version: 66.13
glider: 137
mission: 5
dive: 104
start: 3 23 117 18 29 29
data:
$ID,137
$MISSION,5
$DIVE,104
$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,63
$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
$GPS1,230317,182336,1401.4752,6101.1245,50,0.8,55,-0.6,0.3,207.7,10,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-66.6
$GPS2,230317,182853,1401.4669,6101.1475,10,0.8,20,-0.6,0.0,0.0,10,9.8
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1358.553,6103.814
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,139.9,7217,-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,-146.0,93,2014,328,564,0.0,0.0,0,108,0.00,0.00,-98.25,0.000,16386,0.000,0.000,94,2015,3075,2992,3158,0,0,0,0,0,0,14.88,28.83,14.90
$GC,110,-1.28,-146.0,94,2015,2992,3159,4.7,-7.0,17,137,14.27,2.53,-5.55,0.000,18980,0.432,2.103,2895,672,3388,3283,3494,0,0,0,0,0,0,14.40,13.62,14.69
$GC,198,-1.28,-146.0,2894,672,3285,3494,24.7,-14.6,33,206,0.00,2.22,0.00,0.000,1030,0.000,0.039,2887,2033,3389,3285,3494,0,0,0,0,0,0,14.74,14.69,14.76
$GC,513,-1.28,-146.0,2886,2033,3285,3494,67.3,-13.3,82,522,0.00,2.35,0.00,0.000,260,0.000,0.059,2876,3453,3389,3285,3494,0,0,0,0,0,0,15.00,14.76,15.02
$GC,564,-1.28,-146.0,2876,3453,3285,3494,74.2,-12.9,92,568,0.00,2.25,0.00,0.000,1030,0.000,0.037,2876,2063,3389,3285,3494,0,0,0,0,0,0,14.86,14.81,14.88
$GC,869,-1.28,-146.0,2876,2063,3285,3493,118.3,-13.7,123,873,0.00,2.33,0.00,0.000,516,0.000,0.057,2876,650,3389,3285,3494,0,0,0,0,0,0,15.07,14.82,15.09
$GC,935,-1.32,-146.0,2876,650,3285,3494,127.6,-13.4,136,939,0.00,2.30,0.00,0.000,1158,0.000,0.044,2866,2048,3389,3285,3494,0,0,0,0,0,0,14.91,14.85,14.92
$GC,1246,-1.32,-146.0,2866,2048,3286,3494,164.0,-8.9,168,1256,0.00,2.30,0.00,0.000,292,0.000,0.060,2856,3449,3390,3286,3494,0,0,0,0,0,0,15.09,14.85,15.11
$GC,1268,-1.32,-146.0,2856,3449,3286,3494,165.9,-9.2,172,1278,0.12,2.28,0.00,0.000,3110,0.241,0.039,2883,2040,3390,3286,3494,0,0,0,0,0,0,14.73,14.88,14.90
$GC,1578,-1.39,-146.0,2883,2040,3286,3494,198.1,-11.6,204,1588,0.00,2.30,0.00,0.000,644,0.000,0.062,2884,649,3390,3286,3494,0,0,0,0,0,0,15.11,14.86,15.13
$GC,1656,-1.49,-146.0,2884,649,3286,3494,207.8,-11.9,219,1665,0.10,2.28,0.00,0.000,5254,0.138,0.042,2832,2054,3390,3286,3494,0,0,0,0,0,0,14.89,14.88,14.95
$GC,1964,-1.49,-146.0,2832,2054,3286,3494,248.7,-13.5,250,1968,0.00,2.30,0.00,0.000,260,0.000,0.060,2822,3450,3389,3286,3493,0,0,0,0,0,0,15.09,14.87,15.11
$GC,2012,-1.52,-146.0,2821,3450,3286,3493,255.5,-13.0,259,2020,0.10,2.28,0.00,0.000,3206,0.241,0.040,2842,2047,3390,3286,3494,0,0,0,0,0,0,14.77,14.89,14.92
$GC,2334,-1.52,-146.0,2842,2046,3286,3493,293.0,-11.4,272,2338,0.00,2.30,0.00,0.000,516,0.000,0.063,2843,656,3390,3286,3494,0,0,0,0,0,0,15.11,14.88,15.14
$GC,2400,-1.52,-146.0,2842,656,3286,3493,301.1,-10.9,285,2405,0.00,2.28,0.00,0.000,1030,0.000,0.043,2834,2053,3390,3286,3494,0,0,0,0,0,0,14.97,14.90,14.98
$GC,2729,-1.52,-146.0,2834,2053,3286,3494,335.7,-10.8,300,2734,0.00,2.35,0.00,0.000,516,0.000,0.062,2834,655,3389,3286,3493,0,0,0,0,0,0,15.12,14.89,15.14
$GC,2782,-1.52,-146.0,2834,655,3285,3493,341.9,-11.3,310,2788,0.00,2.28,0.00,0.000,1030,0.000,0.044,2825,2049,3389,3285,3494,0,0,0,0,0,0,14.97,14.91,14.99
$GC,3096,-1.52,-146.0,2824,2049,3284,3494,374.7,-10.4,322,3103,0.00,2.33,0.00,0.000,260,0.000,0.067,2814,3450,3388,3284,3493,0,0,0,0,0,0,15.12,14.89,15.14
$GC,3133,-1.52,-146.0,2814,3450,3284,3493,378.9,-10.6,329,3140,0.12,2.30,0.00,0.000,3078,0.226,0.043,2842,2045,3388,3284,3493,0,0,0,0,0,0,14.78,14.91,14.94
$GC,3465,-1.56,-146.0,2842,2045,3282,3493,409.7,-9.3,344,3469,0.00,2.33,0.00,0.000,676,0.000,0.065,2843,648,3388,3282,3494,0,0,0,0,0,0,15.13,14.89,15.16
$GC,3551,-1.56,-146.0,2843,648,3281,3493,418.7,-9.6,361,3560,0.00,2.30,0.00,0.000,1062,0.000,0.046,2834,2050,3386,3280,3493,0,0,0,0,0,0,14.97,14.91,15.00
$GC,3859,-1.56,-146.0,2834,2050,3279,3491,450.0,-10.8,372,3860,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2050,3385,3279,3491,0,0,0,0,0,0,15.13,15.16,15.15
$GC,4159,-1.56,-146.0,2834,2050,3278,3489,486.0,-12.5,382,4164,0.00,2.38,0.00,0.000,516,0.000,0.069,2834,654,3383,3278,3489,0,0,0,0,0,0,15.13,14.88,15.15
$GC,4185,-1.56,-146.0,2834,654,3278,3488,489.7,-13.0,387,4195,0.00,2.30,0.00,0.000,1030,0.000,0.049,2824,2047,3383,3278,3488,0,0,0,0,0,0,14.98,14.90,15.00
$GC,4492,-1.56,-146.0,2824,2048,3276,3487,527.3,-12.3,398,4493,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2048,3381,3276,3487,0,0,0,0,0,0,15.13,15.16,15.15
$GC,4792,-1.56,-146.0,2823,2048,3275,3486,561.1,-10.9,408,4794,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2048,3380,3275,3486,0,0,0,0,0,0,15.13,15.15,15.15
$GC,5094,-1.56,-146.0,2824,2048,3273,3485,593.1,-10.3,418,5099,0.00,2.38,0.00,0.000,516,0.000,0.069,2824,653,3379,3273,3485,0,0,0,0,0,0,15.14,14.88,15.16
$GC,5115,-1.56,-146.0,2824,652,3273,3485,595.9,-10.9,422,5120,0.00,2.33,0.00,0.000,1030,0.000,0.051,2815,2051,3378,3273,3484,0,0,0,0,0,0,14.98,14.90,15.00
$GC,5429,-1.56,-146.0,2814,2052,3271,3482,625.4,-9.2,434,5434,0.00,2.38,0.00,0.000,292,0.000,0.076,2804,3457,3377,3272,3482,0,0,0,0,0,0,15.14,14.87,15.16
$GC,5483,-1.56,-146.0,2804,3457,3272,3481,630.4,-9.8,444,5489,0.12,2.35,0.00,0.000,3110,0.227,0.054,2832,2050,3376,3271,3481,0,0,0,0,0,0,14.76,14.90,14.92
$GC,5799,-1.61,-146.0,2832,2050,3270,3480,654.5,-7.7,456,5804,0.00,2.35,0.00,0.000,676,0.000,0.069,2833,647,3375,3270,3480,0,0,0,0,0,0,15.14,14.88,15.16
$GC,5862,-1.61,-146.0,2832,647,3270,3480,660.1,-8.2,468,5867,0.00,2.33,0.00,0.000,1062,0.000,0.050,2824,2053,3374,3269,3480,0,0,0,0,0,0,14.97,14.89,14.99
$GC,6195,-1.61,-146.0,2824,2054,3268,3479,689.2,-9.4,484,6200,0.00,2.38,0.00,0.000,292,0.000,0.074,2814,3457,3373,3268,3479,0,0,0,0,0,0,15.12,14.85,15.14
$GC,6233,-1.65,-146.0,2814,3457,3268,3478,693.3,-9.9,491,6238,0.00,2.35,0.00,0.000,1190,0.000,0.051,2814,2050,3373,3268,3479,0,0,0,0,0,0,14.96,14.89,14.98
$GC,6563,-1.65,-146.0,2814,2050,3267,3478,728.6,-11.1,506,6564,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2050,3372,3267,3478,0,0,0,0,0,0,15.13,15.15,15.15
$GC,6861,-1.65,-146.0,2814,2050,3266,3477,762.2,-11.2,516,6866,0.00,2.42,0.00,0.000,260,0.000,0.076,2804,3452,3371,3266,3477,0,0,0,0,0,0,15.11,14.85,15.14
$GC,6882,-1.65,-146.0,2804,3452,3266,3477,764.9,-11.6,520,6887,0.00,2.35,0.00,0.000,1030,0.000,0.049,2804,2040,3371,3266,3477,0,0,0,0,0,0,14.97,14.89,14.99
$GC,7195,-1.65,-146.0,2804,2040,3266,3477,800.1,-11.1,532,7199,0.00,2.35,0.00,0.000,516,0.000,0.070,2804,643,3371,3266,3477,0,0,0,0,0,0,15.12,14.86,15.14
$GC,7216,-1.65,-146.0,2804,643,3266,3476,802.8,-12.4,536,7222,0.10,2.35,0.00,0.000,3078,0.280,0.050,2814,2064,3371,3266,3477,0,0,0,0,0,0,14.71,14.88,14.92
$GC,7529,-1.65,-146.0,2813,2064,3264,3476,835.5,-10.2,548,7534,0.00,2.35,0.00,0.000,260,0.000,0.074,2805,3448,3370,3265,3475,0,0,0,0,0,0,15.11,14.85,15.14
$GC,7555,-1.65,-146.0,2805,3449,3264,3475,838.6,-10.9,553,7566,0.00,2.35,0.00,0.000,1030,0.000,0.050,2805,2041,3369,3264,3475,0,0,0,0,0,0,14.96,14.88,14.98
$GC,7862,-1.65,-146.0,2805,2040,3263,3474,870.5,-10.6,564,7866,0.00,2.45,0.00,0.000,260,0.000,0.075,2795,3455,3369,3263,3475,0,0,0,0,0,0,15.11,14.83,15.14
$GC,7905,-1.65,-146.0,2795,3455,3263,3473,875.5,-10.5,572,7910,0.10,2.35,0.00,0.000,3078,0.259,0.049,2814,2046,3368,3263,3474,0,0,0,0,0,0,14.70,14.88,14.90
$GC,8230,-1.65,-146.0,2814,2045,3261,3473,908.4,-10.2,586,8234,0.00,2.38,0.00,0.000,516,0.000,0.070,2815,639,3367,3262,3473,0,0,0,0,0,0,15.12,14.85,15.14
$GC,8271,-1.65,-146.0,2815,639,3262,3473,913.3,-11.3,594,8276,0.00,2.35,0.00,0.000,1030,0.000,0.051,2806,2050,3367,3261,3473,0,0,0,0,0,0,14.95,14.87,14.97
$GC,8594,-1.65,-146.0,2806,2049,3261,3472,949.2,-11.2,608,8600,0.00,2.40,0.00,0.000,516,0.000,0.070,2807,647,3366,3261,3471,0,0,0,0,0,0,15.11,14.84,15.13
$GC,8622,-1.65,-146.0,2806,647,3261,3471,952.9,-13.0,613,8631,0.00,2.35,0.00,0.000,1030,0.000,0.052,2797,2055,3366,3261,3471,0,0,0,0,0,0,14.95,14.86,14.97
$GC,8929,-1.65,-146.0,2797,2054,3260,3471,987.6,-11.1,624,8930,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2054,3365,3260,3470,0,0,0,0,0,0,15.11,15.14,15.14
$STATE,8957,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8957,begin apogee
$GC,8961,-0.33,0.0,2797,1789,3260,3470,991.0,-11.2,625,9092,1.15,0.00,127.57,2.663,10246,0.262,0.000,3097,1789,2789,2676,2903,0,0,0,0,0,0,14.61,14.05,13.09
$STATE,9093,end apogee,CONTROL_FINISHED_OK
$STATE,9093,begin climb
$GC,9095,1.28,146.0,3097,1789,2671,2899,993.3,0.0,629,9248,1.23,2.58,142.05,2.497,10756,0.168,0.080,3462,401,2188,2056,2321,0,0,0,0,0,0,14.02,13.95,13.07
$GC,9290,1.07,146.0,3462,401,2046,2321,977.7,14.9,671,9298,0.22,2.45,0.00,0.000,5254,0.332,0.050,3410,1803,2183,2045,2321,0,0,0,0,0,0,14.07,14.22,14.27
$GC,9621,0.96,146.0,3410,1803,2037,2321,936.6,12.4,687,9628,0.12,2.40,0.00,0.000,4484,0.405,0.070,3379,3204,2179,2037,2321,0,0,0,0,0,0,14.37,14.59,14.57
$GC,9699,0.88,146.0,3379,3204,2037,2321,927.1,11.1,703,9703,0.00,2.40,0.00,0.000,1158,0.000,0.054,3387,1804,2179,2037,2321,0,0,0,0,0,0,14.72,14.66,14.74
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$STATE,18412,end climb,SURFACE_DEPTH_REACHED
$STATE,18413,begin surface coast
$FINISH,1.4,1.021868
$STATE,18438,end surface coast,CONTROL_FINISHED_OK
$STATE,18439,begin surface
$SM_CCo,18456,92.28,0.080,0,0,449,573.99
$SM_GC,2.20,9.77,0.38,92.28,0.086,0.060,0.080,97,2065,449,-14.10,-1.22,573.99,0,0,0,0,0,0,14.73,14.81,14.71
$IRIDIUM_FIX,1358.61,6101.91,230317,131543
$TT8_MAMPS,0.023968,0.128828
$HUMID,47.59
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,24.10
$XPDR_PINGS,13
$24V_AH,13.07,34.813
$10V_AH,13.43,0.000
$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,28.275,181.650,453.325,92.275,0.000,0.000,0.000,219.000,108.000,0.000,21.227,2881.850,12619.921,740.630,2451.728,175.332,0.000,2109.550,0.000,1901.685,0.000,702.867,0.000
$DEVICE_MAMPS,432.225,2102.985,2662.965,80.325,0.000,0.000,0.000,180.540,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,648.262,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225124
$DATA_FILE_SIZE,56761,1336
$CAP_FILE_SIZE,210912,0
$CFSIZE,260034560,250998784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.046,145.54,1
$GPS,230317,233956,1359.004,6103.357,32,0.9,42,-0.6,0.4,147.1,9,8.4