version: 66.11
glider: 158
mission: 13
dive: 17
start: 11 5 115 14 15 27
data:
$ID,158
$MISSION,13
$DIVE,17
$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,-721923.88
$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,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,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
$GPS1,051115,140702,4743.599,-12224.615,14,99.0,34,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-66.2
$GPS2,051115,141500,4743.687,-12224.536,15,1.7,15,18.2
$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,164.5,1272,-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,-195.4,119,1983,609,629,0.0,0.0,0,64,0.00,0.00,-45.80,0.000,16386,0.000,0.000,119,1984,1956,1937,1976,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.54,-195.4,118,1983,1937,1977,3.2,-6.7,8,104,8.95,2.28,-18.40,0.000,18692,0.245,0.058,2378,3424,2887,2900,2874,0,0,0,0,0,0,25.64,25.89,26.19
$GC,167,-0.54,-195.4,2378,3425,2901,2874,18.6,-12.0,26,174,0.00,2.17,0.00,0.000,1030,0.000,0.030,2378,1995,2887,2901,2874,0,0,0,0,0,0,28.83,26.01,28.83
$GC,236,-0.54,-195.4,2378,1994,2902,2874,27.7,-12.7,39,242,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1994,2888,2902,2874,0,0,0,0,0,0,28.83,28.83,28.83
$GC,305,-0.54,-195.4,2378,1994,2903,2874,36.8,-12.8,52,311,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1994,2888,2903,2874,0,0,0,0,0,0,28.83,28.83,28.83
$GC,374,-0.54,-195.4,2378,1994,2903,2874,45.4,-12.2,65,381,0.00,2.12,0.00,0.000,516,0.000,0.041,2379,594,2888,2903,2874,0,0,0,0,0,0,28.83,26.15,28.83
$GC,404,-0.54,-195.4,2378,594,2903,2874,49.3,-12.9,70,411,0.00,2.12,0.00,0.000,1030,0.000,0.031,2370,1998,2888,2903,2874,0,0,0,0,0,0,28.83,26.19,28.83
$GC,534,-0.54,-195.4,2370,1998,2903,2874,66.2,-12.4,95,540,0.00,2.15,0.00,0.000,260,0.000,0.043,2359,3407,2888,2903,2874,0,0,0,0,0,0,28.83,26.22,28.83
$GC,568,-0.54,-195.4,2360,3407,2903,2874,70.4,-12.4,101,576,0.00,2.12,0.00,0.000,1030,0.000,0.029,2360,1990,2888,2903,2874,0,0,0,0,0,0,28.83,26.27,28.83
$GC,701,-0.54,-195.4,2359,1990,2903,2874,87.1,-12.9,126,707,0.00,2.10,0.00,0.000,516,0.000,0.041,2360,598,2888,2903,2874,0,0,0,0,0,0,28.83,26.29,28.83
$GC,760,-0.54,-195.4,1456,598,2850,2868,95.4,-13.4,137,768,0.15,2.10,0.00,0.000,3078,0.154,0.031,2391,1999,2888,2903,2874,0,0,0,0,0,0,26.21,26.34,28.83
$GC,894,-0.54,-195.4,2391,1999,2903,2874,109.7,-10.2,162,901,0.00,2.12,0.00,0.000,260,0.000,0.043,2382,3399,2888,2903,2874,0,0,0,0,0,0,28.83,26.35,28.83
$GC,939,-0.54,-195.4,2382,3399,2903,2875,114.6,-10.1,170,946,0.00,2.10,0.00,0.000,1030,0.000,0.028,2382,1989,2889,2903,2875,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1070,-0.54,-195.4,2382,1989,2903,2874,128.1,-10.3,195,1077,0.00,2.10,0.00,0.000,516,0.000,0.041,2382,590,2888,2903,2874,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1100,-0.54,-195.4,2382,590,2903,2874,131.5,-11.2,200,1107,0.00,2.12,0.00,0.000,1030,0.000,0.030,2373,2008,2889,2904,2874,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1231,-0.54,-195.4,2373,2009,2903,2874,146.1,-11.3,225,1239,0.00,2.12,0.00,0.000,260,0.000,0.041,2363,3414,2888,2903,2874,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1262,-0.54,-195.4,2363,3414,2903,2875,149.6,-10.8,230,1269,0.00,2.10,0.00,0.000,1030,0.000,0.028,2363,1998,2888,2903,2874,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1393,-0.54,-195.4,1440,1995,2849,2867,165.2,-12.1,255,1400,0.00,2.10,0.00,0.000,516,0.000,0.040,2363,593,2888,2903,2874,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1427,-0.54,-195.4,1456,593,2851,2868,170.2,-14.5,261,1435,0.15,2.10,0.00,0.000,3078,0.155,0.031,2395,2002,2888,2903,2874,0,0,0,0,0,0,26.36,26.48,28.83
$STATE,1460,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1460,begin apogee
$GC,1467,-0.18,0.0,2395,1730,2903,2874,174.4,-10.8,267,1619,0.32,0.00,144.00,0.645,10246,0.121,0.000,2511,1730,2105,2145,2066,0,0,0,0,0,0,26.38,28.83,24.52
$STATE,1622,end apogee,CONTROL_FINISHED_OK
$STATE,1622,begin climb
$GC,1624,0.54,195.4,2510,1730,2143,2064,181.5,0.0,294,1787,0.68,2.25,150.93,0.633,10756,0.090,0.046,2753,364,1325,1378,1273,0,0,0,0,0,0,25.09,24.86,24.30
$GC,1815,0.54,195.4,1792,364,1346,1270,172.7,9.6,327,1821,0.00,2.20,0.00,0.000,1030,0.000,0.031,2754,1756,1323,1374,1273,0,0,0,0,0,0,28.83,25.22,28.83
$GC,1946,0.54,195.4,2753,1757,1373,1268,161.1,9.1,352,1952,0.00,2.17,0.00,0.000,260,0.000,0.040,2753,3158,1320,1373,1268,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1981,0.54,195.4,2753,3158,1373,1267,157.4,10.5,358,1987,0.00,2.15,0.00,0.000,1030,0.000,0.033,2759,1768,1320,1373,1267,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2112,0.54,195.4,1744,1766,1343,1264,144.2,10.2,383,2118,0.00,2.25,0.00,0.000,516,0.000,0.047,2770,337,1319,1373,1266,0,0,0,0,0,0,28.83,25.92,28.83
$GC,2155,0.54,195.4,1792,337,1344,1264,139.5,10.4,391,2163,0.15,2.17,0.00,0.000,5126,0.145,0.031,2729,1764,1319,1372,1266,0,0,0,0,0,0,25.88,26.00,28.83
$GC,2285,0.54,195.4,1728,1764,1343,1263,129.2,7.4,416,2292,0.00,2.12,0.00,0.000,260,0.000,0.041,2729,3148,1318,1371,1266,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2315,0.54,195.4,2729,3148,1371,1265,127.1,7.3,421,2322,0.00,2.15,0.00,0.000,1030,0.000,0.034,2737,1739,1318,1372,1265,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2447,0.54,195.4,2736,1739,1372,1265,117.7,8.1,446,2453,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1739,1318,1372,1265,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2575,0.54,195.4,1744,1737,1344,1262,107.1,7.9,471,2581,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1739,1318,1372,1265,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2704,0.54,195.4,2737,1739,1372,1265,97.4,7.5,496,2710,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1739,1318,1372,1265,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2833,0.54,195.4,2736,1739,1372,1265,87.9,7.2,521,2839,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1739,1318,1372,1265,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2962,0.54,195.4,2737,1739,1372,1265,79.1,7.0,546,2969,0.00,2.15,0.00,0.000,516,0.000,0.047,2746,346,1318,1371,1265,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2997,0.54,195.4,2744,346,1371,1264,76.5,7.5,552,3004,0.00,2.12,0.00,0.000,1030,0.000,0.031,2746,1762,1317,1370,1264,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3128,0.54,195.4,1728,1761,1342,1261,66.8,8.2,577,3135,0.00,2.10,0.00,0.000,260,0.000,0.041,2746,3149,1317,1371,1264,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3158,0.54,195.4,2746,3150,1370,1264,64.0,8.8,582,3166,0.00,2.12,0.00,0.000,1030,0.000,0.034,2753,1741,1317,1370,1264,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3290,0.54,195.4,1728,1740,1341,1261,52.9,8.7,607,3296,0.00,2.15,0.00,0.000,516,0.000,0.047,2764,343,1317,1371,1264,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3329,0.54,195.4,2763,343,1371,1264,49.0,9.9,614,3336,0.00,2.12,0.00,0.000,1030,0.000,0.031,2764,1763,1317,1370,1264,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3460,0.54,195.4,1744,1762,1342,1261,36.5,10.2,639,3466,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,1764,1317,1370,1264,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3528,0.54,195.4,2763,1764,1370,1263,29.5,10.0,652,3535,0.00,2.20,0.00,0.000,516,0.000,0.046,2773,338,1317,1371,1263,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3548,0.54,195.4,2773,338,1370,1263,27.6,9.9,655,3555,0.15,2.12,0.00,0.000,5126,0.145,0.031,2731,1766,1316,1370,1263,0,0,0,0,0,0,26.37,26.50,28.83
$GC,3618,0.54,195.4,2730,1766,1370,1263,22.1,7.2,668,3624,0.00,2.10,0.00,0.000,260,0.000,0.041,2730,3157,1316,1370,1263,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3667,0.54,195.4,1744,3155,1343,1260,18.5,7.7,677,3674,0.00,2.12,0.00,0.000,1030,0.000,0.034,2738,1740,1316,1370,1263,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3738,0.54,195.4,2738,1739,1370,1263,13.1,8.2,690,3744,0.00,2.15,0.00,0.000,516,0.000,0.047,2745,338,1316,1370,1263,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3753,0.54,195.4,2745,338,1370,1263,12.0,7.7,692,3759,0.00,2.10,0.00,0.000,1030,0.000,0.031,2746,1750,1316,1370,1263,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3823,0.61,268.7,2745,1751,1370,1263,7.6,5.0,705,3860,0.00,2.17,31.90,0.454,8452,0.000,0.041,2746,3159,1034,1086,982,0,0,0,0,0,0,28.83,26.19,25.77
$STATE,3930,end climb,SURFACE_DEPTH_REACHED
$STATE,3932,begin surface coast
$FINISH,0.6,1.020281
$STATE,3962,end surface coast,CONTROL_FINISHED_OK
$STATE,3963,begin surface
$SM_CCo,3981,21.40,0.055,0,0,831,320.03
$SM_GC,2.30,6.75,1.83,21.40,0.035,0.033,0.055,116,1988,831,-7.56,0.93,320.03,0,0,0,0,0,0,26.29,26.29,26.24
$IRIDIUM_FIX,4722.92,-12206.43,010908,020257
$TT8_MAMPS,0.020223,0.020223
$HUMID,49.13
$INTERNAL_PRESSURE,8.79286
$TCM_TEMP,20.60
$XPDR_PINGS,0
$24V_AH,24.3,1.391
$10V_AH,10.6,0.932
$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,17.300,81.475,326.825,21.400,0.000,25.889,39.270,286.436,0.000,0.000,16.297,1680.811,689.251,498.715,1391.038,229.928,0.000,1133.712,0.000,1056.502,0.000,0.537,0.000
$DEVICE_MAMPS,244.800,58.140,644.895,55.080,0.000,55.840,160.000,223.000,420.000,0.000,30.710,11.460,2.190,11.460,39.180,45.920,0.000,17.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,490.607,536.235,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323344
$DATA_FILE_SIZE,36799,731
$CAP_FILE_SIZE,87268,0
$CFSIZE,260165632,256839680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.025,233.1,1
$GPS,051115,152317,4743.045,-12224.673,11,1.8,28,18.2