version: 66.13
glider: 156
mission: 10
dive: 7
start: 10 30 117 23 59 35
data:
$ID,156
$MISSION,10
$DIVE,7
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,1020
$D_NO_BLEED,100
$D_BOOST,3
$T_BOOST,0
$D_FINISH,5
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,80
$T_MISSION,70
$T_ABORT,720
$T_TURN,600
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,90
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51746
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038000001
$HD_B,0.0080929501
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,5625
$TGT_DEFAULT_LON,-755
$TGT_AUTO_DEFAULT,0
$SM_CC,230
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100840
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,160
$PITCH_MAX,3877
$C_PITCH,2350
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,23
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,100
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,260
$ROLL_MAX,3865
$ROLL_DEG,40
$C_ROLL_DIVE,1850
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,76
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,451
$VBD_MAX,3959
$C_VBD,1345
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,0.80000001
$MAXI_10V,1
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-17.227072
$PRESSURE_SLOPE,0.00011457827
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043872492
$SEABIRD_T_H,0.00063743989
$SEABIRD_T_I,2.4850315e-05
$SEABIRD_T_J,2.6583925e-06
$SEABIRD_C_G,-10.170362
$SEABIRD_C_H,1.1513186
$SEABIRD_C_I,-0.0020813958
$SEABIRD_C_J,0.00025019815
$SEABIRD_C_Z,2977.3
$GPS1,301017,235026,4743.1919,-12224.6758,14,1.5,41,18.2,0.2,317.3,8,5.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-59.6
$GPS2,301017,235857,4743.1978,-12224.6523,15,1.4,31,18.2,0.7,119.7,8,5.3
$SPEED_LIMITS,0.075,0.208
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$MHEAD_RNG_PITCHd_Wd,356.3,2419,-17.1,-7.500,-19.81,1788
$D_GRID,177
$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,int_press,humidity
$STATE,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,9,-0.77,-88.0,159,1833,407,499,0.0,0.0,0,60,0.00,0.00,-48.40,0.000,16386,0.000,0.000,158,1833,1581,1643,1519,0,0,0,0,0,0,25.92,28.83,25.95,9.04,48.22
$GC,64,-0.77,-88.0,158,1832,1643,1523,3.3,-8.6,8,79,7.65,0.00,-3.05,0.000,18950,0.220,0.000,2093,1817,1698,1779,1617,0,0,0,0,0,0,24.84,24.06,25.06,9.16,48.30
$GC,144,-0.77,-88.0,2092,1829,1780,1618,16.4,-13.6,22,150,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,1830,1699,1780,1618,0,0,0,0,0,0,26.03,26.05,26.05,9.17,48.18
$GC,214,-0.77,-88.0,2092,1830,1780,1619,23.4,-8.2,35,221,0.00,2.22,0.00,0.000,516,0.000,0.043,2093,441,1699,1780,1619,0,0,0,0,0,0,26.11,25.53,26.13,9.17,48.42
$GC,264,-0.77,-88.0,2092,441,1780,1618,28.0,-10.5,44,271,0.00,2.12,0.00,0.000,1030,0.000,0.024,2084,1835,1698,1779,1618,0,0,0,0,0,0,25.86,25.79,25.88,9.17,47.91
$GC,335,-0.77,-88.0,2083,1839,1780,1619,35.4,-10.8,57,342,0.00,2.22,0.00,0.000,260,0.000,0.034,2073,3245,1699,1780,1619,0,0,0,0,0,0,26.21,25.67,26.23,9.17,47.24
$GC,422,-0.77,-88.0,2073,3245,1780,1619,45.7,-12.1,73,429,0.00,2.20,0.00,0.000,1030,0.000,0.028,2074,1841,1699,1780,1619,0,0,0,0,0,0,25.83,25.72,25.86,9.17,47.40
$GC,553,-0.77,-88.0,2073,1841,1780,1619,61.4,-11.9,98,560,0.00,2.22,0.00,0.000,516,0.000,0.044,2073,438,1699,1780,1619,0,0,0,0,0,0,26.34,25.65,26.36,9.17,47.79
$GC,716,-0.77,-88.0,2072,438,1780,1618,80.7,-10.4,129,724,0.12,2.15,0.00,0.000,3078,0.163,0.022,2100,1862,1699,1780,1618,0,0,0,0,0,0,25.50,25.99,25.64,9.17,47.00
$GC,851,-0.77,-88.0,2099,1864,1780,1618,93.3,-9.6,154,857,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,1864,1698,1779,1618,0,0,0,0,0,0,26.44,26.47,26.46,9.17,47.00
$GC,981,-0.77,-88.0,2100,1867,1780,1618,106.3,-9.8,179,988,0.00,2.28,0.00,0.000,516,0.000,0.042,2100,441,1699,1780,1618,0,0,0,0,0,0,26.47,25.70,26.49,9.17,47.40
$GC,1089,-0.77,-88.0,2100,441,1780,1618,116.2,-9.3,198,1095,0.00,2.12,0.00,0.000,1030,0.000,0.022,2091,1856,1699,1780,1619,0,0,0,0,0,0,26.12,26.06,26.14,9.17,47.16
$GC,1222,-0.77,-88.0,2090,1859,1780,1618,129.2,-9.1,223,1229,0.00,2.15,0.00,0.000,260,0.000,0.034,2081,3232,1699,1780,1618,0,0,0,0,0,0,26.51,25.83,26.54,9.17,47.59
$GC,1283,-0.77,-88.0,2080,3232,1780,1618,135.2,-9.0,234,1290,0.00,2.15,0.00,0.000,1030,0.000,0.028,2080,1847,1699,1780,1618,0,0,0,0,0,0,25.97,25.86,26.01,9.17,47.12
$GC,1417,-0.77,-88.0,2080,1847,1780,1618,147.6,-10.1,259,1423,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,1847,1699,1780,1618,0,0,0,0,0,0,26.55,26.58,26.57,9.17,46.96
$GC,1547,-0.77,-88.0,2080,1847,1780,1618,160.7,-9.2,284,1553,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,1847,1699,1780,1618,0,0,0,0,0,0,26.56,26.59,26.59,9.16,47.99
$GC,1677,-0.77,-88.0,2080,1847,1780,1618,173.1,-9.7,309,1684,0.00,2.20,0.00,0.000,260,0.000,0.033,2070,3236,1699,1780,1618,0,0,0,0,0,0,26.58,25.84,26.60,9.16,46.81
$STATE,1715,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1715,begin apogee
$GC,1726,-0.30,0.0,2070,1787,1781,1618,177.0,-9.5,316,1805,0.55,0.00,74.18,0.607,10246,0.140,0.000,2245,1785,1345,1363,1327,0,0,0,0,0,0,25.06,24.96,24.30,9.16,48.07
$STATE,1806,end apogee,CONTROL_FINISHED_OK
$STATE,1806,begin climb
$GC,1809,0.77,88.0,2244,1785,1362,1326,181.1,0.0,329,1897,0.98,2.35,75.55,0.591,10756,0.096,0.048,2589,406,994,955,1033,0,0,0,0,0,0,25.08,24.59,23.94,9.13,47.04
$GC,1932,0.77,88.0,2588,405,955,1032,173.8,8.7,349,1939,0.00,2.20,0.00,0.000,1030,0.000,0.025,2589,1802,993,955,1032,0,0,0,0,0,0,25.21,25.15,25.23,9.09,46.45
$GC,2066,0.77,88.0,2588,1817,955,1030,161.9,8.9,374,2074,0.00,2.22,0.00,0.000,260,0.000,0.035,2589,3191,992,955,1029,0,0,0,0,0,0,25.87,25.38,25.89,9.09,46.96
$GC,2159,0.77,88.0,2588,3191,955,1029,152.8,8.9,391,2166,0.00,2.22,0.00,0.000,1030,0.000,0.032,2599,1799,992,955,1029,0,0,0,0,0,0,25.60,25.50,25.64,9.08,46.57
$GC,2292,0.77,88.0,2598,1798,955,1029,141.0,9.8,416,2299,0.00,2.28,0.00,0.000,516,0.000,0.047,2610,391,992,955,1029,0,0,0,0,0,0,26.15,25.50,26.17,9.08,47.99
$GC,2358,0.77,88.0,2609,391,955,1029,134.0,10.2,428,2365,0.00,2.17,0.00,0.000,1030,0.000,0.026,2610,1804,992,955,1029,0,0,0,0,0,0,25.86,25.79,25.88,9.08,47.55
$GC,2492,0.77,88.0,2609,1819,955,1028,121.5,9.3,453,2498,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,1819,991,955,1028,0,0,0,0,0,0,26.28,26.31,26.30,9.09,48.14
$GC,2622,0.77,88.0,2609,1819,955,1028,108.9,9.8,478,2629,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,1819,991,955,1028,0,0,0,0,0,0,26.34,26.37,26.36,9.09,48.77
$GC,2754,0.77,88.0,2610,1819,955,1028,97.5,8.8,503,2760,0.00,2.30,0.00,0.000,516,0.000,0.046,2620,393,991,955,1028,0,0,0,0,0,0,26.39,25.61,26.41,9.08,48.03
$GC,2834,0.77,88.0,2620,393,955,1028,90.2,9.2,518,2841,0.00,2.15,0.00,0.000,1030,0.000,0.026,2620,1812,992,955,1029,0,0,0,0,0,0,26.02,25.95,26.04,9.09,48.77
$GC,2969,0.77,88.0,2620,1823,955,1027,79.0,8.4,543,2976,0.00,2.15,0.00,0.000,260,0.000,0.036,2620,3180,991,955,1027,0,0,0,0,0,0,26.45,25.75,26.47,9.08,48.97
$GC,3010,0.77,88.0,2619,3180,955,1026,75.5,8.3,550,3018,0.10,2.17,0.00,0.000,5126,0.171,0.033,2602,1800,990,955,1026,0,0,0,0,0,0,25.47,25.77,25.60,9.08,49.05
$GC,3146,0.77,94.3,2602,1800,956,1026,65.9,7.1,575,3159,0.00,2.22,6.47,0.444,8708,0.000,0.046,2611,396,968,930,1007,0,0,0,0,0,0,26.48,25.31,24.88,9.09,49.01
$GC,3285,0.77,94.3,2610,396,930,1007,54.0,8.8,601,3292,0.00,2.12,0.00,0.000,1030,0.000,0.025,2611,1802,968,930,1007,0,0,0,0,0,0,26.08,26.02,26.11,9.08,48.81
$GC,3420,0.77,94.3,2610,1815,930,1007,42.9,7.9,626,3428,0.00,2.17,0.00,0.000,260,0.000,0.035,2611,3188,968,930,1006,0,0,0,0,0,0,26.48,25.83,26.51,9.08,48.74
$GC,3473,0.77,94.3,2610,3188,931,1005,38.0,8.7,635,3480,0.00,2.17,0.00,0.000,1030,0.000,0.032,2621,1800,967,930,1005,0,0,0,0,0,0,25.96,25.85,26.00,9.08,48.14
$GC,3544,0.77,97.9,2621,1800,930,1006,32.6,7.3,648,3557,0.00,2.28,4.62,0.383,8708,0.000,0.046,2632,398,954,915,994,0,0,0,0,0,0,26.51,25.69,24.91,9.09,49.05
$GC,3571,0.77,97.9,2631,398,916,994,30.3,8.1,652,3578,0.10,2.12,0.00,0.000,5126,0.164,0.025,2602,1823,955,916,994,0,0,0,0,0,0,25.72,26.08,25.84,9.08,48.34
$GC,3643,0.77,99.9,2602,1824,916,994,24.8,7.4,665,3650,0.00,2.12,0.00,0.000,260,0.000,0.035,2602,3169,954,915,993,0,0,0,0,0,0,26.48,25.89,26.50,9.09,48.85
$GC,3740,0.77,99.9,2601,3169,915,993,16.7,8.9,683,3747,0.00,2.15,0.00,0.000,1030,0.000,0.031,2610,1799,954,916,993,0,0,0,0,0,0,26.00,25.89,26.04,9.08,48.03
$GC,3811,0.78,126.6,2610,1798,915,993,10.7,6.0,696,3842,0.00,2.25,24.12,0.495,8708,0.000,0.047,2622,394,840,764,917,0,0,0,0,0,0,26.51,25.35,24.96,9.08,47.95
$FREEZE,4.95,11.983,-1.556,0,1,0
$FREEZE,4.67,11.982,-1.555,0,1,0
$FREEZE,4.31,11.982,-1.554,0,1,0
$FREEZE,3.98,11.981,-1.553,0,1,0
$FREEZE,3.78,11.975,-1.552,0,1,0
$FREEZE,3.50,11.965,-1.550,0,1,0
$FREEZE,3.10,11.964,-1.549,0,1,0
$FREEZE,2.96,11.962,-1.548,0,1,0
$FREEZE,2.69,11.964,-1.548,0,1,0
$FREEZE,2.50,11.963,-1.547,0,1,0
$FREEZE,2.29,11.955,-1.547,0,1,0
$FREEZE,1.93,11.950,-1.546,0,1,0
$STATE,3952,end climb,SURFACE_DEPTH_REACHED
$STATE,3952,begin surface coast
$FREEZE,1.81,11.951,-1.545,0,1,0
$FREEZE,1.57,11.948,-1.545,0,1,0
$FREEZE,1.43,11.946,-1.545,0,1,0
$FREEZE,1.13,11.944,-1.544,0,1,0
$FREEZE,0.90,11.944,-1.544,0,1,0
$FREEZE,0.65,11.950,-1.544,0,1,0
$FREEZE,0.24,11.936,-1.544,0,1,0
$FREEZE,0.24,11.936,-1.545,0,1,0
$FINISH,0.2,1.021431
$STATE,3995,end surface coast,CONTROL_FINISHED_OK
$STATE,3995,begin surface
$SM_CCo,4018,91.00,0.438,3,0,450,224.57
$SM_CCo,4129,-0.03,0.000,0,0,450,224.57
$SM_CCo,4135,0.00,0.000,0,0,450,224.57
$SM_GC,1.09,6.57,2.28,0.00,0.047,0.024,0.000,157,1831,450,-6.76,-2.12,224.57,0,0,0,0,0,0,25.83,25.90,25.48
$IRIDIUM_FIX,4741.67,-12220.67,301017,225339
$TT8_MAMPS,0.026964,0.248668
$HUMID,46.85
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,12.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.6
$ALTIM_BOTTOM_PING,115.3,77.3
$24V_AH,23.70,27.833
$10V_AH,10.50,0.340
$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,16.075,70.500,184.950,91.000,0.000,28.239,46.355,266.744,1.500,0.000,32.498,1803.286,640.332,449.302,1450.717,322.297,0.000,1046.780,0.000,1117.456,0.000,12.065,0.000
$DEVICE_MAMPS,219.555,48.195,607.410,437.580,0.000,61.200,160.000,223.000,420.000,0.000,32.210,12.960,2.190,12.210,37.680,44.420,0.000,17.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,493.300,620.426,630.790,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,31.460,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,191924
$DATA_FILE_SIZE,52128,730
$CAP_FILE_SIZE,84337,0
$CFSIZE,260165632,257003520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.063,14.81,1
$GPS,311017,010950,4743.748,-12224.419,13,1.7,34,18.2,0.0,170.5,8,6.2