version: 66.13
glider: 156
mission: 10
dive: 9
start: 10 31 117 2 35 41
data:
$ID,156
$MISSION,10
$DIVE,9
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$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,3700
$C_ROLL_CLIMB,3700
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,41
$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
$GPS1,311017,022632,4743.9248,-12224.2295,13,1.2,40,18.2,0.3,127.8,9,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-67.9
$GPS2,311017,023447,4743.8784,-12224.1406,15,1.0,15,18.2,0.3,131.5,8,7.8
$SPEED_LIMITS,0.206,0.293
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$MHEAD_RNG_PITCHd_Wd,308.9,1235,-16.3,-7.500,-19.07,1961
$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,5,begin dive
$GC,9,-0.74,-96.5,128,3696,392,510,0.0,0.0,0,59,0.00,0.00,-47.33,0.000,16386,0.000,0.000,128,3696,1576,1636,1517,0,0,0,0,0,0,25.88,28.83,25.90,9.02,48.03
$GC,63,-0.74,-108.5,128,3696,1636,1521,3.1,-6.9,8,84,8.15,0.00,-5.20,0.000,18438,0.236,0.000,2107,3697,1781,1868,1694,0,0,0,0,0,0,24.81,24.99,25.23,9.14,47.67
$GC,148,-0.74,-108.5,2106,3697,1867,1695,17.0,-9.9,23,154,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,3697,1781,1868,1695,0,0,0,0,0,0,25.92,25.95,25.94,9.17,46.61
$GC,218,-0.74,-108.5,2106,3697,1868,1695,24.5,-11.4,36,224,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,3698,1781,1867,1695,0,0,0,0,0,0,26.03,26.06,26.05,9.17,47.40
$GC,288,-0.74,-108.5,2106,3697,1867,1695,32.7,-11.5,49,294,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,3697,1781,1867,1695,0,0,0,0,0,0,26.11,26.14,26.13,9.17,47.55
$GC,359,-0.74,-108.5,2106,3697,1867,1695,40.3,-11.0,62,366,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,3697,1781,1867,1695,0,0,0,0,0,0,26.17,26.20,26.20,9.17,46.77
$GC,490,-0.74,-108.5,2106,3698,1867,1695,54.2,-10.5,87,495,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,3697,1781,1868,1695,0,0,0,0,0,0,26.26,26.29,26.28,9.16,47.24
$GC,619,-0.74,-108.5,2106,3697,1867,1695,67.3,-9.2,112,625,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,3698,1781,1868,1695,0,0,0,0,0,0,26.32,26.35,26.34,9.18,46.81
$GC,749,-0.74,-108.5,2106,3697,1867,1695,79.9,-10.2,137,756,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,3698,1781,1867,1695,0,0,0,0,0,0,26.38,26.41,26.40,9.18,47.24
$GC,881,-0.74,-108.5,2106,3697,1867,1695,93.2,-10.3,162,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,3697,1781,1868,1695,0,0,0,0,0,0,26.42,26.44,26.44,9.18,47.40
$GC,1017,-0.74,-108.5,2106,3697,1867,1695,106.5,-9.1,187,1023,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,3698,1781,1867,1695,0,0,0,0,0,0,26.46,26.48,26.48,9.18,46.77
$GC,1147,-0.74,-108.5,2106,3697,1867,1695,119.1,-9.4,212,1153,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,3697,1781,1867,1695,0,0,0,0,0,0,26.48,26.51,26.51,9.17,47.24
$GC,1277,-0.74,-108.5,2106,3697,1868,1695,131.6,-9.8,237,1284,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,3697,1781,1867,1695,0,0,0,0,0,0,26.51,26.54,26.53,9.17,46.69
$GC,1408,-0.74,-108.5,2106,3697,1867,1695,144.1,-9.0,262,1415,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,3697,1781,1868,1695,0,0,0,0,0,0,26.53,26.56,26.55,9.18,46.69
$GC,1538,-0.74,-108.5,2106,3697,1867,1695,155.2,-8.0,287,1544,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,3698,1781,1868,1695,0,0,0,0,0,0,26.55,26.58,26.57,9.17,46.57
$GC,1668,-0.74,-108.5,2106,3697,1868,1695,166.1,-9.6,312,1674,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,3697,1781,1868,1695,0,0,0,0,0,0,26.57,26.60,26.59,9.17,47.40
$STATE,1730,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1730,begin apogee
$GC,1738,-0.30,0.0,2106,3697,1868,1695,172.1,-9.5,324,1836,0.43,0.00,90.62,0.604,10246,0.136,0.000,2245,3697,1346,1345,1348,0,0,0,0,0,0,25.13,24.60,24.20,9.17,47.04
$STATE,1837,end apogee,CONTROL_FINISHED_OK
$STATE,1837,begin climb
$GC,1840,0.74,108.5,2245,3697,1345,1348,176.5,0.0,340,1938,0.98,0.00,91.93,0.583,10246,0.109,0.000,2569,3697,913,852,974,0,0,0,0,0,0,24.97,24.46,23.89,9.12,46.02
$GC,2064,0.74,108.5,2569,3697,852,969,158.9,10.6,380,2070,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,3697,910,852,969,0,0,0,0,0,0,25.70,25.72,25.72,9.07,45.27
$GC,2194,0.74,108.5,2569,3697,852,968,145.5,11.3,405,2201,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,3697,910,852,968,0,0,0,0,0,0,25.96,25.98,25.98,9.08,45.86
$GC,2326,0.74,108.5,2569,3697,852,968,132.3,9.7,430,2331,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,3697,910,852,968,0,0,0,0,0,0,26.11,26.14,26.13,9.08,46.45
$GC,2455,0.74,108.5,2569,3697,852,968,120.1,8.7,455,2461,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,3697,910,852,968,0,0,0,0,0,0,26.21,26.24,26.23,9.07,47.48
$GC,2585,0.74,108.5,2569,3697,852,967,107.6,10.0,480,2591,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,3697,910,852,968,0,0,0,0,0,0,26.28,26.31,26.31,9.08,47.51
$GC,2715,0.74,108.5,2569,3698,852,967,94.4,10.2,505,2722,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,3697,909,852,967,0,0,0,0,0,0,26.34,26.37,26.36,9.07,47.32
$GC,2846,0.74,108.5,2569,3697,852,967,81.7,8.7,530,2852,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,3697,909,852,967,0,0,0,0,0,0,26.39,26.41,26.41,9.07,47.44
$GC,2976,0.74,108.5,2569,3697,852,967,69.3,9.2,555,2982,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,3697,909,852,966,0,0,0,0,0,0,26.43,26.46,26.45,9.08,47.71
$GC,3106,0.74,108.5,2569,3697,852,966,57.0,8.9,580,3112,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,3697,909,852,966,0,0,0,0,0,0,26.46,26.48,26.48,9.07,48.18
$GC,3235,0.74,108.5,2568,3697,852,966,45.5,9.4,605,3242,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,3697,909,852,967,0,0,0,0,0,0,26.48,26.51,26.51,9.07,47.51
$GC,3367,0.74,108.5,2569,3698,852,966,33.6,8.7,630,3373,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,3698,909,852,966,0,0,0,0,0,0,26.51,26.53,26.53,9.08,48.30
$GC,3438,0.74,108.5,2569,3697,852,966,27.3,9.5,643,3444,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,3697,909,852,966,0,0,0,0,0,0,26.52,26.55,26.54,9.07,48.22
$GC,3508,0.74,108.5,2569,3697,852,966,20.8,8.7,656,3514,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,3697,909,852,966,0,0,0,0,0,0,26.53,26.55,26.55,9.08,47.95
$GC,3578,0.75,129.3,2569,3697,852,966,15.1,6.4,669,3598,0.00,0.00,17.80,0.485,8198,0.000,0.000,2569,3697,829,749,910,0,0,0,0,0,0,26.54,25.63,25.02,9.07,47.51
$GC,3663,0.75,129.3,2569,3697,748,907,8.0,9.0,684,3668,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,3697,828,749,907,0,0,0,0,0,0,26.34,26.36,26.36,9.07,47.44
$FREEZE,4.96,12.012,-1.603,0,1,0
$FREEZE,4.73,12.009,-1.600,0,1,0
$FREEZE,4.45,12.000,-1.590,0,1,0
$FREEZE,4.13,11.998,-1.586,0,1,0
$FREEZE,3.93,11.992,-1.580,0,1,0
$FREEZE,3.69,11.990,-1.575,0,1,0
$FREEZE,3.69,11.987,-1.574,0,1,0
$FREEZE,3.34,11.982,-1.566,0,1,0
$FREEZE,3.17,11.978,-1.562,0,1,0
$FREEZE,2.90,11.978,-1.558,0,1,0
$FREEZE,2.56,11.976,-1.554,0,1,0
$FREEZE,2.28,11.966,-1.551,0,1,0
$FREEZE,1.86,11.939,-1.546,0,1,0
$GC,3733,0.77,201.4,2569,3697,749,907,3.7,3.7,697,3782,0.00,0.00,45.92,0.487,8194,0.000,0.000,2569,3697,639,564,714,0,0,0,0,0,0,26.38,28.83,26.40,9.07,47.32
$STATE,3783,end climb,SURFACE_DEPTH_REACHED
$STATE,3783,begin surface coast
$FREEZE,1.38,11.867,-1.545,0,1,0
$FREEZE,1.27,11.827,-1.548,0,1,0
$FREEZE,1.03,11.770,-1.550,0,1,0
$FREEZE,0.78,11.763,-1.550,0,1,0
$FREEZE,0.55,11.737,-1.550,0,1,0
$FREEZE,0.39,11.738,-1.541,0,1,0
$FREEZE,0.15,11.723,-1.516,0,1,0
$FREEZE,0.16,11.735,-1.230,0,1,0
$FREEZE,0.11,11.726,-1.487,0,1,0
$FINISH,0.1,1.020674
$STATE,3833,end surface coast,CONTROL_FINISHED_OK
$STATE,3833,begin surface
$SM_CCo,3853,43.35,0.399,1,0,450,224.57
$SM_CCo,3906,-0.10,0.000,0,0,452,224.57
$SM_CCo,3912,0.43,0.093,0,0,452,224.57
$SM_GC,1.77,6.55,0.00,0.43,0.050,0.000,0.093,161,3697,452,-6.77,-0.08,224.57,0,0,0,0,0,0,25.53,25.98,25.20
$IRIDIUM_FIX,4744.11,-12229.50,311017,011224
$TT8_MAMPS,0.026964,0.252413
$HUMID,46.41
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,13.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.1,86.8
$24V_AH,23.72,27.958
$10V_AH,10.50,0.468
$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,16.100,5.425,246.275,43.775,0.000,26.859,41.428,266.535,0.500,0.000,16.688,1716.081,623.991,413.003,1397.129,281.614,0.000,991.460,0.000,1091.401,0.000,5.656,0.000
$DEVICE_MAMPS,235.620,23.715,603.585,398.565,0.000,61.200,160.000,223.000,420.000,0.000,32.210,12.960,2.190,12.210,37.680,44.420,0.000,17.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,480.492,603.524,613.411,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,31.460,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,191968
$DATA_FILE_SIZE,48811,712
$CAP_FILE_SIZE,72360,0
$CFSIZE,260165632,256913408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.013,34.12,1
$GPS,311017,034157,4743.905,-12224.068,11,1.2,28,18.2,0.2,148.2,8,5.2