version: 66.13
glider: 137
mission: 5
dive: 83
start: 3 19 117 10 9 18
data:
$ID,137
$MISSION,5
$DIVE,83
$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,33
$R_STBD_OVSHOOT,58
$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
$GPS1,190317,100406,1401.5417,6057.9697,30,0.7,35,-0.6,0.0,294.8,11,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-66.7
$GPS2,190317,100831,1401.5341,6057.9683,6,0.7,15,-0.6,0.0,148.1,11,9.9
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1403.640,6100.754
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,57.6,6345,-17.2,-10.000,-19.78,2091
$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,-1.31,-136.1,92,2080,321,576,0.0,0.0,0,108,0.00,0.00,-98.38,0.000,16386,0.000,0.000,92,2080,3081,3009,3154,0,0,0,0,0,0,14.91,28.83,14.93
$GC,110,-1.32,-146.0,92,2080,3010,3154,4.4,-6.0,17,136,13.77,2.50,-5.60,0.000,18724,0.420,2.118,2869,3423,3386,3287,3486,0,0,0,0,0,0,14.47,13.76,14.65
$GC,159,-1.22,-146.0,2868,3423,3289,3486,17.6,-18.5,25,166,0.17,2.30,0.00,0.000,3206,0.256,0.044,2908,2040,3387,3288,3486,0,0,0,0,0,0,14.54,14.68,14.71
$GC,468,-1.26,-146.0,2908,2040,3289,3486,57.3,-11.5,80,477,0.00,2.33,0.00,0.000,644,0.000,0.060,2909,646,3387,3289,3486,0,0,0,0,0,0,15.00,14.77,15.02
$GC,529,-1.33,-146.0,2909,646,3288,3486,64.0,-10.1,92,533,0.00,2.28,0.00,0.000,1158,0.000,0.043,2901,2040,3387,3289,3486,0,0,0,0,0,0,14.87,14.81,14.88
$GC,835,-1.37,-146.0,2900,2040,3290,3486,94.9,-11.1,123,844,0.10,2.35,0.00,0.000,4740,0.161,0.057,2857,637,3387,3289,3486,0,0,0,0,0,0,14.85,14.83,14.91
$GC,858,-1.37,-146.0,2857,638,3289,3486,98.6,-14.0,128,867,0.08,2.35,0.00,0.000,3078,0.239,0.041,2869,2053,3387,3289,3486,0,0,0,0,0,0,14.71,14.85,14.83
$GC,1167,-1.41,-146.0,2869,2053,3290,3486,141.0,-15.3,159,1176,0.00,2.30,0.00,0.000,388,0.000,0.063,2860,3448,3388,3290,3486,0,0,0,0,0,0,15.10,14.86,15.12
$GC,1211,-1.47,-146.0,2860,3449,3290,3486,147.8,-13.8,168,1218,0.00,2.28,0.00,0.000,1158,0.000,0.039,2861,2042,3388,3290,3486,0,0,0,0,0,0,14.95,14.90,14.97
$GC,1519,-1.52,-146.0,2860,2041,3290,3487,184.0,-9.6,199,1528,0.00,2.28,0.00,0.000,676,0.000,0.059,2861,652,3388,3290,3486,0,0,0,0,0,0,15.12,14.89,15.14
$GC,1612,-1.56,-146.0,2860,652,3290,3486,194.3,-10.7,218,1620,0.00,2.28,0.00,0.000,1158,0.000,0.040,2851,2059,3388,3290,3486,0,0,0,0,0,0,14.97,14.91,14.99
$GC,1922,-1.61,-146.0,2850,2058,3290,3486,221.8,-9.0,249,1928,0.10,2.35,0.00,0.000,4772,0.150,0.057,2812,640,3388,3290,3486,0,0,0,0,0,0,14.92,14.89,14.97
$GC,1988,-1.58,-146.0,2811,640,3290,3486,229.3,-11.2,261,1993,0.12,2.30,0.00,0.000,3206,0.259,0.042,2828,2064,3388,3290,3486,0,0,0,0,0,0,14.79,14.91,14.95
$GC,2321,-1.58,-146.0,2828,2064,3290,3486,263.8,-10.7,287,2326,0.00,2.38,0.00,0.000,516,0.000,0.060,2829,643,3387,3290,3485,0,0,0,0,0,0,15.11,14.90,15.14
$GC,2375,-1.58,-146.0,2829,643,3290,3486,270.1,-12.2,297,2380,0.00,2.30,0.00,0.000,1030,0.000,0.043,2821,2060,3388,3290,3486,0,0,0,0,0,0,14.99,14.92,15.00
$GC,2689,-1.58,-146.0,2820,2059,3289,3486,307.5,-12.6,309,2694,0.00,2.30,0.00,0.000,260,0.000,0.066,2811,3448,3387,3289,3486,0,0,0,0,0,0,15.14,14.91,15.16
$GC,2722,-1.61,-146.0,2810,3449,3289,3486,312.1,-13.7,315,2729,0.00,2.28,0.00,0.000,1158,0.000,0.041,2810,2050,3387,3289,3486,0,0,0,0,0,0,15.00,14.94,15.02
$GC,3057,-1.61,-146.0,2810,2050,3285,3486,361.6,-14.7,331,3062,0.00,2.33,0.00,0.000,516,0.000,0.064,2810,644,3386,3286,3486,0,0,0,0,0,0,15.14,14.91,15.16
$GC,3162,-1.61,-146.0,2810,644,3285,3486,377.7,-14.4,351,3167,0.12,2.30,0.00,0.000,3078,0.257,0.044,2828,2058,3385,3285,3486,0,0,0,0,0,0,14.81,14.93,14.97
$GC,3486,-1.66,-146.0,2828,2058,3284,3486,418.6,-12.0,365,3491,0.00,2.38,0.00,0.000,644,0.000,0.067,2828,652,3384,3283,3486,0,0,0,0,0,0,15.14,14.91,15.16
$GC,3507,-1.69,-146.0,2828,653,3283,3486,421.5,-12.7,369,3512,0.00,2.30,0.00,0.000,1158,0.000,0.048,2820,2056,3384,3283,3486,0,0,0,0,0,0,15.00,14.93,15.02
$GC,3820,-1.73,-146.0,2819,2057,3282,3486,457.5,-11.5,381,3825,0.00,2.38,0.00,0.000,644,0.000,0.067,2820,653,3384,3282,3486,0,0,0,0,0,0,15.14,14.91,15.16
$GC,3857,-1.73,-146.0,2820,652,3282,3486,462.5,-12.0,388,3862,0.00,2.30,0.00,0.000,1030,0.000,0.047,2810,2054,3384,3282,3486,0,0,0,0,0,0,15.00,14.94,15.02
$GC,4186,-1.73,-146.0,2810,2054,3280,3486,502.0,-12.1,403,4191,0.00,2.38,0.00,0.000,516,0.000,0.067,2810,654,3382,3279,3486,0,0,0,0,0,0,15.15,14.91,15.17
$GC,4257,-1.73,-146.0,2810,654,3279,3486,511.5,-12.6,417,4264,0.00,2.30,0.00,0.000,1030,0.000,0.047,2800,2056,3382,3279,3486,0,0,0,0,0,0,15.00,14.93,15.02
$GC,4583,-1.73,-146.0,2800,2056,3278,3485,549.0,-11.3,431,4588,0.00,2.33,0.00,0.000,260,0.000,0.069,2790,3450,3381,3278,3485,0,0,0,0,0,0,15.14,14.91,15.16
$GC,4634,-1.73,-146.0,2790,3450,3278,3485,555.4,-11.5,441,4641,0.00,2.30,0.00,0.000,1030,0.000,0.045,2790,2053,3381,3278,3484,0,0,0,0,0,0,15.00,14.93,15.02
$GC,4949,-1.73,-146.0,2790,2053,3276,3483,591.3,-11.6,453,4950,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2053,3379,3276,3483,0,0,0,0,0,0,15.14,15.16,15.16
$GC,5251,-1.73,-146.0,2790,2053,3274,3480,625.6,-11.3,463,5252,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2053,3377,3274,3480,0,0,0,0,0,0,15.15,15.17,15.17
$GC,5550,-1.73,-146.0,2790,2053,3274,3479,659.5,-11.2,473,5551,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2053,3376,3274,3479,0,0,0,0,0,0,15.14,15.16,15.16
$GC,5850,-1.73,-146.0,2790,2053,3272,3478,692.5,-11.0,483,5856,0.00,2.35,0.00,0.000,516,0.000,0.070,2793,648,3375,3272,3478,0,0,0,0,0,0,15.14,14.91,15.17
$GC,5887,-1.73,-146.0,2793,648,3272,3477,697.2,-11.7,490,5895,0.00,2.33,0.00,0.000,1030,0.000,0.048,2785,2058,3374,3272,3477,0,0,0,0,0,0,15.01,14.94,15.02
$GC,6217,-1.73,-146.0,2784,2058,3270,3477,733.5,-11.1,505,6218,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2058,3374,3271,3477,0,0,0,0,0,0,15.14,15.16,15.16
$GC,6518,-1.73,-146.0,2784,2058,3269,3477,767.5,-11.7,515,6525,0.00,2.40,0.00,0.000,516,0.000,0.070,2785,650,3372,3269,3476,0,0,0,0,0,0,15.14,14.90,15.16
$GC,6607,-1.69,-146.0,2784,650,3269,3476,779.7,-14.1,532,6616,0.15,2.33,0.00,0.000,3206,0.265,0.050,2808,2060,3372,3268,3476,0,0,0,0,0,0,14.76,14.92,14.95
$GC,6914,-1.72,-146.0,2808,2060,3268,3475,815.3,-12.0,543,6916,0.00,0.00,0.00,0.000,134,0.000,0.000,2808,2060,3371,3268,3475,0,0,0,0,0,0,15.14,15.16,15.16
$GC,7215,-1.76,-146.0,2808,2060,3267,3473,850.4,-11.5,553,7217,0.00,0.00,0.00,0.000,134,0.000,0.000,2808,2060,3370,3267,3473,0,0,0,0,0,0,15.15,15.17,15.17
$GC,7515,-1.80,-146.0,2808,2060,3266,3472,882.8,-10.7,563,7517,0.12,0.00,0.00,0.000,4230,0.153,0.000,2772,2060,3369,3266,3472,0,0,0,0,0,0,14.89,15.01,14.99
$GC,7814,-1.80,-146.0,2772,2060,3266,3470,918.3,-11.9,573,7821,0.00,2.42,0.00,0.000,516,0.000,0.072,2773,641,3368,3266,3470,0,0,0,0,0,0,15.14,14.90,15.16
$GC,7868,-1.74,-146.0,2773,640,3266,3470,925.4,-13.0,583,7874,0.15,2.33,0.00,0.000,3206,0.280,0.050,2796,2049,3368,3266,3470,0,0,0,0,0,0,14.73,14.92,14.94
$GC,8182,-1.74,-146.0,2796,2049,3264,3469,959.4,-10.9,595,8187,0.00,2.40,0.00,0.000,516,0.000,0.070,2799,643,3367,3265,3469,0,0,0,0,0,0,15.14,14.89,15.16
$GC,8218,-1.74,-146.0,2799,643,3264,3469,964.0,-11.2,602,8224,0.00,2.35,0.00,0.000,1030,0.000,0.052,2790,2057,3366,3264,3469,0,0,0,0,0,0,14.99,14.92,15.00
$STATE,8457,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8457,begin apogee
$GC,8461,-0.33,0.0,2790,1788,3262,3468,990.4,-11.1,614,8598,1.15,0.00,132.68,2.585,10246,0.257,0.000,3096,1787,2790,2682,2898,0,0,0,0,0,0,14.71,14.09,13.27
$STATE,8599,end apogee,CONTROL_FINISHED_OK
$STATE,8599,begin climb
$GC,8600,1.32,146.0,3096,1787,2678,2896,992.8,0.0,618,8745,1.25,2.65,134.43,2.583,10500,0.164,0.071,3455,3199,2187,2062,2312,0,0,0,0,0,0,14.06,13.98,13.06
$GC,8775,1.14,146.0,3455,3199,2057,2310,979.7,12.8,638,8781,0.20,2.45,0.00,0.000,5254,0.354,0.054,3428,1813,2183,2056,2311,0,0,0,0,0,0,14.04,14.21,14.26
$GC,9082,1.03,146.0,3427,1813,2048,2310,942.4,12.1,649,9089,0.12,2.50,0.00,0.000,4740,0.392,0.081,3411,390,2178,2047,2310,0,0,0,0,0,0,14.45,14.61,14.60
$GC,9121,0.94,146.0,3411,390,2043,2310,937.7,11.9,657,9126,0.15,2.40,0.00,0.000,5254,0.327,0.050,3382,1806,2176,2042,2310,0,0,0,0,0,0,14.47,14.65,14.69
$GC,9438,0.95,154.9,3381,1806,2042,2310,906.5,9.6,670,9450,0.00,2.45,5.03,1.914,8484,0.000,0.070,3378,3210,2158,2020,2296,0,0,0,0,0,0,14.97,14.71,13.67
$GC,9486,0.92,154.9,3378,3210,2022,2296,901.6,10.0,680,9491,0.00,2.40,0.00,0.000,1158,0.000,0.057,3386,1798,2159,2022,2296,0,0,0,0,0,0,14.80,14.73,14.81
$GC,9793,0.92,156.9,3386,1797,2022,2296,871.5,9.9,691,9798,0.00,0.00,3.15,1.259,8230,0.000,0.000,3387,1797,2150,2008,2292,0,0,0,0,0,0,15.01,14.76,13.64
$GC,10093,0.89,159.1,3386,1797,2013,2291,842.3,9.9,701,10102,0.00,2.42,3.97,1.614,8612,0.000,0.069,3378,3209,2141,2001,2281,0,0,0,0,0,0,15.04,14.62,13.69
$GC,10152,0.85,159.1,3377,3209,2002,2281,836.2,10.6,713,10157,0.12,2.40,0.00,0.000,5254,0.367,0.057,3366,1795,2141,2002,2281,0,0,0,0,0,0,14.62,14.80,14.83
$GC,10480,0.87,168.4,3365,1795,2001,2282,805.6,9.5,728,10498,0.00,2.50,11.55,2.261,8740,0.000,0.083,3375,394,2098,1956,2241,0,0,0,0,0,0,15.06,14.70,13.81
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$STATE,17884,end climb,SURFACE_DEPTH_REACHED
$STATE,17884,begin surface coast
$FINISH,1.4,0.998217
$STATE,17911,end surface coast,CONTROL_FINISHED_OK
$STATE,17911,begin surface
$SM_CCo,17928,113.90,0.080,0,0,449,573.99
$SM_GC,2.28,9.85,0.38,113.90,0.090,0.062,0.080,97,2069,449,-14.09,-1.13,573.99,0,0,0,0,0,0,14.78,14.86,14.75
$IRIDIUM_FIX,1351.95,6055.00,190317,052726
$TT8_MAMPS,0.024717,0.158788
$HUMID,46.18
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,24.20
$XPDR_PINGS,9
$24V_AH,13.06,28.160
$10V_AH,13.69,0.000
$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,27.975,176.825,426.175,113.900,0.000,0.000,0.000,180.250,99.750,0.000,17.139,2858.402,12171.212,750.957,2380.129,168.396,0.000,2038.517,0.000,1896.034,0.000,653.262,0.000
$DEVICE_MAMPS,419.985,2118.285,2584.935,80.325,0.000,0.000,0.000,183.600,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,637.615,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225136
$DATA_FILE_SIZE,56569,1332
$CAP_FILE_SIZE,204012,0
$CFSIZE,260034560,252768256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.010,34.98,1
$GPS,190317,151108,1403.454,6100.233,22,0.8,32,-0.6,0.0,0.0,10,8.5