version: 66.13
glider: 137
mission: 5
dive: 209
start: 4 15 117 11 40 3
data:
$ID,137
$MISSION,5
$DIVE,209
$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,63
$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
$GPS1,150417,113430,1315.6353,6007.8662,40,1.0,44,-0.6,0.0,343.5,8,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-68.0
$GPS2,150417,113926,1315.6729,6007.8672,8,0.9,18,-0.6,0.5,10.4,9,9.1
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1312.708,6006.672
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,203.8,5899,-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,-146.0,98,2085,328,566,0.0,0.0,0,104,0.00,0.00,-94.55,0.000,16386,0.000,0.000,98,2086,2967,2888,3047,0,0,0,0,0,0,14.83,28.83,14.85
$GC,107,-1.28,-146.0,98,2085,2889,3047,4.4,-6.5,16,132,13.88,0.00,-7.72,0.000,18470,0.407,0.000,2888,2085,3388,3274,3502,0,0,0,0,0,0,14.23,13.33,14.47
$GC,440,-1.28,-146.0,2888,2085,3276,3502,54.0,-12.4,78,449,0.00,2.45,0.00,0.000,516,0.000,0.055,2889,635,3389,3276,3502,0,0,0,0,0,0,14.94,14.63,14.96
$GC,495,-1.32,-146.0,2888,635,3276,3502,61.1,-12.1,89,502,0.00,2.30,0.00,0.000,1158,0.000,0.036,2880,2038,3389,3276,3502,0,0,0,0,0,0,14.75,14.68,14.77
$GC,801,-1.32,-146.0,2880,2038,3276,3502,91.8,-8.5,120,811,0.00,2.35,0.00,0.000,292,0.000,0.058,2869,3451,3390,3277,3503,0,0,0,0,0,0,15.01,14.69,15.03
$GC,847,-1.40,-146.0,2869,3452,3276,3502,96.0,-8.7,129,855,0.00,2.33,0.00,0.000,1190,0.000,0.035,2869,2025,3389,3277,3502,0,0,0,0,0,0,14.81,14.73,14.82
$GC,1153,-1.43,-146.0,2869,2025,3277,3502,135.1,-15.2,160,1163,0.00,2.40,0.00,0.000,388,0.000,0.057,2860,3447,3389,3277,3502,0,0,0,0,0,0,15.04,14.71,15.07
$GC,1175,-1.48,-146.0,2859,3447,3277,3502,138.3,-14.5,164,1185,0.00,2.28,0.00,0.000,1158,0.000,0.036,2860,2047,3390,3277,3503,0,0,0,0,0,0,14.83,14.76,14.85
$GC,1485,-1.52,-146.0,2859,2046,3277,3502,164.1,-7.1,196,1495,0.00,2.30,0.00,0.000,676,0.000,0.054,2860,653,3389,3277,3502,0,0,0,0,0,0,15.07,14.72,15.09
$GC,1527,-1.52,-146.0,2860,653,3278,3502,168.1,-10.5,204,1537,0.00,2.28,0.00,0.000,1030,0.000,0.036,2850,2060,3390,3278,3502,0,0,0,0,0,0,14.84,14.78,14.86
$GC,1838,-1.56,-146.0,2849,2060,3278,3502,202.8,-11.1,236,1843,0.00,2.30,0.00,0.000,388,0.000,0.057,2840,3449,3389,3277,3502,0,0,0,0,0,0,15.04,14.73,15.07
$GC,1884,-1.64,-146.0,2839,3449,3278,3502,207.4,-9.8,244,1890,0.00,2.28,0.00,0.000,1190,0.000,0.035,2839,2044,3390,3278,3502,0,0,0,0,0,0,14.85,14.79,14.87
$GC,2200,-1.68,-146.0,2839,2044,3277,3502,234.8,-8.6,276,2205,0.12,2.30,0.00,0.000,4772,0.126,0.054,2790,658,3389,3277,3502,0,0,0,0,0,0,14.77,14.72,14.80
$GC,2302,-1.62,-146.0,2790,658,3277,3502,246.9,-11.9,295,2311,0.17,2.28,0.00,0.000,3206,0.259,0.037,2819,2061,3389,3277,3502,0,0,0,0,0,0,14.48,14.77,14.73
$GC,2610,-1.62,-146.0,2819,2061,3277,3502,283.8,-12.8,308,2614,0.00,2.30,0.00,0.000,260,0.000,0.059,2811,3443,3389,3277,3502,0,0,0,0,0,0,15.07,14.73,15.09
$GC,2663,-1.66,-146.0,2811,3443,3277,3502,290.2,-10.7,318,2670,0.00,2.28,0.00,0.000,1158,0.000,0.037,2811,2052,3389,3277,3502,0,0,0,0,0,0,14.85,14.78,14.88
$GC,2978,-1.66,-146.0,2810,2052,3277,3502,317.8,-8.7,330,2980,0.00,0.00,0.00,0.000,38,0.000,0.000,2811,2052,3390,3278,3502,0,0,0,0,0,0,15.07,15.09,15.09
$GC,3280,-1.66,-146.0,2810,2052,3278,3501,349.5,-10.5,340,3285,0.00,2.38,0.00,0.000,260,0.000,0.059,2801,3449,3389,3278,3501,0,0,0,0,0,0,15.07,14.73,15.09
$GC,3358,-1.70,-146.0,2801,3449,3277,3501,357.8,-10.3,355,3363,0.00,2.30,0.00,0.000,1158,0.000,0.038,2801,2052,3389,3277,3501,0,0,0,0,0,0,14.85,14.78,14.88
$GC,3676,-1.70,-146.0,2801,2052,3276,3499,392.5,-11.0,368,3681,0.00,2.35,0.00,0.000,516,0.000,0.061,2801,650,3387,3276,3498,0,0,0,0,0,0,15.07,14.71,15.09
$GC,3714,-1.70,-146.0,2801,650,3276,3497,397.0,-11.5,375,3718,0.00,2.30,0.00,0.000,1030,0.000,0.040,2791,2050,3387,3276,3498,0,0,0,0,0,0,14.85,14.78,14.88
$GC,4043,-1.70,-146.0,2791,2051,3274,3496,432.0,-10.6,390,4048,0.00,2.40,0.00,0.000,516,0.000,0.064,2791,652,3385,3274,3496,0,0,0,0,0,0,15.08,14.71,15.10
$GC,4095,-1.66,-146.0,2791,651,3273,3496,438.4,-11.5,400,4103,0.15,2.30,0.00,0.000,3206,0.265,0.041,2814,2052,3384,3273,3496,0,0,0,0,0,0,14.45,14.76,14.73
$GC,4411,-1.66,-146.0,2814,2052,3272,3494,471.6,-10.5,412,4417,0.00,2.35,0.00,0.000,260,0.000,0.061,2805,3450,3383,3272,3494,0,0,0,0,0,0,15.07,14.71,15.09
$GC,4450,-1.70,-146.0,2805,3450,3272,3494,475.9,-10.0,419,4455,0.00,2.35,0.00,0.000,1190,0.000,0.044,2805,2040,3382,3271,3494,0,0,0,0,0,0,14.84,14.76,14.86
$GC,4779,-1.70,-146.0,2805,2039,3270,3491,508.0,-10.1,434,4784,0.00,2.33,0.00,0.000,516,0.000,0.061,2805,651,3380,3270,3491,0,0,0,0,0,0,15.08,14.71,15.10
$GC,4831,-1.70,-146.0,2805,651,3269,3491,514.0,-10.9,444,4838,0.00,2.33,0.00,0.000,1030,0.000,0.043,2796,2053,3380,3269,3491,0,0,0,0,0,0,14.84,14.76,14.86
$GC,5146,-1.70,-146.0,2795,2053,3267,3489,547.9,-10.7,456,5147,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2053,3378,3268,3488,0,0,0,0,0,0,15.07,15.09,15.08
$GC,5449,-1.70,-146.0,2795,2053,3267,3487,577.4,-9.4,466,5454,0.00,2.38,0.00,0.000,292,0.000,0.063,2785,3460,3377,3267,3488,0,0,0,0,0,0,15.08,14.69,15.10
$GC,5497,-1.70,-146.0,2785,3460,3267,3486,582.4,-9.2,475,5502,0.00,2.38,0.00,0.000,1062,0.000,0.045,2785,2045,3376,3267,3486,0,0,0,0,0,0,14.82,14.73,14.85
$GC,5814,-1.70,-146.0,2785,2044,3266,3486,613.8,-10.1,488,5816,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2044,3376,3266,3486,0,0,0,0,0,0,15.07,15.09,15.09
$GC,6117,-1.70,-146.0,2785,2044,3264,3485,647.0,-11.5,498,6122,0.00,2.42,0.00,0.000,260,0.000,0.066,2776,3447,3374,3264,3485,0,0,0,0,0,0,15.07,14.68,15.09
$GC,6169,-1.70,-146.0,2775,3447,3264,3483,653.6,-12.1,508,6177,0.12,2.35,0.00,0.000,3078,0.267,0.044,2800,2043,3374,3264,3484,0,0,0,0,0,0,14.40,14.73,14.66
$GC,6484,-1.70,-146.0,2799,2043,3262,3483,687.9,-10.8,520,6491,0.00,2.38,0.00,0.000,516,0.000,0.066,2801,646,3372,3262,3482,0,0,0,0,0,0,15.06,14.67,15.08
$GC,6580,-1.70,-146.0,2800,645,3261,3482,698.5,-10.4,538,6585,0.00,2.38,0.00,0.000,1030,0.000,0.049,2792,2057,3371,3261,3482,0,0,0,0,0,0,14.80,14.71,14.83
$GC,6915,-1.70,-146.0,2792,2057,3261,3480,733.2,-10.3,554,6920,0.00,2.40,0.00,0.000,260,0.000,0.068,2782,3463,3370,3261,3480,0,0,0,0,0,0,15.07,14.66,15.09
$GC,6962,-1.70,-146.0,2782,3462,3261,3480,738.6,-10.6,563,6968,0.10,2.38,0.00,0.000,3078,0.252,0.048,2800,2054,3370,3261,3479,0,0,0,0,0,0,14.45,14.71,14.69
$GC,7281,-1.70,-146.0,2800,2054,3259,3479,769.1,-9.5,576,7282,0.00,0.00,0.00,0.000,38,0.000,0.000,2800,2054,3369,3259,3479,0,0,0,0,0,0,15.06,15.08,15.08
$GC,7584,-1.70,-146.0,2800,2054,3258,3478,797.9,-9.4,586,7589,0.00,2.42,0.00,0.000,548,0.000,0.071,2801,643,3368,3258,3478,0,0,0,0,0,0,15.07,14.64,15.09
$GC,7626,-1.70,-146.0,2801,643,3258,3478,802.5,-9.8,594,7631,0.00,2.38,0.00,0.000,1062,0.000,0.046,2792,2058,3368,3258,3478,0,0,0,0,0,0,14.81,14.71,14.83
$GC,7950,-1.70,-146.0,2792,2059,3257,3478,832.0,-9.2,608,7957,0.00,2.40,0.00,0.000,292,0.000,0.071,2783,3457,3367,3257,3477,0,0,0,0,0,0,15.06,14.64,15.08
$GC,7989,-1.70,-146.0,2782,3457,3257,3477,835.8,-8.7,615,7996,0.00,2.40,0.00,0.000,1062,0.000,0.050,2783,2042,3367,3257,3477,0,0,0,0,0,0,14.79,14.69,14.82
$GC,8319,-1.70,-146.0,2782,2042,3256,3477,868.4,-10.3,630,8324,0.00,2.40,0.00,0.000,516,0.000,0.067,2783,640,3366,3256,3477,0,0,0,0,0,0,15.05,14.63,15.07
$GC,8377,-1.66,-146.0,2782,639,3255,3477,875.4,-11.5,641,8386,0.17,2.38,0.00,0.000,3206,0.272,0.047,2811,2056,3365,3254,3477,0,0,0,0,0,0,14.32,14.71,14.63
$GC,8686,-1.70,-146.0,2810,2056,3254,3477,907.5,-10.6,652,8687,0.00,0.00,0.00,0.000,134,0.000,0.000,2810,2056,3365,3254,3477,0,0,0,0,0,0,15.06,15.09,15.08
$GC,8986,-1.73,-146.0,2810,2056,3254,3476,938.1,-9.9,662,8987,0.00,0.00,0.00,0.000,166,0.000,0.000,2811,2056,3364,3254,3475,0,0,0,0,0,0,15.06,15.09,15.08
$GC,9286,-1.77,-146.0,2810,2056,3252,3475,964.8,-8.5,672,9287,0.00,0.00,0.00,0.000,166,0.000,0.000,2811,2056,3363,3252,3475,0,0,0,0,0,0,15.06,15.08,15.08
$GC,9587,-1.80,-146.0,2810,2056,3251,3475,988.6,-7.9,682,9593,0.12,2.38,0.00,0.000,4516,0.145,0.067,2757,3442,3362,3251,3474,0,0,0,0,0,0,14.63,14.59,14.68
$STATE,9597,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9597,begin apogee
$GC,9604,-0.33,0.0,2757,1795,3251,3474,990.1,-8.0,684,9737,1.33,0.00,128.82,2.672,10246,0.259,0.000,3096,1793,2790,2675,2905,0,0,0,0,0,0,14.35,13.98,12.93
$STATE,9738,end apogee,CONTROL_FINISHED_OK
$STATE,9738,begin climb
$GC,9740,1.28,146.0,3097,1793,2670,2902,991.1,0.0,688,9886,1.17,2.62,135.88,2.647,10756,0.143,0.083,3461,396,2188,2058,2319,0,0,0,0,0,0,13.99,13.62,12.78
$GC,9937,1.05,146.0,3461,396,2045,2318,975.5,13.1,731,9942,0.22,2.47,0.00,0.000,5254,0.327,0.050,3409,1789,2181,2044,2318,0,0,0,0,0,0,13.85,14.09,14.12
$GC,10255,0.92,146.0,3409,1792,2039,2318,940.5,10.7,744,10262,0.15,2.45,0.00,0.000,4484,0.418,0.060,3382,3214,2178,2039,2318,0,0,0,0,0,0,14.07,14.46,14.33
$GC,10304,0.82,156.2,3382,3215,2038,2317,935.4,9.5,754,10319,0.17,2.42,8.25,2.225,13478,0.288,0.047,3356,1787,2152,2012,2292,0,0,0,0,0,0,14.25,14.54,13.46
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$STATE,18756,end climb,SURFACE_DEPTH_REACHED
$STATE,18756,begin surface coast
$FINISH,1.6,1.009369
$STATE,18787,end surface coast,CONTROL_FINISHED_OK
$STATE,18788,begin surface
$SM_CCo,18805,63.25,0.082,0,0,449,573.99
$SM_GC,2.41,9.88,0.40,63.25,0.080,0.059,0.082,92,2072,449,-14.11,-0.99,573.99,0,0,0,0,0,0,14.60,14.71,14.59
$IRIDIUM_FIX,1312.02,6009.81,150417,061104
$TT8_MAMPS,0.024717,0.15729
$HUMID,51.22
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,23.90
$XPDR_PINGS,10
$24V_AH,12.78,73.322
$10V_AH,13.12,0.000
$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,29.175,201.200,527.150,63.250,0.000,0.000,0.000,194.550,115.250,0.000,20.371,3009.385,12584.472,784.611,2555.442,235.997,0.000,2203.349,0.000,2008.446,0.000,758.727,0.000
$DEVICE_MAMPS,417.690,83.385,2672.145,81.855,0.000,0.000,0.000,188.190,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,669.197,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225072
$DATA_FILE_SIZE,59958,1412
$CAP_FILE_SIZE,226337,0
$CFSIZE,260034560,241922048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.036,272.05,1
$GPS,150417,165554,1313.325,6006.288,40,0.8,45,-0.6,0.0,0.0,10,9.9