version: 66.13
glider: 137
mission: 5
dive: 203
start: 4 14 117 3 48 2
data:
$ID,137
$MISSION,5
$DIVE,203
$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,32
$R_STBD_OVSHOOT,62
$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
$GPS1,140417,034229,1313.6460,6018.4746,35,0.8,45,-0.7,0.2,72.0,10,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-67.8
$GPS2,140417,034726,1313.6414,6018.5029,6,0.7,20,-0.7,0.4,47.7,12,8.7
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1315.649,6015.283
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,309.5,6893,-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,-146.0,96,2082,330,564,0.0,0.0,0,104,0.00,0.00,-94.07,0.000,16386,0.000,0.000,96,2083,2946,2867,3025,0,0,0,0,0,0,14.85,28.83,14.87
$GC,107,-1.28,-146.0,95,2083,2867,3026,4.3,-5.2,16,139,13.95,2.75,-8.25,0.000,18980,0.409,2.074,2890,650,3388,3273,3504,0,0,0,0,0,0,14.26,13.31,14.48
$GC,256,-1.28,-146.0,2890,649,3274,3504,28.7,-11.9,44,263,0.00,2.30,0.00,0.000,1030,0.000,0.038,2881,2040,3389,3274,3504,0,0,0,0,0,0,14.68,14.61,14.69
$GC,565,-1.28,-146.0,2881,2041,3275,3504,65.1,-12.2,93,570,0.00,2.40,0.00,0.000,516,0.000,0.062,2881,638,3389,3275,3504,0,0,0,0,0,0,14.97,14.64,14.98
$GC,597,-1.28,-146.0,2881,637,3275,3504,68.8,-11.8,99,602,0.12,2.33,0.00,0.000,3078,0.256,0.037,2897,2060,3389,3275,3504,0,0,0,0,0,0,14.45,14.70,14.68
$GC,903,-1.34,-146.0,2897,2060,3276,3504,96.6,-8.5,130,912,0.00,2.28,0.00,0.000,420,0.000,0.057,2889,3443,3390,3276,3504,0,0,0,0,0,0,15.02,14.63,15.04
$GC,978,-1.47,-146.0,2889,3443,3276,3504,102.9,-7.3,145,986,0.12,2.30,0.00,0.000,5286,0.122,0.034,2831,2025,3390,3276,3504,0,0,0,0,0,0,14.73,14.76,14.81
$GC,1284,-1.44,-146.0,2831,2024,3277,3504,140.6,-14.3,176,1286,0.15,0.00,0.00,0.000,2182,0.252,0.000,2863,2021,3390,3277,3504,0,0,0,0,0,0,14.50,14.80,14.73
$GC,1585,-1.48,-146.0,2862,2021,3277,3504,173.9,-10.9,206,1594,0.00,2.40,0.00,0.000,388,0.000,0.055,2854,3451,3391,3278,3504,0,0,0,0,0,0,15.07,14.73,15.09
$GC,1617,-1.55,-146.0,2854,3452,3278,3504,177.1,-9.6,212,1627,0.00,2.28,0.00,0.000,1190,0.000,0.035,2854,2050,3391,3278,3504,0,0,0,0,0,0,14.85,14.79,14.88
$GC,1927,-1.60,-146.0,2854,2050,3278,3504,200.4,-9.4,244,1933,0.12,2.33,0.00,0.000,4516,0.125,0.050,2793,3449,3391,3278,3504,0,0,0,0,0,0,14.78,14.73,14.81
$GC,1952,-1.60,-146.0,2792,3449,3277,3504,203.1,-10.6,248,1958,0.15,2.30,0.00,0.000,3078,0.248,0.036,2826,2039,3391,3278,3504,0,0,0,0,0,0,14.51,14.79,14.75
$GC,2266,-1.60,-146.0,2826,2038,3278,3504,239.3,-13.4,280,2273,0.00,2.30,0.00,0.000,516,0.000,0.059,2827,654,3391,3278,3504,0,0,0,0,0,0,15.05,14.73,15.07
$GC,2348,-1.60,-146.0,2826,653,3278,3504,250.6,-13.5,294,2353,0.00,2.30,0.00,0.000,1030,0.000,0.041,2818,2059,3391,3278,3504,0,0,0,0,0,0,14.85,14.78,14.87
$GC,2672,-1.60,-146.0,2818,2059,3278,3504,285.1,-9.2,308,2677,0.00,2.30,0.00,0.000,292,0.000,0.057,2808,3450,3391,3278,3504,0,0,0,0,0,0,15.07,14.74,15.09
$GC,2726,-1.60,-146.0,2808,3450,3277,3504,290.1,-9.5,318,2733,0.00,2.30,0.00,0.000,1062,0.000,0.037,2808,2047,3391,3278,3504,0,0,0,0,0,0,14.85,14.78,14.88
$GC,3041,-1.60,-146.0,2808,2047,3277,3504,319.1,-9.2,330,3042,0.00,0.00,0.00,0.000,38,0.000,0.000,2808,2047,3390,3277,3504,0,0,0,0,0,0,15.07,15.10,15.09
$GC,3343,-1.60,-146.0,2808,2047,3277,3504,348.2,-9.9,340,3348,0.00,2.38,0.00,0.000,292,0.000,0.057,2798,3453,3391,3278,3504,0,0,0,0,0,0,15.08,14.74,15.10
$GC,3385,-1.60,-146.0,2798,3453,3277,3504,353.0,-10.3,348,3390,0.12,2.33,0.00,0.000,3078,0.239,0.040,2825,2038,3390,3277,3504,0,0,0,0,0,0,14.52,14.78,14.76
$GC,3709,-1.60,-146.0,2824,2038,3276,3503,384.6,-9.8,362,3716,0.00,2.33,0.00,0.000,548,0.000,0.061,2826,651,3389,3276,3502,0,0,0,0,0,0,15.08,14.73,15.10
$GC,3759,-1.60,-146.0,2825,651,3275,3502,390.2,-11.4,371,3764,0.00,2.33,0.00,0.000,1030,0.000,0.046,2817,2055,3388,3275,3502,0,0,0,0,0,0,14.85,14.77,14.88
$GC,4077,-1.60,-146.0,2816,2055,3273,3499,425.0,-11.1,384,4082,0.00,2.35,0.00,0.000,260,0.000,0.063,2807,3457,3386,3274,3499,0,0,0,0,0,0,15.07,14.73,15.09
$GC,4133,-1.65,-146.0,2806,3457,3273,3498,431.2,-11.6,394,4138,0.00,2.33,0.00,0.000,1158,0.000,0.041,2807,2054,3385,3273,3498,0,0,0,0,0,0,14.85,14.76,14.88
$GC,4447,-1.65,-146.0,2807,2054,3271,3498,466.1,-10.9,406,4449,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2054,3385,3272,3498,0,0,0,0,0,0,15.08,15.11,15.10
$GC,4746,-1.65,-146.0,2807,2054,3270,3496,495.4,-9.4,416,4751,0.00,2.40,0.00,0.000,292,0.000,0.064,2797,3449,3383,3270,3496,0,0,0,0,0,0,15.07,14.71,15.10
$GC,4784,-1.65,-146.0,2797,3449,3270,3495,499.2,-9.1,423,4789,0.00,2.35,0.00,0.000,1062,0.000,0.044,2797,2040,3382,3270,3495,0,0,0,0,0,0,14.84,14.76,14.87
$GC,5114,-1.65,-146.0,2797,2039,3268,3493,532.2,-10.5,438,5118,0.00,2.45,0.00,0.000,260,0.000,0.067,2787,3460,3380,3268,3493,0,0,0,0,0,0,15.08,14.71,15.10
$GC,5150,-1.65,-146.0,2786,3459,3268,3493,536.4,-10.9,445,5157,0.12,2.38,0.00,0.000,3078,0.258,0.045,2817,2035,3380,3268,3493,0,0,0,0,0,0,14.42,14.75,14.58
$GC,5480,-1.65,-146.0,2817,2035,3267,3491,569.6,-10.3,460,5487,0.00,2.35,0.00,0.000,516,0.000,0.064,2818,647,3379,3267,3491,0,0,0,0,0,0,15.07,14.69,15.09
$GC,5518,-1.65,-146.0,2817,647,3267,3491,574.0,-11.1,467,5523,0.00,2.35,0.00,0.000,1030,0.000,0.046,2809,2052,3378,3266,3491,0,0,0,0,0,0,14.83,14.74,14.85
$GC,5847,-1.65,-146.0,2809,2052,3266,3489,609.1,-10.6,482,5848,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2052,3377,3266,3488,0,0,0,0,0,0,15.08,15.10,15.10
$GC,6147,-1.65,-146.0,2809,2052,3264,3487,639.7,-9.7,492,6151,0.00,2.40,0.00,0.000,292,0.000,0.071,2799,3457,3376,3265,3487,0,0,0,0,0,0,15.07,14.67,15.09
$GC,6173,-1.65,-146.0,2799,3457,3265,3487,642.7,-10.2,497,6183,0.00,2.38,0.00,0.000,1030,0.000,0.048,2799,2051,3376,3265,3487,0,0,0,0,0,0,14.83,14.73,14.85
$GC,6480,-1.65,-146.0,2799,2051,3263,3487,671.4,-9.6,508,6485,0.00,2.45,0.00,0.000,292,0.000,0.071,2789,3455,3374,3263,3486,0,0,0,0,0,0,15.07,14.66,15.09
$GC,6506,-1.65,-146.0,2789,3455,3263,3486,674.3,-10.2,513,6517,0.12,2.38,0.00,0.000,3078,0.251,0.049,2818,2046,3375,3264,3486,0,0,0,0,0,0,14.45,14.73,14.71
$GC,6814,-1.68,-146.0,2818,2046,3262,3486,703.0,-9.7,524,6815,0.00,0.00,0.00,0.000,166,0.000,0.000,2818,2046,3373,3261,3486,0,0,0,0,0,0,15.07,15.09,15.09
$GC,7114,-1.72,-146.0,2819,2046,3261,3485,733.5,-10.1,534,7115,0.00,0.00,0.00,0.000,134,0.000,0.000,2818,2046,3373,3261,3485,0,0,0,0,0,0,15.07,15.10,15.09
$GC,7416,-1.76,-146.0,2818,2046,3260,3483,762.4,-9.5,544,7421,0.12,2.42,0.00,0.000,4516,0.156,0.071,2769,3443,3371,3260,3483,0,0,0,0,0,0,14.64,14.62,14.70
$GC,7459,-1.76,-146.0,2769,3443,3260,3482,767.4,-10.7,552,7464,0.00,2.35,0.00,0.000,1030,0.000,0.049,2772,2054,3371,3260,3482,0,0,0,0,0,0,14.81,14.71,14.84
$GC,7782,-1.72,-146.0,2772,2054,3259,3481,801.0,-10.3,566,7790,0.12,2.42,0.00,0.000,2436,0.281,0.070,2793,3447,3370,3259,3481,0,0,0,0,0,0,14.34,14.60,14.51
$GC,7830,-1.75,-146.0,2792,3447,3259,3481,805.5,-9.3,574,7835,0.00,2.38,0.00,0.000,1190,0.000,0.047,2793,2042,3369,3258,3481,0,0,0,0,0,0,14.81,14.71,14.83
$GC,8153,-1.75,-146.0,2793,2041,3258,3481,837.1,-10.1,588,8158,0.00,2.38,0.00,0.000,516,0.000,0.067,2798,647,3369,3258,3481,0,0,0,0,0,0,15.05,14.66,15.07
$GC,8174,-1.75,-146.0,2798,647,3258,3480,839.8,-11.7,592,8179,0.00,2.38,0.00,0.000,1030,0.000,0.047,2790,2060,3369,3258,3480,0,0,0,0,0,0,14.81,14.71,14.83
$GC,8487,-1.75,-146.0,2789,2060,3256,3479,875.5,-11.6,604,8492,0.00,2.40,0.00,0.000,260,0.000,0.070,2780,3460,3368,3257,3479,0,0,0,0,0,0,15.05,14.64,15.07
$GC,8524,-1.75,-146.0,2779,3460,3256,3479,880.3,-11.7,611,8529,0.00,2.40,0.00,0.000,1030,0.000,0.048,2780,2047,3368,3257,3479,0,0,0,0,0,0,14.80,14.71,14.83
$GC,8854,-1.75,-146.0,2780,2047,3256,3479,918.7,-11.7,626,8859,0.00,2.47,0.00,0.000,260,0.000,0.071,2770,3458,3366,3255,3478,0,0,0,0,0,0,15.07,14.63,15.09
$GC,8901,-1.75,-146.0,2770,3458,3255,3478,924.5,-11.8,635,8906,0.10,2.40,0.00,0.000,3078,0.275,0.048,2793,2041,3366,3255,3478,0,0,0,0,0,0,14.35,14.69,14.52
$GC,9219,-1.75,-146.0,2792,2041,3254,3478,957.4,-10.4,648,9224,0.00,2.47,0.00,0.000,260,0.000,0.072,2784,3458,3366,3254,3478,0,0,0,0,0,0,15.05,14.60,15.07
$GC,9245,-1.75,-146.0,2784,3458,3254,3477,960.2,-10.6,653,9254,0.00,2.42,0.00,0.000,1030,0.000,0.048,2784,2043,3365,3254,3477,0,0,0,0,0,0,14.79,14.70,14.83
$STATE,9550,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9550,begin apogee
$GC,9555,-0.33,0.0,2785,1794,3254,3477,992.7,-10.7,664,9689,1.23,0.00,129.85,2.711,10246,0.262,0.000,3098,1792,2789,2675,2903,0,0,0,0,0,0,14.37,13.98,12.94
$STATE,9690,end apogee,CONTROL_FINISHED_OK
$STATE,9690,begin climb
$GC,9692,1.28,146.0,3098,1793,2671,2901,995.5,0.0,668,9840,1.20,2.67,135.85,2.671,10756,0.164,0.076,3460,394,2187,2057,2317,0,0,0,0,0,0,13.97,13.81,12.77
$GC,9916,1.05,146.0,3460,393,2045,2317,979.7,12.9,717,9921,0.22,2.47,0.00,0.000,5254,0.340,0.044,3409,1817,2180,2043,2317,0,0,0,0,0,0,13.90,14.17,14.20
$GC,10245,0.92,146.4,3408,1817,2038,2317,946.0,10.0,732,10252,0.15,2.38,0.00,0.000,4516,0.385,0.067,3373,3200,2177,2038,2317,0,0,0,0,0,0,14.15,14.48,14.39
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$STATE,19035,end climb,SURFACE_DEPTH_REACHED
$STATE,19035,begin surface coast
$FINISH,1.5,0.998463
$STATE,19062,end surface coast,CONTROL_FINISHED_OK
$STATE,19062,begin surface
$SM_CCo,19080,67.43,0.082,0,0,449,573.99
$SM_GC,2.29,9.98,0.38,67.43,0.083,0.057,0.082,89,2080,449,-14.13,-1.16,573.99,0,0,0,0,0,0,14.61,14.71,14.60
$IRIDIUM_FIX,1307.59,6022.73,130417,223105
$TT8_MAMPS,0.024717,0.158039
$HUMID,50.43
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,24.00
$XPDR_PINGS,8
$24V_AH,12.77,70.905
$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,29.050,217.850,508.700,67.425,0.000,0.000,0.000,195.275,107.250,0.000,22.581,3043.092,12834.118,768.891,2577.650,225.295,0.000,2221.489,0.000,2044.340,0.000,709.487,0.000
$DEVICE_MAMPS,408.510,2073.915,2711.160,81.855,0.000,0.000,0.000,179.010,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,679.486,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225084
$DATA_FILE_SIZE,63338,1437
$CAP_FILE_SIZE,228098,0
$CFSIZE,260034560,242450432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.022,318.44,1
$GPS,140417,090835,1315.848,6016.517,38,0.7,48,-0.6,0.2,202.6,11,9.3