version: 66.13
glider: 156
mission: 10
dive: 8
start: 10 31 117 1 19 41
data:
$ID,156
$MISSION,10
$DIVE,8
$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,350
$C_ROLL_CLIMB,350
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,52
$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,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$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
$GPS1,311017,010950,4743.7476,-12224.4189,13,1.7,34,18.2,0.0,170.5,8,6.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-63.2
$GPS2,311017,011902,4743.6836,-12224.3662,12,1.5,28,18.2,0.2,129.3,8,5.3
$SPEED_LIMITS,0.075,0.208
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$MHEAD_RNG_PITCHd_Wd,329.2,1521,-17.1,-7.500,-19.81,1788
$D_GRID,173
$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,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
$GC,9,-0.77,-88.0,167,353,405,501,0.0,0.0,0,52,0.00,0.00,-41.30,0.000,16386,0.000,0.000,167,353,1428,1469,1387,0,0,0,0,0,0,25.89,28.83,25.91,9.04,48.30
$GC,56,-0.77,-88.0,167,353,1469,1387,3.0,-7.9,7,77,7.72,0.00,-7.40,0.000,18438,0.226,0.000,2096,352,1699,1789,1609,0,0,0,0,0,0,24.82,23.96,25.23,9.13,47.95
$GC,142,-0.77,-88.0,2096,352,1789,1612,15.6,-12.4,22,148,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,352,1701,1789,1613,0,0,0,0,0,0,25.96,25.99,25.98,9.16,47.00
$GC,212,-0.77,-88.0,2096,352,1789,1612,24.4,-12.4,35,218,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,352,1700,1789,1612,0,0,0,0,0,0,26.06,26.09,26.08,9.16,47.44
$GC,281,-0.77,-88.0,2096,352,1789,1613,32.6,-10.8,48,287,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,352,1700,1789,1612,0,0,0,0,0,0,26.14,26.16,26.15,9.17,47.24
$GC,351,-0.77,-88.0,2096,352,1789,1612,41.1,-11.9,61,357,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,352,1700,1789,1612,0,0,0,0,0,0,26.19,26.22,26.21,9.17,47.59
$GC,482,-0.77,-88.0,2096,352,1789,1613,57.8,-12.3,86,488,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,352,1700,1789,1612,0,0,0,0,0,0,26.28,26.30,26.29,9.17,47.55
$GC,612,-0.77,-88.0,2096,352,1789,1612,73.7,-11.8,111,618,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,352,1700,1789,1612,0,0,0,0,0,0,26.34,26.36,26.36,9.17,46.53
$GC,742,-0.77,-88.0,2095,352,1789,1612,89.4,-12.8,136,748,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,352,1700,1789,1612,0,0,0,0,0,0,26.39,26.41,26.41,9.17,46.45
$GC,878,-0.77,-88.0,2096,352,1789,1612,105.4,-13.4,161,885,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,352,1700,1789,1612,0,0,0,0,0,0,26.41,26.44,26.44,9.17,47.48
$GC,1013,-0.77,-88.0,2096,352,1789,1612,121.4,-11.3,186,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,352,1701,1790,1612,0,0,0,0,0,0,26.46,26.49,26.48,9.16,46.41
$GC,1143,-0.77,-88.0,2096,352,1789,1611,136.0,-11.1,211,1149,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,352,1700,1789,1612,0,0,0,0,0,0,26.49,26.52,26.51,9.17,47.00
$GC,1273,-0.77,-88.0,2096,352,1789,1612,150.0,-10.8,236,1279,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,352,1700,1789,1612,0,0,0,0,0,0,26.52,26.55,26.54,9.17,46.73
$GC,1402,-0.77,-88.0,2096,352,1789,1612,163.2,-10.5,261,1409,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,352,1700,1789,1612,0,0,0,0,0,0,26.54,26.57,26.56,9.17,46.65
$STATE,1504,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1504,begin apogee
$GC,1512,-0.30,0.0,2096,352,1789,1612,172.9,-8.9,281,1593,0.47,0.00,74.75,0.601,10246,0.143,0.000,2247,352,1344,1363,1326,0,0,0,0,0,0,25.03,24.95,24.30,9.17,47.48
$STATE,1594,end apogee,CONTROL_FINISHED_OK
$STATE,1594,begin climb
$GC,1597,0.77,88.0,2247,351,1363,1326,176.3,0.0,294,1682,1.00,0.00,75.72,0.587,10246,0.110,0.000,2579,352,993,946,1040,0,0,0,0,0,0,25.03,24.32,23.95,9.13,45.86
$GC,1808,0.77,88.0,2579,352,945,1037,158.9,10.2,332,1814,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,352,991,946,1037,0,0,0,0,0,0,25.75,25.78,25.77,9.09,45.70
$GC,1938,0.77,88.0,2579,351,945,1037,146.8,8.8,357,1945,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,352,991,945,1037,0,0,0,0,0,0,25.99,26.02,26.01,9.08,46.18
$GC,2069,0.77,88.0,2579,352,946,1037,135.0,8.9,382,2075,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,351,990,945,1036,0,0,0,0,0,0,26.13,26.16,26.15,9.09,47.87
$GC,2200,0.77,88.0,2579,352,945,1036,123.5,8.5,407,2205,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,352,991,946,1036,0,0,0,0,0,0,26.23,26.26,26.25,9.09,47.00
$GC,2330,0.77,88.0,2579,352,945,1036,112.2,8.5,432,2336,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,352,990,945,1036,0,0,0,0,0,0,26.30,26.33,26.32,9.09,48.03
$GC,2460,0.77,88.0,2579,352,946,1036,102.0,7.9,457,2467,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,351,991,946,1036,0,0,0,0,0,0,26.36,26.39,26.38,9.09,47.48
$GC,2593,0.77,88.0,2579,352,945,1036,91.0,8.1,482,2599,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,352,991,946,1036,0,0,0,0,0,0,26.40,26.43,26.42,9.08,47.28
$GC,2723,0.77,102.3,2579,352,945,1036,82.2,6.7,507,2742,0.00,0.00,13.00,0.509,8198,0.000,0.000,2579,352,936,883,989,0,0,0,0,0,0,26.44,25.58,24.90,9.08,48.11
$GC,2869,0.77,102.3,2579,352,883,987,71.8,8.2,534,2875,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,351,934,882,987,0,0,0,0,0,0,26.34,26.36,26.36,9.08,48.50
$GC,3000,0.77,102.3,2579,352,883,987,60.9,7.8,559,3005,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,352,934,883,986,0,0,0,0,0,0,26.39,26.42,26.41,9.09,48.58
$GC,3129,0.77,102.3,2579,352,882,987,50.9,8.2,584,3135,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,352,935,883,987,0,0,0,0,0,0,26.44,26.46,26.46,9.07,47.55
$GC,3260,0.77,102.3,2579,351,883,987,39.0,9.3,609,3266,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,352,935,883,987,0,0,0,0,0,0,26.47,26.50,26.49,9.08,48.07
$GC,3331,0.77,102.3,2579,352,882,986,33.2,7.6,622,3337,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,352,934,883,986,0,0,0,0,0,0,26.48,26.51,26.51,9.09,47.55
$GC,3401,0.77,102.3,2578,352,883,986,27.5,8.1,635,3407,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,351,934,882,986,0,0,0,0,0,0,26.50,26.53,26.52,9.08,47.71
$GC,3471,0.77,102.3,2579,352,883,986,21.7,8.3,648,3477,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,352,934,883,986,0,0,0,0,0,0,26.51,26.54,26.53,9.08,47.75
$GC,3540,0.78,104.2,2579,352,883,986,16.3,7.4,661,3547,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,352,934,882,986,0,0,0,0,0,0,26.53,26.55,26.55,9.08,48.38
$GC,3612,0.78,109.9,2579,352,882,986,11.6,7.2,674,3625,0.00,0.00,7.68,0.435,8198,0.000,0.000,2579,352,906,850,962,0,0,0,0,0,0,26.53,25.69,25.02,9.08,47.59
$GC,3689,0.79,154.9,2579,352,850,960,7.6,4.9,688,3733,0.00,0.00,37.17,0.494,8198,0.000,0.000,2579,352,730,616,844,0,0,0,0,0,0,26.46,25.19,24.84,9.07,47.12
$FREEZE,4.83,11.991,-1.564,0,1,0
$FREEZE,4.45,11.990,-1.563,0,1,0
$FREEZE,4.18,11.989,-1.562,0,1,0
$FREEZE,3.82,11.989,-1.562,0,1,0
$FREEZE,3.59,11.987,-1.561,0,1,0
$FREEZE,3.20,11.982,-1.559,0,1,0
$FREEZE,2.86,11.983,-1.559,0,1,0
$FREEZE,2.53,11.980,-1.557,0,1,0
$FREEZE,2.16,11.978,-1.555,0,1,0
$FREEZE,1.93,11.967,-1.549,0,1,0
$STATE,3788,end climb,SURFACE_DEPTH_REACHED
$STATE,3788,begin surface coast
$FREEZE,1.46,11.939,-1.533,0,1,0
$FREEZE,1.01,11.910,-1.519,0,1,0
$FREEZE,0.68,11.870,-1.510,0,1,0
$FREEZE,0.43,11.822,-1.503,0,1,0
$FREEZE,0.17,11.818,-1.496,0,1,0
$FREEZE,0.21,11.602,-1.163,0,1,0
$FINISH,0.2,1.016153
$STATE,3820,end surface coast,CONTROL_FINISHED_OK
$STATE,3820,begin surface
$SM_CCo,3840,69.25,0.417,3,0,451,224.57
$SM_CCo,3929,-0.03,0.000,0,0,450,224.57
$SM_CCo,3935,0.00,0.000,0,0,450,224.57
$SM_GC,1.27,6.50,0.00,0.00,0.044,0.000,0.000,153,351,450,-6.78,0.06,224.57,0,0,0,0,0,0,25.68,26.16,25.53
$IRIDIUM_FIX,4742.17,-12225.08,301017,235247
$TT8_MAMPS,0.026964,0.199983
$HUMID,46.18
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,13.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,110.4,77.4
$24V_AH,23.72,27.895
$10V_AH,10.55,0.404
$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,15.700,2.475,208.325,69.250,0.000,32.701,42.135,296.896,1.250,0.000,28.881,1712.727,632.418,415.545,1443.173,289.802,0.000,989.104,0.000,1086.129,0.000,12.517,0.000
$DEVICE_MAMPS,225.675,38.250,601.290,416.925,0.000,61.200,160.000,223.000,420.000,0.000,32.210,12.960,2.190,12.210,37.680,44.420,0.000,17.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,480.144,606.438,614.249,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,31.460,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,191976
$DATA_FILE_SIZE,48664,711
$CAP_FILE_SIZE,73046,0
$CFSIZE,260165632,256966656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.069,18.12,1
$GPS,311017,022632,4743.925,-12224.229,13,1.2,40,18.2,0.3,127.8,9,4.6