,3488,0,0,0,0,0,0,14.97,14.90,14.98
$GC,3739,-1.59,-146.0,2817,2054,3277,3487,412.1,-11.7,353,3740,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2054,3381,3276,3487,0,0,0,0,0,0,15.11,15.14,15.14
$GC,4041,-1.59,-146.0,2818,2054,3275,3485,447.3,-11.6,363,4047,0.00,2.35,0.00,0.000,260,0.000,0.067,2807,3458,3379,3275,3484,0,0,0,0,0,0,15.12,14.86,15.14
$GC,4058,-1.59,-146.0,2807,3458,3275,3484,449.8,-11.4,366,4067,0.10,2.33,0.00,0.000,3078,0.246,0.044,2827,2043,3379,3274,3485,0,0,0,0,0,0,14.73,14.90,14.91
$GC,4381,-1.59,-146.0,2826,2043,3272,3482,482.4,-10.3,379,4382,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2043,3377,3272,3482,0,0,0,0,0,0,15.13,15.16,15.15
$GC,4680,-1.59,-146.0,2826,2043,3271,3480,514.2,-10.8,389,4685,0.00,2.40,0.00,0.000,260,0.000,0.070,2818,3444,3375,3271,3480,0,0,0,0,0,0,15.12,14.85,15.14
$GC,4729,-1.63,-146.0,2818,3444,3271,3479,520.0,-11.1,398,4737,0.00,2.33,0.00,0.000,1158,0.000,0.047,2818,2045,3375,3271,3480,0,0,0,0,0,0,14.96,14.88,14.98
$GC,5051,-1.63,-146.0,2818,2043,3269,3478,556.1,-11.3,411,5052,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2043,3373,3269,3478,0,0,0,0,0,0,15.13,15.15,15.15
$GC,5350,-1.63,-146.0,2818,2043,3268,3477,587.9,-10.4,421,5351,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2043,3372,3268,3477,0,0,0,0,0,0,15.11,15.14,15.14
$GC,5651,-1.63,-146.0,2817,2044,3267,3477,619.0,-10.5,431,5658,0.00,2.42,0.00,0.000,260,0.000,0.072,2808,3451,3371,3267,3476,0,0,0,0,0,0,15.12,14.83,15.14
$GC,5688,-1.63,-146.0,2808,3451,3267,3476,623.6,-10.8,438,5696,0.00,2.35,0.00,0.000,1030,0.000,0.047,2808,2042,3371,3267,3476,0,0,0,0,0,0,14.95,14.88,14.97
$GC,6019,-1.63,-146.0,2808,2042,3266,3476,664.6,-13.1,453,6023,0.00,2.35,0.00,0.000,516,0.000,0.066,2808,640,3370,3266,3475,0,0,0,0,0,0,15.11,14.84,15.14
$GC,6103,-1.63,-146.0,2808,639,3265,3474,676.5,-14.1,469,6108,0.10,2.35,0.00,0.000,3078,0.270,0.047,2817,2059,3370,3265,3475,0,0,0,0,0,0,14.67,14.86,14.88
$GC,6416,-1.63,-146.0,2817,2060,3263,3473,713.2,-11.3,481,6421,0.00,2.38,0.00,0.000,260,0.000,0.073,2809,3455,3368,3264,3473,0,0,0,0,0,0,15.11,14.81,15.13
$GC,6450,-1.63,-146.0,2808,3455,3263,3472,716.7,-11.0,487,6455,0.00,2.35,0.00,0.000,1030,0.000,0.053,2809,2053,3367,3263,3472,0,0,0,0,0,0,14.94,14.86,14.96
$GC,6784,-1.63,-146.0,2808,2053,3262,3472,752.1,-10.3,503,6789,0.00,2.38,0.00,0.000,516,0.000,0.070,2809,642,3366,3262,3471,0,0,0,0,0,0,15.11,14.83,15.14
$GC,6821,-1.63,-146.0,2808,640,3262,3471,756.2,-10.4,510,6827,0.10,2.35,0.00,0.000,3078,0.273,0.053,2818,2046,3366,3261,3471,0,0,0,0,0,0,14.65,14.84,14.88
$GC,7151,-1.63,-146.0,2817,2046,3260,3470,786.7,-9.5,525,7157,0.00,2.40,0.00,0.000,292,0.000,0.076,2809,3450,3365,3261,3470,0,0,0,0,0,0,15.11,14.81,15.13
$GC,7197,-1.63,-146.0,2809,3450,3260,3470,791.3,-9.6,533,7201,0.00,2.38,0.00,0.000,1062,0.000,0.054,2809,2041,3365,3261,3470,0,0,0,0,0,0,14.92,14.85,14.95
$GC,7520,-1.63,-146.0,2808,2040,3260,3469,823.9,-10.2,547,7525,0.00,2.38,0.00,0.000,516,0.000,0.075,2809,642,3364,3259,3470,0,0,0,0,0,0,15.11,14.82,15.13
$GC,7556,-1.63,-146.0,2808,642,3259,3469,828.1,-10.9,554,7563,0.00,2.38,0.00,0.000,1030,0.000,0.055,2799,2047,3364,3259,3469,0,0,0,0,0,0,14.92,14.83,14.95
$GC,7888,-1.63,-146.0,2798,2048,3259,3468,862.5,-10.6,569,7893,0.10,2.38,0.00,0.000,2564,0.285,0.063,2818,648,3363,3259,3467,0,0,0,0,0,0,14.66,14.81,14.83
$GC,7921,-1.63,-146.0,2817,647,3259,3467,866.3,-10.1,575,7928,0.00,2.35,0.00,0.000,1030,0.000,0.049,2809,2057,3363,3259,3467,0,0,0,0,0,0,14.92,14.83,14.94
$GC,8257,-1.63,-146.0,2809,2057,3259,3466,899.5,-9.9,591,8258,0.00,0.00,0.00,0.000,38,0.000,0.000,2809,2057,3362,3259,3466,0,0,0,0,0,0,15.11,15.13,15.13
$GC,8557,-1.63,-146.0,2808,2057,3258,3465,928.8,-9.7,601,8559,0.00,0.00,0.00,0.000,38,0.000,0.000,2809,2057,3361,3258,3465,0,0,0,0,0,0,15.11,15.13,15.12
$GC,8858,-1.63,-146.0,2808,2057,3257,3464,958.5,-10.1,611,8863,0.00,2.45,0.00,0.000,516,0.000,0.073,2809,640,3360,3257,3464,0,0,0,0,0,0,15.11,14.81,15.14
$GC,8921,-1.63,-146.0,2808,639,3257,3464,965.7,-10.7,623,8927,0.10,2.40,0.00,0.000,3078,0.276,0.057,2822,2065,3360,3256,3464,0,0,0,0,0,0,14.60,14.82,14.74
$STATE,9193,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9193,begin apogee
$GC,9198,-0.33,0.0,2822,1788,3256,3464,992.1,-9.4,637,9329,1.08,0.00,127.30,2.683,10246,0.271,0.000,3099,1785,2789,2679,2900,0,0,0,0,0,0,14.54,14.04,13.08
$STATE,9330,end apogee,CONTROL_FINISHED_OK
$STATE,9330,begin climb
$GC,9332,1.28,146.0,3099,1785,2674,2897,993.8,0.0,641,9471,1.23,0.00,134.68,2.626,10758,0.169,0.000,3453,1785,2193,2067,2320,0,0,0,0,0,0,14.03,13.91,12.97
$GC,9765,1.10,146.0,3453,1785,2043,2316,945.8,13.8,671,9772,0.15,2.45,0.00,0.000,4740,0.317,0.074,3430,394,2179,2042,2316,0,0,0,0,0,0,14.33,14.52,14.50
$GC,9817,0.94,146.0,3429,394,2038,2316,938.4,13.3,682,9826,0.22,2.40,0.00,0.000,5254,0.339,0.046,3383,1808,2177,2038,2316,0,0,0,0,0,0,14.36,14.59,14.62
$GC,10124,0.88,146.0,3383,1808,2037,2316,904.8,10.8,693,10131,0.00,2.40,0.00,0.000,388,0.000,0.077,3382,3199,2176,2037,2316,0,0,0,0,0,0,14.94,14.67,14.97
$GC,10157,0.79,146.0,3383,3199,2037,2316,901.0,11.7,700,10162,0.20,2.40,0.00,0.000,5254,0.341,0.061,3351,1803,2176,2037,2316,0,0,0,0,0,0,14.47,14.70,14.74
$GC,10485,0.82,167.4,3350,1803,2035,2316,870.7,9.0,715,10508,0.00,2.45,18.17,2.390,8484,0.000,0.073,3350,3195,2101,1960,2243,0,0,0,0,0,0,15.01,14.45,13.67
$GC,10553,0.82,167.4,3350,3195,1959,2239,864.0,10.1,729,10558,0.00,2.42,0.00,0.000,1030,0.000,0.060,3358,1798,2099,1959,2239,0,0,0,0,0,0,14.68,14.60,14.70
$GC,10870,0.82,167.4,3358,1798,1955,2238,832.8,10.1,742,10875,0.00,2.45,0.00,0.000,260,0.000,0.077,3358,3195,2096,1954,2239,0,0,0,0,0,0,14.96,14.70,14.98
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$STATE,18701,end climb,SURFACE_DEPTH_REACHED
$STATE,18701,begin surface coast
$FINISH,1.8,1.023644
$STATE,18714,end surface coast,CONTROL_FINISHED_OK
$STATE,18714,begin surface
$SM_CCo,18733,95.03,0.082,0,0,449,573.99
$SM_GC,2.20,9.88,2.80,95.03,0.086,0.036,0.082,93,2055,449,-14.11,-1.30,573.99,0,0,0,0,0,0,14.59,14.81,14.71
$IRIDIUM_FIX,1340.85,6112.03,280317,033414
$TT8_MAMPS,0.023968,0.156541
$HUMID,48.42
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,23.90
$XPDR_PINGS,13
$24V_AH,12.97,42.389
$10V_AH,13.35,0.000
$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,28.525,182.650,447.150,95.025,0.000,0.000,0.000,331.200,109.500,0.000,28.836,2915.688,13188.436,740.500,2588.455,196.404,0.000,2211.857,0.000,1918.714,0.000,715.489,0.000
$DEVICE_MAMPS,425.340,2084.625,2682.855,81.855,0.000,0.000,0.000,177.480,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,649.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225004
$DATA_FILE_SIZE,56703,1348
$CAP_FILE_SIZE,214834,0
$CFSIZE,260034560,249204736
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,7561.42,0x213b0c,0,24
$CURRENT,0.078,172.90,1
$GPS,280317,141436,1341.363,6114.034,31,0.7,36,-0.7,0.4,182.1,11,9.2