version: 66.13
glider: 137
mission: 5
dive: 152
start: 4 3 117 5 49 30
data:
$ID,137
$MISSION,5
$DIVE,152
$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,62
$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
$GPS1,030417,054405,1334.0164,6101.1875,41,0.8,45,-0.7,0.0,148.1,10,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.31
$_SM_ANGLEo,-68.0
$GPS2,030417,054855,1334.0106,6101.1934,9,0.8,17,-0.7,0.0,113.9,11,9.9
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1333.278,6104.434
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,95.0,5990,-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,-146.0,96,2084,328,567,0.0,0.0,0,109,0.00,0.00,-99.15,0.000,16386,0.000,0.000,96,2085,3117,3040,3194,0,0,0,0,0,0,14.85,28.83,14.88
$GC,111,-1.28,-146.0,96,2085,3040,3194,4.8,-7.5,17,137,13.62,2.47,-4.72,0.000,18724,0.405,2.084,2878,3425,3386,3286,3487,0,0,0,0,0,0,14.32,13.67,14.54
$GC,240,-1.34,-146.0,2878,3425,3288,3487,28.5,-10.9,41,247,0.00,2.28,0.00,0.000,1158,0.000,0.035,2878,2037,3387,3288,3487,0,0,0,0,0,0,14.73,14.67,14.74
$GC,556,-1.34,-146.0,2877,2036,3289,3487,64.6,-10.4,90,564,0.00,2.28,0.00,0.000,516,0.000,0.055,2878,654,3388,3289,3487,0,0,0,0,0,0,14.98,14.69,15.00
$GC,606,-1.34,-146.0,2878,654,3288,3487,70.2,-10.3,100,610,0.00,2.25,0.00,0.000,1030,0.000,0.035,2868,2043,3388,3289,3487,0,0,0,0,0,0,14.83,14.77,14.85
$GC,911,-1.34,-146.0,2868,2045,3289,3487,104.8,-13.3,131,915,0.00,2.33,0.00,0.000,516,0.000,0.054,2868,655,3388,3289,3487,0,0,0,0,0,0,15.04,14.78,15.07
$GC,957,-1.34,-146.0,2869,655,3289,3487,111.3,-14.5,140,962,0.12,2.28,0.00,0.000,3078,0.255,0.037,2885,2063,3388,3289,3487,0,0,0,0,0,0,14.63,14.82,14.82
$GC,1263,-1.40,-146.0,2885,2064,3290,3487,146.5,-10.8,171,1267,0.00,2.28,0.00,0.000,388,0.000,0.057,2877,3443,3388,3290,3487,0,0,0,0,0,0,15.07,14.80,15.09
$GC,1344,-1.52,-146.0,2876,3443,3290,3487,153.4,-7.2,187,1354,0.12,2.25,0.00,0.000,5286,0.123,0.034,2818,2044,3388,3290,3487,0,0,0,0,0,0,14.84,14.85,14.90
$GC,1654,-1.47,-146.0,2818,2044,3290,3487,182.4,-10.0,219,1663,0.12,2.30,0.00,0.000,2692,0.251,0.054,2850,653,3388,3290,3487,0,0,0,0,0,0,14.66,14.82,14.78
$GC,1726,-1.47,-146.0,2850,652,3290,3487,189.0,-9.0,233,1730,0.00,2.28,0.00,0.000,1062,0.000,0.040,2841,2050,3388,3290,3487,0,0,0,0,0,0,14.92,14.84,14.93
$GC,2038,-1.47,-146.0,2841,2051,3290,3487,222.4,-12.3,265,2046,0.00,2.33,0.00,0.000,260,0.000,0.057,2831,3463,3388,3290,3487,0,0,0,0,0,0,15.07,14.83,15.09
$GC,2112,-1.50,-146.0,2830,3463,3290,3487,232.1,-12.3,278,2120,0.00,2.30,0.00,0.000,1158,0.000,0.037,2831,2052,3388,3290,3487,0,0,0,0,0,0,14.92,14.85,14.93
$GC,2441,-1.50,-146.0,2830,2052,3290,3487,267.8,-9.1,299,2442,0.00,0.00,0.00,0.000,38,0.000,0.000,2831,2052,3388,3290,3487,0,0,0,0,0,0,15.09,15.11,15.11
$GC,2740,-1.50,-146.0,2830,2052,3289,3487,286.9,-6.3,309,2746,0.00,2.38,0.00,0.000,292,0.000,0.058,2820,3462,3388,3289,3487,0,0,0,0,0,0,15.09,14.83,15.11
$GC,2784,-1.50,-146.0,2820,3463,3289,3487,290.4,-7.4,317,2791,0.12,2.33,0.00,0.000,3110,0.234,0.040,2848,2040,3387,3288,3487,0,0,0,0,0,0,14.68,14.87,14.86
$GC,3111,-1.55,-146.0,2848,2040,3285,3487,316.8,-9.4,331,3115,0.00,2.33,0.00,0.000,676,0.000,0.064,2848,650,3386,3285,3487,0,0,0,0,0,0,15.11,14.83,15.13
$GC,3169,-1.58,-146.0,2848,650,3285,3487,323.4,-11.5,342,3177,0.00,2.30,0.00,0.000,1158,0.000,0.041,2839,2056,3386,3285,3487,0,0,0,0,0,0,14.93,14.87,14.95
$GC,3474,-1.61,-146.0,2839,2056,3283,3488,357.2,-11.3,353,3481,0.00,2.38,0.00,0.000,644,0.000,0.060,2839,650,3385,3283,3487,0,0,0,0,0,0,15.10,14.83,15.12
$GC,3504,-1.61,-146.0,2839,650,3283,3487,361.0,-12.3,358,3511,0.00,2.30,0.00,0.000,1030,0.000,0.044,2829,2047,3385,3283,3487,0,0,0,0,0,0,14.93,14.85,14.95
$GC,3811,-1.61,-146.0,2829,2047,3281,3487,395.2,-11.2,369,3816,0.00,2.35,0.00,0.000,260,0.000,0.067,2819,3450,3384,3281,3487,0,0,0,0,0,0,15.11,14.83,15.13
$GC,3859,-1.66,-146.0,2819,3450,3281,3487,400.8,-11.5,378,3864,0.00,2.30,0.00,0.000,1158,0.000,0.041,2819,2055,3383,3280,3487,0,0,0,0,0,0,14.93,14.85,14.95
$GC,4177,-1.66,-146.0,2819,2055,3280,3487,437.1,-11.5,391,4184,0.00,2.38,0.00,0.000,516,0.000,0.067,2819,640,3383,3279,3487,0,0,0,0,0,0,15.10,14.81,15.12
$GC,4227,-1.66,-146.0,2819,640,3279,3487,443.2,-12.8,400,4232,0.00,2.33,0.00,0.000,1030,0.000,0.043,2809,2054,3383,3279,3487,0,0,0,0,0,0,14.92,14.85,14.95
$GC,4544,-1.66,-146.0,2809,2055,3278,3487,478.8,-11.1,413,4550,0.00,2.40,0.00,0.000,516,0.000,0.063,2809,643,3382,3278,3487,0,0,0,0,0,0,15.10,14.81,15.12
$GC,4571,-1.66,-146.0,2809,643,3278,3487,482.2,-11.4,418,4581,0.00,2.33,0.00,0.000,1030,0.000,0.044,2799,2053,3382,3278,3487,0,0,0,0,0,0,14.92,14.85,14.95
$GC,4878,-1.62,-146.0,2799,2053,3276,3486,517.6,-11.8,429,4880,0.10,0.00,0.00,0.000,2182,0.288,0.000,2818,2056,3381,3277,3485,0,0,0,0,0,0,14.65,14.90,14.85
$GC,5179,-1.62,-146.0,2817,2056,3275,3484,550.6,-11.0,439,5186,0.00,2.42,0.00,0.000,516,0.000,0.066,2818,640,3380,3275,3485,0,0,0,0,0,0,15.10,14.81,15.12
$GC,5229,-1.62,-146.0,2817,640,3275,3484,556.6,-12.0,448,5234,0.00,2.33,0.00,0.000,1030,0.000,0.043,2809,2050,3379,3274,3484,0,0,0,0,0,0,14.92,14.85,14.94
$GC,5547,-1.62,-146.0,2809,2051,3273,3482,590.7,-10.5,461,5548,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2051,3377,3272,3482,0,0,0,0,0,0,15.10,15.12,15.12
$GC,5848,-1.62,-146.0,2809,2051,3272,3481,620.5,-9.8,471,5855,0.00,2.40,0.00,0.000,548,0.000,0.066,2809,647,3377,3273,3481,0,0,0,0,0,0,15.10,14.80,15.12
$GC,5931,-1.62,-146.0,2808,647,3272,3481,629.3,-10.5,487,5938,0.10,2.33,0.00,0.000,3078,0.272,0.046,2818,2053,3376,3271,3481,0,0,0,0,0,0,14.62,14.83,14.83
$GC,6247,-1.62,-146.0,2818,2053,3270,3479,656.9,-8.8,499,6253,0.00,2.38,0.00,0.000,292,0.000,0.068,2809,3457,3374,3270,3479,0,0,0,0,0,0,15.10,14.79,15.12
$GC,6275,-1.62,-146.0,2809,3457,3270,3479,659.6,-8.7,504,6283,0.00,2.35,0.00,0.000,1062,0.000,0.047,2809,2054,3374,3270,3479,0,0,0,0,0,0,14.90,14.82,14.92
$GC,6583,-1.62,-146.0,2809,2054,3269,3478,686.9,-9.2,515,6584,0.00,0.00,0.00,0.000,38,0.000,0.000,2809,2054,3373,3268,3478,0,0,0,0,0,0,15.10,15.13,15.13
$GC,6882,-1.62,-146.0,2809,2053,3268,3477,717.0,-10.3,525,6883,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2054,3372,3268,3477,0,0,0,0,0,0,15.09,15.12,15.11
$GC,7182,-1.62,-146.0,2809,2054,3267,3477,750.9,-11.5,535,7189,0.00,2.38,0.00,0.000,516,0.000,0.066,2809,642,3372,3267,3477,0,0,0,0,0,0,15.09,14.79,15.11
$GC,7216,-1.62,-146.0,2809,642,3267,3477,755.2,-11.8,541,7223,0.10,2.35,0.00,0.000,3078,0.274,0.050,2818,2050,3371,3266,3477,0,0,0,0,0,0,14.60,14.81,14.83
$GC,7550,-1.62,-146.0,2818,2051,3266,3476,792.9,-11.1,557,7556,0.00,2.42,0.00,0.000,516,0.000,0.067,2817,640,3371,3266,3476,0,0,0,0,0,0,15.09,14.78,15.11
$GC,7578,-1.62,-146.0,2818,640,3266,3476,796.2,-11.7,562,7588,0.00,2.35,0.00,0.000,1030,0.000,0.046,2809,2052,3371,3266,3476,0,0,0,0,0,0,14.90,14.82,14.92
$GC,7884,-1.62,-146.0,2809,2052,3266,3475,828.9,-10.5,573,7889,0.00,2.40,0.00,0.000,260,0.000,0.073,2799,3456,3370,3266,3474,0,0,0,0,0,0,15.09,14.75,15.11
$GC,7927,-1.62,-146.0,2799,3456,3266,3474,833.8,-10.7,581,7933,0.10,2.40,0.00,0.000,3078,0.246,0.054,2824,2040,3370,3266,3474,0,0,0,0,0,0,14.57,14.79,14.71
$GC,8254,-1.66,-146.0,2823,2039,3264,3473,864.1,-9.3,595,8258,0.00,2.38,0.00,0.000,676,0.000,0.069,2824,641,3369,3265,3473,0,0,0,0,0,0,15.09,14.76,15.12
$GC,8300,-1.66,-146.0,2824,641,3264,3473,869.2,-10.7,604,8305,0.00,2.35,0.00,0.000,1030,0.000,0.049,2817,2049,3368,3264,3473,0,0,0,0,0,0,14.89,14.81,14.91
$GC,8618,-1.66,-146.0,2817,2050,3264,3471,900.2,-10.1,617,8619,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2050,3367,3263,3471,0,0,0,0,0,0,15.09,15.11,15.11
$GC,8920,-1.66,-146.0,2817,2050,3263,3470,931.3,-10.6,627,8925,0.00,2.42,0.00,0.000,516,0.000,0.063,2817,635,3366,3263,3470,0,0,0,0,0,0,15.09,14.76,15.11
$GC,8946,-1.66,-146.0,2817,635,3264,3470,934.8,-12.0,632,8954,0.00,2.38,0.00,0.000,1030,0.000,0.047,2808,2054,3366,3263,3470,0,0,0,0,0,0,14.88,14.80,14.91
$GC,9254,-1.66,-146.0,2808,2054,3262,3470,968.7,-11.4,643,9255,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2054,3366,3262,3470,0,0,0,0,0,0,15.09,15.12,15.11
$STATE,9461,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9462,begin apogee
$GC,9467,-0.33,0.0,2808,1792,3261,3470,991.9,-11.0,650,9600,1.15,0.00,129.38,2.705,10246,0.270,0.000,3101,1788,2789,2681,2897,0,0,0,0,0,0,14.45,14.02,13.02
$STATE,9601,end apogee,CONTROL_FINISHED_OK
$STATE,9601,begin climb
$GC,9602,1.28,146.0,3101,1787,2675,2894,995.6,0.0,654,9747,1.20,2.60,135.00,2.652,10756,0.166,0.082,3461,402,2189,2065,2314,0,0,0,0,0,0,14.01,13.71,12.90
$GC,9768,1.06,146.0,3461,403,2054,2313,987.0,11.2,691,9773,0.25,2.50,0.00,0.000,5254,0.332,0.053,3409,1803,2183,2053,2313,0,0,0,0,0,0,13.87,14.06,14.10
$GC,10086,0.94,146.0,3408,1803,2042,2313,953.8,10.4,704,10094,0.12,2.45,0.00,0.000,4484,0.418,0.071,3384,3206,2177,2042,2313,0,0,0,0,0,0,14.23,14.52,14.45
$GC,10146,0.84,146.0,3384,3206,2042,2313,947.7,10.2,716,10154,0.17,2.42,0.00,0.000,5254,0.355,0.055,3358,1794,2177,2042,2313,0,0,0,0,0,0,14.31,14.58,14.61
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$STATE,18651,end climb,SURFACE_DEPTH_REACHED
$STATE,18651,begin surface coast
$FINISH,1.5,1.008572
$STATE,18684,end surface coast,CONTROL_FINISHED_OK
$STATE,18684,begin surface
$SM_CCo,18701,80.30,0.082,0,0,449,573.99
$SM_GC,2.28,9.90,0.38,80.30,0.084,0.059,0.082,91,2070,449,-14.13,-1.33,573.99,0,0,0,0,0,0,14.69,14.78,14.66
$IRIDIUM_FIX,1327.53,6100.17,030417,005140
$TT8_MAMPS,0.024717,0.15729
$HUMID,48.85
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,24.10
$XPDR_PINGS,7
$24V_AH,12.90,52.332
$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,27.875,201.900,478.600,80.300,0.000,0.000,0.000,197.300,103.000,0.000,19.252,2932.833,12703.302,770.307,2457.142,216.712,0.000,2150.940,0.000,1938.098,0.000,679.201,0.000
$DEVICE_MAMPS,417.690,2083.860,2705.040,81.855,0.000,0.000,0.000,178.245,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,665.019,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225036
$DATA_FILE_SIZE,60051,1362
$CAP_FILE_SIZE,215039,0
$CFSIZE,260034560,246894592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.023,242.89,1
$GPS,030417,110403,1333.589,6103.778,47,0.8,55,-0.7,0.4,161.9,10,9.6