version: 66.13
glider: 137
mission: 5
dive: 247
start: 4 24 117 4 24 47
data:
$ID,137
$MISSION,5
$DIVE,247
$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,30
$R_STBD_OVSHOOT,39
$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
$GPS1,240417,041839,1302.5326,6040.8501,39,0.9,48,-0.7,0.0,194.5,9,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-67.0
$GPS2,240417,042412,1302.4799,6040.8369,9,0.8,19,-0.7,0.0,207.1,10,9.6
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1256.118,6138.065
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,89.3,103966,-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,8,-1.28,-146.0,92,2068,326,564,0.0,0.0,0,103,0.00,0.00,-93.15,0.000,16386,0.000,0.000,92,2068,2920,2844,2997,0,0,0,0,0,0,14.80,28.83,14.83
$GC,106,-1.28,-146.0,91,2068,2845,2997,4.4,-5.7,16,139,13.52,2.65,-8.82,0.000,18724,0.388,2.072,2881,3440,3388,3270,3507,0,0,0,0,0,0,14.16,13.18,14.40
$GC,242,-1.36,-146.0,2881,3440,3271,3507,26.4,-11.6,41,248,0.00,2.33,0.00,0.000,1158,0.000,0.035,2881,2037,3389,3271,3507,0,0,0,0,0,0,14.63,14.57,14.65
$GC,558,-1.41,-146.0,2881,2037,3272,3507,60.5,-8.8,92,562,0.00,2.33,0.00,0.000,676,0.000,0.055,2881,646,3389,3272,3507,0,0,0,0,0,0,14.94,14.61,14.96
$GC,605,-1.47,-146.0,2881,646,3272,3507,64.9,-8.7,101,612,0.00,2.33,0.00,0.000,1190,0.000,0.035,2871,2062,3389,3272,3507,0,0,0,0,0,0,14.73,14.66,14.75
$GC,910,-1.52,-146.0,2871,2062,3273,3507,93.6,-9.8,132,915,0.12,2.40,0.00,0.000,4772,0.125,0.054,2812,654,3389,3272,3507,0,0,0,0,0,0,14.71,14.65,14.73
$GC,946,-1.47,-146.0,2813,653,3273,3507,98.2,-12.0,139,953,0.22,2.30,0.00,0.000,3206,0.226,0.035,2857,2060,3390,3273,3507,0,0,0,0,0,0,14.42,14.71,14.66
$GC,1253,-1.50,-146.0,2856,2060,3274,3507,124.4,-8.7,170,1257,0.00,2.40,0.00,0.000,676,0.000,0.057,2857,652,3390,3274,3507,0,0,0,0,0,0,15.04,14.67,15.06
$GC,1284,-1.54,-146.0,2857,651,3274,3507,127.6,-10.6,176,1289,0.00,2.30,0.00,0.000,1158,0.000,0.036,2849,2061,3390,3274,3507,0,0,0,0,0,0,14.80,14.73,14.82
$GC,1597,-1.59,-146.0,2848,2061,3274,3507,159.5,-8.9,208,1601,0.00,2.38,0.00,0.000,676,0.000,0.054,2849,652,3390,3274,3507,0,0,0,0,0,0,15.06,14.69,15.07
$GC,1659,-1.65,-146.0,2848,653,3274,3507,165.3,-9.1,220,1664,0.10,2.28,0.00,0.000,5286,0.142,0.036,2800,2052,3390,3274,3507,0,0,0,0,0,0,14.69,14.73,14.78
$GC,1971,-1.65,-146.0,2800,2052,3274,3507,196.6,-9.3,252,1976,0.00,2.33,0.00,0.000,292,0.000,0.054,2790,3453,3390,3274,3507,0,0,0,0,0,0,15.07,14.70,15.09
$GC,1997,-1.65,-146.0,2789,3453,3274,3507,199.2,-9.3,257,2005,0.12,2.30,0.00,0.000,3110,0.246,0.035,2816,2043,3390,3274,3507,0,0,0,0,0,0,14.44,14.75,14.69
$GC,2305,-1.65,-146.0,2815,2042,3274,3507,226.2,-9.6,288,2306,0.00,0.00,0.00,0.000,38,0.000,0.000,2816,2042,3390,3274,3507,0,0,0,0,0,0,15.03,15.06,15.05
$GC,2626,-1.65,-146.0,2815,2042,3274,3507,253.5,-8.7,318,2631,0.00,2.33,0.00,0.000,548,0.000,0.057,2816,650,3390,3274,3507,0,0,0,0,0,0,15.04,14.67,15.07
$GC,2659,-1.65,-146.0,2816,650,3274,3507,256.6,-8.9,324,2667,0.00,2.30,0.00,0.000,1062,0.000,0.036,2808,2057,3390,3274,3507,0,0,0,0,0,0,14.81,14.73,14.83
$GC,2995,-1.65,-146.0,2808,2057,3274,3507,289.5,-10.0,340,3001,0.00,2.38,0.00,0.000,548,0.000,0.057,2808,659,3390,3274,3507,0,0,0,0,0,0,15.05,14.68,15.07
$GC,3022,-1.65,-146.0,2808,659,3274,3507,292.6,-11.3,345,3032,0.00,2.30,0.00,0.000,1030,0.000,0.038,2798,2054,3390,3274,3507,0,0,0,0,0,0,14.81,14.73,14.83
$GC,3329,-1.65,-146.0,2798,2054,3274,3507,322.2,-9.2,356,3334,0.00,2.35,0.00,0.000,292,0.000,0.060,2788,3458,3390,3274,3507,0,0,0,0,0,0,15.05,14.68,15.07
$GC,3374,-1.68,-146.0,2788,3458,3274,3507,326.2,-8.8,364,3380,0.00,2.33,0.00,0.000,1190,0.000,0.037,2788,2047,3390,3274,3507,0,0,0,0,0,0,14.81,14.73,14.83
$GC,3699,-1.68,-146.0,2788,2047,3271,3506,357.3,-10.4,378,3704,0.00,2.35,0.00,0.000,516,0.000,0.059,2790,647,3389,3272,3506,0,0,0,0,0,0,15.06,14.66,15.08
$GC,3726,-1.68,-146.0,2789,646,3272,3506,360.8,-12.2,383,3734,0.12,2.33,0.00,0.000,3078,0.273,0.039,2806,2056,3388,3271,3506,0,0,0,0,0,0,14.38,14.73,14.65
$GC,4033,-1.68,-146.0,2805,2057,3271,3504,393.7,-10.7,394,4038,0.00,2.35,0.00,0.000,260,0.000,0.060,2797,3455,3386,3270,3503,0,0,0,0,0,0,15.06,14.67,15.08
$GC,4081,-1.74,-146.0,2797,3455,3270,3503,399.0,-11.0,403,4086,0.00,2.33,0.00,0.000,1158,0.000,0.039,2797,2052,3386,3270,3503,0,0,0,0,0,0,14.80,14.72,14.83
$GC,4398,-1.74,-146.0,2797,2052,3268,3502,433.8,-11.3,416,4406,0.00,2.40,0.00,0.000,260,0.000,0.063,2787,3444,3384,3268,3500,0,0,0,0,0,0,15.05,14.64,15.07
$GC,4422,-1.74,-146.0,2787,3444,3268,3500,436.7,-10.9,420,4428,0.00,2.35,0.00,0.000,1030,0.000,0.042,2787,2044,3384,3268,3501,0,0,0,0,0,0,14.79,14.70,14.82
$GC,4736,-1.74,-146.0,2787,2043,3266,3499,470.9,-10.8,432,4737,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2043,3383,3267,3499,0,0,0,0,0,0,15.05,15.07,15.07
$GC,5039,-1.74,-146.0,2787,2043,3265,3498,500.7,-9.6,442,5043,0.00,2.42,0.00,0.000,292,0.000,0.063,2778,3450,3381,3265,3497,0,0,0,0,0,0,15.07,14.64,15.08
$GC,5102,-1.74,-146.0,2778,3450,3266,3496,506.9,-8.7,454,5107,0.00,2.35,0.00,0.000,1062,0.000,0.041,2778,2043,3380,3265,3496,0,0,0,0,0,0,14.78,14.69,14.81
$GC,5435,-1.70,-146.0,2778,2043,3263,3495,539.9,-10.2,470,5440,0.12,2.38,0.00,0.000,2692,0.267,0.062,2807,643,3378,3263,3494,0,0,0,0,0,0,14.31,14.59,14.47
$GC,5474,-1.70,-146.0,2807,643,3263,3494,544.1,-9.8,477,5479,0.00,2.35,0.00,0.000,1062,0.000,0.042,2799,2053,3378,3263,3494,0,0,0,0,0,0,14.78,14.70,14.81
$GC,5803,-1.70,-146.0,2798,2054,3261,3493,576.9,-10.3,492,5805,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2054,3377,3262,3493,0,0,0,0,0,0,15.05,15.08,15.08
$GC,6103,-1.70,-146.0,2798,2054,3260,3492,609.1,-11.0,502,6108,0.00,2.45,0.00,0.000,516,0.000,0.066,2799,652,3376,3260,3492,0,0,0,0,0,0,15.04,14.59,15.07
$GC,6168,-1.70,-146.0,2799,652,3260,3492,616.7,-10.6,514,6173,0.00,2.35,0.00,0.000,1030,0.000,0.042,2791,2049,3375,3259,3492,0,0,0,0,0,0,14.77,14.68,14.80
$GC,6501,-1.70,-146.0,2791,2050,3258,3489,654.0,-11.1,530,6506,0.00,2.40,0.00,0.000,260,0.000,0.064,2781,3458,3374,3259,3489,0,0,0,0,0,0,15.04,14.60,15.06
$GC,6535,-1.70,-146.0,2781,3457,3258,3488,657.6,-10.8,536,6542,0.12,2.38,0.00,0.000,3078,0.240,0.042,2812,2039,3373,3258,3489,0,0,0,0,0,0,14.31,14.67,14.47
$GC,6872,-1.73,-146.0,2811,2039,3257,3487,689.3,-9.3,552,6877,0.00,2.38,0.00,0.000,676,0.000,0.065,2813,653,3372,3257,3487,0,0,0,0,0,0,15.05,14.59,15.07
$GC,6951,-1.77,-146.0,2812,652,3256,3487,697.0,-9.7,567,6956,0.00,2.35,0.00,0.000,1190,0.000,0.043,2804,2056,3371,3256,3487,0,0,0,0,0,0,14.76,14.66,14.78
$GC,7269,-1.77,-146.0,2804,2056,3255,3486,724.3,-8.6,580,7275,0.00,2.38,0.00,0.000,292,0.000,0.064,2794,3446,3370,3255,3486,0,0,0,0,0,0,15.04,14.59,15.06
$GC,7305,-1.80,-146.0,2793,3446,3255,3486,727.2,-8.1,586,7310,0.00,2.35,0.00,0.000,1190,0.000,0.042,2794,2047,3371,3256,3486,0,0,0,0,0,0,14.75,14.66,14.78
$GC,7641,-1.80,-146.0,2793,2047,3254,3486,756.1,-8.7,602,7645,0.00,2.40,0.00,0.000,548,0.000,0.068,2794,651,3370,3254,3486,0,0,0,0,0,0,15.04,14.57,15.07
$GC,7698,-1.80,-146.0,2794,651,3254,3486,761.5,-8.9,613,7706,0.00,2.35,0.00,0.000,1062,0.000,0.044,2786,2048,3369,3253,3486,0,0,0,0,0,0,14.74,14.65,14.77
$GC,8004,-1.80,-146.0,2785,2048,3252,3485,788.8,-9.3,624,8005,0.00,0.00,0.00,0.000,38,0.000,0.000,2786,2048,3368,3252,3485,0,0,0,0,0,0,15.04,15.06,15.06
$GC,8306,-1.80,-146.0,2785,2048,3252,3483,817.7,-9.7,634,8307,0.00,0.00,0.00,0.000,38,0.000,0.000,2786,2048,3367,3252,3483,0,0,0,0,0,0,15.04,15.07,15.07
$GC,8605,-1.80,-146.0,2785,2048,3251,3482,847.8,-9.9,644,8611,0.00,2.45,0.00,0.000,548,0.000,0.067,2786,652,3367,3251,3483,0,0,0,0,0,0,15.04,14.54,15.06
$GC,8640,-1.80,-146.0,2786,651,3250,3482,851.5,-10.4,650,8645,0.00,2.38,0.00,0.000,1030,0.000,0.045,2778,2052,3366,3250,3482,0,0,0,0,0,0,14.73,14.64,14.76
$GC,8974,-1.80,-146.0,2778,2053,3250,3481,887.0,-10.8,666,8975,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2052,3365,3250,3481,0,0,0,0,0,0,15.04,15.07,15.07
$GC,9274,-1.80,-146.0,2778,2053,3249,3480,921.1,-11.6,676,9280,0.00,2.47,0.00,0.000,516,0.000,0.067,2778,641,3364,3249,3480,0,0,0,0,0,0,15.02,14.52,15.04
$GC,9312,-1.76,-146.0,2778,641,3249,3480,926.3,-12.0,683,9318,0.10,2.40,0.00,0.000,3206,0.290,0.046,2790,2065,3364,3249,3480,0,0,0,0,0,0,14.22,14.64,14.38
$GC,9642,-1.76,-146.0,2789,2065,3248,3479,964.5,-11.8,698,9643,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2065,3363,3248,3479,0,0,0,0,0,0,15.04,15.07,15.06
$STATE,9879,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9879,begin apogee
$GC,9885,-0.33,0.0,2790,1790,3248,3478,992.1,-11.2,706,10018,1.20,0.00,129.65,2.710,10246,0.252,0.000,3097,1789,2789,2674,2905,0,0,0,0,0,0,14.21,13.95,12.84
$STATE,10019,end apogee,CONTROL_FINISHED_OK
$STATE,10019,begin climb
$GC,10021,1.28,146.0,3097,1789,2669,2901,997.0,0.0,710,10169,1.23,2.70,136.30,2.665,10500,0.145,0.066,3455,3202,2187,2061,2314,0,0,0,0,0,0,13.95,13.74,12.66
$GC,10201,1.05,146.0,3455,3202,2061,2307,989.1,10.8,745,10206,0.30,2.50,0.00,0.000,5254,0.340,0.051,3408,1810,2183,2060,2306,0,0,0,0,0,0,13.66,13.97,14.00
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$STATE,19604,end climb,SURFACE_DEPTH_REACHED
$STATE,19604,begin surface coast
$FINISH,1.6,1.009501
$STATE,19636,end surface coast,CONTROL_FINISHED_OK
$STATE,19636,begin surface
$SM_CCo,19654,78.40,0.082,0,0,450,573.99
$SM_GC,2.46,9.80,0.40,78.40,0.063,0.060,0.082,95,2060,450,-14.11,-1.13,573.99,0,0,0,0,0,0,14.51,14.60,14.50
$IRIDIUM_FIX,1254.31,6039.74,230417,225033
$TT8_MAMPS,0.024717,0.158788
$HUMID,51.37
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,23.70
$XPDR_PINGS,5
$24V_AH,12.66,89.299
$10V_AH,13.00,0.000
$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,28.675,213.625,487.675,78.400,0.000,0.000,0.000,226.150,113.250,0.000,20.466,3152.108,13218.314,777.518,2665.672,251.519,0.000,2257.756,0.000,2087.757,0.000,751.503,0.000
$DEVICE_MAMPS,387.855,2072.385,2709.630,81.855,0.000,0.000,0.000,177.480,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,703.185,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225864
$DATA_FILE_SIZE,63297,1468
$CAP_FILE_SIZE,233537,0
$CFSIZE,260034560,238321664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.077,211.19,1
$GPS,240417,095458,1301.635,6043.153,31,0.9,41,-0.7,0.0,136.2,10,9.3