version: 66.13
glider: 137
mission: 5
dive: 198
start: 4 13 117 1 9 17
data:
$ID,137
$MISSION,5
$DIVE,198
$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,33
$R_STBD_OVSHOOT,68
$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
$GPS1,130417,010334,1316.2682,6027.0166,37,0.7,52,-0.7,0.0,39.3,11,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-66.9
$GPS2,130417,010825,1316.2451,6026.9878,14,0.6,21,-0.7,0.0,219.0,11,10.0
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1313.563,6024.987
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,210.7,6139,-17.2,-10.000,-19.84,2076
$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,-1.31,-135.1,94,2082,331,559,0.0,0.0,0,103,0.00,0.00,-93.05,0.000,16386,0.000,0.000,94,2082,2903,2822,2985,0,0,0,0,0,0,14.85,28.83,14.87
$GC,105,-1.33,-146.0,94,2083,2823,2984,4.2,-5.0,16,137,13.38,2.72,-9.32,0.000,18980,0.392,2.074,2879,641,3388,3272,3505,0,0,0,0,0,0,14.27,13.33,14.49
$GC,270,-1.33,-146.0,2878,641,3274,3505,32.8,-12.6,47,276,0.00,2.30,0.00,0.000,1030,0.000,0.039,2870,2025,3389,3274,3505,0,0,0,0,0,0,14.69,14.62,14.71
$GC,579,-1.33,-146.0,2870,2026,3275,3505,73.8,-12.0,90,588,0.00,2.40,0.00,0.000,260,0.000,0.059,2860,3459,3390,3275,3505,0,0,0,0,0,0,14.97,14.66,14.99
$GC,654,-1.40,-146.0,2859,3458,3275,3505,82.1,-9.9,105,661,0.00,2.35,0.00,0.000,1190,0.000,0.038,2860,2035,3390,3275,3505,0,0,0,0,0,0,14.78,14.71,14.80
$GC,960,-1.40,-146.0,2859,2034,3275,3505,112.8,-9.1,136,970,0.00,2.40,0.00,0.000,292,0.000,0.057,2850,3451,3390,3276,3505,0,0,0,0,0,0,15.03,14.70,15.04
$GC,1013,-1.46,-146.0,2850,3451,3276,3505,117.7,-9.7,146,1021,0.00,2.28,0.00,0.000,1190,0.000,0.037,2850,2050,3390,3276,3505,0,0,0,0,0,0,14.73,14.69,14.76
$GC,1322,-1.46,-146.0,2850,2050,3277,3505,152.0,-11.2,178,1331,0.00,2.33,0.00,0.000,516,0.000,0.059,2850,651,3391,3277,3505,0,0,0,0,0,0,15.05,14.72,15.07
$GC,1406,-1.52,-146.0,2850,651,3277,3505,162.2,-11.7,195,1413,0.00,2.30,0.00,0.000,1158,0.000,0.040,2840,2053,3391,3277,3505,0,0,0,0,0,0,14.83,14.76,14.85
$GC,1714,-1.55,-146.0,2840,2053,3277,3505,194.6,-11.4,226,1723,0.00,2.38,0.00,0.000,644,0.000,0.062,2840,653,3391,3278,3505,0,0,0,0,0,0,15.07,14.73,15.09
$GC,1755,-1.60,-146.0,2839,653,3277,3505,199.8,-12.3,234,1760,0.00,2.28,0.00,0.000,1158,0.000,0.038,2829,2050,3391,3277,3505,0,0,0,0,0,0,14.85,14.78,14.88
$GC,2069,-1.60,-146.0,2829,2050,3277,3505,237.0,-10.8,266,2074,0.00,2.33,0.00,0.000,260,0.000,0.059,2819,3451,3391,3277,3505,0,0,0,0,0,0,15.04,14.73,15.07
$GC,2161,-1.67,-146.0,2819,3452,3277,3505,245.5,-8.2,282,2166,0.00,2.33,0.00,0.000,1190,0.000,0.037,2819,2037,3390,3276,3505,0,0,0,0,0,0,14.85,14.78,14.87
$GC,2494,-1.67,-146.0,2819,2037,3277,3505,277.2,-11.4,298,2500,0.00,2.28,0.00,0.000,516,0.000,0.060,2820,658,3391,3277,3505,0,0,0,0,0,0,15.07,14.70,15.09
$GC,2529,-1.67,-146.0,2819,658,3277,3505,281.6,-12.4,304,2534,0.00,2.28,0.00,0.000,1030,0.000,0.039,2810,2050,3391,3277,3505,0,0,0,0,0,0,14.85,14.78,14.88
$GC,2863,-1.67,-146.0,2810,2050,3277,3505,325.0,-12.0,320,2868,0.00,2.35,0.00,0.000,260,0.000,0.063,2800,3454,3391,3277,3505,0,0,0,0,0,0,15.07,14.74,15.09
$GC,2897,-1.67,-146.0,2800,3454,3277,3505,328.7,-10.0,326,2904,0.00,2.33,0.00,0.000,1030,0.000,0.041,2800,2045,3391,3277,3505,0,0,0,0,0,0,14.86,14.78,14.88
$GC,3233,-1.67,-146.0,2800,2045,3277,3505,360.5,-8.9,342,3234,0.00,0.00,0.00,0.000,38,0.000,0.000,2800,2045,3391,3277,3505,0,0,0,0,0,0,15.07,15.10,15.09
$GC,3532,-1.67,-146.0,2800,2045,3277,3503,391.6,-11.4,352,3533,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2045,3390,3277,3503,0,0,0,0,0,0,15.07,15.10,15.09
$GC,3834,-1.67,-146.0,2800,2045,3275,3500,429.0,-12.5,362,3839,0.00,2.40,0.00,0.000,260,0.000,0.063,2791,3444,3386,3274,3499,0,0,0,0,0,0,15.09,14.72,15.10
$GC,3877,-1.70,-146.0,2790,3444,3275,3499,434.8,-12.8,370,3882,0.00,2.33,0.00,0.000,1158,0.000,0.043,2790,2046,3387,3275,3499,0,0,0,0,0,0,14.85,14.78,14.88
$GC,4200,-1.70,-146.0,2790,2047,3273,3498,475.2,-12.3,384,4207,0.00,2.42,0.00,0.000,260,0.000,0.065,2782,3455,3385,3273,3497,0,0,0,0,0,0,15.07,14.71,15.09
$GC,4251,-1.70,-146.0,2781,3456,3273,3496,481.4,-12.2,393,4257,0.12,2.35,0.00,0.000,3078,0.247,0.042,2806,2039,3385,3274,3496,0,0,0,0,0,0,14.47,14.77,14.71
$GC,4570,-1.70,-146.0,2806,2039,3272,3494,514.5,-10.1,406,4572,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2039,3383,3272,3495,0,0,0,0,0,0,15.07,15.10,15.10
$GC,4871,-1.70,-146.0,2806,2039,3271,3493,546.3,-10.9,416,4878,0.00,2.42,0.00,0.000,260,0.000,0.067,2797,3444,3381,3270,3493,0,0,0,0,0,0,15.07,14.71,15.09
$GC,4894,-1.73,-146.0,2797,3444,3270,3492,549.3,-11.2,420,4899,0.00,2.33,0.00,0.000,1158,0.000,0.041,2797,2054,3382,3271,3493,0,0,0,0,0,0,14.85,14.77,14.88
$GC,5207,-1.73,-146.0,2797,2054,3268,3490,585.0,-11.6,432,5214,0.00,2.40,0.00,0.000,516,0.000,0.067,2798,640,3379,3269,3490,0,0,0,0,0,0,15.07,14.70,15.09
$GC,5242,-1.73,-146.0,2797,640,3268,3490,589.3,-12.0,438,5247,0.00,2.38,0.00,0.000,1030,0.000,0.050,2788,2053,3378,3268,3489,0,0,0,0,0,0,14.83,14.74,14.86
$GC,5576,-1.73,-146.0,2787,2053,3267,3488,629.5,-11.7,454,5577,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2053,3377,3267,3488,0,0,0,0,0,0,15.07,15.09,15.09
$GC,5876,-1.73,-146.0,2787,2053,3266,3487,664.9,-11.9,464,5883,0.00,2.40,0.00,0.000,260,0.000,0.074,2778,3450,3376,3266,3487,0,0,0,0,0,0,15.07,14.66,15.09
$GC,5911,-1.73,-146.0,2778,3450,3266,3486,669.0,-11.2,470,5916,0.00,2.40,0.00,0.000,1030,0.000,0.054,2778,2052,3376,3266,3486,0,0,0,0,0,0,14.82,14.71,14.85
$GC,6244,-1.73,-146.0,2778,2051,3265,3487,708.5,-12.1,486,6249,0.00,2.45,0.00,0.000,260,0.000,0.070,2768,3457,3375,3265,3486,0,0,0,0,0,0,15.07,14.67,15.09
$GC,6302,-1.73,-146.0,2768,3457,3265,3485,715.7,-11.1,497,6311,0.15,2.40,0.00,0.000,3078,0.278,0.046,2797,2036,3375,3265,3486,0,0,0,0,0,0,14.35,14.73,14.67
$GC,6611,-1.73,-146.0,2797,2036,3263,3485,746.6,-10.1,508,6616,0.00,2.47,0.00,0.000,260,0.000,0.070,2789,3457,3374,3263,3485,0,0,0,0,0,0,15.07,14.67,15.09
$GC,6638,-1.73,-146.0,2789,3457,3263,3485,749.7,-9.9,513,6646,0.00,2.38,0.00,0.000,1062,0.000,0.049,2789,2055,3374,3263,3485,0,0,0,0,0,0,14.83,14.73,14.85
$GC,6945,-1.73,-146.0,2789,2055,3262,3484,780.9,-10.4,524,6946,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2055,3373,3262,3484,0,0,0,0,0,0,15.07,15.10,15.09
$GC,7245,-1.73,-146.0,2789,2054,3262,3482,812.3,-10.7,534,7246,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2054,3371,3261,3482,0,0,0,0,0,0,15.07,15.09,15.09
$GC,7545,-1.73,-146.0,2789,2054,3261,3482,845.1,-10.9,544,7552,0.00,2.45,0.00,0.000,260,0.000,0.072,2779,3450,3371,3261,3481,0,0,0,0,0,0,15.06,14.64,15.08
$GC,7600,-1.73,-146.0,2779,3450,3261,3480,851.5,-11.8,554,7604,0.00,2.38,0.00,0.000,1030,0.000,0.050,2779,2051,3370,3261,3480,0,0,0,0,0,0,14.81,14.71,14.84
$GC,7913,-1.73,-146.0,2779,2051,3260,3480,886.0,-11.1,566,7917,0.00,2.42,0.00,0.000,516,0.000,0.070,2779,636,3370,3261,3479,0,0,0,0,0,0,15.07,14.66,15.09
$GC,7956,-1.73,-146.0,2779,635,3260,3479,891.5,-12.4,574,7961,0.10,2.40,0.00,0.000,3078,0.322,0.047,2788,2061,3369,3259,3479,0,0,0,0,0,0,14.31,14.71,14.50
$GC,8280,-1.73,-146.0,2788,2061,3258,3479,925.6,-10.5,588,8285,0.00,2.40,0.00,0.000,260,0.000,0.074,2780,3450,3368,3258,3478,0,0,0,0,0,0,15.07,14.63,15.09
$GC,8313,-1.73,-146.0,2780,3450,3258,3478,929.3,-10.1,594,8320,0.00,2.38,0.00,0.000,1030,0.000,0.050,2780,2053,3368,3258,3478,0,0,0,0,0,0,14.81,14.71,14.83
$GC,8649,-1.73,-146.0,2780,2052,3258,3478,967.3,-11.4,610,8650,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2052,3367,3258,3477,0,0,0,0,0,0,15.06,15.09,15.08
$STATE,8857,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8857,begin apogee
$GC,8862,-0.33,0.0,2780,1791,3257,3477,991.3,-11.3,617,8996,1.27,0.00,130.23,2.701,10246,0.274,0.000,3099,1786,2789,2676,2902,0,0,0,0,0,0,14.37,13.99,12.94
$STATE,8997,end apogee,CONTROL_FINISHED_OK
$STATE,8997,begin climb
$GC,8999,1.33,146.0,3100,1786,2671,2900,994.3,0.0,621,9144,1.23,2.60,135.15,2.666,10756,0.163,0.082,3468,402,2188,2060,2317,0,0,0,0,0,0,13.98,13.64,12.79
$GC,9164,1.11,146.0,3468,402,2049,2316,985.4,11.7,658,9170,0.25,2.53,0.00,0.000,5254,0.330,0.051,3421,1805,2182,2049,2316,0,0,0,0,0,0,13.81,14.00,14.05
$GC,9487,0.99,146.0,3421,1805,2041,2316,948.5,11.9,672,9494,0.12,2.45,0.00,0.000,4484,0.405,0.070,3397,3205,2178,2041,2316,0,0,0,0,0,0,14.14,14.48,14.38
$GC,9526,0.88,146.0,3397,3205,2041,2316,943.8,11.4,680,9531,0.20,2.42,0.00,0.000,5254,0.340,0.054,3367,1797,2178,2041,2316,0,0,0,0,0,0,14.21,14.54,14.54
$GC,9843,0.88,147.0,3367,1797,2038,2316,912.1,10.0,693,9850,0.00,2.45,0.00,0.000,548,0.000,0.074,3376,393,2176,2037,2316,0,0,0,0,0,0,14.93,14.60,14.95
$GC,9892,0.83,147.0,3375,393,2036,2316,907.0,10.1,703,9896,0.00,2.38,0.00,0.000,1158,0.000,0.042,3373,1805,2175,2035,2316,0,0,0,0,0,0,14.73,14.66,14.76
$GC,10198,0.81,165.5,3373,1805,2035,2316,878.4,9.1,714,10221,0.00,2.45,16.10,2.396,8612,0.000,0.067,3373,3200,2110,1970,2251,0,0,0,0,0,0,14.99,14.58,13.61
$GC,10253,0.78,172.4,3373,3200,1970,2247,873.3,9.7,725,10267,0.17,2.40,7.70,2.171,13478,0.314,0.050,3346,1790,2084,1945,2224,0,0,0,0,0,0,14.36,14.58,13.52
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$STATE,18604,end climb,SURFACE_DEPTH_REACHED
$STATE,18604,begin surface coast
$FINISH,1.5,1.021603
$STATE,18625,end surface coast,CONTROL_FINISHED_OK
$STATE,18626,begin surface
$SM_CCo,18645,83.62,0.080,0,0,449,573.99
$SM_GC,2.39,10.00,2.80,83.62,0.075,0.036,0.080,96,2050,449,-14.10,-1.41,573.99,0,0,0,0,0,0,14.59,14.67,14.59
$IRIDIUM_FIX,1309.80,6029.60,120417,200316
$TT8_MAMPS,0.023968,0.156541
$HUMID,49.44
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,24.10
$XPDR_PINGS,7
$24V_AH,12.79,68.846
$10V_AH,13.15,0.000
$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,27.950,208.400,468.450,83.625,0.000,0.000,0.000,191.750,97.500,0.000,22.445,2971.130,12592.385,760.421,2495.153,223.925,0.000,2162.133,0.000,1994.954,0.000,641.441,0.000
$DEVICE_MAMPS,404.685,2073.915,2701.215,79.560,0.000,0.000,0.000,182.835,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,669.731,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225080
$DATA_FILE_SIZE,60048,1402
$CAP_FILE_SIZE,214254,0
$CFSIZE,260034560,242909184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.027,345.31,1
$GPS,130417,062255,1314.596,6025.329,46,0.8,52,-0.7,0.4,308.3,10,9.4