version: 66.13
glider: 137
mission: 5
dive: 128
start: 3 29 117 1 6 14
data:
$ID,137
$MISSION,5
$DIVE,128
$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,35
$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
$GPS1,290317,005440,1340.0732,6115.8696,38,1.3,47,-0.7,0.0,207.0,7,10.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-66.5
$GPS2,290317,010525,1340.0212,6115.8462,4,1.0,18,-0.7,0.0,222.7,8,9.2
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1341.950,6115.514
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,358.8,3622,-18.8,-10.000,-21.28,1754
$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,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
$GC,7,-1.39,-114.1,91,2069,329,565,0.0,0.0,0,104,0.00,0.00,-94.78,0.000,16386,0.000,0.000,91,2071,2980,2904,3057,0,0,0,0,0,0,14.90,28.83,14.91
$GC,106,-1.43,-146.0,91,2071,2905,3057,4.5,-7.9,16,132,13.60,0.00,-7.50,0.000,18470,0.412,0.000,2855,2067,3389,3285,3494,0,0,0,0,0,0,14.42,13.59,14.61
$GC,436,-1.40,-146.0,2855,2068,3286,3494,62.4,-15.2,72,437,0.00,0.00,0.00,0.000,134,0.000,0.000,2855,2067,3390,3286,3495,0,0,0,0,0,0,14.99,15.01,15.01
$GC,735,-1.40,-146.0,2855,2068,3286,3494,114.0,-19.2,102,744,0.00,2.38,0.00,0.000,516,0.000,0.061,2856,646,3390,3286,3495,0,0,0,0,0,0,15.04,14.79,15.07
$GC,776,-1.44,-146.0,2855,646,3286,3494,121.8,-18.6,110,785,0.00,2.30,0.00,0.000,1158,0.000,0.044,2847,2054,3390,3286,3494,0,0,0,0,0,0,14.89,14.82,14.90
$GC,1086,-1.50,-146.0,2847,2054,3286,3494,170.1,-10.9,142,1095,0.00,2.38,0.00,0.000,644,0.000,0.060,2847,639,3390,3286,3494,0,0,0,0,0,0,15.09,14.83,15.11
$GC,1128,-1.58,-146.0,2847,638,3286,3495,174.0,-8.6,150,1133,0.00,2.28,0.00,0.000,1190,0.000,0.041,2837,2049,3390,3286,3494,0,0,0,0,0,0,14.88,14.84,14.90
$GC,1441,-1.64,-146.0,2836,2050,3286,3494,194.2,-6.5,182,1449,0.00,2.30,0.00,0.000,420,0.000,0.058,2827,3450,3390,3286,3494,0,0,0,0,0,0,15.10,14.85,15.12
$GC,1557,-1.74,-146.0,2826,3450,3286,3494,204.2,-9.3,204,1562,0.12,2.28,0.00,0.000,5286,0.137,0.037,2784,2042,3390,3286,3494,0,0,0,0,0,0,14.84,14.87,14.92
$GC,1870,-1.74,-146.0,2784,2040,3286,3494,248.9,-15.1,236,1877,0.00,2.30,0.00,0.000,516,0.000,0.062,2784,652,3390,3286,3494,0,0,0,0,0,0,15.09,14.84,15.10
$GC,1906,-1.69,-146.0,2784,652,3286,3494,254.4,-16.2,242,1912,0.15,2.28,0.00,0.000,3206,0.262,0.041,2807,2054,3390,3286,3494,0,0,0,0,0,0,14.69,14.87,14.88
$GC,2241,-1.73,-146.0,2806,2054,3285,3494,300.6,-13.4,258,2246,0.00,2.33,0.00,0.000,388,0.000,0.067,2798,3450,3389,3285,3494,0,0,0,0,0,0,15.10,14.85,15.12
$GC,2278,-1.78,-146.0,2797,3450,3286,3494,305.9,-13.1,265,2284,0.00,2.30,0.00,0.000,1158,0.000,0.043,2798,2050,3390,3286,3494,0,0,0,0,0,0,14.95,14.88,14.96
$GC,2607,-1.78,-146.0,2797,2049,3284,3494,349.7,-12.7,280,2612,0.00,2.35,0.00,0.000,260,0.000,0.061,2788,3446,3389,3284,3494,0,0,0,0,0,0,15.11,14.85,15.14
$GC,2661,-1.82,-146.0,2788,3446,3284,3494,356.8,-12.9,290,2668,0.00,2.30,0.00,0.000,1158,0.000,0.040,2788,2039,3389,3284,3494,0,0,0,0,0,0,14.95,14.89,14.97
$GC,2976,-1.82,-146.0,2788,2039,3282,3494,396.2,-12.4,302,2983,0.00,2.28,0.00,0.000,516,0.000,0.063,2788,654,3388,3282,3494,0,0,0,0,0,0,15.11,14.84,15.13
$GC,3014,-1.82,-146.0,2788,654,3282,3494,401.5,-12.3,309,3020,0.00,2.30,0.00,0.000,1030,0.000,0.044,2778,2056,3388,3282,3494,0,0,0,0,0,0,14.95,14.88,14.97
$GC,3344,-1.82,-146.0,2778,2056,3280,3493,443.5,-13.0,324,3348,0.00,2.35,0.00,0.000,260,0.000,0.069,2769,3458,3385,3279,3492,0,0,0,0,0,0,15.11,14.85,15.14
$GC,3401,-1.82,-146.0,2768,3458,3280,3491,451.3,-13.0,335,3408,0.00,2.33,0.00,0.000,1030,0.000,0.042,2768,2046,3386,3280,3492,0,0,0,0,0,0,14.95,14.88,14.97
$GC,3707,-1.82,-146.0,2768,2046,3278,3489,490.5,-12.7,346,3714,0.00,2.33,0.00,0.000,516,0.000,0.062,2768,646,3383,3278,3489,0,0,0,0,0,0,15.11,14.85,15.14
$GC,3765,-1.76,-146.0,2768,645,3278,3489,498.6,-12.9,357,3774,0.15,2.33,0.00,0.000,3206,0.276,0.046,2790,2054,3383,3277,3489,0,0,0,0,0,0,14.65,14.88,14.88
$GC,4073,-1.76,-146.0,2789,2054,3276,3487,530.1,-10.0,368,4078,0.00,2.35,0.00,0.000,260,0.000,0.071,2781,3448,3381,3276,3487,0,0,0,0,0,0,15.11,14.84,15.14
$GC,4121,-1.80,-146.0,2781,3448,3276,3487,535.3,-10.6,377,4126,0.00,2.33,0.00,0.000,1158,0.000,0.049,2781,2056,3381,3276,3486,0,0,0,0,0,0,14.95,14.87,14.97
$GC,4440,-1.80,-146.0,2781,2055,3274,3486,568.9,-10.7,390,4446,0.00,2.38,0.00,0.000,260,0.000,0.067,2771,3449,3379,3274,3485,0,0,0,0,0,0,15.11,14.85,15.14
$GC,4477,-1.80,-146.0,2771,3449,3274,3485,573.2,-10.7,397,4485,0.00,2.33,0.00,0.000,1030,0.000,0.043,2771,2043,3379,3274,3485,0,0,0,0,0,0,14.95,14.87,14.96
$GC,4808,-1.80,-146.0,2771,2043,3272,3484,610.6,-11.6,412,4809,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2043,3378,3273,3484,0,0,0,0,0,0,15.10,15.13,15.13
$GC,5108,-1.80,-146.0,2771,2042,3271,3481,646.5,-12.2,422,5115,0.00,2.42,0.00,0.000,260,0.000,0.068,2762,3459,3375,3271,3480,0,0,0,0,0,0,15.11,14.83,15.14
$GC,5187,-1.80,-146.0,2761,3458,3270,3480,656.8,-12.4,437,5192,0.00,2.35,0.00,0.000,1030,0.000,0.044,2762,2042,3375,3271,3480,0,0,0,0,0,0,14.94,14.86,14.96
$GC,5506,-1.80,-146.0,2761,2041,3269,3479,699.7,-13.7,450,5507,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2042,3374,3269,3479,0,0,0,0,0,0,15.11,15.14,15.13
$GC,5807,-1.80,-146.0,2761,2042,3267,3478,742.6,-14.4,460,5812,0.00,2.42,0.00,0.000,260,0.000,0.070,2751,3453,3372,3267,3478,0,0,0,0,0,0,15.11,14.83,15.14
$GC,5901,-1.80,-146.0,2751,3453,3267,3477,756.3,-14.0,478,5908,0.15,2.35,0.00,0.000,3078,0.271,0.048,2782,2040,3372,3267,3477,0,0,0,0,0,0,14.60,14.85,14.82
$GC,6237,-1.80,-146.0,2782,2040,3266,3477,799.4,-12.8,494,6244,0.00,2.42,0.00,0.000,260,0.000,0.067,2774,3455,3371,3266,3477,0,0,0,0,0,0,15.11,14.82,15.13
$GC,6302,-1.84,-146.0,2774,3455,3267,3477,807.7,-12.4,506,6309,0.00,2.35,0.00,0.000,1158,0.000,0.043,2774,2041,3371,3266,3477,0,0,0,0,0,0,14.93,14.85,14.95
$GC,6637,-1.84,-146.0,2774,2041,3265,3477,849.5,-12.3,522,6642,0.00,2.33,0.00,0.000,516,0.000,0.062,2774,650,3371,3265,3477,0,0,0,0,0,0,15.11,14.82,15.13
$GC,6713,-1.84,-146.0,2774,650,3265,3476,859.0,-11.5,536,6717,0.00,2.33,0.00,0.000,1030,0.000,0.045,2764,2052,3370,3265,3476,0,0,0,0,0,0,14.92,14.84,14.94
$GC,7036,-1.84,-146.0,2764,2052,3264,3474,897.7,-11.9,550,7037,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2052,3369,3264,3475,0,0,0,0,0,0,15.10,15.13,15.12
$GC,7336,-1.84,-146.0,2764,2052,3262,3473,932.7,-11.7,560,7342,0.00,2.40,0.00,0.000,516,0.000,0.065,2764,650,3368,3263,3473,0,0,0,0,0,0,15.10,14.81,15.12
$GC,7371,-1.79,-146.0,2764,650,3263,3472,937.2,-12.9,566,7377,0.15,2.35,0.00,0.000,3206,0.289,0.050,2784,2053,3367,3262,3472,0,0,0,0,0,0,14.56,14.84,14.80
$GC,7706,-1.83,-146.0,2783,2053,3261,3472,972.3,-10.3,582,7711,0.00,2.38,0.00,0.000,388,0.000,0.073,2775,3447,3366,3261,3472,0,0,0,0,0,0,15.10,14.79,15.13
$GC,7790,-1.87,-146.0,2775,3447,3261,3471,981.5,-10.8,598,7795,0.00,2.35,0.00,0.000,1158,0.000,0.051,2775,2055,3365,3260,3471,0,0,0,0,0,0,14.91,14.82,14.93
$STATE,7892,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7893,begin apogee
$GC,7897,-0.33,0.0,2775,1788,3261,3470,992.6,-11.0,603,8033,1.25,0.00,131.52,2.635,10246,0.260,0.000,3101,1785,2790,2679,2901,0,0,0,0,0,0,14.54,14.05,13.12
$STATE,8034,end apogee,CONTROL_FINISHED_OK
$STATE,8034,begin climb
$GC,8035,1.43,146.0,3101,1786,2674,2898,994.0,0.0,607,8187,1.30,2.65,139.70,2.573,10500,0.156,0.069,3482,3195,2189,2063,2315,0,0,0,0,0,0,14.04,13.93,13.02
$GC,8198,1.22,146.0,3482,3195,2061,2312,981.1,13.8,644,8203,0.25,2.53,0.00,0.000,5254,0.350,0.063,3442,1805,2186,2060,2312,0,0,0,0,0,0,13.90,14.07,14.12
$GC,8521,1.12,146.0,3442,1804,2050,2311,938.6,13.0,658,8528,0.12,2.47,0.00,0.000,4740,0.363,0.074,3425,382,2180,2049,2312,0,0,0,0,0,0,14.35,14.54,14.53
$GC,8552,1.04,146.0,3424,382,2048,2311,934.7,12.9,664,8559,0.10,2.38,0.00,0.000,5254,0.341,0.048,3403,1802,2179,2047,2311,0,0,0,0,0,0,14.35,14.59,14.54
$GC,8881,1.00,146.0,3403,1802,2045,2312,898.1,10.9,680,8882,0.00,0.00,0.00,0.000,134,0.000,0.000,3403,1802,2177,2044,2311,0,0,0,0,0,0,14.96,14.99,14.98
$GC,9182,0.97,146.0,3403,1802,2042,2312,866.0,10.6,690,9183,0.00,0.00,0.00,0.000,134,0.000,0.000,3403,1802,2177,2043,2312,0,0,0,0,0,0,15.01,15.04,15.04
$GC,9481,0.94,146.0,3403,1802,2041,2311,834.9,10.3,700,9489,0.12,2.50,0.00,0.000,4740,0.392,0.079,3386,377,2176,2041,2312,0,0,0,0,0,0,14.50,14.76,14.71
$GC,9550,0.94,146.9,3386,377,2039,2311,827.8,9.9,714,9555,0.00,2.40,0.00,0.000,1062,0.000,0.052,3386,1798,2175,2039,2312,0,0,0,0,0,0,14.87,14.79,14.90
$GC,9866,0.94,146.9,3386,1798,2039,2311,796.5,10.1,727,9871,0.00,2.42,0.00,0.000,260,0.000,0.081,3386,3210,2175,2038,2312,0,0,0,0,0,0,15.07,14.77,15.09
$GC,9901,0.90,146.9,3386,3210,2039,2312,792.7,11.1,734,9907,0.12,2.45,0.00,0.000,5254,0.366,0.065,3375,1779,2175,2039,2312,0,0,0,0,0,0,14.54,14.81,14.83
$GC,10219,0.90,146.9,3375,1778,2038,2312,760.9,10.0,747,10225,0.00,2.50,0.00,0.000,260,0.000,0.075,3373,3213,2174,2038,2311,0,0,0,0,0,0,15.09,14.78,15.11
$GC,10272,0.90,146.9,3373,3213,2037,2311,755.4,10.5,758,10279,0.00,2.42,0.00,0.000,1030,0.000,0.066,3382,1803,2174,2038,2311,0,0,0,0,0,0,14.89,14.80,14.92
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$STATE,17017,end climb,SURFACE_DEPTH_REACHED
$STATE,17017,begin surface coast
$FINISH,1.4,1.023787
$STATE,17043,end surface coast,CONTROL_FINISHED_OK
$STATE,17044,begin surface
$SM_CCo,17063,126.50,0.080,0,0,449,573.99
$SM_GC,2.29,9.68,1.98,126.50,0.066,0.039,0.080,96,2029,449,-14.10,0.90,573.99,0,0,0,0,0,0,14.73,14.81,14.69
$IRIDIUM_FIX,1331.97,6115.05,280317,200414
$TT8_MAMPS,0.024717,0.156541
$HUMID,47.44
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,24.20
$XPDR_PINGS,5
$24V_AH,13.02,43.468
$10V_AH,13.40,0.000
$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,27.950,176.625,386.450,126.500,0.000,0.000,0.000,310.000,103.250,0.000,19.813,2777.184,11676.595,717.277,2489.533,193.762,0.000,2135.365,0.000,1863.487,0.000,684.114,0.000
$DEVICE_MAMPS,412.335,84.915,2634.660,79.560,0.000,0.000,0.000,185.130,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,618.044,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,225168
$DATA_FILE_SIZE,56636,1309
$CAP_FILE_SIZE,204083,0
$CFSIZE,260034560,248954880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.014,206.56,1
$GPS,290317,055356,1342.428,6115.834,30,0.8,37,-0.7,0.5,2.9,10,9.6