version: 66.13
glider: 137
mission: 5
dive: 170
start: 4 7 117 5 9 15
data:
$ID,137
$MISSION,5
$DIVE,170
$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,34
$R_STBD_OVSHOOT,49
$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
$GPS1,070417,050038,1322.2065,6046.0625,31,0.9,39,-0.7,0.6,309.7,9,9.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.31
$_SM_ANGLEo,-67.6
$GPS2,070417,050840,1322.2363,6045.9956,6,0.9,20,-0.7,0.0,319.5,9,9.4
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1323.386,6042.161
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,290.1,7229,-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,5,begin dive
$GC,7,-1.28,-146.0,96,2071,327,565,0.0,0.0,0,102,0.00,0.00,-92.62,0.000,16386,0.000,0.000,96,2072,2920,2840,3000,0,0,0,0,0,0,14.85,28.83,14.88
$GC,105,-1.28,-146.0,96,2071,2840,3000,4.2,-5.1,16,136,13.98,2.55,-8.93,0.000,18724,0.415,2.077,2878,3438,3388,3273,3503,0,0,0,0,0,0,14.30,13.40,14.52
$GC,249,-1.34,-146.0,2878,3438,3274,3503,28.3,-12.3,43,256,0.00,2.30,0.00,0.000,1158,0.000,0.038,2878,2043,3389,3275,3503,0,0,0,0,0,0,14.71,14.65,14.73
$GC,558,-1.34,-146.0,2878,2042,3273,3503,69.0,-12.7,90,562,0.00,2.33,0.00,0.000,516,0.000,0.058,2878,641,3389,3275,3503,0,0,0,0,0,0,14.98,14.71,15.00
$GC,609,-1.34,-146.0,2878,640,3275,3503,75.0,-11.3,100,613,0.00,2.30,0.00,0.000,1030,0.000,0.041,2868,2043,3389,3274,3504,0,0,0,0,0,0,14.81,14.75,14.83
$GC,920,-1.34,-146.0,2868,2043,3275,3503,105.9,-11.4,132,924,0.00,2.33,0.00,0.000,260,0.000,0.059,2858,3449,3389,3275,3503,0,0,0,0,0,0,15.04,14.76,15.07
$GC,956,-1.38,-146.0,2858,3449,3275,3504,110.2,-12.3,139,965,0.00,2.30,0.00,0.000,1158,0.000,0.037,2858,2036,3389,3275,3503,0,0,0,0,0,0,14.86,14.80,14.88
$GC,1266,-1.38,-146.0,2858,2036,3275,3503,149.5,-9.8,171,1270,0.00,2.30,0.00,0.000,548,0.000,0.057,2858,650,3389,3275,3503,0,0,0,0,0,0,15.07,14.78,15.09
$GC,1348,-1.41,-146.0,2858,650,3276,3503,157.1,-8.1,187,1356,0.00,2.28,0.00,0.000,1190,0.000,0.039,2849,2054,3389,3276,3503,0,0,0,0,0,0,14.89,14.82,14.90
$GC,1657,-1.41,-146.0,2848,2054,3276,3503,185.6,-10.0,219,1661,0.00,2.33,0.00,0.000,260,0.000,0.058,2838,3453,3389,3275,3503,0,0,0,0,0,0,15.09,14.79,15.11
$GC,1698,-1.47,-146.0,2838,3453,3276,3503,189.9,-10.9,227,1707,0.00,2.28,0.00,0.000,1158,0.000,0.037,2837,2052,3389,3276,3503,0,0,0,0,0,0,14.90,14.84,14.92
$GC,2008,-1.47,-146.0,2838,2052,3276,3503,226.5,-10.7,259,2015,0.00,2.33,0.00,0.000,516,0.000,0.059,2838,644,3389,3276,3503,0,0,0,0,0,0,15.07,14.80,15.09
$GC,2026,-1.47,-146.0,2838,644,3276,3503,228.5,-10.4,262,2036,0.12,2.30,0.00,0.000,3078,0.250,0.041,2855,2059,3389,3275,3503,0,0,0,0,0,0,14.63,14.83,14.83
$GC,2356,-1.52,-146.0,2855,2059,3276,3503,258.9,-9.6,289,2357,0.00,0.00,0.00,0.000,166,0.000,0.000,2855,2058,3389,3276,3503,0,0,0,0,0,0,15.09,15.11,15.10
$GC,2655,-1.58,-146.0,2854,2059,3276,3503,288.3,-10.1,299,2657,0.10,0.00,0.00,0.000,4230,0.156,0.000,2819,2059,3389,3275,3503,0,0,0,0,0,0,14.84,14.93,14.91
$GC,2954,-1.58,-146.0,2819,2059,3275,3503,323.0,-11.0,309,2962,0.00,2.33,0.00,0.000,260,0.000,0.061,2809,3454,3389,3276,3503,0,0,0,0,0,0,15.09,14.81,15.11
$GC,2983,-1.58,-146.0,2807,3454,3276,3503,326.4,-10.5,314,2992,0.10,2.30,0.00,0.000,3078,0.246,0.041,2827,2051,3389,3276,3503,0,0,0,0,0,0,14.64,14.84,14.84
$GC,3290,-1.58,-146.0,2827,2051,3274,3501,357.0,-10.8,325,3296,0.00,2.33,0.00,0.000,516,0.000,0.062,2828,655,3387,3274,3501,0,0,0,0,0,0,15.10,14.81,15.12
$GC,3348,-1.58,-146.0,2828,655,3274,3501,364.6,-12.4,336,3356,0.00,2.30,0.00,0.000,1030,0.000,0.042,2820,2057,3387,3274,3501,0,0,0,0,0,0,14.91,14.84,14.93
$GC,3654,-1.58,-146.0,2819,2056,3272,3499,402.3,-12.1,347,3661,0.00,2.40,0.00,0.000,516,0.000,0.068,2820,655,3385,3272,3498,0,0,0,0,0,0,15.09,14.79,15.11
$GC,3704,-1.58,-146.0,2820,655,3272,3498,408.4,-11.5,356,3709,0.10,2.30,0.00,0.000,3078,0.283,0.044,2828,2056,3384,3271,3498,0,0,0,0,0,0,14.60,14.83,14.83
$GC,4023,-1.58,-146.0,2827,2056,3270,3495,438.0,-8.7,369,4028,0.00,2.35,0.00,0.000,292,0.000,0.066,2819,3453,3382,3270,3495,0,0,0,0,0,0,15.09,14.79,15.11
$GC,4045,-1.61,-146.0,2819,3453,3270,3495,440.2,-9.3,373,4051,0.00,2.33,0.00,0.000,1190,0.000,0.042,2819,2045,3382,3270,3495,0,0,0,0,0,0,14.91,14.83,14.93
$GC,4358,-1.61,-146.0,2819,2045,3268,3493,470.7,-10.5,385,4364,0.00,2.35,0.00,0.000,516,0.000,0.065,2820,646,3380,3268,3493,0,0,0,0,0,0,15.09,14.78,15.11
$GC,4413,-1.61,-146.0,2820,646,3268,3493,477.1,-11.5,395,4418,0.00,2.33,0.00,0.000,1030,0.000,0.045,2811,2054,3380,3268,3493,0,0,0,0,0,0,14.90,14.83,14.92
$GC,4727,-1.61,-146.0,2811,2054,3267,3490,509.6,-9.8,407,4732,0.00,2.40,0.00,0.000,548,0.000,0.067,2811,653,3378,3267,3490,0,0,0,0,0,0,15.10,14.78,15.12
$GC,4764,-1.61,-146.0,2811,652,3267,3489,513.6,-10.3,414,4770,0.10,2.33,0.00,0.000,3078,0.281,0.047,2821,2058,3377,3266,3489,0,0,0,0,0,0,14.57,14.82,14.81
$GC,5093,-1.61,-146.0,2820,2057,3265,3488,541.5,-8.8,429,5101,0.00,2.35,0.00,0.000,292,0.000,0.068,2812,3450,3376,3265,3487,0,0,0,0,0,0,15.09,14.78,15.11
$GC,5123,-1.61,-146.0,2812,3450,3265,3488,544.5,-9.9,434,5130,0.00,2.33,0.00,0.000,1062,0.000,0.042,2812,2049,3376,3265,3487,0,0,0,0,0,0,14.90,14.82,14.92
$GC,5430,-1.61,-146.0,2812,2049,3263,3487,577.8,-11.4,445,5436,0.00,2.38,0.00,0.000,516,0.000,0.067,2813,643,3375,3263,3487,0,0,0,0,0,0,15.09,14.76,15.11
$GC,5464,-1.61,-146.0,2813,643,3263,3486,581.9,-12.4,451,5470,0.00,2.33,0.00,0.000,1030,0.000,0.047,2805,2047,3374,3263,3486,0,0,0,0,0,0,14.89,14.81,14.91
$GC,5799,-1.61,-146.0,2805,2047,3261,3486,616.2,-9.3,467,5800,0.00,0.00,0.00,0.000,38,0.000,0.000,2805,2048,3374,3262,3486,0,0,0,0,0,0,15.09,15.11,15.11
$GC,6099,-1.61,-146.0,2805,2047,3260,3485,641.2,-8.4,477,6107,0.00,2.42,0.00,0.000,548,0.000,0.072,2805,647,3372,3261,3484,0,0,0,0,0,0,15.09,14.75,15.11
$GC,6135,-1.61,-146.0,2805,647,3261,3484,644.5,-9.0,483,6141,0.12,2.35,0.00,0.000,3110,0.288,0.049,2819,2061,3372,3260,3485,0,0,0,0,0,0,14.50,14.81,14.76
$GC,6469,-1.61,-146.0,2819,2061,3259,3482,678.3,-11.3,499,6473,0.00,2.42,0.00,0.000,516,0.000,0.070,2820,653,3370,3259,3482,0,0,0,0,0,0,15.08,14.76,15.11
$GC,6516,-1.61,-146.0,2820,652,3259,3482,684.8,-13.8,508,6523,0.00,2.33,0.00,0.000,1030,0.000,0.046,2812,2055,3370,3259,3482,0,0,0,0,0,0,14.88,14.80,14.90
$GC,6837,-1.61,-146.0,2811,2055,3258,3481,727.6,-13.7,521,6843,0.00,2.40,0.00,0.000,516,0.000,0.060,2812,644,3369,3258,3480,0,0,0,0,0,0,15.09,14.76,15.11
$GC,6871,-1.61,-146.0,2811,644,3258,3480,732.4,-13.4,527,6877,0.00,2.35,0.00,0.000,1030,0.000,0.046,2804,2057,3369,3258,3480,0,0,0,0,0,0,14.88,14.80,14.90
$GC,7205,-1.61,-146.0,2804,2057,3257,3479,772.1,-10.9,543,7206,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2057,3368,3257,3479,0,0,0,0,0,0,15.08,15.10,15.10
$GC,7506,-1.61,-146.0,2804,2057,3255,3478,800.9,-9.2,553,7507,0.00,0.00,0.00,0.000,38,0.000,0.000,2804,2057,3366,3255,3478,0,0,0,0,0,0,15.09,15.11,15.11
$GC,7807,-1.61,-146.0,2804,2057,3255,3477,828.0,-9.2,563,7812,0.00,2.40,0.00,0.000,548,0.000,0.061,2804,650,3366,3255,3478,0,0,0,0,0,0,15.09,14.75,15.11
$GC,7873,-1.61,-146.0,2804,650,3254,3478,835.2,-9.2,576,7879,0.12,2.33,0.00,0.000,3110,0.268,0.047,2820,2052,3366,3254,3478,0,0,0,0,0,0,14.50,14.78,14.76
$GC,8204,-1.65,-146.0,2819,2051,3252,3477,864.3,-8.8,591,8205,0.00,0.00,0.00,0.000,166,0.000,0.000,2820,2052,3364,3252,3477,0,0,0,0,0,0,15.09,15.11,15.11
$GC,8503,-1.69,-146.0,2819,2051,3251,3477,892.4,-9.5,601,8508,0.00,2.38,0.00,0.000,420,0.000,0.072,2811,3443,3364,3252,3477,0,0,0,0,0,0,15.09,14.72,15.11
$GC,8561,-1.73,-146.0,2811,3443,3251,3477,898.2,-9.6,612,8569,0.00,2.33,0.00,0.000,1190,0.000,0.044,2811,2052,3364,3251,3477,0,0,0,0,0,0,14.86,14.78,14.89
$GC,8870,-1.73,-146.0,2811,2052,3251,3477,928.0,-9.7,623,8874,0.00,2.38,0.00,0.000,548,0.000,0.063,2811,643,3364,3251,3477,0,0,0,0,0,0,15.09,14.73,15.11
$GC,8928,-1.73,-146.0,2811,643,3250,3476,934.0,-9.2,634,8936,0.00,2.35,0.00,0.000,1062,0.000,0.047,2801,2047,3363,3250,3476,0,0,0,0,0,0,14.85,14.76,14.88
$GC,9233,-1.73,-146.0,2801,2047,3249,3476,962.0,-9.0,645,9240,0.00,2.42,0.00,0.000,548,0.000,0.065,2801,640,3363,3250,3476,0,0,0,0,0,0,15.08,14.72,15.09
$GC,9268,-1.73,-146.0,2801,640,3249,3476,965.1,-8.9,651,9273,0.00,2.38,0.00,0.000,1062,0.000,0.053,2794,2049,3363,3250,3476,0,0,0,0,0,0,14.84,14.76,14.87
$STATE,9571,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9571,begin apogee
$GC,9576,-0.33,0.0,2794,1791,3248,3475,992.0,-9.0,666,9709,1.23,0.00,128.80,2.698,10246,0.278,0.000,3101,1788,2789,2676,2902,0,0,0,0,0,0,14.39,14.01,12.98
$STATE,9710,end apogee,CONTROL_FINISHED_OK
$STATE,9710,begin climb
$GC,9711,1.28,146.0,3101,1788,2671,2898,993.0,0.0,670,9858,1.23,2.60,135.27,2.658,10756,0.184,0.079,3458,395,2187,2057,2317,0,0,0,0,0,0,13.98,13.68,12.86
$GC,9909,1.06,146.0,3458,396,2044,2317,977.1,12.9,714,9915,0.22,2.47,0.00,0.000,5254,0.331,0.050,3408,1803,2180,2044,2317,0,0,0,0,0,0,13.93,14.14,14.19
$GC,10228,0.97,168.9,3407,1803,2037,2317,945.9,8.9,727,10250,0.00,0.00,20.23,2.451,8358,0.000,0.000,3408,1803,2100,1959,2242,0,0,0,0,0,0,14.81,14.38,13.42
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$STATE,19168,end climb,SURFACE_DEPTH_REACHED
$STATE,19168,begin surface coast
$FINISH,1.5,1.010829
$STATE,19189,end surface coast,CONTROL_FINISHED_OK
$STATE,19190,begin surface
$SM_CCo,19207,72.50,0.082,0,0,450,573.99
$SM_GC,2.31,9.98,0.38,72.50,0.086,0.057,0.082,93,2082,450,-14.13,-1.13,573.99,0,0,0,0,0,0,14.64,14.76,14.65
$IRIDIUM_FIX,1312.02,6055.43,060417,234740
$TT8_MAMPS,0.023968,0.15729
$HUMID,48.93
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,24.00
$XPDR_PINGS,9
$24V_AH,12.86,59.255
$10V_AH,13.25,0.000
$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,28.550,196.400,491.450,72.500,0.000,0.000,0.000,261.250,109.750,0.000,21.548,3031.087,13161.448,758.143,2607.263,207.530,0.000,2235.485,0.000,2004.895,0.000,721.888,0.000
$DEVICE_MAMPS,414.630,2076.975,2698.155,81.855,0.000,0.000,0.000,183.600,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,681.636,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,224988
$DATA_FILE_SIZE,60029,1409
$CAP_FILE_SIZE,222684,0
$CFSIZE,260034560,245297152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.063,282.01,1
$GPS,070417,103155,1323.111,6042.800,37,0.8,43,-0.7,0.4,292.1,10,9.5