version: 66.13
glider: 137
mission: 5
dive: 227
start: 4 19 117 13 30 42
data:
$ID,137
$MISSION,5
$DIVE,227
$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,57
$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
$GPS1,190417,132421,1315.0981,5958.9419,34,0.8,54,-0.6,0.4,212.6,9,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-67.7
$GPS2,190417,132958,1315.0574,5958.8979,16,0.8,27,-0.6,0.4,233.6,9,9.4
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1312.155,5958.954
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,177.4,5376,-17.0,-10.000,-19.67,2121
$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,-1.31,-138.0,97,2077,327,566,0.0,0.0,0,98,0.00,0.00,-88.22,0.000,16386,0.000,0.000,97,2077,2788,2715,2862,0,0,0,0,0,0,14.83,28.83,14.85
$GC,101,-1.32,-146.0,97,2077,2715,2862,4.0,-4.3,15,133,14.20,2.80,-11.95,0.000,18980,0.416,2.075,2885,640,3387,3267,3508,0,0,0,0,0,0,14.22,13.28,14.57
$GC,266,-1.32,-146.0,2884,639,3269,3508,29.8,-12.5,46,272,0.00,2.33,0.00,0.000,1030,0.000,0.037,2876,2044,3388,3269,3508,0,0,0,0,0,0,14.68,14.61,14.69
$GC,580,-1.32,-146.0,2876,2044,3269,3508,65.3,-10.4,94,589,0.00,2.40,0.00,0.000,516,0.000,0.058,2876,636,3388,3269,3508,0,0,0,0,0,0,14.97,14.63,14.99
$GC,642,-1.37,-146.0,2876,636,3269,3508,71.7,-10.4,106,651,0.00,2.35,0.00,0.000,1158,0.000,0.037,2866,2058,3388,3269,3508,0,0,0,0,0,0,14.76,14.68,14.78
$GC,951,-1.37,-146.0,2866,2058,3270,3508,110.3,-13.7,138,960,0.00,2.33,0.00,0.000,260,0.000,0.057,2856,3455,3389,3270,3508,0,0,0,0,0,0,15.02,14.67,15.04
$GC,1013,-1.43,-146.0,2856,3455,3270,3508,117.7,-10.8,150,1023,0.00,2.33,0.00,0.000,1158,0.000,0.034,2856,2029,3389,3270,3508,0,0,0,0,0,0,14.80,14.73,14.81
$GC,1323,-1.49,-146.0,2856,2029,3270,3508,148.6,-10.5,182,1332,0.00,2.28,0.00,0.000,644,0.000,0.056,2856,655,3389,3271,3508,0,0,0,0,0,0,15.05,14.69,15.07
$GC,1394,-1.54,-146.0,2856,655,3271,3508,157.2,-11.9,196,1404,0.00,2.28,0.00,0.000,1158,0.000,0.036,2847,2056,3389,3271,3508,0,0,0,0,0,0,14.81,14.74,14.83
$GC,1705,-1.59,-146.0,2847,2056,3271,3508,184.9,-6.4,228,1706,0.00,0.00,0.00,0.000,166,0.000,0.000,2848,2056,3389,3271,3508,0,0,0,0,0,0,15.07,15.09,15.09
$GC,2006,-1.64,-146.0,2847,2056,3271,3508,212.1,-10.3,258,2013,0.12,2.33,0.00,0.000,4484,0.131,0.054,2787,3457,3389,3271,3508,0,0,0,0,0,0,14.76,14.71,14.79
$GC,2056,-1.64,-146.0,2786,3457,3270,3508,217.5,-11.4,266,2061,0.12,2.33,0.00,0.000,3078,0.244,0.037,2813,2039,3389,3271,3508,0,0,0,0,0,0,14.47,14.75,14.71
$GC,2370,-1.64,-146.0,2813,2039,3271,3508,250.2,-10.4,298,2375,0.00,2.30,0.00,0.000,516,0.000,0.058,2814,657,3389,3271,3508,0,0,0,0,0,0,15.04,14.70,15.06
$GC,2408,-1.64,-146.0,2813,657,3271,3508,254.6,-10.2,305,2413,0.00,2.30,0.00,0.000,1030,0.000,0.038,2805,2058,3389,3271,3508,0,0,0,0,0,0,14.82,14.75,14.85
$GC,2738,-1.64,-146.0,2805,2058,3270,3508,289.4,-9.6,320,2743,0.00,2.40,0.00,0.000,548,0.000,0.061,2805,650,3389,3271,3508,0,0,0,0,0,0,15.06,14.70,15.08
$GC,2791,-1.64,-146.0,2805,650,3270,3508,294.3,-9.2,330,2799,0.10,2.33,0.00,0.000,3110,0.269,0.041,2814,2065,3389,3271,3508,0,0,0,0,0,0,14.49,14.76,14.71
$GC,3108,-1.64,-146.0,2814,2065,3271,3508,322.7,-9.7,342,3114,0.00,2.33,0.00,0.000,292,0.000,0.062,2806,3453,3389,3271,3508,0,0,0,0,0,0,15.07,14.71,15.08
$GC,3192,-1.71,-146.0,2806,3453,3271,3508,331.6,-10.4,358,3199,0.00,2.30,0.00,0.000,1158,0.000,0.037,2806,2058,3389,3271,3507,0,0,0,0,0,0,14.83,14.75,14.85
$GC,3507,-1.71,-146.0,2806,2057,3271,3505,361.0,-8.9,370,3514,0.00,2.38,0.00,0.000,548,0.000,0.064,2806,645,3388,3271,3505,0,0,0,0,0,0,15.07,14.69,15.09
$GC,3542,-1.71,-146.0,2806,644,3270,3504,364.2,-8.7,376,3546,0.00,2.33,0.00,0.000,1062,0.000,0.041,2796,2057,3387,3270,3504,0,0,0,0,0,0,14.83,14.76,14.85
$GC,3875,-1.71,-146.0,2796,2057,3269,3501,395.5,-9.7,392,3880,0.00,2.42,0.00,0.000,548,0.000,0.062,2796,640,3385,3269,3501,0,0,0,0,0,0,15.06,14.69,15.08
$GC,3918,-1.71,-146.0,2796,640,3269,3501,400.3,-10.9,400,3923,0.00,2.33,0.00,0.000,1030,0.000,0.041,2786,2049,3385,3269,3501,0,0,0,0,0,0,14.83,14.75,14.85
$GC,4242,-1.71,-146.0,2786,2049,3268,3498,434.4,-10.8,414,4247,0.00,2.40,0.00,0.000,516,0.000,0.063,2786,651,3383,3268,3498,0,0,0,0,0,0,15.07,14.68,15.09
$GC,4279,-1.71,-146.0,2786,650,3267,3499,438.9,-11.1,421,4285,0.12,2.33,0.00,0.000,3078,0.279,0.044,2801,2053,3382,3267,3498,0,0,0,0,0,0,14.39,14.74,14.67
$GC,4609,-1.71,-146.0,2800,2053,3266,3496,471.3,-9.9,436,4616,0.00,2.35,0.00,0.000,292,0.000,0.063,2792,3446,3380,3266,3495,0,0,0,0,0,0,15.06,14.67,15.08
$GC,4644,-1.74,-146.0,2792,3446,3266,3495,474.8,-10.1,442,4649,0.00,2.35,0.00,0.000,1158,0.000,0.044,2792,2038,3380,3266,3495,0,0,0,0,0,0,14.81,14.73,14.84
$GC,4977,-1.74,-146.0,2791,2037,3265,3494,512.3,-11.9,458,4982,0.00,2.35,0.00,0.000,516,0.000,0.061,2792,640,3379,3265,3493,0,0,0,0,0,0,15.06,14.67,15.08
$GC,5052,-1.74,-146.0,2792,640,3264,3493,521.9,-12.4,472,5057,0.00,2.33,0.00,0.000,1030,0.000,0.040,2784,2049,3378,3264,3493,0,0,0,0,0,0,14.81,14.73,14.83
$GC,5375,-1.74,-146.0,2784,2050,3262,3490,562.8,-12.7,486,5376,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2050,3376,3262,3490,0,0,0,0,0,0,15.06,15.09,15.08
$GC,5676,-1.74,-146.0,2784,2050,3261,3489,597.3,-10.8,496,5677,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2051,3375,3261,3489,0,0,0,0,0,0,15.05,15.08,15.07
$GC,5978,-1.74,-146.0,2784,2050,3260,3487,629.1,-10.6,506,5983,0.00,2.38,0.00,0.000,260,0.000,0.063,2774,3450,3374,3260,3488,0,0,0,0,0,0,15.07,14.64,15.09
$GC,6010,-1.74,-146.0,2774,3450,3260,3486,632.9,-10.4,512,6018,0.10,2.35,0.00,0.000,3078,0.258,0.044,2790,2042,3373,3260,3486,0,0,0,0,0,0,14.42,14.71,14.66
$GC,6346,-1.74,-146.0,2790,2042,3258,3486,668.5,-10.8,528,6353,0.00,2.38,0.00,0.000,516,0.000,0.067,2791,653,3372,3258,3486,0,0,0,0,0,0,15.05,14.63,15.07
$GC,6381,-1.74,-146.0,2791,653,3258,3486,672.6,-11.8,534,6387,0.00,2.30,0.00,0.000,1030,0.000,0.047,2783,2035,3372,3258,3486,0,0,0,0,0,0,14.71,14.65,14.74
$GC,6715,-1.74,-146.0,2783,2035,3257,3485,711.6,-11.6,550,6716,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2035,3371,3257,3485,0,0,0,0,0,0,15.06,15.08,15.08
$GC,7016,-1.74,-146.0,2782,2035,3255,3484,744.2,-10.5,560,7017,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2035,3369,3255,3484,0,0,0,0,0,0,15.05,15.07,15.07
$GC,7317,-1.74,-146.0,2783,2036,3255,3481,774.7,-10.2,570,7322,0.00,2.42,0.00,0.000,516,0.000,0.069,2783,645,3368,3255,3481,0,0,0,0,0,0,15.07,14.62,15.08
$GC,7351,-1.71,-146.0,2782,644,3254,3481,778.4,-11.1,576,7358,0.15,2.38,0.00,0.000,3206,0.288,0.048,2804,2055,3367,3254,3480,0,0,0,0,0,0,14.22,14.68,14.43
$GC,7686,-1.71,-146.0,2804,2056,3253,3480,812.6,-10.6,592,7687,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2056,3366,3253,3480,0,0,0,0,0,0,15.04,15.07,15.07
$GC,7989,-1.74,-146.0,2804,2056,3252,3479,843.7,-10.3,602,7994,0.00,2.42,0.00,0.000,388,0.000,0.074,2796,3452,3365,3251,3479,0,0,0,0,0,0,15.06,14.58,15.08
$GC,8042,-1.80,-146.0,2796,3452,3251,3479,849.8,-11.7,612,8049,0.00,2.35,0.00,0.000,1158,0.000,0.049,2796,2063,3365,3251,3479,0,0,0,0,0,0,14.67,14.62,14.71
$GC,8357,-1.80,-146.0,2796,2063,3250,3479,882.1,-10.1,624,8364,0.00,2.45,0.00,0.000,516,0.000,0.068,2796,635,3364,3250,3479,0,0,0,0,0,0,15.04,14.59,15.07
$GC,8385,-1.80,-146.0,2796,635,3250,3479,885.1,-10.3,629,8394,0.00,2.40,0.00,0.000,1030,0.000,0.048,2788,2053,3364,3250,3479,0,0,0,0,0,0,14.76,14.66,14.79
$GC,8693,-1.80,-146.0,2787,2053,3249,3479,914.1,-9.0,640,8698,0.00,2.45,0.00,0.000,548,0.000,0.065,2788,643,3364,3249,3479,0,0,0,0,0,0,15.06,14.59,15.08
$GC,8731,-1.80,-146.0,2787,642,3249,3479,918.0,-9.2,647,8736,0.00,2.38,0.00,0.000,1062,0.000,0.047,2778,2052,3364,3249,3479,0,0,0,0,0,0,14.76,14.67,14.79
$GC,9060,-1.80,-146.0,2778,2053,3248,3477,947.6,-9.1,662,9067,0.00,2.42,0.00,0.000,292,0.000,0.070,2769,3459,3363,3248,3478,0,0,0,0,0,0,15.04,14.58,15.07
$GC,9098,-1.80,-146.0,2769,3459,3248,3477,951.4,-9.2,669,9106,0.00,2.40,0.00,0.000,1062,0.000,0.049,2769,2050,3362,3248,3477,0,0,0,0,0,0,14.74,14.64,14.78
$GC,9429,-1.76,-146.0,2768,2050,3247,3477,984.4,-10.5,684,9434,0.10,2.45,0.00,0.000,2436,0.279,0.068,2777,3453,3362,3248,3477,0,0,0,0,0,0,14.42,14.54,14.59
$GC,9465,-1.76,-146.0,2776,3453,3247,3477,988.1,-10.6,690,9470,0.00,2.40,0.00,0.000,1030,0.000,0.047,2777,2040,3362,3248,3477,0,0,0,0,0,0,14.75,14.65,14.78
$STATE,9480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9481,begin apogee
$GC,9486,-0.33,0.0,2777,1796,3248,3477,990.2,-10.2,693,9619,1.27,0.00,129.00,2.697,10246,0.274,0.000,3095,1796,2789,2674,2905,0,0,0,0,0,0,14.31,13.97,12.89
$STATE,9620,end apogee,CONTROL_FINISHED_OK
$STATE,9620,begin climb
$GC,9622,1.32,146.0,3095,1795,2669,2902,993.8,0.0,697,9764,1.27,0.00,136.90,2.665,10758,0.158,0.000,3463,1794,2193,2066,2320,0,0,0,0,0,0,13.97,13.75,12.71
$GC,10053,1.11,146.0,3463,1794,2045,2316,958.0,10.9,727,10059,0.20,2.45,0.00,0.000,4740,0.334,0.074,3431,405,2179,2043,2316,0,0,0,0,0,0,14.08,14.38,14.30
$GC,10152,0.96,155.6,3430,405,2041,2316,947.9,9.5,747,10166,0.22,2.38,8.10,2.228,13478,0.328,0.041,3384,1812,2154,2015,2294,0,0,0,0,0,0,14.16,14.52,13.40
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$STATE,18792,end climb,SURFACE_DEPTH_REACHED
$STATE,18792,begin surface coast
$FINISH,1.5,0.997288
$STATE,18819,end surface coast,CONTROL_FINISHED_OK
$STATE,18819,begin surface
$SM_CCo,18837,71.90,0.082,0,0,450,573.99
$SM_GC,2.35,10.00,0.38,71.90,0.083,0.057,0.082,94,2067,450,-14.12,-1.39,573.99,0,0,0,0,0,0,14.54,14.69,14.57
$IRIDIUM_FIX,1305.38,6002.95,190417,075133
$TT8_MAMPS,0.023968,0.158039
$HUMID,50.90
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,23.80
$XPDR_PINGS,9
$24V_AH,12.71,80.703
$10V_AH,13.26,0.000
$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,29.000,187.950,499.175,71.900,0.000,0.000,0.000,222.950,114.000,0.000,28.954,3009.102,12707.266,793.718,2518.811,227.112,0.000,2177.416,0.000,1941.047,0.000,750.598,0.000
$DEVICE_MAMPS,416.160,2074.680,2697.390,81.855,0.000,0.000,0.000,180.540,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,670.131,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,59994,1364
$CAP_FILE_SIZE,219264,0
$CFSIZE,260034560,240254976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.025,264.59,1
$GPS,190417,184707,1312.470,5958.753,33,0.9,39,-0.6,0.3,267.0,8,10.0