version: 66.13
glider: 137
mission: 5
dive: 71
start: 3 16 117 22 49 39
data:
$ID,137
$MISSION,5
$DIVE,71
$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,29
$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
$GPS1,160317,223607,1404.2062,6051.5552,33,0.9,39,-0.6,0.0,97.4,8,9.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-66.3
$GPS2,160317,224852,1404.2404,6051.5273,16,0.8,24,-0.6,0.0,0.0,10,9.4
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1407.506,6052.161
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,17.4,6154,-17.7,-10.000,-20.32,1960
$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,6,-1.34,-127.5,94,2072,333,563,0.0,0.0,0,109,0.00,0.00,-99.80,0.000,16386,0.000,0.000,94,2073,3104,3026,3182,0,0,0,0,0,0,14.90,28.83,14.92
$GC,111,-1.36,-146.0,94,2073,3027,3185,4.3,-6.4,17,138,14.05,2.53,-5.20,0.000,18724,0.433,2.111,2863,3444,3391,3290,3492,0,0,0,0,0,0,14.47,13.78,14.73
$GC,220,-1.36,-146.0,2863,3444,3290,3494,27.6,-15.6,37,227,0.00,2.33,0.00,0.000,1030,0.000,0.041,2863,2033,3392,3291,3494,0,0,0,0,0,0,14.77,14.71,14.78
$GC,534,-1.36,-146.0,2863,2033,3290,3493,76.1,-15.3,82,543,0.00,2.30,0.00,0.000,516,0.000,0.060,2863,640,3392,3290,3494,0,0,0,0,0,0,15.02,14.79,15.04
$GC,556,-1.33,-146.0,2863,640,3290,3494,79.5,-16.4,86,565,0.15,2.30,0.00,0.000,3206,0.278,0.042,2886,2052,3392,3290,3494,0,0,0,0,0,0,14.67,14.82,14.84
$GC,866,-1.39,-146.0,2886,2053,3291,3494,121.0,-11.2,118,875,0.00,2.38,0.00,0.000,644,0.000,0.065,2886,643,3391,3290,3493,0,0,0,0,0,0,15.07,14.84,15.09
$GC,929,-1.44,-146.0,2886,643,3291,3494,128.3,-11.1,131,936,0.00,2.30,0.00,0.000,1158,0.000,0.041,2878,2058,3391,3290,3493,0,0,0,0,0,0,14.93,14.87,14.95
$GC,1237,-1.52,-146.0,2877,2058,3291,3494,161.0,-11.0,162,1247,0.12,2.30,0.00,0.000,4484,0.133,0.058,2809,3448,3392,3291,3494,0,0,0,0,0,0,14.91,14.88,14.94
$GC,1439,-1.52,-146.0,2809,3449,3291,3493,189.3,-13.2,202,1448,0.15,2.28,0.00,0.000,3078,0.241,0.038,2843,2038,3392,3291,3494,0,0,0,0,0,0,14.78,14.91,14.94
$GC,1750,-1.57,-146.0,2843,2038,3291,3494,222.8,-10.4,234,1751,0.00,0.00,0.00,0.000,134,0.000,0.000,2843,2038,3392,3291,3494,0,0,0,0,0,0,15.11,15.14,15.13
$GC,2050,-1.64,-146.0,2843,2038,3291,3494,253.5,-10.9,262,2056,0.12,2.30,0.00,0.000,4740,0.142,0.063,2797,646,3392,3291,3494,0,0,0,0,0,0,14.90,14.90,14.95
$GC,2156,-1.59,-146.0,2797,646,3291,3493,268.7,-15.2,282,2162,0.17,2.30,0.00,0.000,3206,0.269,0.044,2828,2060,3392,3291,3493,0,0,0,0,0,0,14.80,14.92,14.94
$GC,2481,-1.64,-146.0,2827,2060,3291,3494,308.5,-12.2,296,2486,0.00,2.30,0.00,0.000,388,0.000,0.065,2819,3452,3392,3290,3494,0,0,0,0,0,0,15.14,14.92,15.16
$GC,2515,-1.70,-146.0,2819,3453,3290,3493,312.7,-11.7,302,2521,0.00,2.28,0.00,0.000,1158,0.000,0.043,2819,2057,3391,3290,3493,0,0,0,0,0,0,15.00,14.94,15.02
$GC,2850,-1.73,-146.0,2819,2056,3289,3493,354.2,-12.4,318,2855,0.00,2.33,0.00,0.000,644,0.000,0.065,2819,646,3391,3289,3494,0,0,0,0,0,0,15.14,14.92,15.16
$GC,2875,-1.73,-146.0,2819,646,3289,3494,358.1,-13.1,323,2885,0.00,2.30,0.00,0.000,1030,0.000,0.047,2810,2052,3391,3289,3494,0,0,0,0,0,0,15.01,14.94,15.02
$GC,3183,-1.73,-146.0,2809,2051,3288,3493,395.6,-11.8,334,3187,0.00,2.33,0.00,0.000,260,0.000,0.068,2799,3451,3390,3287,3494,0,0,0,0,0,0,15.14,14.92,15.16
$GC,3225,-1.73,-146.0,2799,3451,3288,3493,400.8,-11.1,342,3230,0.00,2.30,0.00,0.000,1030,0.000,0.044,2799,2045,3390,3287,3494,0,0,0,0,0,0,15.01,14.95,15.03
$GC,3549,-1.73,-146.0,2799,2045,3285,3493,438.8,-12.2,356,3553,0.00,2.33,0.00,0.000,516,0.000,0.068,2799,648,3389,3285,3493,0,0,0,0,0,0,15.15,14.92,15.17
$GC,3614,-1.73,-146.0,2799,648,3285,3493,448.0,-12.5,369,3620,0.00,2.30,0.00,0.000,1030,0.000,0.048,2791,2048,3388,3284,3493,0,0,0,0,0,0,15.01,14.95,15.02
$GC,3944,-1.73,-146.0,2790,2048,3283,3489,491.0,-13.3,384,3949,0.00,2.38,0.00,0.000,516,0.000,0.067,2792,645,3386,3283,3489,0,0,0,0,0,0,15.15,14.92,15.17
$GC,3977,-1.70,-146.0,2791,644,3283,3489,495.6,-13.3,390,3984,0.10,2.30,0.00,0.000,3206,0.310,0.048,2800,2051,3386,3283,3489,0,0,0,0,0,0,14.80,14.95,14.98
$GC,4313,-1.70,-146.0,2800,2052,3281,3487,539.3,-13.1,406,4314,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2052,3384,3281,3487,0,0,0,0,0,0,15.14,15.16,15.17
$GC,4612,-1.70,-146.0,2800,2052,3279,3486,576.7,-12.2,416,4614,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2051,3382,3279,3486,0,0,0,0,0,0,15.14,15.17,15.16
$GC,4914,-1.70,-146.0,2800,2052,3278,3484,613.2,-11.9,426,4919,0.00,2.38,0.00,0.000,516,0.000,0.068,2803,648,3381,3278,3484,0,0,0,0,0,0,15.16,14.93,15.18
$GC,4965,-1.70,-146.0,2803,648,3278,3484,620.1,-12.7,436,4972,0.00,2.33,0.00,0.000,1030,0.000,0.048,2794,2061,3380,3277,3484,0,0,0,0,0,0,15.02,14.95,15.03
$GC,5279,-1.70,-146.0,2794,2061,3276,3481,656.9,-11.5,448,5286,0.00,2.33,0.00,0.000,260,0.000,0.070,2784,3452,3378,3276,3481,0,0,0,0,0,0,15.14,14.92,15.16
$GC,5302,-1.70,-146.0,2784,3453,3276,3481,659.7,-11.8,452,5308,0.10,2.33,0.00,0.000,3078,0.285,0.047,2802,2051,3378,3276,3481,0,0,0,0,0,0,14.80,14.95,14.98
$GC,5617,-1.70,-146.0,2802,2050,3275,3480,694.1,-10.8,464,5621,0.00,2.35,0.00,0.000,516,0.000,0.070,2803,644,3377,3275,3480,0,0,0,0,0,0,15.16,14.92,15.17
$GC,5654,-1.70,-146.0,2802,643,3275,3479,698.6,-11.3,471,5658,0.00,2.33,0.00,0.000,1030,0.000,0.049,2794,2055,3376,3274,3479,0,0,0,0,0,0,15.02,14.95,15.03
$GC,5982,-1.70,-146.0,2794,2055,3273,3479,734.3,-10.8,486,5988,0.00,2.40,0.00,0.000,516,0.000,0.069,2796,647,3376,3273,3479,0,0,0,0,0,0,15.14,14.92,15.16
$GC,6019,-1.70,-146.0,2795,647,3273,3479,738.8,-10.7,493,6026,0.00,2.33,0.00,0.000,1030,0.000,0.050,2787,2056,3375,3272,3478,0,0,0,0,0,0,15.01,14.94,15.03
$GC,6349,-1.70,-146.0,2787,2056,3271,3477,774.1,-10.6,508,6350,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2056,3374,3271,3477,0,0,0,0,0,0,15.14,15.16,15.16
$GC,6650,-1.70,-146.0,2787,2056,3271,3476,806.8,-11.2,518,6651,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2056,3374,3271,3477,0,0,0,0,0,0,15.14,15.17,15.17
$GC,6951,-1.70,-146.0,2787,2055,3269,3476,840.1,-10.9,528,6956,0.00,2.40,0.00,0.000,516,0.000,0.070,2791,643,3372,3269,3476,0,0,0,0,0,0,15.15,14.92,15.17
$GC,7029,-1.70,-146.0,2791,643,3268,3476,849.3,-11.6,543,7034,0.10,2.33,0.00,0.000,3078,0.301,0.050,2800,2053,3372,3268,3476,0,0,0,0,0,0,14.78,14.94,14.97
$GC,7347,-1.73,-146.0,2800,2053,3267,3474,881.4,-10.1,556,7352,0.00,2.35,0.00,0.000,388,0.000,0.073,2791,3450,3370,3267,3474,0,0,0,0,0,0,15.14,14.91,15.16
$GC,7385,-1.76,-146.0,2791,3450,3267,3473,885.6,-10.5,563,7389,0.00,2.33,0.00,0.000,1158,0.000,0.048,2792,2045,3370,3267,3474,0,0,0,0,0,0,15.01,14.93,15.02
$GC,7714,-1.76,-146.0,2791,2045,3266,3473,919.5,-10.2,578,7719,0.00,2.35,0.00,0.000,516,0.000,0.073,2792,647,3369,3266,3473,0,0,0,0,0,0,15.14,14.91,15.16
$GC,7785,-1.76,-146.0,2792,647,3267,3472,928.0,-11.7,592,7792,0.00,2.33,0.00,0.000,1030,0.000,0.051,2784,2053,3369,3266,3472,0,0,0,0,0,0,15.00,14.93,15.02
$GC,8111,-1.76,-146.0,2784,2053,3266,3471,963.8,-11.3,606,8116,0.00,2.35,0.00,0.000,260,0.000,0.073,2775,3449,3368,3266,3470,0,0,0,0,0,0,15.14,14.90,15.16
$GC,8136,-1.76,-146.0,2774,3449,3266,3470,967.4,-11.6,611,8144,0.00,2.33,0.00,0.000,1030,0.000,0.050,2775,2050,3368,3266,3470,0,0,0,0,0,0,15.00,14.93,15.02
$STATE,8353,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8353,begin apogee
$GC,8358,-0.33,0.0,2774,1783,3266,3470,993.2,-12.2,619,8490,1.23,0.00,127.38,2.661,10246,0.272,0.000,3096,1782,2789,2678,2901,0,0,0,0,0,0,14.74,14.07,13.12
$STATE,8491,end apogee,CONTROL_FINISHED_OK
$STATE,8491,begin climb
$GC,8492,1.36,146.0,3096,1782,2673,2897,995.9,0.0,623,8636,1.30,2.67,133.62,2.593,10500,0.171,0.073,3461,3201,2188,2059,2317,0,0,0,0,0,0,14.05,13.98,13.05
$GC,8656,1.18,146.0,3461,3200,2055,2314,985.0,12.2,645,8662,0.20,2.47,0.00,0.000,5254,0.357,0.055,3433,1802,2184,2055,2314,0,0,0,0,0,0,14.01,14.17,14.22
$GC,8984,1.09,146.0,3433,1802,2045,2313,947.9,11.2,660,8985,0.00,0.00,0.00,0.000,134,0.000,0.000,3434,1802,2179,2045,2313,0,0,0,0,0,0,14.85,14.88,14.88
$GC,9285,0.99,146.0,3433,1802,2041,2314,914.0,11.5,670,9292,0.17,2.45,0.00,0.000,4740,0.385,0.081,3405,393,2177,2041,2314,0,0,0,0,0,0,14.57,14.73,14.73
$GC,9327,0.93,146.0,3404,392,2038,2313,909.1,10.8,679,9332,0.00,2.38,0.00,0.000,1158,0.000,0.050,3397,1801,2175,2037,2313,0,0,0,0,0,0,14.84,14.77,14.85
$GC,9639,0.90,146.0,3397,1801,2036,2313,875.6,11.0,691,9646,0.12,2.38,0.00,0.000,4484,0.363,0.069,3364,3210,2174,2036,2313,0,0,0,0,0,0,14.62,14.80,14.79
$GC,9707,0.90,146.0,3363,3210,2036,2313,868.3,10.9,705,9712,0.00,2.40,0.00,0.000,1030,0.000,0.060,3372,1797,2174,2036,2313,0,0,0,0,0,0,14.89,14.82,14.92
$GC,10029,0.91,154.4,3372,1797,2034,2313,836.8,9.6,719,10038,0.00,2.42,4.38,1.737,8484,0.000,0.069,3363,3210,2159,2018,2301,0,0,0,0,0,0,15.07,14.65,13.72
$GC,10079,0.91,154.4,3363,3210,2019,2301,831.8,10.0,729,10086,0.00,2.40,0.00,0.000,1030,0.000,0.060,3372,1798,2160,2019,2301,0,0,0,0,0,0,14.89,14.82,14.91
$GC,10385,0.92,165.7,3372,1798,2020,2301,803.2,9.4,740,10404,0.00,2.45,13.30,2.294,8484,0.000,0.072,3366,3208,2109,1967,2252,0,0,0,0,0,0,15.07,14.70,13.80
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$STATE,17978,end climb,SURFACE_DEPTH_REACHED
$STATE,17978,begin surface coast
$FINISH,1.3,1.023507
$STATE,18000,end surface coast,CONTROL_FINISHED_OK
$STATE,18000,begin surface
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$TT8_MAMPS,0.023968,0.156541
$HUMID,45.90
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,24.20
$XPDR_PINGS,10
$24V_AH,13.05,24.141
$10V_AH,13.67,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,28.375,186.225,388.075,122.325,0.000,0.000,0.000,429.000,104.250,0.000,25.032,2890.480,12425.685,730.575,2717.414,160.997,0.000,2303.515,0.000,1966.228,0.000,681.300,0.000
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$SENSOR_SECS,638.863,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225116
$DATA_FILE_SIZE,59944,1382
$CAP_FILE_SIZE,212065,0
$CFSIZE,260034560,253767680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.035,348.67,1
$GPS,170317,035328,1407.201,6052.065,45,0.9,54,-0.6,0.2,81.5,8,9.4