version: 66.10
glider: 158
mission: 13
dive: 11
start: 2 27 113 5 59 40
data:
$ID,158
$MISSION,13
$DIVE,11
$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,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$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,-722084.75
$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,2642
$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,23
$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,15
$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
$GPS1,270213,055136,4744.493,-12224.869,9,1.8,14,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-72.7
$GPS2,270213,055843,4744.605,-12224.814,17,1.7,17,18.2
$SPEED_LIMITS,0.139,0.201
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.044,-0.197
$KALMAN_X,644.9,-77.0,121.8,-722.1,209.9
$KALMAN_Y,1362.9,-1692.4,153.9,-254.7,1630.9
$MHEAD_RNG_PITCHd_Wd,174.4,1307,-17.8,-8.032
$D_GRID,200
$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,-0.58,-97.7,0.0,0.0,0,72,0.00,0.00,-50.60,0.000,6,0.000,0.000,119,2312,2762,0,0,0,0,0,0,28.83,28.83,26.28
$GC,76,-0.58,-97.7,3.1,-5.8,7,93,9.57,0.00,0.00,0.000,6,0.263,0.000,2451,2312,2764,0,0,0,0,0,0,25.67,28.83,28.83
$GC,167,-0.58,-97.7,17.8,-14.1,21,176,0.00,1.62,0.00,0.000,4,0.000,0.041,2444,3346,2765,0,0,0,0,0,0,28.83,26.04,28.83
$GC,226,-0.58,-97.7,24.9,-11.5,30,235,0.00,1.65,0.00,0.000,6,0.000,0.024,2444,2252,2765,0,0,0,0,0,0,28.83,26.10,28.83
$GC,310,-0.58,-97.7,34.4,-11.3,43,318,0.00,1.50,0.00,0.000,4,0.000,0.037,2444,1264,2764,0,0,0,0,0,0,28.83,26.13,28.83
$GC,375,-0.58,-97.7,42.1,-11.0,53,381,0.00,1.52,0.00,0.000,6,0.000,0.031,2437,2307,2764,0,0,0,0,0,0,28.83,26.20,28.83
$GC,521,-0.58,-97.7,58.7,-11.0,78,530,0.00,1.62,0.00,0.000,4,0.000,0.041,2428,3352,2765,0,0,0,0,0,0,28.83,26.25,28.83
$GC,663,-0.58,-97.7,75.9,-12.9,102,672,0.00,1.55,0.00,0.000,6,0.000,0.023,2428,2306,2764,0,0,0,0,0,0,28.83,26.32,28.83
$GC,813,-0.58,-97.7,93.3,-10.6,127,820,0.00,1.52,0.00,0.000,4,0.000,0.035,2428,1255,2765,0,0,0,0,0,0,28.83,26.34,28.83
$GC,852,-0.58,-97.7,97.7,-10.9,133,859,0.15,1.52,0.00,0.000,6,0.197,0.030,2457,2307,2764,0,0,0,0,0,0,26.15,26.37,28.83
$GC,1002,-0.58,-97.7,111.1,-8.3,158,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2307,2764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1151,-0.58,-97.7,123.6,-8.2,183,1157,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2307,2764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1303,-0.58,-97.7,135.1,-7.4,208,1312,0.00,1.58,0.00,0.000,4,0.000,0.037,2457,1266,2764,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1385,-0.58,-97.7,141.7,-7.4,221,1391,0.00,1.50,0.00,0.000,6,0.000,0.031,2450,2307,2764,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1532,-0.58,-97.7,155.3,-10.4,246,1541,0.00,1.60,0.00,0.000,4,0.000,0.040,2443,3352,2763,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1583,-0.58,-97.7,160.3,-10.3,254,1592,0.00,1.55,0.00,0.000,6,0.000,0.024,2442,2289,2763,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1735,-0.58,-97.7,175.8,-10.8,279,1741,0.00,1.60,0.00,0.000,4,0.000,0.042,2434,3349,2763,0,0,0,0,0,0,28.83,26.48,28.83
$STATE,1944,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1944,begin apogee
$GC,1952,-0.15,0.0,197.9,-10.6,315,2034,0.52,0.00,77.18,0.660,6,0.169,0.000,2594,2384,2358,0,0,0,0,0,0,26.34,28.83,24.94
$STATE,2035,end apogee,CONTROL_FINISHED_OK
$STATE,2035,begin climb
$GC,2037,0.58,97.7,201.7,0.0,327,2124,0.70,0.00,80.93,0.624,6,0.111,0.000,2829,2384,1957,0,0,0,0,0,0,25.43,28.83,24.42
$GC,2265,0.58,97.7,179.1,12.1,364,2274,0.00,1.70,0.00,0.000,4,0.000,0.040,2829,3440,1948,0,0,0,0,0,0,28.83,25.63,28.83
$GC,2351,0.58,97.7,167.1,14.3,378,2360,0.00,1.55,0.00,0.000,6,0.000,0.027,2837,2431,1947,0,0,0,0,0,0,28.83,25.81,28.83
$GC,2503,0.58,97.7,148.9,12.7,403,2509,0.00,1.60,0.00,0.000,4,0.000,0.037,2845,1353,1946,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2558,0.58,97.7,142.1,10.9,412,2567,0.00,1.58,0.00,0.000,6,0.000,0.030,2845,2392,1944,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2710,0.58,97.7,123.3,12.0,437,2716,0.00,1.55,0.00,0.000,4,0.000,0.037,2852,1349,1944,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2752,0.58,97.7,117.8,11.7,444,2761,0.00,1.60,0.00,0.000,6,0.000,0.031,2852,2404,1944,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2905,0.58,97.7,100.1,11.5,469,2911,0.00,1.60,0.00,0.000,4,0.000,0.037,2860,1339,1944,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2966,0.58,97.7,93.0,11.1,479,2973,0.00,1.58,0.00,0.000,6,0.000,0.031,2860,2409,1944,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3113,0.58,97.7,75.8,11.6,504,3121,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2409,1944,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3263,0.58,97.7,58.2,11.9,529,3270,0.00,1.58,0.00,0.000,4,0.000,0.041,2860,3461,1944,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3328,0.58,97.7,48.9,13.9,540,3338,0.12,1.60,0.00,0.000,6,0.184,0.028,2831,2401,1943,0,0,0,0,0,0,26.17,26.37,28.83
$GC,3484,0.58,97.7,31.7,10.7,565,3492,0.00,1.60,0.00,0.000,4,0.000,0.038,2837,1340,1943,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3537,0.58,97.7,25.4,11.3,573,3546,0.00,1.60,0.00,0.000,6,0.000,0.031,2837,2406,1942,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3621,0.58,97.7,16.1,11.3,586,3629,0.00,1.60,0.00,0.000,4,0.000,0.037,2845,1349,1942,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3668,0.58,97.7,10.4,12.3,593,3677,0.00,1.58,0.00,0.000,6,0.000,0.033,2845,2394,1943,0,0,0,0,0,0,28.83,26.44,28.83
$STATE,3731,end climb,SURFACE_DEPTH_REACHED
$STATE,3731,begin surface coast
$FINISH,0.0,1.013064
$STATE,3756,end surface coast,CONTROL_FINISHED_OK
$STATE,3757,begin surface
$SM_CCo,3774,50.80,0.054,0,0,1465,220.03
$SM_GC,0.82,7.15,0.12,50.80,0.050,0.067,0.054,123,2257,1465,-7.81,1.36,220.03,0,0,0,0,0,0,26.41,26.51,26.35
$IRIDIUM_FIX,4726.11,-12220.67,270213,040448
$TT8_MAMPS,0.025466,0.025466
$HUMID,42.00
$INTERNAL_PRESSURE,9.08584
$TCM_TEMP,13.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,130.1,82.5
$24V_AH,24.4,0.744
$10V_AH,10.4,2.449
$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,18.225,44.175,158.100,50.800,0.000,22.470,32.966,248.094,1.000,0.000,18.409,1391.704,412.899,307.674,1982.745,167.813,33.197,892.832,0.000,1673.085,0.000,8.831,0.000
$DEVICE_MAMPS,263.160,67.320,660.195,54.315,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,PAM,nil,nil,nil
$SENSOR_SECS,427.256,254.610,1223.242,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322704
$DATA_FILE_SIZE,37073,607
$CAP_FILE_SIZE,71162,0
$CFSIZE,260165632,239939584
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270213,070435,4744.465,-12224.889,14,1.1,30,18.2