version: 66.13
glider: 137
mission: 5
dive: 215
start: 4 16 117 19 45 8
data:
$ID,137
$MISSION,5
$DIVE,215
$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,60
$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
$GPS1,160417,193906,1313.1451,6011.9751,40,0.8,45,-0.6,0.0,0.0,10,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-67.2
$GPS2,160417,194433,1313.1073,6011.9702,10,0.8,20,-0.6,0.0,187.0,11,9.3
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1315.686,6013.845
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,40.6,5851,-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,-146.0,91,2071,326,568,0.0,0.0,0,104,0.00,0.00,-94.57,0.000,16386,0.000,0.000,92,2072,2962,2883,3041,0,0,0,0,0,0,14.81,28.83,14.83
$GC,107,-1.28,-146.0,91,2072,2883,3042,4.4,-5.7,16,139,13.55,2.58,-7.75,0.000,19236,0.394,2.065,2880,3424,3389,3273,3505,0,0,0,0,0,0,14.23,13.28,14.46
$GC,247,-1.35,-146.0,2880,3424,3275,3505,27.1,-10.9,42,254,0.00,2.28,0.00,0.000,1158,0.000,0.034,2880,2037,3389,3274,3505,0,0,0,0,0,0,14.66,14.60,14.68
$GC,556,-1.35,-146.0,2880,2037,3275,3505,62.0,-11.8,93,561,0.00,2.30,0.00,0.000,516,0.000,0.056,2880,657,3390,3275,3505,0,0,0,0,0,0,14.95,14.64,14.97
$GC,598,-1.39,-146.0,2880,657,3275,3505,67.3,-12.7,101,603,0.00,2.28,0.00,0.000,1158,0.000,0.037,2870,2046,3390,3275,3505,0,0,0,0,0,0,14.76,14.69,14.78
$GC,910,-1.39,-146.0,2870,2046,3275,3505,108.5,-12.3,133,911,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2046,3390,3275,3505,0,0,0,0,0,0,15.02,15.04,15.04
$GC,1211,-1.44,-146.0,2870,2045,3277,3505,136.9,-8.4,163,1215,0.00,2.35,0.00,0.000,420,0.000,0.057,2860,3457,3391,3277,3505,0,0,0,0,0,0,15.04,14.71,15.06
$GC,1233,-1.52,-146.0,2860,3457,3277,3505,138.7,-8.4,167,1242,0.00,2.30,0.00,0.000,1190,0.000,0.034,2860,2041,3391,3277,3505,0,0,0,0,0,0,14.83,14.77,14.85
$GC,1542,-1.57,-146.0,2860,2041,3277,3505,167.4,-11.0,199,1552,0.12,2.30,0.00,0.000,4740,0.123,0.054,2804,657,3391,3277,3505,0,0,0,0,0,0,14.78,14.72,14.81
$GC,1604,-1.57,-146.0,2804,657,3277,3505,175.5,-12.8,211,1614,0.17,2.28,0.00,0.000,3078,0.236,0.037,2835,2062,3391,3277,3505,0,0,0,0,0,0,14.52,14.77,14.73
$GC,1915,-1.57,-146.0,2834,2062,3277,3505,205.5,-8.7,243,1922,0.00,2.30,0.00,0.000,292,0.000,0.055,2826,3454,3391,3277,3505,0,0,0,0,0,0,15.04,14.73,15.06
$GC,1945,-1.61,-146.0,2826,3454,3277,3505,208.3,-8.6,248,1953,0.00,2.30,0.00,0.000,1190,0.000,0.035,2826,2045,3391,3277,3505,0,0,0,0,0,0,14.85,14.78,14.87
$GC,2252,-1.61,-146.0,2825,2044,3277,3505,236.0,-10.5,279,2256,0.00,2.33,0.00,0.000,516,0.000,0.057,2826,647,3391,3277,3505,0,0,0,0,0,0,15.04,14.72,15.06
$GC,2309,-1.61,-146.0,2826,646,3277,3505,242.7,-11.6,290,2316,0.00,2.30,0.00,0.000,1030,0.000,0.038,2816,2053,3391,3277,3505,0,0,0,0,0,0,14.84,14.76,14.86
$GC,2618,-1.61,-146.0,2816,2053,3277,3505,280.6,-12.8,305,2619,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2053,3391,3277,3505,0,0,0,0,0,0,15.06,15.08,15.08
$GC,2917,-1.61,-146.0,2816,2053,3277,3505,315.5,-10.9,315,2921,0.00,2.38,0.00,0.000,516,0.000,0.060,2816,655,3391,3277,3505,0,0,0,0,0,0,15.07,14.72,15.08
$GC,2995,-1.61,-146.0,2816,655,3277,3505,324.4,-10.9,330,3000,0.00,2.30,0.00,0.000,1030,0.000,0.041,2807,2053,3391,3277,3505,0,0,0,0,0,0,14.83,14.76,14.87
$GC,3313,-1.61,-146.0,2806,2054,3277,3505,358.3,-10.5,343,3318,0.00,2.35,0.00,0.000,260,0.000,0.063,2796,3450,3391,3277,3505,0,0,0,0,0,0,15.06,14.71,15.08
$GC,3339,-1.61,-146.0,2796,3450,3277,3504,361.3,-10.4,348,3350,0.12,2.33,0.00,0.000,3078,0.229,0.041,2823,2046,3391,3277,3505,0,0,0,0,0,0,14.52,14.76,14.73
$GC,3646,-1.61,-146.0,2823,2046,3276,3502,391.2,-10.0,359,3651,0.00,2.35,0.00,0.000,548,0.000,0.060,2824,646,3389,3276,3502,0,0,0,0,0,0,15.07,14.71,15.09
$GC,3722,-1.64,-146.0,2824,645,3275,3502,399.2,-9.7,373,3727,0.00,2.33,0.00,0.000,1190,0.000,0.041,2815,2054,3388,3274,3502,0,0,0,0,0,0,14.84,14.76,14.86
$GC,4045,-1.64,-146.0,2815,2054,3274,3499,432.1,-10.1,387,4050,0.00,2.35,0.00,0.000,260,0.000,0.062,2805,3451,3386,3273,3499,0,0,0,0,0,0,15.06,14.70,15.08
$GC,4071,-1.64,-146.0,2805,3451,3273,3499,435.1,-10.2,392,4081,0.00,2.33,0.00,0.000,1030,0.000,0.041,2805,2056,3386,3274,3499,0,0,0,0,0,0,14.83,14.75,14.85
$GC,4378,-1.64,-146.0,2806,2056,3272,3498,467.3,-10.7,403,4379,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2056,3384,3272,3497,0,0,0,0,0,0,15.06,15.09,15.08
$GC,4679,-1.64,-146.0,2805,2056,3271,3495,500.9,-11.1,413,4686,0.00,2.38,0.00,0.000,516,0.000,0.063,2806,647,3382,3270,3495,0,0,0,0,0,0,15.06,14.69,15.08
$GC,4714,-1.64,-146.0,2806,647,3270,3494,505.2,-11.2,419,4719,0.00,2.35,0.00,0.000,1030,0.000,0.042,2797,2058,3382,3270,3495,0,0,0,0,0,0,14.83,14.75,14.85
$GC,5047,-1.64,-146.0,2797,2059,3268,3493,541.8,-10.7,435,5051,0.00,2.35,0.00,0.000,260,0.000,0.063,2788,3450,3380,3268,3493,0,0,0,0,0,0,15.06,14.69,15.08
$GC,5095,-1.64,-146.0,2787,3450,3268,3492,547.1,-10.8,444,5102,0.12,2.35,0.00,0.000,3078,0.237,0.041,2814,2037,3380,3268,3492,0,0,0,0,0,0,14.46,14.73,14.66
$GC,5417,-1.64,-146.0,2814,2037,3267,3490,578.3,-9.7,457,5423,0.00,2.35,0.00,0.000,548,0.000,0.063,2815,650,3378,3267,3490,0,0,0,0,0,0,15.07,14.67,15.09
$GC,5466,-1.64,-146.0,2815,649,3266,3490,583.5,-10.4,466,5470,0.00,2.33,0.00,0.000,1030,0.000,0.042,2806,2051,3378,3267,3490,0,0,0,0,0,0,14.82,14.73,14.84
$GC,5784,-1.64,-146.0,2806,2051,3266,3488,616.6,-10.8,479,5790,0.00,2.40,0.00,0.000,516,0.000,0.063,2806,656,3377,3266,3488,0,0,0,0,0,0,15.06,14.66,15.08
$GC,5837,-1.64,-146.0,2806,655,3266,3488,623.1,-12.1,489,5842,0.00,2.33,0.00,0.000,1030,0.000,0.043,2796,2054,3377,3266,3488,0,0,0,0,0,0,14.81,14.73,14.84
$GC,6150,-1.64,-146.0,2796,2054,3264,3486,659.7,-11.8,501,6155,0.00,2.38,0.00,0.000,260,0.000,0.065,2787,3452,3375,3264,3487,0,0,0,0,0,0,15.05,14.66,15.07
$GC,6187,-1.64,-146.0,2786,3452,3265,3486,664.5,-11.6,508,6193,0.15,2.35,0.00,0.000,3078,0.237,0.041,2820,2044,3375,3265,3486,0,0,0,0,0,0,14.41,14.73,14.67
$GC,6518,-1.68,-146.0,2819,2044,3262,3486,701.2,-11.5,523,6523,0.00,2.38,0.00,0.000,644,0.000,0.063,2821,647,3374,3262,3486,0,0,0,0,0,0,15.07,14.65,15.09
$GC,6637,-1.71,-146.0,2820,646,3261,3486,715.4,-11.9,546,6645,0.00,2.35,0.00,0.000,1158,0.000,0.044,2812,2054,3373,3261,3486,0,0,0,0,0,0,14.80,14.71,14.83
$GC,6941,-1.71,-146.0,2811,2054,3261,3484,750.2,-11.5,557,6949,0.00,2.42,0.00,0.000,516,0.000,0.063,2812,651,3372,3260,3485,0,0,0,0,0,0,15.04,14.64,15.07
$GC,6985,-1.71,-146.0,2811,651,3261,3485,755.8,-11.9,565,6991,0.00,2.35,0.00,0.000,1030,0.000,0.044,2802,2050,3372,3260,3485,0,0,0,0,0,0,14.80,14.71,14.82
$GC,7309,-1.71,-146.0,2802,2050,3260,3484,792.4,-11.5,579,7310,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2050,3371,3260,3483,0,0,0,0,0,0,15.04,15.07,15.07
$GC,7610,-1.71,-146.0,2802,2050,3258,3482,826.5,-11.2,589,7618,0.00,2.42,0.00,0.000,516,0.000,0.067,2802,654,3370,3258,3482,0,0,0,0,0,0,15.04,14.62,15.07
$GC,7661,-1.71,-146.0,2802,655,3258,3482,832.7,-11.8,598,7666,0.00,2.35,0.00,0.000,1030,0.000,0.045,2792,2058,3370,3258,3482,0,0,0,0,0,0,14.79,14.70,14.82
$GC,7979,-1.71,-146.0,2792,2058,3258,3481,867.4,-10.6,611,7984,0.00,2.45,0.00,0.000,516,0.000,0.067,2793,649,3369,3258,3481,0,0,0,0,0,0,15.04,14.62,15.07
$GC,8005,-1.71,-146.0,2793,649,3258,3480,870.5,-11.6,616,8014,0.00,2.38,0.00,0.000,1030,0.000,0.047,2784,2058,3368,3257,3480,0,0,0,0,0,0,14.78,14.69,14.82
$GC,8311,-1.71,-146.0,2784,2058,3257,3479,902.6,-10.5,627,8316,0.00,2.45,0.00,0.000,516,0.000,0.067,2785,651,3368,3257,3479,0,0,0,0,0,0,15.04,14.61,15.07
$GC,8338,-1.68,-146.0,2784,651,3257,3479,905.8,-12.0,632,8348,0.15,2.38,0.00,0.000,3206,0.269,0.047,2806,2063,3367,3256,3479,0,0,0,0,0,0,14.32,14.70,14.62
$GC,8644,-1.68,-146.0,2806,2064,3255,3479,936.2,-10.1,643,8649,0.00,2.45,0.00,0.000,516,0.000,0.067,2809,654,3367,3255,3479,0,0,0,0,0,0,15.04,14.61,15.07
$GC,8693,-1.68,-146.0,2809,654,3255,3478,941.6,-11.4,652,8699,0.00,2.35,0.00,0.000,1030,0.000,0.047,2800,2053,3367,3255,3479,0,0,0,0,0,0,14.78,14.69,14.81
$GC,9014,-1.68,-146.0,2800,2053,3254,3478,976.3,-11.0,665,9015,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2054,3366,3254,3478,0,0,0,0,0,0,15.05,15.08,15.07
$STATE,9161,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9161,begin apogee
$GC,9166,-0.33,0.0,2801,1790,3254,3478,992.6,-10.9,670,9300,1.15,0.00,129.93,2.703,10246,0.255,0.000,3095,1788,2789,2674,2905,0,0,0,0,0,0,14.32,13.98,12.91
$STATE,9301,end apogee,CONTROL_FINISHED_OK
$STATE,9301,begin climb
$GC,9303,1.28,146.0,3096,1789,2669,2901,996.5,0.0,674,9444,1.25,0.00,136.43,2.661,10246,0.159,0.000,3457,1789,2193,2064,2322,0,0,0,0,0,0,13.97,13.77,12.76
$GC,9733,1.07,146.0,3456,1789,2043,2318,956.0,12.6,689,9738,0.22,2.45,0.00,0.000,4740,0.340,0.076,3419,408,2180,2042,2318,0,0,0,0,0,0,14.12,14.42,14.33
$GC,9759,0.90,146.0,3419,408,2041,2318,952.5,11.9,694,9767,0.20,2.38,0.00,0.000,5254,0.327,0.044,3371,1800,2179,2040,2318,0,0,0,0,0,0,14.16,14.50,14.50
$GC,10066,0.84,146.0,3371,1800,2038,2318,922.2,10.1,705,10070,0.00,2.42,0.00,0.000,388,0.000,0.066,3370,3204,2178,2038,2318,0,0,0,0,0,0,14.90,14.57,14.92
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$STATE,19000,end climb,SURFACE_DEPTH_REACHED
$STATE,19000,begin surface coast
$FINISH,1.5,1.008939
$STATE,19031,end surface coast,CONTROL_FINISHED_OK
$STATE,19031,begin surface
$SM_CCo,19052,85.32,0.080,0,0,449,573.99
$SM_GC,2.36,9.98,2.85,85.32,0.084,0.038,0.080,89,2058,449,-14.13,-1.02,573.99,0,0,0,0,0,0,14.58,14.64,14.57
$IRIDIUM_FIX,1305.38,6012.83,160417,140644
$TT8_MAMPS,0.023968,0.158039
$HUMID,49.64
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,24.00
$XPDR_PINGS,7
$24V_AH,12.76,75.726
$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,27.850,206.775,472.075,85.325,0.000,0.000,0.000,223.275,110.250,0.000,21.658,3027.356,12814.188,833.427,2553.894,236.958,0.000,2243.750,0.000,1991.960,0.000,731.124,0.000
$DEVICE_MAMPS,393.975,2064.735,2702.745,80.325,0.000,0.000,0.000,183.600,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,686.550,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225060
$DATA_FILE_SIZE,59958,1400
$CAP_FILE_SIZE,219683,0
$CFSIZE,260034560,241373184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.053,245.95,1
$GPS,170417,010538,1314.891,6013.286,48,0.8,56,-0.6,0.0,209.1,10,9.7