version: 66.11
glider: 158
mission: 13
dive: 9
start: 11 5 115 4 19 9
data:
$ID,158
$MISSION,13
$DIVE,9
$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,90
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$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,-721913.88
$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,2000
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,51
$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
$GPS1,051115,040802,4744.290,-12224.336,30,99.0,50,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-72.4
$GPS2,051115,041847,4744.258,-12224.401,15,1.7,32,18.2
$SPEED_LIMITS,0.074,0.190
$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,164.1,2333,-18.1,-7.407,-21.29,1849
$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,-0.73,-88.0,127,2010,872,833,0.0,0.0,0,59,0.00,0.00,-41.10,0.000,16386,0.000,0.000,127,2010,2117,2094,2141,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-0.73,-88.0,127,2010,2095,2141,3.8,-7.6,7,88,8.75,2.28,-6.90,0.000,18948,0.248,0.057,2329,593,2461,2463,2460,0,0,0,0,0,0,25.60,25.88,26.16
$GC,337,-0.73,-88.0,2329,593,2466,2459,49.6,-15.5,60,344,0.00,2.12,0.00,0.000,1030,0.000,0.032,2320,1992,2462,2466,2459,0,0,0,0,0,0,28.83,26.14,28.83
$GC,466,-0.73,-88.0,1428,1991,2398,2450,68.8,-14.0,85,473,0.00,2.15,0.00,0.000,516,0.000,0.042,2320,592,2462,2466,2459,0,0,0,0,0,0,28.83,26.20,28.83
$GC,520,-0.73,-88.0,1440,592,2399,2450,77.1,-15.7,95,527,0.00,2.15,0.00,0.000,1030,0.000,0.032,2310,2015,2462,2466,2459,0,0,0,0,0,0,28.83,26.25,28.83
$GC,650,-0.73,-88.0,2309,2015,2466,2459,96.4,-15.4,120,656,0.00,2.12,0.00,0.000,260,0.000,0.044,2299,3408,2462,2466,2459,0,0,0,0,0,0,28.83,26.27,28.83
$GC,714,-0.73,-88.0,2299,3408,2465,2459,106.5,-15.5,132,721,0.00,2.12,0.00,0.000,1030,0.000,0.031,2300,1995,2462,2466,2459,0,0,0,0,0,0,28.83,26.32,28.83
$GC,846,-0.73,-88.0,1376,1993,2395,2449,127.7,-17.0,157,853,0.00,2.12,0.00,0.000,516,0.000,0.041,2299,587,2462,2466,2459,0,0,0,0,0,0,28.83,26.34,28.83
$GC,882,-0.73,-88.0,1408,587,2398,2450,134.1,-17.0,163,889,0.17,2.12,0.00,0.000,3078,0.180,0.031,2334,2008,2462,2466,2459,0,0,0,0,0,0,26.17,26.37,28.83
$GC,1014,-0.73,-88.0,2334,2009,2465,2459,152.1,-14.0,188,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2009,2463,2467,2459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1142,-0.73,-88.0,2334,2009,2467,2459,170.6,-15.2,213,1150,0.00,2.15,0.00,0.000,516,0.000,0.041,2334,592,2463,2467,2459,0,0,0,0,0,0,28.83,26.41,28.83
$STATE,1155,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1155,begin apogee
$GC,1163,-0.18,0.0,2327,1813,2467,2459,172.8,-15.1,215,1233,0.55,0.00,65.90,0.641,10246,0.142,0.000,2507,1815,2106,2140,2072,0,0,0,0,0,0,26.27,28.83,25.00
$STATE,1234,end apogee,CONTROL_FINISHED_OK
$STATE,1235,begin climb
$GC,1237,0.73,88.0,2506,1815,2139,2071,178.1,0.0,227,1313,0.82,0.00,70.57,0.635,10246,0.088,0.000,2797,1815,1754,1798,1711,0,0,0,0,0,0,25.54,28.83,24.51
$GC,1437,0.75,113.5,2796,1815,1793,1703,169.2,6.0,264,1461,0.00,0.00,20.83,0.606,8454,0.000,0.000,2797,1815,1653,1700,1607,0,0,0,0,0,0,28.83,28.83,24.86
$GC,1585,0.75,113.5,2797,1815,1695,1601,157.7,8.5,292,1592,0.00,2.25,0.00,0.000,516,0.000,0.047,2808,395,1647,1695,1600,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1614,0.75,113.5,2808,395,1694,1600,155.0,8.7,297,1622,0.00,2.17,0.00,0.000,1030,0.000,0.033,2808,1807,1647,1694,1600,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1747,0.75,113.5,2808,1808,1694,1599,143.9,9.1,322,1753,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1807,1646,1693,1599,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1875,0.75,113.5,1808,1806,1648,1594,132.3,8.5,347,1882,0.00,2.15,0.00,0.000,260,0.000,0.043,2808,3205,1646,1694,1599,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1944,0.75,113.5,2808,3206,1693,1598,125.8,9.5,360,1951,0.00,2.15,0.00,0.000,1030,0.000,0.034,2818,1791,1646,1693,1599,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2076,0.75,113.5,2818,1791,1693,1598,114.9,8.2,385,2082,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1791,1645,1693,1598,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2205,0.75,113.5,2818,1791,1693,1598,103.7,8.6,410,2212,0.00,2.17,0.00,0.000,516,0.000,0.049,2829,386,1645,1693,1598,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2325,0.75,113.5,2829,387,1692,1598,91.8,10.0,433,2332,0.00,2.15,0.00,0.000,1030,0.000,0.034,2830,1809,1645,1692,1598,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2457,0.75,113.5,2829,1809,1692,1598,79.4,9.5,458,2464,0.00,2.12,0.00,0.000,260,0.000,0.044,2829,3206,1645,1692,1598,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2552,0.75,113.5,2829,3206,1692,1598,70.0,9.2,476,2559,0.15,2.12,0.00,0.000,5126,0.186,0.034,2802,1793,1645,1692,1598,0,0,0,0,0,0,26.21,26.39,28.83
$GC,2684,0.75,113.5,2801,1793,1692,1598,59.9,7.7,501,2691,0.00,2.15,0.00,0.000,516,0.000,0.047,2811,392,1644,1692,1597,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2759,0.75,113.5,1808,392,1646,1592,53.7,8.4,515,2765,0.00,2.12,0.00,0.000,1030,0.000,0.034,2811,1808,1644,1692,1597,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2890,0.75,113.5,2811,1810,1692,1597,43.3,8.4,540,2896,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,1809,1644,1692,1597,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3018,0.75,113.5,1808,1807,1646,1592,32.7,7.5,565,3025,0.00,2.17,0.00,0.000,516,0.000,0.047,2822,400,1644,1691,1597,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3155,0.75,120.0,1792,399,1644,1592,22.4,7.0,591,3163,0.00,2.12,2.85,0.278,9222,0.000,0.034,2822,1814,1628,1676,1581,0,0,0,0,0,0,28.83,26.50,25.89
$GC,3226,0.76,129.4,2821,1814,1676,1580,17.4,6.9,604,3238,0.00,0.00,5.70,0.402,8198,0.000,0.000,2821,1814,1587,1635,1540,0,0,0,0,0,0,28.83,28.83,25.89
$GC,3302,0.76,129.4,2821,1814,1634,1538,11.5,7.7,618,3308,0.00,2.10,0.00,0.000,260,0.000,0.044,2822,3205,1586,1634,1538,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3411,0.82,189.0,2821,3205,1634,1537,4.2,4.1,639,3446,0.00,2.12,26.10,0.433,9222,0.000,0.034,2832,1789,1351,1399,1303,0,0,0,0,0,0,28.83,26.48,25.77
$STATE,3461,end climb,SURFACE_DEPTH_REACHED
$STATE,3461,begin surface coast
$FINISH,1.7,1.020472
$STATE,3522,end surface coast,CONTROL_FINISHED_OK
$STATE,3522,begin surface
$SM_CCo,3540,38.00,0.055,0,0,990,280.09
$SM_GC,1.20,7.32,0.32,38.00,0.064,0.047,0.055,126,2019,990,-7.57,-1.05,280.09,0,0,0,0,0,0,26.24,26.32,26.23
$IRIDIUM_FIX,4722.92,-12225.08,310808,171725
$TT8_MAMPS,0.020223,0.020223
$HUMID,49.72
$INTERNAL_PRESSURE,8.80263
$TCM_TEMP,20.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,130.3,57.1
$24V_AH,24.5,0.733
$10V_AH,10.5,0.495
$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,17.775,51.650,191.950,38.000,0.000,51.469,83.302,306.267,1.250,0.000,33.406,1564.099,722.173,347.514,1368.161,225.806,0.000,878.787,0.000,955.637,0.000,11.631,0.000
$DEVICE_MAMPS,247.860,57.375,641.070,55.080,0.000,55.840,160.000,223.000,420.000,0.000,30.710,11.460,2.190,11.460,39.180,45.920,0.000,17.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,446.520,497.419,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323280
$DATA_FILE_SIZE,33505,660
$CAP_FILE_SIZE,73146,0
$CFSIZE,260165632,257216512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.085,191.1,1
$GPS,051115,051956,4743.737,-12224.441,10,99.0,30,18.2