version: 66.13
glider: 156
mission: 10
dive: 11
start: 10 31 117 5 11 15
data:
$ID,156
$MISSION,10
$DIVE,11
$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,0
$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,35
$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,1800
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,56
$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
$GPS1,311017,050132,4743.9863,-12224.2100,9,2.0,42,18.2,0.3,150.8,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-67.7
$GPS2,311017,051039,4743.9004,-12224.1602,11,0.9,27,18.2,0.4,162.7,9,4.9
$SPEED_LIMITS,0.107,0.208
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$MHEAD_RNG_PITCHd_Wd,326.9,1188,-17.1,-7.500,-19.81,1788
$D_GRID,180
$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,-88.0,153,1830,398,509,0.0,0.0,0,53,0.00,0.00,-41.58,0.000,16386,0.000,0.000,153,1830,1458,1510,1407,0,0,0,0,0,0,25.86,28.83,25.89,9.02,47.20
$GC,57,-0.77,-88.0,153,1830,1510,1410,3.2,-7.8,7,78,7.75,0.00,-7.07,0.000,18438,0.223,0.000,2102,1827,1699,1801,1597,0,0,0,0,0,0,24.78,23.92,25.20,9.13,47.04
$GC,143,-0.77,-88.0,2101,1827,1801,1600,12.5,-9.8,22,149,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,1827,1700,1801,1600,0,0,0,0,0,0,25.94,25.97,25.96,9.16,46.77
$GC,214,-0.77,-88.0,2101,1827,1801,1601,19.5,-10.5,35,221,0.00,2.35,0.00,0.000,516,0.000,0.047,2102,383,1700,1801,1600,0,0,0,0,0,0,26.04,25.43,26.06,9.15,46.22
$GC,336,-0.77,-88.0,2101,383,1801,1599,34.4,-12.0,58,343,0.00,2.17,0.00,0.000,1030,0.000,0.024,2093,1813,1700,1801,1600,0,0,0,0,0,0,25.84,25.78,25.86,9.16,45.90
$GC,406,-0.77,-88.0,2092,1827,1801,1600,41.9,-10.4,71,412,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,1828,1700,1801,1600,0,0,0,0,0,0,26.21,26.24,26.22,9.16,46.14
$GC,536,-0.77,-88.0,2092,1827,1801,1600,55.3,-10.3,96,543,0.00,2.33,0.00,0.000,516,0.000,0.046,2092,388,1700,1801,1600,0,0,0,0,0,0,26.28,25.56,26.30,9.16,46.61
$GC,652,-0.77,-88.0,2092,388,1801,1600,69.7,-13.0,118,659,0.00,2.12,0.00,0.000,1030,0.000,0.023,2082,1802,1701,1801,1601,0,0,0,0,0,0,25.98,25.92,26.01,9.16,46.02
$GC,786,-0.77,-88.0,2082,1817,1801,1601,84.0,-10.0,143,792,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,1817,1701,1802,1600,0,0,0,0,0,0,26.39,26.41,26.41,9.16,45.86
$GC,916,-0.77,-88.0,2081,1817,1802,1601,97.0,-8.9,168,923,0.00,2.30,0.00,0.000,516,0.000,0.044,2082,383,1701,1802,1600,0,0,0,0,0,0,26.42,25.62,26.44,9.16,45.78
$GC,985,-0.77,-88.0,2081,383,1801,1600,103.8,-9.7,180,992,0.00,2.12,0.00,0.000,1030,0.000,0.022,2071,1803,1700,1801,1600,0,0,0,0,0,0,26.06,26.01,26.09,9.16,46.10
$GC,1122,-0.77,-88.0,2071,1818,1801,1600,118.5,-11.7,205,1131,0.10,2.15,0.00,0.000,2308,0.174,0.031,2095,3178,1700,1801,1600,0,0,0,0,0,0,25.84,25.78,25.86,9.16,45.82
$GC,1230,-0.77,-88.0,2094,3178,1801,1601,128.4,-8.5,225,1238,0.00,2.17,0.00,0.000,1030,0.000,0.029,2095,1786,1700,1801,1600,0,0,0,0,0,0,25.90,25.79,25.94,9.16,46.88
$GC,1365,-0.77,-88.0,2094,1785,1801,1600,140.1,-8.6,250,1371,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,1785,1700,1801,1600,0,0,0,0,0,0,26.51,26.54,26.53,9.16,46.29
$GC,1495,-0.77,-88.0,2094,1785,1801,1600,152.1,-8.4,275,1500,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,1785,1700,1801,1600,0,0,0,0,0,0,26.53,26.56,26.55,9.16,45.90
$GC,1624,-0.77,-88.0,2094,1785,1801,1601,163.4,-10.2,300,1631,0.00,2.22,0.00,0.000,260,0.000,0.033,2084,3186,1701,1801,1601,0,0,0,0,0,0,26.55,25.80,26.58,9.15,46.73
$GC,1720,-0.77,-88.0,2084,3186,1801,1600,172.8,-9.2,318,1727,0.00,2.17,0.00,0.000,1030,0.000,0.029,2084,1788,1700,1801,1600,0,0,0,0,0,0,25.91,25.80,25.96,9.16,45.98
$STATE,1732,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1732,begin apogee
$GC,1740,-0.30,0.0,2084,1788,1801,1601,174.4,-10.0,320,1820,0.50,0.00,74.60,0.606,10246,0.136,0.000,2244,1785,1345,1370,1320,0,0,0,0,0,0,25.07,24.96,24.31,9.15,46.33
$STATE,1821,end apogee,CONTROL_FINISHED_OK
$STATE,1821,begin climb
$GC,1824,0.77,88.0,2244,1785,1370,1319,179.0,0.0,333,1912,0.98,2.45,76.12,0.586,10756,0.095,0.050,2590,349,993,954,1033,0,0,0,0,0,0,25.07,24.58,23.94,9.12,46.10
$GC,1969,0.77,88.0,2589,348,954,1033,168.5,11.7,357,1976,0.00,2.20,0.00,0.000,1030,0.000,0.026,2590,1751,993,954,1032,0,0,0,0,0,0,25.27,25.21,25.29,9.07,44.60
$GC,2104,0.77,88.0,2589,1761,954,1030,155.7,8.3,382,2111,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1761,992,954,1031,0,0,0,0,0,0,25.88,25.91,25.90,9.08,45.70
$GC,2236,0.77,88.0,2589,1761,954,1030,144.8,8.3,407,2241,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1761,992,954,1030,0,0,0,0,0,0,26.06,26.09,26.08,9.07,46.41
$GC,2365,0.77,88.0,2589,1761,954,1030,133.5,9.3,432,2371,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,1761,992,954,1030,0,0,0,0,0,0,26.17,26.20,26.20,9.07,46.73
$GC,2496,0.77,88.0,2590,1761,954,1030,120.8,10.2,457,2503,0.00,2.20,0.00,0.000,260,0.000,0.035,2590,3141,991,954,1029,0,0,0,0,0,0,26.26,25.63,26.27,9.07,46.81
$GC,2522,0.77,88.0,2589,3141,954,1029,118.1,10.3,461,2528,0.00,2.22,0.00,0.000,1030,0.000,0.034,2600,1747,991,954,1029,0,0,0,0,0,0,25.76,25.64,25.80,9.07,47.24
$GC,2656,0.77,88.0,2600,1746,954,1029,105.8,9.0,486,2663,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1747,991,954,1028,0,0,0,0,0,0,26.33,26.35,26.34,9.07,47.12
$GC,2788,0.77,88.0,2600,1747,955,1029,93.1,9.0,511,2794,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,1747,991,954,1029,0,0,0,0,0,0,26.38,26.40,26.40,9.07,46.77
$GC,2917,0.77,88.0,2600,1747,954,1029,80.9,9.7,536,2924,0.00,2.28,0.00,0.000,516,0.000,0.048,2611,335,991,954,1029,0,0,0,0,0,0,26.41,25.57,26.44,9.07,47.44
$GC,2999,0.77,88.0,2610,335,954,1029,72.8,9.9,551,3005,0.00,2.15,0.00,0.000,1030,0.000,0.027,2611,1764,991,954,1029,0,0,0,0,0,0,26.03,25.97,26.06,9.08,46.92
$GC,3132,0.77,88.0,2611,1766,954,1028,60.4,10.5,576,3139,0.00,2.15,0.00,0.000,260,0.000,0.034,2612,3127,991,954,1028,0,0,0,0,0,0,26.46,25.75,26.48,9.08,47.67
$GC,3183,0.77,88.0,2610,3127,955,1027,55.0,10.3,585,3190,0.00,2.20,0.00,0.000,1030,0.000,0.034,2621,1738,990,954,1027,0,0,0,0,0,0,25.87,25.76,25.92,9.08,47.71
$GC,3316,0.77,88.0,2620,1738,954,1027,42.0,9.3,610,3324,0.00,2.25,0.00,0.000,516,0.000,0.049,2632,341,990,954,1027,0,0,0,0,0,0,26.49,25.59,26.52,9.08,48.03
$GC,3429,0.77,88.0,2631,341,954,1027,30.6,9.7,631,3437,0.12,2.12,0.00,0.000,5126,0.155,0.027,2594,1760,990,954,1027,0,0,0,0,0,0,25.55,26.01,25.65,9.08,47.51
$GC,3501,0.77,90.0,2593,1761,954,1026,24.9,7.4,644,3508,0.00,2.15,0.00,0.000,260,0.000,0.035,2594,3119,990,954,1026,0,0,0,0,0,0,26.52,25.76,26.55,9.08,48.14
$GC,3563,0.77,90.0,2593,3119,954,1026,19.9,7.8,655,3569,0.00,2.17,0.00,0.000,1030,0.000,0.033,2603,1741,990,954,1026,0,0,0,0,0,0,25.91,25.79,25.95,9.08,48.30
$GC,3633,0.77,90.0,2602,1741,954,1026,14.4,8.4,668,3640,0.00,2.25,0.00,0.000,516,0.000,0.049,2613,342,990,954,1026,0,0,0,0,0,0,26.54,25.60,26.56,9.08,47.83
$FREEZE,4.59,12.011,-1.619,0,1,0
$GC,3736,0.77,90.0,2613,342,954,1026,4.6,9.1,687,3743,0.00,2.10,0.00,0.000,1030,0.000,0.026,2614,1753,990,954,1026,0,0,0,0,0,0,26.13,26.06,26.14,9.08,47.28
$FREEZE,3.62,11.995,-1.596,0,1,0
$FREEZE,3.28,11.969,-1.581,0,1,0
$FREEZE,2.97,11.940,-1.563,0,1,0
$FREEZE,2.68,11.886,-1.547,0,1,0
$FREEZE,2.32,11.811,-1.528,0,1,0
$FREEZE,1.98,11.787,-1.513,0,1,0
$STATE,3774,end climb,SURFACE_DEPTH_REACHED
$STATE,3774,begin surface coast
$FREEZE,1.72,11.706,-1.506,0,1,0
$FREEZE,1.57,11.686,-1.504,0,1,0
$FREEZE,1.48,11.672,-1.503,0,1,0
$FREEZE,1.30,11.670,-1.502,0,1,0
$FREEZE,1.38,11.673,-1.501,0,1,0
$FREEZE,1.31,11.675,-1.501,0,1,0
$FINISH,1.3,1.020860
$STATE,3811,end surface coast,CONTROL_FINISHED_OK
$STATE,3811,begin surface
$SM_CCo,3831,121.93,0.453,3,0,450,224.57
$SM_CCo,3973,-0.15,0.000,0,0,453,224.57
$SM_CCo,3979,1.75,0.078,0,0,451,224.57
$SM_GC,1.45,6.80,0.00,1.75,0.063,0.000,0.078,166,1754,451,-6.77,-1.30,224.57,0,0,0,0,0,0,25.74,26.59,25.04
$IRIDIUM_FIX,4744.48,-12222.38,311017,034425
$TT8_MAMPS,0.026964,0.265895
$HUMID,45.39
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,13.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,115.3,72.8
$24V_AH,23.65,28.077
$10V_AH,10.50,0.598
$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,16.250,53.025,150.725,123.675,0.000,31.121,44.111,292.735,1.500,0.000,30.600,1740.382,624.055,441.153,1422.847,311.744,0.000,1007.973,0.000,1071.664,0.000,16.070,0.000
$DEVICE_MAMPS,222.615,50.490,605.880,452.880,0.000,61.200,160.000,223.000,420.000,0.000,32.210,12.960,2.190,12.210,37.680,44.420,0.000,17.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,473.605,594.121,604.918,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,31.460,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,191936
$DATA_FILE_SIZE,48799,700
$CAP_FILE_SIZE,80130,0
$CFSIZE,260165632,256794624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.139,188.73,1
$GPS,311017,061902,4744.029,-12224.378,8,1.3,41,18.2,0.4,175.8,8,4.6