version: 66.11
glider: 158
mission: 13
dive: 15
start: 11 5 115 11 39 20
data:
$ID,158
$MISSION,13
$DIVE,15
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$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,100
$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,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,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,-721921.38
$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,2000
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,46
$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,0
$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
$GPS1,051115,113100,4744.304,-12224.417,10,1.8,10,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-72.3
$GPS2,051115,113854,4744.344,-12224.370,13,1.1,13,18.2
$SPEED_LIMITS,0.183,0.256
$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,169.0,2494,-10.3,-6.667,-14.60,4431
$D_GRID,175
$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,-0.54,-195.4,122,2015,823,827,0.0,0.0,0,54,0.00,0.00,-35.33,0.000,16386,0.000,0.000,122,2015,1872,1865,1880,0,0,0,0,0,0,28.83,28.83,28.83
$GC,57,-0.54,-195.4,122,2015,1865,1881,3.1,-6.1,6,94,9.02,2.22,-21.45,0.000,18692,0.251,0.057,2377,3400,2887,2899,2875,0,0,0,0,0,0,25.70,25.96,26.25
$GC,440,-0.54,-195.4,2377,3400,2902,2876,37.7,-9.2,80,446,0.00,2.12,0.00,0.000,1030,0.000,0.030,2377,1989,2889,2902,2876,0,0,0,0,0,0,28.83,26.26,28.83
$GC,509,-0.54,-195.4,1472,1986,2850,2869,45.7,-12.3,93,515,0.00,2.15,0.00,0.000,516,0.000,0.043,2377,585,2890,2903,2877,0,0,0,0,0,0,28.83,26.26,28.83
$GC,539,-0.54,-195.4,2377,585,2903,2876,49.5,-12.8,98,546,0.00,2.12,0.00,0.000,1030,0.000,0.031,2369,1997,2889,2903,2876,0,0,0,0,0,0,28.83,26.29,28.83
$GC,671,-0.54,-195.4,2369,1997,2903,2877,66.3,-12.9,123,678,0.00,2.15,0.00,0.000,260,0.000,0.044,2358,3405,2889,2902,2876,0,0,0,0,0,0,28.83,26.32,28.83
$GC,705,-0.54,-195.4,1472,3404,2851,2870,71.1,-13.0,129,712,0.00,2.12,0.00,0.000,1030,0.000,0.031,2358,1992,2889,2903,2876,0,0,0,0,0,0,28.83,26.35,28.83
$GC,835,-0.54,-195.4,2358,1991,2902,2876,88.6,-13.4,154,840,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,1992,2889,2902,2876,0,0,0,0,0,0,28.83,28.83,28.83
$GC,963,-0.54,-195.4,2358,1991,2902,2876,105.8,-12.7,179,970,0.00,2.10,0.00,0.000,516,0.000,0.042,2358,599,2889,2902,2876,0,0,0,0,0,0,28.83,26.40,28.83
$GC,997,-0.54,-195.4,1456,599,2851,2869,110.4,-13.4,185,1004,0.15,2.10,0.00,0.000,3078,0.155,0.031,2389,2004,2889,2903,2876,0,0,0,0,0,0,26.30,26.44,28.83
$GC,1129,-0.54,-195.4,2389,2005,2903,2876,123.7,-9.6,210,1136,0.00,2.12,0.00,0.000,260,0.000,0.044,2381,3404,2889,2903,2876,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1158,-0.54,-195.4,1472,3402,2850,2869,126.8,-10.0,215,1165,0.00,2.10,0.00,0.000,1030,0.000,0.031,2381,1999,2889,2903,2876,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1291,-0.54,-195.4,2380,1998,2903,2876,140.9,-11.0,240,1297,0.00,2.12,0.00,0.000,516,0.000,0.042,2381,585,2889,2903,2876,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1330,-0.54,-195.4,2380,585,2902,2876,145.8,-11.4,247,1337,0.00,2.12,0.00,0.000,1030,0.000,0.031,2373,2007,2889,2903,2876,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1464,-0.54,-195.4,2373,2008,2903,2876,160.7,-11.8,272,1470,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2008,2889,2903,2876,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1579,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1579,begin apogee
$GC,1586,-0.18,0.0,2373,1734,2903,2876,175.2,-11.4,295,1739,0.38,0.00,144.25,0.649,10246,0.123,0.000,2504,1734,2104,2145,2064,0,0,0,0,0,0,26.41,28.83,24.53
$STATE,1742,end apogee,CONTROL_FINISHED_OK
$STATE,1742,begin climb
$GC,1744,0.54,195.4,2504,1734,2144,2062,183.1,0.0,322,1907,0.68,2.33,151.40,0.633,10500,0.089,0.040,2738,3159,1326,1380,1272,0,0,0,0,0,0,25.11,24.87,24.34
$GC,1955,0.54,195.4,2738,3159,1376,1268,172.6,9.0,359,1962,0.00,2.20,0.00,0.000,1030,0.000,0.034,2746,1764,1321,1376,1267,0,0,0,0,0,0,28.83,25.33,28.83
$GC,2087,0.54,195.4,2746,1763,1375,1265,161.7,8.6,384,2094,0.00,2.25,0.00,0.000,516,0.000,0.047,2757,338,1320,1375,1265,0,0,0,0,0,0,28.83,25.71,28.83
$GC,2167,0.54,195.4,2756,338,1373,1264,154.4,9.0,399,2174,0.00,2.17,0.00,0.000,1030,0.000,0.031,2757,1756,1318,1373,1264,0,0,0,0,0,0,28.83,25.87,28.83
$GC,2299,0.54,195.4,2756,1757,1373,1264,143.2,8.6,424,2306,0.00,2.22,0.00,0.000,516,0.000,0.047,2767,345,1318,1373,1264,0,0,0,0,0,0,28.83,25.99,28.83
$GC,2328,0.54,195.4,1792,345,1345,1261,140.4,9.0,429,2335,0.00,2.15,0.00,0.000,1030,0.000,0.031,2767,1759,1318,1373,1264,0,0,0,0,0,0,28.83,26.05,28.83
$GC,2459,0.54,195.4,2767,1760,1373,1264,128.3,9.4,454,2465,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1760,1318,1373,1264,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2588,0.54,195.4,2767,1760,1373,1264,115.8,9.4,479,2595,0.00,2.15,0.00,0.000,260,0.000,0.042,2767,3161,1318,1373,1264,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2608,0.54,195.4,2767,3161,1372,1264,113.8,10.1,482,2615,0.17,2.17,0.00,0.000,5126,0.151,0.036,2728,1737,1317,1372,1263,0,0,0,0,0,0,26.09,26.22,28.83
$GC,2740,0.54,195.4,2728,1735,1372,1263,104.0,6.8,507,2746,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1735,1318,1373,1263,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2869,0.54,195.4,2728,1736,1372,1263,94.7,7.3,532,2876,0.00,2.17,0.00,0.000,260,0.000,0.041,2727,3155,1317,1372,1263,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2904,0.54,195.4,2728,3155,1372,1263,91.9,8.0,538,2910,0.00,2.15,0.00,0.000,1030,0.000,0.034,2735,1734,1317,1372,1263,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3035,0.54,195.4,2734,1734,1372,1263,82.1,7.3,563,3042,0.00,2.15,0.00,0.000,516,0.000,0.047,2742,342,1317,1372,1263,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3070,0.54,195.4,1760,342,1344,1260,79.3,7.8,569,3076,0.00,2.12,0.00,0.000,1030,0.000,0.032,2742,1758,1318,1373,1263,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3200,0.54,195.4,2742,1759,1372,1262,70.0,7.0,594,3206,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1759,1317,1372,1263,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3330,0.57,218.4,2742,1759,1372,1263,61.1,6.1,619,3353,0.00,0.00,18.50,0.554,8198,0.000,0.000,2742,1759,1234,1290,1179,0,0,0,0,0,0,28.83,28.83,25.69
$GC,3478,0.57,218.4,2742,1759,1287,1177,51.6,7.1,647,3485,0.00,2.10,0.00,0.000,260,0.000,0.041,2742,3149,1232,1287,1177,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3538,0.57,218.4,2742,3150,1286,1177,46.4,9.1,658,3544,0.00,2.12,0.00,0.000,1030,0.000,0.034,2749,1747,1231,1286,1177,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3668,0.57,218.4,1728,1745,1262,1174,32.7,11.2,683,3676,0.00,2.15,0.00,0.000,516,0.000,0.047,2759,348,1231,1286,1176,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3714,0.57,218.4,2759,347,1285,1176,27.6,11.0,691,3721,0.00,2.12,0.00,0.000,1030,0.000,0.032,2760,1763,1230,1285,1176,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3784,0.57,218.4,2759,1764,1285,1176,20.6,9.8,704,3791,0.00,2.10,0.00,0.000,260,0.000,0.041,2760,3158,1230,1285,1176,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3810,0.57,218.4,2759,3158,1285,1176,18.0,10.3,708,3816,0.00,2.12,0.00,0.000,1030,0.000,0.034,2768,1750,1230,1285,1176,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3879,0.57,218.4,2768,1749,1285,1176,10.9,9.9,721,3886,0.00,2.15,0.00,0.000,516,0.000,0.047,2778,346,1230,1285,1176,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4016,0.75,424.3,2778,346,1285,1175,4.0,1.9,747,4087,0.00,2.10,65.95,0.442,9218,0.000,0.031,2778,1757,636,629,644,0,0,0,0,0,0,28.83,26.46,28.83
$STATE,4088,end climb,SURFACE_DEPTH_REACHED
$STATE,4089,begin surface coast
$FINISH,0.2,1.018611
$STATE,4137,end surface coast,CONTROL_FINISHED_OK
$STATE,4137,begin surface
$SM_CCo,4214,0.00,0.000,0,0,630,370.77
$SM_GC,1.07,6.95,0.35,0.00,0.037,0.045,0.000,118,2012,630,-7.57,-1.33,370.77,0,0,0,0,0,0,25.98,25.98,28.83
$IRIDIUM_FIX,4729.30,-12221.39,310808,232322
$TT8_MAMPS,0.019474,0.019474
$HUMID,49.29
$INTERNAL_PRESSURE,8.76356
$TCM_TEMP,20.60
$XPDR_PINGS,0
$24V_AH,24.3,1.226
$10V_AH,10.6,0.821
$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,17.350,69.525,380.100,0.000,0.000,39.162,39.618,272.785,0.000,0.000,14.020,1742.704,803.367,487.453,1441.031,218.741,0.000,1134.601,0.000,1107.587,0.000,0.537,0.000
$DEVICE_MAMPS,250.920,56.610,648.720,0.000,0.000,55.840,160.000,223.000,420.000,0.000,30.710,11.460,2.190,11.460,39.180,45.920,0.000,17.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,515.956,574.895,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,36777,768
$CAP_FILE_SIZE,82959,0
$CFSIZE,260165632,256946176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.140, 33.8,1
$GPS,051115,125034,4744.040,-12224.438,8,1.7,24,18.2