version: 66.13
glider: 137
mission: 5
dive: 171
start: 4 7 117 10 38 16
data:
$ID,137
$MISSION,5
$DIVE,171
$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,67
$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
$GPS1,070417,103155,1323.1110,6042.7998,37,0.8,43,-0.7,0.4,292.1,10,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-66.9
$GPS2,070417,103726,1323.1180,6042.7593,9,0.8,17,-0.7,0.5,307.6,10,9.2
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1325.100,6039.585
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,308.0,6795,-16.7,-10.000,-19.33,2212
$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,-1.29,-144.0,93,2089,334,570,0.0,0.0,0,103,0.00,0.00,-92.95,0.000,16386,0.000,0.000,92,2090,2911,2833,2989,0,0,0,0,0,0,14.84,28.83,14.87
$GC,105,-1.29,-146.0,92,2089,2834,2990,4.1,-4.9,16,137,14.23,2.47,-9.23,0.000,18724,0.423,2.079,2883,3417,3387,3272,3503,0,0,0,0,0,0,14.31,13.43,14.64
$GC,229,-1.33,-146.0,2882,3417,3274,3504,26.0,-12.5,39,236,0.00,2.28,0.00,0.000,1158,0.000,0.037,2883,2038,3389,3274,3504,0,0,0,0,0,0,14.70,14.64,14.71
$GC,538,-1.33,-146.0,2882,2038,3274,3504,69.5,-12.9,86,547,0.00,2.30,0.00,0.000,516,0.000,0.056,2883,651,3389,3274,3504,0,0,0,0,0,0,14.97,14.70,14.99
$GC,589,-1.33,-146.0,2882,651,3274,3504,75.3,-10.8,96,593,0.00,2.25,0.00,0.000,1030,0.000,0.036,2873,2035,3389,3274,3504,0,0,0,0,0,0,14.81,14.74,14.82
$GC,894,-1.33,-146.0,2872,2035,3275,3504,112.0,-12.8,127,898,0.00,2.35,0.00,0.000,260,0.000,0.058,2863,3447,3389,3275,3504,0,0,0,0,0,0,15.04,14.75,15.05
$GC,937,-1.33,-146.0,2863,3447,3275,3503,117.7,-12.4,136,945,0.08,2.33,0.00,0.000,3078,0.223,0.036,2883,2044,3389,3274,3504,0,0,0,0,0,0,14.57,14.77,14.70
$GC,1246,-1.39,-146.0,2882,2044,3276,3504,150.3,-8.3,167,1254,0.00,2.30,0.00,0.000,676,0.000,0.056,2884,649,3390,3276,3504,0,0,0,0,0,0,15.06,14.78,15.08
$GC,1300,-1.48,-146.0,2884,648,3276,3504,155.6,-9.8,178,1308,0.10,2.28,0.00,0.000,5286,0.145,0.037,2829,2056,3390,3276,3504,0,0,0,0,0,0,14.78,14.81,14.87
$GC,1606,-1.48,-146.0,2829,2056,3277,3504,193.1,-12.6,209,1611,0.12,2.30,0.00,0.000,2308,0.265,0.055,2851,3447,3390,3276,3504,0,0,0,0,0,0,14.60,14.79,14.74
$GC,1662,-1.56,-146.0,2850,3447,3276,3504,198.8,-9.3,220,1669,0.00,2.30,0.00,0.000,1190,0.000,0.040,2851,2046,3390,3276,3504,0,0,0,0,0,0,14.89,14.82,14.91
$GC,1970,-1.60,-146.0,2851,2046,3276,3504,223.8,-9.4,251,1976,0.10,2.35,0.00,0.000,4516,0.146,0.060,2800,3443,3390,3276,3504,0,0,0,0,0,0,14.83,14.78,14.88
$GC,2059,-1.60,-146.0,2800,3443,3276,3503,234.3,-12.1,267,2065,0.12,2.28,0.00,0.000,3078,0.251,0.037,2826,2043,3389,3276,3503,0,0,0,0,0,0,14.60,14.83,14.82
$GC,2383,-1.60,-146.0,2825,2042,3276,3504,271.0,-11.2,288,2385,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2042,3390,3276,3504,0,0,0,0,0,0,15.07,15.09,15.09
$GC,2684,-1.60,-146.0,2825,2043,3276,3503,307.9,-12.5,298,2691,0.00,2.38,0.00,0.000,260,0.000,0.060,2817,3449,3389,3276,3503,0,0,0,0,0,0,15.09,14.81,15.11
$GC,2729,-1.65,-146.0,2817,3448,3276,3504,313.5,-12.1,306,2735,0.00,2.30,0.00,0.000,1158,0.000,0.039,2817,2045,3389,3276,3503,0,0,0,0,0,0,14.91,14.84,14.92
$GC,3054,-1.65,-146.0,2817,2045,3276,3503,349.9,-10.4,320,3059,0.00,2.33,0.00,0.000,516,0.000,0.061,2817,650,3389,3276,3503,0,0,0,0,0,0,15.09,14.81,15.11
$GC,3097,-1.65,-146.0,2817,650,3276,3503,354.4,-9.6,328,3102,0.00,2.30,0.00,0.000,1062,0.000,0.041,2808,2057,3389,3276,3503,0,0,0,0,0,0,14.91,14.84,14.93
$GC,3421,-1.65,-146.0,2807,2056,3274,3500,382.9,-8.9,342,3428,0.00,2.33,0.00,0.000,292,0.000,0.060,2797,3454,3386,3274,3499,0,0,0,0,0,0,15.09,14.80,15.11
$GC,3444,-1.65,-146.0,2797,3454,3274,3499,385.3,-9.9,346,3449,0.00,2.33,0.00,0.000,1062,0.000,0.041,2797,2041,3386,3274,3499,0,0,0,0,0,0,14.91,14.83,14.93
$GC,3758,-1.65,-146.0,2797,2040,3272,3498,420.5,-12.1,358,3765,0.00,2.40,0.00,0.000,260,0.000,0.064,2788,3447,3385,3273,3497,0,0,0,0,0,0,15.09,14.79,15.11
$GC,3795,-1.65,-146.0,2787,3447,3272,3496,425.4,-11.4,365,3801,0.12,2.33,0.00,0.000,3078,0.266,0.043,2813,2039,3384,3272,3496,0,0,0,0,0,0,14.57,14.83,14.81
$GC,4125,-1.65,-146.0,2812,2039,3271,3495,461.8,-10.7,380,4130,0.00,2.33,0.00,0.000,516,0.000,0.065,2814,655,3382,3271,3494,0,0,0,0,0,0,15.10,14.78,15.12
$GC,4178,-1.65,-146.0,2813,655,3270,3494,467.8,-11.0,390,4185,0.00,2.30,0.00,0.000,1030,0.000,0.045,2804,2049,3382,3270,3494,0,0,0,0,0,0,14.90,14.82,14.92
$GC,4493,-1.65,-146.0,2804,2049,3269,3492,500.5,-10.2,402,4500,0.00,2.38,0.00,0.000,516,0.000,0.063,2805,655,3380,3268,3492,0,0,0,0,0,0,15.09,14.78,15.11
$GC,4522,-1.65,-146.0,2804,655,3268,3491,503.9,-10.1,407,4531,0.10,2.30,0.00,0.000,3078,0.285,0.041,2813,2059,3379,3268,3491,0,0,0,0,0,0,14.57,14.83,14.81
$GC,4829,-1.65,-146.0,2812,2058,3268,3489,532.2,-9.2,418,4835,0.00,2.35,0.00,0.000,292,0.000,0.068,2804,3450,3378,3267,3489,0,0,0,0,0,0,15.09,14.78,15.11
$GC,4873,-1.65,-146.0,2804,3449,3267,3489,536.5,-9.4,426,4878,0.00,2.33,0.00,0.000,1062,0.000,0.043,2804,2052,3378,3267,3489,0,0,0,0,0,0,14.90,14.81,14.92
$GC,5197,-1.65,-146.0,2804,2051,3266,3487,566.0,-9.2,440,5198,0.00,0.00,0.00,0.000,38,0.000,0.000,2804,2051,3376,3266,3487,0,0,0,0,0,0,15.09,15.11,15.11
$GC,5498,-1.65,-146.0,2804,2051,3264,3486,596.6,-10.9,450,5505,0.00,2.38,0.00,0.000,516,0.000,0.067,2804,646,3375,3264,3486,0,0,0,0,0,0,15.09,14.76,15.11
$GC,5533,-1.65,-146.0,2804,645,3264,3486,600.8,-11.6,456,5538,0.10,2.33,0.00,0.000,3078,0.295,0.045,2812,2052,3375,3264,3486,0,0,0,0,0,0,14.54,14.81,14.79
$GC,5866,-1.65,-146.0,2811,2053,3262,3485,638.4,-11.3,472,5871,0.00,2.38,0.00,0.000,260,0.000,0.069,2803,3453,3373,3262,3485,0,0,0,0,0,0,15.09,14.76,15.11
$GC,5903,-1.65,-146.0,2803,3453,3262,3485,643.0,-11.6,479,5908,0.00,2.35,0.00,0.000,1030,0.000,0.047,2803,2052,3373,3262,3485,0,0,0,0,0,0,14.88,14.79,14.90
$GC,6233,-1.65,-146.0,2803,2052,3261,3484,679.6,-10.9,494,6238,0.00,2.38,0.00,0.000,516,0.000,0.067,2803,644,3372,3261,3483,0,0,0,0,0,0,15.09,14.76,15.11
$GC,6270,-1.61,-146.0,2803,644,3261,3483,684.2,-11.7,501,6277,0.12,2.35,0.00,0.000,3206,0.285,0.047,2817,2058,3372,3261,3483,0,0,0,0,0,0,14.50,14.80,14.75
$GC,6600,-1.61,-146.0,2817,2058,3260,3481,717.7,-10.4,516,6601,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2058,3371,3260,3482,0,0,0,0,0,0,15.08,15.11,15.10
$GC,6902,-1.61,-146.0,2817,2058,3259,3480,751.1,-11.1,526,6907,0.00,2.38,0.00,0.000,260,0.000,0.071,2809,3449,3369,3259,3480,0,0,0,0,0,0,15.09,14.73,15.11
$GC,6955,-1.66,-146.0,2808,3450,3259,3480,757.5,-11.2,536,6962,0.00,2.35,0.00,0.000,1158,0.000,0.048,2809,2050,3369,3259,3480,0,0,0,0,0,0,14.87,14.78,14.90
$GC,7270,-1.66,-146.0,2808,2049,3258,3479,791.5,-10.7,548,7277,0.00,2.40,0.00,0.000,516,0.000,0.068,2809,636,3368,3258,3479,0,0,0,0,0,0,15.08,14.73,15.10
$GC,7305,-1.66,-146.0,2808,636,3258,3479,795.3,-10.8,554,7310,0.00,2.38,0.00,0.000,1030,0.000,0.049,2798,2055,3368,3258,3479,0,0,0,0,0,0,14.87,14.78,14.89
$GC,7639,-1.66,-146.0,2798,2055,3257,3478,829.1,-10.0,570,7640,0.00,0.00,0.00,0.000,38,0.000,0.000,2798,2055,3367,3257,3478,0,0,0,0,0,0,15.09,15.11,15.11
$GC,7939,-1.66,-146.0,2798,2055,3256,3478,860.1,-10.5,580,7940,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2055,3367,3256,3478,0,0,0,0,0,0,15.07,15.10,15.09
$GC,8241,-1.66,-146.0,2798,2055,3255,3477,892.9,-10.9,590,8245,0.00,2.45,0.00,0.000,516,0.000,0.070,2798,643,3366,3255,3477,0,0,0,0,0,0,15.09,14.73,15.11
$GC,8293,-1.66,-146.0,2798,643,3255,3477,899.3,-12.1,600,8300,0.12,2.38,0.00,0.000,3078,0.288,0.053,2813,2055,3365,3254,3477,0,0,0,0,0,0,14.45,14.77,14.69
$GC,8608,-1.66,-146.0,2812,2056,3253,3477,930.9,-10.0,612,8615,0.00,2.40,0.00,0.000,292,0.000,0.073,2804,3453,3365,3253,3477,0,0,0,0,0,0,15.08,14.71,15.10
$GC,8645,-1.69,-146.0,2804,3453,3253,3477,934.5,-9.9,618,8650,0.00,2.38,0.00,0.000,1190,0.000,0.047,2804,2042,3365,3253,3477,0,0,0,0,0,0,14.85,14.76,14.88
$GC,8978,-1.69,-146.0,2804,2042,3252,3477,969.1,-10.6,634,8980,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2042,3364,3252,3477,0,0,0,0,0,0,15.07,15.10,15.09
$STATE,9186,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9186,begin apogee
$GC,9191,-0.33,0.0,2804,1795,3251,3476,991.2,-10.6,641,9323,1.17,0.00,128.88,2.704,10246,0.281,0.000,3096,1792,2789,2677,2902,0,0,0,0,0,0,14.39,14.01,12.99
$STATE,9324,end apogee,CONTROL_FINISHED_OK
$STATE,9325,begin climb
$GC,9326,1.29,146.0,3096,1792,2672,2898,994.3,0.0,645,9470,1.27,2.62,135.68,2.673,10756,0.184,0.081,3463,394,2188,2059,2317,0,0,0,0,0,0,13.99,13.85,12.85
$GC,9487,1.06,146.0,3463,394,2049,2316,984.7,11.8,656,9495,0.28,2.50,0.00,0.000,5254,0.339,0.050,3409,1801,2182,2048,2316,0,0,0,0,0,0,13.83,14.02,14.07
$GC,9818,0.95,146.0,3409,1801,2040,2317,948.0,11.1,672,9825,0.12,2.45,0.00,0.000,4484,0.422,0.069,3382,3209,2178,2039,2317,0,0,0,0,0,0,14.20,14.51,14.44
$GC,9856,0.87,146.0,3381,3209,2039,2316,943.6,10.7,680,9861,0.12,2.42,0.00,0.000,5254,0.342,0.050,3369,1793,2177,2039,2316,0,0,0,0,0,0,14.29,14.57,14.59
$GC,10173,0.84,162.2,3369,1793,2036,2316,914.0,9.2,693,10192,0.00,2.45,13.70,2.385,8868,0.000,0.075,3378,388,2123,1982,2265,0,0,0,0,0,0,14.94,14.42,13.59
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$STATE,18750,end climb,SURFACE_DEPTH_REACHED
$STATE,18750,begin surface coast
$FINISH,1.4,1.016453
$STATE,18776,end surface coast,CONTROL_FINISHED_OK
$STATE,18776,begin surface
$SM_CCo,18794,82.03,0.081,0,0,449,573.99
$SM_GC,2.30,9.80,0.43,82.03,0.075,0.054,0.081,96,2070,449,-14.11,-1.27,573.99,0,0,0,0,0,0,14.65,14.78,14.66
$IRIDIUM_FIX,1318.67,6046.39,070417,050453
$TT8_MAMPS,0.023968,0.15729
$HUMID,49.52
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,23.90
$XPDR_PINGS,8
$24V_AH,12.85,59.658
$10V_AH,13.51,0.000
$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,29.150,201.750,473.100,82.025,0.000,0.000,0.000,231.200,106.750,0.000,19.103,2996.748,12735.401,786.502,2482.463,223.239,0.000,2165.981,0.000,1927.000,0.000,707.110,0.000
$DEVICE_MAMPS,423.045,2079.270,2703.510,81.090,0.000,0.000,0.000,179.010,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,667.264,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225132
$DATA_FILE_SIZE,60054,1354
$CAP_FILE_SIZE,218707,0
$CFSIZE,260034560,245207040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.038,341.94,1
$GPS,070417,155410,1325.380,6040.586,32,0.8,41,-0.7,0.3,237.3,10,9.1