version: 66.10
glider: 158
mission: 13
dive: 10
start: 2 27 113 4 54 17
data:
$ID,158
$MISSION,13
$DIVE,10
$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,-722083.5
$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,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,77
$R_STBD_OVSHOOT,45
$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
$GPS1,270213,044603,4744.407,-12224.869,13,3.9,32,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-70.1
$GPS2,270213,045319,4744.536,-12224.766,16,1.3,16,18.2
$SPEED_LIMITS,0.139,0.241
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.056,-0.234
$KALMAN_X,594.7,-147.1,53.2,-473.3,247.5
$KALMAN_Y,495.4,-1795.1,-79.8,809.8,964.2
$MHEAD_RNG_PITCHd_Wd,175.2,1178,-14.1,-8.032
$D_GRID,181
$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,-146.6,0.0,0.0,0,73,0.00,0.00,-55.08,0.000,2,0.000,0.000,128,2273,2902,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.50,-146.6,3.0,-5.6,7,95,9.73,1.50,-1.23,0.000,4,0.265,0.054,2496,1271,2962,0,0,0,0,0,0,25.66,25.95,26.15
$GC,104,-0.50,-146.6,10.4,-20.6,10,113,0.00,1.58,0.00,0.000,6,0.000,0.032,2490,2302,2962,0,0,0,0,0,0,28.83,26.02,28.83
$GC,188,-0.50,-146.6,20.2,-11.2,23,196,0.00,1.65,0.00,0.000,4,0.000,0.043,2481,3352,2962,0,0,0,0,0,0,28.83,26.03,28.83
$GC,259,-0.50,-146.6,28.2,-12.2,34,268,0.00,1.55,0.00,0.000,6,0.000,0.021,2482,2316,2962,0,0,0,0,0,0,28.83,26.13,28.83
$GC,342,-0.50,-146.6,37.2,-10.6,47,350,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2316,2963,0,0,0,0,0,0,28.83,28.83,28.83
$GC,421,-0.50,-146.6,45.7,-10.4,60,429,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2316,2963,0,0,0,0,0,0,28.83,28.83,28.83
$GC,570,-0.50,-146.6,59.9,-9.9,85,576,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2316,2963,0,0,0,0,0,0,28.83,28.83,28.83
$GC,715,-0.50,-146.6,74.5,-9.8,110,724,0.00,1.62,0.00,0.000,4,0.000,0.042,2472,3353,2963,0,0,0,0,0,0,28.83,26.30,28.83
$GC,796,-0.50,-146.6,83.0,-11.7,123,803,0.00,1.52,0.00,0.000,6,0.000,0.024,2473,2290,2963,0,0,0,0,0,0,28.83,26.34,28.83
$GC,942,-0.50,-146.6,99.5,-10.9,148,950,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2289,2963,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1091,-0.50,-146.6,115.8,-12.1,173,1098,0.00,1.62,0.00,0.000,4,0.000,0.041,2465,3360,2963,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1172,-0.50,-146.6,125.2,-11.6,186,1181,0.00,1.58,0.00,0.000,6,0.000,0.025,2465,2295,2963,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1324,-0.50,-146.6,140.8,-10.5,211,1330,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2294,2962,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1469,-0.50,-146.6,157.9,-11.9,236,1478,0.00,1.65,0.00,0.000,4,0.000,0.041,2457,3354,2962,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1543,-0.50,-146.6,166.3,-11.0,248,1552,0.10,1.55,0.00,0.000,6,0.149,0.025,2491,2290,2963,0,0,0,0,0,0,26.32,26.49,28.83
$GC,1695,-0.50,-146.6,180.1,-8.8,273,1701,0.00,1.50,0.00,0.000,4,0.000,0.039,2491,1258,2962,0,0,0,0,0,0,28.83,26.48,28.83
$STATE,1709,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1709,begin apogee
$GC,1717,-0.15,0.0,181.7,-8.9,275,1844,0.40,0.00,115.85,0.641,6,0.151,0.000,2610,2405,2361,0,0,0,0,1,0,26.33,28.83,24.61
$STATE,1845,end apogee,CONTROL_FINISHED_OK
$STATE,1845,begin climb
$GC,1847,0.50,146.6,184.4,0.0,294,1977,0.60,1.67,120.18,0.614,4,0.100,0.037,2822,1380,1755,0,0,0,0,0,0,25.16,24.84,24.31
$GC,2017,0.50,146.6,167.5,13.1,319,2024,0.00,1.58,0.00,0.000,6,0.000,0.031,2822,2409,1750,0,0,0,0,0,0,28.83,25.25,28.83
$GC,2163,0.50,146.6,148.4,12.9,344,2171,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2409,1748,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2313,0.50,146.6,128.6,12.8,369,2320,0.00,1.58,0.00,0.000,4,0.000,0.037,2830,1379,1747,0,0,0,0,0,0,28.83,25.90,28.83
$GC,2363,0.50,146.6,122.1,12.6,377,2370,0.00,1.52,0.00,0.000,6,0.000,0.030,2830,2407,1745,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2509,0.50,146.6,101.8,13.2,402,2518,0.00,1.58,0.00,0.000,4,0.000,0.036,2837,1382,1746,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2579,0.50,146.6,93.1,12.5,413,2586,0.00,1.50,0.00,0.000,6,0.000,0.030,2837,2404,1746,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2727,0.50,146.6,73.7,12.4,438,2736,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2405,1746,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2877,0.50,146.6,55.3,12.3,463,2884,0.00,1.60,0.00,0.000,4,0.000,0.042,2837,3454,1746,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2917,0.50,146.6,49.7,14.8,469,2923,0.00,1.50,0.00,0.000,6,0.000,0.027,2845,2427,1745,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3069,0.50,146.6,29.1,13.6,494,3078,0.00,1.62,0.00,0.000,4,0.000,0.039,2853,1353,1745,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3164,0.50,146.6,17.4,11.8,509,3173,0.15,1.58,0.00,0.000,6,0.153,0.031,2805,2403,1744,0,0,0,0,0,0,26.18,26.36,28.83
$GC,3248,0.50,146.6,9.1,8.8,522,3257,0.00,1.62,0.00,0.000,4,0.000,0.044,2804,3448,1745,0,0,0,0,0,0,28.83,26.36,28.83
$STATE,3305,end climb,SURFACE_DEPTH_REACHED
$STATE,3305,begin surface coast
$FINISH,0.3,1.022651
$STATE,3336,end surface coast,CONTROL_FINISHED_OK
$STATE,3336,begin surface
$SM_CCo,3356,29.85,0.054,0,0,1464,220.03
$SM_GC,1.11,7.03,1.77,29.85,0.046,0.028,0.054,121,2320,1464,-7.86,1.36,220.03,0,0,0,0,0,0,26.35,26.37,26.32
$IRIDIUM_FIX,4726.11,-12225.08,270213,030329
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.36
$INTERNAL_PRESSURE,9.08584
$TCM_TEMP,13.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,125.2,87.9
$24V_AH,24.3,0.696
$10V_AH,10.4,2.363
$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,18.000,38.200,236.025,29.850,0.000,24.307,36.036,255.514,1.000,0.000,17.180,1193.897,342.024,331.442,1810.889,154.348,33.206,887.823,0.000,1496.692,0.000,7.255,0.000
$DEVICE_MAMPS,264.690,54.315,641.070,53.550,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,PAM,nil,nil,nil
$SENSOR_SECS,377.366,225.896,1102.956,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33580,536
$CAP_FILE_SIZE,64651,0
$CFSIZE,260165632,239988736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,270213,055136,4744.493,-12224.869,9,1.8,14,18.2