version: 66.13
glider: 137
mission: 5
dive: 142
start: 4 1 117 1 23 45
data:
$ID,137
$MISSION,5
$DIVE,142
$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,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
$GPS1,010417,011807,1328.6304,6112.1025,37,0.8,43,-0.7,0.5,198.7,9,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-67.7
$GPS2,010417,012309,1328.6003,6112.1108,8,0.9,19,-0.7,0.0,180.6,8,9.8
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1328.189,6115.638
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,78.6,6398,-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,-146.0,90,2032,333,561,0.0,0.0,0,108,0.00,0.00,-98.65,0.000,16386,0.000,0.000,90,2032,3072,2987,3158,0,0,0,0,0,0,14.86,28.83,14.89
$GC,110,-1.28,-146.0,90,2032,2987,3158,4.7,-6.9,17,137,14.23,2.62,-5.53,0.000,18980,0.427,2.095,2895,658,3387,3278,3497,0,0,0,0,0,0,14.34,13.50,14.66
$GC,159,-1.12,-146.0,2895,658,3280,3497,19.2,-19.0,25,168,0.20,2.28,0.00,0.000,3206,0.265,0.037,2933,2042,3388,3279,3497,0,0,0,0,0,0,14.49,14.64,14.66
$GC,471,-1.20,-146.0,2932,2043,3280,3497,51.0,-9.9,85,475,0.00,2.35,0.00,0.000,676,0.000,0.057,2933,654,3388,3280,3497,0,0,0,0,0,0,14.96,14.71,14.98
$GC,496,-1.28,-146.0,2933,653,3280,3497,53.9,-10.2,90,504,0.12,2.30,0.00,0.000,5254,0.125,0.038,2880,2063,3388,3280,3497,0,0,0,0,0,0,14.73,14.75,14.81
$GC,802,-1.28,-146.0,2879,2063,3281,3497,91.7,-12.8,121,807,0.00,2.30,0.00,0.000,260,0.000,0.057,2869,3451,3389,3281,3497,0,0,0,0,0,0,15.03,14.77,15.05
$GC,864,-1.32,-146.0,2868,3451,3281,3498,99.3,-11.8,133,869,0.00,2.28,0.00,0.000,1158,0.000,0.037,2869,2050,3389,3281,3497,0,0,0,0,0,0,14.88,14.82,14.89
$GC,1175,-1.32,-146.0,2868,2050,3283,3497,139.3,-13.3,165,1180,0.00,2.30,0.00,0.000,516,0.000,0.057,2869,654,3390,3283,3497,0,0,0,0,0,0,15.07,14.81,15.09
$GC,1208,-1.32,-146.0,2868,653,3283,3497,143.4,-12.9,171,1217,0.12,2.28,0.00,0.000,3078,0.262,0.039,2885,2058,3390,3283,3497,0,0,0,0,0,0,14.66,14.84,14.81
$GC,1518,-1.40,-146.0,2885,2058,3284,3497,174.2,-8.0,203,1526,0.00,2.30,0.00,0.000,420,0.000,0.058,2877,3453,3390,3283,3497,0,0,0,0,0,0,15.09,14.83,15.11
$GC,1573,-1.50,-146.0,2876,3453,3284,3497,178.8,-8.3,214,1580,0.12,2.28,0.00,0.000,5286,0.122,0.037,2817,2052,3390,3283,3498,0,0,0,0,0,0,14.86,14.86,14.92
$GC,1881,-1.47,-146.0,2817,2051,3283,3497,212.9,-12.0,245,1887,0.12,2.33,0.00,0.000,2692,0.252,0.057,2850,650,3390,3283,3497,0,0,0,0,0,0,14.68,14.83,14.81
$GC,1946,-1.47,-146.0,2849,650,3283,3497,220.1,-10.2,257,1952,0.00,2.28,0.00,0.000,1030,0.000,0.040,2841,2049,3390,3283,3497,0,0,0,0,0,0,14.92,14.85,14.94
$GC,2270,-1.47,-146.0,2841,2049,3284,3497,253.6,-9.7,288,2275,0.00,2.38,0.00,0.000,548,0.000,0.063,2841,646,3390,3283,3497,0,0,0,0,0,0,15.08,14.83,15.10
$GC,2305,-1.47,-146.0,2841,646,3283,3497,256.7,-9.7,294,2310,0.12,2.30,0.00,0.000,3110,0.259,0.040,2856,2061,3390,3283,3497,0,0,0,0,0,0,14.68,14.87,14.87
$GC,2641,-1.53,-146.0,2857,2061,3283,3497,282.9,-8.2,310,2646,0.00,2.30,0.00,0.000,420,0.000,0.060,2848,3447,3390,3283,3497,0,0,0,0,0,0,15.10,14.84,15.12
$GC,2674,-1.61,-146.0,2848,3447,3284,3497,286.1,-8.6,316,2682,0.10,2.28,0.00,0.000,5286,0.167,0.040,2811,2051,3390,3283,3497,0,0,0,0,0,0,14.83,14.88,14.92
$GC,3009,-1.61,-146.0,2811,2050,3282,3497,321.4,-10.2,332,3014,0.00,2.33,0.00,0.000,516,0.000,0.063,2811,655,3389,3282,3497,0,0,0,0,0,0,15.09,14.84,15.11
$GC,3065,-1.57,-146.0,2811,655,3282,3497,327.2,-11.1,342,3071,0.15,2.30,0.00,0.000,3206,0.272,0.044,2833,2064,3389,3282,3497,0,0,0,0,0,0,14.67,14.88,14.88
$GC,3381,-1.57,-146.0,2833,2064,3280,3497,354.0,-8.3,354,3382,0.00,0.00,0.00,0.000,38,0.000,0.000,2833,2064,3388,3280,3497,0,0,0,0,0,0,15.11,15.14,15.14
$GC,3680,-1.57,-146.0,2833,2064,3278,3497,380.7,-9.2,364,3685,0.00,2.30,0.00,0.000,292,0.000,0.063,2824,3443,3387,3278,3497,0,0,0,0,0,0,15.11,14.84,15.13
$GC,3736,-1.63,-146.0,2824,3443,3278,3497,386.5,-10.0,374,3741,0.00,2.30,0.00,0.000,1190,0.000,0.041,2824,2044,3387,3278,3497,0,0,0,0,0,0,14.95,14.88,14.97
$GC,4050,-1.63,-146.0,2824,2043,3277,3495,421.4,-11.5,386,4052,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2043,3386,3277,3495,0,0,0,0,0,0,15.11,15.14,15.14
$GC,4349,-1.63,-146.0,2824,2043,3274,3494,455.6,-11.1,396,4354,0.00,2.40,0.00,0.000,260,0.000,0.065,2815,3451,3384,3274,3494,0,0,0,0,0,0,15.11,14.83,15.13
$GC,4415,-1.67,-146.0,2814,3451,3274,3494,462.7,-10.6,408,4420,0.00,2.33,0.00,0.000,1158,0.000,0.044,2814,2057,3383,3274,3493,0,0,0,0,0,0,14.94,14.86,14.96
$GC,4748,-1.67,-146.0,2814,2056,3273,3491,498.8,-11.0,424,4749,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2056,3382,3273,3491,0,0,0,0,0,0,15.10,15.13,15.12
$GC,5049,-1.67,-146.0,2814,2056,3271,3489,534.4,-12.2,434,5050,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2056,3380,3271,3490,0,0,0,0,0,0,15.11,15.13,15.13
$GC,5350,-1.67,-146.0,2814,2056,3270,3488,570.2,-11.9,444,5351,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2057,3379,3270,3488,0,0,0,0,0,0,15.11,15.14,15.14
$GC,5649,-1.67,-146.0,2814,2057,3269,3486,603.9,-11.0,454,5654,0.00,2.38,0.00,0.000,260,0.000,0.068,2804,3440,3377,3269,3486,0,0,0,0,0,0,15.11,14.82,15.13
$GC,5683,-1.67,-146.0,2804,3440,3269,3486,607.7,-10.6,460,5688,0.00,2.33,0.00,0.000,1030,0.000,0.047,2805,2044,3377,3269,3486,0,0,0,0,0,0,14.94,14.86,14.95
$GC,6017,-1.67,-146.0,2804,2043,3267,3486,644.7,-11.0,476,6018,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2043,3377,3268,3486,0,0,0,0,0,0,15.11,15.14,15.14
$GC,6317,-1.67,-146.0,2804,2043,3267,3485,678.0,-11.0,486,6322,0.00,2.42,0.00,0.000,260,0.000,0.071,2795,3450,3376,3267,3485,0,0,0,0,0,0,15.11,14.81,15.13
$GC,6354,-1.67,-146.0,2794,3450,3266,3484,682.5,-11.1,493,6360,0.00,2.35,0.00,0.000,1030,0.000,0.049,2796,2051,3375,3266,3484,0,0,0,0,0,0,14.92,14.85,14.95
$GC,6684,-1.67,-146.0,2795,2051,3266,3483,717.8,-10.7,508,6688,0.00,2.40,0.00,0.000,260,0.000,0.071,2788,3439,3374,3266,3483,0,0,0,0,0,0,15.11,14.79,15.13
$GC,6725,-1.67,-146.0,2787,3439,3266,3482,722.5,-10.4,516,6730,0.00,2.33,0.00,0.000,1030,0.000,0.049,2792,2052,3374,3266,3482,0,0,0,0,0,0,14.92,14.83,14.94
$GC,7048,-1.67,-146.0,2792,2051,3265,3482,755.2,-10.2,530,7055,0.00,2.40,0.00,0.000,260,0.000,0.070,2784,3439,3373,3265,3481,0,0,0,0,0,0,15.10,14.79,15.12
$GC,7083,-1.67,-146.0,2784,3439,3265,3481,758.8,-9.9,536,7089,0.08,2.33,0.00,0.000,3110,0.275,0.050,2803,2036,3373,3265,3481,0,0,0,0,0,0,14.53,14.81,14.71
$GC,7417,-1.67,-146.0,2802,2036,3263,3480,791.5,-9.8,552,7422,0.00,2.42,0.00,0.000,292,0.000,0.070,2794,3439,3372,3263,3481,0,0,0,0,0,0,15.09,14.78,15.11
$GC,7455,-1.67,-146.0,2794,3439,3263,3479,795.7,-10.2,559,7460,0.00,2.33,0.00,0.000,1030,0.000,0.048,2796,2055,3371,3263,3480,0,0,0,0,0,0,14.91,14.83,14.93
$GC,7785,-1.67,-146.0,2796,2055,3262,3479,829.6,-10.5,574,7789,0.00,2.40,0.00,0.000,260,0.000,0.070,2788,3442,3370,3262,3479,0,0,0,0,0,0,15.10,14.78,15.12
$GC,7821,-1.67,-146.0,2788,3442,3262,3479,833.8,-10.1,581,7827,0.00,2.35,0.00,0.000,1030,0.000,0.048,2794,2042,3370,3262,3478,0,0,0,0,0,0,14.90,14.82,14.92
$GC,8150,-1.67,-146.0,2794,2041,3261,3478,866.2,-9.6,596,8157,0.00,2.42,0.00,0.000,292,0.000,0.070,2786,3443,3369,3260,3478,0,0,0,0,0,0,15.09,14.77,15.11
$GC,8188,-1.67,-146.0,2786,3443,3261,3478,870.2,-9.5,603,8195,0.00,2.35,0.00,0.000,1062,0.000,0.048,2791,2043,3369,3261,3478,0,0,0,0,0,0,14.90,14.81,14.92
$GC,8518,-1.67,-146.0,2790,2043,3260,3478,902.0,-9.7,618,8520,0.00,0.00,0.00,0.000,38,0.000,0.000,2791,2042,3369,3260,3478,0,0,0,0,0,0,15.09,15.12,15.11
$GC,8819,-1.67,-146.0,2790,2043,3259,3478,930.9,-9.6,628,8826,0.00,2.42,0.00,0.000,292,0.000,0.071,2783,3440,3368,3259,3477,0,0,0,0,0,0,15.09,14.76,15.11
$GC,8888,-1.67,-146.0,2782,3440,3259,3477,937.9,-9.1,641,8895,0.10,2.35,0.00,0.000,3110,0.276,0.049,2807,2038,3368,3259,3477,0,0,0,0,0,0,14.55,14.81,14.81
$GC,9218,-1.67,-146.0,2806,2037,3258,3477,967.9,-9.2,656,9219,0.00,0.00,0.00,0.000,38,0.000,0.000,2807,2037,3367,3258,3477,0,0,0,0,0,0,15.09,15.11,15.11
$STATE,9486,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9486,begin apogee
$GC,9492,-0.33,0.0,2807,1778,3258,3476,992.7,-9.1,665,9625,1.15,0.00,129.25,2.690,10246,0.277,0.000,3099,1777,2788,2676,2901,0,0,0,0,0,0,14.49,14.02,13.05
$STATE,9626,end apogee,CONTROL_FINISHED_OK
$STATE,9626,begin climb
$GC,9627,1.28,146.0,3099,1777,2673,2897,993.9,0.0,669,9767,1.25,0.00,135.45,2.637,10246,0.179,0.000,3451,1777,2194,2066,2322,0,0,0,0,0,0,14.00,13.87,12.91
$GC,10058,1.09,146.0,3451,1777,2042,2317,946.3,13.3,684,10065,0.17,2.38,0.00,0.000,4740,0.335,0.068,3424,404,2179,2042,2317,0,0,0,0,0,0,14.28,14.49,14.46
$GC,10120,0.94,146.0,3423,404,2040,2317,938.1,12.8,697,10125,0.20,2.35,0.00,0.000,5254,0.336,0.041,3384,1802,2178,2039,2317,0,0,0,0,0,0,14.30,14.58,14.59
$GC,10444,0.87,147.3,3383,1802,2038,2317,905.4,9.9,711,10445,0.00,0.00,0.00,0.000,166,0.000,0.000,3384,1802,2177,2038,2317,0,0,0,0,0,0,14.93,14.95,14.95
$GC,10743,0.80,154.1,3383,1802,2036,2318,876.0,9.7,721,10755,0.15,2.45,4.57,1.799,12708,0.405,0.070,3347,3197,2161,2020,2303,0,0,0,0,0,0,14.41,14.73,13.60
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$STATE,18858,end climb,SURFACE_DEPTH_REACHED
$STATE,18858,begin surface coast
$FINISH,1.5,0.998340
$STATE,18884,end surface coast,CONTROL_FINISHED_OK
$STATE,18884,begin surface
$SM_CCo,18902,84.70,0.082,0,0,450,573.99
$SM_GC,2.30,9.85,0.40,84.70,0.086,0.057,0.082,92,2075,450,-14.12,-1.05,573.99,0,0,0,0,0,0,14.71,14.81,14.69
$IRIDIUM_FIX,1325.32,6111.16,310317,200625
$TT8_MAMPS,0.024717,0.158039
$HUMID,48.97
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,24.00
$XPDR_PINGS,7
$24V_AH,12.91,48.598
$10V_AH,13.32,0.000
$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,29.475,192.425,466.725,84.700,0.000,0.000,0.000,205.725,109.750,0.000,20.766,2978.545,12836.097,779.258,2498.865,203.711,0.000,2146.236,0.000,1950.282,0.000,726.381,0.000
$DEVICE_MAMPS,426.870,2094.570,2689.740,81.855,0.000,0.000,0.000,175.185,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,662.016,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225100
$DATA_FILE_SIZE,60013,1371
$CAP_FILE_SIZE,219295,0
$CFSIZE,260034560,247738368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.048,194.30,1
$GPS,010417,064137,1328.420,6114.903,43,0.8,49,-0.7,0.4,151.1,9,9.6