version: 66.13
glider: 156
mission: 10
dive: 14
start: 10 31 117 9 5 44
data:
$ID,156
$MISSION,10
$DIVE,14
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,1020
$D_NO_BLEED,100
$D_BOOST,3
$T_BOOST,0
$D_FINISH,5
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,80
$T_MISSION,70
$T_ABORT,720
$T_TURN,600
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,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,-7
$MAX_BUOY,90
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51746
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038000001
$HD_B,0.0080929501
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,5625
$TGT_DEFAULT_LON,-755
$TGT_AUTO_DEFAULT,0
$SM_CC,230
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100840
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,160
$PITCH_MAX,3877
$C_PITCH,2350
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,23
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,100
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,260
$ROLL_MAX,3865
$ROLL_DEG,40
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,83
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,451
$VBD_MAX,3959
$C_VBD,1345
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$VBD_LP_IGNORE,0
$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,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,0.80000001
$MAXI_10V,1
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-17.227072
$PRESSURE_SLOPE,0.00011457827
$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,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043872492
$SEABIRD_T_H,0.00063743989
$SEABIRD_T_I,2.4850315e-05
$SEABIRD_T_J,2.6583925e-06
$SEABIRD_C_G,-10.170362
$SEABIRD_C_H,1.1513186
$SEABIRD_C_I,-0.0020813958
$SEABIRD_C_J,0.00025019815
$SEABIRD_C_Z,2977.3
$GPS1,311017,085632,4744.1138,-12224.3955,12,1.2,39,18.2,0.2,182.0,9,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-67.9
$GPS2,311017,090505,4744.0576,-12224.3906,15,1.1,15,18.2,0.3,163.1,8,8.1
$SPEED_LIMITS,0.107,0.208
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$MHEAD_RNG_PITCHd_Wd,342.0,830,-17.1,-7.500,-19.81,1788
$D_GRID,180
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts,int_press,humidity
$STATE,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,9,-0.77,-88.0,150,1762,401,507,0.0,0.0,0,54,0.00,0.00,-42.45,0.000,16386,0.000,0.000,150,1762,1474,1526,1422,0,0,0,0,0,0,25.83,28.83,25.86,9.02,47.04
$GC,58,-0.77,-88.0,150,1762,1526,1424,3.3,-8.7,7,80,7.78,2.47,-5.97,0.000,18948,0.223,1.206,2096,388,1698,1794,1603,0,0,0,0,0,0,24.76,23.65,25.18,9.13,46.61
$GC,109,-0.77,-88.0,2096,388,1793,1605,12.4,-15.5,15,115,0.00,2.15,0.00,0.000,1030,0.000,0.021,2087,1793,1699,1794,1605,0,0,0,0,0,0,25.58,25.53,25.60,9.15,46.69
$GC,180,-0.77,-88.0,2086,1809,1793,1605,21.1,-11.1,28,186,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,1810,1699,1794,1605,0,0,0,0,0,0,25.95,25.98,25.97,9.15,46.25
$GC,249,-0.77,-88.0,2086,1810,1794,1605,29.3,-11.7,41,256,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,1810,1699,1794,1605,0,0,0,0,0,0,26.05,26.07,26.06,9.15,46.02
$GC,321,-0.77,-88.0,2086,1810,1794,1605,36.9,-10.1,54,327,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,1810,1699,1793,1605,0,0,0,0,0,0,26.12,26.14,26.14,9.16,46.22
$GC,390,-0.77,-88.0,2086,1810,1793,1605,44.2,-9.6,67,396,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,1810,1699,1794,1605,0,0,0,0,0,0,26.17,26.20,26.20,9.16,45.74
$GC,520,-0.77,-88.0,2086,1810,1793,1605,56.3,-9.4,92,526,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,1810,1699,1793,1605,0,0,0,0,0,0,26.26,26.29,26.27,9.16,45.58
$GC,650,-0.77,-88.0,2086,1810,1793,1605,68.5,-9.7,117,658,0.00,2.28,0.00,0.000,516,0.000,0.042,2087,388,1699,1793,1605,0,0,0,0,0,0,26.32,25.64,26.34,9.16,46.45
$GC,737,-0.77,-88.0,2086,388,1793,1605,78.2,-11.8,133,745,0.00,2.12,0.00,0.000,1030,0.000,0.021,2077,1810,1699,1793,1605,0,0,0,0,0,0,26.01,25.96,26.03,9.16,46.02
$GC,872,-0.77,-88.0,2076,1822,1793,1605,92.5,-11.3,158,878,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,1822,1699,1793,1605,0,0,0,0,0,0,26.40,26.42,26.42,9.16,46.45
$GC,1004,-0.77,-88.0,2076,1822,1793,1605,107.4,-10.8,183,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,1822,1699,1794,1605,0,0,0,0,0,0,26.44,26.46,26.46,9.16,46.18
$GC,1140,-0.77,-88.0,2076,1822,1793,1605,121.8,-10.9,208,1146,0.00,2.12,0.00,0.000,260,0.000,0.033,2066,3175,1699,1794,1605,0,0,0,0,0,0,26.46,25.80,26.48,9.16,45.43
$GC,1186,-0.77,-88.0,2066,3175,1793,1605,127.0,-10.2,216,1194,0.12,2.15,0.00,0.000,3078,0.158,0.027,2103,1785,1699,1793,1605,0,0,0,0,0,0,25.46,25.86,25.60,9.15,45.70
$GC,1324,-0.77,-88.0,2103,1785,1794,1605,138.9,-9.1,241,1331,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,1785,1699,1793,1606,0,0,0,0,0,0,26.50,26.52,26.52,9.16,45.55
$GC,1455,-0.77,-88.0,2103,1785,1793,1605,151.5,-9.2,266,1462,0.00,2.20,0.00,0.000,260,0.000,0.032,2094,3175,1699,1793,1605,0,0,0,0,0,0,26.52,25.82,26.54,9.16,45.94
$GC,1566,-0.77,-88.0,2094,3175,1794,1605,161.1,-8.2,287,1572,0.00,2.12,0.00,0.000,1030,0.000,0.028,2094,1801,1699,1793,1605,0,0,0,0,0,0,25.97,25.87,26.01,9.16,46.65
$GC,1699,-0.77,-88.0,2094,1800,1793,1605,172.0,-9.1,312,1705,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,1800,1699,1793,1605,0,0,0,0,0,0,26.56,26.58,26.57,9.16,46.06
$STATE,1736,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1736,begin apogee
$GC,1745,-0.30,0.0,2094,1752,1793,1605,175.8,-9.0,319,1825,0.47,0.00,74.78,0.605,10246,0.136,0.000,2246,1752,1344,1369,1320,0,0,0,0,0,0,25.09,24.96,24.32,9.15,46.53
$STATE,1826,end apogee,CONTROL_FINISHED_OK
$STATE,1826,begin climb
$GC,1829,0.77,88.0,2246,1751,1369,1320,179.7,0.0,332,1910,0.98,0.00,76.25,0.584,10246,0.098,0.000,2579,1752,994,953,1035,0,0,0,0,0,0,25.07,24.53,23.96,9.12,45.03
$GC,2036,0.77,88.0,2578,1752,953,1032,164.2,8.6,369,2043,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1752,993,953,1033,0,0,0,0,0,0,25.72,25.74,25.73,9.07,45.07
$GC,2168,0.77,88.0,2578,1752,953,1032,152.4,9.5,394,2173,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1752,993,954,1032,0,0,0,0,0,0,25.96,25.99,25.98,9.07,45.15
$GC,2297,0.77,88.0,2578,1751,953,1032,140.8,9.5,419,2303,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,1751,992,953,1031,0,0,0,0,0,0,26.11,26.14,26.13,9.07,45.94
$GC,2427,0.77,88.0,2578,1751,953,1031,130.0,8.6,444,2434,0.00,2.20,0.00,0.000,260,0.000,0.034,2579,3127,992,953,1031,0,0,0,0,0,0,26.21,25.63,26.22,9.07,46.73
$GC,2468,0.77,88.0,2578,3127,953,1030,126.1,9.8,451,2475,0.00,2.20,0.00,0.000,1030,0.000,0.032,2589,1746,991,953,1030,0,0,0,0,0,0,25.77,25.67,25.81,9.08,47.00
$GC,2602,0.77,88.0,2588,1746,953,1030,114.9,8.3,476,2608,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1746,991,953,1030,0,0,0,0,0,0,26.29,26.32,26.32,9.07,46.69
$GC,2732,0.77,88.0,2589,1746,953,1030,103.7,9.1,501,2739,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1746,991,953,1030,0,0,0,0,0,0,26.35,26.38,26.37,9.08,46.88
$GC,2863,0.77,88.0,2589,1746,953,1030,91.4,9.5,526,2870,0.00,2.25,0.00,0.000,516,0.000,0.047,2599,345,991,953,1030,0,0,0,0,0,0,26.40,25.60,26.41,9.08,46.57
$GC,2904,0.77,88.0,2599,345,953,1030,87.2,9.8,533,2912,0.00,2.12,0.00,0.000,1030,0.000,0.026,2600,1761,991,953,1030,0,0,0,0,0,0,26.03,25.97,26.06,9.08,46.57
$GC,3039,0.77,88.0,2599,1764,953,1029,73.7,10.3,558,3046,0.00,2.17,0.00,0.000,260,0.000,0.034,2600,3130,991,953,1029,0,0,0,0,0,0,26.44,25.75,26.46,9.08,47.00
$GC,3106,0.77,88.0,2599,3130,953,1029,66.6,10.8,570,3113,0.00,2.20,0.00,0.000,1030,0.000,0.032,2610,1738,991,953,1029,0,0,0,0,0,0,25.91,25.79,25.94,9.07,46.61
$GC,3239,0.77,88.0,2610,1738,953,1028,54.4,8.7,595,3246,0.00,2.25,0.00,0.000,516,0.000,0.047,2621,335,991,953,1029,0,0,0,0,0,0,26.48,25.63,26.50,9.07,47.63
$GC,3341,0.77,88.0,2620,335,953,1029,44.2,10.1,614,3347,0.00,2.12,0.00,0.000,1030,0.000,0.025,2621,1752,991,953,1029,0,0,0,0,0,0,26.09,26.03,26.12,9.08,47.28
$GC,3475,0.77,88.0,2620,1758,953,1028,32.6,7.7,639,3482,0.00,2.30,0.00,0.000,516,0.000,0.047,2631,342,990,953,1028,0,0,0,0,0,0,26.52,25.63,26.54,9.08,46.65
$GC,3561,0.77,88.0,2631,341,953,1028,24.6,9.5,655,3569,0.10,2.12,0.00,0.000,5126,0.161,0.025,2601,1766,990,953,1028,0,0,0,0,0,0,25.65,26.05,25.75,9.07,47.28
$GC,3634,0.77,98.3,2601,1768,953,1028,18.9,6.9,668,3649,0.00,2.17,9.85,0.457,8452,0.000,0.034,2601,3119,952,909,996,0,0,0,0,0,0,26.54,25.74,25.01,9.08,47.59
$GC,3704,0.77,98.3,2600,3119,909,996,13.9,7.8,680,3711,0.00,2.17,0.00,0.000,1030,0.000,0.033,2610,1742,952,909,996,0,0,0,0,0,0,25.98,25.87,26.02,9.07,47.00
$GC,3776,0.77,102.6,2609,1742,910,995,8.2,7.3,693,3784,0.00,0.00,5.25,0.389,8198,0.000,0.000,2610,1742,936,892,980,0,0,0,0,0,0,26.46,25.58,24.89,9.07,46.53
$FREEZE,5.00,11.979,-1.592,0,1,0
$FREEZE,4.67,11.976,-1.589,0,1,0
$FREEZE,4.29,11.976,-1.586,0,1,0
$FREEZE,3.90,11.974,-1.582,0,1,0
$FREEZE,3.65,11.970,-1.579,0,1,0
$FREEZE,3.18,11.972,-1.577,0,1,0
$FREEZE,2.86,11.973,-1.576,0,1,0
$FREEZE,2.32,11.920,-1.575,0,1,0
$FREEZE,1.93,11.876,-1.571,0,1,0
$GC,3850,0.78,115.8,2609,1742,891,980,2.9,6.7,706,3866,0.00,0.00,11.00,0.075,8450,0.000,0.000,2610,1742,922,875,969,0,0,0,0,1,0,26.43,28.83,25.65,9.07,46.41
$STATE,3867,end climb,SURFACE_DEPTH_REACHED
$STATE,3867,begin surface coast
$FREEZE,1.25,11.826,-1.565,0,1,0
$FREEZE,1.01,11.845,-1.562,0,1,0
$FREEZE,0.81,11.735,-1.559,0,1,0
$FREEZE,0.60,11.725,-1.558,0,1,0
$FREEZE,0.37,11.722,-1.557,0,1,0
$FREEZE,0.24,11.728,-1.556,0,1,0
$FINISH,0.2,1.021621
$STATE,3900,end surface coast,CONTROL_FINISHED_OK
$STATE,3900,begin surface
$SM_CCo,3920,108.03,0.449,3,0,450,224.57
$SM_CCo,4048,-0.15,0.000,0,0,452,224.57
$SM_CCo,4054,1.00,0.081,0,0,452,224.57
$SM_GC,1.10,6.57,0.00,1.00,0.048,0.000,0.081,155,1742,452,-6.78,-1.64,224.57,0,0,0,0,0,0,25.87,26.45,25.06
$IRIDIUM_FIX,4744.48,-12222.38,311017,074425
$TT8_MAMPS,0.026964,0.250166
$HUMID,44.92
$INTERNAL_PRESSURE,8.95542
$TCM_TEMP,12.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,130.3,59.9
$24V_AH,23.65,28.270
$10V_AH,10.51,0.792
$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,16.025,43.975,177.125,109.025,0.000,28.400,42.686,280.262,2.500,0.000,19.185,1771.130,630.811,447.483,1420.255,315.061,0.000,1028.520,0.000,1091.388,0.000,21.000,0.000
$DEVICE_MAMPS,222.615,1205.640,605.115,449.055,0.000,61.200,160.000,223.000,420.000,0.000,32.210,12.960,2.190,12.210,37.680,44.420,0.000,17.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,482.930,599.529,609.058,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,31.460,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,191936
$DATA_FILE_SIZE,48613,714
$CAP_FILE_SIZE,82112,0
$CFSIZE,260165632,256630784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.053,207.57,1
$GPS,311017,101432,4744.404,-12224.440,13,1.2,28,18.2,0.1,303.7,8,5.6