version: 66.13
glider: 137
mission: 5
dive: 167
start: 4 6 117 13 0 30
data:
$ID,137
$MISSION,5
$DIVE,167
$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,59
$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
$GPS1,060417,125506,1317.7310,6054.1641,25,0.8,30,-0.7,0.0,225.3,10,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-66.1
$GPS2,060417,125952,1317.7096,6054.1260,8,0.9,8,-0.7,0.0,0.0,9,0.0
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1319.351,6050.726
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,301.1,6840,-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,-146.0,94,2085,337,573,0.0,0.0,0,103,0.00,0.00,-94.22,0.000,16386,0.000,0.000,94,2086,2951,2876,3027,0,0,0,0,0,0,14.85,28.83,14.87
$GC,106,-1.28,-146.0,94,2086,2875,3027,4.1,-5.1,16,138,14.10,2.55,-8.25,0.000,18724,0.418,2.079,2880,3423,3389,3282,3496,0,0,0,0,0,0,14.28,13.40,14.51
$GC,206,-1.28,-146.0,2880,3423,3283,3495,24.2,-15.8,34,212,0.00,2.28,0.00,0.000,1030,0.000,0.035,2880,2042,3389,3283,3495,0,0,0,0,0,0,14.69,14.62,14.70
$GC,519,-1.28,-146.0,2880,2040,3283,3496,63.8,-10.6,84,529,0.00,2.30,0.00,0.000,516,0.000,0.053,2880,651,3389,3284,3495,0,0,0,0,0,0,14.97,14.69,14.99
$GC,553,-1.28,-146.0,2880,651,3284,3495,68.0,-11.7,91,561,0.08,2.30,0.00,0.000,3078,0.230,0.035,2891,2036,3389,3283,3495,0,0,0,0,0,0,14.51,14.71,14.64
$GC,861,-1.28,-146.0,2890,2036,3284,3495,100.1,-11.3,122,870,0.00,2.33,0.00,0.000,260,0.000,0.056,2882,3446,3390,3284,3496,0,0,0,0,0,0,15.03,14.75,15.05
$GC,892,-1.36,-146.0,2882,3446,3284,3496,103.7,-11.0,128,902,0.00,2.28,0.00,0.000,1158,0.000,0.035,2882,2042,3390,3284,3496,0,0,0,0,0,0,14.85,14.79,14.87
$GC,1202,-1.42,-146.0,2882,2042,3286,3496,140.0,-11.8,160,1206,0.00,2.30,0.00,0.000,644,0.000,0.054,2882,647,3390,3285,3496,0,0,0,0,0,0,15.07,14.78,15.08
$GC,1294,-1.46,-146.0,2882,646,3285,3496,151.1,-11.9,178,1303,0.00,2.28,0.00,0.000,1158,0.000,0.037,2872,2058,3390,3285,3495,0,0,0,0,0,0,14.88,14.82,14.90
$GC,1605,-1.52,-146.0,2871,2058,3286,3495,179.9,-8.9,210,1614,0.12,2.28,0.00,0.000,4516,0.129,0.054,2804,3446,3390,3285,3495,0,0,0,0,0,0,14.83,14.75,14.86
$GC,1656,-1.52,-146.0,2803,3446,3285,3495,185.9,-12.0,220,1661,0.17,2.28,0.00,0.000,3078,0.232,0.035,2844,2041,3390,3286,3495,0,0,0,0,0,0,14.61,14.84,14.82
$GC,1962,-1.52,-146.0,2845,2041,3285,3495,218.5,-10.4,251,1967,0.00,2.28,0.00,0.000,516,0.000,0.056,2845,662,3390,3285,3496,0,0,0,0,0,0,15.07,14.79,15.08
$GC,2011,-1.56,-146.0,2845,661,3286,3495,224.2,-10.9,260,2021,0.00,2.25,0.00,0.000,1158,0.000,0.037,2836,2051,3390,3286,3495,0,0,0,0,0,0,14.90,14.83,14.92
$GC,2340,-1.56,-146.0,2836,2052,3285,3495,259.4,-10.0,287,2341,0.00,0.00,0.00,0.000,38,0.000,0.000,2836,2052,3390,3285,3495,0,0,0,0,0,0,15.08,15.11,15.10
$GC,2640,-1.56,-146.0,2836,2052,3285,3495,287.2,-9.4,297,2645,0.00,2.35,0.00,0.000,548,0.000,0.059,2836,659,3390,3285,3496,0,0,0,0,0,0,15.09,14.80,15.11
$GC,2695,-1.56,-146.0,2836,660,3285,3495,293.2,-10.7,307,2700,0.00,2.28,0.00,0.000,1030,0.000,0.041,2826,2052,3390,3285,3495,0,0,0,0,0,0,14.91,14.84,14.92
$GC,3009,-1.56,-146.0,2826,2052,3284,3495,325.6,-10.4,319,3013,0.00,2.33,0.00,0.000,260,0.000,0.060,2816,3453,3389,3284,3495,0,0,0,0,0,0,15.10,14.80,15.11
$GC,3035,-1.56,-146.0,2815,3452,3284,3495,328.9,-11.0,324,3042,0.00,2.30,0.00,0.000,1030,0.000,0.039,2816,2049,3389,3283,3496,0,0,0,0,0,0,14.91,14.85,14.93
$GC,3343,-1.56,-146.0,2816,2049,3283,3495,361.6,-10.8,335,3348,0.00,2.38,0.00,0.000,260,0.000,0.060,2806,3450,3388,3282,3495,0,0,0,0,0,0,15.10,14.80,15.12
$GC,3369,-1.56,-146.0,2806,3450,3283,3495,365.0,-10.9,340,3377,0.12,2.30,0.00,0.000,3078,0.242,0.041,2833,2051,3389,3283,3495,0,0,0,0,0,0,14.62,14.84,14.83
$GC,3677,-1.56,-146.0,2832,2051,3280,3495,395.7,-9.6,351,3682,0.00,2.35,0.00,0.000,548,0.000,0.063,2833,646,3387,3280,3495,0,0,0,0,0,0,15.10,14.81,15.12
$GC,3729,-1.56,-146.0,2833,646,3280,3495,401.0,-10.0,361,3737,0.00,2.33,0.00,0.000,1030,0.000,0.045,2824,2054,3387,3280,3495,0,0,0,0,0,0,14.90,14.83,14.92
$GC,4045,-1.56,-146.0,2824,2054,3278,3494,429.5,-9.4,373,4046,0.00,0.00,0.00,0.000,38,0.000,0.000,2824,2054,3386,3278,3494,0,0,0,0,0,0,15.09,15.12,15.11
$GC,4347,-1.56,-146.0,2824,2054,3277,3492,459.3,-10.2,383,4352,0.00,2.35,0.00,0.000,260,0.000,0.065,2814,3458,3384,3277,3492,0,0,0,0,0,0,15.09,14.79,15.11
$GC,4384,-1.60,-146.0,2814,3458,3277,3491,463.6,-10.7,390,4389,0.00,2.33,0.00,0.000,1158,0.000,0.041,2814,2048,3384,3277,3491,0,0,0,0,0,0,14.90,14.83,14.92
$GC,4712,-1.60,-146.0,2814,2048,3275,3489,497.9,-10.4,405,4720,0.00,2.40,0.00,0.000,260,0.000,0.063,2804,3454,3381,3275,3488,0,0,0,0,0,0,15.09,14.78,15.11
$GC,4750,-1.60,-146.0,2804,3455,3275,3488,502.3,-10.8,412,4758,0.10,2.35,0.00,0.000,3078,0.237,0.042,2824,2034,3381,3275,3488,0,0,0,0,0,0,14.62,14.83,14.82
$GC,5081,-1.60,-146.0,2823,2034,3274,3487,534.2,-9.8,427,5086,0.00,2.33,0.00,0.000,548,0.000,0.063,2824,650,3380,3274,3487,0,0,0,0,0,0,15.09,14.78,15.11
$GC,5116,-1.60,-146.0,2824,650,3273,3487,537.7,-11.0,433,5121,0.00,2.33,0.00,0.000,1030,0.000,0.044,2816,2055,3380,3273,3487,0,0,0,0,0,0,14.90,14.81,14.92
$GC,5451,-1.60,-146.0,2815,2056,3272,3486,574.3,-11.1,449,5452,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2056,3379,3272,3486,0,0,0,0,0,0,15.09,15.12,15.11
$GC,5750,-1.60,-146.0,2815,2056,3272,3484,607.9,-11.3,459,5755,0.00,2.40,0.00,0.000,516,0.000,0.067,2816,657,3377,3271,3484,0,0,0,0,0,0,15.09,14.77,15.11
$GC,5814,-1.60,-146.0,2815,656,3271,3484,615.8,-11.3,471,5819,0.00,2.30,0.00,0.000,1030,0.000,0.044,2806,2052,3377,3271,3484,0,0,0,0,0,0,14.89,14.81,14.91
$GC,6147,-1.60,-146.0,2806,2052,3270,3482,656.3,-12.4,487,6152,0.00,2.40,0.00,0.000,516,0.000,0.063,2806,649,3375,3270,3481,0,0,0,0,0,0,15.09,14.76,15.10
$GC,6168,-1.60,-146.0,2805,650,3270,3481,659.4,-13.8,491,6174,0.12,2.33,0.00,0.000,3078,0.259,0.047,2822,2050,3375,3270,3481,0,0,0,0,0,0,14.56,14.80,14.79
$GC,6482,-1.63,-146.0,2821,2051,3268,3480,694.4,-10.8,503,6487,0.00,2.38,0.00,0.000,388,0.000,0.072,2813,3446,3374,3268,3480,0,0,0,0,0,0,15.09,14.75,15.11
$GC,6520,-1.68,-146.0,2813,3445,3268,3480,698.9,-10.9,510,6525,0.00,2.33,0.00,0.000,1158,0.000,0.049,2814,2063,3374,3268,3480,0,0,0,0,0,0,14.88,14.78,14.90
$GC,6849,-1.68,-146.0,2813,2062,3267,3479,733.1,-10.1,525,6850,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2062,3373,3267,3479,0,0,0,0,0,0,15.09,15.12,15.11
$GC,7149,-1.68,-146.0,2813,2062,3266,3478,761.4,-9.0,535,7154,0.00,2.40,0.00,0.000,548,0.000,0.068,2814,644,3372,3266,3478,0,0,0,0,0,0,15.09,14.74,15.11
$GC,7186,-1.68,-146.0,2813,645,3267,3478,765.1,-9.4,542,7191,0.00,2.35,0.00,0.000,1062,0.000,0.050,2803,2049,3372,3267,3478,0,0,0,0,0,0,14.88,14.78,14.90
$GC,7516,-1.68,-146.0,2803,2049,3266,3478,794.6,-9.0,557,7517,0.00,0.00,0.00,0.000,38,0.000,0.000,2803,2049,3372,3266,3478,0,0,0,0,0,0,15.09,15.12,15.11
$GC,7815,-1.68,-146.0,2803,2050,3265,3477,821.6,-9.0,567,7820,0.00,2.45,0.00,0.000,548,0.000,0.072,2803,639,3371,3265,3477,0,0,0,0,0,0,15.09,14.73,15.11
$GC,7898,-1.68,-146.0,2803,638,3264,3477,829.9,-10.3,583,7903,0.00,2.38,0.00,0.000,1030,0.000,0.050,2793,2053,3370,3264,3477,0,0,0,0,0,0,14.86,14.78,14.89
$GC,8211,-1.68,-146.0,2793,2054,3263,3476,859.3,-9.6,595,8212,0.00,0.00,0.00,0.000,38,0.000,0.000,2793,2054,3369,3263,3476,0,0,0,0,0,0,15.08,15.11,15.10
$GC,8511,-1.68,-146.0,2793,2053,3262,3476,888.7,-10.1,605,8513,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2054,3369,3262,3476,0,0,0,0,0,0,15.08,15.10,15.10
$GC,8813,-1.68,-146.0,2793,2054,3262,3474,919.2,-10.2,615,8818,0.00,2.47,0.00,0.000,516,0.000,0.072,2793,638,3368,3262,3474,0,0,0,0,0,0,15.08,14.71,15.11
$GC,8879,-1.64,-146.0,2793,637,3261,3473,927.1,-11.2,628,8885,0.12,2.40,0.00,0.000,3206,0.291,0.053,2811,2061,3367,3261,3473,0,0,0,0,0,0,14.43,14.76,14.61
$GC,9210,-1.64,-146.0,2810,2061,3260,3473,959.1,-9.9,643,9215,0.00,2.40,0.00,0.000,292,0.000,0.076,2802,3455,3366,3260,3473,0,0,0,0,0,0,15.09,14.70,15.10
$GC,9248,-1.68,-146.0,2802,3455,3260,3473,963.0,-10.1,650,9252,0.00,2.40,0.00,0.000,1158,0.000,0.051,2802,2039,3366,3260,3473,0,0,0,0,0,0,14.85,14.76,14.88
$STATE,9544,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9544,begin apogee
$GC,9548,-0.33,0.0,2802,1795,3259,3472,992.6,-9.8,664,9681,1.15,0.00,129.30,2.702,10246,0.264,0.000,3096,1792,2789,2680,2898,0,0,0,0,0,0,14.44,14.01,12.98
$STATE,9682,end apogee,CONTROL_FINISHED_OK
$STATE,9682,begin climb
$GC,9684,1.28,146.0,3096,1792,2675,2896,994.2,0.0,668,9841,1.20,2.62,146.77,2.530,10500,0.159,0.070,3449,3206,2190,2064,2317,0,0,0,0,0,0,14.00,13.72,12.98
$GC,9861,1.07,146.0,3448,3206,2061,2311,980.1,12.9,707,9867,0.22,2.55,0.00,0.000,5254,0.310,0.060,3411,1797,2186,2061,2311,0,0,0,0,0,0,13.87,14.04,14.09
$GC,10169,0.95,146.0,3411,1797,2052,2311,942.2,12.2,718,10176,0.12,2.45,0.00,0.000,4740,0.381,0.071,3396,387,2181,2051,2311,0,0,0,0,0,0,14.22,14.49,14.43
$GC,10202,0.84,146.0,3396,387,2049,2311,938.1,11.5,725,10207,0.17,2.42,0.00,0.000,5254,0.331,0.046,3357,1806,2180,2049,2311,0,0,0,0,0,0,14.30,14.56,14.58
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$STATE,18909,end climb,SURFACE_DEPTH_REACHED
$STATE,18909,begin surface coast
$FINISH,1.4,1.023532
$STATE,18937,end surface coast,CONTROL_FINISHED_OK
$STATE,18937,begin surface
$SM_CCo,18955,83.45,0.080,0,0,449,573.99
$SM_GC,2.33,9.85,0.38,83.45,0.083,0.057,0.080,97,2072,449,-14.11,-1.39,573.99,0,0,0,0,0,0,14.61,14.76,14.64
$IRIDIUM_FIX,1309.80,6055.43,060417,081517
$TT8_MAMPS,0.023968,0.15729
$HUMID,48.46
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,24.10
$XPDR_PINGS,5
$24V_AH,12.98,58.040
$10V_AH,13.24,0.000
$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,28.900,200.825,481.500,83.450,0.000,0.000,0.000,204.200,109.000,0.000,8.542,3056.946,12731.579,737.341,2590.913,216.663,0.000,2183.200,0.000,2057.151,0.000,722.918,0.000
$DEVICE_MAMPS,417.690,2079.270,2701.980,80.325,0.000,0.000,0.000,179.010,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,677.017,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225048
$DATA_FILE_SIZE,63249,1446
$CAP_FILE_SIZE,223686,0
$CFSIZE,260034560,245567488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.044,243.94,1
$GPS,060417,181906,1318.910,6051.438,36,0.8,41,-0.7,0.4,215.3,10,9.4