version: 66.13
glider: 137
mission: 5
dive: 137
start: 3 30 117 23 16 7
data:
$ID,137
$MISSION,5
$DIVE,137
$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,31
$R_STBD_OVSHOOT,59
$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
$GPS1,300317,231019,1331.7843,6104.5103,25,0.9,43,-0.7,0.0,274.8,10,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-67.1
$GPS2,300317,231532,1331.7526,6104.4873,13,0.8,23,-0.7,0.0,198.2,10,10.0
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1328.923,6101.647
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,231.7,7323,-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,-146.0,91,2079,328,563,0.0,0.0,0,109,0.00,0.00,-99.18,0.000,16386,0.000,0.000,91,2080,3104,3022,3186,0,0,0,0,0,0,14.85,28.83,14.88
$GC,111,-1.28,-146.0,91,2080,3022,3186,4.9,-7.8,17,138,14.18,2.67,-4.93,0.000,19236,0.425,2.089,2894,635,3387,3284,3490,0,0,0,0,0,0,14.36,13.69,14.66
$GC,270,-1.28,-146.0,2894,635,3286,3490,34.1,-12.8,47,277,0.00,2.30,0.00,0.000,1030,0.000,0.037,2885,2038,3388,3286,3490,0,0,0,0,0,0,14.75,14.69,14.76
$GC,580,-1.28,-146.0,2885,2038,3286,3490,71.4,-11.2,90,585,0.00,2.33,0.00,0.000,260,0.000,0.056,2876,3446,3388,3286,3490,0,0,0,0,0,0,15.00,14.75,15.02
$GC,622,-1.33,-146.0,2875,3446,3286,3490,75.7,-10.1,98,627,0.00,2.33,0.00,0.000,1158,0.000,0.037,2875,2027,3388,3286,3490,0,0,0,0,0,0,14.84,14.78,14.85
$GC,933,-1.33,-146.0,2874,2027,3286,3490,113.4,-13.5,130,935,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2027,3387,3286,3489,0,0,0,0,0,0,15.05,15.08,15.07
$GC,1234,-1.37,-146.0,2875,2027,3288,3490,148.5,-11.0,160,1243,0.00,2.38,0.00,0.000,388,0.000,0.055,2865,3447,3389,3288,3490,0,0,0,0,0,0,15.08,14.83,15.10
$GC,1286,-1.46,-146.0,2865,3447,3288,3490,153.5,-9.1,170,1291,0.00,2.28,0.00,0.000,1190,0.000,0.036,2865,2042,3389,3288,3490,0,0,0,0,0,0,14.91,14.85,14.93
$GC,1598,-1.51,-146.0,2865,2042,3288,3490,181.5,-11.3,202,1602,0.00,2.35,0.00,0.000,388,0.000,0.056,2855,3447,3389,3288,3490,0,0,0,0,0,0,15.09,14.84,15.11
$GC,1713,-1.61,-146.0,2855,3447,3288,3490,194.5,-10.4,225,1721,0.12,2.28,0.00,0.000,5254,0.126,0.037,2806,2050,3389,3288,3490,0,0,0,0,0,0,14.86,14.87,14.92
$GC,2020,-1.57,-146.0,2805,2050,3288,3490,231.2,-10.7,256,2022,0.12,0.00,0.00,0.000,2182,0.252,0.000,2831,2048,3389,3288,3490,0,0,0,0,0,0,14.70,14.92,14.88
$GC,2341,-1.57,-146.0,2831,2047,3288,3490,270.0,-13.0,278,2348,0.00,2.33,0.00,0.000,516,0.000,0.060,2832,642,3389,3288,3490,0,0,0,0,0,0,15.09,14.84,15.11
$GC,2379,-1.57,-146.0,2832,642,3288,3490,275.5,-13.3,285,2384,0.00,2.30,0.00,0.000,1030,0.000,0.040,2823,2057,3389,3288,3490,0,0,0,0,0,0,14.94,14.88,14.95
$GC,2708,-1.57,-146.0,2823,2057,3286,3490,313.3,-11.2,300,2713,0.00,2.30,0.00,0.000,260,0.000,0.062,2813,3450,3388,3286,3490,0,0,0,0,0,0,15.10,14.85,15.12
$GC,2734,-1.57,-146.0,2813,3450,3286,3490,316.4,-10.6,305,2741,0.00,2.30,0.00,0.000,1030,0.000,0.041,2813,2044,3388,3286,3490,0,0,0,0,0,0,14.95,14.88,14.96
$GC,3042,-1.57,-146.0,2813,2044,3284,3490,348.8,-10.8,316,3047,0.00,2.40,0.00,0.000,260,0.000,0.063,2803,3460,3387,3284,3490,0,0,0,0,0,0,15.11,14.85,15.13
$GC,3088,-1.57,-146.0,2803,3460,3284,3490,354.4,-11.5,325,3094,0.12,2.33,0.00,0.000,3078,0.239,0.041,2830,2039,3387,3284,3490,0,0,0,0,0,0,14.70,14.88,14.90
$GC,3407,-1.57,-146.0,2830,2039,3283,3490,387.6,-10.7,338,3408,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2039,3386,3283,3490,0,0,0,0,0,0,15.10,15.13,15.12
$GC,3708,-1.57,-146.0,2830,2039,3281,3490,424.6,-12.8,348,3713,0.00,2.40,0.00,0.000,260,0.000,0.063,2821,3452,3385,3281,3490,0,0,0,0,0,0,15.11,14.85,15.14
$GC,3741,-1.60,-146.0,2821,3452,3281,3490,429.0,-12.3,354,3749,0.00,2.30,0.00,0.000,1158,0.000,0.041,2821,2053,3385,3281,3490,0,0,0,0,0,0,14.95,14.88,14.97
$GC,4077,-1.60,-146.0,2821,2052,3278,3488,468.1,-11.0,370,4078,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2052,3383,3278,3488,0,0,0,0,0,0,15.11,15.13,15.13
$GC,4377,-1.60,-146.0,2821,2052,3278,3487,498.8,-10.1,380,4384,0.00,2.40,0.00,0.000,260,0.000,0.067,2811,3457,3382,3278,3486,0,0,0,0,0,0,15.11,14.84,15.13
$GC,4415,-1.60,-146.0,2811,3457,3278,3486,502.9,-10.0,387,4422,0.00,2.33,0.00,0.000,1030,0.000,0.043,2811,2051,3382,3278,3486,0,0,0,0,0,0,14.95,14.87,14.96
$GC,4745,-1.60,-146.0,2811,2051,3276,3486,534.9,-9.6,402,4751,0.00,2.40,0.00,0.000,292,0.000,0.067,2801,3454,3380,3275,3485,0,0,0,0,0,0,15.11,14.83,15.13
$GC,4829,-1.60,-146.0,2801,3453,3275,3485,543.2,-9.8,418,4835,0.10,2.33,0.00,0.000,3110,0.243,0.045,2821,2047,3380,3275,3485,0,0,0,0,0,0,14.69,14.86,14.88
$GC,5143,-1.60,-146.0,2821,2047,3273,3484,572.6,-9.8,430,5145,0.00,0.00,0.00,0.000,38,0.000,0.000,2821,2047,3378,3273,3484,0,0,0,0,0,0,15.11,15.13,15.13
$GC,5444,-1.60,-146.0,2821,2047,3272,3482,603.7,-10.5,440,5450,0.00,2.35,0.00,0.000,516,0.000,0.067,2822,648,3377,3272,3482,0,0,0,0,0,0,15.11,14.83,15.13
$GC,5473,-1.60,-146.0,2822,648,3272,3482,607.2,-11.8,445,5480,0.00,2.33,0.00,0.000,1030,0.000,0.046,2813,2053,3377,3272,3482,0,0,0,0,0,0,14.93,14.85,14.95
$GC,5778,-1.60,-146.0,2813,2053,3271,3480,639.9,-10.6,456,5779,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2053,3375,3271,3480,0,0,0,0,0,0,15.10,15.13,15.12
$GC,6080,-1.60,-146.0,2813,2053,3270,3478,670.5,-10.0,466,6086,0.00,2.40,0.00,0.000,516,0.000,0.066,2813,648,3374,3270,3479,0,0,0,0,0,0,15.11,14.83,15.13
$GC,6113,-1.60,-146.0,2813,647,3270,3478,674.2,-11.1,472,6121,0.10,2.33,0.00,0.000,3078,0.262,0.047,2823,2053,3374,3269,3479,0,0,0,0,0,0,14.66,14.85,14.87
$GC,6449,-1.64,-146.0,2823,2053,3268,3478,705.4,-8.9,488,6454,0.00,2.38,0.00,0.000,420,0.000,0.071,2814,3450,3373,3268,3478,0,0,0,0,0,0,15.11,14.81,15.13
$GC,6484,-1.68,-146.0,2814,3450,3268,3477,708.3,-8.7,494,6490,0.00,2.33,0.00,0.000,1190,0.000,0.046,2815,2055,3372,3268,3477,0,0,0,0,0,0,14.92,14.85,14.94
$GC,6818,-1.68,-146.0,2814,2055,3267,3477,739.5,-9.5,510,6819,0.00,0.00,0.00,0.000,38,0.000,0.000,2815,2055,3372,3267,3477,0,0,0,0,0,0,15.10,15.13,15.12
$GC,7119,-1.68,-146.0,2814,2055,3267,3477,770.7,-10.9,520,7124,0.00,2.42,0.00,0.000,260,0.000,0.071,2805,3457,3371,3267,3476,0,0,0,0,0,0,15.11,14.80,15.13
$GC,7171,-1.68,-146.0,2805,3457,3266,3476,777.2,-12.3,530,7179,0.00,2.35,0.00,0.000,1030,0.000,0.048,2805,2049,3371,3267,3476,0,0,0,0,0,0,14.86,14.81,14.88
$GC,7487,-1.68,-146.0,2804,2048,3266,3475,816.1,-12.6,542,7494,0.00,2.42,0.00,0.000,260,0.000,0.073,2795,3447,3370,3266,3475,0,0,0,0,0,0,15.09,14.79,15.11
$GC,7515,-1.68,-146.0,2794,3447,3266,3475,820.1,-12.9,547,7523,0.00,2.35,0.00,0.000,1030,0.000,0.048,2795,2047,3370,3266,3474,0,0,0,0,0,0,14.91,14.83,14.94
$GC,7823,-1.68,-146.0,2795,2047,3265,3474,856.4,-11.2,558,7825,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2048,3370,3265,3475,0,0,0,0,0,0,15.10,15.13,15.12
$GC,8123,-1.68,-146.0,2795,2047,3264,3473,886.3,-9.5,568,8128,0.00,2.42,0.00,0.000,292,0.000,0.073,2785,3444,3368,3264,3472,0,0,0,0,0,0,15.10,14.78,15.12
$GC,8198,-1.68,-146.0,2785,3444,3264,3472,893.7,-9.3,582,8204,0.12,2.35,0.00,0.000,3110,0.253,0.050,2811,2045,3367,3264,3471,0,0,0,0,0,0,14.59,14.82,14.83
$GC,8522,-1.68,-146.0,2811,2045,3262,3471,921.7,-8.8,596,8527,0.00,2.38,0.00,0.000,548,0.000,0.070,2811,646,3366,3262,3471,0,0,0,0,0,0,15.09,14.78,15.11
$GC,8570,-1.68,-146.0,2811,646,3262,3471,926.7,-10.6,605,8577,0.00,2.35,0.00,0.000,1030,0.000,0.050,2803,2050,3366,3262,3471,0,0,0,0,0,0,14.90,14.82,14.92
$GC,8891,-1.68,-146.0,2802,2051,3261,3471,958.2,-10.3,618,8896,0.00,2.42,0.00,0.000,516,0.000,0.068,2803,643,3366,3261,3471,0,0,0,0,0,0,15.10,14.78,15.12
$GC,8918,-1.68,-146.0,2802,642,3261,3470,961.6,-11.5,623,8925,0.00,2.38,0.00,0.000,1030,0.000,0.051,2793,2054,3365,3261,3470,0,0,0,0,0,0,14.89,14.81,14.92
$STATE,9193,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9193,begin apogee
$GC,9198,-0.33,0.0,2793,1798,3261,3470,992.6,-11.5,633,9331,1.15,0.00,129.12,2.715,10246,0.252,0.000,3096,1796,2789,2679,2900,0,0,0,0,0,0,14.53,14.03,13.05
$STATE,9332,end apogee,CONTROL_FINISHED_OK
$STATE,9332,begin climb
$GC,9333,1.28,146.0,3096,1796,2674,2896,995.7,0.0,637,9499,1.20,2.60,156.18,2.440,10756,0.158,0.076,3461,396,2191,2061,2321,0,0,0,0,0,0,14.01,13.78,13.07
$GC,9522,1.07,146.0,3460,395,2053,2321,984.7,11.9,678,9527,0.22,2.50,0.00,0.000,5254,0.324,0.048,3408,1808,2187,2052,2322,0,0,0,0,0,0,13.95,14.09,14.14
$GC,9855,0.95,146.0,3407,1808,2042,2321,950.0,10.5,694,9857,0.12,0.00,0.00,0.000,4230,0.421,0.000,3389,1809,2181,2042,2321,0,0,0,0,0,0,14.29,14.64,14.60
$GC,10154,0.87,146.0,3388,1809,2041,2321,918.7,10.6,704,10161,0.12,2.42,0.00,0.000,4484,0.413,0.071,3360,3214,2180,2040,2321,0,0,0,0,0,0,14.40,14.66,14.61
$GC,10209,0.83,146.0,3359,3214,2040,2321,913.0,10.1,715,10215,0.00,2.42,0.00,0.000,1158,0.000,0.054,3366,1791,2180,2040,2321,0,0,0,0,0,0,14.78,14.71,14.80
$GC,10515,0.78,146.2,3366,1790,2038,2321,882.6,10.0,726,10519,0.00,2.42,0.00,0.000,676,0.000,0.071,3376,383,2179,2038,2321,0,0,0,0,0,0,15.00,14.73,15.02
$GC,10550,0.72,146.2,3376,383,2036,2322,879.0,11.1,733,10555,0.20,2.38,0.00,0.000,5254,0.313,0.043,3332,1817,2178,2036,2321,0,0,0,0,0,0,14.49,14.77,14.78
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$STATE,18715,end climb,SURFACE_DEPTH_REACHED
$STATE,18715,begin surface coast
$FINISH,1.6,1.003316
$STATE,18741,end surface coast,CONTROL_FINISHED_OK
$STATE,18741,begin surface
$SM_CCo,18759,105.68,0.080,0,0,449,573.99
$SM_GC,2.35,9.85,0.38,105.68,0.088,0.057,0.080,93,2068,449,-14.11,-1.27,573.99,0,0,0,0,0,0,14.70,14.78,14.68
$IRIDIUM_FIX,1327.53,6106.20,300317,175440
$TT8_MAMPS,0.024717,0.15729
$HUMID,47.08
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,24.20
$XPDR_PINGS,10
$24V_AH,13.05,46.760
$10V_AH,13.36,0.000
$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,28.775,182.500,453.625,105.675,0.000,0.000,0.000,211.650,103.250,0.000,24.787,2954.394,12815.782,763.032,2466.019,183.137,0.000,2139.414,0.000,1933.130,0.000,677.726,0.000
$DEVICE_MAMPS,424.575,2089.215,2714.985,80.325,0.000,0.000,0.000,180.540,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,676.405,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225116
$DATA_FILE_SIZE,59926,1358
$CAP_FILE_SIZE,213255,0
$CFSIZE,260034560,248168448
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$INTR,0,13293.03,0x213b0c,1,24
$CURRENT,0.046,255.14,1
$GPS,310317,043157,1329.924,6101.814,41,0.9,49,-0.7,0.2,260.4,8,9.7