version: 66.10
glider: 158
mission: 13
dive: 7
start: 2 27 113 1 38 22
data:
$ID,158
$MISSION,13
$DIVE,7
$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,-722079.75
$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,47
$R_STBD_OVSHOOT,42
$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
$GPS1,270213,013007,4743.534,-12224.923,12,2.0,12,18.2
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-63.4
$GPS2,270213,013725,4743.559,-12224.883,16,1.8,16,18.2
$SPEED_LIMITS,0.124,0.210
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.006,0.209
$KALMAN_X,-81.2,-16.8,8.2,-28.2,-54.8
$KALMAN_Y,-2369.3,-51.1,44.3,8.3,-1057.7
$MHEAD_RNG_PITCHd_Wd,343.5,640,-14.2,-7.143
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.51,-117.3,0.0,0.0,0,108,0.00,0.00,-85.28,0.000,6,0.000,0.000,119,2401,2841,0,0,0,0,0,0,28.83,28.83,26.30
$GC,112,-0.51,-117.3,2.9,-6.0,11,129,9.70,1.65,0.00,0.000,4,0.265,0.034,2476,3471,2843,0,0,0,0,0,0,25.67,25.97,28.83
$GC,402,-0.51,-117.3,40.7,-10.3,58,411,0.00,1.62,0.00,0.000,6,0.000,0.026,2475,2384,2844,0,0,0,0,0,0,28.83,26.19,28.83
$GC,554,-0.51,-117.3,54.6,-8.5,83,560,0.00,1.65,0.00,0.000,4,0.000,0.044,2468,3463,2844,0,0,0,0,0,0,28.83,26.23,28.83
$GC,826,-0.51,-117.3,80.1,-8.5,129,833,0.00,1.55,0.00,0.000,6,0.000,0.028,2468,2395,2844,0,0,0,0,0,0,28.83,26.34,28.83
$GC,975,-0.51,-117.3,91.9,-9.5,154,984,0.00,1.65,0.00,0.000,4,0.000,0.044,2460,3450,2844,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1247,-0.51,-117.3,119.9,-11.6,199,1255,0.00,1.52,0.00,0.000,6,0.000,0.026,2460,2389,2844,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1397,-0.51,-117.3,134.9,-7.3,224,1411,0.00,1.65,0.00,0.000,4,0.000,0.043,2452,3450,2844,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1484,-0.51,-117.3,143.2,-10.8,237,1492,0.15,1.50,0.00,0.000,6,0.178,0.026,2491,2375,2843,0,0,0,0,0,0,26.27,26.47,28.83
$STATE,1550,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1550,begin apogee
$GC,1556,-0.17,0.0,150.1,-8.4,248,1653,0.35,0.00,90.78,0.623,6,0.151,0.000,2602,2372,2355,0,0,0,0,0,0,26.30,28.83,24.82
$STATE,1654,end apogee,CONTROL_FINISHED_OK
$STATE,1654,begin climb
$GC,1657,0.51,117.3,153.3,0.0,262,1762,0.65,0.00,93.57,0.591,6,0.109,0.000,2820,2372,1874,0,0,0,0,0,0,25.32,28.83,24.45
$GC,1904,0.51,117.3,129.8,10.1,301,1911,0.00,1.70,0.00,0.000,4,0.000,0.041,2820,3460,1867,0,0,0,0,0,0,28.83,25.64,28.83
$GC,1948,0.51,117.3,124.3,12.3,308,1956,0.00,1.58,0.00,0.000,6,0.000,0.029,2828,2440,1866,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2101,0.51,117.3,106.2,11.9,333,2107,0.00,1.65,0.00,0.000,4,0.000,0.042,2835,1353,1866,0,0,0,0,0,0,28.83,25.93,28.83
$GC,2186,0.51,117.3,95.4,11.9,347,2193,0.00,1.58,0.00,0.000,6,0.000,0.033,2835,2412,1865,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2333,0.51,117.3,76.6,13.0,372,2342,0.00,1.65,0.00,0.000,4,0.000,0.041,2843,1346,1865,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2369,0.51,117.3,72.3,13.0,377,2376,0.00,1.58,0.00,0.000,6,0.000,0.031,2844,2413,1865,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2517,0.51,117.3,52.2,13.5,402,2526,0.00,1.65,0.00,0.000,4,0.000,0.039,2851,1350,1865,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2599,0.51,117.3,42.0,12.3,415,2606,0.15,1.55,0.00,0.000,6,0.177,0.033,2813,2405,1864,0,0,0,0,0,0,26.08,26.26,28.83
$GC,2755,0.51,117.3,26.0,10.2,440,2764,0.00,1.62,0.00,0.000,4,0.000,0.038,2826,1348,1864,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2822,0.51,117.3,19.2,8.1,450,2831,0.00,1.58,0.00,0.000,6,0.000,0.031,2820,2399,1864,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2907,0.51,117.3,11.0,9.6,463,2915,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2399,1866,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2988,end climb,SURFACE_DEPTH_REACHED
$STATE,2988,begin surface coast
$FINISH,0.1,1.011370
$STATE,3025,end surface coast,CONTROL_FINISHED_OK
$STATE,3026,begin surface
$SM_CCo,3043,133.20,0.055,0,0,600,432.22
$SM_CCo,3179,-0.25,0.000,0,0,601,432.22
$SM_CCo,3183,0.03,0.286,0,0,600,432.22
$SM_GC,0.29,7.20,0.00,0.03,0.058,0.000,0.286,122,2399,600,-7.86,-0.03,432.22,0,0,0,0,0,0,26.36,28.83,26.25
$IRIDIUM_FIX,4726.11,-12220.67,270213,000004
$TT8_MAMPS,0.076398,0.076398
$HUMID,41.06
$INTERNAL_PRESSURE,9.01748
$TCM_TEMP,13.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,135.5,59.3
$24V_AH,24.4,0.512
$10V_AH,10.0,0.461
$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,18.200,28.925,184.350,133.225,0.000,25.439,32.705,257.811,2.750,0.000,17.625,1095.595,269.376,383.852,1736.550,147.258,33.211,877.769,0.000,1377.804,0.000,19.598,0.000
$DEVICE_MAMPS,264.690,44.370,622.710,286.110,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,PAM,nil,nil,nil
$SENSOR_SECS,338.699,210.565,1037.807,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322692
$DATA_FILE_SIZE,30377,482
$CAP_FILE_SIZE,57670,2
$CFSIZE,260165632,240115712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270213,023235,4743.742,-12224.751,29,0.9,29,18.2