version: 66.13
glider: 137
mission: 5
dive: 204
start: 4 14 117 9 14 41
data:
$ID,137
$MISSION,5
$DIVE,204
$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,37
$R_STBD_OVSHOOT,67
$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
$GPS1,140417,090835,1315.8475,6016.5166,38,0.7,48,-0.6,0.2,202.6,11,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-67.8
$GPS2,140417,091404,1315.8138,6016.5073,6,0.7,17,-0.6,0.5,193.6,11,9.9
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1317.302,6013.024
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,292.5,6857,-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,7,-1.28,-146.0,89,2087,329,565,0.0,0.0,0,104,0.00,0.00,-94.50,0.000,16386,0.000,0.000,89,2088,2950,2870,3031,0,0,0,0,0,0,14.83,28.83,14.85
$GC,107,-1.28,-146.0,89,2087,2871,3031,4.2,-4.3,16,139,13.68,2.75,-8.25,0.000,18980,0.398,2.064,2894,654,3388,3271,3505,0,0,0,0,0,0,14.24,13.31,14.47
$GC,197,-1.34,-146.0,2894,654,3272,3505,20.8,-11.8,32,204,0.00,2.28,0.00,0.000,1158,0.000,0.036,2886,2036,3389,3273,3505,0,0,0,0,0,0,14.65,14.59,14.66
$GC,506,-1.34,-146.0,2885,2036,3272,3505,58.7,-14.0,87,515,0.00,2.35,0.00,0.000,260,0.000,0.057,2875,3447,3388,3272,3505,0,0,0,0,0,0,14.94,14.64,14.97
$GC,538,-1.38,-146.0,2875,3447,3273,3505,63.1,-13.8,93,542,0.00,2.30,0.00,0.000,1158,0.000,0.034,2875,2040,3389,3273,3505,0,0,0,0,0,0,14.76,14.69,14.78
$GC,849,-1.38,-146.0,2875,2040,3273,3505,97.7,-10.8,125,850,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2040,3389,3273,3505,0,0,0,0,0,0,15.01,15.04,15.03
$GC,1150,-1.44,-146.0,2875,2040,3274,3505,135.7,-12.8,155,1155,0.00,2.35,0.00,0.000,388,0.000,0.053,2865,3443,3389,3274,3505,0,0,0,0,0,0,15.04,14.72,15.06
$GC,1225,-1.54,-146.0,2865,3443,3274,3505,145.3,-11.9,170,1233,0.10,2.25,0.00,0.000,5254,0.141,0.033,2817,2043,3389,3274,3505,0,0,0,0,0,0,14.73,14.78,14.82
$GC,1532,-1.50,-146.0,2817,2043,3275,3505,177.9,-12.3,201,1537,0.12,2.28,0.00,0.000,2692,0.250,0.053,2849,662,3389,3274,3505,0,0,0,0,0,0,14.53,14.73,14.66
$GC,1595,-1.56,-146.0,2849,662,3274,3505,186.0,-12.5,213,1600,0.00,2.25,0.00,0.000,1158,0.000,0.035,2841,2054,3390,3275,3505,0,0,0,0,0,0,14.85,14.79,14.88
$GC,1908,-1.59,-146.0,2840,2054,3275,3505,222.0,-9.4,245,1909,0.00,0.00,0.00,0.000,166,0.000,0.000,2841,2054,3389,3274,3505,0,0,0,0,0,0,15.05,15.07,15.07
$GC,2208,-1.62,-146.0,2840,2054,3275,3505,245.6,-6.9,275,2213,0.00,2.35,0.00,0.000,676,0.000,0.059,2840,660,3390,3275,3505,0,0,0,0,0,0,15.05,14.73,15.07
$GC,2255,-1.66,-146.0,2840,660,3275,3505,249.3,-8.3,283,2260,0.00,2.28,0.00,0.000,1190,0.000,0.045,2830,2045,3390,3275,3505,0,0,0,0,0,0,14.84,14.76,14.87
$GC,2568,-1.66,-146.0,2830,2045,3275,3505,282.4,-11.8,295,2573,0.00,2.33,0.00,0.000,260,0.000,0.060,2821,3450,3390,3275,3505,0,0,0,0,0,0,15.06,14.74,15.08
$GC,2652,-1.72,-146.0,2820,3449,3275,3505,292.9,-12.7,311,2657,0.00,2.28,0.00,0.000,1158,0.000,0.038,2820,2060,3389,3274,3505,0,0,0,0,0,0,14.85,14.78,14.88
$GC,2964,-1.72,-146.0,2820,2059,3275,3505,329.3,-10.9,323,2966,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2059,3390,3275,3505,0,0,0,0,0,0,15.07,15.09,15.08
$GC,3266,-1.72,-146.0,2820,2059,3275,3505,354.6,-7.6,333,3274,0.00,2.38,0.00,0.000,292,0.000,0.059,2810,3458,3389,3274,3505,0,0,0,0,0,0,15.07,14.74,15.09
$GC,3306,-1.75,-146.0,2810,3458,3274,3504,358.0,-7.5,340,3313,0.00,2.33,0.00,0.000,1190,0.000,0.040,2810,2049,3389,3274,3504,0,0,0,0,0,0,14.86,14.78,14.88
$GC,3636,-1.75,-146.0,2810,2048,3272,3502,391.0,-11.1,355,3640,0.00,2.40,0.00,0.000,260,0.000,0.063,2800,3453,3386,3272,3501,0,0,0,0,0,0,15.07,14.73,15.09
$GC,3678,-1.75,-146.0,2800,3453,3272,3501,396.1,-10.8,363,3683,0.00,2.33,0.00,0.000,1030,0.000,0.041,2800,2047,3387,3273,3501,0,0,0,0,0,0,14.85,14.77,14.88
$GC,4002,-1.75,-146.0,2800,2047,3271,3499,431.8,-11.0,377,4007,0.00,2.38,0.00,0.000,516,0.000,0.067,2800,641,3385,3271,3499,0,0,0,0,0,0,15.08,14.71,15.10
$GC,4029,-1.75,-146.0,2800,640,3271,3499,435.6,-12.2,382,4037,0.00,2.33,0.00,0.000,1030,0.000,0.043,2791,2047,3385,3271,3499,0,0,0,0,0,0,14.85,14.77,14.88
$GC,4337,-1.72,-146.0,2790,2048,3269,3497,473.4,-12.7,393,4339,0.00,0.00,0.00,0.000,134,0.000,0.000,2791,2048,3383,3269,3497,0,0,0,0,0,0,15.08,15.11,15.10
$GC,4637,-1.69,-146.0,2790,2047,3267,3495,511.4,-12.5,403,4642,0.00,2.40,0.00,0.000,644,0.000,0.064,2791,650,3381,3267,3495,0,0,0,0,0,0,15.07,14.71,15.09
$GC,4681,-1.65,-146.0,2790,648,3267,3494,517.4,-13.4,411,4686,0.15,2.35,0.00,0.000,3206,0.273,0.047,2812,2060,3381,3267,3495,0,0,0,0,0,0,14.42,14.75,14.66
$GC,5006,-1.65,-146.0,2812,2060,3266,3493,551.2,-10.1,425,5011,0.00,2.38,0.00,0.000,260,0.000,0.070,2803,3457,3379,3266,3493,0,0,0,0,0,0,15.08,14.70,15.10
$GC,5073,-1.69,-146.0,2803,3457,3266,3492,558.1,-9.3,438,5078,0.00,2.35,0.00,0.000,1190,0.000,0.044,2803,2048,3379,3266,3492,0,0,0,0,0,0,14.83,14.74,14.85
$GC,5403,-1.69,-146.0,2803,2047,3264,3491,588.5,-9.1,453,5408,0.00,2.45,0.00,0.000,292,0.000,0.068,2793,3462,3377,3264,3490,0,0,0,0,0,0,15.07,14.69,15.09
$GC,5452,-1.69,-146.0,2793,3463,3264,3489,593.2,-9.6,462,5457,0.00,2.38,0.00,0.000,1062,0.000,0.047,2793,2048,3377,3264,3490,0,0,0,0,0,0,14.83,14.73,14.85
$GC,5770,-1.69,-146.0,2793,2048,3263,3489,622.8,-9.2,475,5777,0.00,2.45,0.00,0.000,292,0.000,0.070,2784,3454,3375,3263,3488,0,0,0,0,0,0,15.07,14.67,15.09
$GC,5808,-1.69,-146.0,2783,3454,3262,3487,626.4,-9.2,482,5816,0.10,2.38,0.00,0.000,3110,0.254,0.047,2801,2039,3375,3262,3488,0,0,0,0,0,0,14.47,14.73,14.71
$GC,6139,-1.69,-146.0,2801,2039,3261,3487,657.4,-10.0,497,6144,0.00,2.38,0.00,0.000,516,0.000,0.067,2802,642,3374,3262,3487,0,0,0,0,0,0,15.06,14.68,15.08
$GC,6174,-1.69,-146.0,2802,642,3261,3487,661.0,-10.5,503,6179,0.00,2.38,0.00,0.000,1030,0.000,0.048,2793,2056,3374,3262,3487,0,0,0,0,0,0,14.82,14.72,14.84
$GC,6508,-1.69,-146.0,2793,2057,3260,3486,699.4,-11.8,519,6509,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2057,3373,3260,3486,0,0,0,0,0,0,15.07,15.09,15.09
$GC,6808,-1.69,-146.0,2793,2057,3259,3485,733.2,-11.0,529,6809,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2057,3372,3259,3485,0,0,0,0,0,0,15.06,15.09,15.08
$GC,7108,-1.69,-146.0,2793,2057,3258,3484,764.2,-10.2,539,7115,0.00,2.45,0.00,0.000,516,0.000,0.069,2794,644,3371,3258,3484,0,0,0,0,0,0,15.06,14.66,15.08
$GC,7151,-1.69,-146.0,2793,644,3258,3484,769.1,-10.7,547,7157,0.10,2.40,0.00,0.000,3078,0.284,0.048,2803,2064,3370,3257,3484,0,0,0,0,0,0,14.43,14.71,14.69
$GC,7475,-1.69,-146.0,2802,2064,3256,3482,800.3,-9.7,561,7481,0.00,2.40,0.00,0.000,292,0.000,0.073,2794,3458,3369,3256,3482,0,0,0,0,0,0,15.07,14.64,15.09
$GC,7531,-1.73,-146.0,2794,3458,3256,3481,805.9,-10.5,571,7536,0.00,2.38,0.00,0.000,1158,0.000,0.047,2794,2051,3368,3256,3481,0,0,0,0,0,0,14.81,14.71,14.83
$GC,7846,-1.73,-146.0,2793,2050,3256,3481,836.6,-9.8,583,7847,0.00,0.00,0.00,0.000,38,0.000,0.000,2794,2051,3368,3255,3481,0,0,0,0,0,0,15.07,15.09,15.09
$GC,8146,-1.73,-146.0,2794,2051,3254,3480,865.5,-9.7,593,8147,0.00,0.00,0.00,0.000,38,0.000,0.000,2794,2051,3367,3254,3480,0,0,0,0,0,0,15.06,15.09,15.08
$GC,8445,-1.73,-146.0,2794,2051,3253,3479,894.8,-9.9,603,8452,0.00,2.47,0.00,0.000,292,0.000,0.073,2784,3470,3366,3253,3479,0,0,0,0,0,0,15.06,14.61,15.08
$GC,8464,-1.73,-146.0,2784,3470,3253,3478,897.0,-10.4,606,8471,0.00,2.40,0.00,0.000,1030,0.000,0.048,2784,2050,3365,3253,3478,0,0,0,0,0,0,14.80,14.71,14.83
$GC,8785,-1.73,-146.0,2784,2050,3252,3478,931.6,-11.1,619,8790,0.00,2.47,0.00,0.000,260,0.000,0.073,2774,3469,3365,3252,3478,0,0,0,0,0,0,15.07,14.60,15.09
$GC,8811,-1.73,-146.0,2774,3469,3252,3478,934.9,-11.2,624,8820,0.12,2.42,0.00,0.000,3078,0.264,0.049,2798,2038,3365,3252,3478,0,0,0,0,0,0,14.37,14.70,14.65
$GC,9119,-1.73,-146.0,2798,2038,3251,3478,967.1,-10.7,635,9120,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2038,3364,3251,3478,0,0,0,0,0,0,15.07,15.09,15.09
$STATE,9356,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9356,begin apogee
$GC,9361,-0.33,0.0,2799,1789,3250,3477,992.9,-10.8,643,9495,1.15,0.00,129.50,2.704,10246,0.252,0.000,3097,1787,2789,2674,2905,0,0,0,0,0,0,14.37,13.98,12.93
$STATE,9496,end apogee,CONTROL_FINISHED_OK
$STATE,9496,begin climb
$GC,9497,1.28,146.0,3098,1787,2669,2901,997.1,0.0,647,9643,1.20,2.58,135.43,2.661,10756,0.158,0.076,3459,401,2188,2058,2318,0,0,0,0,0,0,13.97,13.62,12.78
$GC,9689,1.06,146.0,3458,401,2045,2318,988.3,11.3,689,9694,0.22,2.47,0.00,0.000,5254,0.336,0.045,3408,1807,2181,2044,2318,0,0,0,0,0,0,13.85,14.09,14.12
$GC,10017,0.98,181.5,3408,1807,2038,2318,960.2,8.4,704,10054,0.00,2.47,31.42,2.502,8612,0.000,0.071,3407,3201,2045,1904,2186,0,0,0,0,0,0,14.80,14.26,13.27
$GC,10090,0.86,181.5,3407,3201,1904,2179,953.0,10.7,719,10095,0.25,2.45,0.00,0.000,5254,0.356,0.054,3366,1791,2041,1904,2179,0,0,0,0,0,0,14.11,14.35,14.39
$GC,10403,0.84,189.9,3366,1792,1898,2179,924.2,9.6,731,10416,0.00,2.45,8.07,2.225,8868,0.000,0.076,3375,393,2010,1869,2152,0,0,0,0,0,0,14.85,14.38,13.51
$GC,10447,0.80,189.9,3375,393,1864,2152,919.5,10.3,740,10452,0.12,2.40,0.00,0.000,5254,0.337,0.047,3352,1800,2008,1864,2153,0,0,0,0,0,0,14.31,14.56,14.57
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$STATE,18910,end climb,SURFACE_DEPTH_REACHED
$STATE,18910,begin surface coast
$FINISH,1.5,0.997045
$STATE,18936,end surface coast,CONTROL_FINISHED_OK
$STATE,18936,begin surface
$SM_CCo,18956,88.70,0.080,0,0,449,573.99
$SM_GC,2.37,10.05,1.98,88.70,0.083,0.041,0.080,92,2037,449,-14.11,0.90,573.99,0,0,0,0,0,0,14.64,14.70,14.62
$IRIDIUM_FIX,1307.59,6020.80,140417,034408
$TT8_MAMPS,0.023968,0.158039
$HUMID,49.13
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,24.20
$XPDR_PINGS,3
$24V_AH,12.78,71.304
$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,27.825,198.075,456.800,88.700,0.000,0.000,0.000,228.150,105.250,0.000,18.138,3016.842,12837.506,743.304,2540.612,240.366,0.000,2171.275,0.000,1986.385,0.000,704.926,0.000
$DEVICE_MAMPS,397.800,2063.970,2703.510,80.325,0.000,0.000,0.000,175.185,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,680.807,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225104
$DATA_FILE_SIZE,59995,1396
$CAP_FILE_SIZE,218241,0
$CFSIZE,260034560,242372608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.050,244.28,1
$GPS,140417,143331,1316.976,6013.608,36,0.9,48,-0.6,0.5,140.2,9,9.9