version: 66.13
glider: 156
mission: 10
dive: 17
start: 10 31 117 12 59 18
data:
$ID,156
$MISSION,10
$DIVE,17
$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,35
$R_STBD_OVSHOOT,80
$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
$GPS1,311017,124956,4744.1875,-12224.3906,9,1.5,42,18.2,0.3,349.4,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-67.0
$GPS2,311017,125839,4744.2578,-12224.4023,12,1.8,34,18.2,0.3,351.6,9,5.1
$SPEED_LIMITS,0.107,0.208
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$MHEAD_RNG_PITCHd_Wd,159.7,2332,-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,-88.0,167,1744,398,508,0.0,0.0,0,59,0.00,0.00,-47.25,0.000,16386,0.000,0.000,167,1744,1589,1654,1525,0,0,0,0,0,0,25.86,28.83,25.89,9.02,46.73
$GC,64,-0.77,-88.0,167,1744,1655,1528,3.4,-7.5,8,85,7.75,2.42,-2.97,0.000,18948,0.226,1.206,2096,388,1698,1781,1616,0,0,0,0,0,0,24.76,23.72,25.20,9.14,46.49
$GC,381,-0.77,-88.0,2096,388,1781,1616,51.4,-14.6,69,389,0.00,2.12,0.00,0.000,1030,0.000,0.022,2087,1791,1698,1781,1616,0,0,0,0,0,0,25.86,25.80,25.89,9.16,45.43
$GC,513,-0.77,-88.0,2086,1804,1781,1616,67.6,-11.7,94,519,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,1805,1698,1781,1616,0,0,0,0,0,0,26.24,26.27,26.26,9.16,45.55
$GC,643,-0.77,-88.0,2086,1805,1781,1616,82.4,-11.2,119,650,0.00,2.28,0.00,0.000,516,0.000,0.043,2086,384,1698,1781,1616,0,0,0,0,0,0,26.31,25.66,26.33,9.16,45.31
$GC,704,-0.77,-88.0,2086,384,1781,1615,89.4,-12.2,130,712,0.00,2.12,0.00,0.000,1030,0.000,0.021,2076,1808,1698,1781,1616,0,0,0,0,0,0,26.02,25.96,26.04,9.16,45.31
$GC,838,-0.77,-88.0,2075,1824,1781,1615,102.0,-8.5,155,845,0.00,2.15,0.00,0.000,260,0.000,0.033,2066,3185,1698,1781,1615,0,0,0,0,0,0,26.38,25.79,26.40,9.16,45.43
$GC,912,-0.77,-88.0,2065,3185,1782,1616,109.3,-9.7,168,921,0.12,2.17,0.00,0.000,3078,0.158,0.028,2103,1786,1698,1781,1615,0,0,0,0,0,0,25.46,25.83,25.60,9.16,46.06
$GC,1053,-0.77,-88.0,2102,1786,1781,1615,121.7,-8.5,193,1061,0.00,2.20,0.00,0.000,260,0.000,0.032,2094,3174,1698,1781,1616,0,0,0,0,0,0,26.44,25.82,26.46,9.16,46.14
$GC,1137,-0.77,-88.0,2093,3174,1781,1616,129.2,-9.0,208,1144,0.00,2.12,0.00,0.000,1030,0.000,0.027,2094,1799,1698,1781,1615,0,0,0,0,0,0,25.97,25.88,26.01,9.16,45.47
$GC,1273,-0.77,-88.0,2093,1799,1781,1616,141.5,-8.9,233,1280,0.00,2.17,0.00,0.000,260,0.000,0.031,2084,3176,1698,1781,1615,0,0,0,0,0,0,26.48,25.85,26.50,9.16,45.47
$GC,1309,-0.77,-88.0,2084,3176,1781,1615,144.6,-8.6,239,1316,0.00,2.12,0.00,0.000,1030,0.000,0.027,2084,1798,1698,1781,1615,0,0,0,0,0,0,25.99,25.89,26.03,9.16,45.35
$GC,1442,-0.77,-88.0,2084,1798,1781,1615,155.3,-8.1,264,1449,0.00,2.17,0.00,0.000,260,0.000,0.032,2074,3177,1698,1781,1615,0,0,0,0,0,0,26.51,25.86,26.53,9.15,45.03
$GC,1523,-0.77,-88.0,2073,3177,1781,1615,162.9,-9.5,279,1530,0.00,2.12,0.00,0.000,1030,0.000,0.027,2074,1799,1698,1782,1615,0,0,0,0,0,0,26.01,25.91,26.04,9.15,45.66
$STATE,1626,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1626,begin apogee
$GC,1634,-0.30,0.0,2074,1799,1781,1615,172.8,-9.4,299,1713,0.55,0.00,74.90,0.606,10246,0.141,0.000,2247,1798,1344,1366,1322,0,0,0,0,0,0,25.06,24.96,24.32,9.15,45.70
$STATE,1714,end apogee,CONTROL_FINISHED_OK
$STATE,1714,begin climb
$GC,1718,0.77,88.0,2247,1798,1366,1322,176.1,0.0,312,1805,0.98,2.22,76.32,0.587,10500,0.099,0.033,2579,3127,993,951,1036,0,0,0,0,0,0,25.06,24.35,23.96,9.12,45.03
$GC,1847,0.77,88.0,2578,3127,951,1033,167.6,9.2,333,1854,0.00,2.25,0.00,0.000,1030,0.000,0.031,2589,1751,992,951,1033,0,0,0,0,0,0,25.17,25.08,25.19,9.07,44.09
$GC,1982,0.77,88.0,2588,1750,951,1033,155.3,9.5,358,1989,0.00,2.30,0.00,0.000,516,0.000,0.047,2600,336,991,950,1033,0,0,0,0,0,0,25.84,25.28,25.86,9.07,44.72
$GC,2042,0.77,88.0,2600,336,951,1033,148.2,11.3,369,2050,0.00,2.17,0.00,0.000,1030,0.000,0.024,2600,1761,992,951,1033,0,0,0,0,0,0,25.65,25.59,25.67,9.07,45.07
$GC,2177,0.77,88.0,2599,1764,951,1032,134.0,10.2,394,2184,0.00,2.20,0.00,0.000,260,0.000,0.034,2600,3134,991,951,1032,0,0,0,0,0,0,26.10,25.56,26.11,9.07,45.35
$GC,2253,0.77,88.0,2599,3135,951,1031,126.0,10.5,408,2260,0.00,2.22,0.00,0.000,1030,0.000,0.032,2610,1741,991,950,1032,0,0,0,0,0,0,25.74,25.63,25.77,9.07,45.47
$GC,2386,0.77,88.0,2609,1741,951,1032,112.9,9.8,433,2394,0.00,2.22,0.00,0.000,260,0.000,0.034,2610,3128,991,951,1031,0,0,0,0,0,0,26.25,25.66,26.26,9.08,45.86
$GC,2442,0.77,88.0,2609,3128,951,1031,107.0,9.9,443,2449,0.00,2.20,0.00,0.000,1030,0.000,0.032,2620,1744,991,951,1031,0,0,0,0,0,0,25.82,25.72,25.86,9.08,47.00
$GC,2576,0.77,88.0,2619,1743,951,1031,91.9,10.9,468,2583,0.00,2.25,0.00,0.000,516,0.000,0.047,2631,342,991,951,1031,0,0,0,0,0,0,26.33,25.61,26.35,9.08,46.10
$GC,2602,0.77,88.0,2630,342,951,1031,88.6,11.1,472,2609,0.10,2.12,0.00,0.000,5126,0.161,0.025,2601,1757,990,950,1031,0,0,0,0,0,0,25.54,25.91,25.65,9.08,46.25
$GC,2735,0.77,88.0,2600,1759,951,1030,74.3,9.8,497,2743,0.00,2.15,0.00,0.000,260,0.000,0.033,2601,3118,990,951,1030,0,0,0,0,0,0,26.39,25.76,26.40,9.08,46.96
$GC,2777,0.77,88.0,2600,3118,951,1030,70.5,8.8,504,2784,0.00,2.17,0.00,0.000,1030,0.000,0.032,2610,1742,990,951,1030,0,0,0,0,0,0,25.90,25.79,25.94,9.07,47.00
$GC,2911,0.77,88.0,2609,1742,951,1030,59.5,8.3,529,2918,0.00,2.25,0.00,0.000,516,0.000,0.047,2621,338,990,951,1030,0,0,0,0,0,0,26.43,25.65,26.45,9.08,46.85
$GC,3018,0.77,88.0,2620,338,951,1030,50.1,8.8,549,3025,0.00,2.12,0.00,0.000,1030,0.000,0.025,2621,1757,990,951,1030,0,0,0,0,0,0,26.08,26.01,26.10,9.07,46.88
$GC,3153,0.77,88.0,2620,1760,951,1030,37.2,11.2,574,3159,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,1760,989,950,1029,0,0,0,0,0,0,26.48,26.51,26.51,9.08,47.12
$GC,3223,0.77,88.0,2621,1760,951,1029,29.0,10.9,587,3230,0.00,2.15,0.00,0.000,260,0.000,0.034,2621,3123,990,951,1029,0,0,0,0,0,0,26.50,25.82,26.51,9.08,47.04
$GC,3275,0.77,88.0,2620,3123,951,1029,23.4,11.0,596,3282,0.10,2.17,0.00,0.000,5126,0.172,0.032,2602,1742,990,951,1029,0,0,0,0,0,0,25.52,25.86,25.65,9.08,46.41
$GC,3347,0.77,90.2,2601,1741,951,1029,17.2,7.4,609,3354,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,1741,990,951,1029,0,0,0,0,0,0,26.51,26.53,26.53,9.08,47.40
$GC,3419,0.79,159.7,2602,1741,951,1029,13.8,3.5,622,3486,0.00,2.25,59.38,0.502,8452,0.000,0.032,2602,3127,708,577,839,0,0,0,0,0,0,26.52,25.04,24.68,9.08,46.73
$FREEZE,4.28,11.770,-1.554,0,1,0
$FREEZE,3.74,11.702,-1.538,0,1,0
$FREEZE,3.24,11.606,-1.532,0,1,0
$FREEZE,2.74,11.474,-1.527,0,1,0
$GC,3559,0.80,187.7,2601,3127,577,837,5.2,5.9,646,3597,0.00,2.22,28.12,0.474,9222,0.000,0.031,2610,1740,596,498,695,0,0,0,0,0,0,25.60,25.51,24.53,9.05,45.90
$FREEZE,1.91,11.346,-1.515,0,1,0
$STATE,3603,end climb,SURFACE_DEPTH_REACHED
$STATE,3603,begin surface coast
$FREEZE,1.65,11.337,-1.514,0,1,0
$FREEZE,1.33,11.340,-1.512,0,1,0
$FREEZE,0.98,11.345,-1.511,0,1,0
$FREEZE,0.74,11.334,-1.510,0,1,0
$FREEZE,0.44,11.292,-1.510,0,1,0
$FREEZE,0.14,11.243,-0.832,0,1,0
$FINISH,0.1,1.011507
$STATE,3639,end surface coast,CONTROL_FINISHED_OK
$STATE,3639,begin surface
$SM_CCo,3659,35.72,0.374,1,0,451,224.57
$SM_CCo,3704,-0.15,0.000,0,0,452,224.57
$SM_CCo,3710,1.02,0.083,0,0,452,224.57
$SM_GC,1.89,6.65,0.00,1.02,0.044,0.000,0.083,152,1740,452,-6.79,-1.70,224.57,0,0,0,0,0,0,25.41,25.84,25.17
$IRIDIUM_FIX,4744.97,-12226.80,311017,113704
$TT8_MAMPS,0.026964,0.197736
$HUMID,45.15
$INTERNAL_PRESSURE,8.95542
$TCM_TEMP,12.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,135.2,52.5
$24V_AH,23.68,28.461
$10V_AH,10.55,0.981
$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,16.250,65.875,238.725,36.750,0.000,29.443,44.004,272.399,3.250,0.000,34.989,1599.049,566.631,413.974,1357.091,314.539,0.000,966.944,0.000,1010.274,0.000,28.391,0.000
$DEVICE_MAMPS,226.440,1205.640,605.880,374.085,0.000,61.200,160.000,223.000,420.000,0.000,32.210,12.960,2.190,12.210,37.680,44.420,0.000,17.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,443.059,553.207,561.989,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,31.460,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,191972
$DATA_FILE_SIZE,45249,658
$CAP_FILE_SIZE,77503,0
$CFSIZE,260165632,256479232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.144,356.36,1
$GPS,311017,140232,4744.172,-12224.353,11,1.3,38,18.2,0.2,47.5,8,5.2