version: 66.13
glider: 137
mission: 5
dive: 219
start: 4 17 117 17 44 8
data:
$ID,137
$MISSION,5
$DIVE,219
$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,63
$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
$GPS1,170417,173759,1311.5964,6014.6821,41,1.1,47,-0.7,0.0,0.0,7,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-68.0
$GPS2,170417,174334,1311.5674,6014.7119,11,0.9,23,-0.7,0.0,161.3,11,9.7
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1308.595,6013.645
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,197.2,5831,-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,8,-1.28,-146.0,93,2074,331,564,0.0,0.0,0,104,0.00,0.00,-93.97,0.000,16386,0.000,0.000,93,2075,2969,2891,3047,0,0,0,0,0,0,14.82,28.83,14.84
$GC,107,-1.28,-146.0,93,2075,2891,3048,4.5,-5.9,16,139,15.35,2.55,-7.38,0.000,18724,0.450,2.064,2882,3433,3388,3271,3505,0,0,0,0,0,0,14.19,13.32,14.58
$GC,221,-1.36,-146.0,2882,3434,3272,3506,25.2,-10.7,37,229,0.00,2.30,0.00,0.000,1158,0.000,0.035,2882,2041,3389,3272,3506,0,0,0,0,0,0,14.64,14.58,14.66
$GC,536,-1.36,-146.0,2882,2041,3272,3506,60.6,-9.9,89,541,0.00,2.33,0.00,0.000,548,0.000,0.056,2882,648,3389,3272,3506,0,0,0,0,0,0,14.95,14.63,14.97
$GC,568,-1.36,-146.0,2882,647,3272,3506,63.7,-9.6,95,577,0.00,2.28,0.00,0.000,1062,0.000,0.036,2872,2038,3389,3272,3506,0,0,0,0,0,0,14.75,14.68,14.77
$GC,878,-1.36,-146.0,2872,2038,3273,3506,98.5,-13.7,127,882,0.00,2.35,0.00,0.000,260,0.000,0.057,2862,3447,3389,3273,3506,0,0,0,0,0,0,15.01,14.68,15.04
$GC,919,-1.42,-146.0,2862,3447,3273,3506,104.0,-13.4,135,928,0.00,2.30,0.00,0.000,1158,0.000,0.036,2862,2039,3389,3273,3506,0,0,0,0,0,0,14.80,14.73,14.82
$GC,1229,-1.42,-146.0,2862,2039,3274,3506,136.6,-9.3,167,1238,0.00,2.38,0.00,0.000,292,0.000,0.057,2853,3447,3390,3274,3506,0,0,0,0,0,0,15.04,14.71,15.07
$GC,1325,-1.51,-146.0,2852,3447,3274,3507,145.3,-9.7,186,1332,0.00,2.30,0.00,0.000,1190,0.000,0.035,2853,2038,3390,3274,3506,0,0,0,0,0,0,14.82,14.76,14.85
$GC,1631,-1.55,-146.0,2853,2037,3275,3506,177.9,-10.5,217,1635,0.00,2.30,0.00,0.000,644,0.000,0.055,2853,643,3390,3274,3506,0,0,0,0,0,0,15.07,14.72,15.09
$GC,1663,-1.60,-146.0,2852,643,3274,3506,181.1,-10.7,223,1671,0.00,2.28,0.00,0.000,1158,0.000,0.035,2842,2053,3390,3274,3506,0,0,0,0,0,0,14.84,14.77,14.85
$GC,1975,-1.64,-146.0,2842,2053,3274,3506,207.4,-8.8,255,1981,0.10,2.35,0.00,0.000,4772,0.150,0.053,2806,655,3390,3275,3506,0,0,0,0,0,0,14.78,14.72,14.83
$GC,2034,-1.64,-146.0,2805,655,3274,3506,213.4,-10.5,266,2042,0.12,2.28,0.00,0.000,3078,0.273,0.037,2820,2057,3390,3274,3506,0,0,0,0,0,0,14.46,14.77,14.71
$GC,2341,-1.64,-146.0,2820,2057,3274,3506,244.3,-9.2,297,2346,0.00,2.33,0.00,0.000,292,0.000,0.059,2811,3451,3390,3274,3506,0,0,0,0,0,0,15.04,14.71,15.06
$GC,2365,-1.64,-146.0,2811,3451,3274,3506,246.7,-10.1,301,2371,0.00,2.30,0.00,0.000,1030,0.000,0.037,2812,2047,3390,3274,3506,0,0,0,0,0,0,14.83,14.77,14.86
$GC,2680,-1.64,-146.0,2811,2046,3274,3506,280.3,-12.0,315,2681,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2046,3390,3274,3506,0,0,0,0,0,0,15.06,15.09,15.08
$GC,2980,-1.64,-146.0,2811,2047,3274,3506,318.0,-11.8,325,2985,0.00,2.38,0.00,0.000,260,0.000,0.059,2802,3443,3390,3274,3506,0,0,0,0,0,0,15.06,14.72,15.08
$GC,3046,-1.68,-146.0,2801,3443,3274,3506,326.0,-11.1,337,3051,0.00,2.30,0.00,0.000,1158,0.000,0.038,2802,2047,3390,3274,3506,0,0,0,0,0,0,14.84,14.77,14.87
$GC,3379,-1.68,-146.0,2801,2046,3274,3505,364.0,-10.8,353,3380,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2047,3389,3274,3505,0,0,0,0,0,0,15.07,15.09,15.08
$GC,3680,-1.68,-146.0,2801,2046,3272,3503,394.8,-10.3,363,3687,0.00,2.40,0.00,0.000,260,0.000,0.061,2792,3449,3387,3272,3503,0,0,0,0,0,0,15.07,14.71,15.08
$GC,3723,-1.68,-146.0,2792,3449,3272,3502,399.9,-10.7,371,3730,0.00,2.33,0.00,0.000,1030,0.000,0.041,2792,2046,3387,3272,3502,0,0,0,0,0,0,14.83,14.76,14.86
$GC,4049,-1.68,-146.0,2792,2045,3271,3500,435.4,-11.2,385,4055,0.00,2.40,0.00,0.000,260,0.000,0.062,2782,3445,3384,3270,3499,0,0,0,0,0,0,15.07,14.70,15.09
$GC,4086,-1.68,-146.0,2782,3445,3270,3499,440.0,-11.0,392,4092,0.12,2.33,0.00,0.000,3078,0.273,0.041,2808,2039,3384,3270,3499,0,0,0,0,0,0,14.40,14.75,14.69
$GC,4415,-1.68,-146.0,2808,2039,3268,3498,477.0,-11.6,407,4422,0.00,2.35,0.00,0.000,516,0.000,0.063,2809,648,3383,3268,3498,0,0,0,0,0,0,15.06,14.69,15.08
$GC,4465,-1.68,-146.0,2809,648,3267,3498,483.1,-12.2,416,4470,0.00,2.33,0.00,0.000,1030,0.000,0.045,2800,2043,3382,3267,3498,0,0,0,0,0,0,14.82,14.73,14.85
$GC,4783,-1.68,-146.0,2800,2043,3266,3495,518.9,-10.9,429,4789,0.00,2.40,0.00,0.000,260,0.000,0.067,2790,3460,3381,3267,3495,0,0,0,0,0,0,15.06,14.69,15.07
$GC,4805,-1.68,-146.0,2790,3460,3266,3495,521.6,-11.0,433,4811,0.00,2.35,0.00,0.000,1030,0.000,0.042,2790,2053,3380,3266,3494,0,0,0,0,0,0,14.82,14.73,14.85
$GC,5119,-1.68,-146.0,2790,2053,3265,3494,554.8,-10.5,445,5120,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2053,3379,3265,3494,0,0,0,0,0,0,15.06,15.08,15.08
$GC,5420,-1.68,-146.0,2790,2053,3263,3492,585.0,-10.1,455,5426,0.00,2.42,0.00,0.000,260,0.000,0.063,2781,3459,3377,3263,3491,0,0,0,0,0,0,15.06,14.67,15.08
$GC,5473,-1.68,-146.0,2780,3459,3263,3490,591.1,-11.0,465,5479,0.12,2.38,0.00,0.000,3078,0.249,0.043,2809,2036,3376,3263,3490,0,0,0,0,0,0,14.41,14.73,14.62
$GC,5787,-1.68,-146.0,2809,2035,3261,3489,622.4,-10.1,477,5793,0.00,2.35,0.00,0.000,516,0.000,0.066,2810,654,3375,3261,3489,0,0,0,0,0,0,15.06,14.66,15.08
$GC,5863,-1.68,-146.0,2810,654,3261,3489,630.6,-10.1,491,5868,0.00,2.35,0.00,0.000,1030,0.000,0.045,2802,2056,3374,3260,3489,0,0,0,0,0,0,14.80,14.71,14.83
$GC,6185,-1.68,-146.0,2802,2057,3260,3487,664.9,-10.9,505,6187,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2057,3373,3260,3487,0,0,0,0,0,0,15.05,15.08,15.07
$GC,6486,-1.68,-146.0,2801,2057,3259,3486,697.4,-10.7,515,6493,0.00,2.42,0.00,0.000,516,0.000,0.064,2802,655,3372,3259,3486,0,0,0,0,0,0,15.05,14.64,15.07
$GC,6565,-1.68,-146.0,2802,655,3258,3486,706.3,-10.1,530,6570,0.00,2.35,0.00,0.000,1030,0.000,0.047,2792,2052,3372,3258,3486,0,0,0,0,0,0,14.79,14.69,14.82
$GC,6883,-1.68,-146.0,2791,2053,3258,3485,737.4,-9.6,543,6890,0.00,2.42,0.00,0.000,548,0.000,0.066,2792,655,3371,3257,3485,0,0,0,0,0,0,15.05,14.63,15.08
$GC,6921,-1.68,-146.0,2792,655,3257,3485,741.4,-9.9,550,6929,0.12,2.35,0.00,0.000,3110,0.300,0.047,2805,2053,3371,3257,3485,0,0,0,0,0,0,14.30,14.69,14.61
$GC,7252,-1.68,-146.0,2805,2053,3255,3484,771.0,-9.1,565,7258,0.00,2.42,0.00,0.000,292,0.000,0.072,2796,3458,3369,3255,3483,0,0,0,0,0,0,15.05,14.61,15.07
$GC,7288,-1.68,-146.0,2796,3458,3256,3483,774.2,-9.4,571,7293,0.00,2.38,0.00,0.000,1062,0.000,0.045,2796,2049,3369,3256,3483,0,0,0,0,0,0,14.78,14.69,14.81
$GC,7622,-1.68,-146.0,2796,2049,3255,3482,807.9,-10.3,587,7627,0.00,2.40,0.00,0.000,516,0.000,0.068,2799,646,3368,3254,3482,0,0,0,0,0,0,15.06,14.62,15.08
$GC,7674,-1.68,-146.0,2799,646,3253,3482,813.8,-10.9,597,7682,0.00,2.38,0.00,0.000,1030,0.000,0.046,2791,2059,3367,3253,3482,0,0,0,0,0,0,14.78,14.69,14.81
$GC,7990,-1.68,-146.0,2791,2060,3253,3481,846.1,-10.1,609,7991,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2060,3367,3253,3481,0,0,0,0,0,0,15.04,15.07,15.07
$GC,8292,-1.68,-146.0,2790,2060,3251,3479,873.8,-8.9,619,8297,0.00,2.40,0.00,0.000,292,0.000,0.070,2781,3454,3365,3252,3479,0,0,0,0,0,0,15.06,14.60,15.08
$GC,8331,-1.68,-146.0,2781,3454,3253,3479,877.4,-8.7,626,8336,0.12,2.38,0.00,0.000,3110,0.252,0.047,2806,2050,3365,3252,3479,0,0,0,0,0,0,14.35,14.68,14.57
$GC,8660,-1.68,-146.0,2806,2049,3251,3478,902.7,-7.8,641,8667,0.00,2.42,0.00,0.000,548,0.000,0.067,2807,636,3365,3251,3479,0,0,0,0,0,0,15.04,14.61,15.07
$GC,8727,-1.68,-146.0,2806,636,3250,3479,908.2,-7.7,653,8732,0.00,2.40,0.00,0.000,1062,0.000,0.047,2798,2057,3364,3250,3479,0,0,0,0,0,0,14.76,14.66,14.79
$GC,9062,-1.68,-146.0,2798,2057,3250,3478,937.6,-9.2,669,9063,0.00,0.00,0.00,0.000,38,0.000,0.000,2798,2056,3364,3250,3478,0,0,0,0,0,0,15.05,15.08,15.07
$GC,9362,-1.68,-146.0,2798,2057,3249,3477,966.7,-9.9,679,9367,0.00,2.47,0.00,0.000,548,0.000,0.067,2798,640,3363,3249,3477,0,0,0,0,0,0,15.04,14.59,15.07
$GC,9427,-1.68,-146.0,2798,638,3248,3477,973.9,-9.9,691,9432,0.00,2.40,0.00,0.000,1062,0.000,0.048,2788,2056,3363,3248,3478,0,0,0,0,0,0,14.76,14.66,14.78
$STATE,9580,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9580,begin apogee
$GC,9585,-0.33,0.0,2788,1782,3247,3477,990.2,-10.7,701,9717,1.23,0.00,128.93,2.681,10246,0.265,0.000,3097,1782,2790,2674,2906,0,0,0,0,0,0,14.30,13.97,12.89
$STATE,9718,end apogee,CONTROL_FINISHED_OK
$STATE,9719,begin climb
$GC,9720,1.28,146.0,3097,1782,2668,2903,994.1,0.0,705,9866,1.20,2.58,135.52,2.663,10756,0.156,0.074,3461,397,2188,2056,2321,0,0,0,0,0,0,13.96,13.59,12.74
$GC,9908,1.05,146.0,3461,397,2043,2321,984.1,12.4,746,9914,0.22,2.50,0.00,0.000,5254,0.321,0.045,3409,1807,2181,2042,2321,0,0,0,0,0,0,13.81,14.04,14.08
$GC,10242,0.92,146.0,3408,1807,2036,2321,950.4,10.3,762,10247,0.15,2.42,0.00,0.000,4484,0.382,0.067,3374,3203,2178,2036,2321,0,0,0,0,0,0,14.09,14.45,14.34
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$STATE,19646,end climb,SURFACE_DEPTH_REACHED
$STATE,19647,begin surface coast
$FINISH,1.5,1.004675
$STATE,19684,end surface coast,CONTROL_FINISHED_OK
$STATE,19684,begin surface
$SM_CCo,19702,93.75,0.080,0,0,450,573.99
$SM_GC,2.40,9.98,0.38,93.75,0.090,0.058,0.080,97,2070,450,-14.11,-1.39,573.99,0,0,0,0,0,0,14.54,14.72,14.59
$IRIDIUM_FIX,1307.59,6014.76,170417,120841
$TT8_MAMPS,0.024717,0.158039
$HUMID,49.29
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,24.10
$XPDR_PINGS,5
$24V_AH,12.74,77.383
$10V_AH,13.08,0.000
$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,29.425,207.425,463.475,93.750,0.000,0.000,0.000,226.050,115.000,0.000,24.355,3170.571,13243.111,781.125,2687.426,247.090,0.000,2266.129,0.000,2101.871,0.000,765.067,0.000
$DEVICE_MAMPS,449.820,2063.970,2680.560,79.560,0.000,0.000,0.000,180.540,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,712.489,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225160
$DATA_FILE_SIZE,63352,1478
$CAP_FILE_SIZE,230288,0
$CFSIZE,260034560,240979968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.007,157.82,1
$GPS,170417,231527,1309.026,6013.871,37,0.9,46,-0.7,0.2,0.0,9,9.4