version: 66.13
glider: 137
mission: 5
dive: 158
start: 4 4 117 13 7 28
data:
$ID,137
$MISSION,5
$DIVE,158
$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,35
$R_STBD_OVSHOOT,52
$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
$GPS1,040417,130148,1323.7039,6057.8755,33,1.6,50,-0.7,0.0,332.7,4,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.34
$_SM_ANGLEo,-67.9
$GPS2,040417,130653,1323.7083,6057.8618,16,0.8,23,-0.7,0.0,0.0,10,9.1
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1321.687,6054.027
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,240.8,7859,-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,-146.0,89,2074,332,563,0.0,0.0,0,105,0.00,0.00,-95.07,0.000,16386,0.000,0.000,89,2074,2969,2888,3050,0,0,0,0,0,0,14.85,28.83,14.87
$GC,107,-1.28,-146.0,89,2074,2888,3050,4.1,-4.5,16,139,14.02,2.58,-7.85,0.000,18724,0.417,2.088,2877,3425,3388,3277,3499,0,0,0,0,0,0,14.31,13.43,14.53
$GC,207,-1.28,-146.0,2877,3425,3278,3500,23.7,-14.0,34,214,0.00,2.30,0.00,0.000,1030,0.000,0.037,2878,2034,3389,3278,3500,0,0,0,0,0,0,14.69,14.63,14.71
$GC,521,-1.28,-146.0,2877,2033,3278,3500,62.1,-11.2,86,530,0.00,2.30,0.00,0.000,516,0.000,0.056,2878,647,3388,3278,3499,0,0,0,0,0,0,14.97,14.71,14.99
$GC,575,-1.28,-146.0,2877,647,3278,3499,69.1,-12.0,97,584,0.12,2.30,0.00,0.000,3078,0.271,0.040,2894,2050,3388,3278,3499,0,0,0,0,0,0,14.55,14.74,14.75
$GC,882,-1.28,-146.0,2894,2050,3278,3499,106.9,-12.7,128,892,0.00,2.33,0.00,0.000,260,0.000,0.059,2885,3450,3388,3278,3499,0,0,0,0,0,0,15.04,14.76,15.05
$GC,915,-1.33,-146.0,2884,3450,3278,3499,111.1,-12.2,134,923,0.00,2.30,0.00,0.000,1158,0.000,0.037,2885,2039,3388,3278,3499,0,0,0,0,0,0,14.86,14.80,14.88
$GC,1225,-1.39,-146.0,2885,2039,3279,3499,133.4,-7.7,166,1234,0.00,2.28,0.00,0.000,676,0.000,0.057,2885,651,3389,3279,3500,0,0,0,0,0,0,15.07,14.76,15.09
$GC,1327,-1.45,-146.0,2884,651,3280,3499,143.1,-10.4,186,1336,0.00,2.28,0.00,0.000,1158,0.000,0.038,2875,2053,3389,3280,3499,0,0,0,0,0,0,14.90,14.83,14.91
$GC,1637,-1.51,-146.0,2874,2053,3279,3499,174.8,-8.3,218,1646,0.12,2.33,0.00,0.000,4516,0.129,0.056,2807,3456,3389,3279,3499,0,0,0,0,0,0,14.85,14.81,14.88
$GC,1701,-1.51,-146.0,2807,3455,3279,3499,180.9,-8.6,231,1709,0.17,2.30,0.00,0.000,3110,0.237,0.037,2848,2039,3389,3279,3499,0,0,0,0,0,0,14.64,14.85,14.85
$GC,2010,-1.51,-146.0,2848,2039,3279,3499,208.7,-10.8,262,2014,0.00,2.28,0.00,0.000,516,0.000,0.057,2848,657,3389,3279,3499,0,0,0,0,0,0,15.07,14.82,15.09
$GC,2090,-1.51,-146.0,2848,657,3280,3499,218.0,-11.7,276,2095,0.00,2.28,0.00,0.000,1030,0.000,0.038,2839,2057,3389,3279,3499,0,0,0,0,0,0,14.92,14.85,14.93
$GC,2403,-1.51,-146.0,2839,2058,3279,3499,254.4,-12.0,306,2409,0.00,2.33,0.00,0.000,260,0.000,0.061,2829,3459,3389,3279,3499,0,0,0,0,0,0,15.08,14.81,15.10
$GC,2448,-1.55,-146.0,2829,3458,3279,3500,260.1,-13.3,314,2453,0.00,2.30,0.00,0.000,1158,0.000,0.039,2829,2052,3389,3279,3499,0,0,0,0,0,0,14.92,14.85,14.93
$GC,2770,-1.55,-146.0,2829,2052,3279,3499,300.2,-11.2,328,2775,0.00,2.33,0.00,0.000,516,0.000,0.059,2829,647,3389,3280,3499,0,0,0,0,0,0,15.09,14.83,15.11
$GC,2806,-1.55,-146.0,2829,647,3279,3499,303.4,-9.3,334,2811,0.00,2.30,0.00,0.000,1062,0.000,0.041,2819,2052,3389,3280,3499,0,0,0,0,0,0,14.92,14.85,14.95
$GC,3141,-1.55,-146.0,2819,2052,3279,3499,336.0,-10.2,350,3145,0.00,2.35,0.00,0.000,516,0.000,0.057,2819,654,3389,3279,3499,0,0,0,0,0,0,15.10,14.83,15.12
$GC,3206,-1.55,-146.0,2819,654,3279,3499,344.3,-12.2,363,3212,0.12,2.28,0.00,0.000,3078,0.257,0.040,2836,2053,3389,3279,3499,0,0,0,0,0,0,14.65,14.85,14.85
$GC,3536,-1.55,-146.0,2836,2053,3278,3498,378.8,-10.3,378,3541,0.00,2.33,0.00,0.000,260,0.000,0.063,2827,3443,3388,3278,3498,0,0,0,0,0,0,15.10,14.82,15.12
$GC,3609,-1.61,-146.0,2827,3443,3278,3497,386.1,-9.1,392,3616,0.00,2.30,0.00,0.000,1190,0.000,0.041,2827,2042,3387,3278,3497,0,0,0,0,0,0,14.92,14.85,14.94
$GC,3936,-1.61,-146.0,2827,2042,3276,3495,416.4,-9.7,406,3937,0.00,0.00,0.00,0.000,38,0.000,0.000,2827,2042,3385,3276,3495,0,0,0,0,0,0,15.11,15.13,15.12
$GC,4234,-1.61,-146.0,2827,2042,3274,3493,445.6,-9.8,416,4239,0.00,2.40,0.00,0.000,292,0.000,0.065,2817,3446,3383,3274,3493,0,0,0,0,0,0,15.10,14.81,15.13
$GC,4260,-1.61,-146.0,2817,3446,3274,3492,448.4,-10.3,421,4271,0.00,2.30,0.00,0.000,1030,0.000,0.042,2817,2055,3383,3274,3493,0,0,0,0,0,0,14.92,14.85,14.95
$GC,4567,-1.61,-146.0,2817,2055,3272,3490,475.3,-8.4,432,4572,0.00,2.38,0.00,0.000,292,0.000,0.065,2808,3442,3381,3272,3490,0,0,0,0,0,0,15.10,14.81,15.12
$GC,4611,-1.61,-146.0,2807,3442,3272,3489,479.1,-7.8,440,4616,0.00,2.33,0.00,0.000,1062,0.000,0.045,2808,2045,3381,3273,3489,0,0,0,0,0,0,14.92,14.84,14.94
$GC,4937,-1.61,-146.0,2807,2045,3271,3487,508.4,-9.7,454,4942,0.00,2.38,0.00,0.000,548,0.000,0.069,2808,639,3379,3271,3488,0,0,0,0,0,0,15.11,14.79,15.13
$GC,4989,-1.58,-146.0,2807,639,3271,3487,514.7,-11.9,464,4996,0.15,2.33,0.00,0.000,3206,0.261,0.044,2830,2053,3378,3270,3486,0,0,0,0,0,0,14.60,14.84,14.83
$GC,5304,-1.58,-146.0,2830,2054,3268,3486,546.0,-10.2,476,5311,0.00,2.35,0.00,0.000,260,0.000,0.068,2822,3444,3377,3268,3486,0,0,0,0,0,0,15.09,14.79,15.11
$GC,5363,-1.64,-146.0,2821,3444,3268,3485,552.4,-10.4,487,5371,0.00,2.33,0.00,0.000,1158,0.000,0.044,2822,2048,3377,3268,3486,0,0,0,0,0,0,14.91,14.83,14.93
$GC,5671,-1.64,-146.0,2821,2047,3266,3485,585.8,-11.1,498,5673,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2048,3376,3267,3485,0,0,0,0,0,0,15.10,15.13,15.13
$GC,5971,-1.64,-146.0,2822,2047,3266,3484,617.6,-10.3,508,5972,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2047,3375,3267,3484,0,0,0,0,0,0,15.09,15.11,15.11
$GC,6271,-1.64,-146.0,2821,2048,3265,3482,647.0,-9.4,518,6278,0.00,2.40,0.00,0.000,292,0.000,0.067,2812,3442,3373,3266,3481,0,0,0,0,0,0,15.10,14.78,15.12
$GC,6322,-1.68,-146.0,2812,3442,3266,3481,652.1,-9.6,527,6327,0.00,2.33,0.00,0.000,1190,0.000,0.045,2812,2050,3373,3266,3481,0,0,0,0,0,0,14.90,14.82,14.92
$GC,6640,-1.68,-146.0,2812,2049,3265,3479,683.5,-10.2,540,6645,0.00,2.40,0.00,0.000,516,0.000,0.070,2813,639,3372,3264,3480,0,0,0,0,0,0,15.09,14.77,15.11
$GC,6675,-1.68,-146.0,2813,637,3264,3480,687.1,-10.9,546,6680,0.00,2.35,0.00,0.000,1030,0.000,0.048,2804,2042,3371,3263,3480,0,0,0,0,0,0,14.90,14.82,14.92
$GC,7009,-1.68,-146.0,2804,2042,3263,3479,723.0,-10.9,562,7014,0.00,2.38,0.00,0.000,260,0.000,0.067,2794,3450,3370,3262,3478,0,0,0,0,0,0,15.10,14.78,15.12
$GC,7042,-1.68,-146.0,2794,3450,3262,3478,726.7,-11.2,568,7049,0.00,2.35,0.00,0.000,1030,0.000,0.045,2794,2043,3370,3262,3478,0,0,0,0,0,0,14.90,14.81,14.91
$GC,7377,-1.65,-146.0,2794,2042,3261,3478,763.0,-10.8,584,7379,0.10,0.00,0.00,0.000,2182,0.262,0.000,2813,2040,3369,3261,3477,0,0,0,0,0,0,14.62,14.87,14.82
$GC,7677,-1.65,-146.0,2813,2040,3260,3477,794.7,-10.8,594,7684,0.00,2.42,0.00,0.000,260,0.000,0.067,2804,3449,3368,3260,3477,0,0,0,0,0,0,15.09,14.76,15.11
$GC,7705,-1.65,-146.0,2804,3449,3260,3477,798.2,-11.7,599,7713,0.00,2.35,0.00,0.000,1030,0.000,0.045,2804,2046,3369,3261,3477,0,0,0,0,0,0,14.89,14.81,14.91
$GC,8013,-1.65,-146.0,2804,2046,3260,3477,833.1,-11.8,610,8014,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2046,3368,3260,3477,0,0,0,0,0,0,15.10,15.13,15.12
$GC,8312,-1.65,-146.0,2804,2046,3259,3476,867.0,-11.0,620,8313,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2046,3367,3259,3476,0,0,0,0,0,0,15.09,15.11,15.11
$GC,8613,-1.65,-146.0,2804,2046,3258,3474,898.3,-10.1,630,8620,0.00,2.42,0.00,0.000,260,0.000,0.067,2794,3449,3366,3258,3475,0,0,0,0,0,0,15.09,14.76,15.11
$GC,8664,-1.65,-146.0,2794,3449,3258,3474,903.4,-9.8,639,8669,0.10,2.35,0.00,0.000,3110,0.255,0.045,2813,2046,3366,3258,3474,0,0,0,0,0,0,14.57,14.79,14.80
$GC,8982,-1.65,-146.0,2813,2046,3257,3474,931.7,-8.8,652,8987,0.00,2.40,0.00,0.000,548,0.000,0.072,2814,643,3365,3257,3474,0,0,0,0,0,0,15.09,14.73,15.11
$GC,9020,-1.65,-146.0,2813,643,3257,3473,935.7,-9.8,659,9025,0.00,2.38,0.00,0.000,1062,0.000,0.050,2805,2058,3365,3257,3473,0,0,0,0,0,0,14.88,14.78,14.90
$GC,9350,-1.65,-146.0,2805,2058,3256,3473,965.4,-9.4,674,9355,0.00,2.45,0.00,0.000,548,0.000,0.069,2805,644,3364,3255,3473,0,0,0,0,0,0,15.09,14.73,15.11
$GC,9397,-1.65,-146.0,2805,644,3256,3473,970.6,-10.7,683,9402,0.10,2.38,0.00,0.000,3078,0.303,0.049,2812,2064,3364,3255,3473,0,0,0,0,0,0,14.50,14.78,14.74
$STATE,9623,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9624,begin apogee
$GC,9628,-0.33,0.0,2812,1785,3255,3472,992.6,-9.8,693,9761,1.10,0.00,128.95,2.693,10246,0.259,0.000,3098,1782,2789,2677,2901,0,0,0,0,0,0,14.44,14.02,13.01
$STATE,9762,end apogee,CONTROL_FINISHED_OK
$STATE,9762,begin climb
$GC,9764,1.28,146.0,3098,1782,2673,2898,995.2,0.0,697,9909,1.23,2.58,135.50,2.654,10756,0.168,0.080,3462,408,2188,2059,2318,0,0,0,0,0,0,14.00,13.86,12.88
$GC,9945,1.05,146.0,3462,408,2048,2317,983.4,12.5,737,9952,0.28,2.47,0.00,0.000,5254,0.338,0.049,3409,1799,2181,2046,2317,0,0,0,0,0,0,13.93,14.12,14.16
$GC,10252,0.93,146.0,3409,1799,2038,2317,950.5,10.7,748,10259,0.12,2.45,0.00,0.000,4484,0.391,0.067,3381,3204,2177,2038,2317,0,0,0,0,0,0,14.26,14.52,14.46
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$STATE,19463,end climb,SURFACE_DEPTH_REACHED
$STATE,19463,begin surface coast
$FINISH,1.5,0.997703
$STATE,19496,end surface coast,CONTROL_FINISHED_OK
$STATE,19496,begin surface
$SM_CCo,19513,91.47,0.081,0,0,447,573.99
$SM_GC,2.39,9.85,0.40,91.47,0.086,0.057,0.081,93,2076,447,-14.11,-1.02,573.99,0,0,0,0,0,0,14.69,14.77,14.66
$IRIDIUM_FIX,1318.67,6059.31,040417,074242
$TT8_MAMPS,0.023968,0.158039
$HUMID,48.54
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,24.00
$XPDR_PINGS,8
$24V_AH,12.88,54.584
$10V_AH,13.29,0.000
$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,28.850,210.775,454.225,91.475,0.000,0.000,0.000,202.700,112.000,0.000,25.011,3120.938,13167.222,767.462,2624.546,236.728,0.000,2217.734,0.000,2074.031,0.000,737.905,0.000
$DEVICE_MAMPS,416.925,2088.450,2692.800,81.090,0.000,0.000,0.000,179.775,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,697.594,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225032
$DATA_FILE_SIZE,63313,1458
$CAP_FILE_SIZE,229434,0
$CFSIZE,260034560,246353920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.063,236.83,1
$GPS,040417,183537,1321.970,6054.905,40,1.0,46,-0.7,0.0,0.0,7,9.9