version: 66.13
glider: 137
mission: 5
dive: 164
start: 4 5 117 21 47 56
data:
$ID,137
$MISSION,5
$DIVE,164
$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,29
$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
$GPS1,050417,214234,1316.5905,6056.9990,29,0.9,33,-0.7,0.5,212.1,8,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.34
$_SM_ANGLEo,-66.0
$GPS2,050417,214719,1316.5551,6056.9707,6,0.8,18,-0.7,0.0,272.6,9,9.8
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1315.889,6100.051
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,93.2,5687,-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,-146.0,93,2071,331,563,0.0,0.0,0,109,0.00,0.00,-99.32,0.000,16386,0.000,0.000,93,2071,3083,3000,3166,0,0,0,0,0,0,14.85,28.83,14.87
$GC,111,-1.28,-146.0,93,2072,3001,3166,4.7,-6.6,17,138,14.40,2.72,-5.32,0.000,18980,0.429,2.084,2892,642,3388,3281,3496,0,0,0,0,0,0,14.30,13.45,14.64
$GC,230,-1.28,-146.0,2892,642,3283,3496,28.6,-12.7,39,236,0.00,2.30,0.00,0.000,1030,0.000,0.038,2884,2040,3389,3283,3496,0,0,0,0,0,0,14.71,14.64,14.72
$GC,544,-1.28,-146.0,2884,2040,3284,3496,68.4,-10.4,86,553,0.00,2.35,0.00,0.000,260,0.000,0.060,2873,3451,3390,3284,3496,0,0,0,0,0,0,14.97,14.69,15.00
$GC,605,-1.33,-146.0,2873,3451,3283,3496,75.2,-11.1,98,614,0.00,2.33,0.00,0.000,1158,0.000,0.037,2873,2027,3389,3283,3496,0,0,0,0,0,0,14.81,14.74,14.83
$GC,915,-1.33,-146.0,2873,2027,3284,3496,120.9,-15.0,130,924,0.00,2.28,0.00,0.000,516,0.000,0.057,2873,646,3390,3284,3496,0,0,0,0,0,0,15.04,14.76,15.04
$GC,949,-1.33,-146.0,2873,646,3284,3496,126.1,-13.8,137,957,0.00,2.30,0.00,0.000,1030,0.000,0.040,2863,2058,3390,3284,3496,0,0,0,0,0,0,14.85,14.78,14.88
$GC,1256,-1.33,-146.0,2863,2058,3285,3496,157.0,-7.9,168,1265,0.00,2.35,0.00,0.000,548,0.000,0.056,2864,651,3390,3285,3496,0,0,0,0,0,0,15.07,14.78,15.09
$GC,1301,-1.37,-146.0,2863,651,3285,3496,160.8,-7.2,177,1309,0.10,2.28,0.00,0.000,3238,0.274,0.039,2872,2054,3390,3285,3496,0,0,0,0,0,0,14.62,14.81,14.82
$GC,1609,-1.44,-146.0,2873,2054,3285,3496,189.6,-12.5,208,1619,0.00,2.28,0.00,0.000,388,0.000,0.058,2864,3443,3390,3285,3496,0,0,0,0,0,0,15.07,14.74,15.10
$GC,1642,-1.56,-146.0,2864,3443,3286,3496,193.8,-12.2,214,1651,0.12,2.28,0.00,0.000,5254,0.124,0.037,2811,2039,3390,3285,3496,0,0,0,0,0,0,14.83,14.83,14.90
$GC,1952,-1.56,-146.0,2811,2039,3285,3496,235.5,-12.2,246,1957,0.12,2.30,0.00,0.000,2564,0.253,0.056,2843,654,3390,3285,3496,0,0,0,0,0,0,14.62,14.80,14.75
$GC,2044,-1.56,-146.0,2842,654,3285,3496,245.2,-9.8,262,2049,0.00,2.28,0.00,0.000,1062,0.000,0.039,2834,2056,3390,3285,3496,0,0,0,0,0,0,14.90,14.83,14.92
$GC,2368,-1.56,-146.0,2834,2056,3285,3496,275.2,-9.2,277,2373,0.00,2.35,0.00,0.000,548,0.000,0.060,2833,657,3390,3285,3496,0,0,0,0,0,0,15.09,14.81,15.11
$GC,2409,-1.56,-146.0,2834,656,3285,3496,279.9,-10.2,285,2415,0.00,2.28,0.00,0.000,1030,0.000,0.040,2824,2052,3391,3286,3496,0,0,0,0,0,0,14.90,14.84,14.92
$GC,2733,-1.56,-146.0,2823,2052,3285,3496,314.2,-11.1,299,2740,0.00,2.35,0.00,0.000,516,0.000,0.060,2824,658,3390,3285,3496,0,0,0,0,0,0,15.08,14.81,15.10
$GC,2768,-1.56,-146.0,2824,658,3285,3496,318.2,-11.6,305,2774,0.10,2.30,0.00,0.000,3078,0.272,0.041,2833,2060,3390,3285,3496,0,0,0,0,0,0,14.64,14.84,14.84
$GC,3102,-1.59,-146.0,2833,2060,3283,3496,355.5,-11.3,321,3104,0.00,0.00,0.00,0.000,134,0.000,0.000,2833,2059,3389,3283,3496,0,0,0,0,0,0,15.09,15.11,15.11
$GC,3403,-1.62,-146.0,2833,2060,3282,3496,388.5,-10.7,331,3410,0.00,2.33,0.00,0.000,388,0.000,0.063,2824,3450,3388,3281,3496,0,0,0,0,0,0,15.09,14.81,15.11
$GC,3447,-1.68,-146.0,2824,3450,3282,3496,393.3,-10.6,339,3454,0.00,2.30,0.00,0.000,1158,0.000,0.041,2824,2052,3389,3282,3496,0,0,0,0,0,0,14.91,14.84,14.93
$GC,3773,-1.68,-146.0,2824,2052,3280,3495,425.1,-9.5,353,3779,0.00,2.35,0.00,0.000,548,0.000,0.065,2824,647,3387,3279,3495,0,0,0,0,0,0,15.10,14.80,15.12
$GC,3800,-1.68,-146.0,2824,647,3279,3495,428.2,-10.4,358,3808,0.00,2.33,0.00,0.000,1030,0.000,0.047,2815,2050,3387,3279,3495,0,0,0,0,0,0,14.91,14.83,14.93
$GC,4108,-1.68,-146.0,2814,2050,3278,3493,457.1,-9.6,369,4114,0.00,2.40,0.00,0.000,548,0.000,0.065,2814,641,3385,3278,3493,0,0,0,0,0,0,15.10,14.78,15.12
$GC,4161,-1.68,-146.0,2814,641,3278,3493,462.8,-11.1,379,4168,0.00,2.35,0.00,0.000,1030,0.000,0.046,2805,2061,3385,3277,3493,0,0,0,0,0,0,14.90,14.82,14.92
$GC,4476,-1.68,-146.0,2805,2061,3276,3490,495.2,-10.6,391,4483,0.00,2.35,0.00,0.000,260,0.000,0.070,2795,3455,3383,3276,3490,0,0,0,0,0,0,15.09,14.78,15.11
$GC,4530,-1.68,-146.0,2794,3455,3276,3490,501.3,-11.2,401,4535,0.00,2.33,0.00,0.000,1030,0.000,0.044,2795,2055,3382,3276,3489,0,0,0,0,0,0,14.90,14.82,14.92
$GC,4843,-1.68,-146.0,2794,2053,3273,3488,535.9,-11.2,413,4848,0.00,2.38,0.00,0.000,516,0.000,0.067,2799,642,3381,3274,3488,0,0,0,0,0,0,15.09,14.78,15.11
$GC,4898,-1.65,-146.0,2799,642,3274,3487,542.4,-11.7,423,4904,0.12,2.35,0.00,0.000,3206,0.288,0.046,2815,2063,3380,3273,3488,0,0,0,0,0,0,14.54,14.82,14.81
$GC,5213,-1.65,-146.0,2815,2063,3272,3487,574.9,-10.3,435,5214,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2063,3379,3272,3487,0,0,0,0,0,0,15.09,15.12,15.11
$GC,5513,-1.65,-146.0,2815,2063,3271,3486,605.5,-10.1,445,5519,0.00,2.42,0.00,0.000,516,0.000,0.066,2816,646,3378,3271,3486,0,0,0,0,0,0,15.09,14.78,15.11
$GC,5556,-1.65,-146.0,2816,645,3271,3486,610.6,-11.3,453,5562,0.00,2.35,0.00,0.000,1030,0.000,0.048,2807,2056,3378,3271,3486,0,0,0,0,0,0,14.90,14.81,14.92
$GC,5881,-1.65,-146.0,2806,2056,3270,3484,644.7,-10.7,467,5885,0.00,2.45,0.00,0.000,516,0.000,0.066,2807,637,3377,3270,3484,0,0,0,0,0,0,15.09,14.76,15.11
$GC,5927,-1.65,-146.0,2807,636,3270,3484,650.4,-11.9,476,5932,0.00,2.35,0.00,0.000,1030,0.000,0.046,2798,2051,3376,3269,3484,0,0,0,0,0,0,14.89,14.81,14.91
$GC,6245,-1.65,-146.0,2797,2052,3268,3482,685.7,-11.4,489,6246,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2052,3375,3269,3482,0,0,0,0,0,0,15.08,15.11,15.11
$GC,6547,-1.65,-146.0,2797,2051,3268,3481,719.1,-11.2,499,6552,0.00,2.42,0.00,0.000,516,0.000,0.067,2798,640,3374,3267,3481,0,0,0,0,0,0,15.09,14.76,15.11
$GC,6605,-1.65,-146.0,2797,640,3267,3481,726.3,-11.1,510,6614,0.12,2.35,0.00,0.000,3078,0.275,0.046,2814,2056,3373,3267,3480,0,0,0,0,0,0,14.52,14.80,14.78
$GC,6910,-1.65,-146.0,2814,2056,3266,3479,758.7,-10.7,521,6918,0.00,2.38,0.00,0.000,260,0.000,0.071,2805,3452,3372,3266,3479,0,0,0,0,0,0,15.08,14.74,15.11
$GC,6949,-1.69,-146.0,2805,3451,3266,3479,763.2,-10.5,528,6957,0.00,2.33,0.00,0.000,1158,0.000,0.045,2805,2046,3372,3266,3479,0,0,0,0,0,0,14.82,14.77,14.85
$GC,7279,-1.69,-146.0,2805,2046,3266,3479,799.2,-10.9,543,7284,0.00,2.38,0.00,0.000,516,0.000,0.067,2806,642,3372,3265,3479,0,0,0,0,0,0,15.08,14.74,15.10
$GC,7314,-1.69,-146.0,2806,642,3265,3478,802.9,-11.6,549,7319,0.00,2.35,0.00,0.000,1030,0.000,0.047,2797,2056,3371,3265,3478,0,0,0,0,0,0,14.88,14.79,14.90
$GC,7648,-1.69,-146.0,2797,2057,3264,3477,841.0,-11.3,565,7650,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2056,3370,3263,3478,0,0,0,0,0,0,15.09,15.11,15.11
$GC,7948,-1.69,-146.0,2797,2056,3263,3477,874.6,-11.3,575,7953,0.00,2.42,0.00,0.000,516,0.000,0.068,2798,650,3370,3263,3478,0,0,0,0,0,0,15.08,14.73,15.10
$GC,7991,-1.69,-146.0,2797,650,3263,3477,880.1,-11.7,583,7996,0.00,2.35,0.00,0.000,1030,0.000,0.049,2788,2054,3369,3262,3477,0,0,0,0,0,0,14.87,14.78,14.90
$GC,8315,-1.69,-146.0,2788,2054,3261,3477,914.9,-10.4,597,8320,0.00,2.38,0.00,0.000,260,0.000,0.070,2778,3449,3369,3262,3477,0,0,0,0,0,0,15.09,14.73,15.11
$GC,8363,-1.69,-146.0,2778,3449,3262,3476,920.2,-10.1,606,8369,0.10,2.33,0.00,0.000,3078,0.249,0.046,2804,2038,3369,3262,3476,0,0,0,0,0,0,14.44,14.75,14.62
$GC,8683,-1.69,-146.0,2804,2039,3261,3476,949.7,-9.4,619,8690,0.00,2.45,0.00,0.000,292,0.000,0.069,2795,3453,3368,3261,3475,0,0,0,0,0,0,15.07,14.72,15.10
$GC,8718,-1.69,-146.0,2795,3453,3260,3475,953.1,-9.3,625,8723,0.00,2.35,0.00,0.000,1062,0.000,0.044,2795,2048,3368,3261,3475,0,0,0,0,0,0,14.86,14.78,14.89
$GC,9051,-1.69,-146.0,2795,2047,3260,3475,985.8,-10.0,641,9057,0.00,2.38,0.00,0.000,516,0.000,0.069,2797,646,3367,3260,3474,0,0,0,0,0,0,15.07,14.72,15.09
$STATE,9087,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9087,begin apogee
$GC,9094,-0.33,0.0,2790,1801,3260,3474,990.3,-11.0,648,9227,1.20,0.00,129.75,2.697,10246,0.267,0.000,3098,1806,2789,2677,2901,0,0,0,0,0,0,14.43,14.01,13.00
$STATE,9228,end apogee,CONTROL_FINISHED_OK
$STATE,9228,begin climb
$GC,9230,1.28,146.0,3097,1806,2673,2897,992.3,0.0,652,9370,1.23,0.00,135.88,2.648,10246,0.161,0.000,3452,1808,2194,2067,2321,0,0,0,0,0,0,14.00,13.84,12.87
$GC,9661,1.09,146.0,3451,1807,2044,2316,947.0,13.2,667,9668,0.17,2.47,0.00,0.000,4740,0.346,0.071,3425,402,2179,2043,2316,0,0,0,0,0,0,14.22,14.45,14.42
$GC,9735,0.93,146.0,3425,402,2041,2316,937.3,12.6,682,9740,0.17,2.38,0.00,0.000,5254,0.321,0.047,3382,1798,2178,2040,2316,0,0,0,0,0,0,14.29,14.55,14.58
$GC,10048,0.86,146.0,3381,1799,2038,2316,904.5,10.2,694,10054,0.00,2.40,0.00,0.000,388,0.000,0.070,3381,3202,2177,2038,2316,0,0,0,0,0,0,14.92,14.64,14.95
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$STATE,18568,end climb,SURFACE_DEPTH_REACHED
$STATE,18569,begin surface coast
$FINISH,1.4,0.998709
$STATE,18596,end surface coast,CONTROL_FINISHED_OK
$STATE,18596,begin surface
$SM_CCo,18613,84.12,0.082,0,0,448,573.99
$SM_GC,2.37,9.82,0.40,84.12,0.081,0.058,0.082,93,2074,448,-14.11,-0.96,573.99,0,0,0,0,0,0,14.66,14.78,14.66
$IRIDIUM_FIX,1309.80,6055.43,050417,162424
$TT8_MAMPS,0.023968,0.15729
$HUMID,48.66
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,24.00
$XPDR_PINGS,8
$24V_AH,12.87,56.928
$10V_AH,13.52,0.000
$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,28.975,210.075,466.550,84.125,0.000,0.000,0.000,187.950,109.250,0.000,20.512,2938.317,12559.037,794.933,2484.595,211.552,0.000,2165.641,0.000,1959.676,0.000,721.125,0.000
$DEVICE_MAMPS,429.165,2083.860,2696.625,81.855,0.000,0.000,0.000,182.070,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,654.393,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,60025,1377
$CAP_FILE_SIZE,219073,0
$CFSIZE,260034560,245841920
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,9666.60,0x213b14,1,24
$CURRENT,0.048,220.35,1
$GPS,060417,030100,1315.961,6059.370,38,0.8,49,-0.7,0.3,162.2,9,9.4