version: 66.10
glider: 158
mission: 13
dive: 4
start: 2 26 113 23 5 15
data:
$ID,158
$MISSION,13
$DIVE,4
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,30
$T_BOOST,2
$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,50
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,51658
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,435
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-722075.88
$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,2654
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.02
$PITCH_GAIN,30
$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,30
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,10
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2362
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$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,-57.386631
$PRESSURE_SLOPE,0.0001162534
$AD7714Ch0Gain,128
$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,90
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,6
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.4
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,101
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043174815
$SEABIRD_T_H,0.00062973832
$SEABIRD_T_I,2.2850083e-05
$SEABIRD_T_J,2.3190789e-06
$SEABIRD_C_G,-9.7740049
$SEABIRD_C_H,1.1142186
$SEABIRD_C_I,-0.0020427832
$SEABIRD_C_J,0.00024115926
$PA_RECORDABOVE,1010.0
$PA_PROFILE,3.0
$PA_XMITPROFILE,0.0
$PA_UPLOADMAX,0.0
$PA_STARTS,10.0
$GPS1,260213,225725,4744.120,-12224.761,10,1.3,10,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-66.7
$GPS2,260213,230421,4744.110,-12224.747,16,2.6,35,18.2
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.065,-0.161
$KALMAN_X,45.9,-3.4,-7.3,14.6,25.7
$KALMAN_Y,-311.9,8.7,41.2,-1075.4,-171.9
$MHEAD_RNG_PITCHd_Wd,183.7,395,-27.2,-10.000
$D_GRID,176
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.93,-63.1,0.0,0.0,0,98,0.00,0.00,-78.43,0.000,6,0.000,0.000,124,2406,2620,0,0,0,0,0,0,28.83,28.83,26.32
$GC,102,-0.94,-117.3,2.1,-3.4,10,128,9.12,1.65,-5.55,0.000,4,0.265,0.058,2353,1336,2844,0,0,0,0,0,0,25.66,25.98,26.26
$GC,162,-0.94,-117.3,10.9,-15.4,18,171,0.00,1.65,0.00,0.000,6,0.000,0.034,2348,2409,2844,0,0,0,0,0,0,28.83,26.03,28.83
$GC,246,-0.94,-117.3,25.1,-18.0,31,254,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2409,2844,0,0,0,0,0,0,28.83,28.83,28.83
$GC,329,-0.94,-117.3,40.4,-18.3,44,338,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2409,2844,0,0,0,0,0,0,28.83,28.83,28.83
$GC,480,-0.94,-117.3,66.9,-17.0,69,487,0.00,1.60,0.00,0.000,4,0.000,0.040,2346,1332,2845,0,0,0,0,0,0,28.83,26.20,28.83
$GC,536,-0.94,-117.3,76.4,-16.8,78,545,0.00,1.62,0.00,0.000,6,0.000,0.036,2339,2399,2845,0,0,0,0,0,0,28.83,26.25,28.83
$GC,692,-0.94,-117.3,101.4,-15.5,103,699,0.00,1.60,0.00,0.000,4,0.000,0.045,2331,3463,2844,0,0,0,0,0,0,28.83,26.29,28.83
$GC,723,-0.94,-117.3,107.1,-16.2,108,732,0.00,1.62,0.00,0.000,6,0.000,0.030,2331,2383,2848,0,0,0,0,0,0,28.83,26.30,28.83
$GC,876,-0.94,-117.3,133.6,-18.7,133,885,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2382,2845,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,957,end dive,TARGET_DEPTH_EXCEEDED
$STATE,957,begin apogee
$GC,963,-0.17,0.0,150.2,-19.5,146,1059,0.93,0.00,91.10,0.623,6,0.191,0.000,2598,2382,2359,0,0,0,0,0,0,26.10,28.83,24.73
$STATE,1060,end apogee,CONTROL_FINISHED_OK
$STATE,1061,begin climb
$GC,1063,0.94,117.3,156.2,0.0,160,1169,1.08,1.67,94.07,0.591,4,0.106,0.044,2963,1355,1874,0,0,0,0,0,0,25.25,24.94,24.41
$GC,1201,0.94,117.3,136.8,22.8,180,1210,0.00,1.65,0.00,0.000,6,0.000,0.034,2963,2399,1870,0,0,0,0,0,0,28.83,25.29,28.83
$GC,1354,0.94,117.3,100.6,24.6,205,1361,0.00,1.62,0.00,0.000,4,0.000,0.040,2971,1351,1868,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1382,0.94,117.3,93.4,23.8,209,1389,0.00,1.58,0.00,0.000,6,0.000,0.032,2971,2404,1867,0,0,0,0,0,0,28.83,25.80,28.83
$GC,1532,0.94,117.3,57.0,23.5,234,1541,0.00,1.65,0.00,0.000,4,0.000,0.043,2978,1347,1867,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1584,0.94,117.3,44.2,23.1,242,1593,0.00,1.62,0.00,0.000,6,0.000,0.034,2979,2404,1866,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1742,0.94,117.3,9.4,22.5,267,1751,0.00,1.62,0.00,0.000,4,0.000,0.041,2986,1355,1865,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1760,0.94,117.3,4.7,23.3,269,1769,0.00,1.60,0.00,0.000,6,0.000,0.034,2986,2404,1866,0,0,0,0,0,0,28.83,26.16,28.83
$STATE,1776,end climb,SURFACE_DEPTH_REACHED
$STATE,1776,begin surface coast
$FINISH,-0.0,1.012650
$STATE,1790,end surface coast,CONTROL_FINISHED_OK
$STATE,1790,begin surface
$SM_CCo,1808,133.18,0.054,0,0,601,432.22
$SM_CCo,1945,0.00,0.000,0,0,601,432.22
$SM_CCo,1948,0.00,0.000,0,0,600,432.22
$SM_GC,0.22,7.53,0.00,0.00,0.044,0.000,0.000,118,2405,600,-7.86,0.11,432.22,0,0,0,0,0,0,26.15,28.83,28.83
$IRIDIUM_FIX,4735.69,-11810.01,260213,222232
$TT8_MAMPS,0.035203,0.035203
$HUMID,41.49
$INTERNAL_PRESSURE,9.01748
$TCM_TEMP,13.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,145.1,62.6
$24V_AH,24.4,0.360
$10V_AH,10.0,0.256
$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,18.650,22.775,185.175,133.175,0.000,27.919,30.615,218.755,3.500,0.000,37.224,627.361,127.802,373.437,1123.373,123.439,32.229,731.527,0.000,790.765,0.000,25.614,0.000
$DEVICE_MAMPS,264.690,58.140,623.475,54.315,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,PAM,nil,nil,nil
$SENSOR_SECS,187.376,119.874,594.506,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322708
$DATA_FILE_SIZE,17020,273
$CAP_FILE_SIZE,43717,2
$CFSIZE,260165632,240238592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260213,233836,4743.653,-12224.957,9,1.6,14,18.2