version: 66.13
glider: 137
mission: 5
dive: 238
start: 4 22 117 2 7 2
data:
$ID,137
$MISSION,5
$DIVE,238
$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,39
$R_STBD_OVSHOOT,56
$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
$GPS1,220417,020106,1308.3774,6019.6958,40,0.8,51,-0.7,0.0,169.3,9,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-67.4
$GPS2,220417,020625,1308.3441,6019.6895,9,0.9,17,-0.7,0.0,148.0,9,9.9
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1255.308,6148.461
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,98.9,162050,-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,-146.0,96,2071,326,565,0.0,0.0,0,102,0.00,0.00,-92.70,0.000,16386,0.000,0.000,96,2071,2918,2840,2996,0,0,0,0,0,0,14.81,28.83,14.83
$GC,105,-1.28,-146.0,96,2071,2840,2996,4.5,-5.6,16,137,14.15,2.58,-8.50,0.000,18724,0.411,2.069,2879,3436,3389,3273,3505,0,0,0,0,0,0,14.17,13.21,14.42
$GC,239,-1.37,-146.0,2879,3436,3275,3505,26.9,-9.7,41,247,0.00,2.30,0.00,0.000,1190,0.000,0.034,2879,2040,3389,3274,3505,0,0,0,0,0,0,14.64,14.57,14.66
$GC,550,-1.40,-146.0,2879,2039,3275,3505,61.3,-11.4,92,559,0.00,2.33,0.00,0.000,644,0.000,0.054,2879,644,3390,3275,3505,0,0,0,0,0,0,14.95,14.61,14.96
$GC,582,-1.44,-146.0,2879,644,3275,3505,65.1,-11.5,98,586,0.00,2.30,0.00,0.000,1158,0.000,0.036,2869,2043,3390,3276,3505,0,0,0,0,0,0,14.72,14.66,14.74
$GC,894,-1.44,-146.0,2869,2043,3275,3505,102.8,-10.9,130,903,0.00,2.35,0.00,0.000,516,0.000,0.051,2869,647,3390,3276,3505,0,0,0,0,0,0,15.00,14.65,15.02
$GC,925,-1.48,-146.0,2869,647,3276,3505,106.0,-9.8,136,935,0.00,2.30,0.00,0.000,1190,0.000,0.037,2860,2057,3390,3275,3505,0,0,0,0,0,0,14.77,14.70,14.78
$GC,1235,-1.53,-146.0,2859,2057,3276,3505,135.2,-9.1,168,1245,0.00,2.30,0.00,0.000,420,0.000,0.056,2849,3444,3391,3277,3505,0,0,0,0,0,0,15.03,14.67,15.05
$GC,1270,-1.62,-146.0,2849,3444,3276,3505,138.6,-8.9,175,1278,0.10,2.28,0.00,0.000,5286,0.134,0.033,2804,2046,3391,3277,3505,0,0,0,0,0,0,14.69,14.73,14.78
$GC,1578,-1.58,-146.0,2803,2046,3277,3505,168.6,-9.5,206,1587,0.12,2.28,0.00,0.000,2724,0.244,0.050,2835,659,3391,3277,3505,0,0,0,0,0,0,14.46,14.62,14.58
$GC,1670,-1.58,-146.0,2835,659,3277,3505,176.9,-8.4,224,1674,0.00,2.25,0.00,0.000,1062,0.000,0.034,2827,2057,3391,3277,3505,0,0,0,0,0,0,14.74,14.71,14.77
$GC,1982,-1.58,-146.0,2826,2057,3277,3505,207.2,-10.3,256,1987,0.00,2.35,0.00,0.000,516,0.000,0.054,2827,659,3391,3277,3505,0,0,0,0,0,0,15.03,14.69,15.05
$GC,2008,-1.58,-146.0,2826,658,3277,3505,210.6,-12.0,261,2019,0.00,2.28,0.00,0.000,1030,0.000,0.038,2817,2051,3391,3277,3505,0,0,0,0,0,0,14.81,14.73,14.83
$GC,2317,-1.58,-146.0,2817,2051,3276,3505,245.5,-12.1,292,2318,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2052,3391,3277,3505,0,0,0,0,0,0,15.02,15.05,15.05
$GC,2628,-1.58,-146.0,2817,2052,3277,3505,281.9,-11.2,305,2634,0.00,2.38,0.00,0.000,516,0.000,0.057,2817,651,3391,3277,3505,0,0,0,0,0,0,15.05,14.68,15.07
$GC,2666,-1.58,-146.0,2817,651,3277,3505,286.3,-10.6,312,2671,0.10,2.30,0.00,0.000,3078,0.246,0.039,2828,2057,3391,3277,3505,0,0,0,0,0,0,14.50,14.73,14.70
$GC,2995,-1.62,-146.0,2827,2057,3277,3505,319.2,-9.9,327,3002,0.00,2.33,0.00,0.000,420,0.000,0.059,2819,3447,3391,3277,3505,0,0,0,0,0,0,15.05,14.68,15.07
$GC,3030,-1.69,-146.0,2819,3447,3277,3505,322.7,-9.5,333,3036,0.00,2.28,0.00,0.000,1190,0.000,0.037,2819,2060,3391,3277,3505,0,0,0,0,0,0,14.81,14.74,14.84
$GC,3364,-1.69,-146.0,2819,2060,3277,3505,355.8,-9.5,349,3365,0.00,0.00,0.00,0.000,38,0.000,0.000,2819,2060,3391,3277,3505,0,0,0,0,0,0,15.05,15.08,15.07
$GC,3665,-1.69,-146.0,2819,2059,3274,3503,384.0,-9.3,359,3666,0.00,0.00,0.00,0.000,38,0.000,0.000,2819,2060,3389,3275,3503,0,0,0,0,0,0,15.06,15.08,15.08
$GC,3966,-1.69,-146.0,2819,2059,3273,3500,412.7,-9.6,369,3972,0.00,2.38,0.00,0.000,292,0.000,0.060,2809,3449,3386,3273,3500,0,0,0,0,0,0,15.07,14.66,15.09
$GC,4001,-1.73,-146.0,2809,3448,3273,3499,416.2,-8.9,375,4008,0.00,2.30,0.00,0.000,1190,0.000,0.039,2809,2052,3386,3273,3499,0,0,0,0,0,0,14.72,14.68,14.76
$GC,4337,-1.73,-146.0,2809,2052,3272,3498,448.4,-9.6,391,4342,0.00,2.40,0.00,0.000,292,0.000,0.060,2799,3451,3385,3272,3498,0,0,0,0,0,0,15.05,14.66,15.07
$GC,4363,-1.73,-146.0,2799,3452,3272,3497,451.3,-10.0,396,4372,0.00,2.35,0.00,0.000,1030,0.000,0.039,2799,2039,3384,3272,3497,0,0,0,0,0,0,14.80,14.71,14.83
$GC,4670,-1.73,-146.0,2799,2039,3270,3495,481.4,-10.0,407,4671,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2039,3382,3270,3495,0,0,0,0,0,0,15.05,15.07,15.07
$GC,4970,-1.73,-146.0,2799,2039,3268,3493,511.9,-10.2,417,4978,0.00,2.42,0.00,0.000,260,0.000,0.063,2789,3447,3380,3268,3493,0,0,0,0,0,0,15.05,14.64,15.07
$GC,5022,-1.73,-146.0,2789,3447,3268,3492,517.2,-10.1,426,5027,0.00,2.33,0.00,0.000,1030,0.000,0.041,2789,2051,3380,3268,3493,0,0,0,0,0,0,14.79,14.71,14.81
$GC,5340,-1.73,-146.0,2789,2051,3267,3490,551.3,-11.0,439,5341,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2051,3378,3267,3490,0,0,0,0,0,0,15.04,15.07,15.07
$GC,5641,-1.73,-146.0,2789,2051,3266,3489,583.4,-10.5,449,5648,0.00,2.40,0.00,0.000,260,0.000,0.064,2780,3441,3377,3266,3489,0,0,0,0,0,0,15.04,14.63,15.07
$GC,5686,-1.73,-146.0,2780,3441,3266,3488,588.3,-9.8,457,5691,0.00,2.35,0.00,0.000,1062,0.000,0.042,2780,2046,3377,3266,3488,0,0,0,0,0,0,14.78,14.69,14.81
$GC,6010,-1.70,-146.0,2780,2046,3264,3487,621.0,-10.2,471,6015,0.12,2.35,0.00,0.000,2692,0.262,0.059,2810,650,3376,3265,3487,0,0,0,0,0,0,14.33,14.58,14.46
$GC,6049,-1.70,-146.0,2809,649,3265,3487,625.2,-9.7,478,6054,0.00,2.35,0.00,0.000,1062,0.000,0.045,2802,2055,3375,3264,3487,0,0,0,0,0,0,14.78,14.69,14.81
$GC,6379,-1.70,-146.0,2801,2055,3262,3486,655.9,-9.5,493,6384,0.00,2.38,0.00,0.000,292,0.000,0.065,2791,3451,3374,3262,3486,0,0,0,0,0,0,15.05,14.62,15.07
$GC,6406,-1.70,-146.0,2791,3450,3263,3486,658.9,-10.0,498,6414,0.00,2.35,0.00,0.000,1062,0.000,0.042,2791,2053,3374,3262,3486,0,0,0,0,0,0,14.77,14.68,14.80
$GC,6714,-1.70,-146.0,2791,2053,3261,3486,688.8,-9.8,509,6715,0.00,0.00,0.00,0.000,38,0.000,0.000,2791,2053,3373,3261,3486,0,0,0,0,0,0,15.06,15.08,15.07
$GC,7013,-1.70,-146.0,2791,2052,3261,3483,718.2,-9.8,519,7015,0.00,0.00,0.00,0.000,38,0.000,0.000,2791,2052,3372,3261,3483,0,0,0,0,0,0,15.04,15.07,15.07
$GC,7314,-1.70,-146.0,2791,2052,3260,3483,747.6,-9.8,529,7322,0.00,2.42,0.00,0.000,292,0.000,0.065,2782,3448,3371,3260,3482,0,0,0,0,0,0,15.04,14.60,15.07
$GC,7366,-1.70,-146.0,2782,3448,3260,3482,753.1,-10.0,538,7371,0.10,2.35,0.00,0.000,3078,0.246,0.041,2800,2042,3371,3260,3482,0,0,0,0,0,0,14.39,14.67,14.62
$GC,7685,-1.70,-146.0,2800,2042,3258,3482,783.5,-9.5,551,7689,0.00,2.38,0.00,0.000,548,0.000,0.067,2800,655,3370,3258,3482,0,0,0,0,0,0,15.04,14.57,15.07
$GC,7711,-1.70,-146.0,2800,655,3258,3481,786.4,-10.8,556,7720,0.00,2.35,0.00,0.000,1030,0.000,0.041,2792,2063,3369,3258,3481,0,0,0,0,0,0,14.76,14.68,14.79
$GC,8018,-1.70,-146.0,2791,2063,3258,3480,816.6,-10.0,567,8022,0.00,2.45,0.00,0.000,548,0.000,0.060,2792,643,3369,3258,3480,0,0,0,0,0,0,15.04,14.59,15.07
$GC,8052,-1.70,-146.0,2791,643,3258,3480,819.9,-10.9,573,8058,0.10,2.35,0.00,0.000,3078,0.272,0.042,2800,2054,3368,3257,3480,0,0,0,0,0,0,14.36,14.67,14.60
$GC,8388,-1.70,-146.0,2800,2055,3256,3479,851.2,-9.2,589,8389,0.00,0.00,0.00,0.000,38,0.000,0.000,2800,2055,3367,3256,3479,0,0,0,0,0,0,15.05,15.07,15.07
$GC,8688,-1.70,-146.0,2799,2055,3255,3478,878.3,-9.1,599,8693,0.00,2.38,0.00,0.000,292,0.000,0.066,2792,3443,3367,3255,3479,0,0,0,0,0,0,15.04,14.57,15.06
$GC,8723,-1.70,-146.0,2791,3443,3255,3478,881.5,-9.2,605,8730,0.00,2.33,0.00,0.000,1062,0.000,0.043,2792,2049,3366,3255,3478,0,0,0,0,0,0,14.65,14.60,14.69
$GC,9058,-1.70,-146.0,2791,2049,3254,3478,912.9,-9.3,621,9065,0.00,2.40,0.00,0.000,548,0.000,0.063,2792,643,3366,3254,3478,0,0,0,0,0,0,15.04,14.57,15.06
$GC,9094,-1.70,-146.0,2791,644,3254,3478,916.6,-9.9,627,9099,0.10,2.38,0.00,0.000,3110,0.274,0.045,2799,2055,3366,3254,3478,0,0,0,0,0,0,14.34,14.64,14.58
$GC,9428,-1.70,-146.0,2799,2056,3253,3477,948.5,-9.9,643,9433,0.00,2.40,0.00,0.000,292,0.000,0.068,2791,3449,3365,3253,3477,0,0,0,0,0,0,15.03,14.56,15.05
$GC,9466,-1.74,-146.0,2791,3448,3253,3477,952.7,-10.9,650,9471,0.00,2.38,0.00,0.000,1158,0.000,0.044,2791,2044,3365,3253,3477,0,0,0,0,0,0,14.73,14.64,14.76
$GC,9795,-1.74,-146.0,2791,2043,3251,3477,986.1,-10.5,665,9800,0.00,2.40,0.00,0.000,516,0.000,0.067,2791,647,3364,3251,3477,0,0,0,0,0,0,15.04,14.54,15.06
$STATE,9827,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9827,begin apogee
$GC,9834,-0.33,0.0,2783,1807,3251,3477,990.0,-11.1,671,9970,1.23,0.00,132.43,2.669,10246,0.249,0.000,3099,1813,2789,2675,2904,0,0,0,0,0,0,14.28,13.95,12.90
$STATE,9971,end apogee,CONTROL_FINISHED_OK
$STATE,9971,begin climb
$GC,9973,1.28,146.0,3098,1812,2671,2901,994.3,0.0,675,10118,1.17,2.67,135.70,2.669,10756,0.138,0.076,3462,400,2188,2060,2316,0,0,0,0,0,0,13.96,13.54,12.66
$GC,10190,1.05,146.0,3461,399,2044,2316,981.8,11.1,723,10197,0.28,2.45,0.00,0.000,5254,0.317,0.043,3407,1799,2179,2043,2316,0,0,0,0,0,0,13.81,14.11,14.12
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$STATE,19848,end climb,SURFACE_DEPTH_REACHED
$STATE,19849,begin surface coast
$FINISH,1.5,1.008876
$STATE,19881,end surface coast,CONTROL_FINISHED_OK
$STATE,19881,begin surface
$SM_CCo,19899,66.07,0.081,0,0,450,573.99
$SM_GC,2.46,9.75,0.38,66.07,0.063,0.056,0.081,97,2081,450,-14.10,-1.41,573.99,0,0,0,0,0,0,14.57,14.70,14.57
$IRIDIUM_FIX,1300.95,6018.88,210417,203126
$TT8_MAMPS,0.023968,0.158788
$HUMID,51.02
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,24.00
$XPDR_PINGS,6
$24V_AH,12.66,85.329
$10V_AH,13.02,0.000
$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,28.675,221.675,497.250,66.075,0.000,0.000,0.000,216.850,107.250,0.000,19.554,3138.412,13485.374,788.279,2625.315,248.903,0.000,2273.798,0.000,2075.346,0.000,711.827,0.000
$DEVICE_MAMPS,410.805,2069.325,2669.085,81.090,0.000,0.000,0.000,182.835,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,711.801,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225600
$DATA_FILE_SIZE,63262,1459
$CAP_FILE_SIZE,232112,0
$CFSIZE,260034560,239185920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.038,237.01,1
$GPS,220417,074106,1307.520,6022.103,37,0.8,42,-0.7,0.0,159.5,10,10.0