version: 66.13
glider: 137
mission: 5
dive: 223
start: 4 18 117 15 33 5
data:
$ID,137
$MISSION,5
$DIVE,223
$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,30
$R_STBD_OVSHOOT,62
$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
$GPS1,180417,152655,1309.2104,6008.8413,27,1.0,36,-0.7,0.0,238.4,8,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-69.0
$GPS2,180417,153215,1309.1490,6008.8223,12,1.0,28,-0.7,0.5,202.2,8,9.8
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1310.445,6005.784
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,301.0,5981,-16.9,-10.000,-19.55,2151
$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,-1.30,-140.0,92,2078,326,569,0.0,0.0,0,102,0.00,0.00,-92.47,0.000,16386,0.000,0.000,92,2078,2941,2862,3020,0,0,0,0,0,0,14.83,28.83,14.85
$GC,105,-1.31,-146.0,92,2078,2863,3020,4.7,-6.6,16,136,14.68,2.53,-8.05,0.000,18724,0.431,2.078,2873,3423,3389,3274,3504,0,0,0,0,0,0,14.22,13.31,14.59
$GC,210,-1.36,-146.0,2873,3423,3275,3505,23.3,-10.6,35,217,0.00,2.30,0.00,0.000,1158,0.000,0.037,2873,2033,3390,3276,3504,0,0,0,0,0,0,14.64,14.58,14.66
$GC,519,-1.36,-146.0,2873,2033,3276,3504,61.3,-13.5,88,520,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2033,3390,3276,3504,0,0,0,0,0,0,14.95,14.97,14.96
$GC,819,-1.36,-146.0,2873,2032,3277,3504,97.8,-11.6,118,824,0.00,2.38,0.00,0.000,260,0.000,0.057,2864,3429,3390,3277,3504,0,0,0,0,0,0,15.00,14.66,15.02
$GC,875,-1.42,-146.0,2863,3429,3277,3504,104.1,-10.4,129,882,0.00,2.28,0.00,0.000,1158,0.000,0.037,2863,2040,3390,3277,3504,0,0,0,0,0,0,14.78,14.72,14.81
$GC,1182,-1.45,-146.0,2863,2039,3277,3504,135.8,-9.7,160,1183,0.00,0.00,0.00,0.000,166,0.000,0.000,2864,2039,3390,3277,3504,0,0,0,0,0,0,15.04,15.06,15.06
$GC,1483,-1.51,-146.0,2863,2039,3278,3504,165.5,-9.0,190,1484,0.00,0.00,0.00,0.000,166,0.000,0.000,2864,2039,3391,3278,3504,0,0,0,0,0,0,15.05,15.08,15.07
$GC,1783,-1.58,-146.0,2863,2040,3278,3504,188.5,-9.5,220,1792,0.12,2.33,0.00,0.000,4772,0.128,0.055,2806,644,3391,3278,3504,0,0,0,0,0,0,14.78,14.71,14.81
$GC,1900,-1.58,-146.0,2806,644,3278,3504,203.9,-11.9,243,1909,0.15,2.28,0.00,0.000,3078,0.253,0.037,2829,2046,3390,3277,3504,0,0,0,0,0,0,14.47,14.76,14.71
$GC,2209,-1.58,-146.0,2828,2046,3278,3504,237.6,-9.8,274,2214,0.00,2.33,0.00,0.000,292,0.000,0.057,2820,3444,3391,3278,3504,0,0,0,0,0,0,15.04,14.71,15.07
$GC,2264,-1.65,-146.0,2820,3444,3278,3504,242.9,-9.5,284,2271,0.00,2.28,0.00,0.000,1190,0.000,0.035,2820,2049,3391,3278,3504,0,0,0,0,0,0,14.83,14.76,14.85
$GC,2578,-1.65,-146.0,2819,2048,3278,3504,276.5,-11.0,300,2585,0.00,2.38,0.00,0.000,260,0.000,0.056,2810,3453,3391,3278,3504,0,0,0,0,0,0,15.04,14.71,15.07
$GC,2601,-1.65,-146.0,2810,3453,3278,3504,279.2,-10.5,304,2606,0.00,2.33,0.00,0.000,1030,0.000,0.037,2810,2046,3391,3278,3504,0,0,0,0,0,0,14.83,14.76,14.85
$GC,2914,-1.65,-146.0,2810,2045,3278,3504,311.8,-11.1,316,2921,0.00,2.38,0.00,0.000,260,0.000,0.057,2800,3447,3390,3277,3504,0,0,0,0,0,0,15.06,14.71,15.08
$GC,2949,-1.65,-146.0,2800,3447,3278,3504,315.8,-11.3,322,2954,0.00,2.30,0.00,0.000,1030,0.000,0.038,2800,2048,3391,3278,3504,0,0,0,0,0,0,14.83,14.76,14.86
$GC,3282,-1.65,-146.0,2800,2048,3278,3504,354.8,-11.5,338,3288,0.00,2.38,0.00,0.000,260,0.000,0.057,2790,3446,3391,3278,3504,0,0,0,0,0,0,15.06,14.71,15.08
$GC,3320,-1.65,-146.0,2790,3446,3278,3503,359.6,-11.8,345,3326,0.12,2.30,0.00,0.000,3078,0.238,0.038,2816,2042,3391,3278,3504,0,0,0,0,0,0,14.46,14.76,14.70
$GC,3651,-1.65,-146.0,2816,2042,3276,3503,392.7,-9.3,360,3656,0.00,2.33,0.00,0.000,548,0.000,0.059,2817,655,3389,3276,3503,0,0,0,0,0,0,15.07,14.70,15.09
$GC,3722,-1.65,-146.0,2817,655,3275,3503,399.5,-8.8,374,3730,0.00,2.30,0.00,0.000,1062,0.000,0.039,2809,2054,3389,3275,3503,0,0,0,0,0,0,14.83,14.76,14.85
$GC,4050,-1.65,-146.0,2808,2054,3273,3500,425.9,-8.0,388,4055,0.00,2.35,0.00,0.000,292,0.000,0.060,2798,3455,3387,3274,3500,0,0,0,0,0,0,15.07,14.69,15.09
$GC,4071,-1.65,-146.0,2797,3454,3274,3499,428.0,-8.8,392,4076,0.00,2.33,0.00,0.000,1062,0.000,0.040,2798,2051,3386,3273,3499,0,0,0,0,0,0,14.83,14.75,14.85
$GC,4384,-1.65,-146.0,2798,2050,3272,3498,455.6,-9.5,404,4389,0.00,2.40,0.00,0.000,292,0.000,0.061,2789,3449,3384,3272,3497,0,0,0,0,0,0,15.07,14.69,15.09
$GC,4419,-1.65,-146.0,2788,3449,3272,3497,459.0,-10.1,410,4425,0.12,2.33,0.00,0.000,3078,0.233,0.040,2816,2041,3384,3272,3497,0,0,0,0,0,0,14.45,14.74,14.69
$GC,4755,-1.65,-146.0,2815,2041,3270,3495,490.9,-9.1,426,4761,0.00,2.35,0.00,0.000,548,0.000,0.061,2816,649,3382,3270,3495,0,0,0,0,0,0,15.07,14.67,15.09
$GC,4783,-1.65,-146.0,2816,649,3270,3495,493.8,-9.8,431,4790,0.00,2.33,0.00,0.000,1062,0.000,0.042,2808,2047,3382,3269,3495,0,0,0,0,0,0,14.82,14.73,14.84
$GC,5091,-1.65,-146.0,2808,2047,3268,3493,521.3,-9.1,442,5096,0.00,2.38,0.00,0.000,292,0.000,0.062,2798,3455,3380,3268,3493,0,0,0,0,0,0,15.07,14.67,15.09
$GC,5118,-1.65,-146.0,2797,3455,3268,3492,524.2,-9.8,447,5126,0.00,2.33,0.00,0.000,1062,0.000,0.041,2798,2059,3380,3268,3492,0,0,0,0,0,0,14.81,14.73,14.84
$GC,5426,-1.65,-146.0,2797,2059,3266,3490,556.1,-11.1,458,5431,0.00,2.40,0.00,0.000,516,0.000,0.063,2800,641,3378,3266,3490,0,0,0,0,0,0,15.07,14.65,15.09
$GC,5468,-1.65,-146.0,2799,640,3266,3490,561.7,-12.0,466,5474,0.12,2.35,0.00,0.000,3078,0.275,0.042,2815,2058,3378,3266,3490,0,0,0,0,0,0,14.37,14.72,14.64
$GC,5792,-1.68,-146.0,2815,2058,3266,3489,596.4,-10.6,480,5799,0.00,2.38,0.00,0.000,388,0.000,0.064,2807,3454,3376,3265,3488,0,0,0,0,0,0,15.06,14.65,15.08
$GC,5843,-1.75,-146.0,2806,3454,3265,3487,601.7,-10.1,489,5848,0.00,2.35,0.00,0.000,1158,0.000,0.040,2807,2044,3376,3265,3488,0,0,0,0,0,0,14.80,14.72,14.83
$GC,6161,-1.75,-146.0,2806,2044,3263,3487,634.6,-10.3,502,6167,0.00,2.38,0.00,0.000,516,0.000,0.067,2807,651,3375,3263,3487,0,0,0,0,0,0,15.05,14.64,15.07
$GC,6189,-1.75,-146.0,2806,651,3263,3487,637.9,-11.2,507,6198,0.00,2.35,0.00,0.000,1030,0.000,0.045,2798,2053,3375,3263,3488,0,0,0,0,0,0,14.80,14.71,14.83
$GC,6495,-1.75,-146.0,2797,2053,3262,3486,669.4,-10.4,518,6496,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2053,3374,3262,3486,0,0,0,0,0,0,15.05,15.07,15.07
$GC,6796,-1.75,-146.0,2797,2053,3261,3485,700.8,-10.7,528,6803,0.00,2.45,0.00,0.000,516,0.000,0.069,2798,648,3372,3260,3485,0,0,0,0,0,0,15.05,14.63,15.07
$GC,6849,-1.75,-146.0,2797,648,3261,3486,707.7,-12.3,538,6855,0.00,2.35,0.00,0.000,1030,0.000,0.045,2788,2050,3372,3260,3485,0,0,0,0,0,0,14.79,14.70,14.81
$GC,7163,-1.75,-146.0,2788,2050,3260,3484,743.6,-11.5,550,7168,0.00,2.40,0.00,0.000,260,0.000,0.070,2778,3446,3371,3259,3483,0,0,0,0,0,0,15.05,14.61,15.07
$GC,7190,-1.75,-146.0,2778,3446,3260,3483,746.9,-11.5,555,7200,0.00,2.38,0.00,0.000,1030,0.000,0.049,2778,2051,3371,3260,3483,0,0,0,0,0,0,14.78,14.68,14.81
$GC,7496,-1.75,-146.0,2778,2051,3258,3482,780.3,-10.2,566,7497,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2051,3370,3258,3482,0,0,0,0,0,0,15.04,15.07,15.07
$GC,7798,-1.75,-146.0,2778,2051,3258,3481,809.0,-9.4,576,7799,0.00,0.00,0.00,0.000,38,0.000,0.000,2778,2050,3369,3258,3481,0,0,0,0,0,0,15.05,15.07,15.07
$GC,8098,-1.75,-146.0,2779,2050,3256,3480,838.3,-10.2,586,8099,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2050,3368,3256,3480,0,0,0,0,0,0,15.06,15.08,15.08
$GC,8398,-1.75,-146.0,2778,2050,3255,3479,871.7,-11.4,596,8402,0.00,2.47,0.00,0.000,260,0.000,0.072,2769,3467,3367,3256,3479,0,0,0,0,0,0,15.04,14.58,15.07
$GC,8435,-1.75,-146.0,2768,3467,3256,3478,876.4,-11.6,603,8440,0.10,2.42,0.00,0.000,3078,0.254,0.049,2790,2034,3367,3256,3478,0,0,0,0,0,0,14.31,14.67,14.47
$GC,8765,-1.75,-146.0,2790,2034,3254,3478,912.8,-10.9,618,8766,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2034,3366,3254,3479,0,0,0,0,0,0,15.06,15.08,15.07
$GC,9065,-1.75,-146.0,2790,2034,3254,3478,941.9,-9.2,628,9070,0.00,2.38,0.00,0.000,548,0.000,0.067,2791,653,3365,3254,3477,0,0,0,0,0,0,15.04,14.58,15.07
$GC,9108,-1.75,-146.0,2790,652,3254,3478,946.5,-9.3,636,9113,0.00,2.38,0.00,0.000,1062,0.000,0.050,2782,2050,3365,3253,3478,0,0,0,0,0,0,14.75,14.65,14.78
$GC,9433,-1.75,-146.0,2782,2050,3252,3477,974.9,-8.8,650,9439,0.00,2.45,0.00,0.000,548,0.000,0.066,2782,646,3364,3252,3477,0,0,0,0,0,0,15.05,14.58,15.07
$GC,9461,-1.71,-146.0,2782,646,3252,3477,977.8,-9.4,655,9469,0.15,2.40,0.00,0.000,3238,0.307,0.051,2800,2054,3364,3251,3477,0,0,0,0,0,0,14.20,14.65,14.55
$STATE,9645,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9646,begin apogee
$GC,9651,-0.33,0.0,2801,1795,3251,3477,992.1,-7.7,662,9785,1.17,0.00,129.68,2.701,10246,0.266,0.000,3098,1795,2789,2675,2904,0,0,0,0,0,0,14.30,13.97,12.88
$STATE,9785,end apogee,CONTROL_FINISHED_OK
$STATE,9786,begin climb
$GC,9787,1.31,146.0,3098,1795,2669,2901,992.9,0.0,666,9928,1.23,0.00,136.60,2.658,10758,0.157,0.000,3458,1795,2193,2066,2321,0,0,0,0,0,0,13.96,13.75,12.72
$GC,10217,1.10,146.0,3458,1795,2043,2317,946.3,13.3,686,10225,0.20,2.42,0.00,0.000,4740,0.340,0.065,3427,403,2179,2042,2317,0,0,0,0,0,0,14.04,14.39,14.29
$GC,10260,0.94,146.0,3426,402,2041,2317,940.6,12.7,695,10266,0.22,2.38,0.00,0.000,5254,0.338,0.038,3381,1821,2179,2041,2317,0,0,0,0,0,0,14.13,14.51,14.48
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$STATE,18765,end climb,SURFACE_DEPTH_REACHED
$STATE,18766,begin surface coast
$FINISH,1.5,1.008807
$STATE,18797,end surface coast,CONTROL_FINISHED_OK
$STATE,18797,begin surface
$SM_CCo,18815,81.25,0.080,0,0,449,573.99
$SM_GC,2.43,9.88,0.43,81.25,0.078,0.054,0.080,96,2061,449,-14.10,-1.41,573.99,0,0,0,0,0,0,14.56,14.71,14.57
$IRIDIUM_FIX,1303.16,6012.83,180417,100454
$TT8_MAMPS,0.024717,0.158788
$HUMID,49.96
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,24.00
$XPDR_PINGS,4
$24V_AH,12.72,79.034
$10V_AH,13.06,0.000
$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,29.450,202.000,471.300,81.250,0.000,0.000,0.000,207.125,107.250,0.000,29.260,3044.938,12630.913,786.024,2525.168,245.736,0.000,2184.237,0.000,1976.683,0.000,716.041,0.000
$DEVICE_MAMPS,430.695,2077.740,2701.215,80.325,0.000,0.000,0.000,183.600,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,682.325,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225116
$DATA_FILE_SIZE,60095,1389
$CAP_FILE_SIZE,220402,0
$CFSIZE,260034560,240631808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.022,264.27,1
$GPS,180417,204928,1310.728,6006.417,40,0.9,49,-0.6,0.3,210.1,8,9.6