version: 66.13
glider: 137
mission: 5
dive: 131
start: 3 29 117 16 25 42
data:
$ID,137
$MISSION,5
$DIVE,131
$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,48
$R_STBD_OVSHOOT,61
$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
$GPS1,290317,161918,1347.0104,6115.5601,27,1.6,44,-0.6,0.3,260.4,6,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-65.9
$GPS2,290317,162454,1347.0096,6115.5581,11,0.9,19,-0.6,0.0,346.5,10,10.0
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1344.098,6114.273
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,209.8,5867,-18.5,-10.000,-21.02,1808
$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,-1.38,-117.6,94,2024,325,566,0.0,0.0,0,108,0.00,0.00,-97.93,0.000,16386,0.000,0.000,94,2025,3054,2971,3137,0,0,0,0,0,0,14.85,28.83,14.88
$GC,110,-1.41,-146.0,94,2024,2971,3137,4.6,-6.6,17,139,13.48,2.53,-5.97,0.000,18980,0.408,2.099,2858,657,3387,3278,3497,0,0,0,0,0,0,14.38,13.71,14.57
$GC,210,-1.45,-146.0,2858,657,3279,3497,25.5,-13.4,35,217,0.00,2.28,0.00,0.000,1158,0.000,0.039,2850,2039,3387,3278,3497,0,0,0,0,0,0,14.71,14.64,14.72
$GC,520,-1.41,-146.0,2849,2040,3279,3497,78.8,-19.2,81,524,0.00,2.35,0.00,0.000,388,0.000,0.058,2839,3454,3388,3279,3497,0,0,0,0,0,0,14.97,14.73,15.00
$GC,551,-1.41,-146.0,2839,3454,3279,3497,84.7,-18.8,87,556,0.12,2.30,0.00,0.000,3078,0.253,0.037,2865,2052,3388,3279,3497,0,0,0,0,0,0,14.59,14.76,14.78
$GC,857,-1.45,-146.0,2864,2052,3280,3497,123.5,-8.8,118,866,0.00,2.33,0.00,0.000,676,0.000,0.058,2865,645,3388,3280,3497,0,0,0,0,0,0,15.04,14.78,15.05
$GC,899,-1.48,-146.0,2866,646,3280,3497,127.6,-10.4,126,908,0.00,2.30,0.00,0.000,1158,0.000,0.039,2857,2061,3388,3279,3497,0,0,0,0,0,0,14.88,14.82,14.89
$GC,1209,-1.54,-146.0,2857,2061,3281,3497,165.3,-11.5,158,1217,0.00,2.30,0.00,0.000,388,0.000,0.059,2847,3455,3389,3281,3497,0,0,0,0,0,0,15.07,14.81,15.09
$GC,1280,-1.62,-146.0,2846,3455,3281,3497,173.1,-10.9,172,1284,0.10,2.30,0.00,0.000,5254,0.146,0.037,2806,2041,3388,3281,3496,0,0,0,0,0,0,14.83,14.85,14.90
$GC,1593,-1.62,-146.0,2805,2040,3280,3497,214.4,-13.9,204,1598,0.00,2.30,0.00,0.000,516,0.000,0.059,2806,648,3389,3281,3497,0,0,0,0,0,0,15.07,14.83,15.09
$GC,1652,-1.62,-146.0,2806,647,3281,3497,223.2,-14.0,215,1660,0.12,2.28,0.00,0.000,3078,0.269,0.040,2821,2051,3389,3281,3497,0,0,0,0,0,0,14.68,14.85,14.87
$GC,1979,-1.66,-146.0,2821,2052,3281,3497,265.8,-13.0,240,1986,0.00,2.33,0.00,0.000,388,0.000,0.060,2813,3459,3389,3281,3497,0,0,0,0,0,0,15.08,14.84,15.10
$GC,2008,-1.72,-146.0,2812,3458,3281,3497,269.7,-12.3,245,2017,0.00,2.30,0.00,0.000,1158,0.000,0.039,2813,2052,3389,3281,3497,0,0,0,0,0,0,14.93,14.86,14.95
$GC,2313,-1.72,-146.0,2812,2052,3281,3497,306.2,-11.8,256,2314,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2052,3389,3281,3497,0,0,0,0,0,0,15.09,15.11,15.11
$GC,2616,-1.75,-146.0,2812,2052,3281,3497,341.1,-11.7,266,2621,0.00,2.38,0.00,0.000,388,0.000,0.063,2802,3456,3388,3280,3497,0,0,0,0,0,0,15.11,14.85,15.13
$GC,2663,-1.81,-146.0,2802,3455,3281,3497,346.9,-11.6,275,2668,0.00,2.33,0.00,0.000,1158,0.000,0.041,2803,2039,3388,3280,3497,0,0,0,0,0,0,14.95,14.88,14.96
$GC,2981,-1.81,-146.0,2802,2039,3279,3497,377.0,-9.0,288,2982,0.00,0.00,0.00,0.000,38,0.000,0.000,2803,2039,3388,3280,3497,0,0,0,0,0,0,15.11,15.13,15.13
$GC,3283,-1.81,-146.0,2803,2039,3278,3497,409.6,-12.1,298,3288,0.00,2.40,0.00,0.000,260,0.000,0.067,2793,3444,3387,3278,3497,0,0,0,0,0,0,15.11,14.84,15.14
$GC,3376,-1.85,-146.0,2792,3444,3278,3495,422.3,-13.1,316,3383,0.00,2.30,0.00,0.000,1158,0.000,0.043,2793,2049,3386,3278,3495,0,0,0,0,0,0,14.95,14.88,14.97
$GC,3711,-1.85,-146.0,2793,2048,3276,3494,467.5,-12.6,332,3716,0.00,2.40,0.00,0.000,260,0.000,0.068,2783,3452,3384,3276,3493,0,0,0,0,0,0,15.11,14.83,15.12
$GC,3769,-1.88,-146.0,2783,3452,3276,3493,474.4,-10.9,343,3777,0.00,2.33,0.00,0.000,1158,0.000,0.044,2784,2045,3384,3276,3493,0,0,0,0,0,0,14.94,14.87,14.96
$GC,4078,-1.88,-146.0,2783,2045,3274,3491,507.0,-10.9,354,4083,0.00,2.40,0.00,0.000,260,0.000,0.067,2774,3447,3382,3274,3490,0,0,0,0,0,0,15.11,14.83,15.14
$GC,4125,-1.88,-146.0,2774,3447,3274,3490,513.2,-12.7,363,4130,0.00,2.33,0.00,0.000,1030,0.000,0.044,2774,2043,3382,3274,3490,0,0,0,0,0,0,14.94,14.87,14.96
$GC,4442,-1.88,-146.0,2772,2043,3273,3489,560.0,-15.5,376,4444,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2043,3380,3272,3488,0,0,0,0,0,0,15.10,15.13,15.12
$GC,4745,-1.88,-146.0,2773,2043,3271,3487,602.5,-13.5,386,4749,0.00,2.40,0.00,0.000,260,0.000,0.068,2764,3444,3378,3271,3486,0,0,0,0,0,0,15.11,14.83,15.14
$GC,4815,-1.88,-146.0,2764,3445,3271,3486,612.4,-13.0,400,4822,0.00,2.33,0.00,0.000,1030,0.000,0.045,2764,2043,3378,3271,3486,0,0,0,0,0,0,14.94,14.86,14.96
$GC,5142,-1.85,-146.0,2764,2043,3268,3486,653.0,-12.3,414,5144,0.00,0.00,0.00,0.000,134,0.000,0.000,2764,2043,3377,3268,3486,0,0,0,0,0,0,15.11,15.14,15.14
$GC,5440,-1.85,-146.0,2764,2043,3268,3484,689.6,-12.2,424,5445,0.00,2.40,0.00,0.000,260,0.000,0.068,2754,3442,3375,3267,3484,0,0,0,0,0,0,15.10,14.82,15.12
$GC,5484,-1.85,-146.0,2754,3442,3267,3483,695.3,-12.5,432,5489,0.00,2.33,0.00,0.000,1030,0.000,0.046,2754,2045,3375,3267,3483,0,0,0,0,0,0,14.93,14.86,14.95
$GC,5809,-1.80,-146.0,2754,2045,3266,3482,735.7,-12.7,446,5814,0.12,2.40,0.00,0.000,2436,0.282,0.067,2774,3446,3374,3267,3481,0,0,0,0,0,0,14.58,14.79,14.75
$GC,5872,-1.80,-146.0,2773,3446,3266,3481,743.6,-11.0,458,5877,0.00,2.33,0.00,0.000,1030,0.000,0.045,2773,2047,3373,3266,3480,0,0,0,0,0,0,14.93,14.85,14.95
$GC,6205,-1.80,-146.0,2773,2046,3265,3481,782.7,-11.8,474,6206,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2046,3373,3265,3481,0,0,0,0,0,0,15.10,15.13,15.13
$GC,6505,-1.80,-146.0,2773,2046,3264,3479,818.1,-11.7,484,6512,0.00,2.40,0.00,0.000,260,0.000,0.070,2764,3441,3371,3264,3479,0,0,0,0,0,0,15.10,14.81,15.12
$GC,6622,-1.80,-146.0,2763,3442,3264,3478,831.7,-11.0,506,6627,0.00,2.33,0.00,0.000,1030,0.000,0.046,2764,2047,3371,3264,3478,0,0,0,0,0,0,14.92,14.84,14.94
$GC,6936,-1.80,-146.0,2763,2048,3262,3478,867.4,-11.4,518,6937,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2048,3370,3262,3478,0,0,0,0,0,0,15.11,15.14,15.13
$GC,7235,-1.80,-146.0,2763,2047,3261,3477,902.9,-12.0,528,7240,0.00,2.42,0.00,0.000,260,0.000,0.070,2754,3451,3369,3261,3477,0,0,0,0,0,0,15.09,14.80,15.12
$GC,7270,-1.80,-146.0,2754,3452,3262,3477,906.9,-11.5,534,7276,0.12,2.35,0.00,0.000,3078,0.275,0.046,2778,2039,3369,3261,3477,0,0,0,0,0,0,14.58,14.84,14.83
$GC,7605,-1.80,-146.0,2777,2039,3260,3477,946.3,-12.0,550,7606,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2039,3368,3260,3477,0,0,0,0,0,0,15.11,15.14,15.13
$GC,7904,-1.80,-146.0,2777,2039,3260,3476,982.1,-11.6,560,7906,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2039,3367,3259,3476,0,0,0,0,0,0,15.10,15.12,15.12
$STATE,7992,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7992,begin apogee
$GC,7996,-0.33,0.0,2779,1785,3259,3475,992.1,-11.1,563,8129,1.23,0.00,128.20,2.697,10246,0.273,0.000,3096,1785,2789,2675,2904,0,0,0,0,0,0,14.54,14.04,13.07
$STATE,8130,end apogee,CONTROL_FINISHED_OK
$STATE,8130,begin climb
$GC,8131,1.41,146.0,3096,1785,2670,2901,993.4,0.0,567,8282,1.30,2.60,138.48,2.567,10756,0.161,0.076,3487,411,2188,2055,2322,0,0,0,0,0,0,14.02,13.92,13.01
$GC,8313,1.22,146.0,3486,411,2046,2321,976.4,14.9,607,8318,0.17,2.42,0.00,0.000,5254,0.327,0.048,3445,1788,2183,2045,2321,0,0,0,0,0,0,13.98,14.16,14.20
$GC,8620,1.10,146.0,3445,1790,2038,2322,933.6,13.3,618,8626,0.12,2.45,0.00,0.000,4740,0.386,0.077,3428,405,2179,2037,2322,0,0,0,0,0,0,14.34,14.54,14.52
$GC,8652,1.01,146.0,3428,405,2035,2321,929.1,13.0,625,8658,0.17,2.38,0.00,0.000,5254,0.365,0.049,3398,1803,2178,2035,2321,0,0,0,0,0,0,14.33,14.60,14.63
$GC,8980,0.97,146.0,3398,1802,2034,2322,894.3,10.2,640,8987,0.00,2.40,0.00,0.000,388,0.000,0.068,3392,3210,2177,2034,2321,0,0,0,0,0,0,14.95,14.69,14.97
$GC,9033,0.92,146.0,3392,3210,2034,2321,888.8,10.1,651,9041,0.12,2.38,0.00,0.000,5254,0.328,0.053,3379,1808,2177,2034,2321,0,0,0,0,0,0,14.49,14.72,14.76
$GC,9341,0.94,162.2,3379,1808,2034,2321,861.1,9.1,662,9359,0.00,2.47,13.68,2.329,8740,0.000,0.079,3388,398,2123,1979,2267,0,0,0,0,0,0,15.02,14.51,13.72
$GC,9405,0.94,162.2,3387,398,1974,2267,854.6,10.2,675,9409,0.00,2.38,0.00,0.000,1030,0.000,0.049,3382,1801,2120,1973,2267,0,0,0,0,0,0,14.73,14.66,14.75
$GC,9721,0.94,162.2,3381,1800,1971,2267,822.1,10.6,688,9723,0.00,0.00,0.00,0.000,6,0.000,0.000,3382,1801,2119,1972,2267,0,0,0,0,0,0,14.98,15.01,15.00
$GC,10022,0.94,162.2,3381,1800,1970,2266,788.7,11.3,698,10023,0.00,0.00,0.00,0.000,6,0.000,0.000,3382,1801,2118,1970,2266,0,0,0,0,0,0,15.03,15.05,15.05
$GC,10322,0.94,162.2,3382,1801,1969,2266,757.4,10.1,708,10329,0.00,2.40,0.00,0.000,260,0.000,0.072,3377,3210,2118,1969,2267,0,0,0,0,0,0,15.06,14.78,15.08
$GC,10352,0.94,162.2,3377,3210,1969,2265,754.4,10.1,714,10358,0.00,2.38,0.00,0.000,1030,0.000,0.057,3385,1804,2117,1969,2265,0,0,0,0,0,0,14.88,14.81,14.90
$GC,10683,0.96,175.6,3385,1804,1969,2265,724.2,9.2,730,10700,0.00,2.42,12.05,2.180,8484,0.000,0.067,3377,3208,2070,1923,2217,0,0,0,0,0,0,15.07,14.73,13.85
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$STATE,17335,end climb,SURFACE_DEPTH_REACHED
$STATE,17335,begin surface coast
$FINISH,1.4,1.009589
$STATE,17368,end surface coast,CONTROL_FINISHED_OK
$STATE,17368,begin surface
$SM_CCo,17385,126.20,0.080,0,0,449,573.99
$SM_GC,2.25,9.90,0.40,126.20,0.087,0.057,0.080,99,2077,449,-14.10,-0.85,573.99,0,0,0,0,0,0,14.48,14.81,14.67
$IRIDIUM_FIX,1338.63,6120.01,290317,111355
$TT8_MAMPS,0.023968,0.158039
$HUMID,46.41
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,24.10
$XPDR_PINGS,11
$24V_AH,13.01,44.577
$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,27.600,181.700,385.025,126.200,0.000,0.000,0.000,239.450,95.250,0.000,20.220,2792.991,11806.193,697.381,2388.687,180.455,0.000,2042.107,0.000,1853.907,0.000,619.996,0.000
$DEVICE_MAMPS,407.745,2099.160,2696.625,80.325,0.000,0.000,0.000,180.540,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,622.460,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225128
$DATA_FILE_SIZE,56764,1302
$CAP_FILE_SIZE,201304,0
$CFSIZE,260034560,248696832
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$INTR,0,129.82,0x233da8,0,24
$CURRENT,0.085,169.60,1
$GPS,290317,211854,1344.161,6114.151,39,0.7,44,-0.7,0.3,186.9,11,9.6