version: 66.13
glider: 137
mission: 5
dive: 103
start: 3 23 117 13 19 34
data:
$ID,137
$MISSION,5
$DIVE,103
$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,68
$R_STBD_OVSHOOT,69
$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
$GPS1,230317,130437,1403.8690,6059.0112,34,1.1,40,-0.6,0.0,0.0,6,9.7
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-65.6
$GPS2,230317,131859,1403.9279,6058.9897,8,1.1,23,-0.6,0.0,268.8,6,9.1
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1400.713,6101.674
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,143.0,7662,-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,-146.0,95,2003,331,563,0.0,0.0,0,108,0.00,0.00,-98.10,0.000,16386,0.000,0.000,96,2004,3083,2999,3168,0,0,0,0,0,0,14.90,28.83,14.92
$GC,110,-1.28,-146.0,95,2004,3000,3168,4.5,-6.6,17,136,14.20,2.50,-5.45,0.000,18980,0.431,2.091,2891,672,3388,3281,3496,0,0,0,0,0,0,14.43,13.65,14.71
$GC,178,-1.28,-146.0,2891,672,3283,3495,21.0,-15.1,29,186,0.00,2.22,0.00,0.000,1030,0.000,0.043,2883,2023,3389,3283,3495,0,0,0,0,0,0,14.75,14.69,14.76
$GC,487,-1.28,-146.0,2882,2023,3283,3495,65.6,-13.3,79,491,0.00,2.38,0.00,0.000,260,0.000,0.060,2872,3457,3389,3283,3495,0,0,0,0,0,0,15.00,14.76,15.02
$GC,546,-1.28,-146.0,2872,3457,3283,3495,73.2,-12.0,91,554,0.08,2.30,0.00,0.000,3078,0.236,0.037,2893,2071,3388,3282,3495,0,0,0,0,0,0,14.64,14.79,14.76
$GC,854,-1.28,-146.0,2892,2070,3283,3495,112.5,-13.7,122,862,0.00,2.35,0.00,0.000,516,0.000,0.060,2895,648,3389,3283,3495,0,0,0,0,0,0,15.06,14.83,15.09
$GC,896,-1.28,-146.0,2893,648,3283,3495,118.5,-14.8,130,905,0.00,2.30,0.00,0.000,1030,0.000,0.046,2885,2050,3389,3283,3495,0,0,0,0,0,0,14.85,14.81,14.88
$GC,1205,-1.32,-146.0,2884,2050,3283,3495,156.8,-10.4,162,1214,0.00,2.33,0.00,0.000,388,0.000,0.061,2874,3464,3389,3283,3495,0,0,0,0,0,0,15.09,14.85,15.11
$GC,1279,-1.40,-146.0,2875,3464,3282,3495,165.4,-11.1,177,1287,0.00,2.30,0.00,0.000,1158,0.000,0.039,2875,2049,3389,3283,3495,0,0,0,0,0,0,14.94,14.88,14.96
$GC,1586,-1.45,-146.0,2874,2049,3283,3495,198.4,-10.7,208,1595,0.00,2.30,0.00,0.000,644,0.000,0.061,2875,649,3389,3283,3495,0,0,0,0,0,0,15.11,14.88,15.14
$GC,1703,-1.49,-146.0,2874,648,3283,3495,212.1,-11.4,230,1709,0.00,2.30,0.00,0.000,1158,0.000,0.043,2865,2062,3388,3282,3495,0,0,0,0,0,0,14.95,14.88,14.97
$GC,2020,-1.56,-146.0,2865,2064,3283,3495,239.4,-7.4,262,2027,0.12,0.00,0.00,0.000,4262,0.131,0.000,2816,2064,3389,3283,3495,0,0,0,0,0,0,14.90,14.95,14.95
$GC,2347,-1.56,-146.0,2816,2065,3283,3495,271.6,-10.1,281,2353,0.00,2.38,0.00,0.000,516,0.000,0.063,2816,650,3389,3283,3495,0,0,0,0,0,0,15.11,14.89,15.13
$GC,2405,-1.52,-146.0,2816,649,3282,3495,278.6,-12.0,292,2413,0.17,2.30,0.00,0.000,3206,0.247,0.044,2846,2058,3389,3283,3495,0,0,0,0,0,0,14.76,14.90,14.93
$GC,2714,-1.57,-146.0,2846,2058,3282,3495,311.6,-11.3,303,2718,0.00,2.33,0.00,0.000,388,0.000,0.064,2837,3461,3388,3282,3495,0,0,0,0,0,0,15.13,14.89,15.15
$GC,2734,-1.62,-146.0,2837,3461,3282,3495,314.4,-12.1,307,2739,0.00,2.30,0.00,0.000,1158,0.000,0.044,2837,2050,3388,3282,3495,0,0,0,0,0,0,14.98,14.92,15.00
$GC,3048,-1.62,-146.0,2837,2050,3280,3495,350.7,-11.5,319,3052,0.00,2.33,0.00,0.000,516,0.000,0.064,2837,643,3387,3280,3495,0,0,0,0,0,0,15.13,14.90,15.15
$GC,3088,-1.62,-146.0,2838,643,3279,3495,356.1,-12.0,327,3093,0.00,2.30,0.00,0.000,1030,0.000,0.044,2827,2052,3387,3280,3495,0,0,0,0,0,0,14.98,14.91,15.00
$GC,3411,-1.62,-146.0,2827,2052,3278,3494,394.0,-11.8,341,3417,0.00,2.38,0.00,0.000,516,0.000,0.064,2827,643,3386,3278,3494,0,0,0,0,0,0,15.12,14.90,15.14
$GC,3454,-1.62,-146.0,2827,643,3278,3494,399.6,-12.3,349,3460,0.00,2.33,0.00,0.000,1030,0.000,0.048,2819,2054,3385,3277,3494,0,0,0,0,0,0,14.98,14.91,15.00
$GC,3778,-1.62,-146.0,2818,2055,3275,3491,434.2,-10.3,363,3783,0.00,2.40,0.00,0.000,516,0.000,0.070,2819,643,3382,3275,3490,0,0,0,0,0,0,15.14,14.88,15.16
$GC,3819,-1.62,-146.0,2818,643,3275,3490,438.9,-10.6,371,3824,0.00,2.35,0.00,0.000,1030,0.000,0.053,2809,2058,3382,3275,3490,0,0,0,0,0,0,14.98,14.90,15.00
$GC,4142,-1.62,-146.0,2808,2058,3273,3487,472.1,-10.3,385,4149,0.00,2.35,0.00,0.000,260,0.000,0.070,2799,3464,3380,3273,3487,0,0,0,0,0,0,15.12,14.89,15.14
$GC,4200,-1.62,-146.0,2798,3464,3273,3486,478.5,-10.2,396,4210,0.12,2.33,0.00,0.000,3078,0.248,0.046,2824,2053,3379,3273,3486,0,0,0,0,0,0,14.76,14.91,14.94
$GC,4507,-1.62,-146.0,2824,2053,3271,3486,506.5,-9.0,407,4512,0.00,2.35,0.00,0.000,548,0.000,0.069,2824,650,3378,3271,3486,0,0,0,0,0,0,15.13,14.88,15.15
$GC,4544,-1.62,-146.0,2824,650,3271,3486,510.5,-9.9,414,4549,0.00,2.33,0.00,0.000,1062,0.000,0.044,2816,2070,3378,3271,3486,0,0,0,0,0,0,14.98,14.92,15.00
$GC,4873,-1.62,-146.0,2816,2071,3269,3483,543.6,-10.7,429,4879,0.00,2.30,0.00,0.000,260,0.000,0.067,2806,3445,3375,3269,3482,0,0,0,0,0,0,15.13,14.88,15.16
$GC,4906,-1.62,-146.0,2806,3446,3269,3482,547.6,-10.9,435,4913,0.00,2.33,0.00,0.000,1030,0.000,0.050,2806,2045,3375,3269,3482,0,0,0,0,0,0,14.98,14.90,15.00
$GC,5241,-1.62,-146.0,2806,2044,3267,3481,586.6,-11.9,451,5242,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2045,3374,3267,3481,0,0,0,0,0,0,15.12,15.15,15.14
$GC,5542,-1.62,-146.0,2806,2044,3266,3480,622.3,-11.8,461,5549,0.00,2.40,0.00,0.000,260,0.000,0.070,2796,3447,3372,3266,3479,0,0,0,0,0,0,15.13,14.88,15.15
$GC,5617,-1.62,-146.0,2796,3447,3266,3479,631.7,-12.0,475,5622,0.12,2.33,0.00,0.000,3078,0.256,0.052,2822,2052,3372,3266,3478,0,0,0,0,0,0,14.72,14.89,14.94
$GC,5942,-1.62,-146.0,2822,2052,3265,3478,664.9,-9.8,489,5947,0.00,2.38,0.00,0.000,548,0.000,0.070,2823,640,3371,3265,3478,0,0,0,0,0,0,15.13,14.88,15.16
$GC,6004,-1.62,-146.0,2822,640,3264,3478,671.4,-10.2,501,6010,0.00,2.35,0.00,0.000,1030,0.000,0.050,2814,2054,3371,3264,3478,0,0,0,0,0,0,14.97,14.89,14.99
$GC,6338,-1.62,-146.0,2814,2056,3263,3477,701.7,-9.1,517,6344,0.00,2.42,0.00,0.000,548,0.000,0.070,2814,642,3370,3263,3477,0,0,0,0,0,0,15.12,14.87,15.14
$GC,6373,-1.62,-146.0,2814,642,3262,3477,705.0,-9.7,523,6378,0.00,2.35,0.00,0.000,1062,0.000,0.048,2803,2056,3369,3262,3477,0,0,0,0,0,0,14.97,14.90,14.99
$GC,6707,-1.62,-146.0,2803,2057,3261,3476,739.0,-10.6,539,6712,0.00,2.38,0.00,0.000,260,0.000,0.076,2794,3456,3368,3261,3475,0,0,0,0,0,0,15.13,14.85,15.15
$GC,6754,-1.62,-146.0,2794,3457,3261,3475,744.7,-11.3,548,6759,0.12,2.35,0.00,0.000,3078,0.251,0.052,2820,2050,3367,3261,3474,0,0,0,0,0,0,14.70,14.88,14.92
$GC,7072,-1.62,-146.0,2819,2050,3260,3474,780.5,-11.7,561,7080,0.00,2.38,0.00,0.000,516,0.000,0.073,2820,644,3367,3260,3474,0,0,0,0,0,0,15.11,14.85,15.14
$GC,7110,-1.62,-146.0,2820,644,3260,3474,785.6,-12.4,568,7117,0.00,2.35,0.00,0.000,1030,0.000,0.054,2811,2052,3367,3260,3474,0,0,0,0,0,0,14.96,14.88,14.98
$GC,7440,-1.62,-146.0,2811,2052,3259,3472,826.1,-12.1,583,7444,0.00,2.42,0.00,0.000,516,0.000,0.070,2811,637,3365,3259,3472,0,0,0,0,0,0,15.11,14.85,15.14
$GC,7482,-1.62,-146.0,2811,636,3259,3472,831.9,-13.1,591,7487,0.10,2.35,0.00,0.000,3078,0.287,0.049,2819,2056,3365,3259,3472,0,0,0,0,0,0,14.69,14.88,14.91
$GC,7807,-1.65,-146.0,2819,2056,3258,3471,865.5,-9.9,605,7813,0.00,2.38,0.00,0.000,420,0.000,0.076,2811,3453,3364,3257,3471,0,0,0,0,0,0,15.13,14.85,15.15
$GC,7865,-1.68,-146.0,2810,3453,3258,3471,871.4,-9.7,616,7873,0.00,2.35,0.00,0.000,1190,0.000,0.053,2811,2049,3364,3258,3470,0,0,0,0,0,0,14.95,14.88,14.97
$GC,8171,-1.68,-146.0,2810,2049,3256,3470,899.8,-9.0,627,8177,0.00,2.38,0.00,0.000,548,0.000,0.073,2810,643,3363,3256,3470,0,0,0,0,0,0,15.11,14.84,15.14
$GC,8266,-1.68,-146.0,2810,643,3256,3470,909.2,-8.9,645,8271,0.00,2.35,0.00,0.000,1062,0.000,0.054,2800,2046,3363,3256,3470,0,0,0,0,0,0,14.95,14.86,14.97
$GC,8600,-1.68,-146.0,2800,2046,3256,3469,942.3,-10.4,661,8606,0.00,2.40,0.00,0.000,260,0.000,0.079,2790,3453,3362,3256,3468,0,0,0,0,0,0,15.12,14.83,15.14
$GC,8627,-1.68,-146.0,2790,3453,3256,3468,945.4,-10.7,666,8635,0.00,2.38,0.00,0.000,1030,0.000,0.054,2790,2041,3361,3255,3468,0,0,0,0,0,0,14.95,14.86,14.97
$GC,8935,-1.68,-146.0,2790,2041,3255,3468,978.9,-11.3,677,8936,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2041,3361,3255,3468,0,0,0,0,0,0,15.12,15.14,15.14
$STATE,9052,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9052,begin apogee
$GC,9057,-0.33,0.0,2790,1796,3254,3468,992.8,-11.5,681,9188,1.20,0.00,126.95,2.648,10246,0.277,0.000,3099,1791,2789,2675,2903,0,0,0,0,0,0,14.61,14.06,13.12
$STATE,9189,end apogee,CONTROL_FINISHED_OK
$STATE,9189,begin climb
$GC,9190,1.28,146.0,3099,1790,2669,2900,995.4,0.0,685,9333,1.25,2.60,133.05,2.584,10756,0.181,0.083,3461,397,2188,2055,2322,0,0,0,0,0,0,14.03,13.95,13.05
$GC,9373,1.07,146.0,3460,397,2044,2322,982.1,13.8,720,9381,0.25,2.47,0.00,0.000,5254,0.322,0.052,3411,1805,2182,2043,2321,0,0,0,0,0,0,14.07,14.22,14.27
$GC,9681,0.97,146.0,3411,1805,2035,2321,947.1,11.5,731,9687,0.12,2.42,0.00,0.000,4484,0.390,0.071,3384,3212,2178,2035,2321,0,0,0,0,0,0,14.38,14.59,14.57
$GC,9753,0.88,146.0,3383,3212,2035,2321,938.9,10.4,746,9759,0.12,2.42,0.00,0.000,5254,0.354,0.057,3371,1793,2178,2035,2321,0,0,0,0,0,0,14.45,14.65,14.69
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$STATE,18001,end climb,SURFACE_DEPTH_REACHED
$STATE,18001,begin surface coast
$FINISH,1.4,1.023272
$STATE,18029,end surface coast,CONTROL_FINISHED_OK
$STATE,18029,begin surface
$SM_CCo,18045,105.70,0.080,0,0,449,573.99
$SM_GC,2.25,9.55,0.45,105.70,0.062,0.055,0.080,94,2086,449,-14.11,-1.02,573.99,0,0,0,0,0,0,14.76,14.83,14.72
$IRIDIUM_FIX,1358.61,6058.88,230317,075629
$TT8_MAMPS,0.024717,0.15729
$HUMID,47.83
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,24.20
$XPDR_PINGS,10
$24V_AH,13.05,34.437
$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,28.375,205.600,425.925,105.700,0.000,0.000,0.000,402.150,120.250,0.000,24.792,2928.427,12401.666,759.879,2747.290,182.732,0.000,2355.301,0.000,1973.901,0.000,789.653,0.000
$DEVICE_MAMPS,430.695,2090.745,2647.665,80.325,0.000,0.000,0.000,182.835,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,643.860,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225080
$DATA_FILE_SIZE,59969,1387
$CAP_FILE_SIZE,225572,0
$CFSIZE,260034560,251068416
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,11601.01,0x233da8,1,24
$CURRENT,0.040,132.31,1
$GPS,230317,182336,1401.475,6101.125,50,0.8,55,-0.6,0.3,207.7,10,9.8