version: 66.13
glider: 137
mission: 5
dive: 129
start: 3 29 117 5 59 32
data:
$ID,137
$MISSION,5
$DIVE,129
$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,49
$R_STBD_OVSHOOT,39
$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
$GPS1,290317,055356,1342.4279,6115.8345,30,0.8,37,-0.7,0.5,2.9,10,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-65.5
$GPS2,290317,055841,1342.4275,6115.8145,5,0.8,16,-0.7,0.5,276.3,10,9.5
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1345.138,6115.065
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,347.6,5198,-17.5,-10.000,-20.08,2018
$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,-1.33,-131.3,95,2021,330,564,0.0,0.0,0,108,0.00,0.00,-99.07,0.000,16386,0.000,0.000,96,2020,3099,3018,3181,0,0,0,0,0,0,14.88,28.83,14.90
$GC,111,-1.35,-146.0,95,2020,3019,3181,4.6,-7.1,17,137,13.68,2.65,-5.10,0.000,18724,0.411,2.093,2867,3447,3386,3284,3488,0,0,0,0,0,0,14.37,13.71,14.58
$GC,194,-1.31,-146.0,2867,3447,3285,3489,24.5,-16.5,32,202,0.12,2.30,0.00,0.000,3206,0.266,0.037,2891,2053,3386,3285,3488,0,0,0,0,0,0,14.49,14.66,14.68
$GC,509,-1.31,-146.0,2891,2052,3286,3488,68.7,-14.4,81,514,0.00,2.35,0.00,0.000,516,0.000,0.060,2892,642,3387,3285,3489,0,0,0,0,0,0,15.00,14.73,15.01
$GC,563,-1.34,-146.0,2892,641,3285,3489,76.5,-13.3,92,571,0.00,2.33,0.00,0.000,1158,0.000,0.041,2883,2060,3387,3286,3489,0,0,0,0,0,0,14.84,14.78,14.85
$GC,871,-1.39,-146.0,2883,2060,3286,3489,112.8,-12.3,123,872,0.00,0.00,0.00,0.000,134,0.000,0.000,2883,2060,3387,3286,3489,0,0,0,0,0,0,15.05,15.07,15.07
$GC,1172,-1.46,-146.0,2883,2060,3288,3489,148.5,-12.0,153,1177,0.10,2.30,0.00,0.000,4484,0.162,0.055,2824,3448,3388,3288,3489,0,0,0,0,0,0,14.84,14.82,14.90
$GC,1214,-1.46,-146.0,2823,3449,3287,3489,154.2,-13.7,161,1219,0.15,2.28,0.00,0.000,3078,0.236,0.037,2858,2041,3388,3288,3489,0,0,0,0,0,0,14.68,14.85,14.86
$GC,1527,-1.51,-146.0,2857,2040,3288,3489,189.4,-9.8,193,1531,0.00,2.30,0.00,0.000,676,0.000,0.060,2858,651,3388,3288,3489,0,0,0,0,0,0,15.10,14.83,15.12
$GC,1640,-1.56,-146.0,2858,651,3288,3489,200.6,-11.3,215,1647,0.00,2.28,0.00,0.000,1158,0.000,0.041,2850,2055,3388,3288,3488,0,0,0,0,0,0,14.94,14.86,14.95
$GC,1956,-1.62,-146.0,2850,2056,3288,3489,236.6,-11.7,247,1962,0.12,2.30,0.00,0.000,4484,0.135,0.056,2790,3450,3388,3288,3489,0,0,0,0,0,0,14.85,14.84,14.90
$GC,2010,-1.62,-146.0,2789,3450,3288,3489,244.1,-14.0,257,2019,0.15,2.28,0.00,0.000,3078,0.255,0.037,2823,2046,3388,3288,3489,0,0,0,0,0,0,14.68,14.88,14.88
$GC,2328,-1.62,-146.0,2823,2044,3288,3489,286.4,-13.7,271,2333,0.00,2.35,0.00,0.000,260,0.000,0.060,2815,3444,3388,3288,3488,0,0,0,0,0,0,15.10,14.85,15.12
$GC,2348,-1.62,-146.0,2814,3444,3288,3489,289.8,-14.6,275,2353,0.00,2.28,0.00,0.000,1030,0.000,0.040,2815,2057,3388,3288,3488,0,0,0,0,0,0,14.95,14.89,14.96
$GC,2662,-1.62,-146.0,2814,2056,3286,3488,333.3,-13.8,287,2663,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2056,3386,3285,3488,0,0,0,0,0,0,15.11,15.14,15.13
$GC,2962,-1.62,-146.0,2814,2056,3284,3488,369.9,-11.4,297,2963,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2056,3386,3284,3489,0,0,0,0,0,0,15.11,15.14,15.13
$GC,3262,-1.62,-146.0,2814,2056,3283,3488,399.6,-9.6,307,3263,0.00,0.00,0.00,0.000,38,0.000,0.000,2815,2056,3385,3282,3489,0,0,0,0,0,0,15.11,15.14,15.14
$GC,3563,-1.62,-146.0,2814,2056,3280,3488,425.9,-8.4,317,3569,0.00,2.38,0.00,0.000,292,0.000,0.065,2805,3450,3384,3280,3488,0,0,0,0,0,0,15.12,14.85,15.15
$GC,3631,-1.65,-146.0,2804,3450,3281,3488,431.9,-8.5,330,3636,0.00,2.33,0.00,0.000,1190,0.000,0.042,2805,2042,3384,3280,3488,0,0,0,0,0,0,14.95,14.88,14.97
$GC,3960,-1.65,-146.0,2804,2041,3278,3488,459.9,-9.0,345,3961,0.00,0.00,0.00,0.000,38,0.000,0.000,2805,2041,3383,3278,3488,0,0,0,0,0,0,15.12,15.15,15.14
$GC,4259,-1.65,-146.0,2804,2041,3277,3487,489.7,-10.3,355,4260,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2041,3382,3277,3487,0,0,0,0,0,0,15.11,15.14,15.14
$GC,4559,-1.65,-146.0,2804,2040,3275,3486,522.6,-11.3,365,4566,0.00,2.40,0.00,0.000,260,0.000,0.069,2795,3440,3380,3275,3486,0,0,0,0,0,0,15.11,14.83,15.14
$GC,4629,-1.65,-146.0,2794,3440,3274,3485,530.9,-11.2,378,4634,0.00,2.33,0.00,0.000,1030,0.000,0.047,2795,2046,3380,3275,3485,0,0,0,0,0,0,14.94,14.86,14.96
$GC,4956,-1.65,-146.0,2795,2046,3273,3484,569.8,-12.0,393,4957,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2046,3378,3273,3484,0,0,0,0,0,0,15.11,15.14,15.13
$GC,5258,-1.65,-146.0,2794,2046,3272,3482,605.8,-12.1,403,5263,0.00,2.40,0.00,0.000,260,0.000,0.067,2785,3449,3377,3272,3482,0,0,0,0,0,0,15.11,14.83,15.14
$GC,5291,-1.65,-146.0,2785,3448,3272,3481,610.2,-12.3,409,5300,0.12,2.33,0.00,0.000,3078,0.279,0.045,2810,2048,3376,3272,3481,0,0,0,0,0,0,14.62,14.86,14.88
$GC,5627,-1.65,-146.0,2810,2048,3270,3480,652.3,-12.7,425,5635,0.00,2.38,0.00,0.000,516,0.000,0.070,2810,642,3375,3270,3480,0,0,0,0,0,0,15.11,14.82,15.13
$GC,5677,-1.65,-146.0,2810,641,3270,3479,659.2,-13.9,434,5682,0.00,2.33,0.00,0.000,1030,0.000,0.043,2801,2057,3374,3270,3479,0,0,0,0,0,0,14.94,14.87,14.96
$GC,5995,-1.65,-146.0,2801,2058,3268,3479,699.5,-12.5,447,5996,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2058,3373,3268,3479,0,0,0,0,0,0,15.11,15.13,15.12
$GC,6296,-1.65,-146.0,2801,2058,3268,3478,734.6,-11.3,457,6303,0.00,2.38,0.00,0.000,516,0.000,0.062,2801,652,3373,3268,3478,0,0,0,0,0,0,15.11,14.80,15.13
$GC,6347,-1.65,-146.0,2801,652,3268,3478,740.8,-12.4,466,6353,0.10,2.30,0.00,0.000,3078,0.291,0.045,2809,2050,3372,3267,3478,0,0,0,0,0,0,14.62,14.86,14.85
$GC,6666,-1.69,-146.0,2809,2051,3267,3477,773.3,-9.7,479,6671,0.00,2.35,0.00,0.000,420,0.000,0.071,2801,3443,3372,3267,3477,0,0,0,0,0,0,15.11,14.81,15.13
$GC,6721,-1.72,-146.0,2800,3443,3266,3477,778.9,-10.4,489,6727,0.00,2.33,0.00,0.000,1158,0.000,0.046,2801,2046,3372,3267,3477,0,0,0,0,0,0,14.92,14.85,14.95
$GC,7036,-1.72,-146.0,2800,2046,3266,3476,808.9,-9.5,501,7041,0.00,2.35,0.00,0.000,548,0.000,0.067,2801,650,3371,3266,3476,0,0,0,0,0,0,15.11,14.81,15.14
$GC,7107,-1.72,-146.0,2800,650,3266,3476,816.6,-10.3,515,7114,0.00,2.33,0.00,0.000,1030,0.000,0.047,2791,2047,3371,3266,3476,0,0,0,0,0,0,14.91,14.83,14.94
$GC,7434,-1.72,-146.0,2791,2047,3264,3475,847.3,-9.5,529,7439,0.00,2.40,0.00,0.000,548,0.000,0.068,2791,651,3369,3264,3475,0,0,0,0,0,0,15.11,14.81,15.13
$GC,7482,-1.72,-146.0,2790,650,3264,3475,852.4,-10.2,538,7487,0.00,2.35,0.00,0.000,1030,0.000,0.051,2782,2055,3369,3264,3475,0,0,0,0,0,0,14.91,14.83,14.93
$GC,7799,-1.72,-146.0,2781,2056,3263,3473,885.3,-10.6,551,7806,0.00,2.42,0.00,0.000,516,0.000,0.070,2782,649,3368,3263,3473,0,0,0,0,0,0,15.09,14.79,15.11
$GC,7858,-1.68,-146.0,2781,648,3263,3473,892.3,-11.6,562,7866,0.17,2.38,0.00,0.000,3206,0.287,0.054,2808,2062,3367,3262,3473,0,0,0,0,0,0,14.54,14.82,14.81
$GC,8166,-1.72,-146.0,2808,2062,3261,3473,921.4,-9.5,573,8171,0.00,2.38,0.00,0.000,420,0.000,0.076,2799,3449,3367,3261,3473,0,0,0,0,0,0,15.11,14.77,15.13
$GC,8193,-1.76,-146.0,2799,3449,3261,3472,924.4,-10.0,578,8201,0.00,2.38,0.00,0.000,1158,0.000,0.056,2799,2055,3366,3261,3472,0,0,0,0,0,0,14.90,14.81,14.92
$GC,8500,-1.76,-146.0,2799,2054,3261,3471,955.6,-10.4,589,8506,0.00,2.42,0.00,0.000,516,0.000,0.073,2800,631,3366,3261,3471,0,0,0,0,0,0,15.10,14.78,15.12
$GC,8563,-1.76,-146.0,2799,630,3261,3471,962.7,-11.1,601,8569,0.00,2.40,0.00,0.000,1030,0.000,0.055,2789,2052,3366,3261,3471,0,0,0,0,0,0,14.90,14.81,14.92
$STATE,8835,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8835,begin apogee
$GC,8840,-0.33,0.0,2789,1783,3260,3470,992.9,-11.1,615,8972,1.17,0.00,128.60,2.694,10246,0.258,0.000,3096,1783,2789,2679,2899,0,0,0,0,0,0,14.53,14.04,13.06
$STATE,8973,end apogee,CONTROL_FINISHED_OK
$STATE,8973,begin climb
$GC,8975,1.35,146.0,3096,1782,2674,2896,995.0,0.0,619,9120,1.25,2.67,134.88,2.628,11012,0.152,0.073,3465,3200,2187,2062,2312,0,0,0,0,0,0,14.03,13.91,12.94
$GC,9152,1.14,146.0,3465,3200,2057,2309,982.3,13.1,648,9157,0.25,2.53,0.00,0.000,5254,0.366,0.064,3427,1804,2183,2057,2309,0,0,0,0,0,0,13.95,14.14,14.19
$GC,9465,1.03,146.0,3427,1804,2048,2310,945.1,11.9,660,9472,0.12,2.53,0.00,0.000,4740,0.388,0.082,3412,375,2178,2047,2309,0,0,0,0,0,0,14.32,14.54,14.51
$GC,9538,0.93,146.0,3411,375,2045,2309,936.3,11.4,675,9543,0.17,2.45,0.00,0.000,5254,0.329,0.053,3378,1810,2177,2044,2310,0,0,0,0,0,0,14.38,14.62,14.64
$GC,9851,0.89,146.0,3377,1810,2042,2309,905.0,10.0,687,9855,0.00,2.40,0.00,0.000,388,0.000,0.077,3374,3206,2176,2042,2310,0,0,0,0,0,0,14.95,14.66,14.98
$GC,9882,0.85,146.0,3373,3206,2042,2310,901.6,11.0,693,9887,0.00,2.45,0.00,0.000,1158,0.000,0.061,3377,1788,2176,2042,2310,0,0,0,0,0,0,14.79,14.71,14.82
$GC,10215,0.83,154.5,3377,1787,2041,2309,869.4,9.6,709,10227,0.12,2.55,4.32,1.731,12708,0.350,0.075,3351,3210,2160,2023,2298,0,0,0,0,0,0,14.51,14.75,13.64
$GC,10258,0.85,177.5,3351,3210,2023,2298,865.4,8.8,718,10288,0.00,2.45,24.50,2.407,9254,0.000,0.066,3358,1792,2065,1926,2205,0,0,0,0,0,0,14.82,14.74,13.58
$GC,10601,0.86,184.6,3357,1792,1910,2201,833.6,9.6,736,10613,0.00,2.50,5.03,1.881,8740,0.000,0.086,3368,393,2037,1893,2182,0,0,0,0,0,0,14.91,14.63,13.60
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$STATE,18519,end climb,SURFACE_DEPTH_REACHED
$STATE,18519,begin surface coast
$FINISH,1.4,1.012534
$STATE,18547,end surface coast,CONTROL_FINISHED_OK
$STATE,18547,begin surface
$SM_CCo,18564,108.55,0.081,0,0,449,573.99
$SM_GC,2.28,9.80,0.45,108.55,0.082,0.055,0.081,93,2062,449,-14.12,-1.16,573.99,0,0,0,0,0,0,14.71,14.79,14.68
$IRIDIUM_FIX,1334.19,6118.06,290317,010214
$TT8_MAMPS,0.024717,0.15729
$HUMID,47.24
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,24.10
$XPDR_PINGS,9
$24V_AH,12.94,43.829
$10V_AH,13.38,0.000
$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,27.975,188.775,418.625,108.550,0.000,0.000,0.000,191.875,102.750,0.000,17.910,2971.703,12564.090,737.155,2514.516,192.157,0.000,2110.239,0.000,2003.301,0.000,673.441,0.000
$DEVICE_MAMPS,410.805,2093.040,2694.330,81.090,0.000,0.000,0.000,181.305,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,663.802,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225104
$DATA_FILE_SIZE,59952,1408
$CAP_FILE_SIZE,212777,0
$CFSIZE,260034560,248856576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.054,177.23,1
$GPS,290317,111206,1344.578,6115.384,39,0.9,44,-0.7,0.3,216.9,9,9.4