version: 66.10
glider: 158
mission: 13
dive: 6
start: 2 27 113 0 33 54
data:
$ID,158
$MISSION,13
$DIVE,6
$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,70
$T_MISSION,100
$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,-722078.5
$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,46
$R_STBD_OVSHOOT,41
$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
$GPS1,270213,002625,4743.529,-12224.886,10,1.1,10,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-65.5
$GPS2,270213,003255,4743.526,-12224.868,15,1.1,15,18.2
$SPEED_LIMITS,0.124,0.210
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.005,0.210
$KALMAN_X,-48.5,-13.3,12.4,-50.0,-43.5
$KALMAN_Y,-1718.6,-11.9,181.6,-868.6,-1054.6
$MHEAD_RNG_PITCHd_Wd,343.2,697,-14.2,-7.143
$D_GRID,175
$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,-0.51,-117.3,0.0,0.0,0,106,0.00,0.00,-85.12,0.000,6,0.000,0.000,118,2414,2842,0,0,0,0,0,0,28.83,28.83,26.31
$GC,110,-0.51,-117.3,2.7,-5.4,11,127,9.73,1.62,0.00,0.000,4,0.265,0.037,2481,3463,2843,0,0,0,0,0,0,25.67,25.98,28.83
$GC,402,-0.51,-117.3,36.6,-9.5,58,411,0.00,1.62,0.00,0.000,6,0.000,0.028,2481,2379,2844,0,0,0,0,0,0,28.83,26.19,28.83
$GC,485,-0.51,-117.3,43.8,-8.8,71,492,0.00,1.65,0.00,0.000,4,0.000,0.045,2472,3453,2844,0,0,0,0,0,0,28.83,26.20,28.83
$GC,758,-0.51,-117.3,69.1,-8.9,117,764,0.00,1.55,0.00,0.000,6,0.000,0.028,2473,2392,2844,0,0,0,0,0,0,28.83,26.32,28.83
$GC,905,-0.51,-117.3,82.2,-9.7,142,913,0.00,1.67,0.00,0.000,4,0.000,0.046,2464,3457,2844,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1033,-0.51,-117.3,94.3,-9.3,163,1043,0.00,1.55,0.00,0.000,6,0.000,0.028,2464,2400,2844,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1185,-0.51,-117.3,109.0,-9.7,188,1194,0.00,1.58,0.00,0.000,4,0.000,0.042,2464,1365,2844,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1236,-0.51,-117.3,114.8,-11.3,196,1248,0.10,1.58,0.00,0.000,6,0.167,0.034,2488,2407,2843,0,0,0,0,0,0,26.23,26.42,28.83
$GC,1392,-0.51,-117.3,128.4,-7.1,221,1398,0.00,1.58,0.00,0.000,4,0.000,0.037,2489,1351,2844,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1431,-0.51,-117.3,131.4,-7.2,227,1437,0.00,1.55,0.00,0.000,6,0.000,0.035,2481,2406,2848,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1581,-0.51,-117.3,141.8,-6.7,252,1590,0.00,1.62,0.00,0.000,4,0.000,0.045,2475,3458,2844,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1640,-0.51,-117.3,145.5,-7.1,261,1647,0.00,1.52,0.00,0.000,6,0.000,0.027,2474,2397,2844,0,0,0,0,0,0,28.83,26.48,28.83
$STATE,1700,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1700,begin apogee
$GC,1706,-0.17,0.0,150.3,-8.1,271,1803,0.40,0.00,90.90,0.623,6,0.151,0.000,2599,2397,2357,0,0,0,0,0,0,26.30,28.83,24.82
$STATE,1804,end apogee,CONTROL_FINISHED_OK
$STATE,1804,begin climb
$GC,1806,0.51,117.3,152.8,0.0,285,1909,0.65,0.00,93.40,0.595,6,0.106,0.000,2818,2397,1876,0,0,0,0,0,0,25.32,28.83,24.44
$GC,2053,0.51,117.3,128.2,12.4,324,2062,0.00,1.70,0.00,0.000,4,0.000,0.043,2818,3454,1869,0,0,0,0,0,0,28.83,25.65,28.83
$GC,2077,0.51,117.3,125.4,11.9,327,2084,0.00,1.58,0.00,0.000,6,0.000,0.030,2826,2412,1868,0,0,0,0,0,0,28.83,25.70,28.83
$GC,2227,0.51,117.3,106.8,12.3,352,2236,0.00,1.65,0.00,0.000,4,0.000,0.041,2834,1349,1867,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2263,0.51,117.3,102.6,11.4,357,2269,0.00,1.58,0.00,0.000,6,0.000,0.032,2834,2406,1867,0,0,0,0,0,0,28.83,25.97,28.83
$GC,2410,0.51,117.3,84.1,11.9,382,2419,0.00,1.65,0.00,0.000,4,0.000,0.042,2842,1349,1866,0,0,0,0,0,0,28.83,26.05,28.83
$GC,2469,0.51,117.3,77.4,11.9,391,2476,0.00,1.58,0.00,0.000,6,0.000,0.033,2842,2413,1866,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2618,0.51,117.3,58.4,12.2,416,2626,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2413,1866,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2768,0.51,117.3,41.2,11.4,441,2775,0.00,1.60,0.00,0.000,4,0.000,0.041,2850,1346,1866,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2856,0.51,117.3,31.2,11.6,455,2866,0.10,1.60,0.00,0.000,6,0.161,0.034,2818,2408,1865,0,0,0,0,0,0,26.13,26.31,28.83
$GC,2941,0.51,117.3,22.0,11.0,468,2950,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2408,1865,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3025,0.51,117.3,12.8,10.9,481,3034,0.00,1.65,0.00,0.000,4,0.000,0.040,2825,1341,1865,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3085,0.51,117.3,7.6,7.6,490,3094,0.00,1.60,0.00,0.000,6,0.000,0.034,2825,2398,1865,0,0,0,0,0,0,28.83,26.37,28.83
$STATE,3131,end climb,SURFACE_DEPTH_REACHED
$STATE,3131,begin surface coast
$FINISH,-0.0,1.022620
$STATE,3163,end surface coast,CONTROL_FINISHED_OK
$STATE,3163,begin surface
$SM_CCo,3180,133.10,0.055,0,0,599,432.71
$SM_CCo,3317,-0.05,0.000,0,0,598,432.22
$SM_CCo,3321,-0.15,0.000,0,0,601,432.22
$SM_GC,0.10,7.12,0.00,-0.15,0.050,0.000,0.000,121,2398,601,-7.86,-0.06,432.22,0,0,0,0,0,0,26.34,28.83,26.25
$IRIDIUM_FIX,4726.11,-12220.67,260213,232312
$TT8_MAMPS,0.035203,0.035203
$HUMID,41.29
$INTERNAL_PRESSURE,9.01748
$TCM_TEMP,13.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,140.1,55.2
$24V_AH,24.4,0.459
$10V_AH,10.0,0.388
$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,18.100,35.275,184.300,133.100,0.000,23.016,39.008,208.856,3.000,0.000,16.718,1141.894,278.199,403.965,1755.312,149.313,33.224,923.919,0.000,1426.398,0.000,21.141,0.000
$DEVICE_MAMPS,264.690,45.900,623.475,55.080,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,PAM,nil,nil,nil
$SENSOR_SECS,351.820,218.098,1075.569,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322680
$DATA_FILE_SIZE,30341,502
$CAP_FILE_SIZE,61643,2
$CFSIZE,260165632,240144384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270213,013007,4743.534,-12224.923,12,2.0,12,18.2