version: 66.11
glider: 158
mission: 13
dive: 4
start: 11 4 115 22 16 50
data:
$ID,158
$MISSION,13
$DIVE,4
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,200
$D_ABORT,1090
$D_NO_BLEED,100
$D_BOOST,3
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,90
$T_MISSION,95
$T_ABORT,1440
$T_TURN,600
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,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,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,51610
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0099999998
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3200
$TGT_DEFAULT_LON,-7306
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,2
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,7
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-721907.5
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,138
$PITCH_MAX,3933
$C_PITCH,2558
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.02
$PITCH_GAIN,28
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3794
$ROLL_DEG,40
$C_ROLL_DIVE,1850
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2106
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00089999998
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,3
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-162.90207
$PRESSURE_SLOPE,0.000137996
$AD7714Ch0Gain,32
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,6
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.4
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,38
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$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,0.004317278
$SEABIRD_T_H,0.00062907452
$SEABIRD_T_I,2.22976e-05
$SEABIRD_T_J,2.1565418e-06
$SEABIRD_C_G,-9.7708368
$SEABIRD_C_H,1.113179
$SEABIRD_C_I,-0.001699872
$SEABIRD_C_J,0.0002155289
$GPS1,041115,220816,4743.267,-12224.210,26,1.8,26,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-72.1
$GPS2,041115,221624,4743.313,-12224.192,11,1.7,17,18.2
$SPEED_LIMITS,0.128,0.236
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,334.4,2231,-13.8,-7.407,-17.44,3006
$D_GRID,174
$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
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.63,-146.6,127,1864,897,909,0.0,0.0,0,58,0.00,0.00,-40.20,0.000,16386,0.000,0.000,127,1864,2124,2105,2144,0,0,0,0,0,0,28.83,28.83,28.83
$GC,61,-0.63,-146.6,126,1864,2106,2144,3.5,-6.1,7,87,9.07,2.30,-10.95,0.000,18948,0.257,0.060,2357,449,2692,2695,2690,0,0,0,0,0,0,25.65,25.94,26.25
$GC,387,-0.63,-146.6,2356,449,2700,2691,58.8,-16.3,70,394,0.00,2.12,0.00,0.000,1030,0.000,0.033,2348,1852,2695,2699,2691,0,0,0,0,0,0,28.83,26.21,28.83
$GC,517,-0.63,-146.6,2348,1853,2700,2691,79.3,-15.3,95,523,0.00,2.17,0.00,0.000,260,0.000,0.045,2338,3264,2695,2699,2692,0,0,0,0,0,0,28.83,26.25,28.83
$GC,580,-0.63,-146.6,1440,3263,2635,2683,88.8,-14.4,107,587,0.00,2.12,0.00,0.000,1030,0.000,0.032,2338,1849,2695,2699,2692,0,0,0,0,0,0,28.83,26.31,28.83
$GC,713,-0.63,-146.6,2337,1849,2700,2692,108.8,-15.2,132,719,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,1849,2695,2699,2692,0,0,0,0,0,0,28.83,28.83,28.83
$GC,848,-0.63,-146.6,2338,1848,2700,2692,129.5,-14.7,157,857,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,1849,2696,2700,2692,0,0,0,0,0,0,28.83,28.83,28.83
$GC,982,-0.63,-146.6,2337,1849,2700,2692,148.9,-14.0,182,988,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,1849,2696,2700,2692,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1110,-0.63,-146.6,1440,1847,2635,2683,167.5,-14.8,207,1116,0.00,2.15,0.00,0.000,260,0.000,0.046,2328,3253,2696,2700,2692,0,0,0,0,0,0,28.83,26.41,28.83
$STATE,1151,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1151,begin apogee
$GC,1159,-0.18,0.0,2327,1845,2700,2692,174.3,-15.0,215,1274,0.52,0.00,109.78,0.654,10246,0.135,0.000,2501,1845,2106,2149,2063,0,0,0,0,0,0,26.29,28.83,24.63
$STATE,1275,end apogee,CONTROL_FINISHED_OK
$STATE,1275,begin climb
$GC,1278,0.63,146.6,2501,1845,2148,2061,181.5,0.0,235,1398,0.77,0.00,114.70,0.643,10246,0.094,0.000,2765,1844,1521,1574,1469,0,0,0,0,0,0,25.19,28.83,24.35
$GC,1522,0.63,146.6,2764,1844,1567,1463,169.0,8.1,280,1528,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1844,1515,1567,1464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1651,0.63,146.6,2764,1844,1567,1462,158.3,8.9,305,1657,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1844,1514,1566,1462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1781,0.63,146.6,2765,1844,1566,1462,147.0,8.2,330,1786,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1845,1514,1566,1462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1909,0.63,146.6,1792,1842,1527,1457,137.1,7.4,355,1914,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1844,1514,1566,1462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2037,0.63,151.5,2765,1844,1566,1462,127.5,7.2,380,2044,0.00,0.00,4.22,0.430,8198,0.000,0.000,2765,1844,1503,1555,1451,0,0,0,0,0,0,28.83,28.83,25.53
$GC,2169,0.68,207.5,2765,1844,1554,1450,119.4,5.5,405,2222,0.00,0.00,44.92,0.609,8454,0.000,0.000,2765,1844,1278,1326,1230,0,0,0,0,0,0,28.83,28.83,25.13
$GC,2347,0.69,213.8,2765,1844,1324,1225,107.0,7.2,438,2359,0.00,2.22,6.18,0.493,8708,0.000,0.050,2775,444,1252,1301,1204,0,0,0,0,0,0,28.83,25.86,25.29
$GC,2417,0.69,213.8,2775,444,1300,1204,101.1,8.8,451,2424,0.00,2.17,0.00,0.000,1030,0.000,0.036,2775,1852,1251,1299,1204,0,0,0,0,0,0,28.83,25.97,28.83
$GC,2550,0.69,213.8,2775,1853,1299,1202,90.2,8.5,476,2555,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1853,1251,1299,1203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2678,0.69,213.8,2775,1853,1299,1202,77.8,9.3,501,2684,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1853,1250,1299,1202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2808,0.69,213.8,2775,1854,1299,1201,65.3,10.1,526,2814,0.00,2.20,0.00,0.000,516,0.000,0.050,2785,444,1250,1299,1202,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2853,0.69,213.8,2785,444,1299,1202,60.8,10.5,534,2859,0.00,2.15,0.00,0.000,1030,0.000,0.035,2785,1856,1250,1299,1202,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2984,0.69,213.8,2785,1857,1299,1202,48.4,9.7,559,2990,0.00,2.20,0.00,0.000,516,0.000,0.050,2795,441,1250,1299,1202,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3033,0.69,213.8,2795,442,1299,1202,42.6,12.1,568,3040,0.00,2.15,0.00,0.000,1030,0.000,0.037,2795,1853,1249,1298,1201,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3164,0.69,213.8,1768,1852,1273,1199,28.0,10.3,593,3171,0.00,2.20,0.00,0.000,516,0.000,0.050,2806,443,1250,1299,1202,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3209,0.69,213.8,2805,443,1298,1202,23.1,10.2,601,3217,0.00,2.15,0.00,0.000,1030,0.000,0.036,2806,1858,1250,1298,1202,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3280,0.69,213.8,2805,1860,1298,1201,16.9,7.9,614,3286,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1860,1250,1298,1202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3348,0.69,213.8,1808,1858,1274,1199,10.7,9.9,627,3355,0.00,2.17,0.00,0.000,516,0.000,0.049,2816,450,1249,1298,1201,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3372,0.69,213.8,1824,449,1274,1199,7.8,11.8,631,3379,0.15,2.12,0.00,0.000,5126,0.148,0.036,2774,1850,1250,1298,1202,0,0,0,0,0,0,26.28,26.41,28.83
$GC,3443,0.84,386.6,2774,1851,1298,1201,4.8,1.5,644,3514,0.15,0.00,67.60,0.448,10754,0.083,0.000,2850,1852,655,651,660,0,0,0,0,0,0,26.46,28.83,28.83
$STATE,3515,end climb,SURFACE_DEPTH_REACHED
$STATE,3515,begin surface coast
$FINISH,0.3,1.019400
$STATE,3549,end surface coast,CONTROL_FINISHED_OK
$STATE,3549,begin surface
$SM_CCo,3626,0.00,0.000,0,0,650,365.75
$SM_GC,2.00,7.20,0.00,0.00,0.041,0.000,0.000,123,1852,650,-7.55,0.06,365.75,0,0,0,0,0,0,25.90,28.83,28.83
$IRIDIUM_FIX,4722.92,-12225.08,310808,101027
$TT8_MAMPS,0.020223,0.020223
$HUMID,50.55
$INTERNAL_PRESSURE,8.77333
$TCM_TEMP,20.60
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,130.4,53.8
$24V_AH,24.4,0.414
$10V_AH,10.6,0.235
$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,17.875,34.800,347.400,0.000,0.000,26.311,44.102,266.892,3.500,0.000,18.217,1503.314,699.812,415.253,1306.157,170.415,0.000,971.688,0.000,957.763,0.000,20.767,0.000
$DEVICE_MAMPS,257.040,59.670,654.075,0.000,0.000,55.840,160.000,223.000,420.000,0.000,30.710,11.460,2.190,11.460,39.180,45.920,0.000,17.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,445.039,484.228,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323320
$DATA_FILE_SIZE,33486,662
$CAP_FILE_SIZE,69828,0
$CFSIZE,260165632,257425408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.072,  8.2,1
$GPS,041115,231826,4743.898,-12224.274,14,99.0,34,18.2