version: 66.13
glider: 137
mission: 5
dive: 163
start: 4 5 117 16 29 14
data:
$ID,137
$MISSION,5
$DIVE,163
$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,36
$R_STBD_OVSHOOT,62
$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
$GPS1,050417,161730,1317.3459,6054.6328,40,0.9,51,-0.7,0.3,188.0,9,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-66.3
$GPS2,050417,162839,1317.2372,6054.6831,6,0.9,18,-0.7,0.0,137.6,10,9.9
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1316.808,6057.388
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,95.4,4940,-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,7,-1.28,-146.0,90,2080,332,563,0.0,0.0,0,102,0.00,0.00,-93.20,0.000,16386,0.000,0.000,90,2080,2958,2878,3038,0,0,0,0,0,0,14.85,28.83,14.88
$GC,105,-1.28,-146.0,90,2080,2879,3038,4.4,-5.7,16,137,14.12,2.72,-8.07,0.000,18980,0.420,2.075,2894,654,3388,3276,3501,0,0,0,0,0,0,14.33,13.44,14.65
$GC,219,-1.28,-146.0,2894,654,3277,3501,24.2,-11.8,37,227,0.00,2.28,0.00,0.000,1030,0.000,0.039,2885,2034,3389,3277,3501,0,0,0,0,0,0,14.70,14.64,14.72
$GC,528,-1.28,-146.0,2885,2034,3277,3501,61.5,-11.2,88,533,0.00,2.35,0.00,0.000,516,0.000,0.057,2885,643,3389,3277,3502,0,0,0,0,0,0,14.97,14.71,15.00
$GC,564,-1.28,-146.0,2885,643,3277,3501,65.5,-10.9,95,568,0.00,2.30,0.00,0.000,1030,0.000,0.039,2875,2053,3389,3277,3501,0,0,0,0,0,0,14.81,14.75,14.83
$GC,870,-1.28,-146.0,2875,2053,3277,3501,97.3,-9.3,126,879,0.00,2.38,0.00,0.000,548,0.000,0.056,2875,638,3389,3277,3501,0,0,0,0,0,0,15.04,14.77,15.06
$GC,911,-1.28,-146.0,2875,637,3277,3501,102.0,-11.1,134,921,0.12,2.30,0.00,0.000,3078,0.265,0.039,2893,2055,3389,3277,3501,0,0,0,0,0,0,14.61,14.80,14.81
$GC,1222,-1.35,-146.0,2893,2055,3277,3501,139.3,-12.7,166,1230,0.00,2.30,0.00,0.000,388,0.000,0.060,2885,3447,3389,3277,3501,0,0,0,0,0,0,15.07,14.79,15.09
$GC,1252,-1.46,-146.0,2884,3447,3277,3501,143.3,-12.4,172,1263,0.12,2.30,0.00,0.000,5254,0.128,0.037,2824,2033,3389,3277,3501,0,0,0,0,0,0,14.83,14.83,14.89
$GC,1563,-1.42,-146.0,2824,2033,3277,3501,181.1,-11.0,204,1573,0.15,2.28,0.00,0.000,2692,0.251,0.055,2862,654,3389,3277,3501,0,0,0,0,0,0,14.62,14.81,14.76
$GC,1605,-1.42,-146.0,2862,654,3277,3501,184.7,-8.6,212,1615,0.00,2.28,0.00,0.000,1062,0.000,0.038,2854,2061,3389,3277,3501,0,0,0,0,0,0,14.91,14.84,14.92
$GC,1917,-1.46,-146.0,2854,2061,3277,3501,209.1,-8.3,244,1923,0.00,2.38,0.00,0.000,676,0.000,0.060,2854,650,3389,3277,3501,0,0,0,0,0,0,15.07,14.82,15.09
$GC,1957,-1.50,-146.0,2854,650,3277,3501,212.7,-8.1,251,1967,0.00,2.28,0.00,0.000,1190,0.000,0.040,2844,2048,3389,3277,3501,0,0,0,0,0,0,14.91,14.85,14.93
$GC,2265,-1.50,-146.0,2844,2049,3277,3501,242.4,-11.4,282,2272,0.00,2.33,0.00,0.000,260,0.000,0.060,2834,3456,3389,3277,3502,0,0,0,0,0,0,15.07,14.81,15.09
$GC,2317,-1.56,-146.0,2833,3456,3277,3501,249.0,-12.0,291,2325,0.00,2.30,0.00,0.000,1158,0.000,0.038,2834,2043,3389,3277,3501,0,0,0,0,0,0,14.92,14.85,14.93
$GC,2634,-1.56,-146.0,2833,2043,3277,3501,286.0,-10.8,303,2638,0.00,2.30,0.00,0.000,516,0.000,0.060,2834,654,3389,3277,3501,0,0,0,0,0,0,15.09,14.82,15.11
$GC,2676,-1.56,-146.0,2833,654,3277,3501,290.7,-10.4,311,2681,0.00,2.28,0.00,0.000,1030,0.000,0.041,2824,2050,3389,3277,3501,0,0,0,0,0,0,14.92,14.85,14.94
$GC,3000,-1.56,-146.0,2824,2051,3275,3501,322.8,-10.1,325,3001,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2051,3388,3275,3501,0,0,0,0,0,0,15.10,15.12,15.12
$GC,3299,-1.56,-146.0,2823,2051,3272,3499,354.0,-10.7,335,3304,0.00,2.38,0.00,0.000,516,0.000,0.060,2824,647,3386,3273,3499,0,0,0,0,0,0,15.09,14.83,15.11
$GC,3347,-1.56,-146.0,2823,646,3273,3499,359.6,-11.7,344,3354,0.10,2.30,0.00,0.000,3078,0.256,0.044,2834,2053,3385,3272,3499,0,0,0,0,0,0,14.66,14.85,14.86
$GC,3669,-1.59,-146.0,2833,2053,3270,3497,392.2,-10.3,357,3674,0.00,2.33,0.00,0.000,388,0.000,0.063,2825,3447,3383,3270,3496,0,0,0,0,0,0,15.11,14.82,15.13
$GC,3711,-1.65,-146.0,2824,3447,3270,3496,397.1,-10.7,365,3717,0.00,2.30,0.00,0.000,1158,0.000,0.040,2825,2046,3383,3271,3496,0,0,0,0,0,0,14.92,14.85,14.95
$GC,4035,-1.65,-146.0,2825,2046,3268,3494,433.0,-11.3,379,4042,0.00,2.35,0.00,0.000,516,0.000,0.064,2825,643,3380,3268,3493,0,0,0,0,0,0,15.09,14.81,15.11
$GC,4064,-1.65,-146.0,2824,643,3268,3493,436.7,-11.7,384,4071,0.00,2.33,0.00,0.000,1030,0.000,0.047,2815,2046,3380,3268,3493,0,0,0,0,0,0,14.92,14.84,14.94
$GC,4369,-1.65,-146.0,2815,2047,3267,3490,473.0,-12.0,395,4370,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2047,3379,3267,3491,0,0,0,0,0,0,15.09,15.12,15.12
$GC,4671,-1.65,-146.0,2815,2047,3266,3488,506.9,-11.0,405,4677,0.00,2.40,0.00,0.000,516,0.000,0.066,2815,643,3377,3266,3488,0,0,0,0,0,0,15.11,14.80,15.13
$GC,4713,-1.65,-146.0,2815,643,3266,3487,512.3,-12.3,413,4719,0.00,2.35,0.00,0.000,1030,0.000,0.048,2806,2057,3376,3265,3488,0,0,0,0,0,0,14.92,14.83,14.94
$GC,5037,-1.65,-146.0,2806,2057,3263,3486,547.0,-10.3,427,5043,0.00,2.40,0.00,0.000,516,0.000,0.066,2806,653,3374,3263,3486,0,0,0,0,0,0,15.09,14.80,15.11
$GC,5074,-1.65,-146.0,2806,652,3263,3486,551.3,-10.5,434,5081,0.00,2.33,0.00,0.000,1030,0.000,0.048,2797,2051,3374,3262,3486,0,0,0,0,0,0,14.91,14.83,14.93
$GC,5404,-1.65,-146.0,2797,2052,3262,3486,585.8,-10.4,449,5410,0.00,2.40,0.00,0.000,516,0.000,0.067,2798,650,3373,3261,3485,0,0,0,0,0,0,15.09,14.78,15.11
$GC,5448,-1.62,-146.0,2797,650,3261,3485,590.8,-10.9,457,5455,0.15,2.33,0.00,0.000,3206,0.275,0.048,2819,2054,3373,3261,3485,0,0,0,0,0,0,14.55,14.82,14.78
$GC,5774,-1.62,-146.0,2819,2054,3260,3483,622.7,-10.0,471,5775,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2054,3371,3260,3483,0,0,0,0,0,0,15.10,15.13,15.12
$GC,6073,-1.62,-146.0,2819,2054,3257,3482,654.3,-10.7,481,6074,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2054,3370,3258,3482,0,0,0,0,0,0,15.09,15.12,15.11
$GC,6373,-1.62,-146.0,2819,2054,3257,3480,686.5,-10.7,491,6374,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2054,3369,3258,3480,0,0,0,0,0,0,15.09,15.12,15.11
$GC,6675,-1.62,-146.0,2819,2054,3256,3479,718.4,-10.7,501,6680,0.00,2.38,0.00,0.000,260,0.000,0.072,2811,3449,3367,3256,3479,0,0,0,0,0,0,15.10,14.77,15.12
$GC,6717,-1.66,-146.0,2810,3449,3256,3478,723.5,-11.2,509,6723,0.00,2.33,0.00,0.000,1158,0.000,0.046,2811,2057,3367,3256,3479,0,0,0,0,0,0,14.90,14.82,14.92
$GC,7041,-1.66,-146.0,2810,2056,3255,3478,757.6,-10.3,523,7048,0.00,2.40,0.00,0.000,516,0.000,0.067,2811,637,3366,3254,3478,0,0,0,0,0,0,15.09,14.77,15.11
$GC,7084,-1.66,-146.0,2810,636,3255,3478,762.5,-10.4,531,7089,0.00,2.35,0.00,0.000,1030,0.000,0.047,2801,2047,3366,3254,3478,0,0,0,0,0,0,14.89,14.81,14.92
$GC,7407,-1.66,-146.0,2800,2047,3254,3477,793.5,-9.2,545,7413,0.00,2.42,0.00,0.000,548,0.000,0.067,2801,639,3365,3253,3477,0,0,0,0,0,0,15.09,14.76,15.11
$GC,7442,-1.66,-146.0,2800,638,3253,3477,796.8,-9.3,551,7448,0.10,2.38,0.00,0.000,3110,0.289,0.048,2810,2063,3365,3253,3477,0,0,0,0,0,0,14.54,14.80,14.77
$GC,7778,-1.66,-146.0,2809,2063,3251,3477,825.0,-8.3,567,7779,0.00,0.00,0.00,0.000,38,0.000,0.000,2810,2063,3364,3252,3477,0,0,0,0,0,0,15.09,15.11,15.11
$GC,8077,-1.66,-146.0,2809,2063,3251,3476,850.3,-8.6,577,8082,0.00,2.45,0.00,0.000,548,0.000,0.069,2810,642,3363,3251,3476,0,0,0,0,0,0,15.09,14.75,15.11
$GC,8115,-1.66,-146.0,2810,642,3251,3475,854.1,-9.5,584,8120,0.00,2.38,0.00,0.000,1062,0.000,0.050,2802,2060,3363,3251,3476,0,0,0,0,0,0,14.88,14.79,14.90
$GC,8444,-1.66,-146.0,2801,2060,3250,3475,885.9,-10.1,599,8449,0.00,2.38,0.00,0.000,260,0.000,0.070,2792,3457,3362,3250,3475,0,0,0,0,0,0,15.09,14.74,15.11
$GC,8464,-1.66,-146.0,2791,3456,3250,3474,888.4,-10.7,603,8470,0.10,2.38,0.00,0.000,3078,0.246,0.047,2811,2038,3362,3250,3474,0,0,0,0,0,0,14.57,14.79,14.76
$GC,8778,-1.66,-146.0,2810,2038,3250,3473,919.0,-9.9,615,8783,0.00,2.45,0.00,0.000,292,0.000,0.069,2802,3456,3362,3250,3474,0,0,0,0,0,0,15.08,14.73,15.10
$GC,8804,-1.66,-146.0,2801,3455,3250,3473,921.9,-10.1,620,8814,0.00,2.38,0.00,0.000,1030,0.000,0.046,2802,2042,3361,3250,3473,0,0,0,0,0,0,14.88,14.78,14.90
$GC,9111,-1.66,-146.0,2801,2041,3250,3472,953.1,-10.3,631,9116,0.00,2.45,0.00,0.000,260,0.000,0.068,2791,3457,3360,3249,3471,0,0,0,0,0,0,15.08,14.73,15.10
$GC,9153,-1.66,-146.0,2791,3457,3250,3471,957.9,-10.7,639,9159,0.10,2.38,0.00,0.000,3078,0.249,0.046,2811,2038,3360,3250,3471,0,0,0,0,0,0,14.55,14.78,14.77
$GC,9478,-1.66,-146.0,2811,2038,3249,3470,989.6,-9.9,653,9480,0.00,0.00,0.00,0.000,38,0.000,0.000,2811,2038,3360,3249,3471,0,0,0,0,0,0,15.09,15.11,15.11
$STATE,9506,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9506,begin apogee
$GC,9510,-0.33,0.0,2812,1777,3249,3470,992.4,-9.8,654,9642,1.15,0.00,128.05,2.695,10246,0.285,0.000,3099,1776,2789,2676,2902,0,0,0,0,0,0,14.41,14.02,13.00
$STATE,9643,end apogee,CONTROL_FINISHED_OK
$STATE,9643,begin climb
$GC,9645,1.28,146.0,3099,1776,2671,2899,994.7,0.0,658,9788,1.27,0.00,138.80,2.631,10246,0.188,0.000,3453,1776,2193,2065,2322,0,0,0,0,0,0,13.99,13.86,12.92
$GC,10077,1.09,146.0,3453,1776,2044,2319,947.3,14.0,673,10082,0.17,2.40,0.00,0.000,4740,0.337,0.067,3427,398,2181,2043,2319,0,0,0,0,0,0,14.22,14.49,14.42
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$STATE,18602,end climb,SURFACE_DEPTH_REACHED
$STATE,18602,begin surface coast
$FINISH,1.5,1.009654
$STATE,18629,end surface coast,CONTROL_FINISHED_OK
$STATE,18630,begin surface
$SM_CCo,18647,82.97,0.082,0,0,449,573.99
$SM_GC,2.32,9.90,0.38,82.97,0.082,0.061,0.082,93,2064,449,-14.10,-1.19,573.99,0,0,0,0,0,0,14.66,14.74,14.64
$IRIDIUM_FIX,1314.23,6052.42,050417,104808
$TT8_MAMPS,0.023968,0.158039
$HUMID,49.44
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,23.90
$XPDR_PINGS,4
$24V_AH,12.92,56.533
$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,28.500,191.450,472.100,82.975,0.000,0.000,0.000,329.725,106.500,0.000,19.717,2951.603,12894.817,804.581,2556.809,195.311,0.000,2261.426,0.000,1897.567,0.000,710.148,0.000
$DEVICE_MAMPS,419.985,2074.680,2695.095,81.855,0.000,0.000,0.000,177.480,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,668.251,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225124
$DATA_FILE_SIZE,56651,1333
$CAP_FILE_SIZE,213629,0
$CFSIZE,260034560,245936128
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12997.10,0x233daa,1,24
$CURRENT,0.066,232.94,1
$GPS,050417,214234,1316.590,6056.999,29,0.9,33,-0.7,0.5,212.1,8,9.0