version: 66.13
glider: 137
mission: 5
dive: 254
start: 4 25 117 20 8 39
data:
$ID,137
$MISSION,5
$DIVE,254
$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,47
$R_STBD_OVSHOOT,44
$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
$GPS1,250417,200238,1258.0940,6058.2778,37,0.8,44,-0.8,0.3,203.2,10,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-66.5
$GPS2,250417,200804,1258.0713,6058.2544,13,0.8,23,-0.8,0.0,147.2,9,9.5
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1255.636,6136.101
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,87.7,68464,-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,5,begin dive
$GC,7,-1.28,-146.0,92,2017,325,567,0.0,0.0,0,97,0.00,0.00,-87.50,0.000,16386,0.000,0.000,93,2017,2759,2687,2831,0,0,0,0,0,0,14.81,28.83,14.83
$GC,100,-1.28,-146.0,92,2017,2687,2831,4.0,-4.2,15,137,13.52,2.78,-12.90,0.000,18724,0.388,2.065,2879,3441,3388,3267,3510,0,0,0,0,0,0,14.16,13.18,14.54
$GC,240,-1.37,-146.0,2879,3441,3267,3510,22.9,-10.4,41,247,0.00,2.30,0.00,0.000,1158,0.000,0.034,2879,2054,3387,3266,3509,0,0,0,0,0,0,14.62,14.56,14.64
$GC,550,-1.41,-146.0,2879,2054,3268,3509,54.9,-9.9,97,555,0.00,2.35,0.00,0.000,676,0.000,0.054,2879,650,3389,3268,3510,0,0,0,0,0,0,14.94,14.59,14.95
$GC,612,-1.49,-146.0,2879,648,3268,3510,60.7,-8.1,109,617,0.00,2.30,0.00,0.000,1190,0.000,0.034,2870,2053,3389,3268,3510,0,0,0,0,0,0,14.71,14.65,14.73
$GC,925,-1.55,-146.0,2869,2053,3269,3510,90.4,-8.0,141,927,0.12,0.00,0.00,0.000,4262,0.119,0.000,2814,2054,3389,3269,3510,0,0,0,0,0,0,14.73,14.80,14.78
$GC,1224,-1.55,-146.0,2813,2054,3270,3510,124.6,-12.5,171,1226,0.12,0.00,0.00,0.000,2054,0.243,0.000,2839,2054,3390,3270,3510,0,0,0,0,0,0,14.47,14.73,14.67
$GC,1524,-1.55,-146.0,2839,2055,3271,3510,154.5,-8.8,201,1529,0.00,2.38,0.00,0.000,548,0.000,0.055,2840,653,3390,3271,3510,0,0,0,0,0,0,15.05,14.67,15.07
$GC,1571,-1.60,-146.0,2840,653,3271,3510,158.9,-8.8,210,1577,0.00,2.28,0.00,0.000,1190,0.000,0.035,2831,2052,3389,3270,3509,0,0,0,0,0,0,14.80,14.73,14.82
$GC,1877,-1.64,-146.0,2831,2052,3271,3509,182.7,-8.8,241,1878,0.00,0.00,0.00,0.000,166,0.000,0.000,2831,2052,3390,3271,3510,0,0,0,0,0,0,15.06,15.09,15.08
$GC,2179,-1.68,-146.0,2831,2052,3271,3510,211.7,-10.8,271,2184,0.00,2.38,0.00,0.000,644,0.000,0.057,2831,653,3390,3271,3510,0,0,0,0,0,0,15.04,14.67,15.07
$GC,2258,-1.74,-146.0,2831,652,3271,3509,221.6,-12.7,286,2267,0.10,2.30,0.00,0.000,5254,0.143,0.036,2789,2061,3390,3271,3510,0,0,0,0,0,0,14.66,14.73,14.77
$GC,2564,-1.74,-146.0,2789,2061,3271,3509,260.8,-11.4,311,2571,0.00,2.30,0.00,0.000,260,0.000,0.057,2779,3444,3390,3271,3509,0,0,0,0,0,0,15.03,14.67,15.05
$GC,2602,-1.74,-146.0,2779,3444,3271,3510,265.1,-10.7,318,2607,0.00,2.30,0.00,0.000,1030,0.000,0.035,2779,2040,3390,3271,3509,0,0,0,0,0,0,14.80,14.73,14.82
$GC,2932,-1.69,-146.0,2779,2039,3272,3510,297.1,-9.8,333,2938,0.12,2.33,0.00,0.000,2724,0.263,0.054,2810,639,3390,3271,3509,0,0,0,0,0,0,14.38,14.64,14.53
$GC,2961,-1.69,-146.0,2810,639,3271,3510,300.2,-9.2,338,2969,0.00,2.33,0.00,0.000,1062,0.000,0.037,2802,2055,3390,3271,3510,0,0,0,0,0,0,14.81,14.73,14.83
$GC,3268,-1.69,-146.0,2802,2055,3271,3509,330.1,-10.1,349,3273,0.00,2.40,0.00,0.000,516,0.000,0.063,2802,657,3390,3271,3509,0,0,0,0,0,0,15.06,14.65,15.08
$GC,3295,-1.69,-146.0,2802,657,3271,3509,333.4,-10.4,354,3303,0.00,2.30,0.00,0.000,1030,0.000,0.040,2792,2048,3390,3271,3509,0,0,0,0,0,0,14.81,14.72,14.83
$GC,3602,-1.69,-146.0,2792,2048,3271,3507,364.6,-10.1,365,3603,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2048,3389,3271,3508,0,0,0,0,0,0,15.06,15.09,15.08
$GC,3903,-1.69,-146.0,2791,2049,3270,3506,392.6,-9.0,375,3907,0.00,2.40,0.00,0.000,548,0.000,0.064,2792,657,3387,3270,3505,0,0,0,0,0,0,15.05,14.64,15.08
$GC,3938,-1.66,-146.0,2792,657,3269,3505,396.1,-9.7,381,3944,0.15,2.33,0.00,0.000,3238,0.255,0.044,2815,2059,3387,3269,3506,0,0,0,0,0,0,14.36,14.71,14.63
$GC,4273,-1.69,-146.0,2815,2058,3267,3503,429.9,-10.8,397,4279,0.00,2.38,0.00,0.000,388,0.000,0.067,2807,3453,3385,3267,3503,0,0,0,0,0,0,15.06,14.64,15.09
$GC,4302,-1.74,-146.0,2806,3453,3267,3503,433.5,-11.5,402,4309,0.00,2.33,0.00,0.000,1158,0.000,0.039,2807,2056,3385,3267,3503,0,0,0,0,0,0,14.79,14.71,14.82
$GC,4608,-1.74,-146.0,2806,2056,3266,3501,467.8,-11.2,413,4609,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2056,3383,3266,3501,0,0,0,0,0,0,15.06,15.09,15.08
$GC,4908,-1.74,-146.0,2806,2056,3265,3499,500.4,-10.7,423,4909,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2056,3382,3265,3499,0,0,0,0,0,0,15.04,15.07,15.07
$GC,5208,-1.74,-146.0,2806,2056,3263,3497,532.3,-10.6,433,5215,0.00,2.40,0.00,0.000,260,0.000,0.063,2797,3445,3379,3263,3496,0,0,0,0,0,0,15.04,14.63,15.07
$GC,5274,-1.79,-146.0,2796,3445,3263,3496,539.4,-10.3,445,5282,0.00,2.35,0.00,0.000,1158,0.000,0.043,2797,2046,3379,3263,3496,0,0,0,0,0,0,14.76,14.67,14.80
$GC,5610,-1.79,-146.0,2796,2046,3261,3494,574.9,-10.5,461,5615,0.00,2.40,0.00,0.000,516,0.000,0.070,2803,648,3377,3261,3494,0,0,0,0,0,0,15.04,14.59,15.07
$GC,5648,-1.79,-146.0,2802,648,3261,3494,579.3,-11.1,468,5653,0.00,2.35,0.00,0.000,1030,0.000,0.043,2794,2053,3377,3261,3494,0,0,0,0,0,0,14.76,14.68,14.79
$GC,5977,-1.79,-146.0,2794,2053,3260,3493,611.5,-9.6,483,5982,0.00,2.38,0.00,0.000,292,0.000,0.061,2784,3455,3376,3260,3493,0,0,0,0,0,0,15.06,14.61,15.08
$GC,6016,-1.79,-146.0,2783,3455,3259,3492,615.3,-9.1,490,6020,0.00,2.38,0.00,0.000,1062,0.000,0.044,2784,2043,3376,3260,3492,0,0,0,0,0,0,14.75,14.66,14.78
$GC,6344,-1.79,-146.0,2784,2043,3258,3490,646.5,-9.6,505,6352,0.00,2.40,0.00,0.000,548,0.000,0.070,2791,646,3374,3258,3490,0,0,0,0,0,0,15.04,14.57,15.07
$GC,6380,-1.79,-146.0,2790,645,3258,3490,650.1,-10.1,511,6384,0.00,2.35,0.00,0.000,1030,0.000,0.044,2782,2050,3374,3258,3490,0,0,0,0,0,0,14.75,14.66,14.78
$GC,6713,-1.79,-146.0,2782,2050,3257,3487,682.1,-9.9,527,6714,0.00,0.00,0.00,0.000,38,0.000,0.000,2782,2050,3372,3257,3488,0,0,0,0,0,0,15.04,15.07,15.06
$GC,7013,-1.79,-146.0,2782,2049,3256,3487,713.4,-10.8,537,7021,0.00,2.45,0.00,0.000,516,0.000,0.068,2782,647,3371,3256,3487,0,0,0,0,0,0,15.03,14.57,15.06
$GC,7052,-1.76,-146.0,2782,647,3255,3487,718.2,-11.8,544,7059,0.00,2.38,0.00,0.000,1158,0.000,0.045,2772,2058,3371,3255,3487,0,0,0,0,0,0,14.74,14.66,14.78
$GC,7383,-1.73,-146.0,2772,2058,3254,3486,756.3,-11.7,559,7388,0.12,2.45,0.00,0.000,2692,0.285,0.063,2801,648,3370,3254,3486,0,0,0,0,0,0,14.23,14.52,14.40
$GC,7418,-1.73,-146.0,2800,648,3254,3486,760.1,-11.0,565,7424,0.00,2.38,0.00,0.000,1030,0.000,0.045,2792,2061,3370,3254,3486,0,0,0,0,0,0,14.73,14.65,14.77
$GC,7753,-1.73,-146.0,2792,2061,3253,3485,793.2,-9.6,581,7754,0.00,0.00,0.00,0.000,38,0.000,0.000,2792,2061,3369,3253,3485,0,0,0,0,0,0,15.05,15.07,15.07
$GC,8053,-1.73,-146.0,2792,2061,3252,3485,819.9,-8.7,591,8058,0.00,2.47,0.00,0.000,548,0.000,0.067,2792,637,3368,3252,3485,0,0,0,0,0,0,15.04,14.52,15.06
$GC,8112,-1.73,-146.0,2792,637,3251,3485,825.4,-9.5,602,8119,0.00,2.40,0.00,0.000,1062,0.000,0.044,2784,2059,3368,3251,3485,0,0,0,0,0,0,14.73,14.64,14.76
$GC,8420,-1.73,-146.0,2783,2059,3250,3483,851.3,-8.6,613,8425,0.00,2.47,0.00,0.000,548,0.000,0.066,2784,637,3366,3250,3483,0,0,0,0,0,0,15.04,14.51,15.07
$GC,8477,-1.73,-146.0,2784,637,3250,3483,856.7,-8.4,624,8486,0.10,2.40,0.00,0.000,3110,0.285,0.044,2793,2063,3366,3250,3483,0,0,0,0,0,0,14.28,14.64,14.54
$GC,8784,-1.73,-146.0,2793,2063,3249,3481,880.8,-7.8,635,8785,0.00,0.00,0.00,0.000,38,0.000,0.000,2793,2063,3365,3249,3482,0,0,0,0,0,0,15.03,15.06,15.05
$GC,9086,-1.73,-146.0,2792,2063,3249,3481,904.3,-8.1,645,9092,0.00,2.47,0.00,0.000,548,0.000,0.067,2794,640,3365,3249,3481,0,0,0,0,0,0,15.04,14.50,15.06
$GC,9139,-1.73,-146.0,2794,640,3248,3481,909.4,-9.1,655,9146,0.00,2.38,0.00,0.000,1062,0.000,0.046,2786,2047,3364,3248,3481,0,0,0,0,0,0,14.71,14.62,14.74
$GC,9454,-1.73,-146.0,2785,2047,3247,3480,937.2,-9.1,667,9456,0.00,0.00,0.00,0.000,38,0.000,0.000,2786,2046,3363,3247,3480,0,0,0,0,0,0,15.03,15.06,15.05
$GC,9757,-1.73,-146.0,2785,2047,3247,3480,966.0,-9.8,677,9763,0.00,2.47,0.00,0.000,548,0.000,0.067,2786,639,3363,3247,3480,0,0,0,0,0,0,15.03,14.49,15.05
$GC,9811,-1.73,-146.0,2785,638,3246,3479,972.2,-10.8,687,9818,0.10,2.40,0.00,0.000,3078,0.280,0.048,2795,2054,3363,3246,3480,0,0,0,0,0,0,14.22,14.61,14.36
$STATE,10006,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10006,begin apogee
$GC,10011,-0.33,0.0,2796,1794,3245,3479,991.0,-9.7,695,10145,1.17,0.00,129.90,2.712,10246,0.250,0.000,3096,1792,2789,2674,2905,0,0,0,0,0,0,14.19,13.94,12.82
$STATE,10146,end apogee,CONTROL_FINISHED_OK
$STATE,10146,begin climb
$GC,10147,1.28,146.0,3096,1792,2669,2902,995.0,0.0,699,10295,1.20,2.67,135.88,2.671,10500,0.145,0.068,3451,3195,2188,2062,2314,0,0,0,0,0,0,13.93,13.71,12.62
$GC,10331,1.05,146.0,3451,3195,2061,2306,986.0,11.1,740,10338,0.28,2.50,0.00,0.000,5254,0.335,0.054,3408,1811,2183,2060,2306,0,0,0,0,0,0,13.66,13.97,14.00
$GC,10638,0.92,146.0,3408,1811,2053,2306,956.3,10.0,751,10645,0.12,2.55,0.00,0.000,4740,0.381,0.079,3393,384,2179,2052,2306,0,0,0,0,0,0,14.07,14.42,14.31
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$STATE,19648,end climb,SURFACE_DEPTH_REACHED
$STATE,19648,begin surface coast
$FINISH,1.7,1.009374
$STATE,19669,end surface coast,CONTROL_FINISHED_OK
$STATE,19670,begin surface
$SM_CCo,19688,57.47,0.083,0,0,449,573.99
$SM_GC,2.58,10.05,0.40,57.47,0.074,0.055,0.083,95,2083,449,-14.10,-0.99,573.99,0,0,0,0,0,0,14.53,14.67,14.53
$IRIDIUM_FIX,1254.31,6008.99,250417,142029
$TT8_MAMPS,0.023968,0.159537
$HUMID,52.71
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,23.80
$XPDR_PINGS,8
$24V_AH,12.62,92.404
$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,28.950,210.025,537.050,57.475,0.000,0.000,0.000,213.350,110.750,0.000,24.715,3121.778,13192.057,793.649,2687.418,275.500,0.000,2296.585,0.000,2127.763,0.000,731.950,0.000
$DEVICE_MAMPS,387.855,2064.735,2711.925,82.620,0.000,0.000,0.000,186.660,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,703.140,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225872
$DATA_FILE_SIZE,66653,1496
$CAP_FILE_SIZE,230413,0
$CFSIZE,260034560,237637632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.055,194.16,1
$GPS,260417,013908,1257.374,6100.753,38,0.7,45,-0.8,0.0,25.8,12,10.0