version: 66.13
glider: 137
mission: 5
dive: 159
start: 4 4 117 18 41 20
data:
$ID,137
$MISSION,5
$DIVE,159
$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,33
$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
$GPS1,040417,183537,1321.9700,6054.9048,40,1.0,46,-0.7,0.0,0.0,7,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-68.3
$GPS2,040417,184031,1321.9594,6054.9043,9,0.9,18,-0.7,0.0,0.0,9,9.3
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1319.807,6051.814
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,234.6,6849,-16.8,-10.000,-19.44,2181
$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,-1.29,-142.0,93,2081,337,573,0.0,0.0,0,103,0.00,0.00,-93.70,0.000,16386,0.000,0.000,93,2081,2949,2873,3026,0,0,0,0,0,0,14.85,28.83,14.88
$GC,105,-1.30,-146.0,93,2081,2873,3037,4.4,-5.8,16,137,14.02,2.53,-8.15,0.000,18724,0.419,2.085,2876,3422,3396,3291,3501,0,0,0,0,0,0,14.31,13.43,14.54
$GC,154,-1.16,-146.0,2876,3422,3292,3514,17.2,-16.5,24,162,0.20,2.30,0.00,0.000,3206,0.243,0.036,2923,2036,3403,3292,3514,0,0,0,0,0,0,14.45,14.61,14.64
$GC,470,-1.24,-146.0,2923,2035,3292,3515,51.2,-10.3,85,474,0.00,2.30,0.00,0.000,644,0.000,0.057,2924,654,3403,3292,3514,0,0,0,0,0,0,14.95,14.69,14.97
$GC,505,-1.34,-146.0,2924,654,3293,3514,55.0,-9.9,92,512,0.12,2.28,0.00,0.000,5286,0.130,0.037,2868,2049,3403,3293,3514,0,0,0,0,0,0,14.70,14.73,14.78
$GC,811,-1.34,-146.0,2868,2049,3293,3514,90.5,-12.4,123,815,0.00,2.33,0.00,0.000,260,0.000,0.058,2857,3451,3403,3293,3514,0,0,0,0,0,0,15.02,14.76,15.04
$GC,888,-1.38,-146.0,2857,3450,3293,3514,99.3,-11.7,138,897,0.00,2.30,0.00,0.000,1158,0.000,0.037,2857,2037,3403,3293,3514,0,0,0,0,0,0,14.86,14.80,14.88
$GC,1197,-1.38,-146.0,2857,2036,3294,3514,133.8,-11.1,170,1206,0.00,2.28,0.00,0.000,516,0.000,0.056,2857,655,3404,3294,3514,0,0,0,0,0,0,15.07,14.79,15.08
$GC,1248,-1.38,-146.0,2857,655,3294,3514,140.1,-12.2,180,1253,0.12,2.28,0.00,0.000,3078,0.254,0.038,2874,2057,3404,3294,3514,0,0,0,0,0,0,14.64,14.83,14.83
$GC,1554,-1.44,-146.0,2874,2058,3295,3514,169.1,-9.0,211,1562,0.00,2.30,0.00,0.000,420,0.000,0.059,2866,3447,3404,3295,3514,0,0,0,0,0,0,15.08,14.81,15.11
$GC,1725,-1.54,-146.0,2866,3447,3294,3514,182.9,-7.7,245,1730,0.10,2.28,0.00,0.000,5286,0.142,0.037,2816,2044,3404,3294,3514,0,0,0,0,0,0,14.83,14.85,14.90
$GC,2039,-1.54,-146.0,2815,2043,3294,3514,222.5,-13.3,277,2045,0.12,2.30,0.00,0.000,2564,0.261,0.057,2847,654,3404,3294,3514,0,0,0,0,0,0,14.64,14.81,14.77
$GC,2088,-1.54,-146.0,2846,654,3294,3514,228.6,-10.9,286,2096,0.00,2.28,0.00,0.000,1030,0.000,0.039,2837,2053,3404,3295,3514,0,0,0,0,0,0,14.91,14.85,14.93
$GC,2394,-1.54,-146.0,2838,2053,3294,3514,259.5,-10.0,311,2401,0.00,2.33,0.00,0.000,260,0.000,0.060,2827,3454,3404,3294,3514,0,0,0,0,0,0,15.07,14.81,15.09
$GC,2453,-1.60,-146.0,2827,3454,3295,3514,265.7,-9.7,322,2461,0.00,2.30,0.00,0.000,1190,0.000,0.039,2827,2050,3404,3294,3514,0,0,0,0,0,0,14.92,14.85,14.93
$GC,2760,-1.60,-146.0,2827,2049,3294,3514,296.8,-9.8,333,2766,0.00,2.33,0.00,0.000,548,0.000,0.061,2827,649,3404,3294,3514,0,0,0,0,0,0,15.09,14.83,15.11
$GC,2782,-1.60,-146.0,2827,650,3294,3514,299.4,-10.7,337,2788,0.00,2.30,0.00,0.000,1030,0.000,0.042,2817,2055,3404,3294,3514,0,0,0,0,0,0,14.92,14.85,14.95
$GC,3095,-1.60,-146.0,2817,2055,3294,3514,334.5,-11.8,349,3101,0.00,2.38,0.00,0.000,516,0.000,0.060,2817,650,3404,3294,3514,0,0,0,0,0,0,15.09,14.83,15.11
$GC,3170,-1.60,-146.0,2817,650,3294,3514,343.4,-11.2,363,3175,0.00,2.30,0.00,0.000,1030,0.000,0.042,2807,2054,3403,3293,3514,0,0,0,0,0,0,14.92,14.85,14.94
$GC,3492,-1.60,-146.0,2807,2054,3292,3514,377.1,-10.1,377,3498,0.00,2.40,0.00,0.000,516,0.000,0.065,2807,654,3403,3292,3514,0,0,0,0,0,0,15.09,14.81,15.11
$GC,3514,-1.60,-146.0,2807,653,3292,3514,379.6,-11.0,381,3520,0.12,2.30,0.00,0.000,3078,0.272,0.044,2823,2054,3403,3292,3514,0,0,0,0,0,0,14.63,14.85,14.85
$GC,3828,-1.60,-146.0,2823,2055,3290,3512,409.0,-9.6,393,3834,0.00,2.35,0.00,0.000,292,0.000,0.067,2814,3451,3401,3290,3512,0,0,0,0,0,0,15.10,14.82,15.12
$GC,3884,-1.63,-146.0,2814,3451,3290,3511,414.3,-10.6,403,3888,0.00,2.33,0.00,0.000,1158,0.000,0.041,2815,2039,3400,3290,3511,0,0,0,0,0,0,14.92,14.85,14.95
$GC,4197,-1.63,-146.0,2814,2039,3289,3509,448.6,-11.6,415,4202,0.00,2.33,0.00,0.000,516,0.000,0.065,2814,651,3398,3288,3509,0,0,0,0,0,0,15.11,14.81,15.13
$GC,4223,-1.63,-146.0,2814,651,3289,3509,452.3,-12.8,420,4231,0.00,2.33,0.00,0.000,1030,0.000,0.044,2805,2060,3399,3289,3509,0,0,0,0,0,0,14.92,14.85,14.95
$GC,4531,-1.63,-146.0,2804,2060,3288,3507,488.1,-11.6,431,4533,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2060,3397,3288,3507,0,0,0,0,0,0,15.10,15.13,15.12
$GC,4831,-1.63,-146.0,2805,2060,3286,3506,521.3,-11.4,441,4837,0.00,2.42,0.00,0.000,516,0.000,0.070,2805,648,3396,3287,3505,0,0,0,0,0,0,15.10,14.81,15.11
$GC,4869,-1.63,-146.0,2805,647,3286,3505,526.7,-13.1,448,4874,0.12,2.33,0.00,0.000,3078,0.282,0.046,2820,2052,3395,3286,3505,0,0,0,0,0,0,14.59,14.84,14.84
$GC,5199,-1.63,-146.0,2820,2053,3284,3503,563.3,-10.9,463,5203,0.00,2.40,0.00,0.000,516,0.000,0.067,2821,649,3393,3284,3503,0,0,0,0,0,0,15.10,14.80,15.12
$GC,5236,-1.63,-146.0,2821,649,3284,3503,567.8,-11.4,470,5241,0.00,2.33,0.00,0.000,1030,0.000,0.047,2812,2049,3393,3284,3503,0,0,0,0,0,0,14.92,14.83,14.93
$GC,5564,-1.63,-146.0,2812,2049,3283,3501,602.4,-10.2,485,5572,0.00,2.40,0.00,0.000,516,0.000,0.070,2812,654,3392,3283,3501,0,0,0,0,0,0,15.09,14.79,15.11
$GC,5593,-1.63,-146.0,2812,654,3283,3501,605.7,-10.9,490,5600,0.00,2.33,0.00,0.000,1030,0.000,0.047,2802,2052,3392,3283,3501,0,0,0,0,0,0,14.90,14.83,14.93
$GC,5901,-1.63,-146.0,2802,2052,3282,3499,638.2,-11.0,501,5902,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2052,3390,3281,3499,0,0,0,0,0,0,15.10,15.12,15.12
$GC,6200,-1.63,-146.0,2802,2052,3280,3498,672.7,-11.7,511,6205,0.00,2.42,0.00,0.000,516,0.000,0.070,2803,646,3389,3280,3498,0,0,0,0,0,0,15.09,14.78,15.11
$GC,6265,-1.63,-146.0,2802,646,3280,3498,680.9,-12.1,523,6271,0.12,2.35,0.00,0.000,3078,0.278,0.050,2818,2056,3388,3279,3498,0,0,0,0,0,0,14.57,14.82,14.80
$GC,6599,-1.63,-146.0,2818,2056,3278,3496,717.6,-10.6,539,6600,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2056,3387,3278,3496,0,0,0,0,0,0,15.09,15.11,15.11
$GC,6899,-1.63,-146.0,2818,2056,3278,3496,746.2,-9.2,549,6907,0.00,2.38,0.00,0.000,292,0.000,0.072,2809,3448,3386,3278,3495,0,0,0,0,0,0,15.09,14.77,15.11
$GC,6925,-1.66,-146.0,2809,3449,3278,3495,748.8,-10.0,553,6931,0.00,2.35,0.00,0.000,1158,0.000,0.048,2809,2051,3386,3278,3495,0,0,0,0,0,0,14.90,14.81,14.92
$GC,7240,-1.66,-146.0,2809,2050,3277,3494,777.6,-9.3,565,7246,0.00,2.40,0.00,0.000,548,0.000,0.073,2809,643,3385,3277,3494,0,0,0,0,0,0,15.10,14.76,15.12
$GC,7263,-1.66,-146.0,2809,643,3277,3494,780.1,-9.8,569,7268,0.00,2.35,0.00,0.000,1062,0.000,0.050,2799,2049,3385,3276,3494,0,0,0,0,0,0,14.90,14.81,14.92
$GC,7576,-1.66,-146.0,2799,2050,3276,3493,810.5,-10.0,581,7582,0.00,2.42,0.00,0.000,548,0.000,0.068,2799,643,3384,3276,3493,0,0,0,0,0,0,15.09,14.76,15.11
$GC,7612,-1.63,-146.0,2799,643,3274,3493,814.2,-10.8,587,7617,0.15,2.35,0.00,0.000,3206,0.275,0.046,2826,2060,3384,3275,3493,0,0,0,0,0,0,14.51,14.81,14.68
$GC,7948,-1.68,-146.0,2826,2060,3274,3492,845.3,-9.3,603,7953,0.00,2.38,0.00,0.000,420,0.000,0.070,2818,3451,3383,3274,3492,0,0,0,0,0,0,15.09,14.75,15.11
$GC,7969,-1.73,-146.0,2817,3451,3274,3492,847.7,-9.9,607,7974,0.00,2.35,0.00,0.000,1190,0.000,0.047,2818,2045,3383,3274,3492,0,0,0,0,0,0,14.89,14.81,14.91
$GC,8282,-1.73,-146.0,2818,2044,3273,3490,878.8,-10.2,619,8287,0.00,2.38,0.00,0.000,516,0.000,0.070,2818,647,3381,3273,3490,0,0,0,0,0,0,15.08,14.75,15.10
$GC,8340,-1.73,-146.0,2817,647,3273,3490,885.4,-11.1,630,8347,0.00,2.35,0.00,0.000,1030,0.000,0.046,2808,2058,3381,3273,3490,0,0,0,0,0,0,14.88,14.80,14.90
$GC,8648,-1.73,-146.0,2808,2059,3272,3489,918.6,-11.0,641,8649,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2058,3380,3272,3489,0,0,0,0,0,0,15.09,15.11,15.11
$GC,8948,-1.73,-146.0,2808,2058,3272,3488,950.1,-10.4,651,8953,0.00,2.42,0.00,0.000,516,0.000,0.063,2807,642,3380,3272,3488,0,0,0,0,0,0,15.08,14.76,15.10
$GC,9012,-1.73,-146.0,2808,642,3272,3487,957.5,-11.5,663,9017,0.00,2.38,0.00,0.000,1030,0.000,0.047,2798,2053,3380,3272,3488,0,0,0,0,0,0,14.87,14.78,14.90
$STATE,9315,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9315,begin apogee
$GC,9320,-0.33,0.0,2798,1794,3270,3487,990.9,-11.0,678,9456,1.17,0.00,132.25,2.703,10246,0.265,0.000,3099,1791,2789,2678,2901,0,0,0,0,0,0,14.45,14.02,13.00
$STATE,9457,end apogee,CONTROL_FINISHED_OK
$STATE,9457,begin climb
$GC,9459,1.30,146.0,3099,1791,2673,2896,993.8,0.0,682,9604,1.20,2.60,135.70,2.657,10756,0.154,0.080,3466,401,2187,2059,2316,0,0,0,0,0,0,14.01,13.70,12.88
$GC,9630,1.07,146.0,3466,401,2048,2315,983.0,12.7,721,9635,0.30,2.50,0.00,0.000,5254,0.337,0.053,3409,1798,2181,2048,2315,0,0,0,0,0,0,13.88,14.07,14.12
$GC,9943,0.95,146.0,3408,1798,2037,2315,947.8,11.5,733,9948,0.12,2.45,0.00,0.000,4484,0.399,0.068,3375,3217,2176,2037,2315,0,0,0,0,0,0,14.25,14.52,14.46
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$STATE,19024,end climb,SURFACE_DEPTH_REACHED
$STATE,19024,begin surface coast
$FINISH,1.5,1.023426
$STATE,19041,end surface coast,CONTROL_FINISHED_OK
$STATE,19042,begin surface
$SM_CCo,19061,99.85,0.080,0,0,449,573.99
$SM_GC,2.43,9.80,1.98,99.85,0.084,0.044,0.080,94,2047,449,-14.10,1.10,573.99,0,0,0,0,0,0,14.71,14.76,14.67
$IRIDIUM_FIX,1318.67,6057.37,040417,130331
$TT8_MAMPS,0.023968,0.15729
$HUMID,47.87
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,24.10
$XPDR_PINGS,10
$24V_AH,12.88,54.975
$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,29.425,220.050,445.925,99.850,0.000,0.000,0.000,195.125,107.000,0.000,19.731,3097.095,12802.684,750.061,2608.926,213.318,0.000,2204.665,0.000,2074.441,0.000,700.891,0.000
$DEVICE_MAMPS,419.220,2085.390,2702.745,80.325,0.000,0.000,0.000,185.895,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,681.498,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225164
$DATA_FILE_SIZE,63368,1458
$CAP_FILE_SIZE,229611,0
$CFSIZE,260034560,246259712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.055,286.09,1
$GPS,050417,000207,1320.576,6052.083,43,1.0,49,-0.7,0.0,328.0,7,10.0