version: 66.13
glider: 137
mission: 5
dive: 231
start: 4 20 117 11 23 57
data:
$ID,137
$MISSION,5
$DIVE,231
$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,35
$R_STBD_OVSHOOT,48
$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
$GPS1,200417,111807,1309.6682,6003.3882,40,1.0,47,-0.6,0.3,174.8,7,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-66.9
$GPS2,200417,112321,1309.6394,6003.4141,15,1.0,28,-0.6,0.0,126.3,7,9.7
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1309.668,6006.533
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,93.2,5625,-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,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
$GC,7,-1.28,-146.0,99,2066,326,567,0.0,0.0,0,98,0.00,0.00,-88.57,0.000,16386,0.000,0.000,99,2067,2804,2730,2879,0,0,0,0,0,0,14.83,28.83,14.85
$GC,100,-1.28,-146.0,99,2067,2731,2879,4.3,-5.5,15,133,14.23,2.75,-11.38,0.000,18980,0.415,2.075,2895,649,3388,3266,3510,0,0,0,0,0,0,14.21,13.27,14.57
$GC,220,-1.28,-146.0,2895,648,3268,3510,23.7,-13.4,37,227,0.00,2.33,0.00,0.000,1030,0.000,0.037,2886,2052,3389,3268,3510,0,0,0,0,0,0,14.65,14.58,14.67
$GC,530,-1.32,-146.0,2886,2054,3269,3510,58.2,-11.1,91,539,0.00,2.35,0.00,0.000,388,0.000,0.057,2876,3457,3388,3268,3509,0,0,0,0,0,0,14.95,14.61,14.97
$GC,601,-1.43,-146.0,2876,3457,3268,3510,66.5,-10.9,105,606,0.00,2.33,0.00,0.000,1158,0.000,0.034,2876,2037,3388,3268,3509,0,0,0,0,0,0,14.74,14.68,14.76
$GC,913,-1.47,-146.0,2876,2037,3269,3510,103.2,-10.7,137,917,0.00,2.30,0.00,0.000,644,0.000,0.054,2876,650,3389,3269,3510,0,0,0,0,0,0,15.02,14.66,15.04
$GC,944,-1.47,-146.0,2876,649,3269,3510,106.8,-11.3,143,949,0.00,2.30,0.00,0.000,1030,0.000,0.037,2866,2058,3389,3269,3509,0,0,0,0,0,0,14.78,14.71,14.81
$GC,1251,-1.52,-146.0,2866,2058,3270,3509,136.7,-9.5,174,1252,0.00,0.00,0.00,0.000,166,0.000,0.000,2866,2058,3390,3270,3510,0,0,0,0,0,0,15.04,15.06,15.06
$GC,1551,-1.59,-146.0,2866,2058,3271,3509,162.2,-7.8,204,1561,0.12,2.35,0.00,0.000,4772,0.123,0.054,2807,652,3390,3271,3509,0,0,0,0,0,0,14.76,14.63,14.79
$GC,1646,-1.59,-146.0,2806,651,3271,3510,173.0,-10.7,223,1654,0.15,2.30,0.00,0.000,3078,0.245,0.036,2829,2062,3390,3271,3509,0,0,0,0,0,0,14.46,14.74,14.69
$GC,1955,-1.59,-146.0,2829,2061,3271,3510,207.9,-12.6,254,1956,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2061,3390,3271,3509,0,0,0,0,0,0,15.04,15.06,15.06
$GC,2254,-1.59,-146.0,2829,2062,3271,3510,240.2,-9.0,284,2256,0.00,0.00,0.00,0.000,38,0.000,0.000,2829,2062,3390,3271,3509,0,0,0,0,0,0,15.04,15.06,15.06
$GC,2566,-1.63,-146.0,2829,2062,3271,3510,262.6,-6.8,303,2571,0.00,2.38,0.00,0.000,676,0.000,0.057,2830,651,3390,3270,3510,0,0,0,0,0,0,15.06,14.70,15.08
$GC,2600,-1.63,-146.0,2829,651,3271,3509,265.5,-8.4,309,2607,0.00,2.30,0.00,0.000,1062,0.000,0.039,2821,2050,3390,3271,3509,0,0,0,0,0,0,14.82,14.74,14.85
$GC,2936,-1.63,-146.0,2821,2050,3271,3510,296.3,-9.4,325,2941,0.00,2.35,0.00,0.000,292,0.000,0.060,2811,3457,3390,3271,3509,0,0,0,0,0,0,15.05,14.69,15.08
$GC,2964,-1.66,-146.0,2811,3457,3271,3510,299.2,-9.5,330,2974,0.00,2.30,0.00,0.000,1190,0.000,0.037,2811,2054,3390,3271,3510,0,0,0,0,0,0,14.83,14.76,14.85
$GC,3269,-1.66,-146.0,2811,2054,3271,3509,327.4,-9.3,341,3270,0.00,0.00,0.00,0.000,38,0.000,0.000,2811,2054,3390,3271,3509,0,0,0,0,0,0,15.06,15.09,15.08
$GC,3570,-1.66,-146.0,2811,2054,3271,3508,355.0,-9.3,351,3577,0.00,2.38,0.00,0.000,292,0.000,0.057,2801,3453,3388,3270,3507,0,0,0,0,0,0,15.07,14.69,15.08
$GC,3630,-1.70,-146.0,2801,3453,3270,3507,360.7,-9.5,362,3638,0.00,2.33,0.00,0.000,1190,0.000,0.038,2801,2040,3388,3270,3506,0,0,0,0,0,0,14.83,14.74,14.85
$GC,3936,-1.70,-146.0,2801,2039,3268,3505,391.3,-10.3,373,3942,0.00,2.33,0.00,0.000,516,0.000,0.059,2801,652,3387,3269,3505,0,0,0,0,0,0,15.07,14.68,15.09
$GC,3970,-1.70,-146.0,2801,652,3268,3505,395.2,-10.8,379,3978,0.00,2.28,0.00,0.000,1030,0.000,0.039,2791,2049,3386,3268,3505,0,0,0,0,0,0,14.74,14.70,14.77
$GC,4305,-1.70,-146.0,2791,2049,3267,3502,430.7,-10.6,395,4307,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2049,3384,3267,3502,0,0,0,0,0,0,15.05,15.08,15.07
$GC,4607,-1.70,-146.0,2791,2048,3266,3500,462.3,-10.7,405,4614,0.00,2.40,0.00,0.000,516,0.000,0.062,2791,647,3383,3266,3500,0,0,0,0,0,0,15.05,14.66,15.07
$GC,4658,-1.70,-146.0,2791,647,3266,3500,468.0,-11.0,414,4663,0.12,2.33,0.00,0.000,3078,0.264,0.041,2806,2058,3382,3266,3499,0,0,0,0,0,0,14.40,14.73,14.66
$GC,4976,-1.70,-146.0,2806,2058,3264,3498,499.8,-10.2,427,4977,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2058,3381,3264,3498,0,0,0,0,0,0,15.05,15.08,15.07
$GC,5278,-1.70,-146.0,2806,2058,3262,3496,532.4,-11.0,437,5285,0.00,2.42,0.00,0.000,516,0.000,0.068,2807,658,3379,3262,3496,0,0,0,0,0,0,15.05,14.64,15.07
$GC,5313,-1.70,-146.0,2807,658,3262,3496,536.7,-11.3,443,5318,0.00,2.33,0.00,0.000,1030,0.000,0.044,2799,2044,3379,3262,3496,0,0,0,0,0,0,14.79,14.70,14.82
$GC,5646,-1.70,-146.0,2798,2044,3261,3494,573.8,-10.8,459,5647,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2044,3377,3261,3494,0,0,0,0,0,0,15.05,15.08,15.07
$GC,5947,-1.70,-146.0,2798,2045,3260,3493,604.5,-10.1,469,5954,0.00,2.42,0.00,0.000,516,0.000,0.067,2798,648,3376,3260,3493,0,0,0,0,0,0,15.04,14.62,15.07
$GC,6001,-1.70,-146.0,2798,648,3259,3493,610.5,-10.8,479,6006,0.00,2.35,0.00,0.000,1030,0.000,0.047,2790,2053,3375,3259,3492,0,0,0,0,0,0,14.79,14.70,14.81
$GC,6313,-1.70,-146.0,2789,2054,3258,3490,642.8,-10.4,491,6315,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2054,3374,3258,3490,0,0,0,0,0,0,15.04,15.07,15.07
$GC,6614,-1.70,-146.0,2789,2054,3257,3488,674.8,-11.0,501,6615,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2054,3373,3257,3489,0,0,0,0,0,0,15.04,15.07,15.07
$GC,6916,-1.70,-146.0,2790,2054,3255,3488,707.1,-10.8,511,6921,0.00,2.45,0.00,0.000,516,0.000,0.069,2790,658,3371,3255,3488,0,0,0,0,0,0,15.06,14.60,15.08
$GC,6963,-1.70,-146.0,2789,657,3255,3488,712.8,-11.1,520,6968,0.12,2.35,0.00,0.000,3078,0.263,0.047,2804,2059,3371,3254,3488,0,0,0,0,0,0,14.35,14.68,14.57
$GC,7282,-1.70,-146.0,2804,2059,3254,3486,746.6,-11.1,533,7290,0.00,2.40,0.00,0.000,260,0.000,0.070,2795,3455,3370,3254,3486,0,0,0,0,0,0,15.04,14.61,15.07
$GC,7333,-1.76,-146.0,2795,3455,3254,3486,752.4,-11.1,542,7338,0.00,2.35,0.00,0.000,1158,0.000,0.045,2796,2059,3370,3254,3486,0,0,0,0,0,0,14.76,14.68,14.79
$GC,7651,-1.76,-146.0,2795,2059,3252,3486,787.8,-11.1,555,7652,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2059,3369,3252,3486,0,0,0,0,0,0,15.04,15.07,15.06
$GC,7952,-1.76,-146.0,2795,2059,3251,3485,820.5,-10.9,565,7960,0.00,2.42,0.00,0.000,260,0.000,0.069,2786,3445,3368,3251,3485,0,0,0,0,0,0,15.04,14.59,15.06
$GC,7990,-1.76,-146.0,2786,3445,3251,3484,825.1,-11.1,572,7997,0.00,2.38,0.00,0.000,1030,0.000,0.047,2786,2039,3367,3251,3484,0,0,0,0,0,0,14.76,14.66,14.78
$GC,8320,-1.76,-146.0,2786,2039,3250,3484,861.9,-11.5,587,8325,0.00,2.47,0.00,0.000,260,0.000,0.068,2777,3464,3366,3250,3483,0,0,0,0,0,0,15.04,14.57,15.06
$GC,8358,-1.76,-146.0,2776,3464,3250,3482,866.5,-11.5,594,8363,0.00,2.40,0.00,0.000,1030,0.000,0.049,2776,2049,3366,3250,3482,0,0,0,0,0,0,14.76,14.66,14.78
$GC,8687,-1.72,-146.0,2776,2048,3249,3481,904.3,-11.4,609,8689,0.12,0.00,0.00,0.000,2182,0.259,0.000,2800,2046,3365,3249,3482,0,0,0,0,0,0,14.36,14.67,14.59
$GC,8987,-1.72,-146.0,2800,2046,3248,3481,936.0,-10.6,619,8992,0.00,2.42,0.00,0.000,516,0.000,0.071,2801,644,3365,3249,3481,0,0,0,0,0,0,15.04,14.56,15.06
$GC,9042,-1.72,-146.0,2801,643,3248,3481,942.3,-11.8,629,9048,0.00,2.38,0.00,0.000,1030,0.000,0.050,2792,2043,3364,3248,3481,0,0,0,0,0,0,14.73,14.64,14.77
$GC,9357,-1.72,-146.0,2792,2043,3247,3480,976.6,-11.2,641,9362,0.00,2.45,0.00,0.000,516,0.000,0.071,2792,650,3363,3247,3480,0,0,0,0,0,0,15.04,14.55,15.07
$GC,9410,-1.72,-146.0,2791,650,3247,3480,983.0,-12.0,651,9417,0.00,2.38,0.00,0.000,1030,0.000,0.050,2783,2053,3363,3247,3480,0,0,0,0,0,0,14.74,14.64,14.76
$STATE,9484,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9485,begin apogee
$GC,9489,-0.33,0.0,2783,1795,3247,3480,991.4,-11.3,655,9623,1.23,0.00,129.93,2.709,10246,0.247,0.000,3100,1794,2790,2674,2906,0,0,0,0,0,0,14.29,13.96,12.88
$STATE,9624,end apogee,CONTROL_FINISHED_OK
$STATE,9624,begin climb
$GC,9626,1.28,146.0,3100,1794,2669,2903,995.8,0.0,659,9773,1.17,2.70,135.60,2.678,10756,0.142,0.087,3463,400,2188,2058,2318,0,0,0,0,0,0,13.96,13.75,12.70
$GC,9829,1.04,146.0,3462,400,2045,2317,985.9,10.3,704,9834,0.30,2.50,0.00,0.000,5254,0.328,0.050,3404,1810,2181,2045,2317,0,0,0,0,0,0,13.80,14.08,14.10
$GC,10142,0.95,178.5,3403,1810,2040,2318,958.8,8.5,716,10173,0.00,0.00,29.30,2.517,8358,0.000,0.000,3404,1810,2061,1920,2203,0,0,0,0,0,0,14.80,14.26,13.26
$GC,10473,0.84,179.8,3403,1810,1905,2197,926.5,9.9,727,10479,0.20,2.50,0.00,0.000,4772,0.368,0.076,3370,400,2051,1905,2197,0,0,0,0,0,0,14.18,14.48,14.40
$GC,10502,0.80,189.3,3370,399,1903,2197,923.6,9.6,733,10519,0.00,2.40,9.93,2.318,9382,0.000,0.048,3370,1802,2014,1869,2160,0,0,0,0,0,0,14.64,14.56,13.45
$GC,10833,0.77,200.2,3370,1802,1862,2159,892.5,9.5,749,10850,0.12,2.45,11.30,2.340,12708,0.366,0.076,3347,3208,1969,1823,2115,0,0,0,0,0,0,14.23,14.54,13.50
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$STATE,19253,end climb,SURFACE_DEPTH_REACHED
$STATE,19253,begin surface coast
$FINISH,1.7,1.009083
$STATE,19279,end surface coast,CONTROL_FINISHED_OK
$STATE,19279,begin surface
$SM_CCo,19297,82.53,0.080,0,0,449,573.99
$SM_GC,2.47,10.05,0.38,82.53,0.079,0.057,0.080,96,2084,449,-14.10,-1.05,573.99,0,0,0,0,0,0,14.54,14.68,14.57
$IRIDIUM_FIX,1300.95,6001.03,200417,054451
$TT8_MAMPS,0.023968,0.158039
$HUMID,50.98
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,24.00
$XPDR_PINGS,12
$24V_AH,12.70,82.368
$10V_AH,13.05,0.000
$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
$DEVICE_SECS,29.025,204.100,487.325,82.525,0.000,0.000,0.000,200.100,105.000,0.000,29.733,3076.651,13010.871,773.634,2592.812,242.052,0.000,2220.073,0.000,2061.030,0.000,685.259,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,694.535,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225136
$DATA_FILE_SIZE,63375,1449
$CAP_FILE_SIZE,224011,0
$CFSIZE,260034560,239861760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.049,278.48,1
$GPS,200417,164830,1309.382,6005.657,51,0.8,56,-0.7,0.4,174.4,11,9.4