version: 66.11
glider: 158
mission: 13
dive: 12
start: 11 5 115 7 52 0
data:
$ID,158
$MISSION,13
$DIVE,12
$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,-721917.62
$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,37
$R_STBD_OVSHOOT,56
$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
$GPS1,051115,073911,4743.417,-12224.516,16,1.7,21,18.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-73.2
$GPS2,051115,075134,4743.465,-12224.453,14,1.6,30,18.2
$SPEED_LIMITS,0.276,0.292
$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,354.6,1917,-10.1,-7.407,-14.21,4986
$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,-0.58,-244.3,131,2025,824,824,0.0,0.0,0,60,0.00,0.00,-41.22,0.000,16386,0.000,0.000,131,2025,2065,2049,2082,0,0,0,0,0,0,28.83,28.83,28.83
$GC,63,-0.58,-244.3,131,2025,2050,2083,3.4,-5.8,7,100,8.93,2.33,-21.38,0.000,18948,0.249,0.057,2372,581,3081,3089,3073,0,0,0,0,0,0,25.69,25.96,26.25
$GC,334,-0.58,-244.3,1472,579,3049,3068,40.8,-13.7,59,340,0.00,2.12,0.00,0.000,1030,0.000,0.031,2364,1985,3083,3092,3074,0,0,0,0,0,0,28.83,26.18,28.83
$GC,463,-0.58,-244.3,1456,1984,3049,3068,58.7,-13.7,84,469,0.00,2.17,0.00,0.000,260,0.000,0.044,2353,3405,3082,3092,3073,0,0,0,0,0,0,28.83,26.22,28.83
$GC,507,-0.58,-244.3,2353,3406,3092,3074,64.7,-12.6,92,514,0.00,2.12,0.00,0.000,1030,0.000,0.030,2354,1993,3083,3092,3074,0,0,0,0,0,0,28.83,26.27,28.83
$GC,636,-0.58,-244.3,1448,1990,3049,3068,84.3,-15.9,117,642,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,1992,3083,3092,3074,0,0,0,0,0,0,28.83,28.83,28.83
$GC,766,-0.58,-244.3,2354,1993,3092,3074,104.6,-15.2,142,772,0.00,2.12,0.00,0.000,516,0.000,0.042,2354,588,3083,3092,3074,0,0,0,0,0,0,28.83,26.34,28.83
$GC,791,-0.58,-244.3,2354,588,3092,3074,108.3,-15.1,146,797,0.00,2.12,0.00,0.000,1030,0.000,0.031,2345,2002,3083,3092,3074,0,0,0,0,0,0,28.83,26.36,28.83
$GC,923,-0.58,-244.3,2345,2002,3092,3074,127.8,-14.6,171,929,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2002,3083,3092,3074,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1052,-0.58,-244.3,2345,2002,3092,3074,146.9,-14.7,196,1058,0.00,2.15,0.00,0.000,260,0.000,0.044,2335,3416,3082,3092,3073,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1096,-0.58,-244.3,2335,3416,3091,3074,153.9,-15.1,204,1103,0.15,2.12,0.00,0.000,3078,0.145,0.031,2378,1994,3083,3092,3074,0,0,0,0,0,0,26.32,26.45,28.83
$GC,1228,-0.58,-244.3,2377,1992,3092,3073,171.0,-12.7,229,1235,0.00,2.10,0.00,0.000,516,0.000,0.041,2378,597,3083,3092,3074,0,0,0,0,0,0,28.83,26.44,28.83
$STATE,1260,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1261,begin apogee
$GC,1269,-0.18,0.0,2373,1754,3092,3073,175.7,-13.1,235,1457,0.38,0.00,179.57,0.650,10246,0.122,0.000,2505,1754,2105,2150,2060,0,0,0,0,0,0,26.36,28.83,24.39
$STATE,1457,end apogee,CONTROL_FINISHED_OK
$STATE,1458,begin climb
$GC,1460,0.58,244.3,2504,1755,2148,2058,185.2,0.0,268,1656,0.70,0.00,189.40,0.637,10758,0.084,0.000,2750,1756,1132,1181,1084,0,0,0,0,0,0,24.98,28.83,24.31
$GC,1780,0.58,244.3,2750,1756,1176,1080,168.1,8.5,326,1786,0.00,2.28,0.00,0.000,516,0.000,0.048,2760,348,1127,1175,1080,0,0,0,0,0,0,28.83,25.56,28.83
$GC,1845,0.58,244.3,2759,348,1175,1079,162.1,9.2,338,1851,0.00,2.17,0.00,0.000,1030,0.000,0.033,2760,1750,1127,1175,1080,0,0,0,0,0,0,28.83,25.74,28.83
$GC,1975,0.58,244.3,1744,1749,1156,1077,150.2,8.4,363,1982,0.00,2.17,0.00,0.000,260,0.000,0.042,2760,3159,1126,1174,1078,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2005,0.58,244.3,2759,3159,1173,1078,147.5,9.1,368,2012,0.00,2.17,0.00,0.000,1030,0.000,0.037,2769,1751,1125,1174,1077,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2136,0.58,244.3,1744,1749,1155,1075,134.6,10.5,393,2143,0.00,2.20,0.00,0.000,516,0.000,0.047,2779,338,1125,1174,1077,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2157,0.58,244.3,2779,337,1174,1077,132.4,9.8,396,2164,0.00,2.17,0.00,0.000,1030,0.000,0.033,2779,1763,1125,1174,1077,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2289,0.58,244.3,2779,1764,1174,1077,118.2,11.2,421,2296,0.00,2.15,0.00,0.000,260,0.000,0.043,2779,3162,1125,1174,1077,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2343,0.58,244.3,1792,3160,1156,1075,111.8,10.9,431,2350,0.15,2.15,0.00,0.000,5126,0.153,0.036,2746,1750,1125,1174,1077,0,0,0,0,0,0,26.08,26.20,28.83
$GC,2475,0.58,244.3,2746,1750,1174,1077,101.6,7.5,456,2481,0.00,2.20,0.00,0.000,516,0.000,0.049,2755,337,1125,1174,1076,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2534,0.58,244.3,1760,337,1157,1074,96.8,7.9,467,2540,0.00,2.15,0.00,0.000,1030,0.000,0.032,2755,1760,1124,1173,1076,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2665,0.58,244.3,2755,1761,1174,1076,86.6,8.2,492,2671,0.00,2.12,0.00,0.000,260,0.000,0.042,2755,3156,1125,1174,1076,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2714,0.58,244.3,2755,3156,1174,1076,82.1,9.1,501,2721,0.00,2.15,0.00,0.000,1030,0.000,0.035,2763,1739,1125,1174,1076,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2845,0.58,244.3,2763,1739,1173,1076,70.6,9.1,526,2851,0.00,2.17,0.00,0.000,516,0.000,0.049,2773,337,1124,1174,1075,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2899,0.58,244.3,2773,337,1174,1075,65.2,10.2,536,2906,0.00,2.12,0.00,0.000,1030,0.000,0.033,2773,1750,1124,1174,1075,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3030,0.58,244.3,1744,1750,1155,1074,52.4,9.9,561,3036,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1752,1124,1174,1075,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3160,0.58,244.3,2773,1752,1174,1075,39.4,10.0,586,3166,0.00,2.12,0.00,0.000,260,0.000,0.042,2773,3151,1124,1174,1075,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3188,0.58,244.3,1792,3149,1156,1073,36.3,10.5,591,3196,0.15,2.12,0.00,0.000,5126,0.152,0.035,2739,1742,1124,1174,1075,0,0,0,0,0,0,26.33,26.45,28.83
$GC,3259,0.60,266.8,2739,1741,1174,1075,30.9,6.9,604,3283,0.00,2.17,18.05,0.539,8708,0.000,0.047,2749,345,1041,1091,992,0,0,0,0,0,0,28.83,26.22,25.72
$GC,3321,0.60,266.8,1760,345,1075,991,26.4,7.8,615,3327,0.00,2.12,0.00,0.000,1030,0.000,0.033,2749,1749,1040,1089,992,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3390,0.60,266.8,2748,1750,1089,992,21.0,8.0,628,3397,0.00,2.12,0.00,0.000,260,0.000,0.042,2748,3151,1040,1089,991,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3415,0.60,266.8,2748,3151,1088,991,18.9,8.6,632,3421,0.00,2.12,0.00,0.000,1030,0.000,0.036,2753,1750,1039,1088,991,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3484,0.60,266.8,2752,1750,1088,991,13.0,8.6,645,3491,0.00,2.17,0.00,0.000,516,0.000,0.049,2764,340,1039,1088,991,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3544,0.60,266.8,2763,340,1087,991,7.8,7.9,656,3551,0.00,2.12,0.00,0.000,1030,0.000,0.033,2764,1751,1039,1087,991,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3613,0.73,408.3,1760,1752,1073,989,3.4,4.5,669,3662,0.00,0.00,46.67,0.440,8450,0.000,0.000,2763,1754,616,605,628,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3663,end climb,SURFACE_DEPTH_REACHED
$STATE,3663,begin surface coast
$FINISH,0.2,1.009131
$STATE,3719,end surface coast,CONTROL_FINISHED_OK
$STATE,3719,begin surface
$SM_CCo,3797,0.00,0.000,0,0,611,375.54
$SM_GC,1.43,6.90,0.38,0.00,0.037,0.046,0.000,120,2036,611,-7.57,-0.96,375.54,0,0,0,0,0,0,26.05,26.07,28.83
$IRIDIUM_FIX,4726.11,-12224.09,310808,212104
$TT8_MAMPS,0.020223,0.020223
$HUMID,48.81
$INTERNAL_PRESSURE,8.77333
$TCM_TEMP,20.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,125.1,65.2
$24V_AH,24.3,1.001
$10V_AH,10.5,0.652
$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,17.350,69.025,433.700,0.000,0.000,69.872,100.487,294.613,0.750,0.000,31.678,1532.114,814.953,515.025,1480.777,203.828,0.000,1116.625,0.000,995.008,0.000,7.192,0.000
$DEVICE_MAMPS,249.390,56.610,650.250,0.000,0.000,55.840,160.000,223.000,420.000,0.000,30.710,11.460,2.190,11.460,39.180,45.920,0.000,17.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,460.182,514.398,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33550,688
$CAP_FILE_SIZE,79193,0
$CFSIZE,260165632,257089536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.034,206.0,1
$GPS,051115,085626,4743.980,-12224.334,13,2.2,33,18.2