version: 66.13
glider: 137
mission: 5
dive: 221
start: 4 18 117 4 51 42
data:
$ID,137
$MISSION,5
$DIVE,221
$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,29
$R_STBD_OVSHOOT,61
$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
$GPS1,180417,044525,1306.3191,6013.3579,40,0.8,46,-0.7,0.0,0.0,10,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-67.7
$GPS2,180417,045056,1306.3079,6013.3740,10,0.8,18,-0.7,0.0,0.0,10,10.0
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1308.110,6010.852
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,311.7,5642,-18.1,-10.000,-20.63,1890
$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,-1.36,-123.0,94,2078,325,569,0.0,0.0,0,104,0.00,0.00,-93.85,0.000,16386,0.000,0.000,94,2078,2969,2887,3052,0,0,0,0,0,0,14.82,28.83,14.85
$GC,107,-1.39,-146.0,94,2078,2888,3052,4.6,-6.0,16,138,14.40,2.58,-7.55,0.000,18724,0.425,2.063,2859,3426,3388,3272,3504,0,0,0,0,0,0,14.23,13.31,14.59
$GC,175,-1.39,-146.0,2858,3426,3273,3504,20.7,-14.7,28,182,0.00,2.33,0.00,0.000,1030,0.000,0.037,2859,2026,3388,3273,3504,0,0,0,0,0,0,14.62,14.56,14.64
$GC,490,-1.39,-146.0,2858,2025,3273,3504,61.7,-16.1,83,499,0.00,2.30,0.00,0.000,516,0.000,0.057,2859,648,3388,3274,3503,0,0,0,0,0,0,14.93,14.62,14.95
$GC,553,-1.43,-146.0,2858,648,3274,3504,71.5,-13.4,96,561,0.00,2.28,0.00,0.000,1158,0.000,0.037,2849,2035,3389,3274,3504,0,0,0,0,0,0,14.74,14.67,14.76
$GC,860,-1.43,-146.0,2849,2035,3274,3504,107.0,-11.3,127,865,0.00,2.35,0.00,0.000,260,0.000,0.057,2839,3446,3389,3274,3504,0,0,0,0,0,0,15.00,14.68,15.02
$GC,907,-1.48,-146.0,2838,3446,3274,3504,112.2,-11.7,136,917,0.00,2.30,0.00,0.000,1158,0.000,0.036,2839,2038,3389,3274,3504,0,0,0,0,0,0,14.80,14.73,14.81
$GC,1217,-1.51,-146.0,2838,2038,3275,3504,152.0,-12.2,168,1227,0.00,2.30,0.00,0.000,644,0.000,0.054,2839,644,3389,3275,3503,0,0,0,0,0,0,15.04,14.71,15.06
$GC,1239,-1.55,-146.0,2838,644,3275,3504,154.6,-11.4,172,1249,0.00,2.30,0.00,0.000,1158,0.000,0.037,2828,2058,3389,3275,3504,0,0,0,0,0,0,14.82,14.75,14.84
$GC,1549,-1.55,-146.0,2828,2058,3275,3504,190.1,-11.7,204,1553,0.00,2.33,0.00,0.000,260,0.000,0.057,2818,3458,3389,3275,3504,0,0,0,0,0,0,15.06,14.71,15.08
$GC,1589,-1.65,-146.0,2818,3458,3275,3504,194.6,-10.3,212,1595,0.00,2.30,0.00,0.000,1158,0.000,0.036,2818,2050,3390,3276,3504,0,0,0,0,0,0,14.83,14.76,14.85
$GC,1896,-1.69,-146.0,2818,2050,3276,3503,222.7,-10.5,243,1901,0.00,2.33,0.00,0.000,644,0.000,0.057,2818,650,3390,3277,3503,0,0,0,0,0,0,15.04,14.71,15.06
$GC,1954,-1.73,-146.0,2818,649,3276,3503,229.6,-11.6,254,1962,0.00,2.30,0.00,0.000,1158,0.000,0.037,2808,2058,3390,3276,3504,0,0,0,0,0,0,14.83,14.76,14.85
$GC,2282,-1.76,-146.0,2808,2058,3275,3503,269.0,-12.4,277,2290,0.00,2.33,0.00,0.000,388,0.000,0.060,2798,3453,3389,3275,3504,0,0,0,0,0,0,15.05,14.71,15.07
$GC,2312,-1.79,-146.0,2798,3453,3275,3503,273.0,-11.9,282,2320,0.00,2.30,0.00,0.000,1158,0.000,0.037,2798,2051,3389,3275,3503,0,0,0,0,0,0,14.83,14.77,14.86
$GC,2620,-1.79,-146.0,2798,2050,3276,3503,303.9,-9.5,293,2625,0.00,2.38,0.00,0.000,292,0.000,0.058,2788,3450,3390,3276,3504,0,0,0,0,0,0,15.07,14.71,15.09
$GC,2641,-1.79,-146.0,2788,3450,3275,3504,306.3,-9.7,297,2647,0.00,2.30,0.00,0.000,1062,0.000,0.038,2788,2051,3390,3276,3504,0,0,0,0,0,0,14.85,14.77,14.87
$GC,2954,-1.79,-146.0,2788,2051,3276,3503,337.9,-10.2,309,2960,0.00,2.38,0.00,0.000,260,0.000,0.061,2779,3446,3389,3275,3504,0,0,0,0,0,0,15.06,14.71,15.08
$GC,3005,-1.83,-146.0,2779,3446,3275,3503,342.8,-9.8,318,3012,0.00,2.30,0.00,0.000,1190,0.000,0.040,2780,2050,3389,3275,3504,0,0,0,0,0,0,14.84,14.77,14.87
$GC,3326,-1.83,-146.0,2779,2051,3275,3503,375.5,-10.8,331,3327,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2051,3388,3274,3503,0,0,0,0,0,0,15.07,15.09,15.09
$GC,3626,-1.83,-146.0,2779,2051,3273,3501,408.8,-11.1,341,3631,0.00,2.40,0.00,0.000,260,0.000,0.062,2769,3453,3387,3273,3501,0,0,0,0,0,0,15.06,14.71,15.08
$GC,3669,-1.83,-146.0,2769,3453,3273,3500,414.1,-11.3,349,3674,0.00,2.33,0.00,0.000,1030,0.000,0.039,2769,2045,3386,3273,3500,0,0,0,0,0,0,14.84,14.76,14.86
$GC,3994,-1.83,-146.0,2769,2045,3272,3498,454.4,-12.9,363,3998,0.00,2.40,0.00,0.000,260,0.000,0.063,2759,3449,3384,3271,3498,0,0,0,0,0,0,15.07,14.69,15.09
$GC,4035,-1.83,-146.0,2759,3449,3272,3497,460.2,-12.2,371,4040,0.00,2.33,0.00,0.000,1030,0.000,0.040,2759,2044,3384,3272,3497,0,0,0,0,0,0,14.83,14.76,14.85
$GC,4358,-1.79,-146.0,2759,2044,3269,3495,499.8,-11.9,385,4367,0.12,2.40,0.00,0.000,2436,0.278,0.060,2778,3449,3382,3269,3495,0,0,0,0,0,0,14.36,14.65,14.54
$GC,4389,-1.79,-146.0,2778,3449,3269,3494,503.3,-10.6,390,4397,0.00,2.33,0.00,0.000,1030,0.000,0.040,2778,2052,3382,3269,3495,0,0,0,0,0,0,14.83,14.75,14.85
$GC,4696,-1.79,-146.0,2778,2051,3267,3494,533.9,-9.9,401,4702,0.00,2.40,0.00,0.000,292,0.000,0.063,2769,3444,3380,3267,3493,0,0,0,0,0,0,15.07,14.68,15.09
$GC,4724,-1.79,-146.0,2768,3445,3267,3493,536.9,-9.9,406,4732,0.00,2.33,0.00,0.000,1062,0.000,0.041,2769,2050,3380,3268,3493,0,0,0,0,0,0,14.82,14.74,14.85
$GC,5031,-1.79,-146.0,2769,2049,3266,3491,567.8,-10.4,417,5032,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2049,3378,3266,3490,0,0,0,0,0,0,15.07,15.09,15.09
$GC,5331,-1.79,-146.0,2769,2049,3265,3489,601.8,-11.5,427,5336,0.00,2.42,0.00,0.000,260,0.000,0.063,2759,3453,3377,3265,3489,0,0,0,0,0,0,15.05,14.66,15.08
$GC,5386,-1.79,-146.0,2759,3453,3265,3488,608.3,-11.8,437,5392,0.12,2.35,0.00,0.000,3078,0.262,0.043,2783,2044,3376,3264,3488,0,0,0,0,0,0,14.38,14.72,14.64
$GC,5701,-1.79,-146.0,2782,2044,3262,3487,642.9,-10.8,449,5703,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2044,3374,3262,3487,0,0,0,0,0,0,15.07,15.09,15.09
$GC,6001,-1.79,-146.0,2782,2044,3262,3486,675.5,-10.9,459,6002,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2044,3373,3261,3486,0,0,0,0,0,0,15.05,15.08,15.07
$GC,6301,-1.79,-146.0,2782,2044,3260,3485,708.3,-11.0,469,6302,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2044,3372,3260,3485,0,0,0,0,0,0,15.05,15.08,15.08
$GC,6603,-1.79,-146.0,2782,2044,3259,3485,741.5,-11.1,479,6604,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2044,3371,3259,3484,0,0,0,0,0,0,15.07,15.09,15.09
$GC,6901,-1.79,-146.0,2782,2043,3258,3482,773.5,-10.5,489,6906,0.00,2.45,0.00,0.000,260,0.000,0.067,2774,3450,3370,3258,3482,0,0,0,0,0,0,15.05,14.62,15.07
$GC,6940,-1.83,-146.0,2773,3450,3258,3481,777.7,-9.8,496,6945,0.00,2.35,0.00,0.000,1190,0.000,0.042,2774,2049,3369,3258,3481,0,0,0,0,0,0,14.79,14.70,14.82
$GC,7270,-1.83,-146.0,2773,2049,3257,3481,810.4,-9.9,511,7275,0.00,2.40,0.00,0.000,548,0.000,0.067,2774,644,3369,3257,3481,0,0,0,0,0,0,15.07,14.62,15.09
$GC,7311,-1.83,-146.0,2774,644,3256,3480,814.9,-10.5,519,7316,0.00,2.35,0.00,0.000,1030,0.000,0.046,2765,2043,3368,3256,3481,0,0,0,0,0,0,14.78,14.69,14.81
$GC,7634,-1.83,-146.0,2766,2043,3255,3479,846.7,-10.0,533,7635,0.00,0.00,0.00,0.000,38,0.000,0.000,2765,2043,3367,3255,3479,0,0,0,0,0,0,15.05,15.07,15.07
$GC,7936,-1.83,-146.0,2765,2043,3254,3479,879.0,-11.0,543,7941,0.00,2.40,0.00,0.000,260,0.000,0.066,2755,3449,3366,3254,3479,0,0,0,0,0,0,15.05,14.61,15.07
$GC,7957,-1.83,-146.0,2755,3449,3254,3478,881.9,-11.6,547,7963,0.10,2.38,0.00,0.000,3078,0.272,0.044,2772,2040,3366,3254,3478,0,0,0,0,0,0,14.38,14.69,14.63
$GC,8271,-1.83,-146.0,2772,2040,3253,3478,918.1,-12.3,559,8276,0.00,2.38,0.00,0.000,516,0.000,0.064,2773,651,3365,3253,3478,0,0,0,0,0,0,15.04,14.61,15.07
$GC,8313,-1.83,-146.0,2772,650,3252,3478,924.0,-13.3,567,8318,0.00,2.38,0.00,0.000,1030,0.000,0.047,2764,2058,3365,3252,3478,0,0,0,0,0,0,14.77,14.68,14.80
$GC,8637,-1.83,-146.0,2764,2060,3251,3477,965.9,-13.0,581,8643,0.00,2.40,0.00,0.000,260,0.000,0.068,2754,3454,3364,3252,3477,0,0,0,0,0,0,15.05,14.59,15.07
$GC,8665,-1.83,-146.0,2753,3454,3251,3477,970.0,-13.9,586,8673,0.12,2.38,0.00,0.000,3078,0.269,0.044,2777,2043,3364,3252,3477,0,0,0,0,0,0,14.31,14.68,14.60
$STATE,8849,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8851,begin apogee
$GC,8855,-0.33,0.0,2778,1790,3251,3477,992.2,-11.9,593,8988,1.27,0.00,128.60,2.677,10246,0.272,0.000,3098,1789,2789,2673,2906,0,0,0,0,0,0,14.30,13.97,12.90
$STATE,8989,end apogee,CONTROL_FINISHED_OK
$STATE,8989,begin climb
$GC,8991,1.39,146.0,3098,1789,2669,2904,996.2,0.0,597,9136,1.33,2.58,135.62,2.660,10756,0.164,0.073,3487,400,2189,2057,2321,0,0,0,0,0,0,13.96,13.60,12.74
$GC,9157,1.16,146.0,3487,399,2047,2320,987.4,12.0,629,9163,0.25,2.50,0.00,0.000,5254,0.331,0.044,3431,1812,2183,2046,2320,0,0,0,0,0,0,13.74,13.98,14.01
$GC,9475,1.04,146.0,3430,1812,2038,2320,951.1,11.5,642,9477,0.15,0.00,0.00,0.000,4230,0.421,0.000,3407,1812,2179,2038,2320,0,0,0,0,0,0,14.08,14.54,14.48
$GC,9775,0.96,146.0,3407,1812,2035,2320,918.7,10.8,652,9777,0.12,0.00,0.00,0.000,4230,0.420,0.000,3388,1812,2177,2035,2320,0,0,0,0,0,0,14.16,14.64,14.57
$GC,10075,0.92,146.0,3387,1812,2034,2320,887.1,10.6,662,10080,0.00,2.50,0.00,0.000,644,0.000,0.076,3397,405,2177,2034,2320,0,0,0,0,0,0,14.97,14.59,14.99
$GC,10146,0.85,146.0,3396,405,2033,2320,879.3,11.3,676,10151,0.15,2.35,0.00,0.000,5254,0.356,0.044,3364,1802,2176,2032,2320,0,0,0,0,0,0,14.18,14.66,14.60
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$STATE,18438,end climb,SURFACE_DEPTH_REACHED
$STATE,18439,begin surface coast
$FINISH,1.6,1.013860
$STATE,18475,end surface coast,CONTROL_FINISHED_OK
$STATE,18475,begin surface
$SM_CCo,18492,101.90,0.080,0,0,450,573.99
$SM_GC,2.43,9.93,0.38,101.90,0.080,0.057,0.080,94,2075,450,-14.10,-1.27,573.99,0,0,0,0,0,0,14.59,14.73,14.59
$IRIDIUM_FIX,1300.95,6013.93,170417,231710
$TT8_MAMPS,0.023968,0.158039
$HUMID,49.37
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,24.20
$XPDR_PINGS,6
$24V_AH,12.74,78.194
$10V_AH,13.09,0.000
$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,28.725,192.325,436.875,101.900,0.000,0.000,0.000,229.000,95.250,0.000,20.048,2921.828,12582.850,769.799,2427.947,235.526,0.000,2153.877,0.000,1904.380,0.000,628.222,0.000
$DEVICE_MAMPS,425.340,2063.205,2676.735,79.560,0.000,0.000,0.000,179.010,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,663.083,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,60003,1338
$CAP_FILE_SIZE,209691,0
$CFSIZE,260034560,240820224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.014,335.31,1
$GPS,180417,100302,1308.227,6011.531,41,0.8,48,-0.7,0.0,109.2,10,9.4