version: 66.13
glider: 137
mission: 5
dive: 208
start: 4 15 117 6 14 47
data:
$ID,137
$MISSION,5
$DIVE,208
$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,45
$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
$GPS1,150417,060929,1318.0905,6008.7109,41,0.8,45,-0.6,0.2,257.9,9,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-67.7
$GPS2,150417,061412,1318.0811,6008.6626,5,0.8,15,-0.6,0.0,226.5,10,9.7
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1314.994,6007.557
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,194.2,6054,-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,-146.0,96,2061,330,566,0.0,0.0,0,102,0.00,0.00,-92.88,0.000,16386,0.000,0.000,96,2061,2903,2822,2984,0,0,0,0,0,0,14.84,28.83,14.86
$GC,105,-1.28,-146.0,95,2061,2822,2984,4.0,-4.1,16,137,13.38,2.67,-9.35,0.000,18980,0.388,2.070,2889,642,3387,3272,3503,0,0,0,0,0,0,14.24,13.28,14.47
$GC,178,-1.28,-146.0,2889,641,3274,3503,19.5,-13.9,29,186,0.00,2.33,0.00,0.000,1030,0.000,0.038,2881,2050,3388,3274,3503,0,0,0,0,0,0,14.65,14.58,14.66
$GC,493,-1.28,-146.0,2880,2050,3274,3503,57.5,-10.3,84,503,0.00,2.40,0.00,0.000,516,0.000,0.058,2881,642,3389,3275,3503,0,0,0,0,0,0,14.95,14.62,14.97
$GC,558,-1.33,-146.0,2880,642,3275,3503,64.2,-9.0,97,566,0.00,2.33,0.00,0.000,1190,0.000,0.040,2871,2057,3389,3275,3503,0,0,0,0,0,0,14.75,14.69,14.77
$GC,867,-1.33,-146.0,2871,2058,3275,3503,100.5,-12.4,128,876,0.00,2.38,0.00,0.000,516,0.000,0.058,2871,650,3389,3275,3503,0,0,0,0,0,0,15.01,14.62,15.03
$GC,899,-1.33,-146.0,2871,650,3276,3503,105.0,-12.7,134,908,0.10,2.30,0.00,0.000,3078,0.264,0.040,2882,2057,3389,3275,3503,0,0,0,0,0,0,14.50,14.73,14.71
$GC,1210,-1.39,-146.0,2882,2057,3277,3503,130.9,-8.3,166,1219,0.00,2.30,0.00,0.000,420,0.000,0.057,2873,3452,3390,3277,3503,0,0,0,0,0,0,15.04,14.64,15.06
$GC,1252,-1.51,-146.0,2872,3451,3277,3503,134.3,-8.5,174,1261,0.08,2.28,0.00,0.000,5286,0.072,0.036,2822,2043,3390,3277,3503,0,0,0,0,0,0,14.66,14.69,14.72
$GC,1561,-1.51,-146.0,2822,2042,3278,3503,173.0,-12.4,206,1571,0.12,2.33,0.00,0.000,2564,0.247,0.057,2854,644,3390,3277,3503,0,0,0,0,0,0,14.50,14.71,14.64
$GC,1667,-1.56,-146.0,2853,644,3277,3503,184.2,-9.3,227,1673,0.00,2.30,0.00,0.000,1190,0.000,0.038,2845,2056,3390,3277,3503,0,0,0,0,0,0,14.84,14.77,14.86
$GC,1975,-1.60,-146.0,2845,2056,3277,3503,216.6,-11.1,258,1981,0.00,2.38,0.00,0.000,644,0.000,0.060,2845,654,3390,3278,3503,0,0,0,0,0,0,15.05,14.71,15.07
$GC,2046,-1.64,-146.0,2845,654,3277,3503,224.7,-11.0,270,2051,0.00,2.28,0.00,0.000,1158,0.000,0.040,2834,2047,3390,3277,3503,0,0,0,0,0,0,14.84,14.76,14.86
$GC,2370,-1.64,-146.0,2834,2047,3277,3503,256.3,-10.0,299,2376,0.00,2.35,0.00,0.000,292,0.000,0.061,2824,3458,3390,3277,3503,0,0,0,0,0,0,15.05,14.72,15.07
$GC,2420,-1.71,-146.0,2824,3458,3277,3503,261.5,-10.2,308,2425,0.00,2.33,0.00,0.000,1158,0.000,0.039,2824,2047,3390,3277,3503,0,0,0,0,0,0,14.83,14.76,14.86
$GC,2738,-1.71,-146.0,2824,2047,3277,3503,297.2,-11.9,321,2739,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2046,3390,3277,3503,0,0,0,0,0,0,15.05,15.08,15.08
$GC,3039,-1.71,-146.0,2824,2047,3277,3503,331.0,-10.6,331,3045,0.00,2.40,0.00,0.000,260,0.000,0.061,2814,3457,3390,3277,3503,0,0,0,0,0,0,15.07,14.72,15.09
$GC,3089,-1.76,-146.0,2814,3457,3277,3503,336.5,-11.3,340,3094,0.00,2.33,0.00,0.000,1158,0.000,0.041,2815,2051,3390,3277,3503,0,0,0,0,0,0,14.85,14.76,14.87
$GC,3407,-1.76,-146.0,2814,2051,3276,3503,372.4,-11.3,353,3408,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2051,3389,3276,3503,0,0,0,0,0,0,15.07,15.09,15.09
$GC,3708,-1.76,-146.0,2814,2051,3274,3502,402.4,-9.5,363,3715,0.00,2.40,0.00,0.000,292,0.000,0.065,2805,3447,3388,3274,3502,0,0,0,0,0,0,15.07,14.71,15.09
$GC,3782,-1.80,-146.0,2805,3447,3274,3501,409.6,-9.6,377,3788,0.10,2.33,0.00,0.000,5286,0.180,0.041,2775,2044,3387,3274,3501,0,0,0,0,0,0,14.66,14.76,14.80
$GC,4107,-1.74,-146.0,2774,2043,3272,3499,445.7,-11.1,391,4113,0.00,2.38,0.00,0.000,644,0.000,0.069,2775,643,3385,3272,3499,0,0,0,0,0,0,15.07,14.70,15.09
$GC,4151,-1.67,-146.0,2774,642,3272,3499,451.0,-11.8,399,4157,0.20,2.35,0.00,0.000,3206,0.269,0.044,2809,2061,3385,3272,3498,0,0,0,0,0,0,14.40,14.76,14.69
$GC,4475,-1.67,-146.0,2808,2061,3270,3497,479.0,-8.3,413,4481,0.00,2.33,0.00,0.000,292,0.000,0.063,2800,3445,3383,3270,3497,0,0,0,0,0,0,15.07,14.70,15.09
$GC,4514,-1.70,-146.0,2800,3444,3271,3496,482.6,-8.8,420,4519,0.00,2.33,0.00,0.000,1190,0.000,0.041,2800,2043,3383,3270,3496,0,0,0,0,0,0,14.83,14.76,14.86
$GC,4844,-1.70,-146.0,2800,2042,3268,3494,510.9,-8.5,435,4845,0.00,0.00,0.00,0.000,38,0.000,0.000,2800,2042,3381,3268,3495,0,0,0,0,0,0,15.08,15.11,15.10
$GC,5143,-1.70,-146.0,2800,2042,3267,3493,538.3,-9.5,445,5149,0.00,2.42,0.00,0.000,292,0.000,0.063,2791,3453,3380,3267,3493,0,0,0,0,0,0,15.07,14.69,15.09
$GC,5201,-1.70,-146.0,2791,3453,3267,3492,544.5,-10.3,456,5209,0.00,2.35,0.00,0.000,1030,0.000,0.041,2791,2048,3379,3267,3492,0,0,0,0,0,0,14.83,14.74,14.85
$GC,5510,-1.70,-146.0,2791,2048,3266,3490,578.1,-11.0,467,5511,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2047,3378,3266,3490,0,0,0,0,0,0,15.07,15.10,15.09
$GC,5810,-1.70,-146.0,2790,2047,3265,3489,608.2,-9.7,477,5815,0.00,2.42,0.00,0.000,292,0.000,0.064,2781,3453,3376,3265,3488,0,0,0,0,0,0,15.07,14.68,15.09
$GC,5854,-1.70,-146.0,2781,3453,3265,3488,612.5,-9.1,485,5861,0.12,2.35,0.00,0.000,3110,0.256,0.044,2806,2043,3377,3265,3489,0,0,0,0,0,0,14.41,14.74,14.64
$GC,6180,-1.70,-146.0,2806,2043,3263,3487,640.5,-9.3,499,6181,0.00,0.00,0.00,0.000,38,0.000,0.000,2806,2042,3375,3263,3487,0,0,0,0,0,0,15.07,15.10,15.09
$GC,6479,-1.70,-146.0,2806,2042,3262,3487,673.5,-11.7,509,6480,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2042,3374,3262,3487,0,0,0,0,0,0,15.06,15.09,15.08
$GC,6780,-1.70,-146.0,2806,2042,3261,3486,709.5,-11.8,519,6786,0.00,2.42,0.00,0.000,260,0.000,0.066,2797,3443,3373,3261,3486,0,0,0,0,0,0,15.06,14.66,15.08
$GC,6849,-1.76,-146.0,2797,3443,3261,3485,717.6,-10.6,532,6854,0.00,2.35,0.00,0.000,1158,0.000,0.047,2798,2050,3373,3262,3485,0,0,0,0,0,0,14.80,14.71,14.83
$GC,7177,-1.76,-146.0,2797,2050,3261,3485,751.5,-9.9,547,7178,0.00,0.00,0.00,0.000,38,0.000,0.000,2797,2050,3372,3259,3485,0,0,0,0,0,0,15.06,15.09,15.08
$GC,7480,-1.76,-146.0,2797,2050,3259,3483,780.2,-9.8,557,7481,0.00,0.00,0.00,0.000,38,0.000,0.000,2797,2050,3371,3259,3483,0,0,0,0,0,0,15.07,15.09,15.09
$GC,7778,-1.76,-146.0,2797,2050,3258,3482,810.1,-10.1,567,7783,0.00,2.42,0.00,0.000,260,0.000,0.072,2788,3440,3369,3257,3482,0,0,0,0,0,0,15.05,14.63,15.08
$GC,7836,-1.79,-146.0,2788,3440,3258,3481,816.4,-10.1,578,7844,0.00,2.38,0.00,0.000,1158,0.000,0.048,2792,2041,3369,3258,3481,0,0,0,0,0,0,14.79,14.69,14.82
$GC,8144,-1.79,-146.0,2791,2040,3257,3481,848.4,-10.5,589,8149,0.00,2.45,0.00,0.000,260,0.000,0.071,2783,3440,3368,3256,3481,0,0,0,0,0,0,15.07,14.62,15.09
$GC,8181,-1.79,-146.0,2783,3440,3257,3480,852.5,-10.0,596,8186,0.00,2.38,0.00,0.000,1030,0.000,0.049,2787,2041,3368,3256,3480,0,0,0,0,0,0,14.79,14.69,14.82
$GC,8509,-1.79,-146.0,2787,2040,3256,3479,885.9,-10.0,611,8511,0.00,0.00,0.00,0.000,38,0.000,0.000,2787,2040,3367,3256,3479,0,0,0,0,0,0,15.05,15.08,15.07
$GC,8812,-1.79,-146.0,2787,2040,3254,3479,913.4,-8.9,621,8818,0.00,2.47,0.00,0.000,292,0.000,0.072,2779,3455,3366,3254,3479,0,0,0,0,0,0,15.07,14.59,15.08
$GC,8840,-1.79,-146.0,2779,3455,3254,3479,916.3,-8.4,626,8847,0.00,2.40,0.00,0.000,1062,0.000,0.050,2782,2046,3366,3254,3479,0,0,0,0,0,0,14.78,14.69,14.81
$GC,9147,-1.79,-146.0,2782,2045,3254,3478,945.0,-9.5,637,9153,0.00,2.42,0.00,0.000,548,0.000,0.071,2783,636,3366,3254,3478,0,0,0,0,0,0,15.07,14.62,15.09
$GC,9169,-1.76,-146.0,2782,636,3254,3478,947.7,-11.3,641,9175,0.00,2.38,0.00,0.000,1158,0.000,0.048,2775,2044,3366,3254,3478,0,0,0,0,0,0,14.79,14.70,14.82
$GC,9483,-1.72,-146.0,2775,2044,3252,3478,983.2,-11.9,653,9489,0.12,2.38,0.00,0.000,2436,0.301,0.059,2793,3453,3364,3252,3477,0,0,0,0,0,0,14.23,14.56,14.40
$GC,9532,-1.75,-146.0,2792,3453,3252,3477,989.2,-11.4,662,9539,0.00,2.38,0.00,0.000,1158,0.000,0.042,2792,2036,3364,3252,3477,0,0,0,0,0,0,14.78,14.70,14.81
$STATE,9543,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9543,begin apogee
$GC,9548,-0.33,0.0,2792,1797,3252,3477,990.8,-11.6,664,9682,1.20,0.00,130.12,2.695,10246,0.268,0.000,3096,1792,2789,2676,2902,0,0,0,0,0,0,14.35,13.97,12.92
$STATE,9683,end apogee,CONTROL_FINISHED_OK
$STATE,9683,begin climb
$GC,9685,1.28,146.0,3096,1792,2671,2898,995.2,0.0,668,9830,1.23,2.65,135.40,2.661,10500,0.165,0.076,3445,3204,2188,2063,2314,0,0,0,0,0,0,13.97,13.80,12.76
$GC,9866,1.07,146.0,3445,3204,2060,2306,987.6,10.2,708,9871,0.22,2.53,0.00,0.000,5254,0.319,0.057,3410,1811,2183,2060,2306,0,0,0,0,0,0,13.84,14.03,14.08
$GC,10173,0.94,146.0,3410,1811,2052,2306,957.7,10.1,719,10180,0.12,2.50,0.00,0.000,4740,0.424,0.070,3396,385,2178,2051,2306,0,0,0,0,0,0,14.12,14.46,14.35
$GC,10204,0.83,146.0,3395,386,2049,2306,954.6,10.4,725,10210,0.17,2.42,0.00,0.000,5254,0.364,0.046,3360,1801,2177,2049,2306,0,0,0,0,0,0,14.15,14.52,14.52
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$STATE,18992,end climb,SURFACE_DEPTH_REACHED
$STATE,18992,begin surface coast
$FINISH,1.4,1.000687
$STATE,19017,end surface coast,CONTROL_FINISHED_OK
$STATE,19018,begin surface
$SM_CCo,19035,65.47,0.081,0,0,450,573.99
$SM_GC,2.42,10.00,0.40,65.47,0.082,0.057,0.081,98,2079,450,-14.10,-1.07,573.99,0,0,0,0,0,0,14.57,14.71,14.59
$IRIDIUM_FIX,1314.23,6034.55,150417,011819
$TT8_MAMPS,0.024717,0.15729
$HUMID,50.00
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,24.10
$XPDR_PINGS,10
$24V_AH,12.76,72.892
$10V_AH,13.10,0.000
$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,27.750,218.500,507.275,65.475,0.000,0.000,0.000,189.225,107.750,0.000,16.482,3010.437,12820.272,772.336,2550.066,237.047,0.000,2211.448,0.000,2029.870,0.000,707.808,0.000
$DEVICE_MAMPS,423.810,2070.090,2695.095,81.090,0.000,0.000,0.000,180.540,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,667.048,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225128
$DATA_FILE_SIZE,63349,1427
$CAP_FILE_SIZE,225745,0
$CFSIZE,260034560,242008064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.013,65.59,1
$GPS,150417,113430,1315.635,6007.866,40,1.0,44,-0.6,0.0,343.5,8,9.7