version: 66.13
glider: 137
mission: 5
dive: 211
start: 4 15 117 22 25 44
data:
$ID,137
$MISSION,5
$DIVE,211
$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,39
$R_STBD_OVSHOOT,57
$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
$GPS1,150417,222008,1310.9133,6007.2617,35,0.8,42,-0.6,0.3,0.0,10,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-67.8
$GPS2,150417,222508,1310.9161,6007.2915,14,0.9,25,-0.6,0.0,98.7,10,9.4
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1307.855,6007.649
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,176.6,5706,-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,-146.0,92,2080,330,565,0.0,0.0,0,104,0.00,0.00,-94.62,0.000,16386,0.000,0.000,92,2080,2968,2888,3049,0,0,0,0,0,0,14.83,28.83,14.86
$GC,107,-1.28,-146.0,92,2081,2889,3048,4.5,-6.3,16,138,13.77,2.58,-7.68,0.000,18724,0.401,2.062,2882,3425,3388,3274,3503,0,0,0,0,0,0,14.23,13.29,14.46
$GC,216,-1.32,-146.0,2881,3425,3276,3503,24.5,-12.0,36,223,0.00,2.28,0.00,0.000,1158,0.000,0.034,2881,2044,3390,3276,3504,0,0,0,0,0,0,14.65,14.59,14.66
$GC,531,-1.32,-146.0,2881,2043,3276,3503,58.9,-10.9,90,533,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2043,3389,3276,3503,0,0,0,0,0,0,14.95,14.97,14.97
$GC,832,-1.32,-146.0,2881,2043,3277,3503,93.5,-11.1,120,834,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2043,3390,3277,3503,0,0,0,0,0,0,15.00,15.02,15.02
$GC,1132,-1.37,-146.0,2881,2043,3278,3503,126.4,-10.3,150,1141,0.00,2.33,0.00,0.000,388,0.000,0.054,2871,3431,3390,3278,3503,0,0,0,0,0,0,15.03,14.62,15.05
$GC,1224,-1.49,-146.0,2871,3430,3278,3503,135.0,-8.9,168,1228,0.00,2.25,0.00,0.000,1190,0.000,0.033,2871,2045,3390,3278,3503,0,0,0,0,0,0,14.83,14.76,14.84
$GC,1536,-1.56,-146.0,2871,2044,3278,3503,157.3,-7.1,200,1546,0.12,2.35,0.00,0.000,4516,0.129,0.051,2800,3442,3390,3278,3503,0,0,0,0,0,0,14.78,14.71,14.80
$GC,1569,-1.56,-146.0,2800,3442,3278,3503,160.4,-9.5,206,1579,0.15,2.25,0.00,0.000,3110,0.226,0.034,2834,2049,3390,3278,3503,0,0,0,0,0,0,14.50,14.78,14.73
$GC,1878,-1.56,-146.0,2834,2050,3278,3503,193.7,-12.1,238,1887,0.00,2.35,0.00,0.000,260,0.000,0.055,2826,3443,3390,3278,3503,0,0,0,0,0,0,15.07,14.72,15.09
$GC,2021,-1.62,-146.0,2825,3443,3278,3503,210.8,-12.0,264,2026,0.00,2.28,0.00,0.000,1158,0.000,0.034,2826,2039,3390,3278,3503,0,0,0,0,0,0,14.85,14.78,14.86
$GC,2334,-1.62,-146.0,2825,2038,3278,3503,244.2,-9.6,296,2339,0.00,2.30,0.00,0.000,548,0.000,0.056,2826,654,3390,3278,3503,0,0,0,0,0,0,15.04,14.71,15.06
$GC,2396,-1.62,-146.0,2825,654,3278,3503,250.6,-9.1,307,2403,0.00,2.25,0.00,0.000,1062,0.000,0.035,2817,2040,3390,3278,3503,0,0,0,0,0,0,14.83,14.77,14.85
$GC,2705,-1.62,-146.0,2816,2040,3278,3503,285.3,-12.2,318,2706,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2040,3390,3278,3503,0,0,0,0,0,0,15.07,15.09,15.09
$GC,3004,-1.62,-146.0,2816,2040,3278,3503,318.3,-10.0,328,3009,0.00,2.35,0.00,0.000,548,0.000,0.057,2816,657,3391,3278,3504,0,0,0,0,0,0,15.07,14.71,15.09
$GC,3063,-1.62,-146.0,2816,657,3278,3503,324.1,-9.2,339,3070,0.00,2.28,0.00,0.000,1062,0.000,0.037,2807,2048,3390,3278,3503,0,0,0,0,0,0,14.85,14.78,14.87
$GC,3372,-1.62,-146.0,2807,2048,3278,3503,350.3,-8.5,350,3377,0.00,2.35,0.00,0.000,292,0.000,0.059,2797,3454,3390,3278,3503,0,0,0,0,0,0,15.08,14.71,15.10
$GC,3409,-1.62,-146.0,2796,3454,3278,3503,354.0,-9.1,357,3416,0.10,2.30,0.00,0.000,3110,0.240,0.038,2816,2054,3390,3278,3503,0,0,0,0,0,0,14.53,14.78,14.74
$GC,3739,-1.62,-146.0,2816,2053,3277,3502,385.2,-10.0,372,3745,0.00,2.35,0.00,0.000,516,0.000,0.059,2817,651,3389,3277,3502,0,0,0,0,0,0,15.07,14.70,15.09
$GC,3797,-1.62,-146.0,2817,651,3276,3501,391.8,-10.2,383,3804,0.00,2.30,0.00,0.000,1030,0.000,0.038,2809,2051,3389,3276,3502,0,0,0,0,0,0,14.83,14.77,14.86
$GC,4106,-1.62,-146.0,2808,2051,3275,3499,421.8,-9.4,394,4111,0.00,2.38,0.00,0.000,548,0.000,0.060,2809,658,3387,3275,3499,0,0,0,0,0,0,15.08,14.70,15.11
$GC,4143,-1.62,-146.0,2808,658,3275,3499,425.8,-10.1,401,4149,0.10,2.30,0.00,0.000,3078,0.263,0.041,2819,2057,3387,3275,3499,0,0,0,0,0,0,14.50,14.76,14.73
$GC,4472,-1.62,-146.0,2818,2057,3273,3497,457.0,-10.0,416,4479,0.00,2.35,0.00,0.000,292,0.000,0.063,2810,3450,3384,3273,3496,0,0,0,0,0,0,15.07,14.69,15.09
$GC,4508,-1.68,-146.0,2810,3450,3273,3496,460.5,-9.7,422,4513,0.00,2.33,0.00,0.000,1190,0.000,0.040,2810,2046,3384,3273,3496,0,0,0,0,0,0,14.83,14.76,14.86
$GC,4842,-1.68,-146.0,2810,2045,3271,3494,492.7,-9.5,438,4843,0.00,0.00,0.00,0.000,38,0.000,0.000,2810,2045,3382,3271,3494,0,0,0,0,0,0,15.07,15.09,15.09
$GC,5142,-1.68,-146.0,2810,2045,3270,3493,521.6,-10.0,448,5149,0.00,2.42,0.00,0.000,260,0.000,0.064,2800,3452,3381,3270,3492,0,0,0,0,0,0,15.07,14.68,15.09
$GC,5187,-1.71,-146.0,2800,3452,3269,3492,526.3,-10.1,456,5192,0.00,2.35,0.00,0.000,1158,0.000,0.044,2800,2054,3381,3270,3492,0,0,0,0,0,0,14.82,14.73,14.85
$GC,5510,-1.71,-146.0,2799,2053,3268,3490,560.4,-10.6,470,5515,0.00,2.40,0.00,0.000,516,0.000,0.069,2801,644,3379,3268,3490,0,0,0,0,0,0,15.07,14.66,15.09
$GC,5585,-1.71,-146.0,2800,644,3267,3490,569.0,-11.4,484,5590,0.00,2.35,0.00,0.000,1030,0.000,0.044,2790,2054,3378,3267,3490,0,0,0,0,0,0,14.82,14.73,14.84
$GC,5908,-1.71,-146.0,2790,2055,3266,3488,605.3,-11.4,498,5909,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2055,3376,3266,3487,0,0,0,0,0,0,15.07,15.09,15.09
$GC,6209,-1.71,-146.0,2790,2055,3266,3487,637.2,-10.2,508,6210,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2055,3376,3266,3486,0,0,0,0,0,0,15.06,15.09,15.08
$GC,6510,-1.71,-146.0,2790,2055,3265,3486,666.3,-9.6,518,6515,0.00,2.45,0.00,0.000,548,0.000,0.067,2791,644,3375,3265,3486,0,0,0,0,0,0,15.07,14.64,15.10
$GC,6558,-1.68,-146.0,2790,643,3264,3486,671.5,-10.3,527,6564,0.12,2.35,0.00,0.000,3206,0.277,0.044,2804,2056,3374,3264,3485,0,0,0,0,0,0,14.38,14.73,14.65
$GC,6877,-1.68,-146.0,2804,2056,3262,3485,700.9,-9.5,540,6884,0.00,2.45,0.00,0.000,548,0.000,0.069,2805,643,3373,3262,3485,0,0,0,0,0,0,15.06,14.66,15.08
$GC,6935,-1.68,-146.0,2805,643,3262,3485,707.6,-11.1,551,6943,0.00,2.38,0.00,0.000,1030,0.000,0.046,2796,2056,3373,3262,3484,0,0,0,0,0,0,14.80,14.71,14.83
$GC,7244,-1.68,-146.0,2796,2057,3261,3482,739.6,-10.3,562,7249,0.00,2.40,0.00,0.000,260,0.000,0.071,2786,3453,3371,3261,3482,0,0,0,0,0,0,15.07,14.63,15.09
$GC,7291,-1.68,-146.0,2786,3454,3261,3481,744.8,-10.5,571,7296,0.10,2.38,0.00,0.000,3078,0.241,0.048,2806,2047,3371,3261,3482,0,0,0,0,0,0,14.47,14.71,14.66
$GC,7610,-1.68,-146.0,2806,2047,3260,3481,775.6,-9.8,584,7614,0.00,2.40,0.00,0.000,548,0.000,0.067,2806,643,3371,3260,3482,0,0,0,0,0,0,15.06,14.63,15.08
$GC,7644,-1.68,-146.0,2806,643,3260,3481,779.0,-10.3,590,7649,0.00,2.38,0.00,0.000,1030,0.000,0.042,2797,2061,3370,3260,3481,0,0,0,0,0,0,14.80,14.71,14.83
$GC,7979,-1.68,-146.0,2797,2061,3259,3479,813.5,-10.3,606,7980,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2061,3369,3259,3479,0,0,0,0,0,0,15.07,15.09,15.09
$GC,8278,-1.68,-146.0,2797,2061,3258,3479,844.0,-10.1,616,8283,0.00,2.45,0.00,0.000,516,0.000,0.060,2797,639,3368,3258,3479,0,0,0,0,0,0,15.04,14.64,15.07
$GC,8354,-1.68,-146.0,2797,638,3258,3479,852.1,-9.9,630,8359,0.00,2.38,0.00,0.000,1062,0.000,0.047,2787,2049,3368,3258,3478,0,0,0,0,0,0,14.78,14.69,14.81
$GC,8677,-1.68,-146.0,2787,2049,3257,3478,883.0,-9.5,644,8683,0.10,2.38,0.00,0.000,2340,0.278,0.065,2798,3447,3367,3257,3478,0,0,0,0,0,0,14.48,14.60,14.64
$GC,8727,-1.73,-146.0,2797,3447,3257,3478,887.7,-9.5,653,8734,0.00,2.38,0.00,0.000,1190,0.000,0.047,2798,2045,3367,3257,3478,0,0,0,0,0,0,14.78,14.68,14.81
$GC,9049,-1.73,-146.0,2798,2045,3256,3478,916.7,-9.3,666,9054,0.00,2.40,0.00,0.000,548,0.000,0.065,2798,638,3366,3256,3477,0,0,0,0,0,0,15.07,14.62,15.08
$GC,9075,-1.73,-146.0,2797,637,3255,3477,919.9,-10.7,671,9083,0.00,2.40,0.00,0.000,1030,0.000,0.050,2788,2052,3366,3255,3478,0,0,0,0,0,0,14.78,14.68,14.81
$GC,9384,-1.73,-146.0,2788,2052,3255,3477,952.2,-11.3,682,9389,0.00,2.40,0.00,0.000,260,0.000,0.069,2778,3450,3366,3255,3477,0,0,0,0,0,0,15.06,14.60,15.08
$GC,9441,-1.73,-146.0,2778,3450,3255,3477,959.4,-11.3,693,9450,0.00,2.40,0.00,0.000,1030,0.000,0.050,2778,2043,3365,3254,3477,0,0,0,0,0,0,14.77,14.67,14.80
$STATE,9717,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9717,begin apogee
$GC,9722,-0.33,0.0,2778,1795,3254,3477,992.8,-12.3,703,9856,1.25,0.00,130.62,2.699,10246,0.257,0.000,3098,1794,2788,2675,2902,0,0,0,0,0,0,14.33,13.97,12.91
$STATE,9857,end apogee,CONTROL_FINISHED_OK
$STATE,9857,begin climb
$GC,9859,1.28,146.0,3098,1794,2670,2899,997.9,0.0,707,10017,1.20,0.00,149.35,2.547,10246,0.157,0.000,3449,1793,2189,2059,2319,0,0,0,0,0,0,13.95,13.78,12.76
$GC,10318,1.09,146.0,3448,1793,2046,2318,964.1,10.2,723,10324,0.15,2.45,0.00,0.000,4740,0.336,0.073,3428,398,2182,2045,2319,0,0,0,0,0,0,14.12,14.40,14.34
$GC,10377,0.92,146.0,3427,398,2042,2319,957.9,10.9,735,10384,0.25,2.40,0.00,0.000,5254,0.321,0.045,3377,1806,2180,2042,2319,0,0,0,0,0,0,14.18,14.52,14.52
$GC,10708,0.89,169.1,3377,1806,2041,2319,929.3,8.9,751,10737,0.00,2.45,20.62,2.450,8612,0.000,0.073,3376,3209,2094,1955,2234,0,0,0,0,0,0,14.91,14.47,13.47
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$STATE,19124,end climb,SURFACE_DEPTH_REACHED
$STATE,19124,begin surface coast
$FINISH,1.6,1.004513
$STATE,19151,end surface coast,CONTROL_FINISHED_OK
$STATE,19151,begin surface
$SM_CCo,19170,71.45,0.080,0,0,450,573.99
$SM_GC,2.40,9.98,0.45,71.45,0.080,0.050,0.080,90,2073,450,-14.14,-1.30,573.99,0,0,0,0,0,0,14.58,14.71,14.59
$IRIDIUM_FIX,1307.59,6006.79,150417,165738
$TT8_MAMPS,0.023219,0.165529
$HUMID,49.40
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,24.20
$XPDR_PINGS,5
$24V_AH,12.76,74.151
$10V_AH,13.47,0.000
$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,27.825,212.950,511.275,71.450,0.000,0.000,0.000,191.575,115.250,0.000,26.167,3098.336,12740.967,821.750,2652.325,230.607,0.000,2266.799,0.000,2096.172,0.000,765.665,0.000
$DEVICE_MAMPS,400.860,2061.675,2698.920,80.325,0.000,0.000,0.000,189.720,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,685.932,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225116
$DATA_FILE_SIZE,63300,1474
$CAP_FILE_SIZE,227910,0
$CFSIZE,260034560,241725440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.041,275.69,1
$GPS,160417,034740,1308.378,6006.902,29,0.9,38,-0.7,0.0,0.0,9,9.6