version: 66.13
glider: 156
mission: 10
dive: 16
start: 10 31 117 11 44 4
data:
$ID,156
$MISSION,10
$DIVE,16
$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,37
$R_STBD_OVSHOOT,78
$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
$GPS1,311017,113432,4744.1685,-12224.4893,12,1.2,45,18.2,0.2,350.3,9,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-67.0
$GPS2,311017,114327,4744.2183,-12224.4863,9,1.6,13,18.2,0.3,4.5,8,4.7
$SPEED_LIMITS,0.107,0.208
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$MHEAD_RNG_PITCHd_Wd,160.2,2256,-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,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
$GC,9,-0.77,-88.0,155,1741,399,506,0.0,0.0,0,52,0.00,0.00,-41.70,0.000,16386,0.000,0.000,155,1741,1443,1490,1397,0,0,0,0,0,0,25.82,28.83,25.85,9.02,46.53
$GC,57,-0.77,-88.0,155,1741,1490,1397,3.1,-8.3,7,78,7.78,2.42,-7.20,0.000,19204,0.223,1.203,2095,389,1699,1797,1601,0,0,0,0,0,0,24.77,23.66,24.98,9.13,46.37
$GC,691,-0.77,-88.0,2095,389,1797,1603,82.2,-11.5,130,698,0.00,2.10,0.00,0.000,1030,0.000,0.021,2087,1792,1700,1797,1603,0,0,0,0,0,0,26.02,25.96,26.04,9.16,45.35
$GC,824,-0.77,-88.0,2086,1804,1796,1603,96.6,-10.5,155,831,0.00,2.17,0.00,0.000,260,0.000,0.032,2076,3186,1700,1797,1604,0,0,0,0,0,0,26.39,25.79,26.41,9.16,45.39
$GC,880,-0.77,-88.0,2075,3186,1797,1604,103.3,-11.0,165,887,0.00,2.17,0.00,0.000,1030,0.000,0.027,2076,1784,1700,1797,1604,0,0,0,0,0,0,25.94,25.84,25.97,9.15,45.23
$GC,1014,-0.77,-88.0,2075,1784,1797,1603,118.5,-10.9,190,1021,0.00,2.20,0.00,0.000,516,0.000,0.043,2076,393,1700,1797,1603,0,0,0,0,0,0,26.44,25.71,26.46,9.16,46.25
$GC,1060,-0.77,-88.0,2075,393,1797,1603,124.0,-12.3,198,1068,0.12,2.10,0.00,0.000,3078,0.164,0.022,2102,1801,1700,1797,1603,0,0,0,0,0,0,25.52,26.03,25.65,9.15,45.11
$GC,1194,-0.77,-88.0,2102,1813,1797,1603,136.4,-8.2,223,1200,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,1813,1700,1797,1603,0,0,0,0,0,0,26.48,26.50,26.49,9.15,45.35
$GC,1324,-0.77,-88.0,2102,1814,1797,1604,147.2,-8.8,248,1330,0.00,2.15,0.00,0.000,260,0.000,0.033,2093,3180,1700,1797,1603,0,0,0,0,0,0,26.50,25.83,26.52,9.15,45.35
$GC,1364,-0.77,-88.0,2093,3180,1797,1604,150.6,-8.4,255,1371,0.00,2.15,0.00,0.000,1030,0.000,0.028,2094,1792,1700,1797,1603,0,0,0,0,0,0,25.97,25.87,26.01,9.15,45.31
$GC,1497,-0.77,-88.0,2093,1792,1797,1603,162.1,-8.1,280,1504,0.00,2.20,0.00,0.000,516,0.000,0.043,2093,398,1700,1797,1603,0,0,0,0,0,0,26.53,25.73,26.55,9.16,46.41
$STATE,1605,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1605,begin apogee
$GC,1618,-0.30,0.0,2083,1769,1797,1603,173.3,-10.4,301,1699,0.52,0.00,74.82,0.605,10246,0.142,0.000,2249,1775,1345,1370,1320,0,0,0,0,0,0,25.05,24.96,24.32,9.15,46.02
$STATE,1700,end apogee,CONTROL_FINISHED_OK
$STATE,1700,begin climb
$GC,1704,0.77,88.0,2249,1775,1370,1319,177.1,0.0,314,1789,0.98,2.25,76.43,0.585,10500,0.098,0.034,2582,3124,993,951,1036,0,0,0,0,0,0,25.07,24.36,23.96,9.11,45.03
$GC,1826,0.77,88.0,2581,3125,951,1033,168.7,9.4,334,1833,0.00,2.25,0.00,0.000,1030,0.000,0.031,2591,1750,992,951,1033,0,0,0,0,0,0,25.15,25.06,25.17,9.07,44.76
$GC,1959,0.77,88.0,2590,1749,951,1033,156.2,10.0,359,1966,0.00,2.28,0.00,0.000,516,0.000,0.047,2602,349,991,950,1033,0,0,0,0,0,0,25.82,25.27,25.84,9.07,45.23
$GC,2035,0.77,88.0,2601,349,951,1033,148.3,9.4,373,2043,0.00,2.15,0.00,0.000,1030,0.000,0.025,2602,1755,992,951,1033,0,0,0,0,0,0,25.65,25.59,25.67,9.07,45.98
$GC,2170,0.77,88.0,2601,1759,951,1033,135.2,9.6,398,2177,0.00,2.20,0.00,0.000,260,0.000,0.035,2602,3131,991,951,1032,0,0,0,0,0,0,26.10,25.55,26.12,9.07,45.82
$GC,2240,0.77,88.0,2601,3130,951,1032,127.3,9.7,411,2247,0.00,2.20,0.00,0.000,1030,0.000,0.032,2612,1750,991,951,1032,0,0,0,0,0,0,25.74,25.63,25.77,9.07,46.49
$GC,2374,0.77,88.0,2611,1749,951,1032,115.0,9.6,436,2380,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,1750,991,951,1032,0,0,0,0,0,0,26.25,26.27,26.27,9.07,45.82
$GC,2504,0.77,88.0,2611,1750,951,1032,102.5,9.6,461,2511,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,1750,991,951,1031,0,0,0,0,0,0,26.31,26.34,26.33,9.07,46.10
$GC,2635,0.77,88.0,2611,1750,951,1032,90.2,9.2,486,2641,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,1750,991,951,1032,0,0,0,0,0,0,26.36,26.39,26.38,9.07,46.22
$GC,2764,0.77,88.0,2611,1750,951,1032,77.6,9.9,511,2771,0.00,2.20,0.00,0.000,260,0.000,0.035,2612,3133,991,951,1032,0,0,0,0,0,0,26.40,25.75,26.42,9.08,46.41
$GC,2875,0.77,88.0,2611,3133,951,1031,67.0,9.3,532,2882,0.00,2.20,0.00,0.000,1030,0.000,0.032,2622,1747,991,951,1031,0,0,0,0,0,0,25.92,25.82,25.96,9.08,46.37
$GC,3008,0.77,88.0,2621,1747,951,1031,55.2,9.7,557,3015,0.00,2.25,0.00,0.000,516,0.000,0.046,2633,338,991,951,1031,0,0,0,0,0,0,26.46,25.67,26.48,9.07,46.49
$GC,3084,0.77,88.0,2632,338,951,1031,47.4,10.2,571,3092,0.12,2.12,0.00,0.000,5126,0.157,0.025,2595,1762,991,952,1030,0,0,0,0,0,0,25.55,26.02,25.67,9.08,46.73
$GC,3219,0.77,88.0,2595,1764,951,1030,35.8,8.3,596,3225,0.00,2.15,0.00,0.000,260,0.000,0.034,2595,3127,990,951,1030,0,0,0,0,0,0,26.50,25.80,26.52,9.08,47.75
$GC,3275,0.77,88.0,2595,3126,951,1029,30.7,8.5,606,3282,0.00,2.17,0.00,0.000,1030,0.000,0.031,2604,1746,990,951,1029,0,0,0,0,0,0,25.96,25.85,25.99,9.08,46.88
$GC,3346,0.77,88.0,2604,1746,951,1029,24.7,8.7,619,3353,0.00,2.25,0.00,0.000,516,0.000,0.047,2615,339,990,951,1029,0,0,0,0,0,0,26.51,25.67,26.53,9.07,46.61
$GC,3437,0.77,88.0,2614,339,951,1029,16.4,9.4,636,3444,0.00,2.10,0.00,0.000,1030,0.000,0.025,2615,1750,990,951,1029,0,0,0,0,0,0,26.13,26.06,26.15,9.07,47.16
$GC,3508,0.77,88.0,2614,1752,951,1029,10.8,7.7,649,3516,0.00,2.15,0.00,0.000,260,0.000,0.034,2615,3118,990,951,1029,0,0,0,0,0,0,26.54,25.82,26.55,9.08,47.63
$FREEZE,4.68,12.008,-1.602,0,1,0
$FREEZE,4.29,12.006,-1.598,0,1,0
$FREEZE,4.01,11.988,-1.591,0,1,0
$FREEZE,3.64,11.967,-1.588,0,1,0
$FREEZE,3.30,11.956,-1.582,0,1,0
$FREEZE,3.05,11.953,-1.579,0,1,0
$FREEZE,2.80,11.953,-1.577,0,1,0
$FREEZE,2.59,11.954,-1.573,0,1,0
$FREEZE,2.31,11.955,-1.567,0,1,0
$FREEZE,1.73,11.944,-1.562,0,1,0
$GC,3636,0.79,143.6,2614,3118,951,1029,2.3,4.3,672,3646,0.00,2.15,5.05,0.078,9218,0.000,0.031,2624,1746,990,951,1029,0,0,0,0,0,0,25.98,25.89,26.03,9.07,46.45
$STATE,3647,end climb,SURFACE_DEPTH_REACHED
$STATE,3647,begin surface coast
$FREEZE,1.46,11.918,-1.560,0,1,0
$FREEZE,1.28,11.903,-1.558,0,1,0
$FREEZE,1.12,11.890,-1.557,0,1,0
$FREEZE,1.06,11.815,-1.559,0,1,0
$FREEZE,0.99,11.705,-1.562,0,1,0
$FREEZE,0.92,11.575,-1.566,0,1,0
$FREEZE,0.90,11.563,-1.564,0,1,0
$FREEZE,0.84,11.552,-1.561,0,1,0
$FINISH,0.8,1.021716
$STATE,3692,end surface coast,CONTROL_FINISHED_OK
$STATE,3692,begin surface
$SM_CCo,3712,123.68,0.458,3,0,451,224.57
$SM_CCo,3859,0.00,0.000,0,0,450,224.57
$SM_CCo,3864,-0.03,0.000,0,0,450,224.57
$SM_GC,1.33,6.88,0.00,-0.03,0.068,0.000,0.000,167,1747,450,-6.76,-1.53,224.57,0,0,0,0,0,0,25.79,26.58,24.94
$IRIDIUM_FIX,4745.33,-12219.67,311017,101708
$TT8_MAMPS,0.026964,0.198485
$HUMID,45.11
$INTERNAL_PRESSURE,8.95542
$TCM_TEMP,12.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,130.3,57.9
$24V_AH,23.66,28.398
$10V_AH,10.56,0.921
$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,16.400,56.850,156.300,123.675,0.000,26.711,47.720,295.464,2.000,0.000,16.829,1693.507,598.364,425.009,1382.029,314.951,0.000,965.558,0.000,1043.418,0.000,15.185,0.000
$DEVICE_MAMPS,223.380,1203.345,605.115,458.235,0.000,61.200,160.000,223.000,420.000,0.000,32.210,12.960,2.190,12.210,37.680,44.420,0.000,17.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,461.211,580.319,590.283,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,48664,681
$CAP_FILE_SIZE,75766,0
$CFSIZE,260165632,256528384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.129,354.81,1
$GPS,311017,124956,4744.188,-12224.391,9,1.5,42,18.2,0.3,349.4,10,4.9