version: 66.13
glider: 137
mission: 5
dive: 201
start: 4 13 117 17 20 48
data:
$ID,137
$MISSION,5
$DIVE,201
$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,35
$R_STBD_OVSHOOT,48
$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
$GPS1,130417,170600,1309.8528,6022.9102,51,0.9,56,-0.7,0.4,299.1,10,9.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-68.1
$GPS2,130417,171957,1309.9022,6022.8643,13,0.9,19,-0.7,0.0,0.0,10,9.7
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1311.740,6019.923
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,301.1,6302,-17.4,-10.000,-19.96,2047
$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,-1.32,-133.2,89,2074,330,564,0.0,0.0,0,101,0.00,0.00,-91.55,0.000,16386,0.000,0.000,89,2074,2913,2834,2993,0,0,0,0,0,0,14.85,28.83,14.88
$GC,104,-1.34,-146.0,89,2074,2834,2993,4.3,-5.6,16,136,14.32,2.53,-9.00,0.000,18724,0.424,2.062,2868,3439,3388,3273,3503,0,0,0,0,0,0,14.29,13.38,14.63
$GC,208,-1.38,-146.0,2868,3439,3274,3504,23.1,-12.4,35,215,0.00,2.30,0.00,0.000,1158,0.000,0.037,2869,2040,3389,3274,3504,0,0,0,0,0,0,14.68,14.62,14.70
$GC,522,-1.38,-146.0,2868,2039,3274,3503,65.9,-10.7,84,526,0.00,2.30,0.00,0.000,516,0.000,0.054,2868,648,3389,3274,3504,0,0,0,0,0,0,14.97,14.67,15.00
$GC,578,-1.38,-146.0,2868,648,3274,3503,71.9,-10.4,95,587,0.00,2.28,0.00,0.000,1030,0.000,0.037,2859,2049,3389,3274,3504,0,0,0,0,0,0,14.78,14.72,14.81
$GC,888,-1.38,-146.0,2859,2049,3274,3503,107.8,-12.0,127,892,0.00,2.30,0.00,0.000,260,0.000,0.057,2849,3442,3388,3274,3503,0,0,0,0,0,0,15.04,14.71,15.05
$GC,938,-1.44,-146.0,2848,3442,3274,3503,114.1,-12.1,137,945,0.00,2.28,0.00,0.000,1158,0.000,0.035,2849,2040,3389,3274,3504,0,0,0,0,0,0,14.83,14.77,14.85
$GC,1245,-1.47,-146.0,2848,2040,3274,3503,153.2,-8.1,168,1254,0.00,2.28,0.00,0.000,676,0.000,0.056,2849,657,3388,3274,3503,0,0,0,0,0,0,15.07,14.73,15.08
$GC,1307,-1.54,-146.0,2849,657,3274,3504,156.9,-4.5,180,1317,0.00,2.28,0.00,0.000,1190,0.000,0.039,2839,2056,3388,3274,3503,0,0,0,0,0,0,14.85,14.78,14.87
$GC,1617,-1.57,-146.0,2838,2056,3274,3503,181.5,-9.8,212,1626,0.00,2.35,0.00,0.000,676,0.000,0.059,2839,658,3389,3274,3504,0,0,0,0,0,0,15.08,14.74,15.10
$GC,1649,-1.57,-146.0,2838,658,3274,3503,184.8,-9.9,218,1658,0.00,2.28,0.00,0.000,1062,0.000,0.040,2829,2059,3388,3274,3503,0,0,0,0,0,0,14.86,14.80,14.88
$GC,1961,-1.60,-146.0,2829,2057,3274,3503,218.2,-11.8,250,1966,0.00,2.30,0.00,0.000,388,0.000,0.057,2819,3452,3389,3274,3504,0,0,0,0,0,0,15.06,14.75,15.08
$GC,2023,-1.67,-146.0,2819,3452,3274,3503,226.0,-11.4,261,2031,0.00,2.28,0.00,0.000,1158,0.000,0.034,2819,2049,3389,3274,3504,0,0,0,0,0,0,14.87,14.81,14.88
$GC,2352,-1.67,-146.0,2819,2048,3274,3503,262.1,-10.0,286,2356,0.00,2.33,0.00,0.000,516,0.000,0.060,2819,650,3389,3274,3504,0,0,0,0,0,0,15.07,14.75,15.09
$GC,2398,-1.67,-146.0,2819,650,3274,3503,267.4,-11.3,295,2403,0.00,2.30,0.00,0.000,1030,0.000,0.044,2809,2043,3388,3274,3503,0,0,0,0,0,0,14.86,14.77,14.88
$GC,2716,-1.67,-146.0,2809,2044,3274,3503,304.6,-12.3,308,2723,0.00,2.35,0.00,0.000,260,0.000,0.060,2798,3458,3388,3274,3503,0,0,0,0,0,0,15.07,14.75,15.09
$GC,2761,-1.71,-146.0,2799,3458,3274,3503,310.4,-13.1,316,2767,0.00,2.30,0.00,0.000,1158,0.000,0.039,2799,2059,3389,3275,3503,0,0,0,0,0,0,14.87,14.78,14.89
$GC,3087,-1.71,-146.0,2799,2058,3274,3500,347.0,-10.4,330,3088,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2058,3386,3273,3500,0,0,0,0,0,0,15.08,15.11,15.11
$GC,3386,-1.71,-146.0,2799,2058,3272,3498,378.5,-10.7,340,3391,0.00,2.38,0.00,0.000,260,0.000,0.062,2789,3453,3385,3272,3498,0,0,0,0,0,0,15.07,14.74,15.09
$GC,3421,-1.71,-146.0,2789,3453,3272,3497,382.4,-11.1,346,3426,0.00,2.33,0.00,0.000,1030,0.000,0.041,2789,2049,3384,3272,3497,0,0,0,0,0,0,14.87,14.78,14.89
$GC,3756,-1.71,-146.0,2789,2048,3270,3494,424.3,-13.2,362,3761,0.00,2.42,0.00,0.000,260,0.000,0.065,2779,3464,3382,3270,3494,0,0,0,0,0,0,15.09,14.73,15.11
$GC,3802,-1.71,-146.0,2779,3464,3270,3493,431.1,-13.8,371,3808,0.12,2.35,0.00,0.000,3078,0.254,0.043,2804,2044,3381,3270,3492,0,0,0,0,0,0,14.49,14.77,14.72
$GC,4121,-1.71,-146.0,2804,2044,3267,3491,470.4,-12.4,384,4126,0.00,2.42,0.00,0.000,260,0.000,0.067,2796,3457,3379,3267,3492,0,0,0,0,0,0,15.07,14.72,15.09
$GC,4156,-1.74,-146.0,2795,3457,3267,3490,474.3,-11.7,390,4163,0.00,2.33,0.00,0.000,1158,0.000,0.044,2795,2054,3378,3267,3490,0,0,0,0,0,0,14.86,14.78,14.88
$GC,4493,-1.74,-146.0,2795,2053,3266,3488,510.2,-9.6,406,4498,0.00,2.38,0.00,0.000,548,0.000,0.067,2795,646,3377,3266,3488,0,0,0,0,0,0,15.09,14.72,15.11
$GC,4536,-1.74,-146.0,2795,646,3266,3487,514.7,-10.0,414,4541,0.00,2.35,0.00,0.000,1062,0.000,0.047,2786,2053,3377,3266,3488,0,0,0,0,0,0,14.85,14.76,14.87
$GC,4859,-1.74,-146.0,2786,2054,3265,3486,545.3,-9.7,428,4865,0.00,2.38,0.00,0.000,292,0.000,0.066,2776,3461,3375,3265,3486,0,0,0,0,0,0,15.07,14.71,15.10
$GC,4910,-1.74,-146.0,2775,3461,3265,3486,550.5,-9.3,437,4916,0.00,2.38,0.00,0.000,1062,0.000,0.046,2776,2040,3375,3265,3486,0,0,0,0,0,0,14.84,14.76,14.87
$GC,5229,-1.74,-146.0,2776,2039,3262,3484,585.0,-11.5,450,5230,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2040,3372,3262,3483,0,0,0,0,0,0,15.08,15.10,15.10
$GC,5530,-1.74,-146.0,2776,2040,3261,3482,623.1,-13.1,460,5537,0.00,2.45,0.00,0.000,260,0.000,0.070,2766,3450,3371,3261,3481,0,0,0,0,0,0,15.07,14.69,15.09
$GC,5565,-1.74,-146.0,2766,3450,3261,3481,627.9,-13.7,466,5571,0.12,2.35,0.00,0.000,3078,0.275,0.048,2789,2049,3371,3261,3481,0,0,0,0,0,0,14.41,14.76,14.69
$GC,5899,-1.74,-146.0,2789,2048,3259,3480,667.5,-11.5,482,5904,0.00,2.38,0.00,0.000,516,0.000,0.067,2790,647,3370,3259,3481,0,0,0,0,0,0,15.07,14.69,15.09
$GC,5920,-1.74,-146.0,2790,647,3260,3480,670.3,-11.5,486,5925,0.00,2.35,0.00,0.000,1030,0.000,0.047,2782,2050,3369,3259,3480,0,0,0,0,0,0,14.83,14.74,14.86
$GC,6233,-1.74,-146.0,2782,2050,3258,3479,703.4,-10.2,498,6235,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2050,3368,3258,3479,0,0,0,0,0,0,15.07,15.10,15.09
$GC,6534,-1.74,-146.0,2781,2050,3257,3478,733.6,-10.2,508,6541,0.00,2.40,0.00,0.000,260,0.000,0.070,2772,3458,3367,3257,3477,0,0,0,0,0,0,15.07,14.69,15.09
$GC,6562,-1.74,-146.0,2772,3458,3257,3477,736.9,-10.9,513,6572,0.12,2.38,0.00,0.000,3078,0.265,0.047,2795,2047,3367,3257,3477,0,0,0,0,0,0,14.40,14.73,14.69
$GC,6870,-1.74,-146.0,2795,2047,3255,3477,768.1,-10.6,524,6871,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2046,3366,3255,3477,0,0,0,0,0,0,15.07,15.10,15.10
$GC,7170,-1.74,-146.0,2795,2047,3254,3477,800.5,-10.7,534,7171,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2047,3365,3254,3477,0,0,0,0,0,0,15.07,15.09,15.09
$GC,7470,-1.74,-146.0,2795,2047,3252,3477,833.1,-11.0,544,7476,0.00,2.40,0.00,0.000,516,0.000,0.068,2796,640,3364,3252,3476,0,0,0,0,0,0,15.07,14.66,15.09
$GC,7524,-1.74,-146.0,2796,640,3251,3476,839.6,-12.5,554,7529,0.00,2.38,0.00,0.000,1030,0.000,0.047,2788,2054,3363,3251,3476,0,0,0,0,0,0,14.81,14.72,14.85
$GC,7837,-1.74,-146.0,2787,2054,3250,3475,876.3,-12.0,566,7842,0.00,2.42,0.00,0.000,260,0.000,0.074,2778,3460,3362,3250,3475,0,0,0,0,0,0,15.07,14.64,15.09
$GC,7892,-1.77,-146.0,2778,3460,3250,3475,883.0,-12.2,576,7897,0.00,2.40,0.00,0.000,1158,0.000,0.054,2778,2055,3362,3250,3474,0,0,0,0,0,0,14.80,14.69,14.83
$GC,8206,-1.77,-146.0,2777,2054,3249,3474,922.3,-12.6,588,8207,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2054,3361,3249,3474,0,0,0,0,0,0,15.07,15.09,15.09
$GC,8506,-1.77,-146.0,2778,2054,3249,3472,957.3,-11.3,598,8508,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2054,3360,3249,3472,0,0,0,0,0,0,15.06,15.09,15.09
$GC,8806,-1.77,-146.0,2778,2054,3248,3471,988.2,-10.0,608,8807,0.00,0.00,0.00,0.000,38,0.000,0.000,2778,2054,3359,3248,3471,0,0,0,0,0,0,15.07,15.09,15.09
$STATE,8834,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8834,begin apogee
$GC,8839,-0.33,0.0,2778,1789,3248,3471,991.0,-9.9,609,8971,1.27,0.00,127.93,2.710,10246,0.267,0.000,3100,1786,2790,2675,2905,0,0,0,0,0,0,14.36,14.00,12.95
$STATE,8972,end apogee,CONTROL_FINISHED_OK
$STATE,8973,begin climb
$GC,8974,1.34,146.0,3100,1786,2670,2902,992.1,0.0,613,9120,1.23,2.58,136.25,2.651,10756,0.151,0.080,3475,405,2188,2059,2317,0,0,0,0,0,0,14.00,13.65,12.81
$GC,9171,1.11,146.0,3474,405,2046,2317,975.3,14.5,656,9176,0.28,2.47,0.00,0.000,5254,0.318,0.048,3420,1806,2181,2045,2317,0,0,0,0,0,0,13.88,14.12,14.16
$GC,9489,0.99,146.0,3420,1806,2039,2317,936.5,11.9,669,9496,0.12,2.42,0.00,0.000,4484,0.401,0.070,3396,3201,2177,2038,2317,0,0,0,0,0,0,14.16,14.50,14.40
$GC,9520,0.89,146.0,3395,3201,2038,2317,932.9,12.3,675,9526,0.15,2.40,0.00,0.000,5254,0.362,0.060,3372,1807,2178,2039,2317,0,0,0,0,0,0,14.20,14.52,14.42
$GC,9850,0.87,155.7,3372,1807,2036,2317,900.9,9.5,691,9863,0.00,2.47,7.40,2.171,8868,0.000,0.078,3382,389,2152,2010,2294,0,0,0,0,0,0,14.93,14.47,13.58
$GC,9879,0.83,167.9,3381,388,2007,2294,898.0,9.4,697,9898,0.12,2.40,12.93,2.349,13478,0.339,0.047,3362,1805,2103,1960,2247,0,0,0,0,0,0,14.38,14.64,13.54
$GC,10206,0.85,183.7,3361,1805,1950,2243,867.6,9.2,712,10228,0.00,2.47,15.23,2.362,8484,0.000,0.071,3360,3203,2036,1892,2180,0,0,0,0,0,0,14.90,14.51,13.55
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$STATE,18310,end climb,SURFACE_DEPTH_REACHED
$STATE,18310,begin surface coast
$FINISH,1.5,1.009795
$STATE,18337,end surface coast,CONTROL_FINISHED_OK
$STATE,18337,begin surface
$SM_CCo,18355,74.62,0.080,0,0,449,573.99
$SM_GC,2.41,9.85,0.38,74.62,0.073,0.061,0.080,90,2071,449,-14.12,-1.33,573.99,0,0,0,0,0,0,14.61,14.71,14.60
$IRIDIUM_FIX,1307.59,6025.75,130417,115505
$TT8_MAMPS,0.025466,0.15729
$HUMID,49.72
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,24.10
$XPDR_PINGS,6
$24V_AH,12.81,70.075
$10V_AH,13.13,0.000
$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,28.625,202.525,504.875,74.625,0.000,0.000,0.000,375.875,95.500,0.000,20.396,2914.752,12733.854,777.587,2632.637,228.049,0.000,2355.721,0.000,1955.341,0.000,631.116,0.000
$DEVICE_MAMPS,423.810,2062.440,2709.630,80.325,0.000,0.000,0.000,178.245,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,655.568,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225184
$DATA_FILE_SIZE,59956,1374
$CAP_FILE_SIZE,215733,0
$CFSIZE,260034560,242642944
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$INTR,0,4156.56,0x233da8,0,24
$CURRENT,0.044,258.92,1
$GPS,130417,222923,1311.316,6020.242,31,0.9,48,-0.7,0.0,217.2,9,8.7