version: 66.13
glider: 137
mission: 5
dive: 225
start: 4 19 117 2 28 48
data:
$ID,137
$MISSION,5
$DIVE,225
$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,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
$GPS1,190417,022306,1311.7729,6003.6919,39,0.8,44,-0.6,0.2,188.4,9,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-68.3
$GPS2,190417,022812,1311.7365,6003.6836,9,0.8,16,-0.6,0.0,0.0,10,9.6
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1313.482,6000.697
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,304.2,6281,-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,-146.0,90,2076,330,564,0.0,0.0,0,103,0.00,0.00,-92.97,0.000,16386,0.000,0.000,90,2077,2925,2847,3004,0,0,0,0,0,0,14.83,28.83,14.85
$GC,106,-1.28,-146.0,90,2076,2848,3004,4.4,-5.1,16,132,14.35,0.00,-8.40,0.000,18470,0.418,0.000,2892,2075,3388,3269,3507,0,0,0,0,0,0,14.20,13.30,14.58
$GC,434,-1.28,-146.0,2891,2075,3272,3507,52.6,-12.6,78,438,0.00,2.28,0.00,0.000,260,0.000,0.056,2884,3432,3389,3272,3507,0,0,0,0,0,0,14.94,14.57,14.96
$GC,469,-1.39,-146.0,2884,3432,3272,3507,57.1,-11.1,85,477,0.00,2.28,0.00,0.000,1158,0.000,0.033,2884,2040,3389,3272,3507,0,0,0,0,0,0,14.73,14.66,14.75
$GC,776,-1.43,-146.0,2884,2039,3272,3507,91.3,-9.3,116,786,0.00,2.30,0.00,0.000,676,0.000,0.055,2884,655,3389,3272,3507,0,0,0,0,0,0,15.00,14.65,15.02
$GC,819,-1.48,-146.0,2884,655,3273,3507,94.9,-8.5,124,828,0.00,2.28,0.00,0.000,1190,0.000,0.039,2874,2037,3390,3273,3507,0,0,0,0,0,0,14.77,14.69,14.79
$GC,1128,-1.53,-146.0,2874,2038,3273,3507,128.3,-10.8,156,1138,0.12,2.35,0.00,0.000,4484,0.128,0.052,2806,3457,3390,3274,3507,0,0,0,0,0,0,14.73,14.68,14.76
$GC,1191,-1.53,-146.0,2806,3457,3273,3506,135.8,-11.7,168,1201,0.15,2.30,0.00,0.000,3078,0.227,0.034,2839,2038,3390,3274,3507,0,0,0,0,0,0,14.45,14.73,14.69
$GC,1500,-1.53,-146.0,2839,2038,3274,3507,169.0,-11.2,200,1504,0.00,2.38,0.00,0.000,260,0.000,0.052,2830,3454,3390,3274,3507,0,0,0,0,0,0,15.06,14.70,15.07
$GC,1540,-1.56,-146.0,2830,3454,3274,3507,173.3,-10.5,208,1547,0.00,2.28,0.00,0.000,1158,0.000,0.034,2830,2055,3390,3274,3507,0,0,0,0,0,0,14.82,14.76,14.84
$GC,1847,-1.56,-146.0,2830,2055,3275,3507,208.4,-12.2,239,1852,0.00,2.33,0.00,0.000,516,0.000,0.057,2831,655,3390,3274,3507,0,0,0,0,0,0,15.03,14.69,15.05
$GC,1952,-1.56,-146.0,2830,655,3275,3507,222.1,-12.6,259,1959,0.00,2.30,0.00,0.000,1030,0.000,0.037,2821,2067,3390,3274,3507,0,0,0,0,0,0,14.82,14.75,14.84
$GC,2287,-1.56,-146.0,2820,2068,3274,3507,258.6,-9.7,287,2292,0.00,2.30,0.00,0.000,292,0.000,0.056,2810,3461,3390,3274,3507,0,0,0,0,0,0,15.04,14.71,15.06
$GC,2325,-1.56,-146.0,2810,3461,3274,3507,262.2,-8.7,294,2331,0.12,2.33,0.00,0.000,3110,0.222,0.037,2838,2037,3390,3274,3507,0,0,0,0,0,0,14.51,14.75,14.72
$GC,2654,-1.61,-146.0,2838,2037,3274,3507,287.0,-7.4,309,2655,0.00,0.00,0.00,0.000,166,0.000,0.000,2838,2037,3390,3274,3507,0,0,0,0,0,0,15.06,15.08,15.08
$GC,2957,-1.66,-146.0,2837,2037,3274,3507,306.8,-7.1,319,2962,0.10,2.33,0.00,0.000,4772,0.151,0.063,2808,658,3390,3274,3507,0,0,0,0,0,0,14.77,14.69,14.82
$GC,3003,-1.66,-146.0,2807,657,3274,3507,312.3,-12.0,328,3008,0.00,2.30,0.00,0.000,1030,0.000,0.042,2797,2049,3391,3275,3507,0,0,0,0,0,0,14.83,14.75,14.85
$GC,3321,-1.66,-146.0,2797,2049,3274,3507,356.8,-15.0,341,3322,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2049,3390,3275,3506,0,0,0,0,0,0,15.06,15.08,15.08
$GC,3623,-1.66,-146.0,2796,2050,3273,3505,397.3,-12.8,351,3628,0.00,2.38,0.00,0.000,260,0.000,0.068,2787,3450,3389,3273,3505,0,0,0,0,0,0,15.07,14.67,15.09
$GC,3670,-1.66,-146.0,2786,3450,3273,3504,403.6,-12.9,360,3676,0.12,2.33,0.00,0.000,3078,0.252,0.042,2812,2045,3388,3273,3503,0,0,0,0,0,0,14.44,14.75,14.69
$GC,3989,-1.66,-146.0,2812,2045,3272,3503,437.1,-9.8,373,3997,0.00,2.35,0.00,0.000,548,0.000,0.063,2813,652,3387,3272,3503,0,0,0,0,0,0,15.07,14.68,15.08
$GC,4019,-1.66,-146.0,2813,651,3271,3503,440.2,-10.2,378,4027,0.00,2.33,0.00,0.000,1030,0.000,0.041,2805,2057,3387,3271,3503,0,0,0,0,0,0,14.83,14.74,14.85
$GC,4326,-1.66,-146.0,2804,2057,3270,3500,468.7,-8.9,389,4327,0.00,0.00,0.00,0.000,38,0.000,0.000,2805,2057,3385,3270,3500,0,0,0,0,0,0,15.07,15.10,15.09
$GC,4626,-1.66,-146.0,2805,2057,3268,3498,495.9,-9.1,399,4631,0.00,2.42,0.00,0.000,548,0.000,0.065,2805,651,3383,3268,3498,0,0,0,0,0,0,15.07,14.66,15.09
$GC,4652,-1.66,-146.0,2804,651,3268,3498,498.8,-10.1,404,4662,0.00,2.33,0.00,0.000,1030,0.000,0.041,2795,2049,3383,3268,3498,0,0,0,0,0,0,14.82,14.73,14.85
$GC,4958,-1.66,-146.0,2794,2049,3267,3496,530.6,-10.8,415,4963,0.00,2.40,0.00,0.000,516,0.000,0.063,2795,655,3381,3267,3496,0,0,0,0,0,0,15.05,14.66,15.08
$GC,4996,-1.62,-146.0,2795,655,3267,3496,535.2,-11.5,422,5002,0.15,2.33,0.00,0.000,3206,0.262,0.044,2817,2053,3381,3267,3496,0,0,0,0,0,0,14.38,14.73,14.64
$GC,5326,-1.62,-146.0,2816,2054,3266,3494,569.3,-10.2,437,5332,0.00,2.40,0.00,0.000,260,0.000,0.071,2808,3456,3380,3266,3494,0,0,0,0,0,0,15.07,14.66,15.09
$GC,5355,-1.66,-146.0,2808,3456,3266,3494,572.3,-9.2,442,5363,0.00,2.35,0.00,0.000,1190,0.000,0.046,2808,2060,3380,3266,3494,0,0,0,0,0,0,14.80,14.71,14.83
$GC,5662,-1.66,-146.0,2808,2060,3264,3493,600.3,-8.8,453,5668,0.00,2.38,0.00,0.000,548,0.000,0.067,2811,636,3378,3264,3493,0,0,0,0,0,0,15.07,14.62,15.09
$GC,5696,-1.66,-146.0,2810,635,3264,3492,603.5,-8.5,459,5703,0.00,2.38,0.00,0.000,1062,0.000,0.044,2802,2054,3377,3263,3492,0,0,0,0,0,0,14.80,14.71,14.83
$GC,6031,-1.66,-146.0,2801,2054,3262,3490,633.3,-9.3,475,6032,0.00,0.00,0.00,0.000,38,0.000,0.000,2801,2054,3376,3262,3490,0,0,0,0,0,0,15.06,15.08,15.08
$GC,6332,-1.66,-146.0,2801,2054,3261,3488,662.7,-10.0,485,6340,0.00,2.47,0.00,0.000,516,0.000,0.070,2801,624,3374,3261,3488,0,0,0,0,0,0,15.05,14.61,15.07
$GC,6357,-1.66,-146.0,2801,624,3261,3488,665.6,-10.7,489,6363,0.00,2.42,0.00,0.000,1030,0.000,0.049,2792,2058,3374,3261,3488,0,0,0,0,0,0,14.78,14.69,14.81
$GC,6672,-1.66,-146.0,2791,2058,3260,3487,696.9,-9.9,501,6673,0.00,0.00,0.00,0.000,38,0.000,0.000,2792,2058,3373,3260,3487,0,0,0,0,0,0,15.07,15.09,15.09
$GC,6972,-1.66,-146.0,2791,2058,3259,3486,726.0,-9.7,511,6977,0.00,2.47,0.00,0.000,548,0.000,0.070,2792,629,3372,3258,3486,0,0,0,0,0,0,15.05,14.59,15.07
$GC,7047,-1.66,-146.0,2791,627,3258,3486,734.5,-11.4,525,7053,0.12,2.42,0.00,0.000,3078,0.281,0.049,2809,2063,3372,3258,3486,0,0,0,0,0,0,14.28,14.67,14.45
$GC,7371,-1.66,-146.0,2809,2062,3257,3485,769.0,-11.1,539,7376,0.00,2.40,0.00,0.000,260,0.000,0.073,2800,3451,3371,3257,3486,0,0,0,0,0,0,15.04,14.59,15.07
$GC,7409,-1.71,-146.0,2800,3451,3257,3485,773.5,-11.5,546,7413,0.00,2.38,0.00,0.000,1158,0.000,0.048,2801,2049,3371,3257,3485,0,0,0,0,0,0,14.77,14.67,14.80
$GC,7739,-1.71,-146.0,2799,2049,3256,3485,810.1,-10.9,561,7745,0.00,2.47,0.00,0.000,260,0.000,0.073,2790,3454,3369,3256,3483,0,0,0,0,0,0,15.05,14.59,15.07
$GC,7773,-1.71,-146.0,2790,3454,3256,3483,813.9,-11.3,567,7780,0.00,2.38,0.00,0.000,1030,0.000,0.047,2790,2048,3370,3256,3484,0,0,0,0,0,0,14.77,14.67,14.80
$GC,8108,-1.71,-146.0,2790,2048,3255,3483,847.0,-9.5,583,8110,0.00,0.00,0.00,0.000,38,0.000,0.000,2790,2048,3369,3255,3483,0,0,0,0,0,0,15.04,15.07,15.07
$GC,8409,-1.71,-146.0,2791,2048,3254,3482,874.4,-9.2,593,8416,0.00,2.47,0.00,0.000,292,0.000,0.070,2781,3456,3367,3254,3481,0,0,0,0,0,0,15.04,14.57,15.07
$GC,8445,-1.71,-146.0,2780,3456,3254,3481,877.8,-8.9,599,8450,0.00,2.40,0.00,0.000,1062,0.000,0.048,2781,2041,3367,3254,3481,0,0,0,0,0,0,14.76,14.66,14.79
$GC,8778,-1.68,-146.0,2780,2040,3252,3480,911.7,-10.5,615,8783,0.12,2.47,0.00,0.000,2436,0.262,0.071,2801,3453,3366,3252,3480,0,0,0,0,0,0,14.29,14.51,14.45
$GC,8818,-1.73,-146.0,2801,3453,3252,3479,915.8,-8.8,622,8823,0.00,2.40,0.00,0.000,1190,0.000,0.047,2801,2039,3366,3252,3480,0,0,0,0,0,0,14.76,14.66,14.78
$GC,9147,-1.73,-146.0,2801,2039,3251,3479,948.4,-10.3,637,9148,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2039,3365,3251,3479,0,0,0,0,0,0,15.04,15.07,15.07
$GC,9446,-1.73,-146.0,2801,2039,3251,3479,979.1,-10.2,647,9451,0.00,2.50,0.00,0.000,260,0.000,0.073,2791,3462,3365,3251,3479,0,0,0,0,0,0,15.04,14.54,15.06
$GC,9495,-1.76,-146.0,2790,3463,3251,3478,984.3,-10.2,656,9502,0.00,2.40,0.00,0.000,1158,0.000,0.049,2791,2053,3364,3251,3478,0,0,0,0,0,0,14.74,14.64,14.78
$STATE,9573,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9573,begin apogee
$GC,9578,-0.33,0.0,2791,1791,3251,3478,992.1,-10.0,661,9711,1.20,0.00,129.35,2.675,10246,0.256,0.000,3097,1790,2790,2674,2906,0,0,0,0,0,0,14.31,13.97,12.89
$STATE,9712,end apogee,CONTROL_FINISHED_OK
$STATE,9713,begin climb
$GC,9715,1.28,146.0,3098,1790,2669,2903,995.2,0.0,665,9860,1.25,2.60,135.95,2.681,10756,0.161,0.076,3467,396,2188,2058,2319,0,0,0,0,0,0,13.96,13.57,12.71
$GC,9881,1.04,146.0,3467,396,2048,2319,985.7,11.2,697,9886,0.30,2.50,0.00,0.000,5254,0.350,0.044,3406,1804,2183,2047,2319,0,0,0,0,0,0,13.71,13.95,13.99
$GC,10199,0.91,146.0,3406,1804,2038,2319,948.8,11.9,710,10204,0.15,2.45,0.00,0.000,4484,0.408,0.067,3373,3208,2178,2038,2319,0,0,0,0,0,0,14.06,14.43,14.31
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$STATE,19062,end climb,SURFACE_DEPTH_REACHED
$STATE,19062,begin surface coast
$FINISH,1.5,1.009399
$STATE,19089,end surface coast,CONTROL_FINISHED_OK
$STATE,19089,begin surface
$SM_CCo,19107,66.78,0.081,0,0,450,573.99
$SM_GC,2.47,10.05,0.43,66.78,0.077,0.054,0.081,96,2063,450,-14.10,-1.39,573.99,0,0,0,0,0,0,14.55,14.69,14.57
$IRIDIUM_FIX,1303.16,6005.97,180417,205110
$TT8_MAMPS,0.023219,0.15729
$HUMID,51.02
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,24.00
$XPDR_PINGS,6
$24V_AH,12.71,79.848
$10V_AH,13.04,0.000
$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,29.625,212.975,481.075,66.775,0.000,0.000,0.000,205.075,108.750,0.000,17.442,3044.215,12847.737,760.965,2584.803,243.969,0.000,2214.453,0.000,2045.522,0.000,721.474,0.000
$DEVICE_MAMPS,418.455,79.560,2680.560,81.090,0.000,0.000,0.000,187.425,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,679.897,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,63349,1438
$CAP_FILE_SIZE,228363,0
$CFSIZE,260034560,240427008
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,7411.31,0x233da8,0,24
$CURRENT,0.019,241.51,1
$GPS,190417,074953,1313.237,6001.288,48,1.0,52,-0.6,0.4,224.7,8,9.5