version: 66.10
glider: 158
mission: 13
dive: 9
start: 2 27 113 3 47 19
data:
$ID,158
$MISSION,13
$DIVE,9
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,200
$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,83
$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,150
$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,220
$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,-722082.25
$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,34
$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,2300
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,49
$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,0.00060000003
$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,120
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,6
$ALTIM_SENSITIVITY,2
$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,0
$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
$GPS1,270213,033849,4744.367,-12224.825,12,1.7,12,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-67.1
$GPS2,270213,034621,4744.481,-12224.762,16,2.7,35,18.2
$SPEED_LIMITS,0.139,0.241
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.054,-0.235
$KALMAN_X,394.9,-128.4,-2.9,-231.7,198.4
$KALMAN_Y,-1331.9,-1007.9,-193.9,1862.4,67.9
$MHEAD_RNG_PITCHd_Wd,174.9,1077,-14.1,-8.032
$D_GRID,178
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.50,-146.6,0.0,0.0,0,81,0.00,0.03,-56.90,0.000,6,0.000,1.349,123,2320,2961,0,0,0,0,0,0,28.83,25.10,26.31
$GC,85,-0.50,-146.6,3.9,-7.7,8,102,9.77,1.58,0.00,0.000,4,0.266,0.032,2484,3347,2962,0,0,0,0,0,0,25.69,26.00,28.83
$GC,111,-0.50,-146.6,13.7,-28.3,11,120,0.00,1.60,0.00,0.000,6,0.000,0.026,2484,2290,2963,0,0,0,0,0,0,28.83,26.01,28.83
$GC,195,-0.50,-146.6,24.6,-11.6,24,203,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2288,2963,0,0,0,0,0,0,28.83,28.83,28.83
$GC,277,-0.50,-146.6,33.2,-10.6,37,285,0.00,1.65,0.00,0.000,4,0.000,0.044,2476,3329,2962,0,0,0,0,0,0,28.83,26.12,28.83
$GC,377,-0.50,-146.6,44.0,-10.7,53,383,0.00,1.50,0.00,0.000,6,0.000,0.024,2476,2287,2962,0,0,0,0,0,0,28.83,26.20,28.83
$GC,524,-0.50,-146.6,57.6,-8.9,78,533,0.00,1.65,0.00,0.000,4,0.000,0.042,2468,3335,2962,0,0,0,0,0,0,28.83,26.24,28.83
$GC,605,-0.50,-146.6,65.7,-10.0,91,611,0.00,1.50,0.00,0.000,6,0.000,0.024,2468,2293,2962,0,0,0,0,0,0,28.83,26.29,28.83
$GC,751,-0.50,-146.6,81.4,-11.5,116,760,0.00,1.62,0.00,0.000,4,0.000,0.042,2460,3329,2962,0,0,0,0,0,0,28.83,26.31,28.83
$GC,798,-0.50,-146.6,86.5,-11.8,123,805,0.12,1.50,0.00,0.000,6,0.175,0.024,2492,2270,2962,0,0,0,0,0,0,26.17,26.35,28.83
$GC,946,-0.50,-146.6,100.8,-9.0,148,955,0.00,1.65,0.00,0.000,4,0.000,0.041,2485,3326,2962,0,0,0,0,0,0,28.83,26.39,28.83
$GC,993,-0.50,-146.6,105.0,-9.4,155,999,0.00,1.50,0.00,0.000,6,0.000,0.022,2485,2275,2962,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1141,-0.50,-146.6,117.1,-8.0,180,1149,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2274,2962,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1295,-0.50,-146.6,129.6,-8.0,205,1301,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2274,2962,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1441,-0.50,-146.6,142.8,-9.4,230,1450,0.00,1.65,0.00,0.000,4,0.000,0.041,2477,3334,2962,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1580,-0.50,-146.6,155.6,-7.9,253,1587,0.00,1.50,0.00,0.000,6,0.000,0.028,2477,2295,2962,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1729,-0.50,-146.6,169.4,-7.5,278,1738,0.00,1.55,0.00,0.000,4,0.000,0.036,2477,1253,2962,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1799,-0.50,-146.6,176.0,-8.6,289,1806,0.00,1.50,0.00,0.000,6,0.000,0.031,2469,2296,2962,0,0,0,0,0,0,28.83,26.53,28.83
$STATE,1817,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1817,begin apogee
$GC,1823,-0.15,0.0,178.3,-9.2,292,1979,0.45,0.00,142.00,0.623,6,0.157,0.000,2608,2415,2360,0,0,0,0,1,0,26.33,28.83,24.46
$STATE,1980,end apogee,CONTROL_FINISHED_OK
$STATE,1981,begin climb
$GC,1984,0.50,146.6,183.5,0.0,315,2111,0.62,0.00,120.05,0.613,6,0.096,0.000,2821,2414,1757,0,0,0,0,0,0,25.07,28.83,24.30
$GC,2254,0.50,146.6,151.5,12.7,358,2262,0.00,1.65,0.00,0.000,4,0.000,0.039,2828,1370,1748,0,0,0,0,0,0,28.83,25.59,28.83
$GC,2335,0.50,146.6,140.6,11.4,371,2342,0.00,1.52,0.00,0.000,6,0.000,0.031,2828,2392,1747,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2483,0.50,146.6,119.8,14.0,396,2491,0.00,1.67,0.00,0.000,4,0.000,0.044,2829,3455,1746,0,0,0,0,0,0,28.83,25.97,28.83
$GC,2506,0.50,146.6,116.2,14.5,399,2513,0.00,1.55,0.00,0.000,6,0.000,0.028,2836,2416,1746,0,0,0,0,0,0,28.83,25.97,28.83
$GC,2656,0.50,146.6,94.5,14.8,424,2664,0.00,1.62,0.00,0.000,4,0.000,0.041,2844,1353,1746,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2737,0.50,146.6,82.8,13.1,437,2743,0.00,1.55,0.00,0.000,6,0.000,0.031,2844,2405,1746,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2883,0.50,146.6,62.8,12.6,462,2891,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2405,1746,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3033,0.50,146.6,42.6,13.7,487,3039,0.00,1.58,0.00,0.000,4,0.000,0.043,2844,3451,1746,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3060,0.50,146.6,38.5,14.6,491,3069,0.10,1.60,0.00,0.000,6,0.168,0.028,2820,2400,1745,0,0,0,0,0,0,26.11,26.29,28.83
$GC,3144,0.50,146.6,28.6,10.5,504,3152,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2398,1745,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3227,0.50,146.6,19.9,10.5,517,3236,0.00,1.65,0.00,0.000,4,0.000,0.041,2820,3454,1745,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3263,0.50,146.6,15.7,12.4,522,3271,0.00,1.60,0.00,0.000,6,0.000,0.028,2827,2392,1746,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3346,0.50,146.6,6.1,10.5,535,3354,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2390,1745,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3372,end climb,SURFACE_DEPTH_REACHED
$STATE,3372,begin surface coast
$FINISH,0.1,1.018979
$STATE,3404,end surface coast,CONTROL_FINISHED_OK
$STATE,3404,begin surface
$SM_CCo,3422,29.65,0.054,0,0,1464,220.03
$SM_GC,1.02,7.05,0.10,29.65,0.044,0.091,0.054,129,2277,1464,-7.84,1.67,220.03,0,0,0,0,0,0,26.33,26.42,26.30
$IRIDIUM_FIX,4726.11,-12213.55,270213,020227
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.04
$INTERNAL_PRESSURE,9.08584
$TCM_TEMP,13.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,125.2,89.2
$24V_AH,24.3,0.635
$10V_AH,10.4,2.285
$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,18.125,38.200,262.050,29.650,0.000,22.767,33.518,253.121,1.000,0.000,37.132,1211.518,346.021,354.471,1842.928,160.055,33.208,935.531,0.000,1508.906,0.000,10.190,0.000
$DEVICE_MAMPS,266.220,1348.695,623.475,53.550,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,PAM,nil,nil,nil
$SENSOR_SECS,383.304,225.951,1106.590,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322660
$DATA_FILE_SIZE,33659,544
$CAP_FILE_SIZE,67205,0
$CFSIZE,260165632,240025600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,270213,044603,4744.407,-12224.869,13,3.9,32,18.2