version: 66.13
glider: 137
mission: 5
dive: 220
start: 4 17 117 23 21 4
data:
$ID,137
$MISSION,5
$DIVE,220
$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,37
$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
$GPS1,170417,231527,1309.0259,6013.8706,37,0.9,46,-0.7,0.2,0.0,9,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-68.7
$GPS2,170417,232028,1309.0302,6013.8447,14,0.9,18,-0.7,0.0,0.0,9,9.4
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1305.841,6013.791
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,182.2,5907,-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,-146.0,97,2075,330,565,0.0,0.0,0,104,0.00,0.00,-93.70,0.000,16386,0.000,0.000,97,2075,2963,2882,3044,0,0,0,0,0,0,14.83,28.83,14.85
$GC,107,-1.28,-146.0,97,2075,2883,3043,4.7,-6.8,16,138,15.57,2.70,-7.40,0.000,18980,0.456,2.062,2895,647,3388,3275,3502,0,0,0,0,0,0,14.23,13.32,14.59
$GC,190,-1.28,-146.0,2895,647,3276,3502,22.4,-12.5,31,196,0.00,2.30,0.00,0.000,1030,0.000,0.037,2886,2033,3389,3276,3502,0,0,0,0,0,0,14.64,14.57,14.65
$GC,499,-1.28,-146.0,2886,2034,3276,3503,55.7,-8.6,86,508,0.00,2.38,0.00,0.000,292,0.000,0.059,2876,3449,3389,3277,3502,0,0,0,0,0,0,14.94,14.61,14.95
$GC,531,-1.34,-146.0,2876,3449,3276,3502,58.5,-8.4,92,541,0.00,2.33,0.00,0.000,1190,0.000,0.037,2876,2044,3389,3277,3502,0,0,0,0,0,0,14.73,14.66,14.76
$GC,840,-1.34,-146.0,2876,2044,3277,3502,93.8,-13.6,124,844,0.00,2.38,0.00,0.000,260,0.000,0.056,2866,3446,3389,3277,3502,0,0,0,0,0,0,15.01,14.66,15.02
$GC,877,-1.39,-146.0,2866,3446,3277,3502,99.0,-14.9,131,886,0.00,2.30,0.00,0.000,1158,0.000,0.037,2866,2041,3389,3277,3502,0,0,0,0,0,0,14.79,14.72,14.81
$GC,1187,-1.44,-146.0,2866,2041,3278,3502,135.2,-9.9,163,1196,0.00,2.30,0.00,0.000,676,0.000,0.056,2866,654,3390,3278,3502,0,0,0,0,0,0,15.04,14.69,15.05
$GC,1269,-1.50,-146.0,2866,654,3278,3503,142.2,-8.5,179,1278,0.00,2.28,0.00,0.000,1190,0.000,0.038,2857,2053,3390,3278,3502,0,0,0,0,0,0,14.82,14.75,14.83
$GC,1579,-1.55,-146.0,2856,2054,3278,3502,170.1,-8.9,211,1588,0.00,2.38,0.00,0.000,676,0.000,0.057,2857,644,3390,3278,3502,0,0,0,0,0,0,15.06,14.71,15.08
$GC,1611,-1.62,-146.0,2856,644,3278,3502,172.9,-8.8,217,1616,0.10,2.30,0.00,0.000,5286,0.141,0.037,2807,2061,3390,3278,3502,0,0,0,0,0,0,14.71,14.76,14.81
$GC,1925,-1.58,-146.0,2806,2061,3278,3502,207.7,-12.6,249,1931,0.12,2.30,0.00,0.000,2436,0.247,0.055,2828,3446,3390,3278,3502,0,0,0,0,0,0,14.49,14.71,14.62
$GC,1963,-1.65,-146.0,2828,3446,3278,3502,212.4,-11.0,256,1970,0.00,2.30,0.00,0.000,1158,0.000,0.037,2828,2039,3390,3278,3502,0,0,0,0,0,0,14.83,14.76,14.85
$GC,2269,-1.65,-146.0,2828,2039,3278,3502,244.3,-9.5,287,2274,0.00,2.38,0.00,0.000,292,0.000,0.057,2818,3445,3390,3278,3502,0,0,0,0,0,0,15.04,14.71,15.06
$GC,2307,-1.70,-146.0,2818,3445,3278,3502,247.9,-9.3,294,2315,0.00,2.30,0.00,0.000,1190,0.000,0.035,2818,2039,3390,3278,3502,0,0,0,0,0,0,14.83,14.76,14.85
$GC,2632,-1.70,-146.0,2818,2038,3278,3502,282.5,-11.5,307,2639,0.00,2.40,0.00,0.000,260,0.000,0.057,2808,3455,3390,3278,3502,0,0,0,0,0,0,15.05,14.71,15.07
$GC,2667,-1.70,-146.0,2808,3455,3278,3502,286.4,-11.7,313,2673,0.00,2.30,0.00,0.000,1030,0.000,0.037,2808,2051,3390,3278,3502,0,0,0,0,0,0,14.84,14.77,14.86
$GC,3001,-1.70,-146.0,2808,2051,3278,3502,324.7,-10.6,329,3002,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2051,3390,3278,3502,0,0,0,0,0,0,15.05,15.08,15.07
$GC,3302,-1.70,-146.0,2808,2051,3278,3502,355.9,-11.1,339,3303,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2051,3390,3278,3502,0,0,0,0,0,0,15.06,15.09,15.08
$GC,3603,-1.70,-146.0,2807,2051,3276,3501,390.8,-11.6,349,3604,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2051,3388,3276,3501,0,0,0,0,0,0,15.07,15.10,15.09
$GC,3902,-1.70,-146.0,2808,2050,3275,3499,425.2,-11.6,359,3903,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2051,3386,3274,3499,0,0,0,0,0,0,15.07,15.09,15.09
$GC,4202,-1.70,-146.0,2807,2051,3273,3497,458.3,-10.5,369,4209,0.00,2.40,0.00,0.000,260,0.000,0.062,2798,3447,3384,3273,3496,0,0,0,0,0,0,15.07,14.69,15.09
$GC,4237,-1.70,-146.0,2798,3447,3273,3496,461.9,-9.6,375,4242,0.00,2.33,0.00,0.000,1062,0.000,0.041,2798,2047,3384,3273,3496,0,0,0,0,0,0,14.83,14.75,14.85
$GC,4570,-1.70,-146.0,2798,2046,3271,3494,493.0,-9.1,391,4575,0.00,2.40,0.00,0.000,292,0.000,0.063,2788,3441,3382,3271,3494,0,0,0,0,0,0,15.07,14.69,15.09
$GC,4608,-1.70,-146.0,2788,3441,3271,3494,496.7,-9.1,398,4613,0.00,2.33,0.00,0.000,1062,0.000,0.044,2788,2050,3382,3271,3494,0,0,0,0,0,0,14.82,14.74,14.85
$GC,4937,-1.70,-146.0,2788,2049,3269,3492,529.2,-10.3,413,4943,0.00,2.38,0.00,0.000,516,0.000,0.063,2788,643,3381,3270,3492,0,0,0,0,0,0,15.07,14.68,15.09
$GC,4960,-1.66,-146.0,2788,643,3269,3492,532.1,-11.4,417,4966,0.15,2.33,0.00,0.000,3206,0.282,0.043,2809,2044,3380,3269,3492,0,0,0,0,0,0,14.35,14.73,14.64
$GC,5274,-1.66,-146.0,2809,2044,3267,3490,562.1,-9.4,429,5280,0.00,2.40,0.00,0.000,292,0.000,0.067,2800,3454,3378,3267,3490,0,0,0,0,0,0,15.07,14.66,15.09
$GC,5325,-1.70,-146.0,2800,3454,3267,3489,566.9,-9.7,438,5332,0.00,2.35,0.00,0.000,1190,0.000,0.043,2800,2049,3378,3267,3489,0,0,0,0,0,0,14.81,14.72,14.84
$GC,5647,-1.70,-146.0,2800,2049,3266,3488,597.5,-9.7,451,5651,0.00,2.42,0.00,0.000,292,0.000,0.067,2790,3446,3376,3266,3487,0,0,0,0,0,0,15.07,14.65,15.09
$GC,5673,-1.70,-146.0,2790,3446,3266,3487,600.6,-10.1,456,5681,0.00,2.35,0.00,0.000,1030,0.000,0.044,2790,2048,3376,3266,3487,0,0,0,0,0,0,14.81,14.71,14.83
$GC,5981,-1.70,-146.0,2790,2048,3265,3487,632.9,-11.0,467,5986,0.00,2.42,0.00,0.000,260,0.000,0.066,2781,3446,3375,3265,3486,0,0,0,0,0,0,15.07,14.64,15.09
$GC,6014,-1.70,-146.0,2781,3446,3265,3486,636.7,-10.5,473,6023,0.12,2.35,0.00,0.000,3078,0.243,0.044,2806,2041,3375,3265,3486,0,0,0,0,0,0,14.41,14.71,14.62
$GC,6350,-1.70,-146.0,2806,2041,3263,3486,673.5,-11.2,489,6358,0.00,2.38,0.00,0.000,516,0.000,0.065,2810,645,3374,3263,3486,0,0,0,0,0,0,15.05,14.64,15.07
$GC,6410,-1.70,-146.0,2809,646,3262,3486,680.8,-11.8,500,6417,0.00,2.35,0.00,0.000,1030,0.000,0.044,2801,2050,3374,3262,3486,0,0,0,0,0,0,14.80,14.71,14.82
$GC,6718,-1.70,-146.0,2800,2050,3261,3485,715.0,-11.1,511,6722,0.00,2.42,0.00,0.000,516,0.000,0.063,2801,644,3373,3262,3485,0,0,0,0,0,0,15.06,14.64,15.08
$GC,6770,-1.70,-146.0,2800,643,3261,3484,721.5,-12.9,521,6778,0.00,2.35,0.00,0.000,1030,0.000,0.043,2791,2053,3373,3261,3485,0,0,0,0,0,0,14.79,14.71,14.82
$GC,7085,-1.70,-146.0,2791,2053,3261,3482,756.0,-10.8,533,7093,0.00,2.40,0.00,0.000,260,0.000,0.067,2781,3457,3371,3261,3482,0,0,0,0,0,0,15.05,14.62,15.07
$GC,7137,-1.70,-146.0,2781,3457,3261,3481,761.4,-10.0,542,7143,0.10,2.38,0.00,0.000,3078,0.247,0.044,2800,2040,3371,3261,3481,0,0,0,0,0,0,14.43,14.70,14.63
$GC,7456,-1.70,-146.0,2799,2040,3260,3481,788.4,-8.1,555,7461,0.00,2.38,0.00,0.000,548,0.000,0.064,2807,648,3370,3259,3481,0,0,0,0,0,0,15.04,14.62,15.07
$GC,7494,-1.70,-146.0,2806,648,3259,3481,791.9,-8.9,562,7499,0.00,2.35,0.00,0.000,1062,0.000,0.044,2798,2050,3370,3259,3481,0,0,0,0,0,0,14.78,14.70,14.81
$GC,7823,-1.70,-146.0,2797,2051,3258,3479,817.7,-8.2,577,7824,0.00,0.00,0.00,0.000,38,0.000,0.000,2798,2051,3369,3258,3480,0,0,0,0,0,0,15.06,15.09,15.08
$GC,8123,-1.70,-146.0,2797,2051,3257,3479,845.2,-9.5,587,8128,0.00,2.45,0.00,0.000,548,0.000,0.066,2798,643,3368,3257,3479,0,0,0,0,0,0,15.04,14.61,15.07
$GC,8171,-1.70,-146.0,2797,642,3257,3479,850.5,-10.1,596,8178,0.00,2.38,0.00,0.000,1030,0.000,0.044,2788,2060,3368,3257,3479,0,0,0,0,0,0,14.78,14.69,14.81
$GC,8493,-1.70,-146.0,2788,2060,3256,3478,884.6,-10.9,609,8498,0.00,2.40,0.00,0.000,260,0.000,0.067,2778,3458,3367,3256,3478,0,0,0,0,0,0,15.06,14.60,15.07
$GC,8526,-1.70,-146.0,2778,3458,3256,3478,888.6,-11.2,615,8533,0.12,2.38,0.00,0.000,3078,0.246,0.045,2809,2049,3367,3256,3478,0,0,0,0,0,0,14.33,14.68,14.49
$GC,8862,-1.70,-146.0,2809,2049,3254,3477,921.7,-9.8,631,8866,0.00,2.40,0.00,0.000,548,0.000,0.067,2810,648,3366,3255,3478,0,0,0,0,0,0,15.04,14.59,15.07
$GC,8945,-1.70,-146.0,2810,648,3254,3477,930.6,-11.1,647,8950,0.00,2.35,0.00,0.000,1030,0.000,0.045,2802,2050,3365,3254,3477,0,0,0,0,0,0,14.76,14.67,14.79
$GC,9258,-1.70,-146.0,2801,2050,3253,3477,961.6,-10.1,659,9263,0.00,2.40,0.00,0.000,260,0.000,0.068,2791,3446,3365,3253,3477,0,0,0,0,0,0,15.03,14.59,15.05
$GC,9284,-1.70,-146.0,2791,3446,3253,3477,964.4,-10.4,664,9293,0.00,2.38,0.00,0.000,1030,0.000,0.046,2791,2042,3365,3253,3477,0,0,0,0,0,0,14.76,14.67,14.79
$STATE,9562,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9562,begin apogee
$GC,9567,-0.33,0.0,2791,1795,3253,3476,992.5,-10.3,674,9701,1.20,0.00,130.20,2.723,10246,0.259,0.000,3096,1793,2789,2675,2903,0,0,0,0,0,0,14.32,13.96,12.88
$STATE,9702,end apogee,CONTROL_FINISHED_OK
$STATE,9702,begin climb
$GC,9704,1.28,146.0,3097,1793,2671,2901,995.8,0.0,678,9849,1.20,2.62,135.88,2.678,10500,0.151,0.069,3445,3202,2189,2061,2317,0,0,0,0,0,0,13.96,13.77,12.71
$GC,9890,1.06,146.0,3445,3202,2060,2307,984.8,12.3,720,9895,0.22,2.50,0.00,0.000,5254,0.326,0.050,3411,1803,2183,2060,2307,0,0,0,0,0,0,13.77,14.03,14.06
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$STATE,19282,end climb,SURFACE_DEPTH_REACHED
$STATE,19282,begin surface coast
$FINISH,1.6,1.009370
$STATE,19304,end surface coast,CONTROL_FINISHED_OK
$STATE,19304,begin surface
$SM_CCo,19322,54.97,0.081,0,0,450,573.99
$SM_GC,2.42,9.93,0.40,54.97,0.078,0.057,0.081,94,2074,450,-14.11,-1.13,573.99,0,0,0,0,0,0,14.55,14.70,14.59
$IRIDIUM_FIX,1307.59,6015.86,170417,173942
$TT8_MAMPS,0.023968,0.15729
$HUMID,50.59
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,24.10
$XPDR_PINGS,9
$24V_AH,12.71,77.815
$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,29.825,212.525,534.600,54.975,0.000,0.000,0.000,197.550,110.250,0.000,19.109,3037.857,13013.383,805.730,2584.736,238.579,0.000,2258.119,0.000,2050.035,0.000,726.070,0.000
$DEVICE_MAMPS,455.940,2061.675,2722.635,81.090,0.000,0.000,0.000,185.895,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,682.258,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225104
$DATA_FILE_SIZE,63325,1441
$CAP_FILE_SIZE,225707,0
$CFSIZE,260034560,240889856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.030,259.45,1
$GPS,180417,044525,1306.319,6013.358,40,0.8,46,-0.7,0.0,0.0,10,9.5