version: 66.13
glider: 137
mission: 5
dive: 243
start: 4 23 117 6 4 44
data:
$ID,137
$MISSION,5
$DIVE,243
$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,31
$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
$GPS1,230417,055907,1304.8145,6031.2632,34,0.9,40,-0.7,0.5,213.7,10,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-68.4
$GPS2,230417,060407,1304.7614,6031.2412,6,0.9,16,-0.7,0.0,234.8,10,10.0
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1258.259,6138.993
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,90.3,122867,-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,-146.0,96,2074,325,567,0.0,0.0,0,102,0.00,0.00,-93.22,0.000,16386,0.000,0.000,96,2073,2927,2850,3005,0,0,0,0,0,0,14.81,28.83,14.84
$GC,105,-1.28,-146.0,95,2073,2850,3005,4.5,-5.5,16,137,13.60,2.60,-8.48,0.000,19236,0.392,2.075,2880,3422,3388,3269,3507,0,0,0,0,0,0,14.16,13.20,14.41
$GC,265,-1.34,-146.0,2880,3422,3271,3507,29.1,-10.6,46,272,0.00,2.30,0.00,0.000,1158,0.000,0.034,2880,2029,3388,3271,3506,0,0,0,0,0,0,14.64,14.58,14.66
$GC,580,-1.37,-146.0,2880,2028,3272,3506,62.6,-10.2,96,589,0.00,2.30,0.00,0.000,644,0.000,0.053,2880,650,3389,3271,3507,0,0,0,0,0,0,14.95,14.60,14.97
$GC,632,-1.44,-146.0,2879,650,3272,3507,68.1,-10.3,106,641,0.00,2.28,0.00,0.000,1158,0.000,0.036,2870,2040,3389,3271,3507,0,0,0,0,0,0,14.73,14.66,14.75
$GC,942,-1.49,-146.0,2869,2040,3272,3507,101.1,-10.8,138,951,0.00,2.35,0.00,0.000,644,0.000,0.056,2870,657,3389,3272,3507,0,0,0,0,0,0,15.00,14.64,15.02
$GC,986,-1.57,-146.0,2869,657,3273,3506,106.0,-9.8,147,994,0.12,2.28,0.00,0.000,5286,0.119,0.036,2810,2056,3390,3273,3507,0,0,0,0,0,0,14.68,14.71,14.76
$GC,1294,-1.53,-146.0,2810,2056,3274,3506,140.4,-11.4,178,1296,0.15,0.00,0.00,0.000,2182,0.243,0.000,2843,2057,3390,3274,3507,0,0,0,0,0,0,14.45,14.73,14.67
$GC,1594,-1.56,-146.0,2842,2057,3274,3507,165.8,-7.8,208,1598,0.00,2.30,0.00,0.000,420,0.000,0.054,2834,3437,3390,3274,3507,0,0,0,0,0,0,15.05,14.68,15.07
$GC,1659,-1.66,-146.0,2834,3437,3274,3507,171.4,-8.0,221,1667,0.00,2.28,0.00,0.000,1190,0.000,0.033,2834,2036,3390,3274,3507,0,0,0,0,0,0,14.81,14.75,14.83
$GC,1966,-1.69,-146.0,2834,2035,3274,3507,199.0,-9.5,252,1976,0.10,2.28,0.00,0.000,4772,0.146,0.055,2797,658,3390,3274,3507,0,0,0,0,0,0,14.76,14.59,14.80
$GC,2026,-1.66,-146.0,2798,658,3274,3507,205.4,-10.3,263,2034,0.12,2.28,0.00,0.000,3206,0.266,0.041,2813,2043,3390,3274,3507,0,0,0,0,0,0,14.42,14.72,14.66
$GC,2334,-1.66,-146.0,2812,2043,3274,3507,236.4,-10.8,294,2339,0.00,2.35,0.00,0.000,260,0.000,0.056,2804,3456,3390,3274,3506,0,0,0,0,0,0,15.02,14.68,15.05
$GC,2370,-1.66,-146.0,2803,3457,3274,3507,240.7,-10.8,301,2379,0.00,2.30,0.00,0.000,1030,0.000,0.035,2804,2058,3390,3274,3507,0,0,0,0,0,0,14.80,14.73,14.82
$GC,2698,-1.66,-146.0,2804,2058,3274,3507,273.8,-9.6,318,2705,0.00,2.38,0.00,0.000,548,0.000,0.061,2804,643,3390,3274,3507,0,0,0,0,0,0,15.04,14.66,15.07
$GC,2743,-1.66,-146.0,2803,643,3274,3506,278.5,-10.0,326,2750,0.00,2.33,0.00,0.000,1062,0.000,0.043,2794,2045,3390,3274,3507,0,0,0,0,0,0,14.80,14.71,14.82
$GC,3069,-1.66,-146.0,2794,2045,3274,3507,310.7,-10.3,340,3074,0.00,2.40,0.00,0.000,516,0.000,0.063,2794,651,3390,3274,3507,0,0,0,0,0,0,15.05,14.66,15.07
$GC,3111,-1.66,-146.0,2794,651,3274,3507,315.6,-10.2,348,3116,0.12,2.33,0.00,0.000,3078,0.265,0.040,2810,2064,3390,3274,3507,0,0,0,0,0,0,14.40,14.73,14.65
$GC,3435,-1.66,-146.0,2809,2064,3274,3506,346.0,-9.4,362,3437,0.00,0.00,0.00,0.000,38,0.000,0.000,2810,2064,3390,3274,3507,0,0,0,0,0,0,15.05,15.08,15.07
$GC,3737,-1.66,-146.0,2809,2064,3272,3504,371.9,-8.5,372,3738,0.00,0.00,0.00,0.000,38,0.000,0.000,2810,2064,3388,3272,3504,0,0,0,0,0,0,15.06,15.09,15.08
$GC,4036,-1.66,-146.0,2810,2064,3271,3502,399.5,-9.5,382,4041,0.00,2.33,0.00,0.000,292,0.000,0.059,2801,3448,3386,3271,3502,0,0,0,0,0,0,15.06,14.66,15.08
$GC,4095,-1.71,-146.0,2801,3448,3271,3501,405.2,-9.0,393,4103,0.00,2.33,0.00,0.000,1190,0.000,0.039,2801,2052,3386,3271,3501,0,0,0,0,0,0,14.80,14.71,14.82
$GC,4403,-1.71,-146.0,2801,2052,3269,3500,434.6,-9.8,404,4408,0.00,2.40,0.00,0.000,548,0.000,0.067,2801,640,3384,3269,3499,0,0,0,0,0,0,15.07,14.64,15.08
$GC,4440,-1.71,-146.0,2800,640,3269,3499,438.7,-10.0,411,4445,0.00,2.35,0.00,0.000,1030,0.000,0.042,2791,2056,3383,3268,3499,0,0,0,0,0,0,14.79,14.71,14.82
$GC,4769,-1.71,-146.0,2791,2056,3267,3498,472.7,-10.6,426,4775,0.00,2.35,0.00,0.000,260,0.000,0.060,2782,3452,3382,3267,3497,0,0,0,0,0,0,15.05,14.64,15.07
$GC,4787,-1.71,-146.0,2781,3452,3267,3497,475.0,-10.9,429,4796,0.10,2.35,0.00,0.000,3078,0.250,0.041,2800,2038,3382,3267,3497,0,0,0,0,0,0,14.42,14.70,14.65
$GC,5110,-1.71,-146.0,2799,2038,3266,3496,508.7,-10.7,442,5112,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2038,3381,3267,3495,0,0,0,0,0,0,15.06,15.09,15.08
$GC,5410,-1.71,-146.0,2799,2038,3265,3494,539.2,-9.8,452,5415,0.00,2.42,0.00,0.000,292,0.000,0.063,2791,3447,3379,3265,3494,0,0,0,0,0,0,15.05,14.63,15.07
$GC,5432,-1.71,-146.0,2791,3448,3265,3494,541.6,-9.6,456,5437,0.00,2.35,0.00,0.000,1062,0.000,0.041,2791,2045,3379,3265,3494,0,0,0,0,0,0,14.78,14.69,14.81
$GC,5745,-1.71,-146.0,2791,2044,3264,3492,573.0,-10.2,468,5746,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2044,3378,3264,3493,0,0,0,0,0,0,15.04,15.07,15.07
$GC,6046,-1.71,-146.0,2790,2044,3262,3490,603.7,-10.2,478,6048,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2044,3376,3262,3491,0,0,0,0,0,0,15.05,15.07,15.07
$GC,6348,-1.71,-146.0,2790,2043,3261,3489,633.1,-9.6,488,6353,0.00,2.42,0.00,0.000,292,0.000,0.063,2781,3447,3375,3261,3489,0,0,0,0,0,0,15.06,14.62,15.08
$GC,6374,-1.71,-146.0,2781,3447,3261,3488,636.2,-10.2,493,6384,0.10,2.38,0.00,0.000,3078,0.250,0.044,2799,2037,3374,3261,3488,0,0,0,0,0,0,14.40,14.67,14.62
$GC,6683,-1.71,-146.0,2799,2037,3260,3488,663.5,-9.1,504,6688,0.00,2.38,0.00,0.000,548,0.000,0.065,2800,648,3373,3260,3487,0,0,0,0,0,0,15.06,14.59,15.08
$GC,6721,-1.71,-146.0,2800,648,3260,3488,667.3,-9.3,511,6726,0.00,2.35,0.00,0.000,1062,0.000,0.044,2792,2048,3373,3260,3487,0,0,0,0,0,0,14.76,14.66,14.78
$GC,7050,-1.71,-146.0,2792,2049,3259,3486,696.9,-9.0,526,7057,0.00,2.45,0.00,0.000,548,0.000,0.067,2792,643,3372,3259,3486,0,0,0,0,0,0,15.05,14.58,15.07
$GC,7105,-1.71,-146.0,2792,643,3258,3486,702.4,-9.4,536,7110,0.00,2.38,0.00,0.000,1062,0.000,0.045,2782,2052,3372,3258,3486,0,0,0,0,0,0,14.74,14.65,14.78
$GC,7418,-1.71,-146.0,2782,2052,3258,3486,731.7,-9.4,548,7423,0.00,2.40,0.00,0.000,292,0.000,0.065,2772,3459,3371,3258,3485,0,0,0,0,0,0,15.04,14.59,15.06
$GC,7453,-1.71,-146.0,2772,3459,3258,3485,734.9,-9.7,554,7459,0.12,2.38,0.00,0.000,3110,0.250,0.046,2802,2049,3372,3258,3486,0,0,0,0,0,0,14.27,14.65,14.43
$GC,7789,-1.71,-146.0,2802,2048,3256,3485,766.3,-9.6,570,7794,0.00,2.40,0.00,0.000,548,0.000,0.066,2803,648,3370,3256,3485,0,0,0,0,0,0,15.05,14.57,15.07
$GC,7852,-1.71,-146.0,2802,647,3256,3485,773.1,-10.4,582,7857,0.00,2.38,0.00,0.000,1030,0.000,0.044,2794,2061,3370,3256,3485,0,0,0,0,0,0,14.74,14.65,14.77
$GC,8186,-1.71,-146.0,2794,2061,3255,3483,808.2,-10.8,598,8191,0.00,2.47,0.00,0.000,516,0.000,0.067,2794,636,3369,3255,3483,0,0,0,0,0,0,15.04,14.54,15.06
$GC,8229,-1.71,-146.0,2793,636,3255,3484,813.3,-12.2,606,8234,0.00,2.40,0.00,0.000,1030,0.000,0.044,2784,2061,3369,3255,3483,0,0,0,0,0,0,14.73,14.64,14.76
$GC,8554,-1.71,-146.0,2784,2061,3254,3482,850.8,-12.0,620,8555,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2061,3368,3254,3482,0,0,0,0,0,0,15.04,15.07,15.06
$GC,8854,-1.71,-146.0,2784,2062,3253,3481,887.6,-12.4,630,8858,0.00,2.47,0.00,0.000,516,0.000,0.069,2785,642,3367,3253,3481,0,0,0,0,0,0,15.04,14.53,15.05
$GC,8903,-1.68,-146.0,2784,641,3252,3481,894.1,-12.5,639,8911,0.15,2.40,0.00,0.000,3206,0.281,0.047,2807,2062,3366,3252,3481,0,0,0,0,0,0,14.17,14.63,14.35
$GC,9225,-1.68,-146.0,2807,2062,3251,3480,928.7,-10.6,652,9230,0.00,2.40,0.00,0.000,260,0.000,0.069,2799,3452,3366,3252,3480,0,0,0,0,0,0,15.04,14.54,15.06
$GC,9259,-1.72,-146.0,2799,3452,3252,3479,932.5,-11.1,658,9266,0.00,2.38,0.00,0.000,1158,0.000,0.043,2799,2043,3365,3252,3479,0,0,0,0,0,0,14.73,14.64,14.76
$GC,9595,-1.72,-146.0,2799,2043,3251,3479,966.2,-9.8,674,9600,0.00,2.40,0.00,0.000,548,0.000,0.067,2802,650,3365,3251,3479,0,0,0,0,0,0,15.04,14.54,15.06
$GC,9632,-1.72,-146.0,2802,650,3250,3479,970.4,-10.0,681,9637,0.00,2.38,0.00,0.000,1030,0.000,0.046,2793,2055,3364,3250,3479,0,0,0,0,0,0,14.72,14.63,14.75
$STATE,9838,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9839,begin apogee
$GC,9843,-0.33,0.0,2793,1792,3250,3478,990.5,-9.8,692,9977,1.20,0.00,129.90,2.700,10246,0.250,0.000,3101,1791,2790,2674,2906,0,0,0,0,0,0,14.24,13.94,12.85
$STATE,9978,end apogee,CONTROL_FINISHED_OK
$STATE,9978,begin climb
$GC,9980,1.28,146.0,3101,1791,2668,2903,993.8,0.0,696,10128,1.20,2.62,137.38,2.663,10500,0.139,0.064,3450,3200,2187,2058,2316,0,0,0,0,0,0,13.95,13.52,12.65
$GC,10149,1.06,146.0,3450,3200,2058,2309,986.1,10.3,714,10155,0.25,2.50,0.00,0.000,5254,0.335,0.050,3412,1812,2183,2057,2309,0,0,0,0,0,0,13.67,13.92,13.96
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$STATE,19311,end climb,SURFACE_DEPTH_REACHED
$STATE,19311,begin surface coast
$FINISH,1.6,1.010301
$STATE,19334,end surface coast,CONTROL_FINISHED_OK
$STATE,19334,begin surface
$SM_CCo,19352,45.15,0.083,0,0,449,573.99
$SM_GC,2.54,10.07,0.45,45.15,0.076,0.054,0.083,92,2062,449,-14.12,-1.27,573.99,0,0,0,0,0,0,14.55,14.67,14.57
$IRIDIUM_FIX,1256.52,6031.78,230417,002225
$TT8_MAMPS,0.023968,0.158039
$HUMID,52.75
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,23.70
$XPDR_PINGS,12
$24V_AH,12.65,87.546
$10V_AH,12.98,0.000
$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,28.775,213.300,564.650,45.150,0.000,0.000,0.000,196.525,112.500,0.000,18.254,3061.449,12938.933,841.768,2570.717,285.523,0.000,2282.021,0.000,2039.963,0.000,736.655,0.000
$DEVICE_MAMPS,392.445,2074.680,2699.685,83.385,0.000,0.000,0.000,190.485,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,686.083,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225896
$DATA_FILE_SIZE,63335,1434
$CAP_FILE_SIZE,228540,0
$CFSIZE,260034560,238714880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.055,198.99,1
$GPS,230417,112926,1304.062,6033.749,40,1.0,47,-0.7,0.0,172.7,8,9.6