version: 66.13
glider: 137
mission: 5
dive: 197
start: 4 12 117 20 7 24
data:
$ID,137
$MISSION,5
$DIVE,197
$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,64
$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
$GPS1,120417,200135,1314.6343,6029.1304,46,0.9,50,-0.7,0.3,235.1,9,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-66.5
$GPS2,120417,200634,1314.6027,6029.0972,16,0.9,28,-0.7,0.0,208.8,9,9.5
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1316.813,6026.905
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,317.1,5690,-19.1,-10.000,-21.55,1702
$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,8,-1.41,-110.7,94,2031,324,572,0.0,0.0,0,103,0.00,0.00,-92.95,0.000,16386,0.000,0.000,95,2031,2917,2845,2990,0,0,0,0,0,0,14.84,28.83,14.86
$GC,106,-1.45,-146.0,94,2031,2845,2990,4.2,-5.6,16,137,13.52,2.65,-8.77,0.000,18724,0.402,2.070,2844,3424,3388,3282,3495,0,0,0,0,0,0,14.28,13.32,14.49
$GC,199,-1.45,-146.0,2844,3424,3283,3495,23.7,-15.5,33,207,0.00,2.25,0.00,0.000,1030,0.000,0.036,2845,2062,3389,3283,3495,0,0,0,0,0,0,14.66,14.60,14.69
$GC,509,-1.45,-146.0,2844,2061,3283,3495,65.5,-11.6,81,510,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2061,3389,3283,3495,0,0,0,0,0,0,14.96,14.98,14.98
$GC,809,-1.45,-146.0,2844,2060,3284,3495,106.3,-13.9,111,818,0.00,2.30,0.00,0.000,260,0.000,0.054,2835,3425,3389,3284,3495,0,0,0,0,0,0,15.02,14.70,15.04
$GC,853,-1.52,-146.0,2834,3425,3284,3495,112.8,-13.3,120,860,0.00,2.25,0.00,0.000,1158,0.000,0.036,2835,2050,3389,3284,3495,0,0,0,0,0,0,14.81,14.75,14.83
$GC,1160,-1.57,-146.0,2835,2049,3285,3495,149.8,-11.3,151,1169,0.00,2.30,0.00,0.000,644,0.000,0.054,2835,651,3390,3285,3495,0,0,0,0,0,0,15.05,14.73,15.07
$GC,1174,-1.63,-146.0,2835,651,3285,3495,151.7,-11.8,154,1181,0.00,2.25,0.00,0.000,1158,0.000,0.037,2825,2030,3390,3285,3495,0,0,0,0,0,0,14.84,14.77,14.86
$GC,1481,-1.69,-146.0,2825,2031,3285,3495,189.4,-11.0,185,1486,0.00,2.33,0.00,0.000,644,0.000,0.057,2825,652,3390,3286,3495,0,0,0,0,0,0,15.07,14.74,15.09
$GC,1563,-1.77,-146.0,2825,651,3286,3495,197.2,-8.1,201,1569,0.10,2.28,0.00,0.000,5286,0.157,0.037,2783,2050,3390,3286,3495,0,0,0,0,0,0,14.72,14.78,14.83
$GC,1876,-1.77,-146.0,2781,2050,3286,3495,236.4,-13.7,233,1884,0.00,2.33,0.00,0.000,260,0.000,0.057,2771,3455,3390,3286,3495,0,0,0,0,0,0,15.04,14.73,15.07
$GC,1957,-1.77,-146.0,2771,3456,3286,3495,247.2,-12.9,247,1962,0.00,2.30,0.00,0.000,1030,0.000,0.036,2771,2046,3390,3286,3495,0,0,0,0,0,0,14.85,14.79,14.88
$GC,2279,-1.77,-146.0,2771,2045,3286,3495,287.6,-12.7,260,2281,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2045,3390,3286,3495,0,0,0,0,0,0,15.06,15.09,15.08
$GC,2582,-1.77,-146.0,2771,2045,3286,3495,327.8,-13.2,270,2587,0.00,2.33,0.00,0.000,516,0.000,0.057,2771,646,3390,3285,3495,0,0,0,0,0,0,15.08,14.76,15.10
$GC,2603,-1.77,-146.0,2771,646,3286,3495,331.2,-13.3,274,2608,0.12,2.30,0.00,0.000,3078,0.273,0.040,2786,2051,3390,3285,3495,0,0,0,0,0,0,14.50,14.80,14.76
$GC,2917,-1.77,-146.0,2786,2052,3284,3495,365.8,-11.4,286,2918,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2052,3390,3285,3495,0,0,0,0,0,0,15.08,15.11,15.10
$GC,3217,-1.80,-146.0,2785,2052,3283,3495,401.5,-11.7,296,3224,0.00,2.35,0.00,0.000,388,0.000,0.060,2777,3455,3389,3283,3495,0,0,0,0,0,0,15.08,14.73,15.10
$GC,3283,-1.85,-146.0,2777,3455,3283,3495,408.9,-9.8,308,3290,0.00,2.33,0.00,0.000,1190,0.000,0.039,2777,2046,3389,3283,3496,0,0,0,0,0,0,14.86,14.79,14.89
$GC,3618,-1.85,-146.0,2777,2045,3281,3495,446.4,-11.2,324,3619,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2045,3388,3281,3495,0,0,0,0,0,0,15.07,15.10,15.09
$GC,3919,-1.85,-146.0,2777,2045,3278,3494,482.9,-12.4,334,3920,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2045,3386,3278,3494,0,0,0,0,0,0,15.08,15.10,15.10
$GC,4220,-1.85,-146.0,2777,2045,3277,3492,519.0,-11.7,344,4225,0.00,2.40,0.00,0.000,260,0.000,0.063,2768,3445,3384,3277,3491,0,0,0,0,0,0,15.09,14.71,15.11
$GC,4253,-1.89,-146.0,2767,3445,3277,3491,522.9,-11.0,350,4260,0.00,2.33,0.00,0.000,1158,0.000,0.042,2768,2047,3384,3277,3491,0,0,0,0,0,0,14.85,14.77,14.88
$GC,4589,-1.89,-146.0,2767,2047,3275,3488,562.2,-11.9,366,4593,0.00,2.38,0.00,0.000,516,0.000,0.064,2768,640,3381,3275,3488,0,0,0,0,0,0,15.08,14.71,15.10
$GC,4623,-1.89,-146.0,2767,640,3275,3488,566.4,-12.6,372,4628,0.00,2.35,0.00,0.000,1030,0.000,0.042,2757,2058,3381,3274,3488,0,0,0,0,0,0,14.85,14.77,14.88
$GC,4957,-1.89,-146.0,2757,2059,3274,3486,610.3,-13.2,388,4962,0.00,2.45,0.00,0.000,516,0.000,0.063,2757,640,3380,3274,3486,0,0,0,0,0,0,15.08,14.70,15.10
$GC,4999,-1.89,-146.0,2757,640,3274,3486,616.7,-13.9,396,5003,0.00,2.35,0.00,0.000,1030,0.000,0.044,2747,2053,3380,3274,3486,0,0,0,0,0,0,14.85,14.76,14.87
$GC,5322,-1.89,-146.0,2746,2054,3272,3485,660.2,-13.6,410,5323,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2054,3378,3272,3485,0,0,0,0,0,0,15.08,15.10,15.09
$GC,5623,-1.89,-146.0,2746,2054,3271,3482,700.5,-13.5,420,5625,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2054,3376,3271,3482,0,0,0,0,0,0,15.08,15.10,15.10
$GC,5923,-1.89,-146.0,2746,2054,3269,3481,741.7,-14.0,430,5928,0.00,2.42,0.00,0.000,516,0.000,0.063,2747,643,3375,3269,3481,0,0,0,0,0,0,15.07,14.69,15.09
$GC,5949,-1.85,-146.0,2746,643,3269,3481,746.1,-15.5,435,5959,0.15,2.35,0.00,0.000,3206,0.276,0.044,2767,2053,3374,3269,3480,0,0,0,0,0,0,14.40,14.75,14.69
$GC,6256,-1.85,-146.0,2767,2053,3268,3479,785.1,-12.3,446,6261,0.00,2.40,0.00,0.000,260,0.000,0.069,2759,3454,3374,3268,3480,0,0,0,0,0,0,15.07,14.66,15.09
$GC,6314,-1.89,-146.0,2759,3454,3268,3479,792.5,-11.9,457,6323,0.00,2.38,0.00,0.000,1158,0.000,0.046,2759,2046,3373,3268,3479,0,0,0,0,0,0,14.83,14.73,14.85
$GC,6622,-1.89,-146.0,2759,2045,3266,3479,832.1,-13.0,468,6627,0.00,2.38,0.00,0.000,516,0.000,0.064,2759,646,3372,3267,3478,0,0,0,0,0,0,15.08,14.67,15.09
$GC,6664,-1.89,-146.0,2758,646,3266,3478,838.3,-14.1,476,6669,0.00,2.35,0.00,0.000,1030,0.000,0.047,2749,2046,3372,3266,3478,0,0,0,0,0,0,14.82,14.73,14.85
$GC,6988,-1.89,-146.0,2749,2047,3266,3477,880.1,-12.7,490,6995,0.00,2.42,0.00,0.000,260,0.000,0.070,2739,3460,3371,3266,3477,0,0,0,0,0,0,15.07,14.66,15.08
$GC,7025,-1.89,-146.0,2739,3459,3266,3477,885.3,-12.4,497,7034,0.12,2.40,0.00,0.000,3078,0.255,0.050,2764,2044,3371,3266,3477,0,0,0,0,0,0,14.43,14.71,14.69
$GC,7357,-1.89,-146.0,2763,2043,3264,3476,922.7,-11.0,512,7361,0.00,2.38,0.00,0.000,516,0.000,0.066,2764,648,3370,3264,3477,0,0,0,0,0,0,15.06,14.66,15.08
$GC,7405,-1.89,-146.0,2764,648,3264,3477,928.6,-12.2,521,7413,0.00,2.35,0.00,0.000,1030,0.000,0.046,2756,2052,3370,3264,3477,0,0,0,0,0,0,14.81,14.72,14.83
$GC,7728,-1.89,-146.0,2755,2051,3263,3476,965.5,-11.8,534,7729,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2052,3369,3263,3476,0,0,0,0,0,0,15.07,15.09,15.09
$STATE,7934,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7934,begin apogee
$GC,7940,-0.33,0.0,2755,1788,3262,3474,992.0,-12.8,541,8073,1.35,0.00,129.73,2.703,10246,0.269,0.000,3098,1784,2789,2680,2898,0,0,0,0,0,0,14.38,14.00,12.95
$STATE,8074,end apogee,CONTROL_FINISHED_OK
$STATE,8075,begin climb
$GC,8076,1.45,146.0,3097,1784,2675,2895,996.2,0.0,545,8221,1.35,2.62,135.15,2.668,10500,0.171,0.070,3485,3202,2188,2068,2309,0,0,0,0,0,0,13.97,13.66,12.83
$GC,8264,1.26,146.0,3485,3202,2062,2305,986.2,12.1,586,8269,0.20,2.50,0.00,0.000,5254,0.335,0.059,3454,1812,2183,2062,2305,0,0,0,0,0,0,13.87,14.09,14.14
$GC,8597,1.14,146.0,3454,1812,2053,2305,951.2,10.7,602,8603,0.12,2.47,0.00,0.000,4740,0.373,0.071,3438,391,2179,2053,2305,0,0,0,0,0,0,14.20,14.50,14.42
$GC,8709,1.02,146.0,3438,391,2050,2305,939.4,10.3,624,8714,0.20,2.38,0.00,0.000,5254,0.342,0.041,3398,1802,2177,2050,2305,0,0,0,0,0,0,14.25,14.60,14.59
$GC,9015,1.02,146.0,3397,1802,2048,2305,910.0,10.2,635,9021,0.00,2.42,0.00,0.000,260,0.000,0.072,3397,3201,2176,2048,2305,0,0,0,0,0,0,14.95,14.62,14.97
$GC,9054,0.97,146.0,3397,3201,2048,2305,905.6,11.0,643,9058,0.00,2.42,0.00,0.000,1158,0.000,0.055,3406,1787,2176,2048,2305,0,0,0,0,0,0,14.74,14.66,14.77
$GC,9371,0.92,146.0,3405,1787,2046,2305,869.1,11.9,656,9378,0.12,2.47,0.00,0.000,4484,0.379,0.071,3379,3194,2175,2046,2305,0,0,0,0,0,0,14.27,14.62,14.50
$GC,9418,0.92,146.0,3379,3194,2045,2305,863.3,11.0,666,9423,0.00,2.40,0.00,0.000,1030,0.000,0.062,3388,1800,2175,2045,2305,0,0,0,0,0,0,14.77,14.67,14.80
$GC,9730,0.92,146.0,3387,1800,2043,2305,828.4,10.9,678,9731,0.00,0.00,0.00,0.000,6,0.000,0.000,3388,1800,2174,2043,2305,0,0,0,0,0,0,15.03,15.06,15.05
$GC,10031,0.94,156.0,3387,1800,2042,2305,798.7,9.4,688,10044,0.00,2.47,7.07,2.092,8484,0.000,0.077,3388,3209,2150,2017,2284,0,0,0,0,0,0,15.05,14.73,13.70
$GC,10105,0.94,156.0,3387,3209,2016,2282,791.2,10.2,703,10109,0.00,2.42,0.00,0.000,1030,0.000,0.060,3398,1798,2149,2016,2282,0,0,0,0,0,0,14.78,14.69,14.80
$GC,10417,0.96,177.8,3397,1798,2013,2282,763.4,8.7,715,10447,0.00,2.50,21.38,2.310,8484,0.000,0.075,3398,3202,2058,1923,2194,0,0,0,0,0,0,15.02,14.55,13.64
$GC,10503,0.93,177.8,3397,3202,1922,2192,754.9,10.3,732,10511,0.15,2.45,0.00,0.000,5254,0.383,0.062,3382,1801,2056,1922,2191,0,0,0,0,0,0,14.25,14.53,14.55
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$STATE,17541,end climb,SURFACE_DEPTH_REACHED
$STATE,17541,begin surface coast
$FINISH,1.5,1.010044
$STATE,17567,end surface coast,CONTROL_FINISHED_OK
$STATE,17567,begin surface
$SM_CCo,17584,96.88,0.081,0,0,449,573.99
$SM_GC,2.30,10.10,0.38,96.88,0.083,0.060,0.081,94,2078,449,-14.11,-1.22,573.99,0,0,0,0,0,0,14.58,14.71,14.59
$IRIDIUM_FIX,1309.80,6452.29,120417,152203
$TT8_MAMPS,0.023968,0.15729
$HUMID,50.23
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,23.90
$XPDR_PINGS,8
$24V_AH,12.83,68.453
$10V_AH,13.14,0.000
$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,28.300,164.175,441.150,96.875,0.000,0.000,0.000,191.525,86.000,0.000,29.332,2753.492,12045.529,722.012,2284.405,196.754,0.000,1993.765,0.000,1813.971,0.000,563.281,0.000
$DEVICE_MAMPS,401.625,2070.090,2702.745,81.090,0.000,0.000,0.000,180.540,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,625.575,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225036
$DATA_FILE_SIZE,56704,1274
$CAP_FILE_SIZE,192895,0
$CFSIZE,260034560,243015680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.045,256.40,1
$GPS,130417,010334,1316.268,6027.017,37,0.7,52,-0.7,0.0,39.3,11,8.8