version: 66.13
glider: 156
mission: 10
dive: 19
start: 10 31 117 15 14 19
data:
$ID,156
$MISSION,10
$DIVE,19
$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,60
$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,120
$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,245
$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,34
$R_STBD_OVSHOOT,77
$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
$GPS1,311017,150533,4743.9414,-12224.3467,13,0.9,29,18.2,0.3,126.6,9,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-66.0
$GPS2,311017,151339,4743.9224,-12224.2939,12,1.2,16,18.2,0.2,115.2,8,4.9
$SPEED_LIMITS,0.143,0.261
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$MHEAD_RNG_PITCHd_Wd,162.8,1727,-18.8,-10.000,-21.00,1791
$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,-0.85,-117.3,153,1743,395,507,0.0,0.0,0,52,0.00,0.00,-41.35,0.000,16386,0.000,0.000,153,1743,1446,1491,1402,0,0,0,0,0,0,25.85,28.83,25.88,9.01,46.10
$GC,57,-0.85,-117.3,153,1744,1491,1404,3.4,-8.5,7,84,7.70,2.38,-9.40,0.000,18948,0.227,1.205,2070,399,1816,1910,1723,0,0,0,0,0,0,24.79,23.66,25.22,9.12,45.90
$GC,302,-0.85,-117.3,2070,399,1910,1723,42.9,-15.9,53,309,0.00,2.10,0.00,0.000,1030,0.000,0.021,2061,1785,1816,1910,1723,0,0,0,0,0,0,25.83,25.76,25.84,9.16,45.19
$GC,434,-0.85,-117.3,2061,1799,1910,1723,60.3,-12.6,78,440,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,1799,1816,1910,1723,0,0,0,0,0,0,26.20,26.22,26.22,9.17,45.62
$GC,563,-0.85,-117.3,2061,1799,1910,1723,76.9,-13.0,103,570,0.00,2.25,0.00,0.000,516,0.000,0.043,2061,394,1816,1910,1723,0,0,0,0,0,0,26.27,25.70,26.29,9.17,45.58
$GC,589,-0.85,-117.3,2061,394,1910,1723,80.4,-13.6,107,595,0.00,2.12,0.00,0.000,1030,0.000,0.022,2052,1805,1816,1910,1723,0,0,0,0,0,0,25.99,25.93,26.01,9.17,46.45
$GC,722,-0.85,-117.3,2052,1812,1910,1723,98.1,-13.0,132,728,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,1812,1816,1910,1723,0,0,0,0,0,0,26.34,26.37,26.36,9.17,45.62
$GC,857,-0.85,-117.3,2052,1812,1910,1723,115.7,-12.3,157,863,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,1812,1816,1910,1723,0,0,0,0,0,0,26.39,26.41,26.41,9.17,45.98
$GC,987,-0.85,-117.3,2052,1813,1910,1723,132.2,-12.5,182,994,0.00,2.15,0.00,0.000,260,0.000,0.034,2041,3180,1816,1910,1723,0,0,0,0,0,0,26.43,25.86,26.45,9.17,45.55
$GC,1074,-0.85,-117.3,2041,3180,1909,1723,143.1,-12.7,198,1081,0.10,2.15,0.00,0.000,3078,0.168,0.027,2073,1792,1816,1910,1723,0,0,0,0,0,0,25.59,25.91,25.72,9.17,45.55
$GC,1207,-0.85,-117.3,2073,1791,1910,1723,158.6,-11.3,223,1213,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,1792,1816,1910,1723,0,0,0,0,0,0,26.48,26.51,26.50,9.17,45.47
$STATE,1323,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1323,begin apogee
$GC,1331,-0.30,0.0,2073,1792,1910,1723,172.5,-11.0,246,1435,0.52,0.00,98.50,0.599,10246,0.135,0.000,2243,1791,1345,1354,1336,0,0,0,0,0,0,25.24,24.77,24.15,9.16,45.11
$STATE,1436,end apogee,CONTROL_FINISHED_OK
$STATE,1436,begin climb
$GC,1440,0.85,117.3,2243,1790,1354,1336,178.1,0.0,263,1549,1.10,0.00,99.72,0.581,10502,0.100,0.000,2608,1790,877,805,949,0,0,0,0,0,0,24.90,24.26,23.89,9.12,44.60
$GC,1675,0.85,117.3,2608,1790,805,945,157.8,10.7,305,1682,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,1790,875,805,945,0,0,0,0,0,0,25.67,25.70,25.70,9.06,43.81
$GC,1806,0.85,117.3,2608,1790,805,944,143.7,10.3,330,1813,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,1790,874,805,944,0,0,0,0,0,0,25.94,25.96,25.96,9.06,44.80
$GC,1936,0.85,117.3,2608,1790,804,944,129.1,11.4,355,1942,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,1791,874,805,944,0,0,0,0,0,0,26.09,26.12,26.11,9.06,46.14
$GC,2066,0.85,117.3,2608,1790,805,943,114.4,11.2,380,2072,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,1790,874,805,943,0,0,0,0,0,0,26.20,26.22,26.22,9.06,46.57
$GC,2196,0.85,117.3,2608,1790,805,943,99.7,11.5,405,2203,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,1790,874,805,943,0,0,0,0,0,0,26.27,26.30,26.29,9.07,46.41
$GC,2327,0.85,117.3,2608,1790,805,943,86.1,10.2,430,2334,0.00,2.15,0.00,0.000,260,0.000,0.034,2608,3142,874,805,943,0,0,0,0,0,0,26.33,25.78,26.35,9.07,46.88
$GC,2353,0.85,117.3,2608,3142,805,942,83.2,11.5,434,2360,0.00,2.20,0.00,0.000,1030,0.000,0.031,2618,1750,873,804,942,0,0,0,0,0,0,25.91,25.82,25.95,9.07,46.61
$GC,2488,0.85,117.3,2617,1750,804,942,69.3,10.6,459,2495,0.00,2.25,0.00,0.000,516,0.000,0.047,2629,337,873,805,942,0,0,0,0,0,0,26.39,25.70,26.41,9.07,46.45
$GC,2584,0.85,117.3,2629,337,805,942,57.4,11.8,477,2591,0.00,2.15,0.00,0.000,1030,0.000,0.025,2629,1762,873,805,942,0,0,0,0,0,0,26.08,26.01,26.10,9.06,46.49
$GC,2720,0.85,117.3,2629,1775,805,942,42.7,11.1,502,2727,0.00,2.30,0.00,0.000,516,0.000,0.047,2640,347,873,805,942,0,0,0,0,0,0,26.45,25.74,26.46,9.07,46.41
$GC,2758,0.85,117.3,2640,347,805,942,38.0,12.0,508,2764,0.00,2.12,0.00,0.000,1030,0.000,0.025,2640,1755,873,805,942,0,0,0,0,0,0,26.11,26.05,26.13,9.07,46.25
$GC,2829,0.85,124.0,2640,1769,805,941,30.3,9.6,521,2843,0.00,0.00,6.80,0.423,8198,0.000,0.000,2640,1769,850,777,924,0,0,0,0,0,0,26.46,25.32,24.91,9.07,46.29
$GC,2907,0.85,124.0,2639,1769,778,922,22.7,10.4,535,2914,0.00,2.15,0.00,0.000,260,0.000,0.034,2640,3138,849,777,922,0,0,0,0,0,0,26.41,25.89,26.43,9.06,46.10
$GC,2949,0.85,124.0,2640,3138,778,921,18.2,11.2,542,2956,0.00,2.20,0.00,0.000,1030,0.000,0.033,2650,1745,849,777,921,0,0,0,0,0,0,26.01,25.91,26.05,9.06,46.92
$GC,3020,0.86,135.8,2650,1745,777,921,10.9,9.3,555,3039,0.00,2.22,11.32,0.457,8452,0.000,0.033,2650,3144,803,717,889,0,0,0,0,0,0,26.44,25.53,24.98,9.06,46.37
$FREEZE,4.85,11.951,-1.586,0,1,0
$FREEZE,4.56,11.927,-1.580,0,1,0
$FREEZE,3.90,11.797,-1.565,0,1,0
$FREEZE,3.50,11.771,-1.558,0,1,0
$FREEZE,3.17,11.704,-1.554,0,1,0
$FREEZE,2.84,11.583,-1.551,0,1,0
$FREEZE,2.59,11.373,-1.548,0,1,0
$FREEZE,2.28,11.367,-1.537,0,1,0
$GC,3095,0.87,186.3,2650,3144,717,886,4.6,7.1,568,3151,0.10,2.20,47.65,0.485,13318,0.176,0.031,2633,1747,603,522,684,0,0,0,0,0,0,25.57,25.88,24.69,9.06,45.90
$FREEZE,1.39,11.407,-1.522,0,1,0
$STATE,3156,end climb,SURFACE_DEPTH_REACHED
$STATE,3156,begin surface coast
$FREEZE,1.04,11.321,-1.521,0,1,0
$FREEZE,0.72,11.287,-1.513,0,1,0
$FREEZE,0.36,11.314,-1.506,0,1,0
$FREEZE,0.19,11.272,-0.751,0,1,0
$FREEZE,0.15,11.255,-0.263,0,1,0
$FREEZE,0.18,11.259,-0.796,0,1,0
$FREEZE,0.16,11.159,-0.079,0,1,0
$FREEZE,0.11,11.235,-0.904,0,1,0
$FINISH,0.1,1.012540
$STATE,3204,end surface coast,CONTROL_FINISHED_OK
$STATE,3204,begin surface
$SM_CCo,3224,36.28,0.376,1,0,451,224.57
$SM_CCo,3270,-0.15,0.000,0,0,452,224.57
$SM_CCo,3276,1.58,0.077,0,0,452,224.57
$SM_GC,1.81,6.60,0.00,1.58,0.038,0.000,0.077,148,1745,452,-6.79,-1.55,224.57,0,0,0,0,0,0,25.56,25.96,25.24
$IRIDIUM_FIX,4749.48,-12223.11,311017,140458
$TT8_MAMPS,0.026964,0.198485
$HUMID,45.03
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,12.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,110.5,76.6
$24V_AH,23.66,28.593
$10V_AH,10.55,1.088
$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,16.125,35.100,264.000,37.850,0.000,23.726,45.903,256.925,1.000,0.000,17.427,1409.419,495.254,404.307,1204.603,270.850,0.000,900.543,0.000,897.873,0.000,8.828,0.000
$DEVICE_MAMPS,227.205,1204.875,598.995,375.615,0.000,61.200,160.000,223.000,420.000,0.000,32.210,12.960,2.190,12.210,37.680,44.420,0.000,17.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,392.448,494.863,502.444,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,41846,584
$CAP_FILE_SIZE,66513,0
$CFSIZE,260165632,256393216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.025,272.51,1
$GPS,311017,161026,4743.499,-12224.357,11,1.4,45,18.2,0.3,187.0,9,4.9