version: 66.13
glider: 137
mission: 5
dive: 176
start: 4 8 117 12 59 31
data:
$ID,137
$MISSION,5
$DIVE,176
$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,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
$GPS1,080417,125405,1323.5840,6043.0024,44,0.7,48,-0.7,0.5,304.2,11,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-66.8
$GPS2,080417,125854,1323.5712,6042.9453,8,0.8,17,-0.7,0.4,281.6,10,9.8
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1321.153,6040.421
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,216.8,6383,-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,-146.0,94,2090,335,570,0.0,0.0,0,103,0.00,0.00,-93.50,0.000,16386,0.000,0.000,94,2091,2924,2846,3002,0,0,0,0,0,0,14.84,28.83,14.86
$GC,105,-1.28,-146.0,94,2091,2847,3002,4.2,-4.7,16,137,13.90,2.50,-8.77,0.000,18724,0.412,2.086,2878,3415,3387,3271,3504,0,0,0,0,0,0,14.28,13.39,14.51
$GC,289,-1.34,-146.0,2878,3414,3273,3504,34.4,-12.4,51,296,0.00,2.28,0.00,0.000,1158,0.000,0.038,2878,2039,3388,3273,3504,0,0,0,0,0,0,14.71,14.65,14.73
$GC,598,-1.34,-146.0,2878,2039,3273,3504,70.8,-10.6,94,607,0.00,2.33,0.00,0.000,516,0.000,0.057,2878,643,3388,3273,3504,0,0,0,0,0,0,14.98,14.69,15.00
$GC,649,-1.37,-146.0,2878,643,3273,3504,76.1,-10.4,104,659,0.00,2.28,0.00,0.000,1158,0.000,0.038,2868,2036,3388,3273,3504,0,0,0,0,0,0,14.80,14.73,14.82
$GC,959,-1.37,-146.0,2868,2036,3274,3504,117.8,-14.9,136,969,0.00,2.35,0.00,0.000,260,0.000,0.060,2858,3449,3389,3275,3504,0,0,0,0,0,0,15.04,14.73,15.05
$GC,993,-1.37,-146.0,2858,3449,3274,3504,122.7,-13.2,143,1001,0.00,2.35,0.00,0.000,1030,0.000,0.037,2858,2042,3389,3275,3504,0,0,0,0,0,0,14.80,14.76,14.82
$GC,1301,-1.37,-146.0,2858,2042,3276,3504,152.4,-10.1,174,1310,0.00,2.38,0.00,0.000,260,0.000,0.061,2849,3446,3390,3276,3504,0,0,0,0,0,0,15.06,14.76,15.08
$GC,1363,-1.43,-146.0,2848,3446,3275,3504,158.8,-10.3,186,1372,0.00,2.28,0.00,0.000,1158,0.000,0.037,2849,2048,3389,3275,3504,0,0,0,0,0,0,14.87,14.81,14.89
$GC,1673,-1.47,-146.0,2848,2048,3276,3504,193.9,-10.3,218,1682,0.00,2.30,0.00,0.000,644,0.000,0.057,2849,655,3389,3276,3503,0,0,0,0,0,0,15.07,14.78,15.09
$GC,1799,-1.47,-146.0,2848,655,3277,3504,206.3,-8.8,242,1806,0.00,2.28,0.00,0.000,1062,0.000,0.038,2838,2059,3390,3276,3504,0,0,0,0,0,0,14.88,14.81,14.90
$GC,2116,-1.50,-146.0,2838,2058,3276,3504,230.7,-8.5,274,2121,0.00,2.33,0.00,0.000,420,0.000,0.061,2828,3457,3390,3276,3504,0,0,0,0,0,0,15.07,14.77,15.09
$GC,2154,-1.55,-146.0,2828,3457,3276,3504,234.6,-9.7,281,2163,0.00,2.30,0.00,0.000,1190,0.000,0.037,2828,2049,3390,3276,3504,0,0,0,0,0,0,14.88,14.82,14.90
$GC,2462,-1.55,-146.0,2828,2049,3277,3504,265.6,-9.7,302,2469,0.00,2.33,0.00,0.000,548,0.000,0.060,2828,651,3390,3276,3504,0,0,0,0,0,0,15.07,14.78,15.09
$GC,2532,-1.55,-146.0,2827,651,3276,3504,272.6,-9.6,315,2536,0.00,2.30,0.00,0.000,1062,0.000,0.041,2818,2059,3390,3277,3504,0,0,0,0,0,0,14.88,14.81,14.90
$GC,2860,-1.55,-146.0,2818,2058,3276,3504,310.2,-12.5,330,2861,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2058,3390,3277,3504,0,0,0,0,0,0,15.08,15.10,15.09
$GC,3160,-1.55,-146.0,2818,2059,3276,3504,345.4,-11.1,340,3167,0.00,2.40,0.00,0.000,516,0.000,0.061,2818,644,3390,3276,3504,0,0,0,0,0,0,15.08,14.78,15.10
$GC,3210,-1.55,-146.0,2818,644,3276,3504,351.4,-11.9,349,3217,0.12,2.33,0.00,0.000,3078,0.252,0.044,2835,2054,3389,3276,3503,0,0,0,0,0,0,14.59,14.81,14.81
$GC,3530,-1.59,-146.0,2835,2054,3274,3501,385.6,-10.7,362,3535,0.00,2.35,0.00,0.000,388,0.000,0.065,2826,3453,3387,3274,3501,0,0,0,0,0,0,15.09,14.77,15.11
$GC,3606,-1.67,-146.0,2826,3453,3274,3500,393.4,-9.5,376,3611,0.00,2.30,0.00,0.000,1190,0.000,0.039,2826,2055,3387,3274,3500,0,0,0,0,0,0,14.89,14.82,14.91
$GC,3930,-1.67,-146.0,2826,2055,3272,3498,425.9,-9.9,390,3934,0.00,2.40,0.00,0.000,292,0.000,0.064,2816,3457,3385,3272,3498,0,0,0,0,0,0,15.09,14.77,15.11
$GC,3968,-1.71,-146.0,2816,3457,3272,3497,430.0,-10.0,397,3974,0.00,2.33,0.00,0.000,1190,0.000,0.040,2816,2049,3384,3272,3497,0,0,0,0,0,0,14.89,14.81,14.91
$GC,4298,-1.71,-146.0,2816,2048,3270,3496,463.5,-10.4,412,4303,0.00,2.40,0.00,0.000,260,0.000,0.063,2806,3451,3382,3270,3495,0,0,0,0,0,0,15.09,14.76,15.11
$GC,4331,-1.71,-146.0,2806,3451,3271,3494,467.2,-10.3,418,4338,0.00,2.33,0.00,0.000,1030,0.000,0.041,2807,2045,3383,3271,3495,0,0,0,0,0,0,14.89,14.81,14.91
$GC,4666,-1.71,-146.0,2806,2045,3269,3493,504.3,-11.2,434,4671,0.00,2.42,0.00,0.000,260,0.000,0.064,2796,3458,3381,3269,3493,0,0,0,0,0,0,15.09,14.76,15.11
$GC,4703,-1.71,-146.0,2796,3458,3269,3492,508.7,-11.2,441,4708,0.00,2.35,0.00,0.000,1030,0.000,0.043,2796,2046,3381,3269,3493,0,0,0,0,0,0,14.88,14.80,14.90
$GC,5033,-1.71,-146.0,2796,2046,3267,3491,541.9,-9.8,456,5038,0.00,2.42,0.00,0.000,292,0.000,0.065,2787,3458,3378,3267,3490,0,0,0,0,0,0,15.09,14.75,15.11
$GC,5067,-1.71,-146.0,2786,3458,3267,3489,545.2,-9.0,462,5073,0.00,2.35,0.00,0.000,1062,0.000,0.044,2786,2048,3378,3267,3489,0,0,0,0,0,0,14.88,14.79,14.90
$GC,5403,-1.67,-146.0,2786,2048,3266,3488,580.3,-10.8,478,5408,0.12,2.40,0.00,0.000,2436,0.253,0.063,2809,3452,3376,3266,3487,0,0,0,0,0,0,14.52,14.73,14.67
$GC,5448,-1.72,-146.0,2808,3451,3266,3487,584.9,-9.0,486,5452,0.00,2.35,0.00,0.000,1190,0.000,0.041,2809,2038,3376,3266,3487,0,0,0,0,0,0,14.88,14.79,14.90
$GC,5772,-1.72,-146.0,2808,2038,3264,3487,616.5,-9.7,500,5777,0.00,2.42,0.00,0.000,292,0.000,0.066,2799,3447,3375,3264,3487,0,0,0,0,0,0,15.09,14.74,15.11
$GC,5819,-1.72,-146.0,2798,3447,3263,3486,621.5,-9.9,509,5825,0.00,2.35,0.00,0.000,1062,0.000,0.044,2799,2042,3375,3264,3486,0,0,0,0,0,0,14.87,14.78,14.89
$GC,6138,-1.72,-146.0,2798,2042,3262,3486,654.2,-10.4,522,6145,0.00,2.42,0.00,0.000,260,0.000,0.065,2789,3451,3374,3262,3486,0,0,0,0,0,0,15.08,14.73,15.10
$GC,6196,-1.72,-146.0,2788,3451,3262,3485,660.8,-10.7,533,6205,0.00,2.35,0.00,0.000,1030,0.000,0.044,2789,2049,3374,3262,3486,0,0,0,0,0,0,14.86,14.78,14.89
$GC,6505,-1.72,-146.0,2789,2048,3261,3485,698.4,-13.0,544,6509,0.00,2.42,0.00,0.000,260,0.000,0.065,2779,3455,3373,3261,3485,0,0,0,0,0,0,15.09,14.73,15.11
$GC,6552,-1.72,-146.0,2779,3456,3261,3484,705.3,-13.2,553,6559,0.10,2.38,0.00,0.000,3078,0.262,0.044,2796,2037,3372,3261,3483,0,0,0,0,0,0,14.52,14.77,14.73
$GC,6872,-1.72,-146.0,2796,2036,3260,3483,746.2,-12.4,566,6879,0.00,2.45,0.00,0.000,260,0.000,0.067,2788,3454,3371,3261,3482,0,0,0,0,0,0,15.07,14.72,15.10
$GC,6900,-1.72,-146.0,2788,3454,3260,3482,749.9,-12.1,571,6908,0.00,2.35,0.00,0.000,1030,0.000,0.044,2788,2055,3371,3260,3482,0,0,0,0,0,0,14.85,14.77,14.88
$GC,7209,-1.72,-146.0,2787,2054,3259,3481,782.2,-10.2,582,7210,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2054,3370,3259,3481,0,0,0,0,0,0,15.09,15.11,15.11
$GC,7508,-1.72,-146.0,2788,2054,3259,3480,811.1,-9.6,592,7513,0.00,2.42,0.00,0.000,292,0.000,0.067,2779,3457,3368,3258,3479,0,0,0,0,0,0,15.08,14.72,15.10
$GC,7566,-1.72,-146.0,2779,3457,3258,3479,817.4,-10.1,603,7575,0.10,2.38,0.00,0.000,3078,0.262,0.044,2797,2046,3368,3258,3479,0,0,0,0,0,0,14.50,14.76,14.74
$GC,7877,-1.72,-146.0,2796,2046,3257,3479,845.7,-9.3,614,7881,0.00,2.40,0.00,0.000,548,0.000,0.069,2799,640,3368,3257,3479,0,0,0,0,0,0,15.09,14.71,15.11
$GC,7897,-1.72,-146.0,2798,640,3257,3478,848.3,-10.5,618,7902,0.00,2.38,0.00,0.000,1030,0.000,0.049,2790,2057,3368,3257,3479,0,0,0,0,0,0,14.85,14.77,14.88
$GC,8211,-1.72,-146.0,2790,2057,3256,3478,880.4,-10.7,630,8216,0.00,2.38,0.00,0.000,260,0.000,0.066,2780,3455,3367,3256,3478,0,0,0,0,0,0,15.07,14.71,15.09
$GC,8245,-1.72,-146.0,2780,3455,3256,3478,884.2,-11.0,636,8250,0.00,2.35,0.00,0.000,1030,0.000,0.044,2780,2052,3367,3256,3478,0,0,0,0,0,0,14.85,14.76,14.88
$GC,8579,-1.72,-146.0,2780,2051,3255,3477,923.0,-11.8,652,8580,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2051,3366,3255,3478,0,0,0,0,0,0,15.08,15.10,15.10
$GC,8879,-1.72,-146.0,2780,2051,3254,3477,957.7,-11.5,662,8884,0.00,2.42,0.00,0.000,260,0.000,0.068,2770,3450,3366,3255,3477,0,0,0,0,0,0,15.07,14.70,15.09
$GC,8944,-1.72,-146.0,2770,3450,3254,3477,965.3,-10.7,674,8950,0.15,2.38,0.00,0.000,3078,0.272,0.044,2800,2039,3366,3255,3477,0,0,0,0,0,0,14.40,14.75,14.65
$STATE,9216,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9216,begin apogee
$GC,9221,-0.33,0.0,2801,1785,3254,3477,991.3,-9.0,688,9354,1.15,0.00,129.05,2.700,10246,0.260,0.000,3098,1784,2789,2675,2903,0,0,0,0,0,0,14.40,14.00,12.97
$STATE,9355,end apogee,CONTROL_FINISHED_OK
$STATE,9355,begin climb
$GC,9357,1.28,146.0,3099,1784,2671,2899,991.6,0.0,692,9498,1.20,0.00,134.90,2.657,10502,0.157,0.000,3452,1784,2193,2064,2322,0,0,0,0,0,0,14.00,13.83,12.83
$GC,9787,1.09,146.0,3451,1784,2042,2318,938.5,14.7,732,9795,0.17,2.42,0.00,0.000,4740,0.343,0.072,3426,406,2180,2042,2318,0,0,0,0,0,0,14.19,14.46,14.40
$GC,9857,0.93,146.0,3426,406,2040,2318,928.7,13.3,746,9862,0.22,2.38,0.00,0.000,5254,0.324,0.047,3380,1802,2179,2040,2318,0,0,0,0,0,0,14.27,14.54,14.57
$GC,10175,0.88,153.0,3379,1802,2038,2318,895.6,9.7,759,10187,0.00,2.45,3.67,1.506,8612,0.000,0.063,3373,3202,2166,2025,2307,0,0,0,0,0,0,14.92,14.68,13.47
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$STATE,18040,end climb,SURFACE_DEPTH_REACHED
$STATE,18040,begin surface coast
$FINISH,1.5,1.012486
$STATE,18066,end surface coast,CONTROL_FINISHED_OK
$STATE,18066,begin surface
$SM_CCo,18083,87.45,0.081,0,0,449,573.99
$SM_GC,2.34,9.98,0.38,87.45,0.080,0.054,0.081,95,2085,449,-14.11,-1.13,573.99,0,0,0,0,0,0,14.66,14.79,14.65
$IRIDIUM_FIX,1316.45,6041.43,080417,073845
$TT8_MAMPS,0.023968,0.158039
$HUMID,48.62
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,24.10
$XPDR_PINGS,6
$24V_AH,12.83,61.623
$10V_AH,13.23,0.000
$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,27.950,211.700,464.500,87.450,0.000,0.000,0.000,190.500,116.500,0.000,18.454,2956.711,11935.347,773.961,2576.979,222.136,0.000,2190.468,0.000,2024.845,0.000,773.155,0.000
$DEVICE_MAMPS,412.335,2086.155,2699.685,81.090,0.000,0.000,0.000,188.955,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,652.906,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225144
$DATA_FILE_SIZE,63311,1423
$CAP_FILE_SIZE,222556,0
$CFSIZE,260034560,244756480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.025,291.70,1
$GPS,080417,180337,1321.852,6040.797,32,1.0,38,-0.7,0.6,268.0,9,9.3