version: 66.13
glider: 137
mission: 5
dive: 175
start: 4 8 117 7 42 57
data:
$ID,137
$MISSION,5
$DIVE,175
$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,42
$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
$GPS1,080417,073705,1323.7728,6040.9160,31,0.9,46,-0.7,0.7,243.7,9,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-66.9
$GPS2,080417,074220,1323.7325,6040.8281,6,0.9,18,-0.7,0.7,238.8,9,9.6
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1323.732,6044.149
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,89.5,5983,-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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-1.28,-146.0,94,2036,334,560,0.0,0.0,0,104,0.00,0.00,-94.30,0.000,16386,0.000,0.000,94,2035,2968,2888,3049,0,0,0,0,0,0,14.85,28.83,14.88
$GC,106,-1.28,-146.0,94,2035,2889,3051,4.4,-5.8,16,138,13.95,2.62,-7.97,0.000,18980,0.413,2.078,2890,657,3397,3291,3503,0,0,0,0,0,0,14.28,13.38,14.51
$GC,186,-1.28,-146.0,2890,656,3292,3512,20.6,-13.4,30,192,0.00,2.28,0.00,0.000,1030,0.000,0.038,2882,2032,3402,3292,3512,0,0,0,0,0,0,14.66,14.59,14.69
$GC,499,-1.28,-146.0,2882,2032,3293,3512,60.1,-11.7,84,509,0.00,2.35,0.00,0.000,516,0.000,0.058,2882,649,3402,3292,3512,0,0,0,0,0,0,14.95,14.67,14.97
$GC,521,-1.28,-146.0,2881,648,3292,3512,62.7,-12.0,88,526,0.10,2.33,0.00,0.000,3078,0.276,0.041,2893,2058,3402,3292,3512,0,0,0,0,0,0,14.50,14.70,14.71
$GC,826,-1.32,-146.0,2892,2058,3293,3511,94.1,-10.1,119,835,0.00,2.33,0.00,0.000,388,0.000,0.061,2884,3451,3402,3293,3511,0,0,0,0,0,0,15.02,14.71,15.04
$GC,862,-1.40,-146.0,2884,3451,3293,3512,97.8,-9.9,126,868,0.00,2.30,0.00,0.000,1190,0.000,0.037,2884,2049,3402,3293,3512,0,0,0,0,0,0,14.83,14.77,14.85
$GC,1168,-1.46,-146.0,2884,2049,3294,3511,134.6,-13.8,157,1170,0.12,0.00,0.00,0.000,4230,0.129,0.000,2825,2048,3403,3294,3512,0,0,0,0,0,0,14.81,14.88,14.86
$GC,1467,-1.46,-146.0,2824,2048,3295,3512,183.6,-13.7,187,1472,0.12,2.30,0.00,0.000,2564,0.256,0.054,2856,652,3403,3295,3511,0,0,0,0,0,0,14.57,14.77,14.71
$GC,1518,-1.51,-146.0,2855,652,3295,3511,189.7,-11.0,197,1525,0.00,2.28,0.00,0.000,1158,0.000,0.037,2847,2055,3403,3295,3512,0,0,0,0,0,0,14.88,14.81,14.90
$GC,1828,-1.55,-146.0,2846,2055,3295,3512,215.4,-7.8,228,1833,0.00,2.35,0.00,0.000,676,0.000,0.055,2847,652,3403,3295,3512,0,0,0,0,0,0,15.07,14.78,15.09
$GC,1862,-1.59,-146.0,2846,652,3295,3512,218.2,-7.6,234,1869,0.00,2.28,0.00,0.000,1190,0.000,0.039,2837,2050,3403,3295,3512,0,0,0,0,0,0,14.88,14.81,14.90
$GC,2180,-1.63,-146.0,2836,2051,3295,3511,244.4,-9.3,266,2186,0.00,0.00,0.00,0.000,166,0.000,0.000,2837,2051,3402,3294,3511,0,0,0,0,0,0,15.07,15.09,15.09
$GC,2507,-1.67,-146.0,2836,2051,3294,3512,280.8,-11.7,281,2515,0.10,2.35,0.00,0.000,4740,0.154,0.059,2804,654,3403,3294,3512,0,0,0,0,0,0,14.81,14.76,14.88
$GC,2547,-1.64,-146.0,2804,654,3294,3512,286.3,-13.6,288,2554,0.12,2.30,0.00,0.000,3206,0.274,0.041,2819,2059,3402,3294,3511,0,0,0,0,0,0,14.56,14.81,14.80
$GC,2877,-1.64,-146.0,2819,2060,3293,3511,322.4,-10.1,303,2879,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2059,3402,3292,3512,0,0,0,0,0,0,15.08,15.10,15.10
$GC,3178,-1.64,-146.0,2819,2059,3291,3511,351.7,-9.8,313,3179,0.00,0.00,0.00,0.000,38,0.000,0.000,2819,2059,3401,3292,3511,0,0,0,0,0,0,15.09,15.11,15.11
$GC,3479,-1.64,-146.0,2819,2059,3289,3512,381.0,-9.9,323,3484,0.00,2.35,0.00,0.000,292,0.000,0.066,2810,3457,3400,3289,3511,0,0,0,0,0,0,15.10,14.77,15.12
$GC,3506,-1.67,-146.0,2810,3457,3289,3511,384.1,-10.5,328,3513,0.00,2.33,0.00,0.000,1158,0.000,0.042,2810,2053,3400,3289,3512,0,0,0,0,0,0,14.90,14.82,14.92
$GC,3813,-1.67,-146.0,2810,2053,3288,3512,414.6,-10.0,339,3818,0.00,2.40,0.00,0.000,260,0.000,0.068,2801,3448,3399,3288,3511,0,0,0,0,0,0,15.10,14.76,15.12
$GC,3851,-1.67,-146.0,2800,3448,3288,3511,418.6,-10.5,346,3855,0.00,2.33,0.00,0.000,1030,0.000,0.043,2801,2045,3399,3288,3511,0,0,0,0,0,0,14.89,14.81,14.92
$GC,4178,-1.67,-146.0,2800,2044,3286,3509,450.6,-9.5,361,4180,0.00,0.00,0.00,0.000,38,0.000,0.000,2801,2045,3397,3286,3509,0,0,0,0,0,0,15.09,15.11,15.11
$GC,4481,-1.67,-146.0,2800,2045,3284,3508,478.2,-9.3,371,4485,0.00,2.42,0.00,0.000,292,0.000,0.065,2790,3458,3396,3284,3508,0,0,0,0,0,0,15.10,14.76,15.11
$GC,4543,-1.67,-146.0,2790,3458,3284,3507,484.6,-9.2,383,4548,0.00,2.35,0.00,0.000,1062,0.000,0.043,2790,2042,3395,3284,3507,0,0,0,0,0,0,14.88,14.81,14.90
$GC,4876,-1.67,-146.0,2790,2041,3282,3507,521.2,-11.6,399,4880,0.00,2.42,0.00,0.000,260,0.000,0.065,2781,3453,3394,3282,3506,0,0,0,0,0,0,15.08,14.75,15.11
$GC,4992,-1.67,-146.0,2781,3452,3282,3504,536.1,-13.0,421,4998,0.12,2.35,0.00,0.000,3078,0.260,0.043,2806,2038,3392,3282,3503,0,0,0,0,0,0,14.50,14.78,14.73
$GC,5307,-1.67,-146.0,2806,2038,3281,3503,573.8,-12.0,433,5313,0.00,2.35,0.00,0.000,516,0.000,0.064,2807,644,3392,3281,3503,0,0,0,0,0,0,15.09,14.75,15.11
$GC,5355,-1.67,-146.0,2807,644,3280,3503,580.3,-13.5,442,5360,0.00,2.33,0.00,0.000,1030,0.000,0.043,2798,2053,3391,3280,3503,0,0,0,0,0,0,14.88,14.80,14.90
$GC,5673,-1.67,-146.0,2798,2053,3278,3501,619.5,-12.3,455,5680,0.00,2.38,0.00,0.000,260,0.000,0.066,2788,3458,3389,3278,3501,0,0,0,0,0,0,15.07,14.73,15.10
$GC,5717,-1.67,-146.0,2788,3458,3279,3500,625.2,-11.7,463,5722,0.10,2.38,0.00,0.000,3078,0.257,0.047,2806,2048,3389,3279,3500,0,0,0,0,0,0,14.54,14.78,14.77
$GC,6041,-1.67,-146.0,2806,2047,3278,3499,662.0,-11.2,477,6046,0.00,2.38,0.00,0.000,516,0.000,0.066,2808,643,3388,3278,3499,0,0,0,0,0,0,15.07,14.73,15.09
$GC,6078,-1.67,-146.0,2808,643,3278,3499,666.6,-11.4,484,6083,0.00,2.35,0.00,0.000,1030,0.000,0.044,2800,2054,3388,3278,3499,0,0,0,0,0,0,14.87,14.78,14.89
$GC,6408,-1.67,-146.0,2800,2055,3277,3498,704.1,-11.6,499,6409,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2055,3387,3277,3498,0,0,0,0,0,0,15.08,15.11,15.10
$GC,6706,-1.67,-146.0,2799,2055,3276,3497,739.0,-11.6,509,6712,0.00,2.42,0.00,0.000,516,0.000,0.063,2800,641,3386,3276,3497,0,0,0,0,0,0,15.08,14.73,15.10
$GC,6750,-1.67,-146.0,2799,640,3275,3496,744.8,-12.5,517,6755,0.00,2.38,0.00,0.000,1030,0.000,0.049,2791,2061,3385,3275,3496,0,0,0,0,0,0,14.86,14.78,14.88
$GC,7075,-1.67,-146.0,2790,2061,3274,3495,783.6,-11.9,531,7079,0.00,2.38,0.00,0.000,260,0.000,0.067,2781,3458,3384,3274,3495,0,0,0,0,0,0,15.08,14.72,15.10
$GC,7100,-1.67,-146.0,2780,3458,3274,3495,787.3,-12.7,536,7109,0.15,2.38,0.00,0.000,3078,0.246,0.045,2813,2042,3383,3273,3494,0,0,0,0,0,0,14.49,14.77,14.74
$GC,7409,-1.70,-146.0,2812,2042,3272,3494,819.0,-10.3,547,7411,0.00,0.00,0.00,0.000,134,0.000,0.000,2813,2042,3383,3272,3494,0,0,0,0,0,0,15.08,15.11,15.10
$GC,7709,-1.74,-146.0,2812,2042,3272,3494,848.4,-9.6,557,7714,0.00,2.38,0.00,0.000,676,0.000,0.068,2814,648,3383,3272,3494,0,0,0,0,0,0,15.08,14.71,15.11
$GC,7746,-1.74,-146.0,2813,647,3272,3493,852.7,-10.5,564,7751,0.00,2.35,0.00,0.000,1030,0.000,0.046,2805,2056,3382,3271,3493,0,0,0,0,0,0,14.85,14.77,14.88
$GC,8076,-1.74,-146.0,2805,2056,3270,3492,883.5,-9.4,579,8081,0.00,2.38,0.00,0.000,292,0.000,0.067,2795,3453,3381,3271,3491,0,0,0,0,0,0,15.08,14.71,15.10
$GC,8097,-1.74,-146.0,2794,3453,3270,3491,885.8,-9.8,583,8102,0.00,2.38,0.00,0.000,1062,0.000,0.047,2795,2045,3381,3270,3492,0,0,0,0,0,0,14.85,14.76,14.88
$GC,8410,-1.74,-146.0,2795,2043,3269,3491,916.1,-9.8,595,8411,0.00,0.00,0.00,0.000,38,0.000,0.000,2795,2043,3380,3269,3491,0,0,0,0,0,0,15.07,15.10,15.09
$GC,8710,-1.74,-146.0,2794,2043,3268,3490,946.4,-10.1,605,8718,0.00,2.45,0.00,0.000,260,0.000,0.070,2785,3450,3378,3268,3488,0,0,0,0,0,0,15.07,14.70,15.09
$GC,8750,-1.74,-146.0,2785,3450,3268,3489,950.6,-10.3,612,8757,0.00,2.38,0.00,0.000,1030,0.000,0.047,2785,2042,3378,3268,3489,0,0,0,0,0,0,14.84,14.74,14.87
$GC,9079,-1.74,-146.0,2785,2042,3268,3488,985.4,-10.7,627,9084,0.00,2.40,0.00,0.000,516,0.000,0.073,2787,644,3378,3268,3488,0,0,0,0,0,0,15.07,14.68,15.09
$GC,9100,-1.74,-146.0,2787,644,3268,3487,988.3,-12.2,631,9105,0.00,2.38,0.00,0.000,1030,0.000,0.050,2779,2056,3377,3268,3487,0,0,0,0,0,0,14.84,14.75,14.87
$STATE,9142,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9142,begin apogee
$GC,9147,-0.33,0.0,2779,1793,3268,3487,992.6,-10.7,634,9284,1.23,0.00,132.77,2.696,10246,0.254,0.000,3098,1792,2789,2679,2900,0,0,0,0,0,0,14.44,14.00,12.97
$STATE,9285,end apogee,CONTROL_FINISHED_OK
$STATE,9285,begin climb
$GC,9287,1.28,146.0,3098,1792,2673,2896,994.9,0.0,638,9431,1.17,2.60,135.23,2.648,10756,0.147,0.081,3461,405,2188,2061,2316,0,0,0,0,0,0,14.00,13.83,12.83
$GC,9483,1.06,146.0,3461,405,2048,2315,980.8,13.3,682,9488,0.28,2.45,0.00,0.000,5254,0.341,0.045,3409,1808,2182,2048,2316,0,0,0,0,0,0,13.91,14.14,14.17
$GC,9801,0.94,146.0,3409,1808,2040,2316,945.3,11.1,695,9808,0.12,2.53,0.00,0.000,4740,0.394,0.081,3394,404,2177,2039,2315,0,0,0,0,0,0,14.21,14.50,14.44
$GC,9843,0.84,146.0,3394,403,2036,2316,940.4,11.2,704,9849,0.17,2.38,0.00,0.000,5254,0.330,0.049,3361,1796,2176,2037,2316,0,0,0,0,0,0,14.26,14.57,14.58
$GC,10157,0.82,155.9,3361,1796,2035,2315,910.5,9.5,716,10170,0.00,2.40,7.82,2.208,8612,0.000,0.067,3360,3204,2150,2008,2292,0,0,0,0,0,0,14.94,14.47,13.62
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$STATE,18477,end climb,SURFACE_DEPTH_REACHED
$STATE,18477,begin surface coast
$FINISH,1.6,1.009357
$STATE,18504,end surface coast,CONTROL_FINISHED_OK
$STATE,18504,begin surface
$SM_CCo,18522,61.47,0.082,0,0,448,573.99
$SM_GC,2.38,9.88,0.45,61.47,0.080,0.050,0.082,94,2085,448,-14.11,-1.02,573.99,0,0,0,0,0,0,14.63,14.75,14.63
$IRIDIUM_FIX,1320.88,6038.41,080417,023833
$TT8_MAMPS,0.023968,0.166278
$HUMID,50.27
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,23.90
$XPDR_PINGS,5
$24V_AH,12.83,61.214
$10V_AH,13.21,0.000
$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
$DEVICE_SECS,28.425,207.950,516.125,61.475,0.000,0.000,0.000,215.900,107.750,0.000,20.256,2933.608,12457.236,747.876,2552.905,212.276,0.000,2188.105,0.000,1996.210,0.000,714.096,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,650.486,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225104
$DATA_FILE_SIZE,59925,1403
$CAP_FILE_SIZE,220540,0
$CFSIZE,260034560,244858880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.060,275.85,1
$GPS,080417,125405,1323.584,6043.002,44,0.7,48,-0.7,0.5,304.2,11,9.3