version: 66.13
glider: 137
mission: 5
dive: 212
start: 4 16 117 3 53 18
data:
$ID,137
$MISSION,5
$DIVE,212
$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,33
$R_STBD_OVSHOOT,64
$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
$GPS1,160417,034740,1308.3776,6006.9019,29,0.9,38,-0.7,0.0,0.0,9,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-68.0
$GPS2,160417,035242,1308.3903,6006.9204,8,0.9,19,-0.7,0.0,0.0,9,10.0
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1309.499,6009.816
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,72.9,5611,-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,-146.0,90,2077,328,567,0.0,0.0,0,104,0.00,0.00,-94.05,0.000,16386,0.000,0.000,90,2077,2968,2888,3049,0,0,0,0,0,0,14.83,28.83,14.85
$GC,106,-1.28,-146.0,90,2077,2888,3048,4.6,-6.3,16,138,13.57,2.58,-7.62,0.000,18724,0.394,2.066,2880,3425,3389,3275,3504,0,0,0,0,0,0,14.24,13.29,14.47
$GC,189,-1.28,-146.0,2879,3425,3276,3505,21.8,-11.9,31,196,0.00,2.30,0.00,0.000,1030,0.000,0.035,2880,2032,3390,3275,3505,0,0,0,0,0,0,14.64,14.58,14.66
$GC,498,-1.28,-146.0,2880,2031,3276,3505,55.2,-11.8,88,508,0.00,2.30,0.00,0.000,516,0.000,0.054,2880,646,3390,3276,3504,0,0,0,0,0,0,14.94,14.63,14.96
$GC,563,-1.33,-146.0,2880,646,3276,3505,63.2,-11.5,101,571,0.00,2.28,0.00,0.000,1158,0.000,0.036,2870,2032,3390,3276,3505,0,0,0,0,0,0,14.75,14.69,14.77
$GC,870,-1.33,-146.0,2869,2032,3277,3505,99.8,-13.7,132,874,0.00,2.35,0.00,0.000,260,0.000,0.057,2860,3447,3391,3277,3505,0,0,0,0,0,0,15.01,14.69,15.03
$GC,889,-1.33,-146.0,2859,3447,3277,3505,102.9,-14.2,136,897,0.12,2.30,0.00,0.000,3078,0.239,0.034,2886,2037,3391,3277,3505,0,0,0,0,0,0,14.47,14.73,14.70
$GC,1197,-1.41,-146.0,2886,2036,3278,3505,138.7,-8.6,167,1206,0.00,2.28,0.00,0.000,676,0.000,0.052,2887,655,3391,3278,3505,0,0,0,0,0,0,15.04,14.71,15.06
$GC,1262,-1.50,-146.0,2886,655,3278,3505,144.2,-7.4,180,1269,0.12,2.28,0.00,0.000,5286,0.124,0.036,2822,2060,3391,3278,3505,0,0,0,0,0,0,14.73,14.76,14.81
$GC,1568,-1.50,-146.0,2822,2060,3278,3505,170.1,-10.7,211,1572,0.12,2.30,0.00,0.000,2308,0.250,0.054,2844,3443,3391,3278,3505,0,0,0,0,0,0,14.50,14.72,14.64
$GC,1578,-1.50,-146.0,2844,3443,3278,3505,171.2,-11.5,213,1583,0.00,2.25,0.00,0.000,1030,0.000,0.034,2844,2052,3391,3278,3505,0,0,0,0,0,0,14.84,14.78,14.86
$GC,1893,-1.54,-146.0,2844,2052,3278,3505,211.1,-14.3,245,1899,0.00,2.30,0.00,0.000,644,0.000,0.053,2844,654,3391,3278,3505,0,0,0,0,0,0,15.05,14.73,15.07
$GC,1982,-1.60,-146.0,2844,654,3278,3505,224.4,-13.7,262,1990,0.00,2.28,0.00,0.000,1158,0.000,0.036,2834,2055,3391,3278,3505,0,0,0,0,0,0,14.84,14.77,14.86
$GC,2309,-1.63,-146.0,2834,2055,3278,3505,257.4,-7.9,289,2317,0.00,2.38,0.00,0.000,676,0.000,0.056,2834,646,3391,3278,3505,0,0,0,0,0,0,15.05,14.72,15.07
$GC,2354,-1.66,-146.0,2834,646,3278,3504,260.9,-7.4,297,2362,0.00,2.30,0.00,0.000,1190,0.000,0.039,2824,2052,3391,3278,3505,0,0,0,0,0,0,14.84,14.76,14.86
$GC,2682,-1.66,-146.0,2824,2052,3278,3505,286.3,-8.9,311,2687,0.00,2.38,0.00,0.000,548,0.000,0.060,2824,654,3391,3278,3505,0,0,0,0,0,0,15.07,14.73,15.09
$GC,2715,-1.66,-146.0,2824,653,3278,3504,289.9,-10.2,317,2722,0.00,2.30,0.00,0.000,1030,0.000,0.041,2817,2055,3391,3278,3505,0,0,0,0,0,0,14.85,14.78,14.87
$GC,3050,-1.66,-146.0,2816,2056,3278,3505,329.1,-12.2,333,3056,0.00,2.38,0.00,0.000,516,0.000,0.061,2816,658,3391,3277,3505,0,0,0,0,0,0,15.06,14.72,15.08
$GC,3106,-1.66,-146.0,2815,658,3278,3505,336.1,-13.5,343,3111,0.00,2.30,0.00,0.000,1030,0.000,0.041,2807,2057,3391,3278,3504,0,0,0,0,0,0,14.85,14.77,14.88
$GC,3420,-1.66,-146.0,2806,2057,3278,3504,372.7,-11.5,355,3424,0.00,2.35,0.00,0.000,260,0.000,0.063,2796,3454,3390,3277,3504,0,0,0,0,0,0,15.07,14.71,15.09
$GC,3437,-1.66,-146.0,2796,3454,3278,3503,374.9,-11.1,358,3442,0.00,2.33,0.00,0.000,1030,0.000,0.044,2796,2056,3390,3277,3504,0,0,0,0,0,0,14.85,14.76,14.87
$GC,3755,-1.66,-146.0,2796,2056,3276,3501,408.9,-10.5,371,3760,0.00,2.40,0.00,0.000,260,0.000,0.063,2786,3457,3388,3276,3501,0,0,0,0,0,0,15.07,14.71,15.09
$GC,3781,-1.66,-146.0,2786,3457,3276,3501,411.8,-9.9,376,3792,0.12,2.35,0.00,0.000,3110,0.243,0.040,2812,2033,3388,3276,3500,0,0,0,0,0,0,14.48,14.77,14.73
$GC,4088,-1.66,-146.0,2812,2033,3274,3499,440.6,-9.4,387,4093,0.00,2.33,0.00,0.000,548,0.000,0.059,2813,647,3386,3274,3499,0,0,0,0,0,0,15.07,14.71,15.09
$GC,4153,-1.66,-146.0,2813,647,3273,3499,447.4,-9.8,399,4158,0.00,2.33,0.00,0.000,1062,0.000,0.041,2805,2056,3386,3273,3499,0,0,0,0,0,0,14.84,14.76,14.86
$GC,4486,-1.66,-146.0,2804,2056,3272,3496,480.6,-9.8,415,4491,0.00,2.38,0.00,0.000,292,0.000,0.067,2794,3458,3384,3272,3496,0,0,0,0,0,0,15.07,14.70,15.09
$GC,4521,-1.66,-146.0,2794,3458,3272,3496,483.7,-9.4,421,4527,0.00,2.35,0.00,0.000,1062,0.000,0.045,2795,2059,3384,3272,3496,0,0,0,0,0,0,14.83,14.75,14.85
$GC,4857,-1.66,-146.0,2794,2059,3270,3493,518.7,-10.9,437,4862,0.00,2.40,0.00,0.000,516,0.000,0.066,2794,642,3382,3270,3494,0,0,0,0,0,0,15.07,14.69,15.09
$GC,4935,-1.66,-146.0,2794,642,3269,3494,528.3,-11.7,452,4941,0.12,2.35,0.00,0.000,3078,0.268,0.041,2810,2062,3381,3269,3494,0,0,0,0,0,0,14.42,14.74,14.64
$GC,5254,-1.66,-146.0,2809,2062,3268,3491,562.6,-10.9,465,5255,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2063,3379,3267,3491,0,0,0,0,0,0,15.06,15.09,15.08
$GC,5555,-1.66,-146.0,2810,2063,3267,3489,594.9,-10.5,475,5562,0.00,2.45,0.00,0.000,516,0.000,0.068,2810,648,3378,3267,3489,0,0,0,0,0,0,15.06,14.67,15.08
$GC,5609,-1.66,-146.0,2810,648,3267,3489,601.2,-11.3,485,5614,0.00,2.33,0.00,0.000,1030,0.000,0.043,2802,2047,3377,3266,3489,0,0,0,0,0,0,14.82,14.74,14.84
$GC,5922,-1.66,-146.0,2801,2047,3266,3487,633.6,-10.4,497,5923,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2047,3376,3266,3487,0,0,0,0,0,0,15.06,15.09,15.08
$GC,6223,-1.66,-146.0,2801,2048,3264,3486,664.3,-10.3,507,6224,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2048,3375,3264,3486,0,0,0,0,0,0,15.06,15.08,15.08
$GC,6525,-1.66,-146.0,2801,2048,3263,3486,694.2,-9.8,517,6531,0.00,2.42,0.00,0.000,548,0.000,0.060,2801,643,3374,3263,3486,0,0,0,0,0,0,15.07,14.67,15.09
$GC,6559,-1.66,-146.0,2801,643,3262,3486,697.8,-10.0,523,6566,0.00,2.35,0.00,0.000,1030,0.000,0.045,2791,2048,3374,3262,3486,0,0,0,0,0,0,14.81,14.72,14.84
$GC,6894,-1.66,-146.0,2791,2048,3261,3485,730.3,-9.7,539,6899,0.10,2.38,0.00,0.000,2340,0.278,0.067,2802,3446,3372,3262,3483,0,0,0,0,0,0,14.50,14.64,14.66
$GC,6922,-1.70,-146.0,2801,3446,3262,3483,733.2,-9.7,544,6931,0.00,2.35,0.00,0.000,1190,0.000,0.046,2802,2052,3372,3261,3483,0,0,0,0,0,0,14.81,14.71,14.83
$GC,7228,-1.70,-146.0,2802,2052,3260,3483,760.8,-9.1,555,7232,0.00,2.40,0.00,0.000,548,0.000,0.066,2802,641,3371,3260,3483,0,0,0,0,0,0,15.06,14.65,15.08
$GC,7276,-1.70,-146.0,2802,641,3260,3483,765.8,-10.0,564,7283,0.00,2.38,0.00,0.000,1030,0.000,0.046,2792,2053,3371,3260,3483,0,0,0,0,0,0,14.80,14.70,14.82
$GC,7598,-1.70,-146.0,2792,2053,3259,3481,797.7,-10.3,577,7599,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2053,3370,3259,3481,0,0,0,0,0,0,15.06,15.09,15.08
$GC,7897,-1.70,-146.0,2792,2053,3258,3480,830.3,-10.9,587,7898,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2054,3369,3258,3480,0,0,0,0,0,0,15.05,15.08,15.07
$GC,8197,-1.70,-146.0,2792,2053,3258,3479,862.6,-10.6,597,8205,0.00,2.45,0.00,0.000,516,0.000,0.067,2792,643,3368,3258,3479,0,0,0,0,0,0,15.05,14.63,15.07
$GC,8226,-1.70,-146.0,2792,643,3258,3479,866.4,-11.6,602,8235,0.10,2.40,0.00,0.000,3078,0.279,0.053,2801,2054,3368,3257,3479,0,0,0,0,0,0,14.42,14.69,14.66
$GC,8534,-1.70,-146.0,2800,2054,3256,3479,898.1,-10.4,613,8535,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2054,3367,3256,3479,0,0,0,0,0,0,15.06,15.09,15.08
$GC,8833,-1.70,-146.0,2800,2054,3255,3478,930.0,-10.7,623,8838,0.00,2.42,0.00,0.000,260,0.000,0.073,2792,3455,3366,3255,3478,0,0,0,0,0,0,15.04,14.61,15.07
$GC,8882,-1.73,-146.0,2792,3455,3255,3478,935.4,-10.7,632,8889,0.00,2.40,0.00,0.000,1158,0.000,0.052,2792,2052,3366,3255,3478,0,0,0,0,0,0,14.77,14.66,14.81
$GC,9204,-1.73,-146.0,2792,2052,3254,3477,969.1,-10.6,645,9210,0.00,2.42,0.00,0.000,516,0.000,0.071,2792,642,3365,3254,3477,0,0,0,0,0,0,15.05,14.62,15.08
$GC,9276,-1.73,-146.0,2792,641,3254,3477,977.6,-11.2,659,9283,0.00,2.40,0.00,0.000,1030,0.000,0.050,2782,2059,3365,3253,3477,0,0,0,0,0,0,14.77,14.68,14.80
$STATE,9420,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9420,begin apogee
$GC,9426,-0.33,0.0,2782,1788,3253,3477,993.0,-10.9,667,9561,1.23,0.00,130.23,2.713,10246,0.250,0.000,3099,1786,2790,2675,2905,0,0,0,0,0,0,14.34,13.97,12.93
$STATE,9561,end apogee,CONTROL_FINISHED_OK
$STATE,9562,begin climb
$GC,9563,1.28,146.0,3099,1786,2670,2901,995.9,0.0,671,9709,1.17,2.62,135.50,2.660,10756,0.151,0.088,3458,407,2189,2058,2320,0,0,0,0,0,0,13.97,13.78,12.76
$GC,9752,1.06,146.0,3458,406,2045,2320,983.8,13.5,713,9757,0.28,2.47,0.00,0.000,5254,0.344,0.048,3407,1802,2182,2045,2320,0,0,0,0,0,0,13.81,14.06,14.09
$GC,10085,0.93,146.0,3407,1802,2038,2320,948.4,10.6,729,10087,0.15,0.00,0.00,0.000,4230,0.396,0.000,3382,1802,2179,2038,2320,0,0,0,0,0,0,14.14,14.57,14.52
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$STATE,19144,end climb,SURFACE_DEPTH_REACHED
$STATE,19144,begin surface coast
$FINISH,2.0,1.023212
$STATE,19151,end surface coast,CONTROL_FINISHED_OK
$STATE,19151,begin surface
$SM_CCo,19172,72.85,0.081,0,0,449,573.99
$SM_GC,2.38,10.20,2.83,72.85,0.088,0.037,0.081,93,2059,449,-14.12,-1.07,573.99,0,0,0,0,0,0,14.57,14.67,14.58
$IRIDIUM_FIX,1305.38,6007.89,150417,222143
$TT8_MAMPS,0.024717,0.158039
$HUMID,49.68
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,24.10
$XPDR_PINGS,7
$24V_AH,12.76,74.563
$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
$DEVICE_SECS,28.850,207.725,488.725,72.850,0.000,0.000,0.000,197.075,109.250,0.000,20.517,3049.946,12895.665,774.208,2582.125,246.267,0.000,2201.892,0.000,2048.192,0.000,720.631,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,685.429,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,63308,1440
$CAP_FILE_SIZE,223331,0
$CFSIZE,260034560,241635328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.030,343.94,1
$GPS,160417,091532,1309.385,6009.271,46,0.9,53,-0.7,0.0,263.8,10,9.5