version: 66.13
glider: 137
mission: 5
dive: 133
start: 3 30 117 2 3 57
data:
$ID,137
$MISSION,5
$DIVE,133
$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,35
$R_STBD_OVSHOOT,53
$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
$GPS1,300317,015827,1341.8538,6112.8569,30,0.9,44,-0.7,0.0,343.3,8,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-65.1
$GPS2,300317,020321,1341.8490,6112.8506,8,1.0,22,-0.7,0.0,226.9,7,9.6
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1338.060,6110.837
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,212.8,7898,-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,-146.0,94,2084,324,569,0.0,0.0,0,110,0.00,0.00,-99.88,0.000,16386,0.000,0.000,94,2089,3107,3028,3187,0,0,0,0,0,0,14.86,28.83,14.88
$GC,112,-1.28,-146.0,94,2089,3028,3187,4.6,-7.1,17,138,13.65,2.67,-4.88,0.000,18980,0.408,2.094,2895,650,3385,3284,3487,0,0,0,0,0,0,14.34,13.69,14.57
$GC,280,-1.28,-146.0,2895,650,3286,3487,36.9,-13.8,49,287,0.00,2.30,0.00,0.000,1030,0.000,0.042,2887,2042,3386,3286,3487,0,0,0,0,0,0,14.74,14.68,14.76
$GC,596,-1.28,-146.0,2886,2042,3286,3487,76.4,-13.3,90,597,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2042,3386,3286,3487,0,0,0,0,0,0,15.00,15.02,15.02
$GC,895,-1.28,-146.0,2886,2042,3288,3487,113.2,-8.7,120,904,0.00,2.33,0.00,0.000,292,0.000,0.057,2876,3452,3387,3288,3487,0,0,0,0,0,0,15.05,14.79,15.07
$GC,929,-1.33,-146.0,2876,3451,3288,3487,115.9,-8.1,126,938,0.00,2.28,0.00,0.000,1190,0.000,0.036,2876,2039,3387,3288,3487,0,0,0,0,0,0,14.83,14.78,14.85
$GC,1237,-1.37,-146.0,2876,2039,3288,3487,147.0,-11.7,158,1246,0.00,2.38,0.00,0.000,388,0.000,0.055,2866,3458,3388,3289,3487,0,0,0,0,0,0,15.08,14.82,15.10
$GC,1272,-1.43,-146.0,2866,3458,3289,3487,151.4,-12.0,165,1279,0.00,2.30,0.00,0.000,1158,0.000,0.037,2866,2044,3388,3289,3487,0,0,0,0,0,0,14.91,14.85,14.92
$GC,1578,-1.47,-146.0,2866,2044,3289,3487,183.5,-9.6,196,1588,0.00,2.30,0.00,0.000,676,0.000,0.057,2866,643,3388,3289,3487,0,0,0,0,0,0,15.09,14.83,15.12
$GC,1611,-1.51,-146.0,2866,643,3289,3487,186.8,-10.0,202,1620,0.00,2.30,0.00,0.000,1158,0.000,0.039,2856,2064,3388,3289,3487,0,0,0,0,0,0,14.92,14.86,14.95
$GC,1924,-1.55,-146.0,2856,2064,3289,3487,218.9,-10.1,234,1931,0.00,0.00,0.00,0.000,134,0.000,0.000,2856,2064,3387,3288,3487,0,0,0,0,0,0,15.09,15.11,15.11
$GC,2251,-1.60,-146.0,2856,2064,3289,3487,256.8,-11.4,263,2258,0.12,2.38,0.00,0.000,4740,0.133,0.061,2806,654,3388,3289,3487,0,0,0,0,0,0,14.85,14.82,14.90
$GC,2295,-1.54,-146.0,2806,654,3289,3487,262.5,-12.7,271,2301,0.17,2.30,0.00,0.000,3206,0.246,0.044,2836,2056,3388,3289,3487,0,0,0,0,0,0,14.69,14.85,14.88
$GC,2619,-1.54,-146.0,2836,2056,3287,3487,291.0,-8.1,285,2625,0.00,2.33,0.00,0.000,292,0.000,0.063,2827,3457,3387,3287,3488,0,0,0,0,0,0,15.09,14.84,15.12
$GC,2669,-1.58,-146.0,2827,3457,3288,3487,295.4,-8.6,294,2676,0.00,2.30,0.00,0.000,1190,0.000,0.039,2827,2049,3386,3286,3487,0,0,0,0,0,0,14.94,14.88,14.96
$GC,2990,-1.58,-146.0,2827,2049,3284,3487,327.7,-11.0,307,2995,0.00,2.40,0.00,0.000,260,0.000,0.065,2817,3461,3385,3284,3487,0,0,0,0,0,0,15.11,14.85,15.13
$GC,3010,-1.58,-146.0,2817,3461,3284,3487,330.6,-12.9,311,3016,0.00,2.33,0.00,0.000,1030,0.000,0.042,2818,2050,3385,3284,3487,0,0,0,0,0,0,14.95,14.88,14.96
$GC,3324,-1.58,-146.0,2817,2049,3283,3487,371.2,-13.2,323,3329,0.00,2.38,0.00,0.000,260,0.000,0.068,2808,3447,3384,3282,3487,0,0,0,0,0,0,15.11,14.83,15.14
$GC,3365,-1.58,-146.0,2807,3447,3282,3487,376.9,-12.2,331,3370,0.10,2.30,0.00,0.000,3078,0.243,0.042,2827,2045,3384,3282,3487,0,0,0,0,0,0,14.70,14.88,14.89
$GC,3688,-1.58,-146.0,2827,2045,3280,3487,412.4,-10.1,345,3696,0.00,2.33,0.00,0.000,516,0.000,0.063,2828,652,3383,3280,3487,0,0,0,0,0,0,15.11,14.84,15.13
$GC,3739,-1.58,-146.0,2828,652,3280,3487,417.6,-10.4,354,3744,0.00,2.30,0.00,0.000,1030,0.000,0.044,2820,2049,3383,3280,3487,0,0,0,0,0,0,14.94,14.87,14.96
$GC,4057,-1.58,-146.0,2820,2049,3278,3486,446.0,-9.2,367,4062,0.00,2.35,0.00,0.000,292,0.000,0.067,2810,3449,3382,3278,3487,0,0,0,0,0,0,15.11,14.83,15.13
$GC,4140,-1.61,-146.0,2809,3448,3278,3487,454.4,-10.0,383,4145,0.00,2.30,0.00,0.000,1158,0.000,0.041,2809,2054,3382,3278,3487,0,0,0,0,0,0,14.94,14.87,14.96
$GC,4453,-1.61,-146.0,2809,2054,3277,3486,491.0,-12.7,395,4454,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2054,3381,3276,3486,0,0,0,0,0,0,15.10,15.13,15.12
$GC,4754,-1.61,-146.0,2809,2054,3275,3486,529.9,-12.8,405,4761,0.00,2.35,0.00,0.000,516,0.000,0.066,2809,650,3380,3275,3486,0,0,0,0,0,0,15.11,14.83,15.13
$GC,4797,-1.61,-146.0,2809,650,3275,3486,535.8,-12.7,413,4804,0.12,2.33,0.00,0.000,3078,0.255,0.044,2826,2057,3380,3275,3486,0,0,0,0,0,0,14.66,14.86,14.87
$GC,5122,-1.61,-146.0,2826,2057,3273,3484,566.0,-8.8,427,5127,0.00,2.35,0.00,0.000,292,0.000,0.067,2817,3451,3378,3273,3484,0,0,0,0,0,0,15.11,14.82,15.13
$GC,5187,-1.65,-146.0,2817,3451,3273,3483,571.6,-8.0,439,5192,0.00,2.33,0.00,0.000,1190,0.000,0.041,2817,2042,3378,3273,3483,0,0,0,0,0,0,14.93,14.86,14.95
$GC,5520,-1.65,-146.0,2817,2042,3271,3482,602.7,-9.5,455,5522,0.00,0.00,0.00,0.000,38,0.000,0.000,2818,2042,3376,3271,3482,0,0,0,0,0,0,15.10,15.13,15.12
$GC,5821,-1.65,-146.0,2817,2042,3271,3480,631.9,-9.8,465,5829,0.00,2.35,0.00,0.000,548,0.000,0.067,2818,644,3375,3271,3480,0,0,0,0,0,0,15.11,14.81,15.13
$GC,5845,-1.65,-146.0,2817,644,3271,3479,634.8,-10.6,469,5851,0.00,2.33,0.00,0.000,1030,0.000,0.047,2808,2047,3374,3270,3479,0,0,0,0,0,0,14.93,14.85,14.95
$GC,6159,-1.65,-146.0,2808,2047,3269,3479,665.1,-9.8,481,6166,0.00,2.38,0.00,0.000,292,0.000,0.068,2798,3457,3374,3269,3479,0,0,0,0,0,0,15.11,14.81,15.13
$GC,6229,-1.65,-146.0,2797,3456,3269,3478,672.6,-10.8,494,6234,0.00,2.35,0.00,0.000,1030,0.000,0.044,2797,2042,3373,3269,3478,0,0,0,0,0,0,14.92,14.84,14.95
$GC,6558,-1.65,-146.0,2797,2042,3268,3478,710.6,-12.1,509,6563,0.00,2.42,0.00,0.000,260,0.000,0.067,2788,3453,3372,3268,3477,0,0,0,0,0,0,15.11,14.80,15.13
$GC,6591,-1.65,-146.0,2787,3453,3268,3477,714.9,-12.4,515,6599,0.12,2.35,0.00,0.000,3078,0.254,0.044,2816,2036,3372,3268,3477,0,0,0,0,0,0,14.61,14.84,14.83
$GC,6927,-1.65,-146.0,2816,2036,3266,3477,753.6,-11.5,531,6928,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2036,3372,3267,3477,0,0,0,0,0,0,15.09,15.12,15.11
$GC,7227,-1.65,-146.0,2816,2036,3266,3476,785.2,-10.1,541,7228,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2036,3371,3266,3476,0,0,0,0,0,0,15.10,15.13,15.12
$GC,7529,-1.65,-146.0,2816,2036,3266,3476,811.1,-8.4,551,7534,0.00,2.42,0.00,0.000,292,0.000,0.069,2807,3446,3370,3265,3475,0,0,0,0,0,0,15.11,14.79,15.13
$GC,7588,-1.68,-146.0,2807,3446,3266,3475,816.5,-9.0,562,7596,0.00,2.33,0.00,0.000,1190,0.000,0.044,2807,2050,3370,3266,3475,0,0,0,0,0,0,14.92,14.84,14.94
$GC,7893,-1.68,-146.0,2807,2050,3265,3474,845.0,-9.7,573,7894,0.00,0.00,0.00,0.000,38,0.000,0.000,2807,2050,3369,3265,3474,0,0,0,0,0,0,15.10,15.12,15.12
$GC,8194,-1.68,-146.0,2807,2050,3264,3473,875.8,-10.4,583,8199,0.00,2.38,0.00,0.000,516,0.000,0.068,2807,646,3368,3264,3473,0,0,0,0,0,0,15.10,14.79,15.13
$GC,8227,-1.68,-146.0,2807,645,3264,3472,879.6,-11.0,589,8235,0.00,2.35,0.00,0.000,1030,0.000,0.047,2797,2052,3368,3264,3472,0,0,0,0,0,0,14.91,14.83,14.93
$GC,8563,-1.68,-146.0,2797,2051,3262,3471,918.0,-11.5,605,8564,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2052,3367,3263,3471,0,0,0,0,0,0,15.09,15.11,15.11
$GC,8863,-1.68,-146.0,2797,2052,3262,3471,951.9,-11.1,615,8870,0.00,2.42,0.00,0.000,516,0.000,0.067,2799,642,3366,3262,3470,0,0,0,0,0,0,15.09,14.78,15.11
$GC,8898,-1.68,-146.0,2799,642,3262,3470,955.8,-11.3,621,8904,0.00,2.38,0.00,0.000,1030,0.000,0.048,2790,2058,3365,3261,3470,0,0,0,0,0,0,14.90,14.82,14.92
$STATE,9230,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9230,begin apogee
$GC,9235,-0.33,0.0,2790,1790,3261,3469,990.9,-10.3,637,9368,1.20,0.00,128.88,2.692,10246,0.262,0.000,3101,1790,2789,2680,2899,0,0,0,0,0,0,14.51,14.03,13.05
$STATE,9369,end apogee,CONTROL_FINISHED_OK
$STATE,9369,begin climb
$GC,9370,1.28,146.0,3101,1790,2674,2895,992.4,0.0,641,9515,1.20,2.60,134.18,2.629,10756,0.161,0.075,3461,411,2189,2063,2315,0,0,0,0,0,0,14.02,13.90,12.94
$GC,9571,1.07,146.0,3461,411,2050,2313,975.5,14.4,685,9576,0.22,2.42,0.00,0.000,5254,0.324,0.046,3408,1802,2182,2050,2314,0,0,0,0,0,0,14.05,14.22,14.26
$GC,9888,0.95,146.0,3408,1802,2041,2314,940.6,10.4,698,9890,0.12,0.00,0.00,0.000,4230,0.395,0.000,3388,1803,2177,2041,2314,0,0,0,0,0,0,14.30,14.65,14.62
$GC,10189,0.90,164.5,3388,1803,2038,2314,913.1,9.2,708,10207,0.00,0.00,15.95,2.395,8358,0.000,0.000,3388,1803,2118,1977,2259,0,0,0,0,0,0,14.94,14.56,13.61
$GC,10488,0.83,164.5,3389,1803,1965,2255,883.1,10.4,718,10490,0.17,0.00,0.00,0.000,4230,0.384,0.000,3356,1803,2110,1965,2255,0,0,0,0,0,0,14.43,14.76,14.72
$GC,10788,0.83,164.5,3355,1803,1963,2255,853.0,10.2,728,10794,0.00,2.47,0.00,0.000,516,0.000,0.079,3365,409,2108,1962,2255,0,0,0,0,0,0,14.99,14.71,15.02
$GC,10843,0.79,164.5,3364,409,1961,2255,847.0,11.6,739,10850,0.00,2.35,0.00,0.000,1158,0.000,0.047,3363,1807,2107,1960,2255,0,0,0,0,0,0,14.83,14.76,14.85
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$STATE,18584,end climb,SURFACE_DEPTH_REACHED
$STATE,18584,begin surface coast
$FINISH,1.5,1.023793
$STATE,18616,end surface coast,CONTROL_FINISHED_OK
$STATE,18616,begin surface
$SM_CCo,18633,92.45,0.082,0,0,449,573.99
$SM_GC,2.24,9.75,0.40,92.45,0.078,0.057,0.082,94,2087,449,-14.10,-0.99,573.99,0,0,0,0,0,0,14.38,14.81,14.69
$IRIDIUM_FIX,1340.85,6113.98,290317,212301
$TT8_MAMPS,0.023968,0.156541
$HUMID,48.66
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,23.90
$XPDR_PINGS,10
$24V_AH,12.94,45.226
$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,27.300,172.575,450.225,92.450,0.000,0.000,0.000,196.725,108.000,0.000,23.608,2900.911,12739.447,750.474,2447.728,190.173,0.000,2091.985,0.000,1914.645,0.000,709.331,0.000
$DEVICE_MAMPS,407.745,2093.805,2692.035,81.855,0.000,0.000,0.000,181.305,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,657.426,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225016
$DATA_FILE_SIZE,59910,1345
$CAP_FILE_SIZE,209054,0
$CFSIZE,260034560,248516608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.028,170.79,1
$GPS,300317,071733,1339.372,6111.156,46,0.8,54,-0.7,0.0,198.1,10,10.0