version: 66.13
glider: 137
mission: 5
dive: 210
start: 4 15 117 17 1 28
data:
$ID,137
$MISSION,5
$DIVE,210
$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,54
$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
$GPS1,150417,165554,1313.3254,6006.2876,40,0.8,45,-0.6,0.0,0.0,10,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-68.1
$GPS2,150417,170053,1313.3137,6006.2725,12,0.8,16,-0.6,0.0,79.7,10,9.3
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1310.306,6007.109
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,158.6,5771,-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,-146.0,92,2077,327,566,0.0,0.0,0,105,0.00,0.00,-95.20,0.000,16386,0.000,0.000,92,2077,2983,2904,3062,0,0,0,0,0,0,14.83,28.83,14.85
$GC,108,-1.28,-146.0,92,2077,2904,3062,4.6,-6.5,16,135,13.77,2.58,-7.20,0.000,18724,0.402,2.065,2881,3432,3388,3273,3503,0,0,0,0,0,0,14.23,13.31,14.47
$GC,222,-1.34,-146.0,2881,3432,3275,3503,25.9,-12.0,37,230,0.00,2.30,0.00,0.000,1158,0.000,0.035,2881,2038,3390,3276,3504,0,0,0,0,0,0,14.68,14.61,14.70
$GC,532,-1.34,-146.0,2881,2038,3275,3503,65.0,-12.4,86,541,0.00,2.33,0.00,0.000,516,0.000,0.057,2881,644,3389,3275,3503,0,0,0,0,0,0,14.96,14.64,14.98
$GC,556,-1.34,-146.0,2881,644,3275,3503,68.5,-13.0,91,563,0.00,2.35,0.00,0.000,1030,0.000,0.040,2871,2034,3389,3275,3503,0,0,0,0,0,0,14.69,14.64,14.72
$GC,864,-1.34,-146.0,2871,2034,3276,3503,106.7,-11.7,122,865,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2034,3389,3276,3503,0,0,0,0,0,0,15.02,15.04,15.03
$GC,1165,-1.40,-146.0,2871,2035,3277,3503,136.2,-9.5,152,1175,0.00,2.33,0.00,0.000,676,0.000,0.060,2871,653,3390,3277,3503,0,0,0,0,0,0,15.04,14.64,15.06
$GC,1227,-1.48,-146.0,2871,653,3277,3503,142.2,-9.5,164,1237,0.00,2.30,0.00,0.000,1190,0.000,0.039,2862,2058,3390,3277,3503,0,0,0,0,0,0,14.82,14.75,14.84
$GC,1537,-1.54,-146.0,2862,2058,3277,3503,166.7,-7.4,196,1548,0.10,2.40,0.00,0.000,4772,0.142,0.057,2816,644,3390,3277,3503,0,0,0,0,0,0,14.79,14.71,14.83
$GC,1631,-1.54,-146.0,2815,644,3278,3503,175.5,-8.9,214,1640,0.10,2.30,0.00,0.000,3110,0.216,0.040,2834,2063,3390,3278,3503,0,0,0,0,0,0,14.45,14.71,14.60
$GC,1943,-1.54,-146.0,2833,2064,3278,3503,207.3,-11.6,246,1948,0.00,2.30,0.00,0.000,260,0.000,0.057,2825,3451,3390,3277,3503,0,0,0,0,0,0,15.05,14.73,15.07
$GC,1966,-1.59,-146.0,2825,3451,3278,3503,210.2,-11.5,250,1971,0.00,2.30,0.00,0.000,1158,0.000,0.037,2825,2043,3390,3277,3503,0,0,0,0,0,0,14.84,14.77,14.86
$GC,2279,-1.59,-146.0,2825,2042,3278,3503,244.3,-10.7,282,2284,0.00,2.33,0.00,0.000,516,0.000,0.060,2825,647,3390,3277,3503,0,0,0,0,0,0,15.04,14.72,15.07
$GC,2315,-1.59,-146.0,2825,647,3278,3503,248.8,-12.6,289,2324,0.00,2.33,0.00,0.000,1030,0.000,0.041,2815,2058,3390,3277,3503,0,0,0,0,0,0,14.83,14.76,14.85
$GC,2632,-1.59,-146.0,2815,2059,3277,3503,285.3,-11.3,301,2638,0.00,2.30,0.00,0.000,260,0.000,0.058,2805,3453,3390,3277,3503,0,0,0,0,0,0,15.05,14.69,15.07
$GC,2698,-1.63,-146.0,2805,3453,3278,3503,292.5,-9.9,313,2704,0.00,2.30,0.00,0.000,1190,0.000,0.038,2805,2054,3390,3278,3503,0,0,0,0,0,0,14.85,14.77,14.86
$GC,3033,-1.63,-146.0,2804,2054,3277,3503,329.7,-11.1,329,3039,0.00,2.40,0.00,0.000,260,0.000,0.064,2795,3451,3390,3278,3503,0,0,0,0,0,0,15.07,14.70,15.09
$GC,3115,-1.63,-146.0,2795,3451,3277,3503,338.6,-11.0,345,3121,0.12,2.33,0.00,0.000,3078,0.236,0.041,2822,2040,3390,3277,3503,0,0,0,0,0,0,14.50,14.76,14.73
$GC,3430,-1.63,-146.0,2822,2040,3275,3503,365.4,-8.4,357,3435,0.00,2.33,0.00,0.000,548,0.000,0.061,2822,655,3389,3275,3503,0,0,0,0,0,0,15.06,14.71,15.08
$GC,3473,-1.63,-146.0,2822,655,3275,3503,369.3,-8.3,365,3479,0.00,2.30,0.00,0.000,1062,0.000,0.041,2814,2056,3389,3275,3503,0,0,0,0,0,0,14.85,14.77,14.87
$GC,3799,-1.63,-146.0,2814,2056,3273,3500,396.7,-9.1,379,3800,0.00,0.00,0.00,0.000,38,0.000,0.000,2814,2056,3387,3274,3500,0,0,0,0,0,0,15.07,15.09,15.09
$GC,4098,-1.63,-146.0,2813,2056,3272,3499,427.8,-10.5,389,4103,0.00,2.40,0.00,0.000,516,0.000,0.065,2814,657,3385,3272,3498,0,0,0,0,0,0,15.07,14.70,15.09
$GC,4147,-1.63,-146.0,2814,657,3272,3499,433.3,-10.7,398,4154,0.00,2.33,0.00,0.000,1030,0.000,0.044,2804,2055,3385,3272,3498,0,0,0,0,0,0,14.83,14.75,14.86
$GC,4469,-1.63,-146.0,2804,2056,3271,3496,464.7,-9.9,411,4474,0.00,2.38,0.00,0.000,292,0.000,0.070,2794,3453,3383,3271,3496,0,0,0,0,0,0,15.07,14.70,15.09
$GC,4527,-1.66,-146.0,2794,3453,3271,3495,470.9,-10.1,422,4535,0.00,2.33,0.00,0.000,1158,0.000,0.041,2794,2058,3383,3271,3495,0,0,0,0,0,0,14.83,14.75,14.85
$GC,4832,-1.66,-146.0,2794,2058,3269,3494,502.9,-10.8,433,4839,0.00,2.40,0.00,0.000,260,0.000,0.060,2785,3457,3381,3268,3494,0,0,0,0,0,0,15.07,14.69,15.08
$GC,4870,-1.66,-146.0,2784,3457,3269,3493,507.3,-10.8,440,4877,0.12,2.35,0.00,0.000,3078,0.240,0.041,2811,2044,3381,3268,3494,0,0,0,0,0,0,14.46,14.75,14.71
$GC,5201,-1.66,-146.0,2811,2045,3267,3492,539.8,-9.6,455,5206,0.00,2.38,0.00,0.000,548,0.000,0.065,2812,644,3379,3267,3492,0,0,0,0,0,0,15.06,14.69,15.09
$GC,5239,-1.66,-146.0,2811,644,3267,3492,543.8,-10.1,462,5244,0.00,2.35,0.00,0.000,1030,0.000,0.044,2803,2055,3379,3267,3492,0,0,0,0,0,0,14.83,14.74,14.85
$GC,5568,-1.66,-146.0,2803,2056,3266,3490,577.6,-10.8,477,5569,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2056,3377,3266,3489,0,0,0,0,0,0,15.07,15.09,15.09
$GC,5867,-1.66,-146.0,2803,2055,3265,3488,611.5,-11.5,487,5872,0.00,2.42,0.00,0.000,516,0.000,0.069,2803,658,3376,3265,3488,0,0,0,0,0,0,15.06,14.66,15.08
$GC,5916,-1.66,-146.0,2803,658,3265,3488,617.6,-12.4,496,5922,0.00,2.33,0.00,0.000,1030,0.000,0.042,2793,2056,3376,3264,3488,0,0,0,0,0,0,14.82,14.73,14.85
$GC,6237,-1.66,-146.0,2792,2056,3263,3487,656.1,-12.1,509,6242,0.00,2.38,0.00,0.000,260,0.000,0.064,2783,3455,3375,3263,3487,0,0,0,0,0,0,15.07,14.67,15.09
$GC,6264,-1.66,-146.0,2783,3455,3263,3486,659.8,-12.1,514,6273,0.12,2.35,0.00,0.000,3078,0.262,0.047,2808,2058,3374,3263,3486,0,0,0,0,0,0,14.40,14.72,14.68
$GC,6572,-1.66,-146.0,2807,2058,3261,3486,691.7,-9.8,525,6577,0.00,2.40,0.00,0.000,548,0.000,0.065,2808,646,3373,3261,3486,0,0,0,0,0,0,15.07,14.66,15.09
$GC,6651,-1.66,-146.0,2808,646,3261,3486,700.2,-10.2,540,6656,0.00,2.35,0.00,0.000,1030,0.000,0.047,2800,2049,3373,3261,3486,0,0,0,0,0,0,14.81,14.72,14.83
$GC,6969,-1.66,-146.0,2799,2050,3260,3485,728.0,-8.4,553,6970,0.00,0.00,0.00,0.000,38,0.000,0.000,2800,2050,3372,3260,3485,0,0,0,0,0,0,15.06,15.09,15.08
$GC,7270,-1.66,-146.0,2799,2050,3259,3484,754.7,-9.1,563,7277,0.00,2.47,0.00,0.000,548,0.000,0.070,2800,639,3372,3260,3484,0,0,0,0,0,0,15.06,14.64,15.08
$GC,7324,-1.66,-146.0,2799,639,3259,3484,760.4,-10.4,573,7330,0.10,2.38,0.00,0.000,3078,0.294,0.046,2808,2055,3371,3259,3484,0,0,0,0,0,0,14.40,14.71,14.66
$GC,7638,-1.66,-146.0,2807,2055,3259,3482,792.1,-10.5,585,7644,0.00,2.40,0.00,0.000,260,0.000,0.072,2799,3450,3370,3258,3482,0,0,0,0,0,0,15.05,14.64,15.07
$GC,7666,-1.70,-146.0,2799,3450,3259,3481,795.2,-11.1,590,7676,0.00,2.38,0.00,0.000,1158,0.000,0.049,2799,2052,3369,3258,3481,0,0,0,0,0,0,14.79,14.69,14.83
$GC,7972,-1.70,-146.0,2799,2052,3257,3481,828.7,-10.8,601,7973,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2052,3369,3257,3481,0,0,0,0,0,0,15.05,15.08,15.07
$GC,8273,-1.70,-146.0,2799,2052,3256,3480,858.4,-9.4,611,8274,0.00,0.00,0.00,0.000,38,0.000,0.000,2799,2052,3368,3256,3480,0,0,0,0,0,0,15.05,15.08,15.08
$GC,8575,-1.70,-146.0,2799,2052,3255,3479,885.7,-9.0,621,8580,0.00,2.47,0.00,0.000,292,0.000,0.074,2789,3454,3367,3255,3479,0,0,0,0,0,0,15.07,14.60,15.09
$GC,8624,-1.73,-146.0,2789,3454,3255,3479,890.5,-9.5,630,8629,0.00,2.40,0.00,0.000,1190,0.000,0.050,2790,2047,3367,3255,3479,0,0,0,0,0,0,14.78,14.68,14.81
$GC,8941,-1.73,-146.0,2789,2046,3254,3478,921.5,-10.2,643,8943,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2046,3366,3254,3479,0,0,0,0,0,0,15.04,15.07,15.07
$GC,9244,-1.73,-146.0,2789,2046,3254,3478,953.9,-11.3,653,9245,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2046,3365,3253,3478,0,0,0,0,0,0,15.05,15.08,15.08
$GC,9542,-1.73,-146.0,2789,2046,3252,3478,988.3,-11.4,663,9547,0.00,2.47,0.00,0.000,260,0.000,0.074,2780,3446,3364,3252,3477,0,0,0,0,0,0,15.04,14.59,15.07
$STATE,9557,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9557,begin apogee
$GC,9565,-0.33,0.0,2787,1792,3252,3477,990.6,-11.5,666,9698,1.23,0.00,129.38,2.695,10246,0.261,0.000,3101,1787,2789,2674,2905,0,0,0,0,0,0,14.34,13.97,12.91
$STATE,9699,end apogee,CONTROL_FINISHED_OK
$STATE,9699,begin climb
$GC,9701,1.28,146.0,3101,1788,2669,2902,994.8,0.0,670,9853,1.20,2.70,140.00,2.596,10756,0.163,0.081,3462,387,2188,2056,2321,0,0,0,0,0,0,13.96,13.80,12.81
$GC,9921,1.05,146.0,3461,387,2044,2320,981.4,12.4,718,9928,0.22,2.50,0.00,0.000,5254,0.317,0.047,3408,1803,2182,2043,2321,0,0,0,0,0,0,13.88,14.14,14.06
$GC,10251,0.93,146.0,3407,1803,2039,2321,945.5,11.2,734,10258,0.12,2.42,0.00,0.000,4484,0.428,0.070,3381,3202,2180,2039,2321,0,0,0,0,0,0,14.11,14.47,14.36
$GC,10311,0.84,146.0,3381,3202,2039,2320,938.4,12.1,746,10318,0.15,2.42,0.00,0.000,5254,0.332,0.050,3360,1783,2179,2038,2320,0,0,0,0,0,0,14.21,14.56,14.54
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$STATE,18918,end climb,SURFACE_DEPTH_REACHED
$STATE,18918,begin surface coast
$FINISH,1.5,0.999246
$STATE,18951,end surface coast,CONTROL_FINISHED_OK
$STATE,18951,begin surface
$SM_CCo,18969,72.28,0.080,0,0,449,573.99
$SM_GC,2.42,10.02,0.45,72.28,0.080,0.051,0.080,92,2075,449,-14.12,-1.02,573.99,0,0,0,0,0,0,14.58,14.72,14.59
$IRIDIUM_FIX,1307.59,6009.81,150417,113605
$TT8_MAMPS,0.024717,0.158039
$HUMID,49.37
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,24.20
$XPDR_PINGS,9
$24V_AH,12.81,73.724
$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,28.675,198.650,481.500,72.275,0.000,0.000,0.000,198.950,109.000,0.000,17.803,3014.763,12765.165,763.321,2569.287,229.247,0.000,2197.140,0.000,2032.553,0.000,715.881,0.000
$DEVICE_MAMPS,428.400,2064.735,2695.095,80.325,0.000,0.000,0.000,180.540,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,679.284,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,63239,1429
$CAP_FILE_SIZE,220871,0
$CFSIZE,260034560,241831936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.017,39.10,1
$GPS,150417,222008,1310.913,6007.262,35,0.8,42,-0.6,0.3,0.0,10,9.8