version: 66.13
glider: 137
mission: 5
dive: 177
start: 4 8 117 18 9 19
data:
$ID,137
$MISSION,5
$DIVE,177
$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,54
$R_STBD_OVSHOOT,70
$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
$GPS1,080417,180337,1321.8516,6040.7974,32,1.0,38,-0.7,0.6,268.0,9,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.36
$_SM_ANGLEo,-66.1
$GPS2,080417,180842,1321.8542,6040.7251,8,0.8,17,-0.7,0.7,234.0,10,9.8
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1320.381,6037.715
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,240.3,6072,-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,6,-1.28,-146.0,94,2023,329,561,0.0,0.0,0,102,0.00,0.00,-92.88,0.000,16386,0.000,0.000,95,2022,2916,2836,2996,0,0,0,0,0,0,14.85,28.83,14.88
$GC,104,-1.28,-146.0,94,2023,2836,2996,4.3,-5.4,16,136,13.77,2.62,-8.95,0.000,18724,0.407,2.084,2879,3417,3389,3274,3504,0,0,0,0,0,0,14.28,13.36,14.51
$GC,254,-1.35,-146.0,2879,3417,3275,3504,29.2,-13.5,44,261,0.00,2.22,0.00,0.000,1158,0.000,0.036,2879,2062,3389,3275,3504,0,0,0,0,0,0,14.71,14.64,14.72
$GC,568,-1.35,-146.0,2879,2062,3275,3504,64.1,-10.4,93,573,0.00,2.35,0.00,0.000,516,0.000,0.056,2880,646,3389,3275,3504,0,0,0,0,0,0,14.98,14.69,15.00
$GC,643,-1.35,-146.0,2879,646,3276,3504,72.9,-11.6,108,650,0.00,2.25,0.00,0.000,1030,0.000,0.038,2869,2024,3389,3275,3504,0,0,0,0,0,0,14.81,14.73,14.82
$GC,950,-1.35,-146.0,2869,2025,3277,3504,112.2,-10.9,139,954,0.00,2.33,0.00,0.000,516,0.000,0.057,2869,646,3390,3276,3504,0,0,0,0,0,0,15.04,14.74,15.06
$GC,976,-1.35,-146.0,2869,646,3277,3504,114.9,-9.8,144,986,0.00,2.30,0.00,0.000,1062,0.000,0.040,2860,2057,3390,3277,3504,0,0,0,0,0,0,14.84,14.78,14.86
$GC,1286,-1.35,-146.0,2860,2057,3277,3504,148.2,-14.1,176,1290,0.00,2.38,0.00,0.000,516,0.000,0.058,2860,646,3390,3277,3504,0,0,0,0,0,0,15.07,14.76,15.09
$GC,1396,-1.39,-146.0,2861,646,3278,3504,164.4,-14.7,198,1404,0.10,2.30,0.00,0.000,3206,0.269,0.038,2870,2059,3390,3277,3504,0,0,0,0,0,0,14.59,14.81,14.80
$GC,1702,-1.46,-146.0,2870,2059,3278,3504,188.9,-6.5,229,1707,0.00,2.30,0.00,0.000,420,0.000,0.061,2862,3449,3391,3278,3504,0,0,0,0,0,0,15.09,14.77,15.11
$GC,1728,-1.55,-146.0,2861,3449,3277,3504,191.1,-7.7,234,1736,0.10,2.30,0.00,0.000,5286,0.144,0.038,2813,2039,3391,3278,3504,0,0,0,0,0,0,14.78,14.81,14.87
$GC,2035,-1.55,-146.0,2813,2039,3278,3504,227.6,-12.6,265,2041,0.12,2.30,0.00,0.000,2564,0.249,0.056,2845,652,3391,3278,3504,0,0,0,0,0,0,14.58,14.78,14.72
$GC,2060,-1.55,-146.0,2844,652,3278,3504,230.4,-11.1,269,2066,0.00,2.30,0.00,0.000,1030,0.000,0.040,2836,2060,3390,3277,3504,0,0,0,0,0,0,14.88,14.81,14.90
$GC,2394,-1.58,-146.0,2835,2061,3277,3504,264.1,-11.0,295,2399,0.00,2.33,0.00,0.000,388,0.000,0.062,2826,3457,3391,3278,3504,0,0,0,0,0,0,15.07,14.78,15.09
$GC,2420,-1.62,-146.0,2825,3457,3278,3504,267.2,-10.5,300,2428,0.00,2.30,0.00,0.000,1158,0.000,0.039,2826,2051,3390,3277,3504,0,0,0,0,0,0,14.89,14.82,14.91
$GC,2727,-1.62,-146.0,2825,2051,3277,3504,294.2,-7.7,311,2733,0.00,2.33,0.00,0.000,548,0.000,0.062,2826,655,3390,3277,3504,0,0,0,0,0,0,15.08,14.78,15.10
$GC,2761,-1.62,-146.0,2825,655,3278,3504,297.4,-9.0,317,2767,0.00,2.30,0.00,0.000,1062,0.000,0.041,2816,2053,3391,3278,3504,0,0,0,0,0,0,14.89,14.82,14.91
$GC,3095,-1.62,-146.0,2816,2053,3278,3504,336.6,-13.1,333,3100,0.00,2.38,0.00,0.000,516,0.000,0.062,2816,654,3390,3277,3504,0,0,0,0,0,0,15.08,14.78,15.10
$GC,3173,-1.62,-146.0,2816,654,3277,3504,347.6,-13.8,348,3177,0.00,2.30,0.00,0.000,1030,0.000,0.042,2806,2055,3391,3278,3504,0,0,0,0,0,0,14.89,14.81,14.91
$GC,3490,-1.62,-146.0,2806,2055,3276,3502,387.0,-11.8,361,3496,0.00,2.35,0.00,0.000,260,0.000,0.067,2795,3454,3389,3276,3502,0,0,0,0,0,0,15.08,14.77,15.10
$GC,3625,-1.62,-146.0,2795,3454,3276,3500,401.6,-10.5,387,3631,0.12,2.33,0.00,0.000,3078,0.238,0.042,2822,2045,3387,3276,3499,0,0,0,0,0,0,14.57,14.81,14.80
$GC,3949,-1.62,-146.0,2822,2045,3273,3499,430.5,-9.1,401,3955,0.00,2.42,0.00,0.000,292,0.000,0.068,2813,3454,3386,3273,3499,0,0,0,0,0,0,15.09,14.76,15.11
$GC,4086,-1.67,-146.0,2813,3454,3273,3497,442.5,-8.3,427,4091,0.00,2.33,0.00,0.000,1190,0.000,0.041,2814,2048,3385,3273,3497,0,0,0,0,0,0,14.88,14.81,14.90
$GC,4408,-1.67,-146.0,2813,2048,3271,3496,475.5,-10.7,441,4414,0.00,2.35,0.00,0.000,516,0.000,0.066,2813,651,3384,3272,3496,0,0,0,0,0,0,15.08,14.76,15.10
$GC,4553,-1.67,-146.0,2813,650,3270,3495,492.3,-11.4,469,4559,0.00,2.33,0.00,0.000,1030,0.000,0.043,2804,2057,3382,3270,3495,0,0,0,0,0,0,14.87,14.79,14.90
$GC,4867,-1.67,-146.0,2803,2057,3269,3494,529.4,-12.4,481,4872,0.00,2.40,0.00,0.000,516,0.000,0.063,2804,651,3381,3269,3494,0,0,0,0,0,0,15.07,14.76,15.09
$GC,4956,-1.67,-146.0,2803,651,3268,3494,541.3,-13.4,498,4966,0.00,2.35,0.00,0.000,1030,0.000,0.049,2794,2056,3380,3268,3493,0,0,0,0,0,0,14.86,14.78,14.89
$GC,5262,-1.67,-146.0,2794,2056,3267,3490,579.4,-12.1,509,5263,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2056,3378,3267,3490,0,0,0,0,0,0,15.07,15.10,15.09
$GC,5563,-1.67,-146.0,2793,2056,3266,3488,612.1,-10.4,519,5564,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2056,3377,3266,3489,0,0,0,0,0,0,15.08,15.10,15.10
$GC,5864,-1.67,-146.0,2794,2056,3266,3487,641.8,-10.0,529,5865,0.00,0.00,0.00,0.000,38,0.000,0.000,2794,2056,3376,3266,3487,0,0,0,0,0,0,15.09,15.12,15.11
$GC,6163,-1.67,-146.0,2794,2056,3264,3486,676.4,-12.4,539,6168,0.00,2.42,0.00,0.000,516,0.000,0.070,2795,654,3375,3264,3486,0,0,0,0,0,0,15.08,14.73,15.11
$GC,6205,-1.67,-146.0,2795,654,3264,3486,682.4,-13.4,547,6211,0.12,2.35,0.00,0.000,3078,0.275,0.047,2812,2069,3374,3263,3486,0,0,0,0,0,0,14.50,14.78,14.76
$GC,6528,-1.67,-146.0,2812,2069,3262,3486,721.1,-11.6,561,6536,0.00,2.35,0.00,0.000,260,0.000,0.070,2803,3447,3374,3263,3485,0,0,0,0,0,0,15.08,14.72,15.10
$GC,6575,-1.71,-146.0,2803,3447,3262,3485,726.1,-10.7,569,6581,0.00,2.33,0.00,0.000,1158,0.000,0.043,2803,2055,3373,3262,3485,0,0,0,0,0,0,14.86,14.78,14.89
$GC,6899,-1.71,-146.0,2803,2055,3260,3485,757.3,-9.1,583,6900,0.00,0.00,0.00,0.000,38,0.000,0.000,2803,2055,3373,3261,3485,0,0,0,0,0,0,15.09,15.10,15.10
$GC,7200,-1.71,-146.0,2803,2055,3260,3483,783.2,-8.7,593,7207,0.00,2.40,0.00,0.000,292,0.000,0.067,2794,3445,3370,3259,3482,0,0,0,0,0,0,15.08,14.72,15.10
$GC,7223,-1.71,-146.0,2793,3446,3260,3482,785.8,-10.1,597,7229,0.00,2.35,0.00,0.000,1030,0.000,0.045,2794,2052,3371,3260,3482,0,0,0,0,0,0,14.86,14.77,14.88
$GC,7537,-1.71,-146.0,2793,2052,3259,3481,816.6,-10.1,609,7544,0.00,2.42,0.00,0.000,260,0.000,0.067,2784,3453,3370,3259,3481,0,0,0,0,0,0,15.08,14.71,15.10
$GC,7572,-1.71,-146.0,2783,3453,3259,3480,820.4,-10.2,615,7577,0.00,2.35,0.00,0.000,1030,0.000,0.045,2784,2049,3369,3259,3480,0,0,0,0,0,0,14.85,14.76,14.88
$GC,7905,-1.71,-146.0,2783,2049,3258,3480,857.0,-11.1,631,7909,0.00,2.42,0.00,0.000,260,0.000,0.067,2774,3450,3369,3258,3480,0,0,0,0,0,0,15.07,14.71,15.09
$GC,7947,-1.71,-146.0,2774,3450,3257,3479,862.3,-12.5,639,7953,0.12,2.35,0.00,0.000,3078,0.256,0.045,2799,2046,3368,3257,3479,0,0,0,0,0,0,14.47,14.76,14.70
$GC,8272,-1.71,-146.0,2798,2046,3256,3479,895.5,-10.0,653,8277,0.00,2.40,0.00,0.000,516,0.000,0.069,2800,641,3367,3256,3479,0,0,0,0,0,0,15.08,14.69,15.10
$GC,8293,-1.71,-146.0,2800,640,3256,3479,898.0,-10.4,657,8299,0.00,2.38,0.00,0.000,1030,0.000,0.047,2791,2056,3367,3256,3479,0,0,0,0,0,0,14.85,14.76,14.87
$GC,8607,-1.71,-146.0,2791,2056,3255,3478,926.3,-8.7,669,8613,0.00,2.45,0.00,0.000,548,0.000,0.066,2791,646,3366,3255,3478,0,0,0,0,0,0,15.07,14.69,15.09
$GC,8656,-1.71,-146.0,2790,646,3255,3478,931.3,-10.0,678,8664,0.10,2.35,0.00,0.000,3078,0.301,0.047,2798,2053,3366,3255,3478,0,0,0,0,0,0,14.45,14.75,14.72
$GC,8978,-1.71,-146.0,2797,2053,3254,3478,961.3,-10.2,691,8983,0.00,2.38,0.00,0.000,260,0.000,0.067,2790,3443,3365,3253,3478,0,0,0,0,0,0,15.08,14.69,15.10
$GC,9004,-1.71,-146.0,2789,3443,3254,3477,964.6,-11.2,696,9011,0.00,2.35,0.00,0.000,1030,0.000,0.044,2789,2045,3365,3254,3477,0,0,0,0,0,0,14.84,14.75,14.87
$STATE,9250,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9250,begin apogee
$GC,9255,-0.33,0.0,2789,1793,3253,3477,992.6,-11.5,705,9388,1.20,0.00,129.15,2.714,10246,0.260,0.000,3099,1792,2789,2677,2902,0,0,0,0,0,0,14.40,14.00,12.96
$STATE,9389,end apogee,CONTROL_FINISHED_OK
$STATE,9389,begin climb
$GC,9391,1.28,146.0,3099,1792,2673,2899,996.4,0.0,709,9535,1.20,2.58,136.75,2.672,10756,0.148,0.075,3462,404,2188,2060,2316,0,0,0,0,0,0,14.00,13.67,12.83
$GC,9551,1.06,146.0,3462,404,2050,2316,988.9,10.4,720,9556,0.28,2.47,0.00,0.000,5254,0.330,0.047,3409,1799,2182,2049,2316,0,0,0,0,0,0,13.82,14.01,14.04
$GC,9874,0.94,146.0,3409,1799,2041,2316,955.8,10.7,734,9876,0.15,0.00,0.00,0.000,4230,0.387,0.000,3384,1799,2178,2040,2316,0,0,0,0,0,0,14.21,14.59,14.54
$GC,10174,0.86,146.0,3383,1799,2037,2316,923.7,10.9,744,10181,0.12,2.40,0.00,0.000,4484,0.392,0.063,3354,3206,2176,2037,2316,0,0,0,0,0,0,14.28,14.62,14.51
$GC,10197,0.81,146.0,3354,3206,2037,2316,921.1,10.3,749,10204,0.00,2.40,0.00,0.000,1158,0.000,0.057,3363,1810,2176,2037,2316,0,0,0,0,0,0,14.73,14.64,14.76
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$STATE,18733,end climb,SURFACE_DEPTH_REACHED
$STATE,18733,begin surface coast
$FINISH,1.5,1.006003
$STATE,18770,end surface coast,CONTROL_FINISHED_OK
$STATE,18770,begin surface
$SM_CCo,18788,90.22,0.081,0,0,449,573.99
$SM_GC,2.27,9.73,0.38,90.22,0.070,0.057,0.081,89,2077,449,-14.13,-1.13,573.99,0,0,0,0,0,0,14.66,14.73,14.63
$IRIDIUM_FIX,1318.67,6042.52,080417,125537
$TT8_MAMPS,0.023968,0.15729
$HUMID,48.62
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,24.10
$XPDR_PINGS,8
$24V_AH,12.83,62.025
$10V_AH,13.20,0.000
$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,28.000,201.400,455.725,90.225,0.000,0.000,0.000,207.450,117.750,0.000,18.451,3050.026,12487.645,826.744,2612.156,211.910,0.000,2232.412,0.000,2047.381,0.000,778.814,0.000
$DEVICE_MAMPS,406.980,2083.860,2714.220,81.090,0.000,0.000,0.000,180.540,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,678.818,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225096
$DATA_FILE_SIZE,63266,1439
$CAP_FILE_SIZE,223872,0
$CFSIZE,260034560,244662272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.083,255.92,1
$GPS,080417,232525,1320.574,6037.792,29,0.9,50,-0.7,0.9,278.2,9,9.2