version: 66.13
glider: 137
mission: 5
dive: 181
start: 4 9 117 14 49 56
data:
$ID,137
$MISSION,5
$DIVE,181
$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,52
$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
$GPS1,090417,144003,1316.2719,6030.5400,50,0.8,64,-0.7,0.0,286.9,10,8.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-67.3
$GPS2,090417,144921,1316.2469,6030.4941,14,0.7,32,-0.7,0.0,221.2,11,10.0
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1313.729,6027.598
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,220.7,7000,-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,-146.0,90,2078,329,563,0.0,0.0,0,102,0.00,0.00,-92.80,0.000,16386,0.000,0.000,91,2078,2912,2834,2990,0,0,0,0,0,0,14.87,28.83,14.90
$GC,105,-1.28,-146.0,91,2078,2834,2990,4.1,-4.7,16,137,13.70,2.53,-9.10,0.000,18724,0.405,2.079,2879,3430,3388,3274,3503,0,0,0,0,0,0,14.29,13.37,14.52
$GC,249,-1.34,-146.0,2878,3430,3275,3503,28.2,-13.3,43,256,0.00,2.30,0.00,0.000,1158,0.000,0.037,2879,2036,3389,3275,3503,0,0,0,0,0,0,14.71,14.65,14.73
$GC,565,-1.34,-146.0,2878,2036,3275,3503,66.1,-10.1,90,573,0.00,2.35,0.00,0.000,260,0.000,0.057,2869,3433,3388,3274,3503,0,0,0,0,0,0,14.98,14.64,15.00
$GC,578,-1.34,-146.0,2869,3434,3275,3503,68.0,-11.1,93,586,0.00,2.33,0.00,0.000,1030,0.000,0.038,2869,2049,3389,3275,3503,0,0,0,0,0,0,14.74,14.71,14.81
$GC,885,-1.34,-146.0,2869,2048,3275,3503,109.9,-15.3,124,889,0.00,2.33,0.00,0.000,516,0.000,0.057,2869,646,3389,3275,3503,0,0,0,0,0,0,15.03,14.73,15.05
$GC,911,-1.34,-146.0,2869,646,3276,3503,113.9,-14.9,129,917,0.10,2.30,0.00,0.000,3078,0.260,0.043,2879,2052,3389,3275,3503,0,0,0,0,0,0,14.57,14.76,14.77
$GC,1224,-1.39,-146.0,2879,2053,3276,3503,148.7,-9.9,161,1229,0.00,2.33,0.00,0.000,420,0.000,0.058,2870,3455,3389,3276,3503,0,0,0,0,0,0,15.07,14.75,15.08
$GC,1300,-1.49,-146.0,2870,3455,3276,3503,156.5,-9.7,176,1307,0.00,2.30,0.00,0.000,1190,0.000,0.036,2870,2042,3389,3276,3503,0,0,0,0,0,0,14.87,14.81,14.88
$GC,1607,-1.55,-146.0,2870,2042,3275,3503,182.5,-8.5,207,1616,0.12,2.30,0.00,0.000,4772,0.123,0.055,2810,653,3389,3276,3503,0,0,0,0,0,0,14.83,14.77,14.85
$GC,1668,-1.55,-146.0,2810,653,3276,3503,189.2,-10.7,219,1678,0.15,2.28,0.00,0.000,3078,0.240,0.038,2834,2058,3389,3275,3503,0,0,0,0,0,0,14.59,14.81,14.81
$GC,1979,-1.55,-146.0,2834,2058,3276,3503,222.2,-9.9,251,1984,0.00,2.30,0.00,0.000,292,0.000,0.059,2825,3445,3389,3276,3503,0,0,0,0,0,0,15.06,14.77,15.08
$GC,2050,-1.59,-146.0,2825,3444,3276,3503,229.4,-9.5,264,2060,0.00,2.28,0.00,0.000,1190,0.000,0.037,2825,2049,3389,3276,3503,0,0,0,0,0,0,14.88,14.82,14.90
$GC,2368,-1.59,-146.0,2825,2049,3276,3503,255.3,-8.3,292,2373,0.00,2.35,0.00,0.000,292,0.000,0.060,2815,3442,3389,3276,3503,0,0,0,0,0,0,15.07,14.77,15.09
$GC,2407,-1.63,-146.0,2815,3442,3276,3503,259.1,-9.3,299,2412,0.00,2.28,0.00,0.000,1190,0.000,0.038,2816,2050,3389,3276,3503,0,0,0,0,0,0,14.88,14.81,14.90
$GC,2735,-1.63,-146.0,2815,2050,3276,3503,295.7,-12.0,314,2742,0.00,2.33,0.00,0.000,516,0.000,0.059,2815,651,3389,3276,3503,0,0,0,0,0,0,15.08,14.78,15.10
$GC,2779,-1.63,-146.0,2815,651,3276,3502,301.9,-13.0,322,2786,0.00,2.30,0.00,0.000,1030,0.000,0.040,2806,2056,3389,3276,3503,0,0,0,0,0,0,14.89,14.82,14.91
$GC,3105,-1.63,-146.0,2806,2057,3276,3503,348.6,-14.3,336,3110,0.00,2.40,0.00,0.000,516,0.000,0.063,2806,647,3389,3276,3503,0,0,0,0,0,0,15.09,14.78,15.11
$GC,3139,-1.59,-146.0,2806,647,3276,3503,353.2,-13.7,342,3146,0.15,2.33,0.00,0.000,3206,0.238,0.044,2830,2062,3389,3275,3503,0,0,0,0,0,0,14.59,14.81,14.79
$GC,3476,-1.63,-146.0,2830,2062,3273,3500,386.9,-9.2,358,3481,0.00,2.33,0.00,0.000,420,0.000,0.063,2821,3449,3386,3273,3500,0,0,0,0,0,0,15.09,14.76,15.11
$GC,3524,-1.70,-146.0,2821,3449,3273,3499,391.8,-9.3,367,3531,0.00,2.30,0.00,0.000,1190,0.000,0.041,2821,2055,3386,3273,3499,0,0,0,0,0,0,14.89,14.81,14.90
$GC,3846,-1.70,-146.0,2821,2054,3272,3498,423.1,-9.9,380,3851,0.00,2.40,0.00,0.000,292,0.000,0.065,2812,3453,3384,3271,3497,0,0,0,0,0,0,15.09,14.76,15.11
$GC,3910,-1.75,-146.0,2811,3453,3271,3497,430.1,-10.3,392,3914,0.00,2.33,0.00,0.000,1158,0.000,0.041,2812,2048,3384,3271,3497,0,0,0,0,0,0,14.88,14.81,14.90
$GC,4242,-1.75,-146.0,2812,2048,3269,3494,467.3,-11.1,408,4244,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2048,3381,3269,3494,0,0,0,0,0,0,15.08,15.10,15.10
$GC,4544,-1.75,-146.0,2811,2048,3267,3492,494.2,-8.0,418,4550,0.00,2.40,0.00,0.000,292,0.000,0.065,2802,3446,3379,3267,3492,0,0,0,0,0,0,15.09,14.75,15.11
$GC,4594,-1.75,-146.0,2801,3446,3267,3491,498.5,-8.4,427,4599,0.00,2.33,0.00,0.000,1062,0.000,0.042,2802,2045,3379,3268,3491,0,0,0,0,0,0,14.88,14.81,14.90
$GC,4912,-1.75,-146.0,2801,2045,3266,3490,527.5,-9.6,440,4913,0.00,0.00,0.00,0.000,38,0.000,0.000,2802,2045,3377,3266,3489,0,0,0,0,0,0,15.09,15.11,15.11
$GC,5214,-1.75,-146.0,2801,2045,3265,3487,556.9,-9.7,450,5220,0.00,2.42,0.00,0.000,292,0.000,0.064,2792,3455,3376,3265,3487,0,0,0,0,0,0,15.09,14.74,15.11
$GC,5265,-1.75,-146.0,2791,3455,3265,3487,562.1,-9.9,459,5270,0.00,2.35,0.00,0.000,1062,0.000,0.044,2792,2047,3376,3265,3487,0,0,0,0,0,0,14.88,14.79,14.90
$GC,5582,-1.75,-146.0,2791,2046,3262,3486,596.2,-11.1,472,5587,0.00,2.42,0.00,0.000,260,0.000,0.066,2782,3454,3374,3263,3486,0,0,0,0,0,0,15.08,14.73,15.10
$GC,5617,-1.75,-146.0,2782,3454,3262,3486,599.8,-10.4,478,5622,0.00,2.35,0.00,0.000,1030,0.000,0.045,2782,2052,3374,3262,3486,0,0,0,0,0,0,14.86,14.78,14.89
$GC,5952,-1.72,-146.0,2782,2051,3261,3485,639.5,-12.2,494,5957,0.00,2.42,0.00,0.000,388,0.000,0.066,2772,3457,3373,3261,3485,0,0,0,0,0,0,15.09,14.73,15.11
$GC,5994,-1.72,-146.0,2772,3457,3261,3484,645.2,-11.5,502,6000,0.12,2.38,0.00,0.000,3078,0.246,0.046,2797,2038,3371,3261,3482,0,0,0,0,0,0,14.52,14.77,14.71
$GC,6317,-1.72,-146.0,2797,2037,3260,3482,681.6,-10.9,516,6319,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2038,3371,3260,3482,0,0,0,0,0,0,15.08,15.10,15.09
$GC,6620,-1.72,-146.0,2797,2038,3259,3482,711.3,-9.4,526,6625,0.00,2.38,0.00,0.000,548,0.000,0.068,2798,642,3370,3259,3481,0,0,0,0,0,0,15.09,14.72,15.11
$GC,6663,-1.72,-146.0,2798,641,3259,3481,716.0,-9.6,534,6668,0.00,2.35,0.00,0.000,1062,0.000,0.045,2790,2052,3369,3258,3481,0,0,0,0,0,0,14.85,14.77,14.88
$GC,6986,-1.72,-146.0,2789,2052,3258,3480,746.0,-9.2,548,6993,0.00,2.42,0.00,0.000,548,0.000,0.065,2791,643,3369,3258,3480,0,0,0,0,0,0,15.08,14.72,15.10
$GC,7026,-1.69,-146.0,2789,643,3258,3479,750.0,-9.9,555,7033,0.12,2.35,0.00,0.000,3238,0.278,0.047,2805,2053,3368,3257,3479,0,0,0,0,0,0,14.47,14.76,14.71
$GC,7357,-1.69,-146.0,2804,2053,3256,3479,783.3,-10.6,570,7358,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2053,3367,3256,3479,0,0,0,0,0,0,15.08,15.10,15.10
$GC,7657,-1.69,-146.0,2804,2053,3255,3478,818.4,-11.9,580,7658,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2053,3366,3255,3478,0,0,0,0,0,0,15.07,15.09,15.09
$GC,7959,-1.69,-146.0,2804,2053,3254,3477,851.8,-10.8,590,7963,0.00,2.40,0.00,0.000,260,0.000,0.070,2796,3455,3365,3254,3477,0,0,0,0,0,0,15.09,14.70,15.11
$GC,7992,-1.69,-146.0,2796,3456,3254,3477,855.5,-10.6,596,7998,0.00,2.38,0.00,0.000,1030,0.000,0.047,2796,2046,3365,3254,3477,0,0,0,0,0,0,14.84,14.74,14.87
$GC,8327,-1.69,-146.0,2796,2046,3253,3477,888.2,-9.4,612,8328,0.00,0.00,0.00,0.000,38,0.000,0.000,2796,2046,3365,3253,3477,0,0,0,0,0,0,15.07,15.10,15.10
$GC,8628,-1.69,-146.0,2796,2046,3251,3476,917.5,-10.1,622,8635,0.00,2.45,0.00,0.000,260,0.000,0.071,2787,3450,3364,3251,3477,0,0,0,0,0,0,15.07,14.69,15.09
$GC,8662,-1.69,-146.0,2786,3450,3251,3476,921.2,-10.7,628,8667,0.00,2.38,0.00,0.000,1030,0.000,0.047,2786,2045,3363,3251,3476,0,0,0,0,0,0,14.83,14.73,14.86
$GC,8995,-1.69,-146.0,2786,2044,3250,3476,957.1,-11.0,644,9000,0.00,2.45,0.00,0.000,260,0.000,0.070,2777,3449,3363,3250,3476,0,0,0,0,0,0,15.07,14.68,15.09
$GC,9021,-1.69,-146.0,2777,3449,3250,3476,960.4,-11.2,649,9032,0.15,2.38,0.00,0.000,3078,0.244,0.047,2810,2044,3363,3250,3476,0,0,0,0,0,0,14.45,14.73,14.71
$GC,9328,-1.72,-146.0,2809,2044,3249,3475,990.0,-9.6,660,9333,0.00,2.40,0.00,0.000,676,0.000,0.069,2810,642,3362,3249,3475,0,0,0,0,0,0,15.07,14.68,15.09
$STATE,9339,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9339,begin apogee
$GC,9346,-0.33,0.0,2803,1804,3250,3475,991.4,-10.1,662,9478,1.12,0.00,128.55,2.714,10246,0.243,0.000,3101,1809,2789,2677,2902,0,0,0,0,0,0,14.42,14.00,12.95
$STATE,9479,end apogee,CONTROL_FINISHED_OK
$STATE,9479,begin climb
$GC,9481,1.28,146.0,3101,1809,2672,2899,994.3,0.0,666,9629,1.17,2.62,136.52,2.643,10500,0.143,0.068,3455,3208,2189,2062,2316,0,0,0,0,0,0,14.00,13.85,12.88
$GC,9672,1.06,146.0,3454,3208,2059,2309,982.6,12.2,708,9680,0.30,2.53,0.00,0.000,5254,0.363,0.057,3408,1801,2184,2059,2309,0,0,0,0,0,0,13.88,14.11,14.15
$GC,10004,0.95,151.0,3408,1801,2052,2309,949.9,9.8,724,10011,0.12,2.47,0.00,0.000,4772,0.392,0.080,3392,393,2179,2050,2309,0,0,0,0,0,0,14.21,14.48,14.43
$GC,10047,0.88,163.3,3392,392,2048,2309,945.5,9.4,733,10068,0.12,2.40,14.95,2.411,13478,0.322,0.048,3368,1799,2124,1988,2260,0,0,0,0,0,0,14.29,14.57,13.47
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$STATE,18556,end climb,SURFACE_DEPTH_REACHED
$STATE,18556,begin surface coast
$FINISH,1.6,1.023526
$STATE,18584,end surface coast,CONTROL_FINISHED_OK
$STATE,18584,begin surface
$SM_CCo,18601,71.32,0.081,0,0,449,573.99
$SM_GC,2.30,9.73,0.40,71.32,0.065,0.062,0.081,90,2074,449,-14.12,-1.02,573.99,0,0,0,0,0,0,14.64,14.73,14.63
$IRIDIUM_FIX,1312.02,6029.60,090417,144140
$TT8_MAMPS,0.024717,0.158039
$HUMID,49.68
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,24.00
$XPDR_PINGS,9
$24V_AH,12.88,63.628
$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,27.800,207.325,504.250,71.325,0.000,0.000,0.000,325.250,110.500,0.000,33.746,2995.781,12489.499,782.871,2734.438,233.014,0.000,2354.504,0.000,2054.436,0.000,725.665,0.000
$DEVICE_MAMPS,404.685,2078.505,2714.220,81.090,0.000,0.000,0.000,175.185,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,664.103,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,63380,1444
$CAP_FILE_SIZE,224278,0
$CFSIZE,260034560,244314112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.026,276.53,1
$GPS,090417,200237,1314.671,6028.115,46,0.9,52,-0.7,0.0,241.2,9,10.0