version: 66.13
glider: 137
mission: 5
dive: 151
start: 4 3 117 0 55 46
data:
$ID,137
$MISSION,5
$DIVE,151
$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,40
$R_STBD_OVSHOOT,43
$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
$GPS1,030417,005005,1334.3540,6059.1221,38,0.9,42,-0.7,0.0,0.0,9,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-68.0
$GPS2,030417,005455,1334.3497,6059.1099,9,0.9,18,-0.7,0.0,0.0,9,9.4
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1333.768,6101.549
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,96.6,4521,-20.2,-10.000,-22.63,1515
$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,6,-1.47,-98.5,93,2036,332,565,0.0,0.0,0,105,0.00,0.00,-96.18,0.000,16386,0.000,0.000,93,2036,2997,2913,3081,0,0,0,0,0,0,14.86,28.83,14.88
$GC,108,-1.53,-146.0,93,2036,2914,3081,4.4,-5.4,16,134,13.35,2.72,-7.28,0.000,18724,0.404,2.092,2827,3451,3387,3279,3496,0,0,0,0,0,0,14.38,13.45,14.57
$GC,211,-1.53,-146.0,2827,3451,3281,3496,26.7,-16.7,35,218,0.00,2.33,0.00,0.000,1030,0.000,0.037,2827,2042,3388,3281,3496,0,0,0,0,0,0,14.73,14.66,14.74
$GC,520,-1.53,-146.0,2827,2041,3282,3496,74.9,-15.2,80,524,0.00,2.30,0.00,0.000,516,0.000,0.055,2827,652,3389,3282,3496,0,0,0,0,0,0,14.99,14.73,15.00
$GC,539,-1.53,-146.0,2827,653,3282,3496,78.3,-15.7,84,547,0.12,2.30,0.00,0.000,3078,0.265,0.039,2844,2059,3389,3282,3496,0,0,0,0,0,0,14.58,14.76,14.77
$GC,846,-1.59,-146.0,2843,2060,3283,3496,121.4,-13.4,115,855,0.00,2.30,0.00,0.000,388,0.000,0.057,2834,3449,3389,3283,3496,0,0,0,0,0,0,15.04,14.77,15.06
$GC,881,-1.68,-146.0,2834,3449,3283,3496,125.7,-11.3,122,889,0.10,2.30,0.00,0.000,5254,0.146,0.037,2798,2034,3389,3283,3496,0,0,0,0,0,0,14.78,14.81,14.85
$GC,1187,-1.68,-146.0,2797,2034,3284,3495,165.2,-13.3,153,1191,0.00,2.28,0.00,0.000,516,0.000,0.055,2798,650,3389,3283,3495,0,0,0,0,0,0,15.07,14.81,15.09
$GC,1222,-1.68,-146.0,2797,650,3284,3496,170.5,-14.8,160,1229,0.10,2.28,0.00,0.000,3078,0.291,0.038,2805,2052,3390,3284,3496,0,0,0,0,0,0,14.63,14.83,14.84
$GC,1530,-1.73,-146.0,2805,2053,3284,3496,214.4,-14.2,191,1535,0.00,2.30,0.00,0.000,388,0.000,0.057,2797,3448,3390,3284,3496,0,0,0,0,0,0,15.06,14.82,15.08
$GC,1594,-1.79,-146.0,2796,3448,3284,3495,223.2,-13.2,203,1601,0.00,2.28,0.00,0.000,1158,0.000,0.037,2797,2055,3390,3284,3496,0,0,0,0,0,0,14.91,14.85,14.92
$GC,1910,-1.84,-146.0,2796,2054,3284,3495,256.8,-9.8,231,1915,0.10,2.33,0.00,0.000,4772,0.175,0.055,2761,645,3390,3284,3496,0,0,0,0,0,0,14.81,14.82,14.89
$GC,1948,-1.80,-146.0,2761,644,3284,3496,261.8,-12.3,238,1954,0.15,2.30,0.00,0.000,3206,0.282,0.039,2782,2065,3390,3284,3496,0,0,0,0,0,0,14.62,14.85,14.85
$GC,2278,-1.80,-146.0,2781,2065,3284,3496,297.2,-10.6,253,2284,0.00,2.28,0.00,0.000,260,0.000,0.058,2772,3443,3390,3284,3496,0,0,0,0,0,0,15.09,14.83,15.11
$GC,2306,-1.84,-146.0,2773,3443,3284,3496,300.5,-10.9,258,2313,0.00,2.28,0.00,0.000,1158,0.000,0.039,2773,2048,3389,3284,3495,0,0,0,0,0,0,14.93,14.86,14.95
$GC,2613,-1.84,-146.0,2772,2048,3284,3496,333.9,-11.4,269,2618,0.00,2.33,0.00,0.000,516,0.000,0.060,2773,644,3389,3284,3495,0,0,0,0,0,0,15.10,14.83,15.12
$GC,2676,-1.84,-146.0,2772,643,3283,3495,342.1,-12.2,281,2682,0.00,2.30,0.00,0.000,1030,0.000,0.041,2763,2056,3389,3283,3495,0,0,0,0,0,0,14.93,14.86,14.95
$GC,3010,-1.84,-146.0,2763,2056,3282,3495,386.0,-13.4,297,3015,0.00,2.38,0.00,0.000,516,0.000,0.059,2762,655,3388,3282,3495,0,0,0,0,0,0,15.09,14.83,15.11
$GC,3044,-1.84,-146.0,2763,654,3282,3496,390.6,-13.6,303,3049,0.10,2.30,0.00,0.000,3078,0.293,0.041,2770,2059,3389,3282,3496,0,0,0,0,0,0,14.64,14.86,14.86
$GC,3379,-1.84,-146.0,2770,2058,3279,3495,434.1,-13.1,319,3384,0.00,2.33,0.00,0.000,260,0.000,0.061,2762,3454,3387,3279,3495,0,0,0,0,0,0,15.10,14.83,15.12
$GC,3421,-1.87,-146.0,2762,3454,3279,3494,440.2,-13.7,327,3426,0.00,2.30,0.00,0.000,1158,0.000,0.041,2762,2055,3386,3279,3494,0,0,0,0,0,0,14.93,14.86,14.95
$GC,3744,-1.87,-146.0,2762,2054,3278,3493,483.6,-13.7,341,3751,0.00,2.35,0.00,0.000,516,0.000,0.063,2762,646,3384,3278,3491,0,0,0,0,0,0,15.09,14.83,15.11
$GC,3773,-1.87,-146.0,2762,646,3278,3490,488.2,-15.2,346,3781,0.00,2.33,0.00,0.000,1030,0.000,0.044,2752,2056,3384,3278,3490,0,0,0,0,0,0,14.92,14.85,14.95
$GC,4080,-1.87,-146.0,2751,2056,3277,3489,530.4,-13.6,357,4086,0.00,2.40,0.00,0.000,516,0.000,0.064,2752,648,3383,3277,3489,0,0,0,0,0,0,15.11,14.82,15.12
$GC,4107,-1.87,-146.0,2751,647,3277,3489,534.7,-14.6,362,4116,0.12,2.33,0.00,0.000,3078,0.288,0.044,2765,2062,3382,3276,3489,0,0,0,0,0,0,14.61,14.85,14.85
$GC,4415,-1.87,-146.0,2765,2063,3275,3487,574.0,-12.9,373,4420,0.00,2.33,0.00,0.000,260,0.000,0.067,2757,3446,3381,3275,3487,0,0,0,0,0,0,15.11,14.82,15.13
$GC,4478,-1.91,-146.0,2756,3446,3275,3486,582.3,-12.7,385,4483,0.00,2.33,0.00,0.000,1158,0.000,0.044,2757,2039,3380,3275,3486,0,0,0,0,0,0,14.92,14.85,14.94
$GC,4811,-1.91,-146.0,2757,2039,3273,3486,628.7,-14.4,401,4817,0.00,2.33,0.00,0.000,516,0.000,0.062,2757,648,3379,3273,3486,0,0,0,0,0,0,15.09,14.81,15.11
$GC,4876,-1.91,-146.0,2757,648,3273,3486,638.5,-14.0,413,4882,0.00,2.33,0.00,0.000,1030,0.000,0.045,2747,2056,3378,3272,3485,0,0,0,0,0,0,14.92,14.84,14.94
$GC,5210,-1.91,-146.0,2747,2056,3272,3483,686.8,-14.0,429,5211,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2056,3377,3271,3483,0,0,0,0,0,0,15.09,15.11,15.11
$GC,5511,-1.91,-146.0,2746,2056,3271,3481,727.6,-13.4,439,5512,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2057,3376,3271,3481,0,0,0,0,0,0,15.09,15.12,15.11
$GC,5812,-1.91,-146.0,2747,2057,3269,3480,766.3,-12.7,449,5817,0.00,2.40,0.00,0.000,516,0.000,0.063,2747,648,3374,3269,3480,0,0,0,0,0,0,15.11,14.81,15.13
$GC,5864,-1.91,-146.0,2747,648,3269,3480,773.9,-13.3,459,5872,0.10,2.33,0.00,0.000,3078,0.299,0.047,2754,2053,3373,3268,3479,0,0,0,0,0,0,14.59,14.83,14.83
$GC,6180,-1.91,-146.0,2753,2053,3267,3479,813.1,-12.4,471,6181,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2053,3373,3267,3479,0,0,0,0,0,0,15.09,15.11,15.11
$GC,6482,-1.91,-146.0,2753,2053,3267,3478,850.0,-12.2,481,6483,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2053,3372,3267,3478,0,0,0,0,0,0,15.10,15.13,15.12
$GC,6781,-1.91,-146.0,2753,2053,3266,3477,887.2,-12.3,491,6786,0.00,2.40,0.00,0.000,516,0.000,0.067,2754,653,3371,3266,3477,0,0,0,0,0,0,15.09,14.79,15.11
$GC,6838,-1.91,-146.0,2753,652,3266,3477,895.0,-12.7,502,6846,0.00,2.33,0.00,0.000,1030,0.000,0.049,2745,2045,3371,3266,3477,0,0,0,0,0,0,14.90,14.82,14.92
$GC,7147,-1.91,-146.0,2745,2045,3265,3477,933.6,-12.7,513,7148,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2045,3371,3265,3477,0,0,0,0,0,0,15.10,15.13,15.12
$GC,7446,-1.91,-146.0,2745,2045,3264,3476,971.1,-12.4,523,7451,0.00,2.40,0.00,0.000,516,0.000,0.067,2745,648,3369,3263,3476,0,0,0,0,0,0,15.09,14.78,15.11
$GC,7483,-1.91,-146.0,2745,649,3263,3475,976.3,-13.3,530,7489,0.12,2.35,0.00,0.000,3078,0.284,0.051,2759,2053,3369,3263,3475,0,0,0,0,0,0,14.55,14.81,14.77
$STATE,7602,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7602,begin apogee
$GC,7606,-0.33,0.0,2759,1792,3262,3475,990.8,-12.3,538,7740,1.35,0.00,129.45,2.692,10246,0.290,0.000,3097,1787,2789,2678,2901,0,0,0,0,0,0,14.48,14.03,13.04
$STATE,7741,end apogee,CONTROL_FINISHED_OK
$STATE,7741,begin climb
$GC,7742,1.53,146.0,3097,1787,2673,2897,993.8,0.0,542,7887,1.40,2.58,134.70,2.655,10756,0.167,0.077,3515,402,2187,2060,2315,0,0,0,0,0,0,14.00,13.73,12.91
$GC,7918,1.31,146.0,3514,402,2049,2315,980.3,14.5,581,7923,0.22,2.47,0.00,0.000,5254,0.341,0.050,3463,1801,2181,2048,2315,0,0,0,0,0,0,13.93,14.12,14.16
$GC,8230,1.20,146.0,3462,1802,2040,2315,938.4,13.4,593,8236,0.12,2.42,0.00,0.000,4484,0.389,0.067,3438,3204,2177,2040,2315,0,0,0,0,0,0,14.29,14.54,14.50
$GC,8282,1.11,146.0,3438,3204,2040,2315,931.4,13.2,603,8287,0.15,2.42,0.00,0.000,5254,0.385,0.057,3418,1796,2177,2040,2315,0,0,0,0,0,0,14.33,14.59,14.62
$GC,8589,1.08,146.0,3418,1796,2036,2315,896.2,11.3,614,8590,0.00,0.00,0.00,0.000,134,0.000,0.000,3418,1796,2175,2036,2315,0,0,0,0,0,0,14.95,14.97,14.97
$GC,8888,1.05,146.0,3418,1796,2034,2315,862.4,11.3,624,8889,0.00,0.00,0.00,0.000,134,0.000,0.000,3418,1796,2174,2034,2315,0,0,0,0,0,0,15.00,15.03,15.02
$GC,9188,1.05,146.0,3418,1796,2034,2315,829.1,11.3,634,9190,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,1796,2174,2034,2315,0,0,0,0,0,0,15.04,15.07,15.06
$GC,9488,1.05,146.0,3418,1796,2033,2315,795.7,11.2,644,9489,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,1796,2174,2033,2315,0,0,0,0,0,0,15.06,15.09,15.09
$GC,9788,1.05,146.0,3418,1796,2032,2315,762.0,11.3,654,9794,0.00,2.45,0.00,0.000,260,0.000,0.073,3416,3206,2173,2032,2315,0,0,0,0,0,0,15.08,14.76,15.10
$GC,9822,1.01,146.0,3416,3206,2032,2315,758.0,11.7,661,9827,0.15,2.40,0.00,0.000,5254,0.331,0.060,3394,1797,2173,2032,2315,0,0,0,0,0,0,14.52,14.79,14.82
$GC,10149,1.01,146.0,3393,1797,2030,2315,723.9,10.3,676,10153,0.00,2.42,0.00,0.000,516,0.000,0.076,3403,395,2173,2030,2316,0,0,0,0,0,0,15.09,14.77,15.11
$GC,10188,1.01,146.0,3402,394,2029,2315,719.6,11.3,684,10193,0.00,2.42,0.00,0.000,1030,0.000,0.050,3399,1825,2172,2029,2315,0,0,0,0,0,0,14.88,14.79,14.91
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$STATE,17037,end climb,SURFACE_DEPTH_REACHED
$STATE,17037,begin surface coast
$FINISH,1.5,1.009204
$STATE,17069,end surface coast,CONTROL_FINISHED_OK
$STATE,17069,begin surface
$SM_CCo,17087,129.60,0.080,0,0,449,573.99
$SM_GC,2.35,9.95,0.45,129.60,0.084,0.050,0.080,96,2080,449,-14.11,-0.99,573.99,0,0,0,0,0,0,14.69,14.79,14.65
$IRIDIUM_FIX,1329.75,6055.22,020417,193230
$TT8_MAMPS,0.023968,0.158039
$HUMID,47.67
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,24.10
$XPDR_PINGS,8
$24V_AH,12.91,51.923
$10V_AH,13.34,0.000
$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
$DEVICE_SECS,27.925,167.425,375.175,129.600,0.000,0.000,0.000,192.400,91.500,0.000,19.870,2743.028,11608.145,690.444,2297.458,188.438,0.000,1960.419,0.000,1821.226,0.000,602.702,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,617.234,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,56711,1279
$CAP_FILE_SIZE,193746,0
$CFSIZE,260034560,247001088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.055,231.18,1
$GPS,030417,054405,1334.016,6101.188,41,0.8,45,-0.7,0.0,148.1,10,9.0