version: 66.13
glider: 137
mission: 5
dive: 149
start: 4 2 117 14 15 26
data:
$ID,137
$MISSION,5
$DIVE,149
$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,34
$R_STBD_OVSHOOT,57
$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
$GPS1,020417,140936,1334.6522,6059.6426,36,0.8,41,-0.7,0.0,219.3,9,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-68.0
$GPS2,020417,141450,1334.6407,6059.6001,16,0.8,25,-0.7,0.0,251.2,9,9.4
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1336.635,6056.570
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,314.3,6587,-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,-146.0,97,2080,333,561,0.0,0.0,0,103,0.00,0.00,-94.18,0.000,16386,0.000,0.000,97,2081,2967,2886,3048,0,0,0,0,0,0,14.85,28.83,14.88
$GC,106,-1.28,-146.0,97,2081,2886,3048,4.3,-5.5,16,137,13.93,2.55,-7.93,0.000,18724,0.415,2.086,2882,3428,3388,3276,3500,0,0,0,0,0,0,14.33,13.47,14.54
$GC,200,-1.33,-146.0,2882,3428,3277,3500,21.1,-11.0,33,207,0.00,2.30,0.00,0.000,1158,0.000,0.036,2882,2030,3388,3277,3500,0,0,0,0,0,0,14.69,14.64,14.71
$GC,509,-1.33,-146.0,2882,2030,3277,3500,56.5,-12.2,89,514,0.00,2.28,0.00,0.000,516,0.000,0.056,2882,654,3388,3277,3500,0,0,0,0,0,0,14.97,14.71,14.99
$GC,541,-1.33,-146.0,2882,654,3277,3500,60.7,-13.0,95,545,0.00,2.28,0.00,0.000,1030,0.000,0.038,2872,2049,3388,3277,3500,0,0,0,0,0,0,14.81,14.75,14.83
$GC,846,-1.33,-146.0,2871,2049,3277,3500,102.1,-12.9,126,847,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2049,3389,3278,3500,0,0,0,0,0,0,15.03,15.06,15.05
$GC,1148,-1.33,-146.0,2871,2050,3278,3500,138.1,-10.2,156,1157,0.00,2.33,0.00,0.000,516,0.000,0.054,2872,647,3389,3278,3500,0,0,0,0,0,0,15.06,14.78,15.08
$GC,1249,-1.33,-146.0,2871,647,3278,3500,147.7,-9.1,176,1254,0.10,2.28,0.00,0.000,3110,0.265,0.038,2883,2053,3389,3278,3501,0,0,0,0,0,0,14.66,14.83,14.85
$GC,1562,-1.41,-146.0,2882,2054,3278,3500,175.1,-10.3,208,1571,0.00,2.30,0.00,0.000,388,0.000,0.057,2874,3451,3389,3278,3500,0,0,0,0,0,0,15.09,14.82,15.11
$GC,1614,-1.53,-146.0,2874,3451,3278,3500,180.7,-11.2,218,1624,0.12,2.28,0.00,0.000,5254,0.121,0.037,2814,2042,3389,3278,3500,0,0,0,0,0,0,14.86,14.86,14.90
$GC,1925,-1.50,-146.0,2814,2041,3278,3501,221.3,-10.6,250,1930,0.12,2.30,0.00,0.000,2692,0.249,0.054,2846,651,3389,3278,3500,0,0,0,0,0,0,14.68,14.83,14.80
$GC,2020,-1.50,-146.0,2846,651,3278,3500,230.5,-8.2,267,2028,0.00,2.28,0.00,0.000,1062,0.000,0.039,2837,2050,3389,3278,3500,0,0,0,0,0,0,14.92,14.85,14.93
$GC,2348,-1.50,-146.0,2837,2049,3278,3500,258.7,-9.4,294,2353,0.00,2.33,0.00,0.000,292,0.000,0.059,2827,3457,3389,3278,3500,0,0,0,0,0,0,15.08,14.83,15.10
$GC,2386,-1.54,-146.0,2826,3457,3278,3500,262.7,-9.7,301,2392,0.00,2.30,0.00,0.000,1190,0.000,0.038,2827,2045,3389,3278,3500,0,0,0,0,0,0,14.92,14.86,14.94
$GC,2716,-1.54,-146.0,2827,2045,3278,3500,300.4,-12.5,316,2721,0.00,2.30,0.00,0.000,516,0.000,0.060,2827,654,3389,3278,3500,0,0,0,0,0,0,15.10,14.84,15.11
$GC,2768,-1.54,-146.0,2826,654,3278,3500,307.7,-13.6,326,2776,0.10,2.28,0.00,0.000,3078,0.264,0.040,2837,2053,3389,3278,3500,0,0,0,0,0,0,14.69,14.86,14.88
$GC,3084,-1.54,-146.0,2836,2054,3278,3500,344.9,-11.2,338,3086,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2054,3389,3278,3500,0,0,0,0,0,0,15.09,15.12,15.12
$GC,3386,-1.58,-146.0,2836,2054,3278,3498,373.3,-8.8,348,3388,0.00,0.00,0.00,0.000,166,0.000,0.000,2837,2054,3388,3278,3498,0,0,0,0,0,0,15.11,15.14,15.14
$GC,3686,-1.62,-146.0,2836,2054,3277,3496,399.0,-8.8,358,3691,0.00,2.33,0.00,0.000,420,0.000,0.063,2828,3447,3386,3276,3496,0,0,0,0,0,0,15.11,14.84,15.14
$GC,3713,-1.66,-146.0,2828,3447,3276,3495,401.8,-8.9,363,3722,0.00,2.30,0.00,0.000,1190,0.000,0.042,2828,2052,3386,3277,3495,0,0,0,0,0,0,14.94,14.87,14.96
$GC,4019,-1.66,-146.0,2828,2052,3274,3494,433.2,-10.6,374,4024,0.00,2.35,0.00,0.000,516,0.000,0.067,2828,648,3384,3274,3494,0,0,0,0,0,0,15.11,14.83,15.13
$GC,4055,-1.66,-146.0,2828,648,3274,3494,437.7,-11.6,381,4061,0.00,2.33,0.00,0.000,1030,0.000,0.046,2819,2054,3384,3274,3494,0,0,0,0,0,0,14.93,14.86,14.95
$GC,4386,-1.66,-146.0,2818,2054,3272,3491,471.3,-9.7,396,4387,0.00,0.00,0.00,0.000,38,0.000,0.000,2819,2054,3381,3272,3490,0,0,0,0,0,0,15.11,15.14,15.13
$GC,4686,-1.66,-146.0,2818,2054,3271,3489,499.3,-9.4,406,4691,0.00,2.40,0.00,0.000,548,0.000,0.065,2818,646,3380,3271,3489,0,0,0,0,0,0,15.11,14.83,15.13
$GC,4720,-1.66,-146.0,2818,645,3271,3488,502.7,-9.8,412,4725,0.00,2.33,0.00,0.000,1062,0.000,0.048,2808,2051,3379,3271,3488,0,0,0,0,0,0,14.93,14.85,14.95
$GC,5054,-1.66,-146.0,2808,2051,3269,3487,537.9,-11.0,428,5059,0.00,2.40,0.00,0.000,516,0.000,0.069,2809,651,3377,3269,3486,0,0,0,0,0,0,15.11,14.81,15.13
$GC,5091,-1.66,-146.0,2808,650,3269,3486,542.7,-11.3,435,5096,0.00,2.33,0.00,0.000,1030,0.000,0.045,2798,2058,3377,3269,3486,0,0,0,0,0,0,14.92,14.85,14.95
$GC,5419,-1.66,-146.0,2798,2058,3267,3485,580.4,-11.6,450,5420,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2058,3376,3268,3485,0,0,0,0,0,0,15.10,15.13,15.12
$GC,5721,-1.66,-146.0,2798,2058,3267,3483,614.8,-11.5,460,5726,0.00,2.42,0.00,0.000,516,0.000,0.068,2798,644,3375,3267,3483,0,0,0,0,0,0,15.11,14.81,15.13
$GC,5794,-1.62,-146.0,2798,643,3267,3483,624.2,-12.3,474,5801,0.15,2.33,0.00,0.000,3206,0.260,0.045,2822,2053,3374,3266,3483,0,0,0,0,0,0,14.61,14.84,14.83
$GC,6120,-1.62,-146.0,2821,2054,3266,3482,659.2,-10.9,488,6125,0.00,2.38,0.00,0.000,260,0.000,0.070,2813,3454,3374,3266,3482,0,0,0,0,0,0,15.11,14.79,15.12
$GC,6163,-1.67,-146.0,2813,3454,3266,3481,664.5,-12.1,496,6168,0.00,2.35,0.00,0.000,1158,0.000,0.047,2813,2046,3373,3266,3481,0,0,0,0,0,0,14.91,14.83,14.93
$GC,6487,-1.67,-146.0,2812,2045,3264,3480,703.0,-12.0,510,6493,0.00,2.42,0.00,0.000,260,0.000,0.070,2803,3451,3371,3264,3479,0,0,0,0,0,0,15.09,14.79,15.11
$GC,6530,-1.67,-146.0,2802,3451,3264,3479,708.6,-11.6,518,6535,0.00,2.35,0.00,0.000,1030,0.000,0.046,2803,2050,3371,3264,3479,0,0,0,0,0,0,14.90,14.83,14.93
$GC,6853,-1.67,-146.0,2802,2050,3262,3479,745.2,-10.9,532,6858,0.00,2.40,0.00,0.000,516,0.000,0.072,2806,639,3370,3262,3479,0,0,0,0,0,0,15.09,14.78,15.11
$GC,6896,-1.67,-146.0,2806,639,3262,3479,750.2,-11.6,540,6901,0.00,2.35,0.00,0.000,1030,0.000,0.048,2797,2050,3370,3262,3479,0,0,0,0,0,0,14.90,14.82,14.92
$GC,7220,-1.67,-146.0,2797,2050,3262,3477,783.1,-10.1,554,7225,0.00,2.45,0.00,0.000,516,0.000,0.078,2797,643,3369,3262,3477,0,0,0,0,0,0,15.10,14.78,15.12
$GC,7246,-1.63,-146.0,2797,643,3261,3477,786.3,-10.9,559,7255,0.15,2.35,0.00,0.000,3206,0.269,0.047,2820,2057,3369,3261,3477,0,0,0,0,0,0,14.56,14.83,14.81
$GC,7555,-1.66,-146.0,2819,2057,3261,3477,814.3,-9.3,570,7560,0.00,2.45,0.00,0.000,676,0.000,0.073,2819,643,3369,3261,3477,0,0,0,0,0,0,15.11,14.76,15.13
$GC,7602,-1.66,-146.0,2819,643,3260,3477,819.6,-10.8,579,7607,0.00,2.35,0.00,0.000,1030,0.000,0.051,2811,2043,3368,3260,3477,0,0,0,0,0,0,14.90,14.81,14.92
$GC,7920,-1.66,-146.0,2811,2043,3260,3477,852.1,-10.5,592,7927,0.00,2.40,0.00,0.000,516,0.000,0.067,2811,649,3368,3260,3476,0,0,0,0,0,0,15.09,14.78,15.11
$GC,7948,-1.66,-146.0,2811,648,3260,3476,855.5,-11.2,597,7957,0.00,2.35,0.00,0.000,1030,0.000,0.046,2801,2063,3368,3260,3476,0,0,0,0,0,0,14.90,14.82,14.92
$GC,8256,-1.66,-146.0,2801,2063,3259,3475,887.3,-10.4,608,8261,0.00,2.42,0.00,0.000,516,0.000,0.063,2801,643,3366,3258,3475,0,0,0,0,0,0,15.09,14.78,15.11
$GC,8319,-1.66,-146.0,2801,643,3258,3475,894.4,-10.6,620,8324,0.00,2.35,0.00,0.000,1030,0.000,0.046,2792,2059,3366,3258,3475,0,0,0,0,0,0,14.89,14.81,14.91
$GC,8652,-1.66,-146.0,2791,2059,3258,3474,928.4,-10.2,636,8657,0.00,2.42,0.00,0.000,516,0.000,0.062,2792,647,3366,3258,3474,0,0,0,0,0,0,15.08,14.77,15.11
$GC,8701,-1.62,-146.0,2791,646,3257,3473,933.9,-11.3,645,8710,0.17,2.35,0.00,0.000,3206,0.256,0.050,2825,2053,3365,3257,3474,0,0,0,0,0,0,14.52,14.80,14.68
$GC,9025,-1.66,-146.0,2825,2053,3256,3474,962.0,-8.8,658,9030,0.00,2.40,0.00,0.000,420,0.000,0.074,2816,3453,3365,3256,3474,0,0,0,0,0,0,15.09,14.74,15.11
$GC,9068,-1.72,-146.0,2816,3453,3256,3473,966.1,-8.8,666,9073,0.00,2.38,0.00,0.000,1190,0.000,0.053,2816,2053,3365,3256,3474,0,0,0,0,0,0,14.88,14.78,14.90
$STATE,9331,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9332,begin apogee
$GC,9336,-0.33,0.0,2816,1791,3255,3473,991.3,-9.8,678,9469,1.08,0.00,128.85,2.691,10246,0.247,0.000,3099,1789,2789,2677,2902,0,0,0,0,0,0,14.50,14.02,13.02
$STATE,9470,end apogee,CONTROL_FINISHED_OK
$STATE,9470,begin climb
$GC,9472,1.28,146.0,3099,1789,2673,2900,993.8,0.0,682,9620,1.23,0.00,144.57,2.573,10246,0.151,0.000,3457,1789,2193,2063,2323,0,0,0,0,0,0,14.02,13.87,12.95
$GC,9902,1.08,146.0,3457,1789,2044,2320,951.9,12.4,697,9907,0.20,2.47,0.00,0.000,4484,0.355,0.063,3416,3198,2182,2044,2321,0,0,0,0,0,0,14.24,14.49,14.44
$GC,9937,0.93,146.0,3416,3198,2044,2319,947.3,11.5,704,9942,0.22,2.40,0.00,0.000,5254,0.346,0.050,3381,1794,2181,2044,2319,0,0,0,0,0,0,14.29,14.54,14.57
$GC,10261,0.88,171.7,3381,1794,2041,2318,917.9,8.8,718,10290,0.00,2.53,23.23,2.448,8868,0.000,0.086,3390,398,2083,1941,2225,0,0,0,0,0,0,14.92,14.31,13.52
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$STATE,18716,end climb,SURFACE_DEPTH_REACHED
$STATE,18716,begin surface coast
$FINISH,1.4,0.997273
$STATE,18742,end surface coast,CONTROL_FINISHED_OK
$STATE,18742,begin surface
$SM_CCo,18760,90.55,0.081,0,0,449,573.99
$SM_GC,2.19,10.02,0.38,90.55,0.086,0.059,0.081,92,2074,449,-14.12,-1.30,573.99,0,0,0,0,0,0,14.72,14.81,14.69
$IRIDIUM_FIX,1327.53,6011.45,020417,084351
$TT8_MAMPS,0.023968,0.158039
$HUMID,48.58
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,24.00
$XPDR_PINGS,5
$24V_AH,12.95,51.232
$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,28.450,182.875,462.250,90.550,0.000,0.000,0.000,212.275,112.750,0.000,27.289,3027.757,12637.271,786.370,2511.752,208.192,0.000,2141.253,0.000,1946.972,0.000,750.255,0.000
$DEVICE_MAMPS,414.630,2086.155,2691.270,81.090,0.000,0.000,0.000,175.185,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,677.427,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225096
$DATA_FILE_SIZE,60014,1368
$CAP_FILE_SIZE,217441,0
$CFSIZE,260034560,247148544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.044,235.96,1
$GPS,020417,193056,1336.325,6057.131,37,0.8,43,-0.7,0.0,271.0,11,8.8