version: 66.13
glider: 137
mission: 5
dive: 199
start: 4 13 117 6 29 16
data:
$ID,137
$MISSION,5
$DIVE,199
$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,44
$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
$GPS1,130417,062255,1314.5961,6025.3291,46,0.8,52,-0.7,0.4,308.3,10,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.34
$_SM_ANGLEo,-66.6
$GPS2,130417,062840,1314.6055,6025.2793,10,0.8,17,-0.7,0.6,334.6,10,9.6
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1311.647,6023.947
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,201.0,5983,-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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,8,-1.28,-146.0,96,2060,329,564,0.0,0.0,0,104,0.00,0.00,-93.68,0.000,16386,0.000,0.000,96,2061,2944,2861,3027,0,0,0,0,0,0,14.83,28.83,14.85
$GC,107,-1.28,-146.0,96,2061,2862,3027,4.2,-4.9,16,138,13.90,2.70,-8.30,0.000,18980,0.408,2.068,2888,650,3388,3276,3501,0,0,0,0,0,0,14.25,13.33,14.47
$GC,266,-1.28,-146.0,2888,650,3277,3501,31.4,-12.8,46,273,0.00,2.33,0.00,0.000,1030,0.000,0.038,2879,2054,3389,3277,3501,0,0,0,0,0,0,14.68,14.61,14.70
$GC,575,-1.28,-146.0,2879,2056,3278,3501,72.0,-12.8,91,576,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2056,3389,3277,3501,0,0,0,0,0,0,14.97,15.00,14.99
$GC,875,-1.28,-146.0,2879,2056,3278,3501,106.8,-10.0,121,880,0.00,2.40,0.00,0.000,516,0.000,0.061,2879,646,3389,3278,3501,0,0,0,0,0,0,15.02,14.69,15.04
$GC,922,-1.32,-146.0,2879,645,3278,3501,111.3,-8.9,130,928,0.00,2.33,0.00,0.000,1190,0.000,0.042,2870,2052,3389,3278,3501,0,0,0,0,0,0,14.81,14.73,14.83
$GC,1227,-1.36,-146.0,2869,2053,3278,3501,142.5,-14.6,161,1228,0.00,0.00,0.00,0.000,134,0.000,0.000,2869,2053,3389,3278,3501,0,0,0,0,0,0,15.06,15.08,15.07
$GC,1529,-1.42,-146.0,2869,2053,3278,3501,172.4,-7.1,191,1532,0.00,2.40,0.00,0.000,676,0.000,0.062,2869,646,3389,3278,3501,0,0,0,0,0,0,15.07,14.73,15.09
$GC,1683,-1.47,-146.0,2869,645,3279,3501,183.2,-6.9,222,1690,0.00,2.30,0.00,0.000,1190,0.000,0.038,2861,2053,3389,3278,3501,0,0,0,0,0,0,14.85,14.78,14.88
$GC,1992,-1.54,-146.0,2861,2055,3278,3501,213.8,-8.6,253,1997,0.00,2.40,0.00,0.000,676,0.000,0.062,2862,641,3389,3278,3501,0,0,0,0,0,0,15.05,14.73,15.07
$GC,2083,-1.60,-146.0,2861,640,3279,3501,221.2,-7.8,269,2089,0.12,2.35,0.00,0.000,5286,0.133,0.043,2809,2062,3389,3278,3501,0,0,0,0,0,0,14.74,14.77,14.83
$GC,2408,-1.60,-146.0,2808,2062,3278,3501,257.9,-12.0,298,2409,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2062,3389,3278,3501,0,0,0,0,0,0,15.06,15.08,15.08
$GC,2708,-1.60,-146.0,2808,2063,3278,3501,289.1,-9.7,308,2713,0.00,2.33,0.00,0.000,292,0.000,0.063,2798,3451,3389,3278,3501,0,0,0,0,0,0,15.07,14.74,15.09
$GC,2784,-1.60,-146.0,2797,3451,3278,3501,296.6,-9.2,322,2790,0.12,2.33,0.00,0.000,3110,0.241,0.041,2824,2038,3389,3278,3501,0,0,0,0,0,0,14.52,14.78,14.76
$GC,3108,-1.60,-146.0,2824,2038,3279,3501,329.9,-10.8,336,3112,0.00,2.33,0.00,0.000,516,0.000,0.063,2825,652,3389,3278,3501,0,0,0,0,0,0,15.07,14.73,15.09
$GC,3173,-1.60,-146.0,2824,653,3279,3501,337.6,-11.0,348,3178,0.00,2.33,0.00,0.000,1030,0.000,0.043,2816,2053,3389,3278,3501,0,0,0,0,0,0,14.86,14.78,14.88
$GC,3506,-1.60,-146.0,2816,2054,3277,3500,377.8,-12.1,364,3511,0.00,2.35,0.00,0.000,260,0.000,0.066,2806,3450,3389,3278,3500,0,0,0,0,0,0,15.07,14.73,15.09
$GC,3541,-1.60,-146.0,2806,3450,3277,3499,381.6,-11.8,370,3545,0.00,2.33,0.00,0.000,1030,0.000,0.041,2806,2045,3388,3277,3499,0,0,0,0,0,0,14.85,14.78,14.88
$GC,3876,-1.60,-146.0,2806,2045,3275,3498,418.1,-10.0,386,3881,0.00,2.38,0.00,0.000,548,0.000,0.069,2806,643,3386,3274,3498,0,0,0,0,0,0,15.08,14.71,15.11
$GC,3902,-1.60,-146.0,2806,643,3274,3498,421.3,-10.7,391,3910,0.12,2.35,0.00,0.000,3078,0.269,0.045,2822,2057,3386,3274,3498,0,0,0,0,0,0,14.49,14.77,14.74
$GC,4211,-1.60,-146.0,2821,2057,3273,3495,447.1,-8.7,402,4216,0.00,2.38,0.00,0.000,292,0.000,0.071,2814,3450,3384,3273,3495,0,0,0,0,0,0,15.09,14.71,15.11
$GC,4283,-1.65,-146.0,2813,3450,3272,3494,454.4,-9.2,416,4290,0.00,2.35,0.00,0.000,1190,0.000,0.047,2813,2051,3383,3272,3494,0,0,0,0,0,0,14.84,14.75,14.87
$GC,4610,-1.65,-146.0,2813,2051,3271,3493,485.9,-9.5,430,4615,0.00,2.42,0.00,0.000,292,0.000,0.069,2804,3451,3381,3271,3492,0,0,0,0,0,0,15.09,14.71,15.10
$GC,4649,-1.68,-146.0,2804,3451,3271,3491,489.7,-9.4,437,4655,0.00,2.35,0.00,0.000,1190,0.000,0.042,2804,2040,3381,3271,3491,0,0,0,0,0,0,14.85,14.76,14.87
$GC,4978,-1.68,-146.0,2804,2040,3269,3489,521.2,-9.7,452,4979,0.00,0.00,0.00,0.000,38,0.000,0.000,2804,2040,3379,3269,3489,0,0,0,0,0,0,15.07,15.10,15.09
$GC,5280,-1.68,-146.0,2804,2041,3268,3487,549.7,-9.1,462,5285,0.00,2.45,0.00,0.000,292,0.000,0.065,2794,3460,3377,3268,3487,0,0,0,0,0,0,15.08,14.70,15.11
$GC,5314,-1.68,-146.0,2794,3460,3268,3487,552.9,-8.9,468,5321,0.00,2.35,0.00,0.000,1062,0.000,0.044,2794,2054,3377,3268,3487,0,0,0,0,0,0,14.84,14.76,14.87
$GC,5648,-1.68,-146.0,2793,2054,3266,3486,587.0,-10.9,484,5653,0.00,2.40,0.00,0.000,516,0.000,0.069,2799,642,3376,3267,3486,0,0,0,0,0,0,15.07,14.69,15.09
$GC,5704,-1.68,-146.0,2798,642,3266,3486,593.7,-12.4,494,5709,0.00,2.35,0.00,0.000,1030,0.000,0.044,2790,2053,3376,3266,3486,0,0,0,0,0,0,14.83,14.75,14.86
$GC,6019,-1.68,-146.0,2790,2053,3266,3485,632.7,-13.1,506,6020,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2053,3375,3266,3485,0,0,0,0,0,0,15.08,15.10,15.10
$GC,6318,-1.68,-146.0,2790,2053,3264,3484,671.1,-12.3,516,6322,0.00,2.42,0.00,0.000,516,0.000,0.066,2790,648,3374,3264,3484,0,0,0,0,0,0,15.07,14.68,15.09
$GC,6355,-1.68,-146.0,2790,648,3264,3483,676.2,-12.5,523,6361,0.12,2.38,0.00,0.000,3078,0.282,0.050,2810,2056,3373,3264,3483,0,0,0,0,0,0,14.37,14.73,14.54
$GC,6686,-1.68,-146.0,2810,2057,3262,3482,709.1,-9.6,538,6687,0.00,0.00,0.00,0.000,38,0.000,0.000,2810,2057,3372,3262,3483,0,0,0,0,0,0,15.08,15.11,15.10
$GC,6985,-1.68,-146.0,2810,2057,3261,3481,737.2,-9.3,548,6990,0.00,2.42,0.00,0.000,292,0.000,0.076,2802,3457,3371,3261,3481,0,0,0,0,0,0,15.07,14.64,15.09
$GC,7035,-1.72,-146.0,2801,3457,3261,3480,742.3,-9.4,557,7043,0.00,2.38,0.00,0.000,1190,0.000,0.049,2803,2055,3370,3261,3480,0,0,0,0,0,0,14.82,14.72,14.84
$GC,7358,-1.72,-146.0,2802,2054,3260,3479,772.7,-9.5,570,7363,0.00,2.42,0.00,0.000,548,0.000,0.073,2810,641,3369,3260,3479,0,0,0,0,0,0,15.08,14.66,15.10
$GC,7400,-1.72,-146.0,2810,641,3260,3479,777.2,-10.5,578,7405,0.00,2.40,0.00,0.000,1030,0.000,0.051,2801,2060,3369,3260,3479,0,0,0,0,0,0,14.81,14.71,14.84
$GC,7723,-1.72,-146.0,2801,2060,3259,3478,807.2,-9.1,592,7730,0.00,2.47,0.00,0.000,548,0.000,0.072,2809,633,3369,3259,3479,0,0,0,0,0,0,15.06,14.63,15.08
$GC,7798,-1.72,-146.0,2808,633,3259,3478,814.5,-8.6,606,7803,0.00,2.40,0.00,0.000,1062,0.000,0.051,2799,2052,3368,3258,3478,0,0,0,0,0,0,14.81,14.71,14.83
$GC,8121,-1.72,-146.0,2799,2052,3258,3477,844.0,-9.2,620,8122,0.00,0.00,0.00,0.000,38,0.000,0.000,2799,2052,3367,3258,3477,0,0,0,0,0,0,15.06,15.09,15.08
$GC,8424,-1.72,-146.0,2799,2051,3257,3477,872.7,-9.8,630,8429,0.00,2.47,0.00,0.000,548,0.000,0.070,2799,632,3367,3257,3477,0,0,0,0,0,0,15.07,14.63,15.09
$GC,8460,-1.72,-146.0,2799,632,3257,3477,877.1,-10.4,637,8466,0.00,2.40,0.00,0.000,1030,0.000,0.050,2791,2051,3367,3257,3477,0,0,0,0,0,0,14.81,14.71,14.83
$GC,8789,-1.72,-146.0,2791,2052,3256,3476,910.3,-10.1,652,8795,0.00,2.47,0.00,0.000,516,0.000,0.071,2791,636,3366,3256,3476,0,0,0,0,0,0,15.05,14.64,15.08
$GC,8817,-1.72,-146.0,2791,635,3256,3476,913.5,-11.2,657,8825,0.00,2.40,0.00,0.000,1030,0.000,0.046,2781,2066,3366,3256,3476,0,0,0,0,0,0,14.81,14.72,14.83
$GC,9125,-1.72,-146.0,2781,2066,3255,3475,945.5,-10.5,668,9126,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2066,3365,3255,3475,0,0,0,0,0,0,15.07,15.09,15.09
$GC,9425,-1.72,-146.0,2781,2066,3254,3474,977.4,-11.0,678,9426,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2066,3364,3254,3474,0,0,0,0,0,0,15.06,15.08,15.08
$STATE,9542,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9542,begin apogee
$GC,9547,-0.33,0.0,2781,1785,3253,3475,991.0,-11.3,682,9681,1.25,0.00,129.90,2.696,10246,0.269,0.000,3097,1784,2789,2676,2902,0,0,0,0,0,0,14.37,13.99,12.93
$STATE,9682,end apogee,CONTROL_FINISHED_OK
$STATE,9682,begin climb
$GC,9683,1.28,146.0,3097,1784,2671,2899,994.6,0.0,686,9825,1.23,0.00,137.57,2.656,10246,0.155,0.000,3453,1784,2192,2067,2318,0,0,0,0,0,0,13.99,13.80,12.79
$GC,10114,1.08,146.0,3453,1784,2043,2315,958.0,11.3,701,10119,0.17,2.42,0.00,0.000,4740,0.327,0.072,3426,402,2179,2043,2315,0,0,0,0,0,0,14.16,14.44,14.36
$GC,10141,0.91,146.0,3426,402,2040,2315,955.0,10.5,706,10148,0.22,2.38,0.00,0.000,5254,0.319,0.046,3376,1801,2178,2041,2315,0,0,0,0,0,0,14.21,14.50,14.51
$GC,10447,0.89,179.7,3376,1801,2038,2315,928.8,8.5,717,10484,0.00,2.50,29.52,2.481,8612,0.000,0.076,3374,3198,2051,1911,2191,0,0,0,0,0,0,14.90,14.35,13.38
$GC,10510,0.83,186.5,3374,3198,1911,2186,923.0,9.7,730,10525,0.12,2.40,7.07,2.142,13478,0.332,0.057,3361,1807,2026,1887,2166,0,0,0,0,0,0,14.22,14.40,13.34
$GC,10838,0.84,194.7,3361,1807,1877,2165,892.4,9.6,745,10851,0.00,2.47,8.27,2.219,8740,0.000,0.078,3370,389,1993,1848,2138,0,0,0,0,0,0,14.86,14.39,13.52
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$STATE,19229,end climb,SURFACE_DEPTH_REACHED
$STATE,19229,begin surface coast
$FINISH,1.5,1.008867
$STATE,19263,end surface coast,CONTROL_FINISHED_OK
$STATE,19263,begin surface
$SM_CCo,19281,78.10,0.081,0,0,449,573.99
$SM_GC,2.36,9.95,0.40,78.10,0.083,0.056,0.081,91,2081,449,-14.12,-0.99,573.99,0,0,0,0,0,0,14.57,14.69,14.58
$IRIDIUM_FIX,1307.59,6027.67,130417,010508
$TT8_MAMPS,0.023968,0.158039
$HUMID,49.60
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,24.00
$XPDR_PINGS,6
$24V_AH,12.79,69.258
$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,28.525,188.750,489.250,78.100,0.000,0.000,0.000,245.300,112.500,0.000,18.713,3062.600,13077.650,782.180,2556.493,229.193,0.000,2182.136,0.000,1966.722,0.000,745.131,0.000
$DEVICE_MAMPS,407.745,2067.795,2695.860,81.090,0.000,0.000,0.000,174.420,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,685.617,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225140
$DATA_FILE_SIZE,59995,1382
$CAP_FILE_SIZE,220363,0
$CFSIZE,260034560,242814976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.057,268.98,1
$GPS,130417,115325,1312.116,6023.682,47,0.9,54,-0.7,0.7,258.0,9,9.1