version: 66.13
glider: 137
mission: 5
dive: 239
start: 4 22 117 7 47 9
data:
$ID,137
$MISSION,5
$DIVE,239
$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,38
$R_STBD_OVSHOOT,76
$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
$GPS1,220417,074106,1307.5199,6022.1030,37,0.8,42,-0.7,0.0,159.5,10,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-66.1
$GPS2,220417,074633,1307.5004,6022.1221,12,0.8,21,-0.7,0.0,160.1,10,9.9
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1255.308,6148.461
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,94.0,157477,-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,-146.0,96,2089,329,563,0.0,0.0,0,102,0.00,0.00,-92.85,0.000,16386,0.000,0.000,96,2090,2935,2856,3015,0,0,0,0,0,0,14.82,28.83,14.85
$GC,105,-1.28,-146.0,96,2090,2857,3015,4.6,-6.5,16,137,13.85,2.53,-8.32,0.000,18724,0.402,2.072,2880,3408,3389,3273,3505,0,0,0,0,0,0,14.18,13.25,14.57
$GC,259,-1.35,-146.0,2880,3408,3275,3505,29.7,-11.7,45,266,0.00,2.25,0.00,0.000,1158,0.000,0.035,2880,2040,3390,3275,3505,0,0,0,0,0,0,14.65,14.59,14.66
$GC,573,-1.38,-146.0,2880,2040,3275,3505,65.0,-10.2,93,583,0.00,2.30,0.00,0.000,644,0.000,0.053,2880,655,3390,3275,3505,0,0,0,0,0,0,14.95,14.62,14.97
$GC,615,-1.44,-146.0,2881,654,3275,3505,69.4,-10.7,101,625,0.00,2.25,0.00,0.000,1158,0.000,0.035,2870,2028,3390,3275,3505,0,0,0,0,0,0,14.73,14.67,14.76
$GC,925,-1.47,-146.0,2870,2027,3275,3505,103.9,-11.8,133,935,0.00,2.35,0.00,0.000,388,0.000,0.056,2861,3444,3390,3276,3505,0,0,0,0,0,0,15.01,14.65,15.03
$GC,970,-1.53,-146.0,2860,3444,3275,3505,110.0,-12.8,142,978,0.00,2.28,0.00,0.000,1158,0.000,0.034,2860,2048,3390,3275,3505,0,0,0,0,0,0,14.78,14.71,14.80
$GC,1278,-1.58,-146.0,2860,2048,3277,3505,141.3,-7.0,173,1288,0.12,2.30,0.00,0.000,4772,0.122,0.050,2804,653,3391,3277,3505,0,0,0,0,0,0,14.75,14.68,14.77
$GC,1341,-1.54,-146.0,2804,653,3277,3505,146.6,-8.2,185,1351,0.20,2.28,0.00,0.000,3238,0.239,0.034,2841,2061,3390,3276,3505,0,0,0,0,0,0,14.42,14.73,14.67
$GC,1651,-1.57,-146.0,2840,2061,3277,3505,167.9,-9.0,217,1661,0.00,2.38,0.00,0.000,676,0.000,0.052,2841,646,3391,3277,3505,0,0,0,0,0,0,15.06,14.69,15.08
$GC,1683,-1.57,-146.0,2841,645,3277,3505,171.2,-10.3,223,1687,0.00,2.30,0.00,0.000,1030,0.000,0.036,2832,2056,3391,3277,3505,0,0,0,0,0,0,14.81,14.74,14.83
$GC,1995,-1.57,-146.0,2831,2057,3277,3505,206.0,-11.9,255,1997,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2057,3391,3277,3505,0,0,0,0,0,0,15.04,15.06,15.05
$GC,2297,-1.60,-146.0,2832,2058,3277,3505,236.0,-9.0,285,2302,0.00,2.38,0.00,0.000,676,0.000,0.055,2832,650,3391,3277,3505,0,0,0,0,0,0,15.04,14.69,15.07
$GC,2331,-1.60,-146.0,2832,650,3276,3505,239.2,-9.6,291,2338,0.00,2.30,0.00,0.000,1062,0.000,0.038,2822,2059,3390,3276,3505,0,0,0,0,0,0,14.82,14.74,14.83
$GC,2667,-1.60,-146.0,2823,2059,3277,3505,267.8,-8.4,311,2672,0.00,2.33,0.00,0.000,292,0.000,0.058,2812,3454,3390,3276,3505,0,0,0,0,0,0,15.04,14.69,15.07
$GC,2722,-1.65,-146.0,2812,3454,3277,3505,272.5,-9.3,321,2727,0.00,2.30,0.00,0.000,1190,0.000,0.036,2812,2045,3391,3277,3505,0,0,0,0,0,0,14.82,14.75,14.84
$GC,3036,-1.65,-146.0,2812,2045,3277,3505,302.2,-9.9,333,3041,0.00,2.33,0.00,0.000,548,0.000,0.058,2812,653,3390,3276,3505,0,0,0,0,0,0,15.06,14.68,15.08
$GC,3074,-1.65,-146.0,2812,653,3277,3505,306.3,-10.2,340,3079,0.00,2.30,0.00,0.000,1030,0.000,0.040,2801,2054,3391,3277,3505,0,0,0,0,0,0,14.82,14.74,14.84
$GC,3402,-1.65,-146.0,2802,2054,3276,3505,338.4,-9.7,355,3409,0.00,2.40,0.00,0.000,548,0.000,0.060,2802,648,3390,3276,3505,0,0,0,0,0,0,15.06,14.67,15.08
$GC,3440,-1.65,-146.0,2802,648,3276,3505,342.7,-10.8,362,3446,0.10,2.33,0.00,0.000,3078,0.269,0.041,2811,2064,3390,3275,3505,0,0,0,0,0,0,14.44,14.74,14.69
$GC,3771,-1.65,-146.0,2811,2064,3273,3503,377.5,-11.3,377,3775,0.00,2.33,0.00,0.000,260,0.000,0.061,2803,3448,3388,3273,3503,0,0,0,0,0,0,15.06,14.67,15.08
$GC,3805,-1.69,-146.0,2802,3448,3273,3503,381.2,-10.4,383,3811,0.00,2.30,0.00,0.000,1158,0.000,0.038,2803,2053,3388,3273,3503,0,0,0,0,0,0,14.81,14.73,14.83
$GC,4140,-1.69,-146.0,2802,2053,3272,3501,419.8,-11.5,399,4145,0.00,2.38,0.00,0.000,516,0.000,0.060,2803,641,3386,3272,3500,0,0,0,0,0,0,15.06,14.66,15.08
$GC,4161,-1.69,-146.0,2803,641,3272,3499,422.7,-12.0,403,4166,0.00,2.33,0.00,0.000,1030,0.000,0.040,2793,2049,3386,3272,3500,0,0,0,0,0,0,14.81,14.73,14.83
$GC,4474,-1.69,-146.0,2793,2048,3270,3498,458.3,-11.5,415,4476,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2048,3384,3270,3498,0,0,0,0,0,0,15.06,15.08,15.08
$GC,4775,-1.69,-146.0,2793,2048,3268,3496,493.7,-12.0,425,4782,0.00,2.42,0.00,0.000,516,0.000,0.064,2793,643,3382,3268,3496,0,0,0,0,0,0,15.05,14.64,15.07
$GC,4804,-1.69,-146.0,2793,643,3268,3496,497.7,-13.6,430,4813,0.12,2.35,0.00,0.000,3078,0.272,0.042,2808,2056,3382,3268,3496,0,0,0,0,0,0,14.37,14.71,14.64
$GC,5111,-1.69,-146.0,2807,2056,3266,3494,533.4,-11.5,441,5112,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2056,3380,3267,3494,0,0,0,0,0,0,15.07,15.09,15.08
$GC,5412,-1.69,-146.0,2807,2056,3266,3493,566.3,-10.9,451,5416,0.00,2.38,0.00,0.000,260,0.000,0.067,2799,3446,3379,3266,3492,0,0,0,0,0,0,15.05,14.62,15.07
$GC,5438,-1.69,-146.0,2799,3446,3266,3491,569.5,-11.1,456,5448,0.00,2.35,0.00,0.000,1030,0.000,0.046,2799,2055,3379,3266,3492,0,0,0,0,0,0,14.78,14.69,14.81
$GC,5745,-1.69,-146.0,2799,2054,3264,3490,601.7,-10.4,467,5746,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2055,3377,3264,3490,0,0,0,0,0,0,15.05,15.08,15.08
$GC,6046,-1.69,-146.0,2799,2054,3263,3489,630.8,-9.5,477,6053,0.00,2.42,0.00,0.000,292,0.000,0.066,2789,3453,3375,3263,3488,0,0,0,0,0,0,15.05,14.62,15.07
$GC,6098,-1.73,-146.0,2789,3453,3263,3488,635.8,-9.4,486,6104,0.00,2.38,0.00,0.000,1190,0.000,0.046,2789,2043,3375,3263,3488,0,0,0,0,0,0,14.77,14.67,14.80
$GC,6417,-1.73,-146.0,2789,2043,3261,3487,665.0,-9.1,499,6422,0.00,2.40,0.00,0.000,548,0.000,0.069,2789,643,3374,3261,3487,0,0,0,0,0,0,15.06,14.59,15.08
$GC,6466,-1.73,-146.0,2789,643,3261,3487,669.8,-9.4,508,6473,0.00,2.35,0.00,0.000,1062,0.000,0.042,2779,2058,3374,3261,3487,0,0,0,0,0,0,14.78,14.70,14.81
$GC,6788,-1.70,-146.0,2779,2059,3260,3486,698.6,-9.1,521,6790,0.12,0.00,0.00,0.000,2214,0.295,0.000,2803,2059,3373,3261,3486,0,0,0,0,0,0,14.33,14.68,14.59
$GC,7088,-1.70,-146.0,2802,2059,3259,3486,724.6,-8.8,531,7094,0.00,2.45,0.00,0.000,548,0.000,0.071,2803,652,3372,3259,3486,0,0,0,0,0,0,15.05,14.52,15.08
$GC,7158,-1.70,-146.0,2803,652,3258,3485,731.9,-9.5,544,7165,0.00,2.35,0.00,0.000,1062,0.000,0.045,2794,2052,3371,3258,3485,0,0,0,0,0,0,14.75,14.67,14.79
$GC,7488,-1.70,-146.0,2794,2052,3258,3484,766.5,-11.0,559,7489,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2052,3371,3258,3484,0,0,0,0,0,0,15.04,15.07,15.07
$GC,7789,-1.70,-146.0,2794,2052,3257,3482,801.1,-11.5,569,7796,0.00,2.45,0.00,0.000,516,0.000,0.062,2794,639,3369,3257,3482,0,0,0,0,0,0,15.04,14.59,15.06
$GC,7873,-1.70,-146.0,2794,639,3256,3482,811.8,-12.6,585,7880,0.00,2.38,0.00,0.000,1030,0.000,0.042,2784,2058,3369,3256,3483,0,0,0,0,0,0,14.74,14.66,14.78
$GC,8188,-1.70,-146.0,2784,2058,3256,3481,848.4,-11.6,597,8195,0.10,2.45,0.00,0.000,2564,0.292,0.067,2802,652,3368,3256,3481,0,0,0,0,0,0,14.42,14.51,14.57
$GC,8234,-1.70,-146.0,2802,653,3256,3481,853.9,-11.0,605,8239,0.00,2.38,0.00,0.000,1030,0.000,0.047,2794,2059,3368,3256,3481,0,0,0,0,0,0,14.74,14.65,14.77
$GC,8558,-1.70,-146.0,2794,2059,3254,3480,888.5,-10.7,619,8563,0.00,2.47,0.00,0.000,516,0.000,0.066,2794,632,3367,3254,3480,0,0,0,0,0,0,15.04,14.54,15.06
$GC,8595,-1.70,-146.0,2794,632,3254,3480,893.0,-10.6,626,8601,0.10,2.40,0.00,0.000,3078,0.281,0.047,2801,2052,3367,3254,3480,0,0,0,0,0,0,14.33,14.64,14.58
$GC,8926,-1.70,-146.0,2801,2052,3253,3479,924.6,-9.3,641,8931,0.00,2.42,0.00,0.000,292,0.000,0.070,2793,3455,3366,3253,3479,0,0,0,0,0,0,15.04,14.55,15.07
$GC,8960,-1.73,-146.0,2792,3455,3253,3479,927.8,-8.9,647,8967,0.00,2.40,0.00,0.000,1190,0.000,0.050,2793,2046,3366,3253,3479,0,0,0,0,0,0,14.73,14.64,14.76
$GC,9295,-1.73,-146.0,2792,2046,3252,3478,958.0,-8.8,663,9296,0.00,0.00,0.00,0.000,38,0.000,0.000,2793,2046,3365,3252,3478,0,0,0,0,0,0,15.04,15.07,15.06
$GC,9596,-1.73,-146.0,2793,2046,3251,3478,983.3,-8.2,673,9603,0.00,2.47,0.00,0.000,292,0.000,0.071,2783,3458,3364,3251,3477,0,0,0,0,0,0,15.03,14.52,15.06
$GC,9625,-1.73,-146.0,2782,3458,3251,3477,986.0,-8.9,678,9633,0.00,2.40,0.00,0.000,1062,0.000,0.046,2782,2045,3364,3251,3477,0,0,0,0,0,0,14.73,14.63,14.76
$STATE,9689,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9689,begin apogee
$GC,9695,-0.33,0.0,2783,1802,3251,3477,991.5,-8.3,681,9830,1.23,0.00,131.25,2.697,10246,0.246,0.000,3100,1800,2789,2676,2902,0,0,0,0,0,0,14.26,13.95,12.85
$STATE,9831,end apogee,CONTROL_FINISHED_OK
$STATE,9831,begin climb
$GC,9833,1.28,146.0,3100,1801,2671,2899,992.9,0.0,685,9974,1.17,0.00,137.23,2.669,10502,0.147,0.000,3450,1800,2193,2067,2320,0,0,0,0,0,0,13.95,13.71,12.68
$GC,10262,1.09,146.0,3450,1800,2045,2316,951.4,12.0,705,10269,0.17,2.47,0.00,0.000,4740,0.334,0.074,3424,395,2179,2043,2316,0,0,0,0,0,0,14.07,14.38,14.29
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$STATE,18994,end climb,SURFACE_DEPTH_REACHED
$STATE,18994,begin surface coast
$FINISH,1.6,1.009555
$STATE,19025,end surface coast,CONTROL_FINISHED_OK
$STATE,19025,begin surface
$SM_CCo,19043,73.68,0.081,0,0,449,573.99
$SM_GC,2.34,9.93,0.38,73.68,0.079,0.057,0.081,91,2069,449,-14.12,-1.24,573.99,0,0,0,0,0,0,14.57,14.70,14.57
$IRIDIUM_FIX,1300.95,6018.88,220417,020249
$TT8_MAMPS,0.024717,0.158788
$HUMID,51.41
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,23.90
$XPDR_PINGS,5
$24V_AH,12.68,85.757
$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,28.650,203.400,502.750,73.675,0.000,0.000,0.000,219.100,109.250,0.000,23.769,3033.987,12766.706,820.748,2571.938,251.939,0.000,2254.921,0.000,2011.834,0.000,724.312,0.000
$DEVICE_MAMPS,401.625,2071.620,2697.390,81.090,0.000,0.000,0.000,182.835,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,686.123,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225892
$DATA_FILE_SIZE,63328,1414
$CAP_FILE_SIZE,222959,0
$CFSIZE,260034560,239104000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.041,252.94,1
$GPS,220417,130707,1307.007,6024.318,37,0.9,43,-0.7,0.7,175.1,8,9.7