version: 66.13
glider: 137
mission: 5
dive: 140
start: 3 31 117 14 45 49
data:
$ID,137
$MISSION,5
$DIVE,140
$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,65
$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
$GPS1,310317,144001,1329.6512,6106.4839,51,0.8,57,-0.7,0.3,70.9,10,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-68.0
$GPS2,310317,144514,1329.6602,6106.5166,14,0.8,24,-0.7,0.0,36.8,10,9.4
$SPEED_LIMITS,0.173,0.287
$TGT_NAME,SG137_TGT
$TGT_LATLONG,1329.772,6109.980
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,80.9,6241,-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,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
$GC,6,-1.28,-146.0,92,2086,325,572,0.0,0.0,0,109,0.00,0.00,-99.65,0.000,16386,0.000,0.000,92,2086,3134,3060,3209,0,0,0,0,0,0,14.86,28.83,14.88
$GC,111,-1.28,-146.0,92,2086,3060,3209,5.0,-7.9,17,137,14.18,2.47,-4.38,0.000,18724,0.424,2.087,2882,3421,3387,3289,3485,0,0,0,0,0,0,14.33,13.67,14.66
$GC,174,-1.28,-146.0,2882,3421,3290,3486,21.6,-13.7,28,181,0.00,2.28,0.00,0.000,1030,0.000,0.037,2882,2043,3388,3290,3486,0,0,0,0,0,0,14.70,14.64,14.71
$GC,488,-1.28,-146.0,2882,2042,3290,3486,63.7,-13.3,80,498,0.00,2.33,0.00,0.000,516,0.000,0.057,2882,643,3388,3290,3486,0,0,0,0,0,0,14.97,14.71,15.00
$GC,532,-1.28,-146.0,2882,643,3290,3486,70.3,-13.6,89,541,0.10,2.28,0.00,0.000,3078,0.279,0.041,2891,2031,3388,3290,3486,0,0,0,0,0,0,14.56,14.74,14.76
$GC,840,-1.32,-146.0,2891,2030,3291,3486,110.9,-13.3,120,850,0.00,2.35,0.00,0.000,388,0.000,0.057,2882,3453,3388,3290,3486,0,0,0,0,0,0,15.04,14.77,15.06
$GC,922,-1.40,-146.0,2882,3453,3290,3486,122.5,-13.5,136,931,0.00,2.30,0.00,0.000,1158,0.000,0.036,2882,2039,3388,3290,3486,0,0,0,0,0,0,14.88,14.81,14.89
$GC,1232,-1.45,-146.0,2882,2038,3291,3487,152.4,-6.9,168,1234,0.10,0.00,0.00,0.000,4262,0.155,0.000,2833,2038,3388,3291,3486,0,0,0,0,0,0,14.83,14.92,14.90
$GC,1532,-1.45,-146.0,2833,2038,3291,3486,182.9,-12.1,198,1542,0.12,2.35,0.00,0.000,2308,0.256,0.051,2855,3446,3388,3291,3486,0,0,0,0,0,0,14.64,14.82,14.78
$GC,1577,-1.52,-146.0,2854,3446,3291,3486,188.3,-10.8,207,1584,0.00,2.28,0.00,0.000,1158,0.000,0.036,2855,2048,3388,3291,3486,0,0,0,0,0,0,14.92,14.85,14.93
$GC,1885,-1.56,-146.0,2854,2046,3291,3486,223.8,-12.3,238,1892,0.00,2.35,0.00,0.000,388,0.000,0.055,2845,3450,3388,3291,3486,0,0,0,0,0,0,15.08,14.83,15.10
$GC,1942,-1.61,-146.0,2845,3450,3291,3486,230.6,-12.3,248,1947,0.00,2.28,0.00,0.000,1158,0.000,0.037,2845,2052,3388,3291,3486,0,0,0,0,0,0,14.92,14.85,14.94
$GC,2275,-1.61,-146.0,2845,2051,3291,3486,265.3,-9.5,272,2282,0.00,2.33,0.00,0.000,548,0.000,0.062,2845,651,3388,3291,3486,0,0,0,0,0,0,15.09,14.83,15.11
$GC,2325,-1.65,-146.0,2844,651,3291,3486,270.3,-9.8,281,2331,0.00,2.30,0.00,0.000,1190,0.000,0.044,2835,2049,3388,3291,3486,0,0,0,0,0,0,14.92,14.85,14.94
$GC,2645,-1.65,-146.0,2834,2049,3290,3486,296.4,-7.9,294,2649,0.00,2.33,0.00,0.000,292,0.000,0.060,2824,3456,3388,3290,3486,0,0,0,0,0,0,15.10,14.83,15.12
$GC,2671,-1.65,-146.0,2824,3455,3290,3486,298.8,-8.8,299,2680,0.00,2.30,0.00,0.000,1062,0.000,0.040,2824,2054,3388,3290,3486,0,0,0,0,0,0,14.93,14.86,14.95
$GC,2978,-1.65,-146.0,2824,2054,3287,3487,327.9,-10.1,310,2979,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2054,3386,3287,3486,0,0,0,0,0,0,15.10,15.13,15.12
$GC,3278,-1.65,-146.0,2824,2054,3286,3486,361.0,-11.2,320,3285,0.00,2.35,0.00,0.000,516,0.000,0.064,2824,643,3386,3286,3486,0,0,0,0,0,0,15.10,14.83,15.12
$GC,3315,-1.65,-146.0,2824,643,3286,3486,365.9,-12.4,327,3320,0.00,2.35,0.00,0.000,1030,0.000,0.048,2814,2060,3386,3286,3487,0,0,0,0,0,0,14.93,14.85,14.96
$GC,3645,-1.65,-146.0,2814,2061,3284,3486,401.7,-10.5,342,3650,0.00,2.33,0.00,0.000,260,0.000,0.063,2804,3458,3385,3284,3486,0,0,0,0,0,0,15.11,14.83,15.13
$GC,3686,-1.65,-146.0,2804,3458,3284,3486,406.3,-11.0,350,3691,0.00,2.33,0.00,0.000,1030,0.000,0.042,2804,2051,3385,3284,3486,0,0,0,0,0,0,14.94,14.86,14.95
$GC,4009,-1.65,-146.0,2804,2051,3282,3486,442.2,-11.5,364,4016,0.00,2.42,0.00,0.000,260,0.000,0.069,2794,3465,3384,3282,3486,0,0,0,0,0,0,15.10,14.82,15.13
$GC,4063,-1.65,-146.0,2795,3465,3282,3486,449.0,-12.8,374,4068,0.10,2.35,0.00,0.000,3078,0.267,0.044,2813,2042,3384,3282,3486,0,0,0,0,0,0,14.64,14.86,14.86
$GC,4376,-1.65,-146.0,2812,2042,3280,3486,485.1,-11.5,386,4377,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2042,3383,3280,3486,0,0,0,0,0,0,15.11,15.13,15.13
$GC,4677,-1.65,-146.0,2813,2041,3278,3485,519.3,-11.3,396,4678,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2042,3381,3278,3485,0,0,0,0,0,0,15.11,15.13,15.13
$GC,4979,-1.65,-146.0,2813,2042,3277,3484,553.5,-11.5,406,4980,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2042,3380,3277,3484,0,0,0,0,0,0,15.11,15.14,15.14
$GC,5277,-1.65,-146.0,2813,2042,3276,3481,586.1,-10.6,416,5278,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2042,3378,3276,3481,0,0,0,0,0,0,15.11,15.13,15.13
$GC,5577,-1.65,-146.0,2813,2042,3275,3479,617.4,-10.7,426,5584,0.00,2.42,0.00,0.000,260,0.000,0.067,2804,3455,3377,3275,3479,0,0,0,0,0,0,15.11,14.81,15.13
$GC,5635,-1.65,-146.0,2804,3455,3275,3479,624.1,-10.8,437,5644,0.00,2.35,0.00,0.000,1030,0.000,0.044,2804,2043,3377,3275,3479,0,0,0,0,0,0,14.92,14.85,14.95
$GC,5943,-1.65,-146.0,2804,2043,3273,3478,659.2,-11.7,448,5948,0.00,2.35,0.00,0.000,516,0.000,0.065,2804,644,3376,3274,3478,0,0,0,0,0,0,15.11,14.81,15.14
$GC,5990,-1.62,-146.0,2804,643,3273,3478,665.4,-12.4,457,5997,0.12,2.33,0.00,0.000,3206,0.290,0.041,2818,2060,3375,3273,3478,0,0,0,0,0,0,14.56,14.85,14.83
$GC,6310,-1.62,-146.0,2818,2060,3271,3477,699.9,-10.5,470,6311,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2060,3374,3271,3477,0,0,0,0,0,0,15.11,15.13,15.12
$GC,6612,-1.62,-146.0,2818,2060,3270,3477,729.5,-9.8,480,6613,0.00,0.00,0.00,0.000,38,0.000,0.000,2818,2060,3373,3270,3477,0,0,0,0,0,0,15.11,15.14,15.13
$GC,6911,-1.62,-146.0,2818,2060,3270,3476,757.3,-9.2,490,6916,0.00,2.35,0.00,0.000,292,0.000,0.065,2809,3455,3373,3270,3476,0,0,0,0,0,0,15.11,14.80,15.13
$GC,6956,-1.66,-146.0,2809,3455,3270,3475,761.9,-9.9,498,6960,0.00,2.35,0.00,0.000,1190,0.000,0.042,2809,2035,3372,3270,3475,0,0,0,0,0,0,14.92,14.84,14.94
$GC,7279,-1.66,-146.0,2809,2035,3268,3474,795.2,-10.7,512,7281,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2035,3371,3268,3474,0,0,0,0,0,0,15.11,15.13,15.13
$GC,7580,-1.66,-146.0,2809,2035,3268,3473,827.4,-10.9,522,7584,0.00,2.42,0.00,0.000,260,0.000,0.062,2799,3453,3370,3267,3473,0,0,0,0,0,0,15.10,14.79,15.12
$GC,7622,-1.66,-146.0,2799,3453,3268,3472,832.6,-11.9,530,7627,0.00,2.33,0.00,0.000,1030,0.000,0.042,2799,2050,3370,3268,3472,0,0,0,0,0,0,14.91,14.84,14.93
$GC,7946,-1.66,-146.0,2799,2050,3266,3472,870.0,-11.8,544,7947,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2050,3369,3266,3472,0,0,0,0,0,0,15.11,15.13,15.12
$GC,8246,-1.66,-146.0,2799,2050,3266,3471,905.4,-11.9,554,8247,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2050,3368,3266,3471,0,0,0,0,0,0,15.09,15.12,15.12
$GC,8545,-1.66,-146.0,2799,2050,3266,3470,940.8,-11.7,564,8552,0.00,2.40,0.00,0.000,260,0.000,0.067,2790,3444,3368,3266,3470,0,0,0,0,0,0,15.09,14.77,15.11
$GC,8596,-1.66,-146.0,2790,3444,3266,3469,946.9,-12.0,573,8602,0.12,2.35,0.00,0.000,3078,0.255,0.049,2815,2043,3367,3266,3469,0,0,0,0,0,0,14.56,14.81,14.81
$GC,8916,-1.66,-146.0,2815,2042,3264,3469,981.2,-10.6,586,8921,0.00,2.38,0.00,0.000,516,0.000,0.071,2815,650,3366,3264,3469,0,0,0,0,0,0,15.09,14.76,15.11
$GC,8953,-1.66,-146.0,2815,649,3264,3469,985.6,-10.4,593,8959,0.00,2.33,0.00,0.000,1030,0.000,0.047,2807,2046,3366,3264,3469,0,0,0,0,0,0,14.89,14.81,14.92
$STATE,9011,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9011,begin apogee
$GC,9016,-0.33,0.0,2807,1795,3264,3469,991.6,-10.3,599,9149,1.12,0.00,128.93,2.688,10246,0.267,0.000,3095,1793,2789,2681,2897,0,0,0,0,0,0,14.49,14.03,13.04
$STATE,9150,end apogee,CONTROL_FINISHED_OK
$STATE,9150,begin climb
$GC,9151,1.28,146.0,3095,1793,2676,2894,994.0,0.0,603,9295,1.25,2.58,135.82,2.652,10756,0.171,0.078,3462,407,2188,2063,2313,0,0,0,0,0,0,14.00,13.74,12.94
$GC,9347,1.06,146.0,3461,406,2050,2312,977.5,14.7,631,9352,0.22,2.45,0.00,0.000,5254,0.334,0.047,3410,1803,2180,2049,2312,0,0,0,0,0,0,14.02,14.19,14.23
$GC,9664,0.95,146.0,3409,1803,2041,2312,936.9,12.9,644,9672,0.12,2.42,0.00,0.000,4484,0.412,0.069,3384,3202,2176,2041,2312,0,0,0,0,0,0,14.27,14.55,14.49
$GC,9738,0.86,146.0,3384,3202,2041,2312,927.3,12.3,659,9743,0.15,2.40,0.00,0.000,5254,0.356,0.053,3365,1802,2176,2040,2312,0,0,0,0,0,0,14.34,14.62,14.64
$GC,10050,0.82,146.0,3365,1802,2037,2312,891.5,11.4,671,10057,0.00,2.45,0.00,0.000,644,0.000,0.076,3374,394,2174,2036,2312,0,0,0,0,0,0,14.96,14.68,14.98
$GC,10084,0.76,146.0,3373,394,2035,2312,887.6,11.9,678,10089,0.15,2.38,0.00,0.000,5254,0.332,0.044,3346,1814,2173,2034,2313,0,0,0,0,0,0,14.43,14.72,14.73
$GC,10407,0.77,152.3,3345,1814,2035,2312,855.0,9.7,692,10408,0.00,0.00,0.00,0.000,38,0.000,0.000,3345,1814,2173,2035,2312,0,0,0,0,0,0,15.01,15.04,15.03
$GC,10707,0.81,183.2,3345,1814,2034,2312,828.6,8.6,702,10745,0.00,2.42,31.33,2.403,8484,0.000,0.079,3345,3194,2038,1897,2179,0,0,0,0,0,0,15.04,14.46,13.57
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$STATE,18564,end climb,SURFACE_DEPTH_REACHED
$STATE,18564,begin surface coast
$FINISH,1.5,1.009498
$STATE,18591,end surface coast,CONTROL_FINISHED_OK
$STATE,18591,begin surface
$SM_CCo,18608,101.65,0.080,0,0,450,573.99
$SM_GC,2.33,9.77,0.40,101.65,0.079,0.056,0.080,91,2087,450,-14.13,-0.96,573.99,0,0,0,0,0,0,14.69,14.78,14.67
$IRIDIUM_FIX,1323.10,6106.20,310317,095500
$TT8_MAMPS,0.024717,0.15729
$HUMID,48.18
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,24.10
$XPDR_PINGS,10
$24V_AH,12.94,47.794
$10V_AH,13.32,0.000
$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,28.600,177.875,437.150,101.650,0.000,0.000,0.000,212.275,98.000,0.000,25.061,2910.008,12772.604,780.257,2375.658,190.732,0.000,2096.209,0.000,1856.281,0.000,641.554,0.000
$DEVICE_MAMPS,423.810,2086.920,2688.210,80.325,0.000,0.000,0.000,176.715,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,669.533,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,56637,1304
$CAP_FILE_SIZE,206629,0
$CFSIZE,260034560,247926784
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,17230.65,0x233da8,1,24
$CURRENT,0.039,189.32,1
$GPS,310317,195901,1329.613,6109.466,39,0.8,45,-0.7,0.4,195.6,10,9.1