version: 66.13
glider: 137
mission: 5
dive: 77
start: 3 18 117 4 0 33
data:
$ID,137
$MISSION,5
$DIVE,77
$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,42
$R_STBD_OVSHOOT,64
$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
$GPS1,180317,035504,1406.3044,6055.8926,38,0.7,41,-0.6,0.3,11.8,12,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-66.8
$GPS2,180317,035958,1406.2917,6055.8872,10,0.8,19,-0.6,0.0,0.0,10,9.9
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1402.737,6055.895
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,175.6,6583,-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,-146.0,96,2038,326,568,0.0,0.0,0,112,0.00,0.00,-102.78,0.000,16386,0.000,0.000,97,2039,3217,3133,3301,0,0,0,0,0,0,14.89,28.83,14.92
$GC,115,-1.28,-146.0,96,2039,3134,3300,4.9,-7.5,17,141,14.57,2.53,-2.90,0.000,18980,0.446,2.111,2895,654,3387,3289,3486,0,0,0,0,0,0,14.45,13.72,14.71
$GC,253,-1.23,-146.0,2895,653,3290,3486,36.1,-15.5,43,259,0.00,2.28,0.00,0.000,1158,0.000,0.042,2887,2034,3388,3290,3486,0,0,0,0,0,0,14.76,14.71,14.78
$GC,566,-1.18,-146.0,2887,2035,3290,3486,85.9,-15.8,83,576,0.12,2.35,0.00,0.000,2436,0.280,0.060,2909,3450,3388,3290,3486,0,0,0,0,0,0,14.67,14.78,14.78
$GC,648,-1.25,-146.0,2908,3450,3290,3487,96.5,-11.7,99,652,0.00,2.30,0.00,0.000,1158,0.000,0.040,2909,2049,3388,3290,3487,0,0,0,0,0,0,14.88,14.83,14.90
$GC,959,-1.31,-146.0,2908,2049,3290,3487,136.2,-12.2,131,968,0.00,2.30,0.00,0.000,644,0.000,0.059,2909,648,3388,3290,3486,0,0,0,0,0,0,15.08,14.85,15.09
$GC,1010,-1.38,-146.0,2908,649,3291,3487,143.1,-13.2,141,1016,0.10,2.28,0.00,0.000,5254,0.160,0.041,2860,2054,3388,3291,3486,0,0,0,0,0,0,14.84,14.87,14.92
$GC,1323,-1.38,-146.0,2860,2056,3291,3486,183.0,-13.3,173,1327,0.00,2.30,0.00,0.000,260,0.000,0.062,2850,3450,3389,3291,3487,0,0,0,0,0,0,15.11,14.87,15.13
$GC,1367,-1.38,-146.0,2849,3450,3291,3487,189.1,-12.7,182,1375,0.12,2.28,0.00,0.000,3078,0.252,0.039,2876,2045,3389,3292,3487,0,0,0,0,0,0,14.76,14.90,14.92
$GC,1676,-1.45,-146.0,2875,2045,3291,3486,219.3,-9.0,213,1683,0.00,2.30,0.00,0.000,676,0.000,0.059,2877,643,3389,3291,3487,0,0,0,0,0,0,15.10,14.89,15.12
$GC,1781,-1.51,-146.0,2877,643,3291,3486,228.9,-8.8,232,1791,0.10,2.28,0.00,0.000,5286,0.142,0.041,2829,2052,3389,3292,3487,0,0,0,0,0,0,14.90,14.91,14.97
$GC,2109,-1.51,-146.0,2829,2051,3291,3486,265.0,-11.8,257,2115,0.00,2.30,0.00,0.000,260,0.000,0.062,2819,3446,3389,3291,3487,0,0,0,0,0,0,15.11,14.90,15.12
$GC,2136,-1.51,-146.0,2818,3446,3291,3487,268.5,-12.4,262,2146,0.12,2.28,0.00,0.000,3078,0.245,0.041,2846,2043,3388,3291,3486,0,0,0,0,0,0,14.79,14.92,14.95
$GC,2443,-1.55,-146.0,2845,2043,3291,3486,304.9,-11.6,273,2448,0.00,2.28,0.00,0.000,644,0.000,0.060,2846,655,3388,3291,3486,0,0,0,0,0,0,15.12,14.91,15.14
$GC,2497,-1.55,-146.0,2846,655,3290,3487,311.5,-12.8,283,2502,0.00,2.28,0.00,0.000,1030,0.000,0.042,2837,2058,3388,3290,3487,0,0,0,0,0,0,14.99,14.92,15.01
$GC,2811,-1.55,-146.0,2836,2058,3289,3486,346.9,-11.2,295,2816,0.00,2.35,0.00,0.000,516,0.000,0.060,2837,650,3387,3289,3486,0,0,0,0,0,0,15.14,14.92,15.16
$GC,2858,-1.55,-146.0,2836,648,3289,3486,352.9,-11.9,304,2862,0.00,2.28,0.00,0.000,1030,0.000,0.044,2827,2050,3387,3289,3486,0,0,0,0,0,0,15.00,14.93,15.02
$GC,3175,-1.55,-146.0,2827,2049,3287,3486,390.9,-12.1,317,3182,0.00,2.35,0.00,0.000,516,0.000,0.061,2827,647,3386,3287,3486,0,0,0,0,0,0,15.13,14.92,15.16
$GC,3290,-1.55,-146.0,2827,647,3285,3486,405.1,-12.5,339,3295,0.00,2.30,0.00,0.000,1030,0.000,0.045,2818,2057,3386,3286,3486,0,0,0,0,0,0,15.00,14.93,15.02
$GC,3604,-1.55,-146.0,2818,2057,3285,3486,438.4,-10.4,351,3608,0.00,2.38,0.00,0.000,516,0.000,0.065,2818,647,3385,3285,3486,0,0,0,0,0,0,15.14,14.92,15.16
$GC,3666,-1.55,-146.0,2817,647,3284,3486,445.3,-10.2,363,3672,0.12,2.30,0.00,0.000,3078,0.263,0.047,2835,2052,3385,3284,3486,0,0,0,0,0,0,14.81,14.93,14.97
$GC,4000,-1.58,-146.0,2835,2053,3282,3486,476.7,-9.6,379,4005,0.00,2.33,0.00,0.000,420,0.000,0.071,2826,3448,3384,3283,3486,0,0,0,0,0,0,15.14,14.90,15.16
$GC,4027,-1.62,-146.0,2826,3448,3282,3486,479.8,-9.7,384,4037,0.00,2.30,0.00,0.000,1190,0.000,0.045,2826,2050,3384,3283,3486,0,0,0,0,0,0,15.00,14.94,15.02
$GC,4333,-1.62,-146.0,2826,2050,3280,3486,513.9,-11.4,395,4334,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2050,3383,3281,3486,0,0,0,0,0,0,15.14,15.16,15.16
$GC,4633,-1.62,-146.0,2826,2050,3278,3484,548.5,-11.6,405,4634,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2050,3382,3279,3485,0,0,0,0,0,0,15.14,15.16,15.16
$GC,4935,-1.62,-146.0,2826,2050,3278,3482,581.9,-10.9,415,4939,0.00,2.35,0.00,0.000,516,0.000,0.069,2826,642,3380,3278,3482,0,0,0,0,0,0,15.15,14.92,15.17
$GC,4972,-1.62,-146.0,2826,641,3278,3481,586.2,-11.0,422,4977,0.00,2.33,0.00,0.000,1030,0.000,0.048,2817,2054,3379,3278,3481,0,0,0,0,0,0,15.01,14.94,15.02
$GC,5299,-1.62,-146.0,2816,2054,3276,3480,621.0,-10.6,437,5307,0.00,2.38,0.00,0.000,516,0.000,0.067,2817,650,3378,3277,3480,0,0,0,0,0,0,15.14,14.92,15.16
$GC,5353,-1.62,-146.0,2816,649,3276,3480,627.2,-11.8,447,5358,0.00,2.30,0.00,0.000,1030,0.000,0.048,2808,2049,3377,3275,3479,0,0,0,0,0,0,15.00,14.94,15.02
$GC,5665,-1.62,-146.0,2807,2049,3274,3479,660.2,-10.5,459,5666,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2049,3376,3274,3478,0,0,0,0,0,0,15.14,15.16,15.16
$GC,5966,-1.62,-146.0,2808,2049,3273,3478,693.1,-11.0,469,5974,0.00,2.38,0.00,0.000,516,0.000,0.068,2807,648,3375,3273,3478,0,0,0,0,0,0,15.14,14.92,15.16
$GC,6046,-1.62,-146.0,2807,648,3272,3477,703.2,-12.9,484,6054,0.10,2.33,0.00,0.000,3078,0.275,0.048,2819,2061,3374,3272,3477,0,0,0,0,0,0,14.80,14.93,14.97
$GC,6368,-1.62,-146.0,2818,2061,3271,3477,738.8,-11.2,497,6369,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2061,3374,3271,3477,0,0,0,0,0,0,15.14,15.17,15.16
$GC,6667,-1.62,-146.0,2818,2061,3270,3477,770.4,-10.1,507,6672,0.00,2.40,0.00,0.000,516,0.000,0.068,2819,646,3373,3270,3476,0,0,0,0,0,0,15.14,14.91,15.16
$GC,6725,-1.62,-146.0,2819,646,3269,3476,776.7,-10.0,518,6732,0.00,2.33,0.00,0.000,1062,0.000,0.050,2810,2051,3373,3270,3476,0,0,0,0,0,0,15.00,14.93,15.02
$GC,7033,-1.62,-146.0,2810,2052,3268,3474,805.7,-9.3,529,7038,0.00,2.35,0.00,0.000,292,0.000,0.073,2800,3448,3371,3269,3474,0,0,0,0,0,0,15.14,14.90,15.16
$GC,7060,-1.62,-146.0,2800,3449,3269,3473,808.7,-9.6,534,7068,0.10,2.33,0.00,0.000,3110,0.261,0.048,2820,2046,3371,3269,3473,0,0,0,0,0,0,14.79,14.92,14.96
$GC,7367,-1.62,-146.0,2820,2046,3267,3473,835.4,-8.8,545,7373,0.00,2.35,0.00,0.000,548,0.000,0.069,2821,643,3370,3267,3473,0,0,0,0,0,0,15.14,14.90,15.16
$GC,7465,-1.62,-146.0,2821,643,3267,3473,845.5,-10.1,564,7470,0.00,2.33,0.00,0.000,1030,0.000,0.050,2812,2051,3370,3267,3473,0,0,0,0,0,0,15.00,14.92,15.01
$GC,7792,-1.62,-146.0,2812,2051,3266,3472,880.7,-11.4,579,7799,0.00,2.40,0.00,0.000,516,0.000,0.069,2813,641,3368,3266,3471,0,0,0,0,0,0,15.13,14.90,15.15
$GC,7830,-1.62,-146.0,2813,641,3266,3471,885.8,-12.5,586,7837,0.00,2.35,0.00,0.000,1030,0.000,0.050,2805,2060,3369,3266,3472,0,0,0,0,0,0,14.99,14.92,15.00
$GC,8159,-1.62,-146.0,2804,2060,3266,3471,926.3,-12.4,601,8165,0.00,2.40,0.00,0.000,516,0.000,0.070,2805,650,3368,3266,3471,0,0,0,0,0,0,15.12,14.90,15.15
$GC,8208,-1.62,-146.0,2805,650,3265,3471,932.8,-13.1,610,8216,0.12,2.33,0.00,0.000,3078,0.273,0.050,2823,2056,3368,3265,3471,0,0,0,0,0,0,14.76,14.91,14.95
$GC,8530,-1.65,-146.0,2822,2055,3264,3470,967.0,-10.2,623,8531,0.00,0.00,0.00,0.000,134,0.000,0.000,2821,2055,3367,3264,3470,0,0,0,0,0,0,15.13,15.16,15.16
$STATE,8767,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8767,begin apogee
$GC,8771,-0.33,0.0,2823,1785,3263,3469,990.5,-9.8,631,8903,1.05,0.00,127.68,2.662,10246,0.267,0.000,3099,1785,2789,2676,2902,0,0,0,0,0,0,14.72,14.06,13.12
$STATE,8904,end apogee,CONTROL_FINISHED_OK
$STATE,8904,begin climb
$GC,8905,1.28,146.0,3099,1785,2671,2899,991.8,0.0,635,9044,1.25,0.00,134.73,2.575,10246,0.178,0.000,3454,1785,2193,2064,2322,0,0,0,0,0,0,14.04,13.95,13.05
$GC,9339,1.11,146.0,3453,1785,2040,2318,941.7,14.2,650,9341,0.20,0.00,0.00,0.000,4230,0.350,0.000,3417,1783,2179,2040,2318,0,0,0,0,0,0,14.41,14.66,14.64
$GC,9638,1.00,146.0,3416,1783,2037,2318,904.9,11.9,660,9640,0.12,0.00,0.00,0.000,4230,0.387,0.000,3396,1783,2177,2036,2318,0,0,0,0,0,0,14.53,14.80,14.77
$GC,9939,0.93,146.0,3395,1783,2034,2318,872.4,10.7,670,9945,0.00,2.45,0.00,0.000,388,0.000,0.070,3390,3207,2176,2034,2318,0,0,0,0,0,0,15.01,14.78,15.04
$GC,10001,0.84,146.0,3390,3207,2034,2318,865.0,12.1,683,10006,0.20,2.38,0.00,0.000,5254,0.361,0.059,3360,1806,2176,2035,2318,0,0,0,0,0,0,14.62,14.80,14.85
$GC,10323,0.87,163.6,3360,1806,2033,2318,835.0,9.2,697,10343,0.00,2.47,14.60,2.333,8740,0.000,0.081,3370,384,2117,1973,2262,0,0,0,0,0,0,15.06,14.54,13.76
$GC,10380,0.87,163.6,3369,385,1967,2262,829.5,10.5,708,10387,0.00,2.38,0.00,0.000,1030,0.000,0.049,3370,1796,2114,1966,2262,0,0,0,0,0,0,14.76,14.69,14.78
$GC,10710,0.87,163.6,3369,1796,1964,2262,795.9,10.2,724,10714,0.00,2.40,0.00,0.000,260,0.000,0.071,3370,3210,2113,1964,2262,0,0,0,0,0,0,15.00,14.77,15.02
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$STATE,17723,end climb,SURFACE_DEPTH_REACHED
$STATE,17723,begin surface coast
$FINISH,1.4,0.998116
$STATE,17744,end surface coast,CONTROL_FINISHED_OK
$STATE,17744,begin surface
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$IRIDIUM_FIX,1400.84,6058.88,170317,224558
$TT8_MAMPS,0.023968,0.158039
$HUMID,47.12
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,24.20
$XPDR_PINGS,9
$24V_AH,13.05,26.095
$10V_AH,13.67,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,28.625,180.800,430.675,102.925,0.000,0.000,0.000,201.900,112.000,0.000,20.031,2794.859,12063.896,781.373,2359.344,166.218,0.000,2064.666,0.000,1819.632,0.000,735.639,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,622.716,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225152
$DATA_FILE_SIZE,53233,1278
$CAP_FILE_SIZE,208188,0
$CFSIZE,260034560,253276160
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,85.78,0x233daa,0,24
$CURRENT,0.048,12.42,1
$GPS,180317,085952,1403.942,6056.547,55,0.9,58,-0.6,0.3,228.2,9,9.6