version: 66.13
glider: 137
mission: 5
dive: 73
start: 3 17 117 8 33 49
data:
$ID,137
$MISSION,5
$DIVE,73
$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,32
$R_STBD_OVSHOOT,47
$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
$GPS1,170317,082827,1409.6592,6053.8184,46,0.8,53,-0.5,0.0,279.4,9,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-66.2
$GPS2,170317,083304,1409.6803,6053.8140,15,0.9,24,-0.5,0.0,318.1,8,9.2
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1412.603,6056.272
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,41.4,6984,-16.9,-10.000,-19.55,2151
$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,-1.30,-140.0,93,2070,326,568,0.0,0.0,0,109,0.00,0.00,-99.80,0.000,16386,0.000,0.000,93,2070,3087,3015,3160,0,0,0,0,0,0,14.91,28.83,14.94
$GC,112,-1.31,-146.0,93,2070,3015,3160,4.1,-5.3,17,138,14.20,2.60,-5.55,0.000,18724,0.435,2.118,2873,3443,3388,3289,3487,0,0,0,0,0,0,14.47,13.75,14.66
$GC,200,-1.31,-146.0,2872,3443,3290,3487,23.4,-15.3,33,207,0.00,2.33,0.00,0.000,1030,0.000,0.040,2873,2034,3388,3290,3487,0,0,0,0,0,0,14.77,14.71,14.78
$GC,514,-1.26,-146.0,2872,2034,3290,3487,74.7,-15.5,80,519,0.12,2.30,0.00,0.000,2692,0.290,0.057,2903,647,3388,3289,3487,0,0,0,0,0,0,14.65,14.79,14.78
$GC,575,-1.26,-146.0,2903,647,3290,3487,83.3,-13.1,92,580,0.00,2.28,0.00,0.000,1030,0.000,0.041,2895,2046,3388,3290,3487,0,0,0,0,0,0,14.88,14.82,14.90
$GC,881,-1.31,-146.0,2895,2046,3290,3487,120.8,-10.0,123,890,0.00,2.33,0.00,0.000,388,0.000,0.062,2885,3452,3389,3291,3488,0,0,0,0,0,0,15.08,14.84,15.10
$GC,912,-1.37,-146.0,2884,3453,3290,3488,123.7,-9.3,129,917,0.00,2.30,0.00,0.000,1190,0.000,0.040,2885,2038,3388,3290,3487,0,0,0,0,0,0,14.93,14.88,14.95
$GC,1224,-1.44,-146.0,2884,2037,3292,3487,159.1,-12.1,161,1229,0.10,2.38,0.00,0.000,4484,0.164,0.059,2827,3454,3389,3292,3487,0,0,0,0,0,0,14.90,14.88,14.95
$GC,1336,-1.44,-146.0,2827,3454,3292,3487,174.1,-12.7,183,1346,0.15,2.30,0.00,0.000,3078,0.259,0.039,2860,2037,3389,3292,3487,0,0,0,0,0,0,14.76,14.91,14.93
$GC,1647,-1.49,-146.0,2860,2037,3291,3487,210.8,-11.6,215,1652,0.00,2.28,0.00,0.000,644,0.000,0.059,2861,651,3389,3292,3487,0,0,0,0,0,0,15.11,14.90,15.13
$GC,1724,-1.53,-146.0,2861,650,3292,3487,220.3,-11.6,230,1732,0.00,2.28,0.00,0.000,1158,0.000,0.041,2852,2058,3389,3292,3487,0,0,0,0,0,0,14.98,14.92,14.99
$GC,2042,-1.59,-146.0,2852,2058,3291,3487,256.6,-10.6,258,2044,0.10,0.00,0.00,0.000,4230,0.151,0.000,2815,2059,3389,3291,3487,0,0,0,0,0,0,14.92,15.00,14.99
$GC,2343,-1.59,-146.0,2814,2058,3291,3487,294.0,-13.0,268,2347,0.00,2.35,0.00,0.000,516,0.000,0.061,2815,652,3389,3292,3487,0,0,0,0,0,0,15.14,14.92,15.16
$GC,2384,-1.59,-146.0,2814,652,3291,3487,300.2,-13.6,276,2389,0.12,2.28,0.00,0.000,3078,0.273,0.044,2831,2056,3389,3292,3487,0,0,0,0,0,0,14.81,14.94,14.97
$GC,2708,-1.62,-146.0,2830,2056,3289,3487,337.2,-11.1,290,2709,0.00,0.00,0.00,0.000,134,0.000,0.000,2831,2056,3388,3290,3487,0,0,0,0,0,0,15.14,15.16,15.16
$GC,3009,-1.66,-146.0,2830,2056,3288,3487,369.6,-11.0,300,3014,0.00,2.35,0.00,0.000,644,0.000,0.064,2831,655,3387,3288,3487,0,0,0,0,0,0,15.15,14.93,15.17
$GC,3061,-1.66,-146.0,2832,655,3287,3487,376.3,-12.3,310,3068,0.00,2.28,0.00,0.000,1030,0.000,0.047,2823,2047,3387,3287,3487,0,0,0,0,0,0,15.02,14.94,15.02
$GC,3376,-1.66,-146.0,2823,2047,3286,3487,412.3,-11.5,322,3377,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2047,3386,3286,3487,0,0,0,0,0,0,15.14,15.17,15.17
$GC,3677,-1.66,-146.0,2822,2047,3284,3487,444.3,-10.4,332,3682,0.00,2.35,0.00,0.000,516,0.000,0.066,2823,654,3385,3284,3487,0,0,0,0,0,0,15.15,14.93,15.17
$GC,3754,-1.66,-146.0,2823,654,3284,3487,453.0,-10.6,347,3759,0.00,2.30,0.00,0.000,1030,0.000,0.048,2813,2057,3385,3283,3487,0,0,0,0,0,0,15.02,14.95,15.03
$GC,4073,-1.66,-146.0,2813,2058,3283,3487,485.2,-10.1,360,4078,0.00,2.38,0.00,0.000,516,0.000,0.066,2813,650,3384,3282,3487,0,0,0,0,0,0,15.15,14.92,15.17
$GC,4110,-1.66,-146.0,2813,650,3282,3487,489.5,-10.7,367,4114,0.00,2.30,0.00,0.000,1030,0.000,0.048,2805,2050,3384,3282,3487,0,0,0,0,0,0,15.02,14.95,15.03
$GC,4437,-1.66,-146.0,2804,2050,3280,3486,525.4,-11.1,382,4442,0.00,2.35,0.00,0.000,516,0.000,0.067,2805,658,3382,3279,3486,0,0,0,0,0,0,15.15,14.92,15.16
$GC,4493,-1.66,-146.0,2805,658,3280,3486,532.5,-11.7,393,4502,0.00,2.30,0.00,0.000,1030,0.000,0.047,2797,2057,3382,3279,3486,0,0,0,0,0,0,15.01,14.94,15.02
$GC,4802,-1.66,-146.0,2796,2057,3278,3485,568.1,-11.6,404,4807,0.00,2.38,0.00,0.000,516,0.000,0.067,2798,652,3381,3278,3485,0,0,0,0,0,0,15.15,14.92,15.17
$GC,4839,-1.62,-146.0,2798,652,3278,3485,572.9,-12.2,411,4845,0.15,2.30,0.00,0.000,3206,0.276,0.049,2822,2053,3381,3278,3485,0,0,0,0,0,0,14.80,14.94,14.98
$GC,5169,-1.66,-146.0,2822,2053,3277,3483,606.6,-10.1,426,5170,0.00,0.00,0.00,0.000,134,0.000,0.000,2822,2053,3380,3277,3483,0,0,0,0,0,0,15.14,15.17,15.17
$GC,5470,-1.70,-146.0,2822,2053,3275,3481,637.2,-10.2,436,5471,0.00,0.00,0.00,0.000,134,0.000,0.000,2823,2053,3378,3276,3481,0,0,0,0,0,0,15.16,15.18,15.18
$GC,5769,-1.74,-146.0,2822,2053,3274,3480,667.8,-10.2,446,5775,0.12,2.35,0.00,0.000,4740,0.142,0.067,2779,658,3377,3274,3480,0,0,0,0,0,0,14.91,14.92,14.97
$GC,5813,-1.67,-146.0,2779,658,3274,3479,673.9,-13.5,454,5819,0.17,2.30,0.00,0.000,3206,0.288,0.048,2807,2058,3376,3274,3479,0,0,0,0,0,0,14.78,14.94,14.97
$GC,6138,-1.67,-146.0,2807,2058,3272,3479,712.2,-12.0,468,6142,0.00,2.38,0.00,0.000,516,0.000,0.067,2808,652,3376,3273,3479,0,0,0,0,0,0,15.15,14.92,15.17
$GC,6171,-1.67,-146.0,2808,652,3272,3478,716.4,-12.0,474,6177,0.00,2.30,0.00,0.000,1030,0.000,0.049,2799,2050,3375,3272,3479,0,0,0,0,0,0,15.01,14.94,15.02
$GC,6505,-1.67,-146.0,2799,2050,3272,3477,758.2,-12.5,490,6510,0.00,2.38,0.00,0.000,516,0.000,0.068,2799,650,3374,3272,3477,0,0,0,0,0,0,15.14,14.92,15.16
$GC,6569,-1.67,-146.0,2799,650,3272,3477,766.7,-12.1,502,6574,0.00,2.33,0.00,0.000,1030,0.000,0.050,2791,2060,3374,3272,3477,0,0,0,0,0,0,15.00,14.93,15.02
$GC,6902,-1.67,-146.0,2790,2060,3270,3477,809.1,-12.6,518,6904,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2060,3373,3270,3477,0,0,0,0,0,0,15.14,15.17,15.16
$GC,7202,-1.67,-146.0,2791,2060,3270,3475,845.6,-12.1,528,7209,0.00,2.38,0.00,0.000,516,0.000,0.069,2793,658,3372,3269,3475,0,0,0,0,0,0,15.14,14.91,15.16
$GC,7307,-1.63,-146.0,2792,658,3269,3475,858.9,-12.4,548,7315,0.15,2.30,0.00,0.000,3206,0.282,0.050,2816,2055,3372,3269,3475,0,0,0,0,0,0,14.77,14.93,14.96
$GC,7634,-1.67,-146.0,2816,2055,3268,3473,891.4,-9.9,562,7635,0.00,0.00,0.00,0.000,166,0.000,0.000,2816,2055,3371,3268,3474,0,0,0,0,0,0,15.14,15.17,15.16
$GC,7934,-1.70,-146.0,2816,2055,3266,3472,918.5,-8.7,572,7941,0.00,2.38,0.00,0.000,676,0.000,0.068,2817,655,3370,3267,3473,0,0,0,0,0,0,15.14,14.91,15.16
$GC,7999,-1.70,-146.0,2816,655,3267,3472,924.7,-9.2,584,8006,0.00,2.30,0.00,0.000,1062,0.000,0.050,2808,2047,3369,3266,3472,0,0,0,0,0,0,15.00,14.92,15.02
$GC,8334,-1.70,-146.0,2808,2047,3266,3471,953.7,-8.5,600,8339,0.00,2.38,0.00,0.000,548,0.000,0.069,2810,652,3368,3266,3471,0,0,0,0,0,0,15.14,14.90,15.16
$GC,8423,-1.70,-146.0,2809,652,3265,3471,962.2,-9.1,617,8433,0.00,2.33,0.00,0.000,1062,0.000,0.051,2801,2054,3368,3266,3471,0,0,0,0,0,0,14.99,14.92,15.01
$GC,8730,-1.70,-146.0,2800,2054,3264,3469,988.8,-8.7,628,8731,0.00,0.00,0.00,0.000,38,0.000,0.000,2801,2054,3366,3264,3469,0,0,0,0,0,0,15.13,15.16,15.16
$STATE,8758,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8758,begin apogee
$GC,8762,-0.33,0.0,2801,1798,3264,3469,991.5,-8.7,629,8894,1.12,0.00,127.70,2.658,10246,0.268,0.000,3096,1797,2789,2682,2896,0,0,0,0,0,0,14.72,14.07,13.13
$STATE,8895,end apogee,CONTROL_FINISHED_OK
$STATE,8895,begin climb
$GC,8896,1.31,146.0,3096,1797,2677,2894,991.4,0.0,633,9034,1.27,0.00,134.27,2.578,10246,0.174,0.000,3460,1797,2193,2069,2317,0,0,0,0,0,0,14.04,13.96,13.06
$GC,9330,1.13,146.0,3460,1797,2045,2315,937.6,14.5,648,9332,0.20,0.00,0.00,0.000,4230,0.353,0.000,3423,1797,2179,2045,2314,0,0,0,0,0,0,14.42,14.67,14.65
$GC,9629,1.03,146.0,3423,1797,2041,2314,900.6,12.1,658,9634,0.12,2.42,0.00,0.000,4740,0.379,0.079,3407,408,2177,2040,2314,0,0,0,0,0,0,14.54,14.71,14.71
$GC,9675,0.94,146.0,3407,408,2037,2314,895.1,12.2,667,9680,0.00,2.35,0.00,0.000,1158,0.000,0.049,3398,1803,2175,2037,2314,0,0,0,0,0,0,14.81,14.75,14.83
$GC,9987,0.87,146.0,3398,1803,2036,2314,861.0,10.8,679,9994,0.15,2.38,0.00,0.000,4484,0.360,0.070,3360,3210,2175,2037,2314,0,0,0,0,0,0,14.62,14.78,14.78
$GC,10030,0.87,146.0,3360,3210,2037,2314,856.4,10.0,688,10034,0.00,2.38,0.00,0.000,1030,0.000,0.060,3370,1812,2175,2037,2314,0,0,0,0,0,0,14.88,14.81,14.90
$GC,10347,0.88,153.4,3370,1811,2035,2314,825.6,9.6,701,10355,0.00,2.40,3.65,1.479,8484,0.000,0.070,3366,3210,2164,2022,2306,0,0,0,0,0,0,15.07,14.64,13.71
$GC,10410,0.88,153.4,3365,3210,2023,2306,819.5,10.1,714,10416,0.00,2.42,0.00,0.000,1030,0.000,0.059,3375,1804,2165,2024,2306,0,0,0,0,0,0,14.85,14.81,14.88
$GC,10738,0.90,168.1,3375,1803,2023,2306,788.9,9.3,729,10756,0.00,0.00,16.40,2.294,8230,0.000,0.000,3375,1803,2103,1960,2246,0,0,0,0,0,0,15.07,14.69,13.78
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$STATE,18325,end climb,SURFACE_DEPTH_REACHED
$STATE,18325,begin surface coast
$FINISH,1.3,1.001556
$STATE,18351,end surface coast,CONTROL_FINISHED_OK
$STATE,18352,begin surface
$SM_CCo,18369,120.70,0.080,0,0,449,573.99
$SM_GC,2.11,9.85,0.40,120.70,0.091,0.067,0.080,96,2064,449,-14.10,-1.02,573.99,0,0,0,0,0,0,14.78,14.85,14.75
$IRIDIUM_FIX,1400.84,6053.92,170317,040211
$TT8_MAMPS,0.023968,0.128079
$HUMID,45.47
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,24.20
$XPDR_PINGS,12
$24V_AH,13.06,24.804
$10V_AH,13.67,0.000
$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,28.525,181.375,394.500,120.700,0.000,0.000,0.000,182.300,109.000,0.000,25.854,2954.055,12402.611,747.484,2529.257,153.348,0.000,2075.324,0.000,2006.250,0.000,710.482,0.000
$DEVICE_MAMPS,435.285,2118.285,2658.375,80.325,0.000,0.000,0.000,177.480,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,650.494,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225128
$DATA_FILE_SIZE,60089,1410
$CAP_FILE_SIZE,212761,0
$CFSIZE,260034560,253599744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.019,45.01,1
$GPS,170317,134326,1412.196,6055.347,48,0.8,52,-0.5,0.0,303.9,10,9.3