version: 66.13
glider: 137
mission: 5
dive: 236
start: 4 21 117 15 12 17
data:
$ID,137
$MISSION,5
$DIVE,236
$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,65
$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
$GPS1,210417,150601,1309.0696,6015.2529,39,0.8,51,-0.7,0.4,291.4,10,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-67.3
$GPS2,210417,151141,1309.0757,6015.2217,15,1.0,26,-0.7,0.0,0.0,9,10.0
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1309.070,6018.398
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,96.8,5728,-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,7,-1.28,-146.0,93,2076,327,564,0.0,0.0,0,102,0.00,0.00,-92.60,0.000,16386,0.000,0.000,93,2077,2935,2857,3014,0,0,0,0,0,0,14.82,28.83,14.84
$GC,105,-1.28,-146.0,92,2077,2858,3014,4.8,-7.3,16,137,13.95,2.78,-8.20,0.000,19236,0.404,2.071,2894,646,3388,3273,3503,0,0,0,0,0,0,14.19,13.23,14.42
$GC,225,-1.33,-146.0,2894,646,3274,3503,25.5,-11.4,38,232,0.00,2.30,0.00,0.000,1158,0.000,0.039,2885,2028,3389,3275,3503,0,0,0,0,0,0,14.63,14.56,14.65
$GC,535,-1.38,-146.0,2885,2028,3275,3503,57.2,-10.2,92,536,0.00,0.00,0.00,0.000,134,0.000,0.000,2885,2028,3389,3275,3503,0,0,0,0,0,0,14.94,14.97,14.97
$GC,836,-1.42,-146.0,2885,2029,3275,3504,89.1,-11.2,122,837,0.00,0.00,0.00,0.000,134,0.000,0.000,2885,2028,3389,3276,3503,0,0,0,0,0,0,15.00,15.02,15.02
$GC,1136,-1.49,-146.0,2885,2029,3276,3503,121.6,-10.2,152,1137,0.12,0.00,0.00,0.000,4230,0.134,0.000,2825,2030,3389,3276,3503,0,0,0,0,0,0,14.74,14.83,14.80
$GC,1435,-1.49,-146.0,2825,2029,3276,3503,154.7,-11.8,182,1444,0.12,2.38,0.00,0.000,2308,0.249,0.053,2847,3461,3389,3276,3503,0,0,0,0,0,0,14.45,14.68,14.58
$GC,1507,-1.60,-146.0,2847,3461,3276,3503,162.6,-10.9,196,1517,0.00,2.33,0.00,0.000,1158,0.000,0.034,2847,2034,3390,3277,3503,0,0,0,0,0,0,14.81,14.73,14.83
$GC,1818,-1.64,-146.0,2847,2034,3276,3503,192.4,-8.3,228,1829,0.12,2.28,0.00,0.000,4772,0.127,0.054,2796,651,3390,3277,3503,0,0,0,0,0,0,14.75,14.65,14.78
$GC,1873,-1.64,-146.0,2796,651,3277,3503,197.8,-10.0,238,1882,0.10,2.28,0.00,0.000,3110,0.226,0.040,2813,2050,3389,3276,3503,0,0,0,0,0,0,14.36,14.68,14.52
$GC,2183,-1.64,-146.0,2813,2050,3277,3503,228.4,-10.8,270,2190,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2050,3390,3277,3503,0,0,0,0,0,0,15.04,15.07,15.07
$GC,2492,-1.64,-146.0,2813,2051,3276,3503,264.3,-11.6,293,2498,0.00,2.35,0.00,0.000,260,0.000,0.064,2805,3447,3390,3277,3503,0,0,0,0,0,0,15.04,14.67,15.06
$GC,2543,-1.68,-146.0,2804,3447,3276,3503,270.1,-11.2,302,2550,0.00,2.30,0.00,0.000,1158,0.000,0.039,2804,2049,3390,3277,3503,0,0,0,0,0,0,14.81,14.73,14.83
$GC,2864,-1.68,-146.0,2804,2048,3277,3503,302.0,-9.9,315,2865,0.00,0.00,0.00,0.000,38,0.000,0.000,2804,2049,3389,3276,3503,0,0,0,0,0,0,15.06,15.09,15.08
$GC,3163,-1.68,-146.0,2804,2048,3276,3503,333.7,-10.9,325,3169,0.00,2.38,0.00,0.000,260,0.000,0.058,2794,3446,3390,3277,3503,0,0,0,0,0,0,15.05,14.69,15.07
$GC,3198,-1.68,-146.0,2794,3446,3277,3503,337.6,-11.3,331,3203,0.00,2.30,0.00,0.000,1030,0.000,0.040,2795,2053,3389,3276,3503,0,0,0,0,0,0,14.82,14.73,14.84
$GC,3533,-1.68,-146.0,2794,2052,3276,3502,375.2,-11.4,347,3538,0.00,2.40,0.00,0.000,260,0.000,0.060,2785,3457,3388,3275,3502,0,0,0,0,0,0,15.06,14.67,15.08
$GC,3553,-1.68,-146.0,2784,3457,3276,3501,378.2,-12.0,351,3559,0.12,2.35,0.00,0.000,3078,0.243,0.041,2811,2037,3388,3276,3500,0,0,0,0,0,0,14.43,14.73,14.67
$GC,3867,-1.68,-146.0,2810,2037,3273,3500,413.0,-11.3,363,3872,0.00,2.33,0.00,0.000,516,0.000,0.061,2811,655,3386,3273,3500,0,0,0,0,0,0,15.05,14.67,15.07
$GC,3910,-1.68,-146.0,2811,654,3272,3499,418.4,-11.7,371,3915,0.00,2.33,0.00,0.000,1030,0.000,0.041,2803,2061,3386,3273,3499,0,0,0,0,0,0,14.81,14.73,14.83
$GC,4234,-1.68,-146.0,2802,2061,3271,3497,454.8,-11.3,385,4235,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2061,3384,3271,3497,0,0,0,0,0,0,15.07,15.09,15.09
$GC,4533,-1.68,-146.0,2803,2060,3270,3495,486.5,-10.5,395,4538,0.00,2.42,0.00,0.000,516,0.000,0.066,2803,657,3382,3270,3494,0,0,0,0,0,0,15.05,14.64,15.07
$GC,4571,-1.68,-146.0,2803,657,3270,3495,491.0,-11.1,402,4576,0.00,2.33,0.00,0.000,1030,0.000,0.044,2793,2055,3381,3268,3494,0,0,0,0,0,0,14.80,14.71,14.83
$GC,4901,-1.68,-146.0,2793,2055,3268,3493,525.9,-10.7,417,4906,0.00,2.42,0.00,0.000,516,0.000,0.066,2793,654,3380,3267,3493,0,0,0,0,0,0,15.07,14.63,15.08
$GC,4928,-1.65,-146.0,2793,654,3267,3492,529.3,-11.4,422,4937,0.15,2.35,0.00,0.000,3206,0.257,0.046,2816,2056,3379,3267,3492,0,0,0,0,0,0,14.35,14.69,14.63
$GC,5236,-1.65,-146.0,2815,2056,3266,3490,558.2,-9.5,433,5241,0.00,2.40,0.00,0.000,292,0.000,0.070,2807,3458,3377,3266,3489,0,0,0,0,0,0,15.07,14.64,15.09
$GC,5275,-1.71,-146.0,2807,3458,3266,3489,562.1,-9.4,440,5280,0.00,2.35,0.00,0.000,1190,0.000,0.044,2807,2056,3378,3267,3489,0,0,0,0,0,0,14.79,14.71,14.81
$GC,5603,-1.71,-146.0,2807,2055,3265,3488,594.1,-9.7,455,5610,0.00,2.38,0.00,0.000,548,0.000,0.067,2807,640,3376,3265,3488,0,0,0,0,0,0,15.05,14.59,15.07
$GC,5642,-1.71,-146.0,2807,640,3264,3488,598.3,-9.8,462,5649,0.00,2.38,0.00,0.000,1062,0.000,0.044,2797,2062,3376,3264,3488,0,0,0,0,0,0,14.78,14.70,14.81
$GC,5972,-1.71,-146.0,2797,2061,3263,3486,631.3,-10.0,477,5973,0.00,0.00,0.00,0.000,38,0.000,0.000,2797,2061,3374,3263,3486,0,0,0,0,0,0,15.05,15.08,15.07
$GC,6273,-1.71,-146.0,2797,2061,3262,3485,661.1,-9.8,487,6274,0.00,0.00,0.00,0.000,38,0.000,0.000,2797,2062,3374,3262,3486,0,0,0,0,0,0,15.05,15.07,15.07
$GC,6574,-1.71,-146.0,2797,2061,3261,3484,691.9,-10.4,497,6579,0.00,2.47,0.00,0.000,516,0.000,0.070,2797,647,3372,3261,3484,0,0,0,0,0,0,15.06,14.59,15.08
$GC,6627,-1.71,-146.0,2797,646,3260,3484,698.0,-11.4,507,6633,0.00,2.38,0.00,0.000,1030,0.000,0.047,2788,2058,3372,3260,3484,0,0,0,0,0,0,14.77,14.68,14.80
$GC,6941,-1.71,-146.0,2787,2058,3260,3482,732.3,-10.9,519,6948,0.00,2.38,0.00,0.000,260,0.000,0.065,2778,3451,3370,3259,3481,0,0,0,0,0,0,15.04,14.60,15.07
$GC,6976,-1.71,-146.0,2778,3451,3259,3481,736.0,-10.6,525,6982,0.12,2.38,0.00,0.000,3078,0.234,0.044,2811,2039,3370,3259,3481,0,0,0,0,0,0,14.34,14.66,14.48
$GC,7311,-1.74,-146.0,2810,2039,3258,3481,766.7,-8.8,541,7317,0.00,2.38,0.00,0.000,676,0.000,0.067,2811,651,3369,3258,3481,0,0,0,0,0,0,15.05,14.59,15.07
$GC,7356,-1.74,-146.0,2811,651,3258,3481,771.0,-9.1,549,7362,0.00,2.38,0.00,0.000,1062,0.000,0.047,2803,2058,3369,3257,3481,0,0,0,0,0,0,14.76,14.66,14.78
$GC,7681,-1.74,-146.0,2802,2058,3257,3479,798.7,-8.6,563,7686,0.00,2.47,0.00,0.000,548,0.000,0.068,2803,635,3368,3257,3479,0,0,0,0,0,0,15.05,14.56,15.07
$GC,7724,-1.74,-146.0,2802,635,3257,3479,802.7,-9.1,571,7728,0.00,2.40,0.00,0.000,1062,0.000,0.049,2793,2050,3368,3257,3479,0,0,0,0,0,0,14.74,14.64,14.78
$GC,8047,-1.74,-146.0,2792,2050,3256,3479,831.6,-9.2,585,8048,0.00,0.00,0.00,0.000,38,0.000,0.000,2793,2050,3366,3255,3478,0,0,0,0,0,0,15.04,15.07,15.06
$GC,8349,-1.74,-146.0,2793,2050,3255,3478,860.1,-10.0,595,8354,0.00,2.45,0.00,0.000,548,0.000,0.069,2793,651,3366,3254,3478,0,0,0,0,0,0,15.05,14.57,15.07
$GC,8390,-1.74,-146.0,2792,651,3255,3478,864.9,-10.7,603,8395,0.00,2.38,0.00,0.000,1030,0.000,0.048,2784,2052,3366,3254,3478,0,0,0,0,0,0,14.74,14.64,14.77
$GC,8713,-1.74,-146.0,2783,2052,3253,3477,899.9,-11.2,617,8720,0.00,2.45,0.00,0.000,516,0.000,0.068,2784,653,3365,3253,3477,0,0,0,0,0,0,15.03,14.55,15.06
$GC,8758,-1.74,-146.0,2783,652,3253,3477,905.7,-12.3,625,8765,0.10,2.38,0.00,0.000,3078,0.278,0.050,2791,2053,3364,3252,3477,0,0,0,0,0,0,14.31,14.64,14.54
$GC,9083,-1.74,-146.0,2791,2053,3251,3477,942.8,-11.5,639,9088,0.00,2.42,0.00,0.000,260,0.000,0.073,2783,3448,3364,3251,3477,0,0,0,0,0,0,15.03,14.54,15.05
$GC,9117,-1.74,-146.0,2783,3448,3251,3477,946.7,-11.5,645,9123,0.00,2.40,0.00,0.000,1030,0.000,0.047,2783,2043,3364,3251,3477,0,0,0,0,0,0,14.73,14.63,14.76
$GC,9451,-1.74,-146.0,2783,2042,3250,3477,986.7,-11.9,661,9458,0.00,2.42,0.00,0.000,516,0.000,0.070,2785,641,3363,3250,3476,0,0,0,0,0,0,15.03,14.54,15.05
$STATE,9474,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9474,begin apogee
$GC,9481,-0.33,0.0,2779,1803,3250,3477,990.1,-13.4,665,9615,1.23,0.00,129.57,2.697,10246,0.248,0.000,3096,1810,2789,2675,2904,0,0,0,0,0,0,14.28,13.96,12.86
$STATE,9616,end apogee,CONTROL_FINISHED_OK
$STATE,9616,begin climb
$GC,9618,1.28,146.0,3095,1810,2669,2900,995.2,0.0,669,9766,1.17,2.72,135.55,2.658,10756,0.144,0.076,3460,398,2187,2058,2317,0,0,0,0,0,0,13.97,13.76,12.69
$GC,9802,1.05,146.0,3459,398,2048,2317,987.1,11.0,710,9810,0.25,2.50,0.00,0.000,5254,0.317,0.045,3407,1807,2182,2047,2317,0,0,0,0,0,0,13.77,14.02,14.05
$GC,10108,0.93,146.0,3406,1807,2040,2317,956.9,10.0,721,10116,0.12,2.42,0.00,0.000,4484,0.407,0.066,3375,3210,2178,2040,2317,0,0,0,0,0,0,14.06,14.43,14.31
$GC,10158,0.86,163.4,3375,3210,2040,2316,952.1,9.2,731,10181,0.00,2.42,15.38,2.416,9382,0.000,0.052,3384,1798,2118,1979,2258,0,0,0,0,0,0,14.59,14.52,13.38
$GC,10500,0.78,163.4,3384,1798,1970,2258,916.6,10.7,749,10507,0.15,2.47,0.00,0.000,4484,0.325,0.069,3346,3204,2114,1970,2258,0,0,0,0,0,0,14.22,14.51,14.42
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$STATE,18845,end climb,SURFACE_DEPTH_REACHED
$STATE,18845,begin surface coast
$FINISH,1.6,0.997417
$STATE,18871,end surface coast,CONTROL_FINISHED_OK
$STATE,18872,begin surface
$SM_CCo,18889,77.30,0.080,0,0,449,573.99
$SM_GC,2.44,10.00,0.38,77.30,0.076,0.054,0.080,98,2080,449,-14.10,-1.36,573.99,0,0,0,0,0,0,14.51,14.69,14.56
$IRIDIUM_FIX,1300.95,6015.86,210417,093311
$TT8_MAMPS,0.023968,0.158039
$HUMID,50.94
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,24.00
$XPDR_PINGS,3
$24V_AH,12.69,84.502
$10V_AH,13.03,0.000
$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,29.100,203.450,487.950,77.300,0.000,0.000,0.000,227.950,106.750,0.000,27.551,3026.038,12656.413,776.774,2604.326,245.937,0.000,2238.325,0.000,2032.547,0.000,713.256,0.000
$DEVICE_MAMPS,406.980,2070.855,2696.625,80.325,0.000,0.000,0.000,182.835,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,680.303,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225076
$DATA_FILE_SIZE,63260,1429
$CAP_FILE_SIZE,221483,0
$CFSIZE,260034560,239386624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.045,229.48,1
$GPS,210417,202945,1308.309,6017.412,30,0.9,44,-0.7,0.2,296.8,7,8.9