version: 66.11
glider: 158
mission: 13
dive: 16
start: 11 5 115 12 59 41
data:
$ID,158
$MISSION,13
$DIVE,16
$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,-721922.62
$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,55
$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
$GPS1,051115,125034,4744.040,-12224.438,8,1.7,24,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-69.6
$GPS2,051115,125914,4744.087,-12224.381,12,2.6,32,18.2
$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,181.7,2019,-10.3,-6.667,-14.60,4431
$D_GRID,174
$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,-195.4,118,2016,617,635,0.0,0.0,0,58,0.00,0.00,-40.10,0.000,16386,0.000,0.000,118,2016,1798,1784,1812,0,0,0,0,0,0,28.83,28.83,28.83
$GC,61,-0.54,-195.4,118,2016,1785,1812,3.2,-8.2,7,98,9.07,2.22,-21.33,0.000,18692,0.250,0.057,2375,3398,2887,2901,2874,0,0,0,0,0,0,25.65,25.90,26.20
$GC,136,-0.54,-195.4,2376,3398,2902,2874,14.9,-12.0,20,143,0.00,2.15,0.00,0.000,1030,0.000,0.030,2375,1989,2888,2902,2874,0,0,0,0,0,0,28.83,25.98,28.83
$GC,205,-0.54,-195.4,1472,1986,2850,2867,24.4,-14.0,33,211,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1988,2888,2903,2874,0,0,0,0,0,0,28.83,28.83,28.83
$GC,275,-0.54,-195.4,2376,1988,2904,2874,33.8,-13.9,46,280,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1988,2889,2904,2874,0,0,0,0,0,0,28.83,28.83,28.83
$GC,343,-0.54,-195.4,1472,1986,2852,2867,43.4,-14.6,59,348,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1988,2889,2904,2874,0,0,0,0,0,0,28.83,28.83,28.83
$GC,471,-0.54,-195.4,2376,1988,2904,2874,60.9,-13.2,84,477,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1988,2889,2904,2874,0,0,0,0,0,0,28.83,28.83,28.83
$GC,599,-0.54,-195.4,1472,1986,2851,2867,77.0,-12.7,109,606,0.00,2.12,0.00,0.000,516,0.000,0.041,2376,585,2889,2904,2874,0,0,0,0,0,0,28.83,26.27,28.83
$GC,659,-0.54,-195.4,2375,585,2904,2874,85.1,-13.8,120,665,0.00,2.12,0.00,0.000,1030,0.000,0.030,2367,2002,2889,2904,2874,0,0,0,0,0,0,28.83,26.31,28.83
$GC,790,-0.54,-195.4,2367,2003,2904,2874,102.7,-13.4,145,797,0.00,2.12,0.00,0.000,260,0.000,0.042,2357,3402,2889,2904,2874,0,0,0,0,0,0,28.83,26.32,28.83
$GC,835,-0.54,-195.4,2357,3403,2904,2874,108.8,-12.7,153,843,0.00,2.10,0.00,0.000,1030,0.000,0.029,2357,1997,2889,2904,2874,0,0,0,0,0,0,28.83,26.36,28.83
$GC,968,-0.54,-195.4,2356,1996,2904,2874,126.8,-13.9,178,973,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,1996,2889,2904,2874,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1096,-0.54,-195.4,1456,1994,2852,2867,144.8,-13.5,203,1101,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,1996,2889,2904,2874,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1224,-0.54,-195.4,2356,1994,2904,2874,162.4,-14.4,228,1231,0.00,2.12,0.00,0.000,516,0.000,0.042,2357,589,2889,2904,2874,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1283,-0.54,-195.4,1456,589,2852,2868,171.1,-15.4,239,1290,0.15,2.10,0.00,0.000,3078,0.158,0.030,2388,2002,2889,2904,2874,0,0,0,0,0,0,26.34,26.47,28.83
$STATE,1305,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1305,begin apogee
$GC,1312,-0.18,0.0,2388,1729,2904,2874,174.3,-13.5,243,1465,0.32,0.00,144.35,0.646,10246,0.119,0.000,2504,1729,2104,2144,2064,0,0,0,0,0,0,26.36,28.83,24.51
$STATE,1468,end apogee,CONTROL_FINISHED_OK
$STATE,1468,begin climb
$GC,1470,0.54,195.4,2504,1729,2142,2063,182.1,0.0,270,1631,0.68,0.00,150.40,0.632,10758,0.091,0.000,2737,1729,1327,1382,1273,0,0,0,0,0,0,25.06,28.83,24.33
$GC,1756,0.54,195.4,2737,1728,1377,1269,167.7,7.8,322,1762,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1728,1323,1377,1269,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1884,0.54,195.4,1760,1727,1348,1265,158.1,7.4,347,1890,0.00,2.12,0.00,0.000,516,0.000,0.047,2746,370,1322,1376,1268,0,0,0,0,0,0,28.83,25.83,28.83
$GC,1913,0.54,195.4,2746,370,1375,1268,155.9,7.9,352,1920,0.00,2.12,0.00,0.000,1030,0.000,0.031,2747,1757,1321,1375,1268,0,0,0,0,0,0,28.83,25.90,28.83
$GC,2044,0.54,195.4,2746,1758,1375,1268,145.1,8.8,377,2051,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,1759,1321,1375,1268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2174,0.54,195.4,2746,1758,1375,1268,133.8,8.0,402,2181,0.00,2.17,0.00,0.000,516,0.000,0.047,2755,364,1321,1375,1267,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2203,0.54,195.4,1760,364,1345,1265,131.4,8.2,407,2209,0.00,2.10,0.00,0.000,1030,0.000,0.031,2755,1752,1321,1374,1268,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2334,0.54,195.4,2755,1754,1374,1267,121.1,7.8,432,2340,0.00,2.15,0.00,0.000,260,0.000,0.042,2755,3162,1320,1374,1267,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2393,0.54,195.4,1792,3160,1346,1264,115.9,8.4,443,2399,0.00,2.12,0.00,0.000,1030,0.000,0.034,2764,1763,1320,1374,1267,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2524,0.54,195.4,2763,1763,1374,1267,105.7,7.5,468,2531,0.00,2.20,0.00,0.000,516,0.000,0.047,2774,341,1320,1374,1267,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2563,0.54,195.4,1792,341,1346,1264,102.5,8.4,475,2570,0.15,2.12,0.00,0.000,5126,0.146,0.031,2732,1754,1320,1374,1266,0,0,0,0,0,0,26.19,26.32,28.83
$GC,2693,0.54,195.4,1728,1754,1345,1263,94.0,6.8,500,2700,0.00,2.12,0.00,0.000,260,0.000,0.041,2733,3159,1320,1374,1266,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2718,0.54,195.4,2732,3160,1374,1266,92.2,7.0,504,2724,0.00,2.15,0.00,0.000,1030,0.000,0.034,2739,1739,1320,1374,1266,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2849,0.56,209.5,2738,1738,1374,1265,83.7,6.3,529,2868,0.00,2.17,11.77,0.543,8708,0.000,0.045,2749,337,1271,1325,1217,0,0,0,0,0,0,28.83,26.23,25.71
$GC,2896,0.56,209.5,2749,337,1325,1216,80.3,7.4,537,2903,0.00,2.12,0.00,0.000,1030,0.000,0.031,2749,1750,1270,1324,1216,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3028,0.57,218.9,2748,1751,1324,1216,71.1,6.4,562,3047,0.00,2.25,8.88,0.490,8708,0.000,0.047,2758,345,1234,1288,1180,0,0,0,0,0,0,28.83,26.25,25.69
$GC,3059,0.57,218.9,1764,345,1264,1178,68.8,7.1,567,3065,0.00,2.12,0.00,0.000,1030,0.000,0.032,2758,1751,1233,1287,1180,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3190,0.57,218.9,2758,1753,1286,1179,58.8,7.9,592,3196,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1753,1232,1286,1179,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3319,0.57,218.9,2758,1753,1286,1179,48.0,8.4,617,3325,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1753,1232,1285,1179,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3449,0.57,218.9,2758,1753,1285,1178,37.0,8.7,642,3455,0.00,2.17,0.00,0.000,516,0.000,0.046,2767,343,1231,1285,1178,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3478,0.57,218.9,1768,342,1260,1176,34.3,9.4,647,3484,0.00,2.12,0.00,0.000,1030,0.000,0.031,2767,1760,1231,1284,1178,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3547,0.57,218.9,2767,1761,1285,1178,27.7,9.5,660,3554,0.00,2.10,0.00,0.000,260,0.000,0.041,2767,3156,1231,1284,1178,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3597,0.57,218.9,2767,3156,1285,1177,22.3,11.2,669,3604,0.00,2.12,0.00,0.000,1030,0.000,0.035,2774,1747,1230,1284,1177,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3668,0.57,218.9,2774,1746,1284,1177,14.5,10.4,682,3674,0.00,2.15,0.00,0.000,516,0.000,0.047,2783,341,1230,1284,1177,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3716,0.57,218.9,1792,341,1262,1175,9.7,9.1,691,3724,0.15,2.12,0.00,0.000,5126,0.135,0.031,2740,1766,1231,1285,1177,0,0,0,0,0,0,26.34,26.46,28.83
$GC,3787,0.70,370.5,2739,1766,1284,1177,6.6,3.2,704,3864,0.12,2.15,67.55,0.448,10500,0.093,0.041,2813,3145,628,617,639,0,0,0,0,0,0,26.48,25.84,25.44
$STATE,3870,end climb,SURFACE_DEPTH_REACHED
$STATE,3870,begin surface coast
$FINISH,0.2,1.020984
$STATE,3891,end surface coast,CONTROL_FINISHED_OK
$STATE,3891,begin surface
$SM_CCo,3971,0.00,0.000,0,0,623,372.53
$SM_GC,1.24,7.05,1.83,0.00,0.036,0.032,0.000,119,1986,623,-7.57,0.93,372.53,0,0,0,0,0,0,25.94,25.94,28.83
$IRIDIUM_FIX,4726.11,-12226.80,010908,000026
$TT8_MAMPS,0.020223,0.020223
$HUMID,48.30
$INTERNAL_PRESSURE,8.77333
$TCM_TEMP,20.60
$XPDR_PINGS,0
$24V_AH,24.3,1.312
$10V_AH,10.5,0.876
$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,17.700,64.300,382.950,0.000,0.000,19.831,58.695,296.936,0.000,0.000,33.655,1629.102,730.814,503.021,1418.117,215.213,0.000,1129.646,0.000,1043.953,0.000,0.538,0.000
$DEVICE_MAMPS,250.155,56.610,645.660,0.000,0.000,55.840,160.000,223.000,420.000,0.000,30.710,11.460,2.190,11.460,39.180,45.920,0.000,17.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,483.744,521.699,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323284
$DATA_FILE_SIZE,36816,722
$CAP_FILE_SIZE,82614,0
$CFSIZE,260165632,256897024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.036, 33.3,1
$GPS,051115,140702,4743.599,-12224.615,14,99.0,34,18.2