version: 66.13
glider: 137
mission: 5
dive: 214
start: 4 16 117 14 11 5
data:
$ID,137
$MISSION,5
$DIVE,214
$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,36
$R_STBD_OVSHOOT,53
$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
$GPS1,160417,140508,1310.7886,6010.7759,37,0.7,44,-0.7,0.0,0.0,11,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.34
$_SM_ANGLEo,-67.8
$GPS2,160417,141029,1310.7776,6010.7827,6,0.8,21,-0.7,0.0,165.0,10,8.4
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1313.886,6012.283
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,29.0,6361,-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,-146.0,90,2076,329,565,0.0,0.0,0,105,0.00,0.00,-94.82,0.000,16386,0.000,0.000,90,2077,2998,2916,3080,0,0,0,0,0,0,14.82,28.83,14.84
$GC,107,-1.28,-146.0,90,2077,2916,3080,4.6,-6.4,16,134,13.40,2.75,-7.00,0.000,18980,0.386,2.065,2894,650,3388,3279,3498,0,0,0,0,0,0,14.23,13.28,14.46
$GC,247,-1.28,-146.0,2894,649,3282,3498,31.5,-14.0,42,253,0.00,2.30,0.00,0.000,1030,0.000,0.034,2886,2052,3390,3282,3498,0,0,0,0,0,0,14.69,14.62,14.70
$GC,561,-1.28,-146.0,2886,2053,3283,3498,72.7,-12.7,87,569,0.00,2.40,0.00,0.000,516,0.000,0.052,2886,635,3390,3282,3498,0,0,0,0,0,0,14.97,14.65,14.99
$GC,602,-1.32,-146.0,2885,635,3282,3498,77.9,-12.4,95,610,0.00,2.33,0.00,0.000,1158,0.000,0.037,2876,2059,3390,3282,3498,0,0,0,0,0,0,14.77,14.69,14.78
$GC,913,-1.32,-146.0,2876,2058,3283,3498,109.8,-8.9,127,914,0.00,0.00,0.00,0.000,38,0.000,0.000,2876,2058,3391,3283,3499,0,0,0,0,0,0,15.02,15.04,15.04
$GC,1213,-1.38,-146.0,2876,2058,3283,3498,134.9,-8.7,157,1217,0.00,2.30,0.00,0.000,420,0.000,0.057,2866,3450,3390,3283,3498,0,0,0,0,0,0,15.04,14.71,15.07
$GC,1255,-1.47,-146.0,2866,3450,3284,3498,138.7,-8.8,165,1260,0.00,2.30,0.00,0.000,1190,0.000,0.035,2866,2032,3390,3283,3498,0,0,0,0,0,0,14.83,14.77,14.85
$GC,1568,-1.53,-146.0,2865,2032,3283,3498,169.5,-9.5,197,1573,0.10,2.28,0.00,0.000,4772,0.145,0.050,2817,649,3390,3283,3498,0,0,0,0,0,0,14.79,14.73,14.84
$GC,1654,-1.53,-146.0,2816,648,3283,3498,180.2,-12.5,214,1662,0.15,2.28,0.00,0.000,3078,0.242,0.035,2839,2056,3390,3283,3498,0,0,0,0,0,0,14.51,14.77,14.73
$GC,1962,-1.53,-146.0,2839,2056,3284,3498,208.1,-8.2,245,1963,0.00,0.00,0.00,0.000,38,0.000,0.000,2840,2056,3390,3283,3498,0,0,0,0,0,0,15.04,15.07,15.07
$GC,2262,-1.56,-146.0,2839,2056,3283,3498,236.6,-9.8,275,2267,0.00,2.35,0.00,0.000,676,0.000,0.055,2840,657,3390,3283,3498,0,0,0,0,0,0,15.05,14.72,15.08
$GC,2347,-1.56,-146.0,2840,657,3283,3498,244.4,-8.7,291,2354,0.00,2.28,0.00,0.000,1062,0.000,0.037,2831,2055,3390,3283,3498,0,0,0,0,0,0,14.84,14.77,14.86
$GC,2662,-1.56,-146.0,2830,2056,3283,3498,265.4,-6.4,307,2669,0.00,2.33,0.00,0.000,292,0.000,0.059,2821,3453,3390,3283,3498,0,0,0,0,0,0,15.06,14.73,15.08
$GC,2681,-1.60,-146.0,2821,3453,3283,3499,267.0,-7.2,310,2688,0.00,2.30,0.00,0.000,1190,0.000,0.036,2821,2044,3390,3283,3498,0,0,0,0,0,0,14.85,14.78,14.88
$GC,3002,-1.60,-146.0,2821,2044,3284,3499,297.4,-10.6,323,3004,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2044,3390,3283,3498,0,0,0,0,0,0,15.07,15.09,15.09
$GC,3302,-1.60,-146.0,2821,2044,3282,3498,330.3,-11.4,333,3307,0.00,2.38,0.00,0.000,260,0.000,0.057,2811,3447,3390,3282,3498,0,0,0,0,0,0,15.07,14.73,15.09
$GC,3346,-1.63,-146.0,2811,3447,3282,3498,335.6,-11.2,341,3352,0.00,2.30,0.00,0.000,1158,0.000,0.038,2811,2051,3390,3282,3498,0,0,0,0,0,0,14.85,14.78,14.88
$GC,3671,-1.63,-146.0,2811,2050,3280,3498,370.8,-10.4,355,3676,0.00,2.38,0.00,0.000,260,0.000,0.060,2801,3451,3389,3280,3498,0,0,0,0,0,0,15.08,14.72,15.10
$GC,3697,-1.63,-146.0,2801,3451,3280,3498,373.9,-10.5,360,3705,0.00,2.33,0.00,0.000,1030,0.000,0.039,2801,2045,3389,3280,3498,0,0,0,0,0,0,14.85,14.77,14.87
$GC,4005,-1.63,-146.0,2801,2045,3278,3497,405.5,-10.6,371,4009,0.00,2.35,0.00,0.000,516,0.000,0.060,2801,642,3387,3278,3496,0,0,0,0,0,0,15.08,14.71,15.10
$GC,4042,-1.63,-146.0,2801,641,3278,3496,409.9,-11.5,378,4048,0.08,2.30,0.00,0.000,3078,0.231,0.039,2813,2052,3387,3278,3496,0,0,0,0,0,0,14.45,14.73,14.59
$GC,4372,-1.63,-146.0,2813,2053,3276,3495,441.8,-9.3,393,4379,0.00,2.35,0.00,0.000,292,0.000,0.062,2804,3450,3385,3276,3495,0,0,0,0,0,0,15.07,14.71,15.09
$GC,4427,-1.69,-146.0,2804,3450,3276,3494,447.0,-9.7,403,4431,0.00,2.33,0.00,0.000,1190,0.000,0.039,2804,2045,3385,3276,3494,0,0,0,0,0,0,14.84,14.76,14.86
$GC,4740,-1.69,-146.0,2804,2045,3274,3493,475.7,-9.4,415,4741,0.00,0.00,0.00,0.000,38,0.000,0.000,2804,2045,3383,3274,3492,0,0,0,0,0,0,15.07,15.09,15.09
$GC,5041,-1.69,-146.0,2804,2045,3273,3490,504.3,-9.7,425,5042,0.00,0.00,0.00,0.000,38,0.000,0.000,2804,2045,3381,3273,3490,0,0,0,0,0,0,15.07,15.09,15.09
$GC,5341,-1.69,-146.0,2804,2045,3271,3488,534.2,-10.1,435,5342,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2045,3379,3271,3488,0,0,0,0,0,0,15.07,15.10,15.10
$GC,5641,-1.69,-146.0,2804,2044,3270,3487,563.9,-9.7,445,5642,0.00,0.00,0.00,0.000,38,0.000,0.000,2804,2044,3378,3270,3487,0,0,0,0,0,0,15.07,15.09,15.09
$GC,5941,-1.69,-146.0,2804,2044,3268,3486,592.5,-9.5,455,5947,0.00,2.42,0.00,0.000,292,0.000,0.063,2795,3453,3377,3269,3486,0,0,0,0,0,0,15.07,14.67,15.09
$GC,5970,-1.69,-146.0,2795,3453,3268,3486,595.5,-9.8,460,5978,0.00,2.35,0.00,0.000,1062,0.000,0.042,2794,2047,3376,3268,3485,0,0,0,0,0,0,14.82,14.73,14.85
$GC,6275,-1.69,-146.0,2795,2047,3267,3485,626.3,-10.3,471,6282,0.00,2.38,0.00,0.000,516,0.000,0.065,2794,648,3375,3267,3484,0,0,0,0,0,0,15.07,14.66,15.09
$GC,6304,-1.69,-146.0,2794,648,3267,3485,629.7,-11.2,476,6312,0.10,2.35,0.00,0.000,3078,0.274,0.044,2804,2058,3375,3267,3484,0,0,0,0,0,0,14.45,14.73,14.69
$GC,6612,-1.69,-146.0,2804,2058,3266,3483,659.8,-9.6,487,6617,0.00,2.38,0.00,0.000,292,0.000,0.067,2795,3451,3374,3266,3483,0,0,0,0,0,0,15.07,14.66,15.09
$GC,6678,-1.74,-146.0,2795,3451,3266,3481,666.5,-8.7,500,6683,0.00,2.35,0.00,0.000,1190,0.000,0.043,2795,2048,3373,3266,3481,0,0,0,0,0,0,14.81,14.71,14.83
$GC,7008,-1.74,-146.0,2795,2048,3264,3481,696.2,-8.9,515,7012,0.00,2.42,0.00,0.000,292,0.000,0.063,2786,3451,3372,3264,3481,0,0,0,0,0,0,15.07,14.65,15.09
$GC,7046,-1.74,-146.0,2785,3451,3264,3480,699.8,-8.5,522,7051,0.00,2.35,0.00,0.000,1062,0.000,0.044,2786,2052,3372,3264,3481,0,0,0,0,0,0,14.80,14.71,14.83
$GC,7374,-1.74,-146.0,2785,2052,3263,3480,731.4,-10.0,537,7375,0.00,0.00,0.00,0.000,38,0.000,0.000,2786,2052,3371,3263,3479,0,0,0,0,0,0,15.06,15.09,15.08
$GC,7676,-1.74,-146.0,2785,2052,3262,3478,762.0,-10.4,547,7677,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2052,3370,3262,3478,0,0,0,0,0,0,15.06,15.09,15.08
$GC,7974,-1.74,-146.0,2785,2052,3261,3478,794.5,-11.1,557,7980,0.00,2.42,0.00,0.000,260,0.000,0.067,2776,3446,3369,3261,3478,0,0,0,0,0,0,15.05,14.64,15.08
$GC,8010,-1.74,-146.0,2776,3446,3261,3478,798.3,-10.3,563,8014,0.00,2.38,0.00,0.000,1030,0.000,0.047,2776,2040,3369,3261,3477,0,0,0,0,0,0,14.79,14.70,14.82
$GC,8345,-1.70,-146.0,2776,2040,3260,3477,837.7,-12.0,579,8346,0.12,0.00,0.00,0.000,2182,0.266,0.000,2800,2037,3368,3260,3477,0,0,0,0,0,0,14.38,14.71,14.63
$GC,8643,-1.70,-146.0,2799,2038,3259,3477,871.5,-11.3,589,8648,0.00,2.40,0.00,0.000,516,0.000,0.069,2800,641,3368,3259,3477,0,0,0,0,0,0,15.05,14.61,15.07
$GC,8686,-1.70,-146.0,2800,642,3259,3477,877.1,-12.5,597,8692,0.00,2.38,0.00,0.000,1030,0.000,0.046,2792,2054,3368,3259,3477,0,0,0,0,0,0,14.78,14.69,14.81
$GC,9012,-1.70,-146.0,2791,2053,3258,3476,914.4,-11.7,611,9016,0.00,2.45,0.00,0.000,516,0.000,0.067,2792,646,3367,3258,3476,0,0,0,0,0,0,15.05,14.62,15.08
$GC,9059,-1.70,-146.0,2791,644,3258,3476,920.4,-11.9,620,9064,0.10,2.40,0.00,0.000,3078,0.284,0.052,2804,2058,3366,3257,3476,0,0,0,0,0,0,14.34,14.66,14.50
$GC,9377,-1.70,-146.0,2803,2058,3256,3475,954.7,-10.7,633,9385,0.00,2.42,0.00,0.000,260,0.000,0.075,2795,3455,3365,3256,3475,0,0,0,0,0,0,15.04,14.59,15.07
$GC,9407,-1.73,-146.0,2795,3455,3256,3475,958.0,-10.7,638,9415,0.00,2.40,0.00,0.000,1158,0.000,0.054,2795,2052,3366,3257,3475,0,0,0,0,0,0,14.78,14.68,14.81
$STATE,9713,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9713,begin apogee
$GC,9717,-0.33,0.0,2795,1789,3256,3473,991.9,-11.3,649,9851,1.17,0.00,130.18,2.714,10246,0.248,0.000,3099,1787,2789,2678,2901,0,0,0,0,0,0,14.33,13.97,12.90
$STATE,9852,end apogee,CONTROL_FINISHED_OK
$STATE,9853,begin climb
$GC,9854,1.28,146.0,3099,1787,2673,2898,996.1,0.0,653,10002,1.17,2.67,136.45,2.664,10756,0.139,0.087,3462,400,2187,2059,2316,0,0,0,0,0,0,13.98,13.78,12.74
$GC,10033,1.05,146.0,3462,400,2050,2316,988.0,10.6,693,10038,0.30,2.50,0.00,0.000,5254,0.333,0.051,3404,1803,2182,2049,2316,0,0,0,0,0,0,13.79,14.02,14.07
$GC,10340,0.95,161.1,3403,1804,2041,2316,959.4,9.3,704,10360,0.12,2.47,13.30,2.403,12708,0.402,0.070,3379,3209,2128,1988,2268,0,0,0,0,0,0,14.12,14.26,13.40
$GC,10411,0.87,171.5,3379,3209,1987,2263,952.6,9.5,718,10428,0.00,2.45,11.00,2.339,9382,0.000,0.054,3385,1795,2088,1948,2228,0,0,0,0,0,0,14.54,14.46,13.33
$GC,10729,0.80,182.4,3385,1795,1937,2226,922.7,9.5,731,10742,0.17,0.00,10.68,2.325,12454,0.347,0.000,3352,1792,2045,1900,2190,0,0,0,0,0,0,14.27,14.52,13.48
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$STATE,19498,end climb,SURFACE_DEPTH_REACHED
$STATE,19498,begin surface coast
$FINISH,1.5,1.011183
$STATE,19524,end surface coast,CONTROL_FINISHED_OK
$STATE,19524,begin surface
$SM_CCo,19542,55.97,0.081,0,0,450,573.99
$SM_GC,2.45,9.90,0.38,55.97,0.073,0.060,0.081,91,2067,450,-14.12,-1.33,573.99,0,0,0,0,0,0,14.55,14.66,14.56
$IRIDIUM_FIX,1303.16,6007.89,160417,091713
$TT8_MAMPS,0.024717,0.15729
$HUMID,50.47
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,23.90
$XPDR_PINGS,5
$24V_AH,12.74,75.322
$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,28.150,193.800,525.350,55.975,0.000,0.000,0.000,221.600,104.750,0.000,22.392,3025.821,13331.080,769.785,2566.664,235.186,0.000,2216.547,0.000,2017.223,0.000,694.301,0.000
$DEVICE_MAMPS,401.625,2064.735,2714.220,81.090,0.000,0.000,0.000,174.420,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,688.439,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,63302,1418
$CAP_FILE_SIZE,221501,0
$CFSIZE,260034560,241463296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.024,302.39,1
$GPS,160417,193906,1313.145,6011.975,40,0.8,45,-0.6,0.0,0.0,10,9.0