version: 66.13
glider: 137
mission: 5
dive: 157
start: 4 4 117 7 46 44
data:
$ID,137
$MISSION,5
$DIVE,157
$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,32
$R_STBD_OVSHOOT,58
$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
$GPS1,040417,074105,1325.8259,6100.1597,36,0.9,40,-0.7,0.3,206.7,9,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-66.6
$GPS2,040417,074556,1325.8134,6100.1245,14,0.9,25,-0.7,0.0,149.4,9,10.0
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1323.066,6057.452
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,223.8,7005,-17.3,-10.000,-19.90,2061
$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,-1.32,-134.2,92,2078,326,567,0.0,0.0,0,109,0.00,0.00,-99.85,0.000,16386,0.000,0.000,91,2078,3133,3051,3216,0,0,0,0,0,0,14.87,28.83,14.90
$GC,112,-1.33,-146.0,92,2078,3052,3216,4.8,-7.4,17,138,13.98,2.50,-4.35,0.000,18724,0.418,2.082,2867,3428,3387,3285,3489,0,0,0,0,0,0,14.31,13.66,14.54
$GC,150,-0.69,-146.0,2867,3428,3286,3490,18.1,-29.4,23,158,0.60,2.30,0.00,0.000,3206,0.237,0.039,3024,2039,3387,3285,3490,0,0,0,0,0,0,14.46,14.62,14.64
$GC,461,-1.01,-146.0,3024,2038,3285,3491,40.8,-7.4,84,469,0.20,2.33,0.00,0.000,4772,0.094,0.059,2935,650,3388,3286,3491,0,0,0,0,0,0,14.70,14.69,14.73
$GC,540,-1.17,-146.0,2934,650,3285,3491,49.2,-10.3,99,547,0.00,2.28,0.00,0.000,1158,0.000,0.038,2932,2043,3388,3285,3491,0,0,0,0,0,0,14.81,14.74,14.82
$GC,854,-1.31,-146.0,2932,2043,3286,3491,74.8,-7.4,131,864,0.12,2.35,0.00,0.000,4516,0.119,0.059,2866,3455,3388,3286,3491,0,0,0,0,0,0,14.80,14.76,14.83
$GC,877,-1.39,-146.0,2865,3455,3286,3491,76.7,-9.1,135,885,0.00,2.30,0.00,0.000,1190,0.000,0.038,2866,2047,3388,3286,3491,0,0,0,0,0,0,14.86,14.80,14.88
$GC,1186,-1.39,-146.0,2866,2046,3287,3491,119.9,-13.5,167,1190,0.00,2.30,0.00,0.000,516,0.000,0.059,2866,655,3389,3287,3491,0,0,0,0,0,0,15.07,14.78,15.09
$GC,1236,-1.43,-146.0,2865,654,3287,3491,127.1,-13.3,177,1243,0.00,2.28,0.00,0.000,1158,0.000,0.039,2856,2058,3389,3287,3491,0,0,0,0,0,0,14.89,14.83,14.91
$GC,1543,-1.46,-146.0,2856,2059,3288,3491,157.8,-8.7,208,1552,0.00,2.38,0.00,0.000,676,0.000,0.058,2856,643,3389,3288,3491,0,0,0,0,0,0,15.09,14.81,15.11
$GC,1568,-1.46,-146.0,2856,643,3289,3491,160.5,-9.3,213,1575,0.00,2.30,0.00,0.000,1062,0.000,0.041,2846,2052,3389,3288,3491,0,0,0,0,0,0,14.90,14.84,14.92
$GC,1875,-1.51,-146.0,2847,2052,3288,3491,187.8,-10.9,244,1884,0.00,2.35,0.00,0.000,644,0.000,0.060,2847,654,3389,3288,3491,0,0,0,0,0,0,15.10,14.81,15.12
$GC,1927,-1.56,-146.0,2846,654,3288,3491,193.8,-11.9,254,1936,0.00,2.28,0.00,0.000,1158,0.000,0.041,2837,2053,3389,3288,3491,0,0,0,0,0,0,14.92,14.85,14.93
$GC,2238,-1.59,-146.0,2836,2053,3288,3491,228.3,-10.0,286,2244,0.00,2.33,0.00,0.000,388,0.000,0.060,2826,3457,3389,3288,3490,0,0,0,0,0,0,15.08,14.81,15.10
$GC,2310,-1.65,-146.0,2826,3457,3288,3490,235.2,-9.6,298,2315,0.00,2.30,0.00,0.000,1190,0.000,0.038,2827,2044,3389,3288,3491,0,0,0,0,0,0,14.92,14.85,14.93
$GC,2644,-1.65,-146.0,2826,2043,3287,3491,271.0,-12.2,320,2649,0.00,2.33,0.00,0.000,516,0.000,0.061,2826,643,3389,3287,3491,0,0,0,0,0,0,15.09,14.81,15.11
$GC,2701,-1.65,-146.0,2826,643,3286,3491,279.2,-13.8,331,2709,0.00,2.30,0.00,0.000,1030,0.000,0.040,2817,2052,3389,3287,3491,0,0,0,0,0,0,14.92,14.85,14.94
$GC,3008,-1.65,-146.0,2817,2052,3286,3491,312.9,-9.7,342,3015,0.00,2.38,0.00,0.000,548,0.000,0.063,2816,651,3388,3286,3490,0,0,0,0,0,0,15.09,14.81,15.11
$GC,3073,-1.65,-146.0,2816,651,3285,3491,319.5,-9.3,354,3080,0.00,2.30,0.00,0.000,1062,0.000,0.041,2807,2056,3388,3285,3491,0,0,0,0,0,0,14.92,14.85,14.94
$GC,3408,-1.65,-146.0,2806,2057,3284,3490,354.8,-10.9,370,3410,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2057,3387,3284,3491,0,0,0,0,0,0,15.09,15.12,15.11
$GC,3709,-1.65,-146.0,2806,2057,3282,3491,388.6,-11.3,380,3715,0.00,2.38,0.00,0.000,516,0.000,0.062,2806,656,3386,3282,3491,0,0,0,0,0,0,15.09,14.82,15.12
$GC,3763,-1.65,-146.0,2806,655,3282,3490,395.7,-12.7,390,3768,0.00,2.30,0.00,0.000,1030,0.000,0.045,2797,2052,3386,3282,3490,0,0,0,0,0,0,14.92,14.85,14.95
$GC,4076,-1.65,-146.0,2796,2052,3280,3489,434.1,-12.2,402,4081,0.00,2.40,0.00,0.000,516,0.000,0.067,2797,647,3384,3279,3489,0,0,0,0,0,0,15.10,14.81,15.12
$GC,4141,-1.61,-146.0,2796,647,3279,3488,442.3,-12.2,414,4147,0.15,2.35,0.00,0.000,3206,0.264,0.047,2820,2060,3383,3279,3488,0,0,0,0,0,0,14.62,14.84,14.83
$GC,4475,-1.61,-146.0,2819,2061,3278,3487,477.6,-10.4,430,4476,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2061,3382,3278,3487,0,0,0,0,0,0,15.09,15.12,15.11
$GC,4776,-1.61,-146.0,2819,2060,3276,3486,506.9,-9.4,440,4783,0.00,2.35,0.00,0.000,292,0.000,0.067,2811,3456,3381,3276,3486,0,0,0,0,0,0,15.10,14.80,15.12
$GC,4812,-1.67,-146.0,2811,3455,3277,3485,510.3,-9.5,446,4817,0.00,2.33,0.00,0.000,1190,0.000,0.044,2811,2051,3380,3276,3485,0,0,0,0,0,0,14.92,14.84,14.94
$GC,5145,-1.67,-146.0,2811,2050,3275,3483,543.1,-10.1,462,5150,0.00,2.40,0.00,0.000,260,0.000,0.067,2801,3455,3379,3275,3483,0,0,0,0,0,0,15.10,14.79,15.12
$GC,5171,-1.67,-146.0,2800,3456,3274,3482,546.3,-10.4,467,5181,0.00,2.35,0.00,0.000,1030,0.000,0.046,2801,2048,3378,3274,3483,0,0,0,0,0,0,14.91,14.83,14.93
$GC,5478,-1.67,-146.0,2801,2047,3273,3481,580.6,-11.6,478,5479,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2047,3377,3273,3481,0,0,0,0,0,0,15.10,15.12,15.12
$GC,5779,-1.67,-146.0,2801,2048,3272,3480,615.3,-11.5,488,5780,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2048,3376,3272,3480,0,0,0,0,0,0,15.09,15.12,15.11
$GC,6080,-1.67,-146.0,2801,2047,3271,3479,648.4,-10.6,498,6081,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2047,3375,3271,3479,0,0,0,0,0,0,15.11,15.13,15.13
$GC,6379,-1.67,-146.0,2800,2047,3270,3478,677.9,-9.7,508,6380,0.00,0.00,0.00,0.000,38,0.000,0.000,2801,2047,3373,3269,3478,0,0,0,0,0,0,15.10,15.13,15.12
$GC,6679,-1.67,-146.0,2801,2047,3268,3477,706.4,-9.7,518,6686,0.00,2.42,0.00,0.000,292,0.000,0.068,2791,3455,3372,3268,3477,0,0,0,0,0,0,15.10,14.78,15.13
$GC,6703,-1.67,-146.0,2791,3455,3268,3477,709.0,-9.9,522,6708,0.00,2.35,0.00,0.000,1062,0.000,0.045,2791,2048,3372,3268,3477,0,0,0,0,0,0,14.90,14.82,14.92
$GC,7016,-1.67,-146.0,2790,2048,3266,3477,743.7,-11.8,534,7018,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2048,3372,3267,3477,0,0,0,0,0,0,15.10,15.12,15.12
$GC,7318,-1.67,-146.0,2791,2047,3267,3475,779.8,-12.1,544,7319,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2047,3371,3267,3475,0,0,0,0,0,0,15.10,15.13,15.12
$GC,7617,-1.67,-146.0,2791,2047,3266,3474,814.7,-11.6,554,7619,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2048,3370,3266,3474,0,0,0,0,0,0,15.09,15.12,15.11
$GC,7916,-1.67,-146.0,2791,2047,3264,3474,851.0,-11.9,564,7918,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2048,3368,3264,3473,0,0,0,0,0,0,15.09,15.12,15.11
$GC,8219,-1.67,-146.0,2790,2047,3264,3472,885.8,-11.2,574,8224,0.00,2.42,0.00,0.000,260,0.000,0.067,2782,3451,3367,3263,3471,0,0,0,0,0,0,15.10,14.76,15.12
$GC,8239,-1.67,-146.0,2781,3452,3264,3471,888.7,-11.6,578,8245,0.12,2.35,0.00,0.000,3078,0.255,0.047,2807,2049,3367,3264,3471,0,0,0,0,0,0,14.54,14.80,14.78
$GC,8554,-1.70,-146.0,2807,2049,3262,3470,920.3,-9.9,590,8559,0.00,2.40,0.00,0.000,676,0.000,0.070,2807,639,3366,3262,3470,0,0,0,0,0,0,15.09,14.75,15.12
$GC,8580,-1.70,-146.0,2807,639,3262,3470,923.3,-10.6,595,8590,0.00,2.38,0.00,0.000,1030,0.000,0.050,2799,2053,3366,3262,3470,0,0,0,0,0,0,14.88,14.80,14.91
$GC,8888,-1.70,-146.0,2799,2053,3261,3470,953.4,-9.7,606,8889,0.00,0.00,0.00,0.000,38,0.000,0.000,2799,2053,3365,3261,3470,0,0,0,0,0,0,15.09,15.12,15.11
$GC,9188,-1.70,-146.0,2798,2053,3260,3470,983.1,-10.0,616,9194,0.00,2.45,0.00,0.000,516,0.000,0.070,2799,643,3365,3260,3470,0,0,0,0,0,0,15.09,14.73,15.11
$GC,9231,-1.70,-146.0,2798,643,3260,3469,988.0,-10.8,624,9236,0.00,2.38,0.00,0.000,1030,0.000,0.050,2789,2051,3365,3261,3469,0,0,0,0,0,0,14.88,14.78,14.90
$STATE,9254,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9254,begin apogee
$GC,9259,-0.33,0.0,2789,1788,3260,3469,990.1,-9.7,628,9392,1.17,0.00,129.62,2.693,10246,0.249,0.000,3097,1787,2789,2678,2900,0,0,0,0,0,0,14.47,14.02,13.00
$STATE,9393,end apogee,CONTROL_FINISHED_OK
$STATE,9393,begin climb
$GC,9395,1.33,146.0,3098,1787,2673,2897,992.0,0.0,632,9543,1.23,2.65,135.23,2.654,10756,0.151,0.079,3475,401,2185,2055,2316,0,0,0,0,0,0,14.02,13.87,12.89
$GC,9555,1.10,146.0,3475,401,2051,2317,981.3,12.1,668,9563,0.30,2.47,0.00,0.000,5254,0.346,0.048,3418,1798,2183,2050,2316,0,0,0,0,0,0,13.85,14.03,14.08
$GC,9886,0.98,146.0,3418,1798,2039,2316,941.9,12.0,684,9893,0.12,2.45,0.00,0.000,4484,0.408,0.067,3386,3214,2177,2039,2316,0,0,0,0,0,0,14.23,14.53,14.46
$GC,9964,0.91,146.0,3385,3215,2039,2316,932.7,11.1,700,9969,0.12,2.45,0.00,0.000,5254,0.398,0.057,3376,1803,2177,2039,2316,0,0,0,0,0,0,14.30,14.58,14.62
$GC,10271,0.87,151.2,3375,1803,2036,2316,902.2,9.7,711,10278,0.00,2.45,0.00,0.000,420,0.000,0.067,3374,3224,2175,2035,2316,0,0,0,0,0,0,14.94,14.65,14.97
$GC,10309,0.82,159.6,3374,3224,2036,2316,898.4,9.6,719,10331,0.15,2.42,11.18,2.323,13478,0.332,0.051,3354,1792,2134,1993,2276,0,0,0,0,0,0,14.42,14.69,13.64
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$STATE,18675,end climb,SURFACE_DEPTH_REACHED
$STATE,18676,begin surface coast
$FINISH,1.4,1.002865
$STATE,18702,end surface coast,CONTROL_FINISHED_OK
$STATE,18703,begin surface
$SM_CCo,18720,97.12,0.081,0,0,449,573.99
$SM_GC,2.29,9.82,0.40,97.12,0.075,0.061,0.081,89,2068,449,-14.12,-1.07,573.99,0,0,0,0,0,0,14.69,14.74,14.64
$IRIDIUM_FIX,1320.88,5910.92,040417,022826
$TT8_MAMPS,0.023968,0.156541
$HUMID,48.38
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,24.10
$XPDR_PINGS,4
$24V_AH,12.89,54.195
$10V_AH,13.30,0.000
$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,28.650,167.700,441.050,97.125,0.000,0.000,0.000,185.700,93.000,0.000,27.247,2974.244,12807.006,754.810,2391.072,198.078,0.000,2073.962,0.000,1905.163,0.000,615.015,0.000
$DEVICE_MAMPS,418.455,2081.565,2692.800,81.090,0.000,0.000,0.000,184.365,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,686.809,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,56675,1338
$CAP_FILE_SIZE,205650,0
$CFSIZE,260034560,246476800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.039,251.84,1
$GPS,040417,130148,1323.704,6057.875,33,1.6,50,-0.7,0.0,332.7,4,10.0