version: 66.13
glider: 137
mission: 5
dive: 153
start: 4 3 117 11 9 59
data:
$ID,137
$MISSION,5
$DIVE,153
$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,30
$R_STBD_OVSHOOT,63
$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
$GPS1,030417,110403,1333.5887,6103.7778,47,0.8,55,-0.7,0.4,161.9,10,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-66.7
$GPS2,030417,110924,1333.5607,6103.7832,15,0.8,24,-0.7,0.0,0.0,10,9.6
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1333.126,6106.915
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,96.2,5696,-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,6,-1.28,-146.0,91,2075,332,565,0.0,0.0,0,108,0.00,0.00,-98.50,0.000,16386,0.000,0.000,91,2075,3061,2978,3145,0,0,0,0,0,0,14.85,28.83,14.88
$GC,110,-1.28,-146.0,90,2076,2979,3144,4.3,-5.1,17,137,13.68,2.75,-6.05,0.000,18980,0.405,2.088,2891,646,3387,3278,3497,0,0,0,0,0,0,14.31,13.45,14.53
$GC,264,-1.28,-146.0,2890,646,3280,3497,30.3,-12.1,46,271,0.00,2.30,0.00,0.000,1030,0.000,0.040,2882,2043,3388,3280,3497,0,0,0,0,0,0,14.73,14.67,14.75
$GC,578,-1.28,-146.0,2882,2043,3281,3497,69.8,-13.0,93,583,0.00,2.38,0.00,0.000,516,0.000,0.060,2882,643,3389,3280,3498,0,0,0,0,0,0,14.99,14.71,15.01
$GC,619,-1.28,-146.0,2882,642,3281,3497,75.2,-13.2,101,625,0.10,2.30,0.00,0.000,3078,0.275,0.040,2891,2052,3389,3281,3498,0,0,0,0,0,0,14.57,14.76,14.77
$GC,932,-1.32,-146.0,2891,2053,3281,3497,112.1,-12.1,133,933,0.00,0.00,0.00,0.000,134,0.000,0.000,2891,2053,3389,3281,3497,0,0,0,0,0,0,15.04,15.07,15.07
$GC,1233,-1.38,-146.0,2891,2053,3282,3498,142.3,-7.7,163,1237,0.00,2.33,0.00,0.000,420,0.000,0.057,2882,3451,3390,3282,3498,0,0,0,0,0,0,15.07,14.80,15.09
$GC,1295,-1.50,-146.0,2882,3451,3282,3497,146.4,-5.8,175,1305,0.12,2.30,0.00,0.000,5286,0.125,0.035,2824,2023,3389,3282,3497,0,0,0,0,0,0,14.83,14.84,14.89
$GC,1604,-1.47,-146.0,2824,2023,3283,3497,180.2,-13.4,207,1614,0.12,2.25,0.00,0.000,2692,0.253,0.055,2856,660,3390,3283,3497,0,0,0,0,0,0,14.64,14.81,14.77
$GC,1636,-1.47,-146.0,2856,660,3283,3497,184.3,-12.1,213,1641,0.00,2.25,0.00,0.000,1030,0.000,0.038,2848,2053,3390,3283,3497,0,0,0,0,0,0,14.91,14.85,14.92
$GC,1949,-1.47,-146.0,2848,2054,3282,3497,217.7,-10.3,245,1955,0.00,2.30,0.00,0.000,260,0.000,0.057,2837,3447,3389,3282,3497,0,0,0,0,0,0,15.07,14.82,15.09
$GC,1966,-1.50,-146.0,2837,3447,3283,3497,219.6,-10.1,248,1974,0.00,2.25,0.00,0.000,1158,0.000,0.036,2838,2055,3389,3282,3497,0,0,0,0,0,0,14.92,14.86,14.93
$GC,2273,-1.50,-146.0,2837,2055,3282,3497,250.1,-10.3,279,2278,0.00,2.33,0.00,0.000,516,0.000,0.058,2837,650,3389,3282,3497,0,0,0,0,0,0,15.07,14.81,15.09
$GC,2321,-1.50,-146.0,2837,648,3282,3497,255.9,-12.0,288,2328,0.00,2.28,0.00,0.000,1030,0.000,0.039,2828,2049,3390,3283,3497,0,0,0,0,0,0,14.91,14.85,14.93
$GC,2642,-1.50,-146.0,2827,2049,3282,3497,288.6,-10.0,301,2643,0.00,0.00,0.00,0.000,38,0.000,0.000,2828,2049,3389,3282,3497,0,0,0,0,0,0,15.09,15.12,15.11
$GC,2941,-1.50,-146.0,2827,2049,3282,3497,317.5,-9.7,311,2946,0.00,2.35,0.00,0.000,548,0.000,0.061,2827,657,3389,3282,3497,0,0,0,0,0,0,15.09,14.83,15.11
$GC,2989,-1.50,-146.0,2827,657,3282,3497,322.7,-10.3,320,2997,0.12,2.30,0.00,0.000,3078,0.257,0.044,2846,2055,3389,3282,3497,0,0,0,0,0,0,14.66,14.85,14.86
$GC,3312,-1.55,-146.0,2846,2055,3279,3497,350.9,-9.1,333,3318,0.00,2.33,0.00,0.000,420,0.000,0.063,2837,3450,3388,3280,3497,0,0,0,0,0,0,15.11,14.83,15.13
$GC,3355,-1.61,-146.0,2837,3450,3280,3496,355.3,-9.5,341,3361,0.00,2.30,0.00,0.000,1190,0.000,0.041,2837,2055,3388,3280,3496,0,0,0,0,0,0,14.92,14.85,14.95
$GC,3679,-1.61,-146.0,2837,2055,3278,3495,388.3,-10.3,355,3685,0.00,2.38,0.00,0.000,260,0.000,0.063,2827,3450,3386,3278,3494,0,0,0,0,0,0,15.09,14.82,15.11
$GC,3702,-1.65,-146.0,2826,3450,3278,3494,390.9,-11.1,359,3707,0.00,2.33,0.00,0.000,1158,0.000,0.043,2827,2052,3386,3278,3494,0,0,0,0,0,0,14.92,14.85,14.95
$GC,4015,-1.65,-146.0,2827,2051,3277,3493,423.9,-10.8,371,4021,0.00,2.38,0.00,0.000,516,0.000,0.071,2827,642,3385,3277,3493,0,0,0,0,0,0,15.09,14.81,15.11
$GC,4053,-1.65,-146.0,2827,642,3276,3492,428.5,-11.5,378,4060,0.00,2.33,0.00,0.000,1030,0.000,0.044,2817,2056,3384,3276,3492,0,0,0,0,0,0,14.92,14.85,14.95
$GC,4382,-1.65,-146.0,2817,2056,3274,3489,463.8,-10.5,393,4388,0.00,2.42,0.00,0.000,516,0.000,0.065,2818,643,3381,3274,3489,0,0,0,0,0,0,15.09,14.81,15.11
$GC,4447,-1.65,-146.0,2817,643,3274,3489,470.9,-10.0,405,4453,0.00,2.33,0.00,0.000,1030,0.000,0.044,2807,2056,3380,3274,3487,0,0,0,0,0,0,14.92,14.85,14.94
$GC,4781,-1.65,-146.0,2807,2056,3272,3486,505.0,-10.0,421,4787,0.00,2.42,0.00,0.000,516,0.000,0.066,2807,638,3379,3272,3486,0,0,0,0,0,0,15.09,14.80,15.11
$GC,4816,-1.61,-146.0,2807,638,3272,3486,508.6,-10.3,427,4822,0.12,2.33,0.00,0.000,3206,0.272,0.044,2823,2052,3379,3272,3486,0,0,0,0,0,0,14.61,14.84,14.84
$GC,5151,-1.61,-146.0,2823,2051,3270,3486,540.4,-9.8,443,5152,0.00,0.00,0.00,0.000,38,0.000,0.000,2823,2052,3377,3270,3485,0,0,0,0,0,0,15.11,15.13,15.13
$GC,5451,-1.61,-146.0,2823,2052,3269,3484,572.8,-11.2,453,5456,0.00,2.35,0.00,0.000,260,0.000,0.070,2814,3443,3376,3269,3484,0,0,0,0,0,0,15.09,14.79,15.11
$GC,5488,-1.65,-146.0,2814,3443,3269,3483,577.7,-11.9,460,5493,0.00,2.33,0.00,0.000,1158,0.000,0.048,2815,2055,3376,3269,3483,0,0,0,0,0,0,14.91,14.83,14.93
$GC,5817,-1.65,-146.0,2814,2054,3268,3482,617.8,-12.1,475,5822,0.00,2.38,0.00,0.000,516,0.000,0.067,2814,640,3374,3267,3482,0,0,0,0,0,0,15.10,14.80,15.12
$GC,5850,-1.65,-146.0,2814,640,3268,3481,622.0,-11.9,481,5858,0.00,2.35,0.00,0.000,1030,0.000,0.047,2805,2049,3374,3267,3481,0,0,0,0,0,0,14.91,14.83,14.93
$GC,6186,-1.65,-146.0,2804,2049,3267,3480,660.3,-11.2,497,6191,0.00,2.42,0.00,0.000,516,0.000,0.068,2805,639,3373,3267,3480,0,0,0,0,0,0,15.09,14.78,15.11
$GC,6261,-1.65,-146.0,2804,639,3266,3480,669.3,-12.0,511,6266,0.10,2.35,0.00,0.000,3078,0.288,0.049,2813,2047,3373,3266,3480,0,0,0,0,0,0,14.57,14.81,14.83
$GC,6585,-1.65,-146.0,2812,2048,3266,3479,703.0,-10.3,525,6586,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2048,3372,3266,3479,0,0,0,0,0,0,15.09,15.11,15.11
$GC,6885,-1.65,-146.0,2812,2048,3264,3478,733.7,-9.9,535,6886,0.00,0.00,0.00,0.000,38,0.000,0.000,2813,2048,3371,3264,3478,0,0,0,0,0,0,15.09,15.12,15.11
$GC,7187,-1.65,-146.0,2812,2048,3263,3477,761.9,-9.1,545,7193,0.00,2.42,0.00,0.000,548,0.000,0.068,2813,639,3370,3263,3477,0,0,0,0,0,0,15.10,14.78,15.12
$GC,7214,-1.65,-146.0,2812,639,3263,3477,765.0,-10.2,550,7222,0.00,2.38,0.00,0.000,1030,0.000,0.048,2804,2057,3370,3263,3477,0,0,0,0,0,0,14.90,14.81,14.92
$GC,7522,-1.65,-146.0,2804,2058,3262,3476,792.7,-9.0,561,7523,0.00,0.00,0.00,0.000,38,0.000,0.000,2804,2058,3369,3262,3477,0,0,0,0,0,0,15.10,15.13,15.12
$GC,7822,-1.65,-146.0,2804,2058,3261,3476,818.6,-8.4,571,7826,0.00,2.45,0.00,0.000,548,0.000,0.070,2804,639,3368,3261,3476,0,0,0,0,0,0,15.09,14.77,15.11
$GC,7901,-1.65,-146.0,2804,639,3261,3476,826.0,-9.3,586,7906,0.10,2.38,0.00,0.000,3110,0.289,0.052,2812,2055,3368,3261,3476,0,0,0,0,0,0,14.55,14.80,14.78
$GC,8219,-1.65,-146.0,2812,2054,3260,3475,853.4,-8.9,599,8224,0.00,2.45,0.00,0.000,548,0.000,0.070,2812,635,3367,3260,3475,0,0,0,0,0,0,15.09,14.76,15.11
$GC,8254,-1.65,-146.0,2812,635,3260,3475,856.4,-9.5,605,8259,0.00,2.38,0.00,0.000,1062,0.000,0.052,2803,2047,3367,3260,3475,0,0,0,0,0,0,14.88,14.79,14.91
$GC,8589,-1.65,-146.0,2803,2047,3260,3474,889.9,-10.3,621,8590,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2047,3366,3259,3474,0,0,0,0,0,0,15.09,15.12,15.11
$GC,8888,-1.65,-146.0,2803,2047,3259,3472,922.7,-11.2,631,8893,0.00,2.45,0.00,0.000,516,0.000,0.071,2803,636,3365,3259,3472,0,0,0,0,0,0,15.09,14.74,15.11
$GC,8953,-1.65,-146.0,2803,635,3258,3472,930.6,-11.7,643,8958,0.10,2.40,0.00,0.000,3078,0.289,0.054,2817,2059,3365,3258,3472,0,0,0,0,0,0,14.52,14.78,14.67
$GC,9286,-1.65,-146.0,2816,2059,3257,3472,967.4,-11.2,659,9291,0.00,2.40,0.00,0.000,260,0.000,0.076,2808,3454,3364,3257,3471,0,0,0,0,0,0,15.08,14.73,15.10
$GC,9324,-1.68,-146.0,2808,3454,3257,3471,971.9,-10.7,666,9329,0.00,2.40,0.00,0.000,1158,0.000,0.051,2808,2037,3364,3257,3471,0,0,0,0,0,0,14.87,14.78,14.90
$STATE,9501,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9501,begin apogee
$GC,9506,-0.33,0.0,2808,1789,3257,3471,992.5,-11.6,676,9639,1.15,0.00,129.02,2.705,10246,0.271,0.000,3100,1786,2789,2677,2902,0,0,0,0,0,0,14.45,14.02,13.02
$STATE,9639,end apogee,CONTROL_FINISHED_OK
$STATE,9640,begin climb
$GC,9641,1.28,146.0,3100,1786,2674,2898,996.6,0.0,680,9782,1.23,0.00,136.85,2.671,10246,0.159,0.000,3456,1786,2193,2066,2321,0,0,0,0,0,0,14.02,13.85,12.88
$GC,10072,1.08,146.0,3455,1786,2042,2316,956.6,12.3,695,10074,0.22,0.00,0.00,0.000,4230,0.330,0.000,3413,1786,2179,2042,2317,0,0,0,0,0,0,14.25,14.58,14.54
$GC,10372,0.95,146.0,3412,1786,2040,2317,922.7,11.6,705,10377,0.12,2.50,0.00,0.000,4484,0.374,0.070,3385,3209,2177,2039,2316,0,0,0,0,0,0,14.38,14.63,14.57
$GC,10423,0.85,146.0,3385,3209,2039,2316,916.6,11.2,715,10428,0.15,2.42,0.00,0.000,5254,0.347,0.057,3365,1801,2177,2039,2316,0,0,0,0,0,0,14.41,14.66,14.69
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$STATE,19165,end climb,SURFACE_DEPTH_REACHED
$STATE,19165,begin surface coast
$FINISH,1.5,1.007680
$STATE,19197,end surface coast,CONTROL_FINISHED_OK
$STATE,19197,begin surface
$SM_CCo,19215,83.12,0.081,0,0,449,573.99
$SM_GC,2.34,9.82,0.40,83.12,0.082,0.058,0.081,95,2073,449,-14.10,-1.05,573.99,0,0,0,0,0,0,14.73,14.83,14.71
$IRIDIUM_FIX,1325.32,6101.25,030417,054538
$TT8_MAMPS,0.023968,0.15729
$HUMID,48.07
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,24.10
$XPDR_PINGS,9
$24V_AH,12.88,52.736
$10V_AH,13.55,0.000
$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,28.200,192.250,477.775,83.125,0.000,0.000,0.000,218.225,114.500,0.000,25.283,3017.298,13062.787,796.420,2534.114,213.163,0.000,2180.338,0.000,1963.896,0.000,754.913,0.000
$DEVICE_MAMPS,405.450,2088.450,2705.040,81.090,0.000,0.000,0.000,179.010,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,675.828,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225148
$DATA_FILE_SIZE,59960,1380
$CAP_FILE_SIZE,221334,0
$CFSIZE,260034560,246800384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.053,170.66,1
$GPS,030417,163311,1332.912,6106.634,47,0.9,57,-0.7,0.5,161.7,9,10.0