version: 66.13
glider: 137
mission: 5
dive: 206
start: 4 14 117 20 1 31
data:
$ID,137
$MISSION,5
$DIVE,206
$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,61
$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
$GPS1,140417,195510,1319.0392,6011.7607,22,1.0,31,-0.6,0.0,227.6,8,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-68.0
$GPS2,140417,200056,1318.9867,6011.7236,40,0.8,42,-0.6,0.0,0.0,10,8.2
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1320.471,6008.255
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,294.7,6828,-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,-146.0,97,2079,333,561,0.0,0.0,0,104,0.00,0.00,-93.65,0.000,16386,0.000,0.000,97,2080,2949,2870,3029,0,0,0,0,0,0,14.85,28.83,14.88
$GC,106,-1.28,-146.0,97,2080,2871,3028,4.6,-6.2,16,138,13.32,2.58,-8.07,0.000,18724,0.387,2.067,2880,3428,3388,3274,3503,0,0,0,0,0,0,14.25,13.30,14.47
$GC,226,-1.28,-146.0,2880,3429,3276,3503,26.4,-12.3,38,233,0.00,2.30,0.00,0.000,1030,0.000,0.034,2880,2031,3389,3276,3503,0,0,0,0,0,0,14.66,14.60,14.68
$GC,540,-1.28,-146.0,2880,2031,3276,3503,63.8,-12.9,89,545,0.00,2.38,0.00,0.000,260,0.000,0.053,2870,3430,3389,3276,3503,0,0,0,0,0,0,14.95,14.64,14.97
$GC,561,-1.28,-146.0,2870,3430,3276,3503,66.9,-13.6,93,567,0.12,2.25,0.00,0.000,3078,0.232,0.034,2896,2046,3389,3276,3503,0,0,0,0,0,0,14.45,14.69,14.66
$GC,875,-1.36,-146.0,2896,2045,3277,3504,105.6,-9.3,125,880,0.00,2.33,0.00,0.000,676,0.000,0.057,2897,660,3390,3277,3503,0,0,0,0,0,0,15.02,14.68,15.04
$GC,948,-1.49,-146.0,2897,659,3277,3503,111.3,-6.8,139,957,0.15,2.22,0.00,0.000,5286,0.110,0.034,2826,2046,3390,3277,3503,0,0,0,0,0,0,14.73,14.75,14.80
$GC,1257,-1.46,-146.0,2825,2046,3277,3503,139.1,-10.9,171,1267,0.12,2.30,0.00,0.000,2436,0.251,0.054,2848,3431,3390,3277,3504,0,0,0,0,0,0,14.50,14.71,14.63
$GC,1319,-1.49,-146.0,2848,3431,3277,3503,145.9,-10.9,183,1328,0.00,2.25,0.00,0.000,1158,0.000,0.034,2848,2039,3391,3278,3504,0,0,0,0,0,0,14.83,14.77,14.85
$GC,1629,-1.49,-146.0,2848,2038,3278,3503,183.0,-11.4,215,1633,0.00,2.35,0.00,0.000,260,0.000,0.052,2837,3440,3390,3278,3503,0,0,0,0,0,0,15.07,14.73,15.09
$GC,1678,-1.56,-146.0,2837,3440,3277,3503,188.5,-10.3,225,1686,0.00,2.25,0.00,0.000,1158,0.000,0.034,2836,2051,3390,3277,3503,0,0,0,0,0,0,14.85,14.79,14.87
$GC,1988,-1.56,-146.0,2837,2050,3277,3503,219.5,-11.1,256,1992,0.00,2.33,0.00,0.000,260,0.000,0.054,2827,3432,3390,3278,3503,0,0,0,0,0,0,15.05,14.73,15.07
$GC,2043,-1.61,-146.0,2826,3432,3278,3503,225.5,-10.8,266,2050,0.00,2.25,0.00,0.000,1158,0.000,0.034,2827,2045,3390,3278,3503,0,0,0,0,0,0,14.85,14.78,14.87
$GC,2369,-1.61,-146.0,2826,2046,3277,3503,259.5,-9.7,293,2375,0.00,2.33,0.00,0.000,548,0.000,0.059,2827,650,3390,3278,3503,0,0,0,0,0,0,15.06,14.72,15.08
$GC,2407,-1.61,-146.0,2826,649,3278,3503,263.0,-8.7,300,2412,0.00,2.28,0.00,0.000,1062,0.000,0.037,2817,2050,3390,3278,3503,0,0,0,0,0,0,14.85,14.78,14.87
$GC,2735,-1.61,-146.0,2816,2050,3278,3503,287.7,-7.6,315,2736,0.00,0.00,0.00,0.000,38,0.000,0.000,2817,2050,3390,3277,3503,0,0,0,0,0,0,15.07,15.09,15.09
$GC,3037,-1.61,-146.0,2817,2050,3277,3503,323.9,-13.8,325,3038,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2050,3390,3277,3503,0,0,0,0,0,0,15.07,15.10,15.09
$GC,3336,-1.61,-146.0,2817,2050,3277,3503,364.0,-12.5,335,3340,0.00,2.38,0.00,0.000,516,0.000,0.059,2817,651,3390,3277,3503,0,0,0,0,0,0,15.07,14.73,15.09
$GC,3418,-1.61,-146.0,2817,650,3276,3503,374.6,-11.8,351,3423,0.00,2.30,0.00,0.000,1030,0.000,0.043,2807,2042,3390,3277,3503,0,0,0,0,0,0,14.85,14.76,14.87
$GC,3731,-1.61,-146.0,2807,2042,3275,3501,408.1,-10.1,363,3736,0.00,2.38,0.00,0.000,260,0.000,0.061,2797,3461,3388,3275,3501,0,0,0,0,0,0,15.07,14.73,15.09
$GC,3757,-1.61,-146.0,2796,3461,3274,3500,410.8,-9.6,368,3767,0.12,2.33,0.00,0.000,3110,0.236,0.041,2824,2056,3387,3275,3499,0,0,0,0,0,0,14.50,14.76,14.73
$GC,4065,-1.61,-146.0,2823,2056,3273,3499,435.4,-7.8,379,4070,0.00,2.38,0.00,0.000,548,0.000,0.064,2824,650,3386,3273,3499,0,0,0,0,0,0,15.07,14.71,15.09
$GC,4103,-1.61,-146.0,2824,650,3272,3499,439.0,-8.6,386,4108,0.00,2.35,0.00,0.000,1062,0.000,0.046,2815,2058,3385,3272,3499,0,0,0,0,0,0,14.84,14.75,14.86
$GC,4432,-1.61,-146.0,2815,2058,3271,3497,471.2,-10.9,401,4437,0.00,2.38,0.00,0.000,260,0.000,0.067,2805,3461,3383,3271,3496,0,0,0,0,0,0,15.08,14.71,15.10
$GC,4459,-1.61,-146.0,2805,3461,3271,3496,474.8,-11.2,406,4467,0.00,2.35,0.00,0.000,1030,0.000,0.044,2805,2055,3383,3271,3496,0,0,0,0,0,0,14.84,14.76,14.86
$GC,4767,-1.61,-146.0,2805,2055,3269,3494,512.7,-12.7,417,4772,0.00,2.42,0.00,0.000,260,0.000,0.064,2795,3462,3382,3270,3494,0,0,0,0,0,0,15.08,14.70,15.09
$GC,4820,-1.64,-146.0,2795,3462,3270,3494,520.0,-13.8,427,4827,0.10,2.38,0.00,0.000,3206,0.255,0.044,2814,2036,3382,3270,3494,0,0,0,0,0,0,14.50,14.75,14.71
$GC,5135,-1.64,-146.0,2814,2036,3268,3493,554.5,-10.1,439,5137,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2036,3380,3268,3493,0,0,0,0,0,0,15.06,15.09,15.08
$GC,5437,-1.64,-146.0,2814,2036,3267,3491,580.8,-8.2,449,5443,0.00,2.35,0.00,0.000,548,0.000,0.069,2815,655,3379,3267,3491,0,0,0,0,0,0,15.07,14.68,15.10
$GC,5459,-1.64,-146.0,2814,655,3267,3491,583.1,-8.7,453,5465,0.00,2.35,0.00,0.000,1062,0.000,0.047,2806,2060,3378,3266,3490,0,0,0,0,0,0,14.83,14.74,14.85
$GC,5773,-1.64,-146.0,2806,2061,3266,3489,610.0,-9.0,465,5774,0.00,0.00,0.00,0.000,38,0.000,0.000,2806,2061,3377,3266,3489,0,0,0,0,0,0,15.07,15.09,15.09
$GC,6074,-1.64,-146.0,2806,2061,3265,3487,637.8,-9.4,475,6075,0.00,0.00,0.00,0.000,38,0.000,0.000,2806,2061,3376,3266,3487,0,0,0,0,0,0,15.07,15.09,15.09
$GC,6375,-1.64,-146.0,2806,2061,3264,3487,667.9,-10.2,485,6380,0.00,2.45,0.00,0.000,516,0.000,0.070,2807,652,3375,3264,3486,0,0,0,0,0,0,15.07,14.67,15.10
$GC,6409,-1.64,-146.0,2806,652,3263,3487,671.7,-10.7,491,6416,0.10,2.35,0.00,0.000,3078,0.282,0.046,2813,2055,3374,3263,3486,0,0,0,0,0,0,14.44,14.73,14.69
$GC,6744,-1.64,-146.0,2813,2056,3262,3486,707.1,-10.7,507,6751,0.00,2.42,0.00,0.000,516,0.000,0.068,2813,655,3374,3262,3486,0,0,0,0,0,0,15.07,14.66,15.08
$GC,6767,-1.64,-146.0,2814,655,3262,3486,710.1,-12.0,511,6772,0.00,2.35,0.00,0.000,1030,0.000,0.047,2806,2050,3374,3262,3486,0,0,0,0,0,0,14.81,14.72,14.85
$GC,7080,-1.64,-146.0,2805,2050,3261,3485,745.5,-11.5,523,7087,0.00,2.42,0.00,0.000,516,0.000,0.067,2806,651,3373,3261,3485,0,0,0,0,0,0,15.06,14.66,15.08
$GC,7108,-1.64,-146.0,2806,651,3261,3485,749.2,-12.6,528,7116,0.00,2.35,0.00,0.000,1030,0.000,0.045,2796,2057,3373,3261,3485,0,0,0,0,0,0,14.82,14.73,14.85
$GC,7416,-1.64,-146.0,2796,2057,3260,3483,783.4,-10.7,539,7418,0.10,0.00,0.00,0.000,2054,0.295,0.000,2813,2060,3371,3260,3482,0,0,0,0,0,0,14.47,14.76,14.69
$GC,7716,-1.68,-146.0,2813,2060,3259,3482,810.1,-8.4,549,7721,0.00,2.42,0.00,0.000,676,0.000,0.067,2813,655,3370,3259,3482,0,0,0,0,0,0,15.07,14.65,15.09
$GC,7743,-1.68,-146.0,2813,655,3259,3481,812.8,-9.4,554,7753,0.00,2.35,0.00,0.000,1062,0.000,0.050,2807,2044,3370,3259,3482,0,0,0,0,0,0,14.81,14.71,14.83
$GC,8050,-1.68,-146.0,2806,2045,3258,3481,838.2,-8.2,565,8055,0.00,2.42,0.00,0.000,292,0.000,0.074,2797,3454,3369,3258,3480,0,0,0,0,0,0,15.06,14.63,15.08
$GC,8077,-1.68,-146.0,2797,3454,3258,3479,840.7,-8.4,570,8087,0.00,2.38,0.00,0.000,1062,0.000,0.049,2797,2055,3369,3258,3480,0,0,0,0,0,0,14.80,14.70,14.83
$GC,8384,-1.68,-146.0,2797,2055,3257,3479,869.8,-9.9,581,8389,0.00,2.42,0.00,0.000,548,0.000,0.073,2797,644,3368,3257,3479,0,0,0,0,0,0,15.05,14.64,15.07
$GC,8418,-1.68,-146.0,2797,643,3257,3479,873.5,-10.7,587,8424,0.12,2.38,0.00,0.000,3078,0.287,0.045,2810,2070,3368,3257,3479,0,0,0,0,0,0,14.35,14.72,14.59
$GC,8754,-1.71,-146.0,2810,2071,3256,3479,909.6,-11.1,603,8759,0.00,2.35,0.00,0.000,388,0.000,0.067,2801,3446,3367,3256,3479,0,0,0,0,0,0,15.07,14.64,15.09
$GC,8792,-1.76,-146.0,2801,3446,3256,3478,914.0,-10.4,610,8797,0.00,2.35,0.00,0.000,1158,0.000,0.042,2802,2040,3366,3255,3478,0,0,0,0,0,0,14.80,14.71,14.83
$GC,9119,-1.76,-146.0,2801,2040,3255,3478,950.5,-11.0,625,9121,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2040,3366,3255,3478,0,0,0,0,0,0,15.04,15.07,15.07
$GC,9422,-1.76,-146.0,2801,2040,3254,3478,980.8,-9.7,635,9424,0.00,0.00,0.00,0.000,38,0.000,0.000,2801,2040,3366,3254,3478,0,0,0,0,0,0,15.06,15.09,15.08
$STATE,9538,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9538,begin apogee
$GC,9543,-0.33,0.0,2802,1784,3253,3476,992.1,-9.5,639,9676,1.20,0.00,129.77,2.710,10246,0.276,0.000,3100,1780,2789,2676,2902,0,0,0,0,0,0,14.35,13.98,12.92
$STATE,9677,end apogee,CONTROL_FINISHED_OK
$STATE,9677,begin climb
$GC,9679,1.28,146.0,3100,1780,2671,2899,994.2,0.0,643,9825,1.23,2.58,135.70,2.658,10756,0.167,0.081,3462,408,2187,2059,2316,0,0,0,0,0,0,13.97,13.62,12.76
$GC,9900,1.05,146.0,3462,408,2044,2316,976.3,14.5,691,9906,0.30,2.45,0.00,0.000,5254,0.338,0.050,3405,1796,2179,2043,2316,0,0,0,0,0,0,13.86,14.15,14.18
$GC,10223,0.93,146.0,3405,1796,2038,2316,940.4,10.7,705,10228,0.12,2.45,0.00,0.000,4484,0.395,0.069,3379,3202,2176,2037,2316,0,0,0,0,0,0,14.15,14.50,14.38
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$STATE,18712,end climb,SURFACE_DEPTH_REACHED
$STATE,18712,begin surface coast
$FINISH,1.5,1.007809
$STATE,18738,end surface coast,CONTROL_FINISHED_OK
$STATE,18738,begin surface
$SM_CCo,18756,69.75,0.080,0,0,449,573.99
$SM_GC,2.31,9.95,0.43,69.75,0.084,0.051,0.080,96,2075,449,-14.09,-1.36,573.99,0,0,0,0,0,0,14.63,14.75,14.62
$IRIDIUM_FIX,1312.02,6014.76,140417,143504
$TT8_MAMPS,0.023968,0.15729
$HUMID,49.09
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,24.20
$XPDR_PINGS,4
$24V_AH,12.76,72.137
$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,27.850,193.100,503.025,69.750,0.000,0.000,0.000,220.200,101.750,0.000,44.223,2966.997,12673.707,765.500,2536.964,229.644,0.000,2182.289,0.000,1973.121,0.000,677.943,0.000
$DEVICE_MAMPS,394.740,2067.030,2710.395,80.325,0.000,0.000,0.000,182.070,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,671.267,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225076
$DATA_FILE_SIZE,59950,1387
$CAP_FILE_SIZE,214870,0
$CFSIZE,260034560,242196480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.036,227.50,1
$GPS,150417,011638,1320.120,6008.942,38,0.7,45,-0.6,0.3,214.6,12,10.0