version: 66.11
glider: 158
mission: 13
dive: 10
start: 11 5 115 5 28 50
data:
$ID,158
$MISSION,13
$DIVE,10
$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,250
$COURSE_BIAS,0
$GLIDE_SLOPE,15
$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,320
$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,-721915.12
$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,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,52
$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
$GPS1,051115,051956,4743.737,-12224.441,10,99.0,30,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-74.5
$GPS2,051115,052822,4743.740,-12224.501,42,1.1,42,18.2
$SPEED_LIMITS,0.276,0.292
$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,158.2,1371,-11.0,-7.407,-15.00,4360
$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,-213.3,126,2019,987,978,0.0,0.0,0,57,0.00,0.00,-38.83,0.000,16386,0.000,0.000,126,2019,2166,2153,2179,0,0,0,0,0,0,28.83,28.83,28.83
$GC,60,-0.59,-217.4,126,2019,2154,2179,3.7,-7.3,7,91,8.95,2.30,-15.75,0.000,18948,0.249,0.058,2374,596,2976,2980,2972,0,0,0,0,0,0,25.67,25.94,26.24
$GC,330,-0.59,-217.4,1472,596,2935,2966,44.1,-13.9,59,337,0.00,2.12,0.00,0.000,1030,0.000,0.033,2366,1995,2978,2984,2973,0,0,0,0,0,0,28.83,26.17,28.83
$GC,460,-0.59,-217.4,2365,1995,2985,2972,62.1,-13.2,84,466,0.00,2.17,0.00,0.000,260,0.000,0.045,2355,3410,2978,2984,2972,0,0,0,0,0,0,28.83,26.21,28.83
$GC,484,-0.59,-217.4,2355,3410,2984,2972,65.5,-13.7,88,490,0.00,2.12,0.00,0.000,1030,0.000,0.031,2355,1999,2978,2984,2972,0,0,0,0,0,0,28.83,26.25,28.83
$GC,613,-0.59,-217.4,2355,1998,2984,2972,83.8,-14.3,113,620,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,1998,2978,2984,2973,0,0,0,0,0,0,28.83,28.83,28.83
$GC,743,-0.59,-217.4,2355,1998,2984,2972,102.5,-14.5,138,749,0.00,2.12,0.00,0.000,516,0.000,0.042,2355,594,2978,2984,2972,0,0,0,0,0,0,28.83,26.32,28.83
$GC,777,-0.59,-217.4,1456,593,2935,2966,107.8,-15.6,144,783,0.00,2.12,0.00,0.000,1030,0.000,0.032,2346,2005,2978,2984,2972,0,0,0,0,0,0,28.83,26.36,28.83
$GC,910,-0.59,-217.4,2345,2005,2984,2972,127.7,-15.0,169,917,0.00,2.15,0.00,0.000,260,0.000,0.044,2335,3415,2978,2985,2972,0,0,0,0,0,0,28.83,26.36,28.83
$GC,944,-0.59,-217.4,1440,3415,2936,2966,133.0,-14.8,175,952,0.15,2.12,0.00,0.000,3078,0.147,0.030,2378,1994,2978,2984,2972,0,0,0,0,0,0,26.27,26.40,28.83
$GC,1076,-0.59,-217.4,2378,1993,2985,2972,149.0,-11.7,200,1082,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1993,2978,2984,2972,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1205,-0.59,-217.4,2378,1993,2984,2972,164.6,-12.4,225,1211,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1993,2978,2984,2972,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1262,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1262,begin apogee
$GC,1268,-0.18,0.0,2378,1735,2985,2972,171.9,-12.5,236,1440,0.35,0.00,160.43,0.643,10246,0.120,0.000,2502,1733,2104,2148,2060,0,0,0,0,0,0,26.34,28.83,24.43
$STATE,1441,end apogee,CONTROL_FINISHED_OK
$STATE,1441,begin climb
$GC,1444,0.59,217.4,2502,1733,2146,2059,180.5,0.0,266,1624,0.73,2.35,168.70,0.630,10756,0.090,0.050,2763,361,1238,1289,1188,0,0,0,0,0,0,25.04,24.86,24.32
$GC,1666,0.59,217.4,1792,361,1261,1185,168.8,9.1,305,1673,0.00,2.20,0.00,0.000,1030,0.000,0.034,2763,1750,1236,1284,1188,0,0,0,0,0,0,28.83,25.29,28.83
$GC,1799,0.59,217.4,2763,1750,1284,1184,156.3,8.9,330,1804,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,1750,1234,1284,1185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1926,0.59,217.4,1792,1748,1260,1181,144.0,9.8,355,1933,0.00,2.17,0.00,0.000,260,0.000,0.044,2763,3153,1233,1283,1184,0,0,0,0,0,0,28.83,25.90,28.83
$GC,1961,0.59,217.4,2763,3154,1283,1183,140.3,11.0,361,1968,0.00,2.15,0.00,0.000,1030,0.000,0.036,2769,1760,1233,1283,1183,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2093,0.59,217.4,2769,1760,1282,1183,125.8,10.5,386,2100,0.00,2.22,0.00,0.000,516,0.000,0.048,2780,336,1232,1283,1182,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2123,0.59,217.4,2780,336,1283,1182,122.2,10.8,391,2130,0.00,2.17,0.00,0.000,1030,0.000,0.034,2780,1757,1232,1283,1182,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2254,0.59,217.4,2780,1758,1282,1182,108.4,10.9,416,2260,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1758,1232,1283,1182,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2383,0.59,217.4,2780,1758,1283,1182,94.0,10.8,441,2389,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1758,1232,1283,1182,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2512,0.59,217.4,2780,1758,1283,1182,80.6,9.8,466,2518,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1758,1232,1283,1182,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2640,0.59,217.4,1792,1756,1259,1180,68.6,9.3,491,2647,0.00,2.22,0.00,0.000,516,0.000,0.048,2791,335,1232,1283,1182,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2660,0.59,217.4,2791,335,1283,1181,66.8,9.2,494,2667,0.15,2.15,0.00,0.000,5126,0.148,0.034,2749,1757,1232,1282,1182,0,0,0,0,0,0,26.22,26.35,28.83
$GC,2791,0.59,217.4,1728,1756,1257,1179,54.9,9.7,519,2797,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1758,1232,1282,1182,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2920,0.59,217.4,2749,1758,1282,1182,44.0,8.2,544,2926,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1758,1232,1282,1182,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3048,0.59,220.8,1744,1756,1258,1179,34.3,7.3,569,3055,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1758,1232,1282,1182,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3118,0.60,230.1,2749,1758,1282,1182,29.2,7.2,582,3130,0.00,0.00,6.00,0.454,8710,0.000,0.000,2749,1758,1189,1240,1138,0,0,0,0,0,0,28.83,28.83,25.82
$GC,3193,0.60,230.1,2749,1758,1240,1136,23.6,7.7,596,3199,0.00,2.20,0.00,0.000,516,0.000,0.048,2757,337,1188,1240,1136,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3227,0.60,230.1,1760,337,1218,1134,20.9,8.2,602,3234,0.00,2.15,0.00,0.000,1030,0.000,0.034,2757,1762,1188,1240,1136,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3296,0.60,230.1,1768,1762,1218,1134,15.2,8.1,615,3302,0.00,2.12,0.00,0.000,260,0.000,0.044,2757,3165,1187,1239,1136,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3325,0.60,230.1,2756,3164,1239,1136,12.6,9.0,620,3332,0.00,2.15,0.00,0.000,1030,0.000,0.035,2767,1744,1187,1239,1136,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3395,0.60,230.1,2766,1743,1239,1136,6.8,8.0,633,3401,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,1743,1187,1239,1136,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3462,end climb,SURFACE_DEPTH_REACHED
$STATE,3463,begin surface coast
$FINISH,0.4,1.019637
$STATE,3488,end surface coast,CONTROL_FINISHED_OK
$STATE,3488,begin surface
$SM_CCo,3505,38.40,0.054,0,0,831,320.03
$SM_GC,1.31,6.78,0.40,38.40,0.038,0.045,0.054,122,2037,831,-7.56,-0.93,320.03,0,0,0,0,0,0,26.46,26.49,26.40
$IRIDIUM_FIX,4722.92,-12226.80,310808,171727
$TT8_MAMPS,0.020223,0.020223
$HUMID,50.00
$INTERNAL_PRESSURE,8.79286
$TCM_TEMP,20.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.6,66.2
$24V_AH,24.3,0.814
$10V_AH,10.6,0.545
$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,17.100,44.275,335.125,38.400,0.000,23.152,42.678,290.842,0.500,0.000,43.555,1474.791,620.013,467.144,1280.829,219.526,0.000,1022.432,0.000,941.995,0.000,5.609,0.000
$DEVICE_MAMPS,249.390,58.140,643.365,53.550,0.000,55.840,160.000,223.000,420.000,0.000,30.710,11.460,2.190,11.460,39.180,45.920,0.000,17.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,436.897,484.085,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323340
$DATA_FILE_SIZE,30169,651
$CAP_FILE_SIZE,71359,0
$CFSIZE,260165632,257175552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.108,216.5,1
$GPS,051115,062902,4743.035,-12224.580,9,2.3,29,18.2