version: 66.13
glider: 137
mission: 5
dive: 245
start: 4 23 117 17 18 6
data:
$ID,137
$MISSION,5
$DIVE,245
$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,57
$R_STBD_OVSHOOT,73
$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
$GPS1,230417,171206,1304.2019,6036.1943,28,0.8,34,-0.7,0.8,182.0,11,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-68.3
$GPS2,230417,171730,1304.1134,6036.1938,7,0.8,14,-0.7,0.6,182.6,11,9.9
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1258.259,6138.993
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,94.1,113854,-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,-146.0,94,2027,325,568,0.0,0.0,0,104,0.00,0.00,-94.00,0.000,16386,0.000,0.000,94,2025,2953,2879,3028,0,0,0,0,0,0,14.81,28.83,14.83
$GC,107,-1.28,-146.0,94,2025,2879,3029,4.6,-6.4,16,138,13.77,2.67,-7.80,0.000,18724,0.398,2.074,2879,3411,3389,3271,3507,0,0,0,0,0,0,14.17,13.21,14.41
$GC,251,-1.36,-146.0,2879,3411,3272,3506,28.9,-10.5,43,258,0.00,2.22,0.00,0.000,1158,0.000,0.034,2880,2061,3389,3272,3506,0,0,0,0,0,0,14.64,14.57,14.65
$GC,566,-1.40,-146.0,2879,2060,3273,3507,64.5,-10.5,92,575,0.00,2.35,0.00,0.000,644,0.000,0.054,2879,653,3390,3273,3507,0,0,0,0,0,0,14.94,14.59,14.96
$GC,631,-1.48,-146.0,2880,653,3273,3507,71.6,-9.7,105,639,0.00,2.25,0.00,0.000,1190,0.000,0.034,2869,2025,3390,3273,3507,0,0,0,0,0,0,14.72,14.66,14.74
$GC,938,-1.52,-146.0,2869,2025,3274,3506,101.8,-10.1,136,948,0.10,2.38,0.00,0.000,4484,0.139,0.053,2812,3450,3390,3274,3507,0,0,0,0,0,0,14.73,14.64,14.76
$GC,963,-1.52,-146.0,2812,3450,3274,3507,105.1,-11.7,141,972,0.15,2.30,0.00,0.000,3078,0.228,0.034,2845,2039,3390,3274,3507,0,0,0,0,0,0,14.41,14.70,14.64
$GC,1270,-1.52,-146.0,2845,2039,3275,3507,138.1,-10.0,172,1280,0.00,2.30,0.00,0.000,548,0.000,0.052,2846,651,3391,3275,3507,0,0,0,0,0,0,15.03,14.66,15.05
$GC,1333,-1.58,-146.0,2846,651,3275,3507,143.7,-8.2,184,1342,0.00,2.28,0.00,0.000,1190,0.000,0.034,2837,2052,3391,3275,3507,0,0,0,0,0,0,14.78,14.72,14.81
$GC,1643,-1.62,-146.0,2837,2051,3275,3507,167.2,-8.5,216,1652,0.00,2.35,0.00,0.000,676,0.000,0.052,2837,654,3391,3275,3507,0,0,0,0,0,0,15.04,14.68,15.07
$GC,1688,-1.66,-146.0,2837,654,3275,3507,171.7,-9.2,225,1696,0.00,2.28,0.00,0.000,1190,0.000,0.035,2827,2050,3391,3275,3507,0,0,0,0,0,0,14.80,14.73,14.82
$GC,1995,-1.66,-146.0,2827,2050,3275,3506,208.4,-13.0,256,1996,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2050,3391,3275,3507,0,0,0,0,0,0,15.02,15.04,15.04
$GC,2296,-1.69,-146.0,2827,2050,3275,3506,236.9,-6.1,286,2298,0.00,0.00,0.00,0.000,166,0.000,0.000,2827,2050,3391,3275,3507,0,0,0,0,0,0,15.04,15.06,15.06
$GC,2608,-1.72,-146.0,2827,2050,3275,3506,257.0,-7.2,311,2613,0.12,2.35,0.00,0.000,4772,0.140,0.055,2782,660,3391,3275,3507,0,0,0,0,0,0,14.69,14.64,14.72
$GC,2689,-1.72,-146.0,2782,659,3275,3506,265.3,-10.1,327,2695,0.12,2.28,0.00,0.000,3078,0.273,0.037,2796,2052,3390,3275,3506,0,0,0,0,0,0,14.38,14.72,14.64
$GC,3003,-1.72,-146.0,2795,2052,3275,3506,294.7,-9.6,339,3004,0.00,0.00,0.00,0.000,38,0.000,0.000,2795,2053,3391,3275,3507,0,0,0,0,0,0,15.04,15.07,15.07
$GC,3304,-1.72,-146.0,2795,2052,3275,3507,322.2,-9.3,349,3306,0.00,0.00,0.00,0.000,38,0.000,0.000,2796,2052,3390,3275,3506,0,0,0,0,0,0,15.04,15.07,15.07
$GC,3605,-1.72,-146.0,2795,2052,3274,3506,350.3,-9.4,359,3606,0.00,0.00,0.00,0.000,38,0.000,0.000,2795,2052,3390,3274,3507,0,0,0,0,0,0,15.06,15.09,15.08
$GC,3904,-1.72,-146.0,2795,2052,3272,3504,377.9,-9.1,369,3910,0.00,2.35,0.00,0.000,292,0.000,0.058,2787,3451,3387,3272,3503,0,0,0,0,0,0,15.05,14.66,15.07
$GC,4003,-1.76,-146.0,2787,3451,3272,3503,387.5,-9.5,387,4008,0.00,2.30,0.00,0.000,1190,0.000,0.037,2787,2057,3387,3272,3503,0,0,0,0,0,0,14.80,14.72,14.83
$GC,4337,-1.76,-146.0,2787,2056,3270,3501,422.9,-10.8,403,4342,0.00,2.38,0.00,0.000,516,0.000,0.059,2788,646,3385,3270,3501,0,0,0,0,0,0,15.05,14.64,15.08
$GC,4364,-1.73,-146.0,2788,646,3270,3501,426.4,-11.7,408,4372,0.00,2.33,0.00,0.000,1158,0.000,0.041,2780,2045,3385,3270,3500,0,0,0,0,0,0,14.79,14.71,14.81
$GC,4672,-1.69,-146.0,2779,2045,3268,3499,462.9,-12.2,419,4678,0.12,2.40,0.00,0.000,2692,0.282,0.060,2810,650,3383,3268,3499,0,0,0,0,0,0,14.33,14.59,14.48
$GC,4715,-1.69,-146.0,2810,650,3268,3498,468.4,-11.2,427,4720,0.00,2.35,0.00,0.000,1030,0.000,0.043,2802,2059,3383,3268,3498,0,0,0,0,0,0,14.78,14.70,14.81
$GC,5037,-1.69,-146.0,2801,2059,3266,3496,505.3,-11.6,441,5045,0.00,2.35,0.00,0.000,260,0.000,0.062,2791,3450,3381,3266,3496,0,0,0,0,0,0,15.04,14.64,15.07
$GC,5092,-1.74,-146.0,2791,3450,3267,3496,512.0,-11.9,451,5097,0.00,2.33,0.00,0.000,1158,0.000,0.039,2792,2053,3381,3267,3496,0,0,0,0,0,0,14.78,14.69,14.80
$GC,5405,-1.74,-146.0,2791,2053,3265,3495,546.5,-10.8,463,5410,0.00,2.40,0.00,0.000,516,0.000,0.063,2792,640,3380,3265,3495,0,0,0,0,0,0,15.04,14.62,15.06
$GC,5448,-1.74,-146.0,2792,639,3265,3495,551.5,-11.0,471,5453,0.00,2.35,0.00,0.000,1030,0.000,0.041,2784,2053,3379,3264,3494,0,0,0,0,0,0,14.78,14.69,14.80
$GC,5773,-1.74,-146.0,2784,2053,3263,3493,581.2,-8.8,485,5779,0.00,2.45,0.00,0.000,548,0.000,0.065,2786,642,3378,3263,3493,0,0,0,0,0,0,15.05,14.60,15.07
$GC,5808,-1.70,-146.0,2785,641,3263,3493,584.4,-9.3,491,5815,0.12,2.35,0.00,0.000,3238,0.269,0.041,2801,2055,3378,3263,3493,0,0,0,0,0,0,14.32,14.69,14.57
$GC,6144,-1.70,-146.0,2801,2055,3261,3491,614.2,-9.2,507,6151,0.00,2.38,0.00,0.000,292,0.000,0.064,2793,3447,3376,3261,3491,0,0,0,0,0,0,15.04,14.60,15.06
$GC,6180,-1.73,-146.0,2793,3447,3261,3490,617.7,-9.9,513,6186,0.00,2.35,0.00,0.000,1190,0.000,0.041,2793,2040,3376,3262,3490,0,0,0,0,0,0,14.76,14.68,14.79
$GC,6513,-1.73,-146.0,2792,2040,3260,3489,652.7,-10.7,529,6515,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2039,3374,3260,3489,0,0,0,0,0,0,15.04,15.06,15.06
$GC,6815,-1.73,-146.0,2792,2039,3260,3488,684.0,-10.2,539,6816,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2040,3374,3260,3488,0,0,0,0,0,0,15.03,15.06,15.05
$GC,7116,-1.73,-146.0,2793,2039,3258,3487,712.1,-9.0,549,7122,0.00,2.45,0.00,0.000,292,0.000,0.063,2783,3451,3372,3258,3487,0,0,0,0,0,0,15.05,14.59,15.07
$GC,7166,-1.77,-146.0,2783,3451,3258,3487,716.8,-9.0,558,7170,0.00,2.35,0.00,0.000,1190,0.000,0.041,2783,2052,3372,3258,3486,0,0,0,0,0,0,14.75,14.66,14.78
$GC,7484,-1.77,-146.0,2783,2051,3257,3486,744.5,-8.8,571,7485,0.00,0.00,0.00,0.000,38,0.000,0.000,2783,2052,3371,3257,3486,0,0,0,0,0,0,15.04,15.06,15.06
$GC,7786,-1.77,-146.0,2783,2052,3256,3485,770.5,-8.9,581,7787,0.00,0.00,0.00,0.000,38,0.000,0.000,2783,2052,3371,3256,3486,0,0,0,0,0,0,15.04,15.07,15.07
$GC,8085,-1.77,-146.0,2783,2051,3255,3485,799.0,-9.8,591,8086,0.00,0.00,0.00,0.000,38,0.000,0.000,2783,2052,3369,3254,3485,0,0,0,0,0,0,15.04,15.07,15.07
$GC,8384,-1.77,-146.0,2782,2052,3254,3483,829.4,-10.3,601,8392,0.00,2.45,0.00,0.000,260,0.000,0.067,2773,3450,3368,3255,3482,0,0,0,0,0,0,15.03,14.56,15.05
$GC,8434,-1.77,-146.0,2772,3450,3254,3482,835.0,-11.2,610,8439,0.00,2.38,0.00,0.000,1030,0.000,0.044,2774,2045,3368,3255,3482,0,0,0,0,0,0,14.73,14.64,14.76
$GC,8753,-1.74,-146.0,2774,2043,3253,3482,869.5,-11.0,623,8755,0.10,0.00,0.00,0.000,2182,0.274,0.000,2790,2042,3367,3253,3482,0,0,0,0,0,0,14.41,14.66,14.59
$GC,9052,-1.74,-146.0,2790,2042,3253,3481,899.9,-9.9,633,9060,0.00,2.45,0.00,0.000,292,0.000,0.068,2782,3443,3366,3252,3481,0,0,0,0,0,0,15.04,14.54,15.06
$GC,9072,-1.74,-146.0,2782,3443,3252,3481,902.0,-10.0,636,9079,0.00,2.35,0.00,0.000,1030,0.000,0.044,2782,2054,3366,3252,3481,0,0,0,0,0,0,14.72,14.62,14.76
$GC,9393,-1.74,-146.0,2781,2053,3251,3480,932.2,-9.3,649,9394,0.00,0.00,0.00,0.000,38,0.000,0.000,2782,2053,3365,3251,3480,0,0,0,0,0,0,15.04,15.07,15.07
$GC,9693,-1.74,-146.0,2781,2053,3250,3480,958.6,-8.6,659,9694,0.00,0.00,0.00,0.000,38,0.000,0.000,2782,2053,3365,3250,3480,0,0,0,0,0,0,15.02,15.06,15.05
$GC,9993,-1.74,-146.0,2781,2053,3250,3479,982.9,-8.0,669,10000,0.00,2.45,0.00,0.000,292,0.000,0.067,2772,3449,3364,3250,3479,0,0,0,0,0,0,15.03,14.53,15.05
$GC,10019,-1.74,-146.0,2772,3449,3250,3479,985.2,-8.4,673,10025,0.10,2.40,0.00,0.000,3110,0.255,0.047,2795,2035,3364,3250,3479,0,0,0,0,0,0,14.25,14.62,14.40
$STATE,10091,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10092,begin apogee
$GC,10096,-0.33,0.0,2795,1788,3250,3478,990.9,-7.6,677,10230,1.17,0.00,130.20,2.703,10246,0.252,0.000,3097,1788,2789,2674,2905,0,0,0,0,0,0,14.23,13.94,12.83
$STATE,10231,end apogee,CONTROL_FINISHED_OK
$STATE,10232,begin climb
$GC,10234,1.28,146.0,3097,1788,2669,2901,991.8,0.0,681,10382,1.23,2.67,136.70,2.667,10756,0.145,0.082,3467,398,2187,2058,2317,0,0,0,0,0,0,13.95,13.70,12.63
$GC,10402,1.04,146.0,3466,398,2049,2317,980.9,11.7,709,10408,0.32,2.50,0.00,0.000,5254,0.327,0.047,3403,1793,2182,2048,2317,0,0,0,0,0,0,13.67,13.91,13.94
$GC,10721,0.93,146.0,3403,1793,2040,2317,947.9,10.1,722,10726,0.12,2.47,0.00,0.000,4484,0.392,0.069,3378,3208,2178,2040,2316,0,0,0,0,0,0,14.06,14.41,14.29
$GC,10755,0.83,146.0,3377,3208,2040,2316,944.5,10.2,728,10762,0.10,2.40,0.00,0.000,5254,0.313,0.052,3362,1802,2178,2040,2316,0,0,0,0,0,0,14.12,14.46,14.33
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$STATE,19496,end climb,SURFACE_DEPTH_REACHED
$STATE,19496,begin surface coast
$FINISH,1.6,1.009976
$STATE,19523,end surface coast,CONTROL_FINISHED_OK
$STATE,19523,begin surface
$SM_CCo,19541,60.03,0.082,0,0,450,573.99
$SM_GC,2.45,10.15,0.38,60.03,0.083,0.057,0.082,94,2080,450,-14.11,-1.22,573.99,0,0,0,0,0,0,14.54,14.68,14.56
$IRIDIUM_FIX,1256.52,6031.78,230417,113111
$TT8_MAMPS,0.023219,0.158039
$HUMID,52.00
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,23.80
$XPDR_PINGS,10
$24V_AH,12.63,88.449
$10V_AH,12.99,0.000
$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,29.325,189.950,535.700,60.025,0.000,0.000,0.000,218.625,109.500,0.000,16.002,3102.220,13154.419,817.422,2594.195,255.129,0.000,2267.947,0.000,2043.759,0.000,719.802,0.000
$DEVICE_MAMPS,397.800,2073.915,2702.745,81.855,0.000,0.000,0.000,188.190,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,702.142,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225840
$DATA_FILE_SIZE,63385,1437
$CAP_FILE_SIZE,226052,0
$CFSIZE,260034560,238522368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.094,200.30,1
$GPS,230417,224613,1302.678,6038.445,36,1.3,48,-0.7,0.6,185.7,6,10.0