version: 66.13
glider: 137
mission: 5
dive: 160
start: 4 5 117 0 10 42
data:
$ID,137
$MISSION,5
$DIVE,160
$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,37
$R_STBD_OVSHOOT,39
$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
$GPS1,050417,000207,1320.5760,6052.0835,43,1.0,49,-0.7,0.0,328.0,7,10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.31
$_SM_ANGLEo,-67.9
$GPS2,050417,001007,1320.5883,6052.0581,9,0.9,20,-0.7,0.0,63.0,8,9.7
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1317.362,6049.681
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,206.0,7352,-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,-146.0,94,2042,331,564,0.0,0.0,0,103,0.00,0.00,-93.78,0.000,16386,0.000,0.000,94,2043,2945,2870,3021,0,0,0,0,0,0,14.85,28.83,14.88
$GC,106,-1.28,-146.0,94,2042,2870,3032,4.2,-5.2,16,137,13.90,2.70,-8.10,0.000,18724,0.415,2.082,2876,3444,3388,3278,3499,0,0,0,0,0,0,14.31,13.44,14.54
$GC,209,-1.28,-146.0,2876,3444,3278,3499,23.4,-11.1,35,216,0.00,2.33,0.00,0.000,1030,0.000,0.039,2876,2040,3388,3278,3499,0,0,0,0,0,0,14.70,14.64,14.71
$GC,524,-1.28,-146.0,2876,2040,3278,3498,65.7,-13.0,86,532,0.00,2.40,0.00,0.000,260,0.000,0.055,2866,3461,3388,3278,3498,0,0,0,0,0,0,14.97,14.71,15.00
$GC,554,-1.28,-146.0,2866,3461,3278,3499,70.0,-13.1,92,559,0.12,2.33,0.00,0.000,3078,0.244,0.037,2893,2048,3388,3278,3499,0,0,0,0,0,0,14.56,14.75,14.76
$GC,860,-1.32,-146.0,2892,2048,3279,3498,108.2,-12.2,123,868,0.00,2.33,0.00,0.000,644,0.000,0.058,2894,643,3388,3279,3498,0,0,0,0,0,0,15.04,14.76,15.06
$GC,943,-1.42,-146.0,2893,643,3279,3498,118.0,-11.3,140,951,0.00,2.30,0.00,0.000,1158,0.000,0.037,2885,2056,3388,3278,3499,0,0,0,0,0,0,14.87,14.81,14.88
$GC,1251,-1.48,-146.0,2885,2055,3279,3499,148.0,-10.9,171,1260,0.12,2.38,0.00,0.000,4740,0.135,0.055,2822,641,3388,3279,3498,0,0,0,0,0,0,14.83,14.80,14.86
$GC,1272,-1.48,-146.0,2822,642,3279,3499,150.8,-13.1,175,1277,0.17,2.30,0.00,0.000,3078,0.240,0.039,2853,2058,3389,3279,3499,0,0,0,0,0,0,14.64,14.83,14.84
$GC,1578,-1.48,-146.0,2853,2059,3279,3499,186.2,-10.7,206,1579,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2058,3389,3279,3499,0,0,0,0,0,0,15.09,15.11,15.11
$GC,1879,-1.52,-146.0,2853,2059,3279,3498,210.3,-8.5,236,1886,0.00,2.30,0.00,0.000,420,0.000,0.059,2844,3450,3389,3279,3499,0,0,0,0,0,0,15.07,14.82,15.09
$GC,1917,-1.59,-146.0,2844,3450,3279,3498,213.8,-9.6,242,1921,0.00,2.30,0.00,0.000,1190,0.000,0.039,2844,2038,3388,3279,3498,0,0,0,0,0,0,14.92,14.85,14.93
$GC,2230,-1.59,-146.0,2844,2036,3279,3498,250.4,-10.8,274,2237,0.00,2.30,0.00,0.000,516,0.000,0.058,2844,642,3389,3279,3499,0,0,0,0,0,0,15.07,14.81,15.09
$GC,2349,-1.59,-146.0,2844,642,3280,3498,264.7,-11.1,297,2358,0.00,2.33,0.00,0.000,1030,0.000,0.042,2834,2059,3388,3279,3498,0,0,0,0,0,0,14.91,14.84,14.92
$GC,2657,-1.59,-146.0,2834,2060,3279,3499,296.6,-10.3,308,2658,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2060,3388,3279,3498,0,0,0,0,0,0,15.09,15.11,15.11
$GC,2957,-1.59,-146.0,2834,2060,3279,3498,327.4,-10.5,318,2962,0.00,2.38,0.00,0.000,516,0.000,0.062,2834,655,3388,3279,3498,0,0,0,0,0,0,15.09,14.83,15.12
$GC,3022,-1.59,-146.0,2834,654,3278,3498,334.8,-10.3,330,3027,0.00,2.30,0.00,0.000,1030,0.000,0.041,2825,2059,3388,3279,3498,0,0,0,0,0,0,14.92,14.85,14.95
$GC,3356,-1.59,-146.0,2824,2059,3277,3498,369.4,-9.9,346,3360,0.00,2.40,0.00,0.000,548,0.000,0.063,2824,644,3387,3277,3498,0,0,0,0,0,0,15.10,14.82,15.12
$GC,3410,-1.59,-146.0,2824,644,3277,3498,375.6,-11.5,356,3415,0.00,2.33,0.00,0.000,1030,0.000,0.045,2815,2055,3387,3277,3498,0,0,0,0,0,0,14.92,14.85,14.95
$GC,3724,-1.59,-146.0,2815,2056,3275,3495,407.7,-10.2,368,3725,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2056,3385,3275,3495,0,0,0,0,0,0,15.10,15.13,15.12
$GC,4024,-1.59,-146.0,2815,2056,3273,3493,436.9,-9.6,378,4029,0.00,2.40,0.00,0.000,548,0.000,0.064,2815,648,3383,3273,3493,0,0,0,0,0,0,15.11,14.81,15.13
$GC,4067,-1.59,-146.0,2815,647,3273,3493,441.7,-10.7,386,4072,0.10,2.33,0.00,0.000,3078,0.275,0.045,2825,2058,3383,3273,3493,0,0,0,0,0,0,14.64,14.85,14.85
$GC,4392,-1.59,-146.0,2824,2058,3271,3490,473.3,-9.9,400,4397,0.00,2.40,0.00,0.000,548,0.000,0.065,2826,651,3380,3271,3490,0,0,0,0,0,0,15.11,14.81,15.13
$GC,4425,-1.59,-146.0,2825,651,3270,3490,477.0,-10.9,406,4432,0.00,2.33,0.00,0.000,1030,0.000,0.046,2817,2058,3380,3270,3490,0,0,0,0,0,0,14.92,14.85,14.95
$GC,4761,-1.59,-146.0,2817,2057,3268,3487,510.9,-10.1,422,4762,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2057,3378,3269,3488,0,0,0,0,0,0,15.10,15.12,15.12
$GC,5061,-1.59,-146.0,2817,2057,3267,3487,540.0,-9.7,432,5067,0.00,2.40,0.00,0.000,548,0.000,0.067,2817,657,3376,3267,3486,0,0,0,0,0,0,15.10,14.80,15.12
$GC,5115,-1.59,-146.0,2817,657,3267,3486,545.8,-10.7,442,5121,0.10,2.33,0.00,0.000,3078,0.259,0.046,2826,2064,3376,3267,3486,0,0,0,0,0,0,14.64,14.84,14.84
$GC,5429,-1.59,-146.0,2826,2064,3266,3485,576.9,-10.3,454,5434,0.00,2.42,0.00,0.000,516,0.000,0.067,2827,648,3375,3266,3484,0,0,0,0,0,0,15.10,14.78,15.12
$GC,5463,-1.59,-146.0,2827,648,3266,3484,580.7,-10.3,460,5468,0.00,2.33,0.00,0.000,1030,0.000,0.048,2819,2052,3375,3266,3484,0,0,0,0,0,0,14.85,14.81,14.88
$GC,5797,-1.59,-146.0,2818,2052,3265,3483,614.9,-10.4,476,5798,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2052,3373,3265,3482,0,0,0,0,0,0,15.10,15.13,15.12
$GC,6097,-1.59,-146.0,2818,2052,3264,3481,646.1,-10.5,486,6102,0.00,2.42,0.00,0.000,516,0.000,0.067,2818,650,3372,3264,3481,0,0,0,0,0,0,15.10,14.78,15.12
$GC,6152,-1.59,-146.0,2818,650,3264,3481,652.1,-11.8,496,6157,0.00,2.35,0.00,0.000,1030,0.000,0.047,2809,2064,3371,3263,3480,0,0,0,0,0,0,14.90,14.83,14.92
$GC,6466,-1.59,-146.0,2808,2064,3262,3479,685.0,-10.1,508,6471,0.00,2.42,0.00,0.000,516,0.000,0.067,2809,655,3370,3262,3479,0,0,0,0,0,0,15.10,14.77,15.12
$GC,6518,-1.59,-146.0,2808,655,3262,3480,691.0,-11.2,518,6526,0.12,2.33,0.00,0.000,3078,0.259,0.047,2826,2058,3370,3261,3479,0,0,0,0,0,0,14.58,14.82,14.81
$GC,6835,-1.62,-146.0,2825,2058,3261,3478,718.0,-8.2,530,6836,0.00,0.00,0.00,0.000,166,0.000,0.000,2826,2058,3369,3261,3478,0,0,0,0,0,0,15.10,15.12,15.12
$GC,7137,-1.66,-146.0,2825,2059,3260,3478,741.6,-7.9,540,7138,0.00,0.00,0.00,0.000,166,0.000,0.000,2826,2059,3369,3260,3478,0,0,0,0,0,0,15.10,15.13,15.12
$GC,7436,-1.69,-146.0,2825,2058,3259,3477,767.7,-9.0,550,7441,0.00,2.42,0.00,0.000,676,0.000,0.067,2826,648,3368,3259,3477,0,0,0,0,0,0,15.10,14.76,15.12
$GC,7462,-1.69,-146.0,2826,648,3259,3477,770.5,-10.4,555,7472,0.00,2.35,0.00,0.000,1030,0.000,0.049,2818,2053,3367,3258,3477,0,0,0,0,0,0,14.90,14.81,14.92
$GC,7769,-1.69,-146.0,2818,2053,3258,3476,802.2,-10.9,566,7774,0.00,2.40,0.00,0.000,516,0.000,0.067,2818,658,3367,3258,3476,0,0,0,0,0,0,15.09,14.76,15.11
$GC,7806,-1.69,-146.0,2818,657,3258,3476,806.8,-12.1,573,7811,0.00,2.33,0.00,0.000,1030,0.000,0.048,2808,2053,3367,3258,3476,0,0,0,0,0,0,14.89,14.81,14.91
$GC,8135,-1.69,-146.0,2808,2053,3257,3475,845.0,-11.8,588,8140,0.00,2.38,0.00,0.000,260,0.000,0.069,2798,3452,3366,3257,3475,0,0,0,0,0,0,15.09,14.76,15.11
$GC,8161,-1.69,-146.0,2798,3451,3257,3474,848.3,-11.5,593,8170,0.00,2.33,0.00,0.000,1030,0.000,0.044,2798,2059,3365,3257,3474,0,0,0,0,0,0,14.88,14.80,14.91
$GC,8469,-1.69,-146.0,2798,2058,3256,3474,884.4,-11.7,604,8474,0.00,2.40,0.00,0.000,516,0.000,0.067,2799,643,3365,3256,3474,0,0,0,0,0,0,15.09,14.75,15.11
$GC,8533,-1.66,-146.0,2799,643,3256,3474,892.4,-11.8,616,8539,0.08,2.33,0.00,0.000,3206,0.249,0.047,2810,2052,3364,3255,3474,0,0,0,0,0,0,14.50,14.76,14.66
$GC,8867,-1.66,-146.0,2810,2052,3254,3473,927.5,-10.2,632,8872,0.00,2.38,0.00,0.000,260,0.000,0.069,2802,3446,3363,3254,3473,0,0,0,0,0,0,15.08,14.73,15.10
$GC,8911,-1.66,-146.0,2802,3446,3254,3472,932.0,-9.6,640,8916,0.00,2.35,0.00,0.000,1062,0.000,0.046,2802,2044,3363,3254,3472,0,0,0,0,0,0,14.87,14.78,14.90
$GC,9235,-1.66,-146.0,2802,2043,3254,3471,964.6,-10.2,654,9240,0.00,2.40,0.00,0.000,516,0.000,0.071,2803,639,3362,3254,3471,0,0,0,0,0,0,15.09,14.73,15.11
$GC,9261,-1.66,-146.0,2802,639,3253,3471,967.9,-11.1,659,9269,0.00,2.38,0.00,0.000,1030,0.000,0.049,2794,2050,3362,3253,3471,0,0,0,0,0,0,14.87,14.78,14.89
$STATE,9478,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9478,begin apogee
$GC,9483,-0.33,0.0,2794,1787,3252,3471,990.3,-10.4,667,9615,1.17,0.00,128.35,2.694,10246,0.260,0.000,3098,1785,2789,2678,2901,0,0,0,0,0,0,14.45,14.02,13.00
$STATE,9616,end apogee,CONTROL_FINISHED_OK
$STATE,9616,begin climb
$GC,9618,1.28,146.0,3098,1785,2674,2898,992.7,0.0,671,9779,1.20,0.00,150.75,2.496,10502,0.162,0.000,3449,1785,2191,2062,2321,0,0,0,0,0,0,14.00,13.72,13.00
$GC,10077,1.09,146.0,3449,1785,2049,2320,947.0,12.3,712,10085,0.17,2.45,0.00,0.000,4740,0.344,0.074,3423,395,2183,2047,2320,0,0,0,0,0,0,14.24,14.49,14.45
$GC,10156,0.93,146.0,3423,395,2043,2320,937.8,11.3,728,10161,0.17,2.40,0.00,0.000,5254,0.309,0.047,3378,1806,2181,2043,2320,0,0,0,0,0,0,14.34,14.57,14.60
$GC,10463,0.88,161.0,3378,1806,2042,2320,909.1,9.3,739,10478,0.00,0.00,13.65,2.369,8358,0.000,0.000,3378,1806,2132,1992,2273,0,0,0,0,0,0,14.93,14.57,13.61
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$STATE,19219,end climb,SURFACE_DEPTH_REACHED
$STATE,19219,begin surface coast
$FINISH,1.6,1.010530
$STATE,19241,end surface coast,CONTROL_FINISHED_OK
$STATE,19241,begin surface
$SM_CCo,19258,80.95,0.081,0,0,449,573.99
$SM_GC,2.40,9.98,0.45,80.95,0.083,0.058,0.081,96,2068,449,-14.10,-1.24,573.99,0,0,0,0,0,0,14.58,14.69,14.62
$IRIDIUM_FIX,1314.23,6057.37,040417,183715
$TT8_MAMPS,0.023968,0.15729
$HUMID,49.25
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,24.00
$XPDR_PINGS,8
$24V_AH,13.00,55.381
$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,28.325,197.375,490.325,80.950,0.000,0.000,0.000,257.925,113.000,0.000,21.337,3058.982,13141.787,778.166,2636.929,205.762,0.000,2257.942,0.000,2027.683,0.000,744.830,0.000
$DEVICE_MAMPS,414.630,2082.330,2693.565,81.090,0.000,0.000,0.000,185.130,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,683.425,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,59944,1425
$CAP_FILE_SIZE,224238,0
$CFSIZE,260034560,246181888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.060,260.07,1
$GPS,050417,053431,1317.960,6050.336,33,0.9,53,-0.7,0.3,206.5,10,9.4