version: 66.11
glider: 158
mission: 13
dive: 7
start: 11 5 115 1 49 42
data:
$ID,158
$MISSION,13
$DIVE,7
$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,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$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,280
$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,-721911.38
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,138
$PITCH_MAX,3933
$C_PITCH,2562
$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,3580
$C_ROLL_CLIMB,3580
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,12
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,120
$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
$GPS1,051115,013936,4744.630,-12224.312,13,1.5,13,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-74.4
$GPS2,051115,014908,4744.648,-12224.368,11,2.5,31,18.2
$SPEED_LIMITS,0.204,0.267
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-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,163.1,3057,-11.6,-7.407,-15.53,3998
$D_GRID,200
$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,-0.59,-195.4,98,3556,729,738,0.0,0.0,0,52,0.00,0.00,-34.00,0.000,16386,0.000,0.000,97,3557,1749,1736,1762,0,0,0,0,0,0,28.83,28.83,28.83
$GC,55,-0.59,-195.4,98,3557,1737,1762,3.1,-5.3,6,92,9.15,0.00,-22.98,0.000,18438,0.251,0.000,2372,3560,2887,2877,2897,0,0,0,0,0,0,25.61,28.83,26.20
$GC,155,-0.59,-195.4,2372,3560,2879,2897,17.2,-13.0,24,161,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,3560,2888,2879,2897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,223,-0.59,-195.4,2372,3560,2882,2897,26.7,-13.3,37,229,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,3560,2889,2881,2897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,292,-0.59,-195.4,2372,3560,2882,2897,35.5,-13.4,50,298,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,3560,2889,2882,2897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,360,-0.59,-195.4,1472,3559,2827,2890,44.2,-11.7,63,366,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,3560,2889,2882,2897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,490,-0.59,-195.4,2372,3560,2882,2897,59.5,-11.3,88,495,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,3560,2889,2882,2897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,618,-0.59,-195.4,1472,3559,2828,2890,73.8,-10.5,113,623,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,3560,2889,2882,2897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,746,-0.59,-195.4,2371,3560,2882,2897,88.2,-10.9,138,752,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,3560,2889,2882,2897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,874,-0.59,-195.4,1472,3558,2828,2890,102.6,-10.7,163,880,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,3560,2889,2882,2897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1004,-0.59,-195.4,2372,3560,2882,2897,115.2,-9.3,188,1009,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,3560,2889,2882,2897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1136,-0.59,-195.4,1440,3559,2825,2890,129.0,-10.8,213,1142,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,3560,2889,2882,2897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1265,-0.59,-195.4,2372,3560,2882,2897,143.8,-11.9,238,1270,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,3560,2889,2882,2897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1393,-0.59,-195.4,1472,3559,2827,2890,160.4,-12.6,263,1400,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,3560,2889,2883,2896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1523,-0.59,-195.4,2372,3560,2882,2897,176.0,-12.4,288,1529,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,3560,2890,2882,2898,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1539,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1539,begin apogee
$GC,1546,-0.18,0.0,2372,3598,2882,2897,178.3,-12.2,291,1699,0.38,0.00,144.93,0.653,10246,0.131,0.000,2502,3598,2104,2149,2060,0,0,0,0,0,0,26.37,28.83,24.48
$STATE,1701,end apogee,CONTROL_FINISHED_OK
$STATE,1702,begin climb
$GC,1704,0.59,195.4,2502,3598,2148,2059,186.6,0.0,318,1860,0.75,0.00,150.70,0.640,10246,0.097,0.000,2756,3598,1327,1373,1282,0,0,0,0,0,0,25.08,28.83,24.32
$GC,1985,0.59,195.4,2756,3598,1368,1274,166.6,10.4,369,1991,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,3598,1321,1368,1274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2113,0.59,195.4,2756,3598,1367,1273,153.0,10.6,394,2119,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,3598,1320,1367,1273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2242,0.59,195.4,2756,3597,1367,1273,137.7,11.4,419,2248,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,3597,1320,1367,1273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2370,0.59,195.4,1768,3597,1339,1270,123.5,10.3,444,2376,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,3598,1320,1367,1273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2500,0.59,195.4,2756,3598,1367,1273,110.1,10.1,469,2506,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,3598,1320,1367,1273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2629,0.59,195.4,2756,3598,1366,1273,96.3,9.8,494,2635,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,3598,1320,1367,1273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2757,0.59,195.4,2756,3598,1366,1273,84.4,8.9,519,2763,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,3598,1319,1367,1272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2886,0.59,195.4,2756,3598,1367,1272,72.4,9.1,544,2892,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,3598,1320,1367,1273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3016,0.59,195.4,2756,3598,1366,1272,60.4,8.9,569,3022,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,3597,1319,1366,1273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3144,0.59,195.4,1792,3596,1338,1270,47.9,9.9,594,3150,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,3598,1319,1367,1272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3273,0.59,195.4,2756,3598,1367,1272,36.8,8.3,619,3279,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,3598,1319,1366,1272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3341,0.60,200.0,1760,3597,1338,1269,31.6,7.3,632,3349,0.00,0.00,3.85,0.385,8198,0.000,0.000,2756,3598,1308,1355,1262,0,0,0,0,0,0,28.83,28.83,25.82
$GC,3412,0.60,200.0,2756,3598,1355,1262,25.6,9.1,645,3418,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,3598,1308,1355,1262,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3481,0.60,200.0,2756,3598,1356,1262,19.5,9.5,658,3486,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,3598,1309,1356,1262,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3549,0.60,200.0,2756,3598,1355,1262,13.7,7.6,671,3555,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,3598,1308,1355,1262,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3618,0.63,236.0,2756,3598,1355,1262,8.9,6.5,684,3637,0.00,0.00,17.08,0.448,8198,0.000,0.000,2756,3598,1166,1211,1121,0,0,0,0,0,0,28.83,28.83,25.82
$GC,3700,0.78,407.4,1760,3596,1187,1114,4.4,3.0,699,3760,0.15,0.00,56.97,0.442,10242,0.083,0.000,2837,3597,644,643,646,0,0,0,0,0,0,26.36,28.83,28.83
$STATE,3761,end climb,SURFACE_DEPTH_REACHED
$STATE,3762,begin surface coast
$FINISH,0.2,1.007805
$STATE,3805,end surface coast,CONTROL_FINISHED_OK
$STATE,3806,begin surface
$SM_CCo,3883,0.00,0.000,0,0,639,368.76
$SM_GC,2.11,7.22,0.00,0.00,0.050,0.000,0.000,126,3598,639,-7.55,0.51,368.76,0,0,0,0,0,0,25.94,28.83,28.83
$IRIDIUM_FIX,4726.11,-12226.80,310808,151553
$TT8_MAMPS,0.020223,0.020223
$HUMID,49.05
$INTERNAL_PRESSURE,8.77333
$TCM_TEMP,20.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,125.4,67.5
$24V_AH,24.3,0.620
$10V_AH,10.5,0.391
$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,17.650,5.525,373.525,0.000,0.000,51.703,98.324,216.315,0.750,0.000,32.426,1609.036,809.744,448.734,1439.694,165.100,0.000,1046.763,0.000,1037.283,0.000,7.205,0.000
$DEVICE_MAMPS,250.920,164.475,653.310,0.000,0.000,55.840,160.000,223.000,420.000,0.000,30.710,11.460,2.190,11.460,39.180,45.920,0.000,17.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,482.013,531.371,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323316
$DATA_FILE_SIZE,36886,717
$CAP_FILE_SIZE,69861,0
$CFSIZE,260165632,257302528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.027,265.2,1
$GPS,051115,025535,4744.672,-12224.357,34,1.7,34,18.2