version: 66.13
glider: 156
mission: 10
dive: 15
start: 10 31 117 10 24 27
data:
$ID,156
$MISSION,10
$DIVE,15
$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,32
$R_STBD_OVSHOOT,80
$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
$GPS1,311017,101432,4744.4043,-12224.4404,13,1.2,28,18.2,0.1,303.7,8,5.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-66.8
$GPS2,311017,102351,4744.4097,-12224.4717,9,1.0,31,18.2,0.0,299.7,9,5.2
$SPEED_LIMITS,0.107,0.208
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$MHEAD_RNG_PITCHd_Wd,155.9,2611,-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,-88.0,155,1738,401,507,0.0,0.0,0,59,0.00,0.00,-47.28,0.000,16386,0.000,0.000,155,1739,1585,1648,1523,0,0,0,0,0,0,25.86,28.83,25.89,9.02,47.08
$GC,63,-0.77,-88.0,155,1739,1648,1525,3.5,-8.3,8,85,7.78,2.55,-3.00,0.000,18692,0.225,1.195,2086,3166,1699,1783,1616,0,0,0,0,0,0,24.77,23.74,25.20,9.14,47.16
$GC,636,-0.77,-88.0,2085,3166,1785,1616,66.9,-9.1,119,643,0.00,2.15,0.00,0.000,1030,0.000,0.028,2085,1787,1701,1785,1617,0,0,0,0,0,0,25.88,25.78,25.91,9.16,46.65
$GC,770,-0.77,-88.0,2085,1787,1785,1616,79.5,-9.2,144,777,0.00,2.20,0.00,0.000,516,0.000,0.043,2086,399,1700,1785,1615,0,0,0,0,0,0,26.36,25.69,26.38,9.16,45.55
$GC,816,-0.77,-88.0,2085,399,1785,1615,84.5,-11.0,152,822,0.00,2.10,0.00,0.000,1030,0.000,0.022,2075,1802,1700,1785,1615,0,0,0,0,0,0,26.08,25.98,26.09,9.16,45.35
$GC,949,-0.77,-88.0,2075,1815,1785,1615,98.0,-10.3,177,957,0.00,2.15,0.00,0.000,260,0.000,0.033,2065,3181,1700,1785,1615,0,0,0,0,0,0,26.41,25.82,26.44,9.16,45.58
$GC,1006,-0.77,-88.0,2064,3180,1785,1615,104.1,-9.9,187,1013,0.12,2.15,0.00,0.000,3078,0.154,0.028,2102,1794,1700,1785,1615,0,0,0,0,0,0,25.48,25.84,25.62,9.16,45.98
$GC,1145,-0.77,-88.0,2102,1794,1785,1615,115.9,-8.6,212,1151,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,1794,1699,1784,1615,0,0,0,0,0,0,26.45,26.47,26.47,9.16,45.55
$GC,1275,-0.77,-88.0,2102,1794,1785,1615,126.7,-8.9,237,1282,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,1794,1699,1785,1614,0,0,0,0,0,0,26.49,26.51,26.51,9.15,45.31
$GC,1406,-0.77,-88.0,2102,1794,1785,1614,138.2,-8.4,262,1412,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,1794,1700,1785,1615,0,0,0,0,0,0,26.51,26.54,26.53,9.15,45.94
$GC,1537,-0.77,-88.0,2102,1794,1785,1614,148.3,-7.2,287,1543,0.00,2.22,0.00,0.000,516,0.000,0.044,2103,391,1699,1785,1614,0,0,0,0,0,0,26.53,25.72,26.55,9.15,45.78
$GC,1598,-0.77,-88.0,2102,391,1785,1614,154.0,-9.8,298,1605,0.00,2.10,0.00,0.000,1030,0.000,0.022,2093,1797,1699,1785,1614,0,0,0,0,0,0,26.15,26.08,26.17,9.16,45.58
$GC,1733,-0.77,-88.0,2093,1812,1785,1614,165.8,-8.4,323,1739,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,1812,1699,1785,1614,0,0,0,0,0,0,26.55,26.58,26.58,9.15,45.86
$GC,1863,-0.77,-88.0,2093,1812,1785,1614,177.7,-9.1,348,1869,0.00,2.25,0.00,0.000,516,0.000,0.044,2093,402,1699,1785,1614,0,0,0,0,0,0,26.58,25.72,26.59,9.15,45.58
$STATE,1875,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1875,begin apogee
$GC,1886,-0.30,0.0,2083,1768,1785,1614,179.2,-9.4,350,1965,0.50,0.00,74.88,0.611,10246,0.141,0.000,2242,1782,1345,1368,1323,0,0,0,0,0,0,25.08,24.98,24.33,9.16,45.98
$STATE,1966,end apogee,CONTROL_FINISHED_OK
$STATE,1966,begin climb
$GC,1970,0.77,88.0,2242,1782,1367,1322,183.2,0.0,363,2055,1.00,0.00,76.12,0.594,10246,0.102,0.000,2580,1783,994,950,1038,0,0,0,0,0,0,25.07,24.34,23.96,9.12,45.11
$GC,2182,0.77,88.0,2580,1783,950,1035,167.2,10.1,401,2189,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,1783,992,950,1034,0,0,0,0,0,0,25.72,25.75,25.75,9.07,44.56
$GC,2313,0.77,88.0,2580,1783,950,1035,154.5,9.5,426,2320,0.00,2.35,0.00,0.000,516,0.000,0.047,2592,349,992,950,1034,0,0,0,0,0,0,25.97,25.37,25.99,9.07,46.06
$GC,2344,0.77,88.0,2591,349,950,1034,151.5,9.6,431,2350,0.00,2.15,0.00,0.000,1030,0.000,0.026,2592,1759,992,951,1033,0,0,0,0,0,0,25.70,25.64,25.72,9.07,45.66
$GC,2479,0.77,88.0,2591,1763,950,1033,138.8,10.1,456,2484,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1763,991,950,1033,0,0,0,0,0,0,26.14,26.17,26.16,9.08,45.70
$GC,2608,0.77,88.0,2591,1763,950,1033,125.0,9.9,481,2616,0.00,2.28,0.00,0.000,516,0.000,0.047,2602,356,991,950,1033,0,0,0,0,0,0,26.23,25.53,26.25,9.07,46.06
$GC,2635,0.77,88.0,2602,356,950,1034,122.5,9.6,485,2643,0.00,2.10,0.00,0.000,1030,0.000,0.025,2602,1752,992,951,1033,0,0,0,0,0,0,25.91,25.84,25.93,9.07,46.53
$GC,2770,0.77,88.0,2602,1755,950,1033,109.3,10.3,510,2776,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,1755,991,950,1033,0,0,0,0,0,0,26.31,26.34,26.32,9.07,47.20
$GC,2900,0.77,88.0,2602,1755,951,1033,96.7,9.2,535,2906,0.00,2.17,0.00,0.000,260,0.000,0.035,2602,3124,991,950,1033,0,0,0,0,0,0,26.36,25.72,26.38,9.07,47.36
$GC,2985,0.77,88.0,2602,3124,951,1032,87.9,10.4,551,2992,0.00,2.17,0.00,0.000,1030,0.000,0.032,2612,1749,991,950,1032,0,0,0,0,0,0,25.89,25.78,25.92,9.07,47.08
$GC,3120,0.77,88.0,2611,1748,950,1032,74.1,10.5,576,3127,0.00,2.25,0.00,0.000,516,0.000,0.047,2623,344,991,951,1032,0,0,0,0,0,0,26.42,25.63,26.44,9.07,46.69
$GC,3196,0.77,88.0,2623,343,951,1032,64.7,12.0,590,3203,0.00,2.12,0.00,0.000,1030,0.000,0.026,2623,1750,991,950,1032,0,0,0,0,0,0,26.06,25.99,26.08,9.07,46.33
$GC,3331,0.77,88.0,2622,1764,950,1031,51.1,9.5,615,3337,0.00,2.17,0.00,0.000,260,0.000,0.034,2623,3141,990,950,1031,0,0,0,0,0,0,26.47,25.78,26.49,9.07,47.40
$GC,3411,0.77,88.0,2622,3141,950,1031,42.8,10.4,630,3419,0.12,2.20,0.00,0.000,5126,0.164,0.032,2597,1745,990,950,1031,0,0,0,0,0,0,25.43,25.82,25.58,9.08,46.96
$GC,3545,0.77,88.0,2596,1746,950,1031,31.3,8.4,655,3552,0.00,2.22,0.00,0.000,260,0.000,0.034,2596,3145,990,950,1031,0,0,0,0,0,0,26.51,25.80,26.53,9.07,46.65
$GC,3581,0.77,88.0,2596,3145,951,1030,28.4,8.9,661,3588,0.00,2.20,0.00,0.000,1030,0.000,0.032,2605,1750,990,950,1031,0,0,0,0,0,0,25.94,25.83,25.98,9.08,47.04
$GC,3653,0.77,88.0,2605,1750,950,1030,22.2,8.0,674,3660,0.00,2.25,0.00,0.000,516,0.000,0.047,2616,338,990,950,1030,0,0,0,0,0,0,26.52,25.65,26.54,9.08,47.04
$GC,3780,0.77,88.0,2616,337,950,1030,11.0,8.0,698,3786,0.00,2.12,0.00,0.000,1030,0.000,0.025,2616,1763,991,951,1031,0,0,0,0,0,0,26.13,26.06,26.15,9.08,47.20
$GC,3850,0.77,100.0,2615,1766,951,1030,5.9,6.8,711,3870,0.00,2.15,11.30,0.461,8452,0.000,0.033,2616,3134,945,897,994,0,0,0,0,0,0,26.54,25.65,25.02,9.08,46.65
$FREEZE,4.46,11.993,-1.600,0,1,0
$FREEZE,4.11,11.991,-1.598,0,1,0
$FREEZE,3.76,11.988,-1.596,0,1,0
$FREEZE,3.42,11.983,-1.594,0,1,0
$FREEZE,3.03,11.983,-1.593,0,1,0
$FREEZE,2.69,11.975,-1.586,0,1,0
$FREEZE,2.19,11.957,-1.572,0,1,0
$FREEZE,1.76,11.931,-1.569,0,1,0
$GC,3906,0.78,111.5,2616,3134,897,992,2.7,6.8,720,3924,0.00,2.17,11.00,0.074,9218,0.000,0.031,2626,1747,932,884,980,0,0,0,0,1,0,26.01,25.91,25.66,9.07,46.53
$STATE,3925,end climb,SURFACE_DEPTH_REACHED
$STATE,3926,begin surface coast
$FREEZE,1.48,11.918,-1.565,0,1,0
$FREEZE,1.32,11.908,-1.563,0,1,0
$FREEZE,1.22,11.818,-1.566,0,1,0
$FREEZE,1.19,11.738,-1.565,0,1,0
$FREEZE,0.99,11.726,-1.558,0,1,0
$FREEZE,0.85,11.732,-1.552,0,1,0
$FINISH,0.9,1.021567
$STATE,3958,end surface coast,CONTROL_FINISHED_OK
$STATE,3958,begin surface
$SM_CCo,3978,109.93,0.451,3,0,451,224.57
$SM_CCo,4108,-0.03,0.000,0,0,450,224.57
$SM_CCo,4114,-0.03,0.000,0,0,451,224.57
$SM_GC,1.12,6.95,0.00,-0.03,0.073,0.000,0.000,156,1747,451,-6.77,-1.50,224.57,0,0,0,0,0,0,25.86,26.44,24.98
$IRIDIUM_FIX,4741.67,-12220.67,311017,085858
$TT8_MAMPS,0.026964,0.247919
$HUMID,45.70
$INTERNAL_PRESSURE,8.95542
$TCM_TEMP,12.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,115.2,78.0
$24V_AH,23.67,28.334
$10V_AH,10.48,0.858
$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,16.475,57.075,173.300,109.925,0.000,29.955,48.700,295.899,1.500,0.000,35.295,1798.661,647.597,445.228,1477.178,317.956,0.000,1028.922,0.000,1113.804,0.000,13.365,0.000
$DEVICE_MAMPS,224.910,1194.930,611.235,450.585,0.000,61.200,160.000,223.000,420.000,0.000,32.210,12.960,2.190,12.210,37.680,44.420,0.000,17.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,492.688,613.525,623.579,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,31.460,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,191932
$DATA_FILE_SIZE,52326,728
$CAP_FILE_SIZE,81119,0
$CFSIZE,260165632,256577536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.059,353.20,1
$GPS,311017,113432,4744.168,-12224.489,12,1.2,45,18.2,0.2,350.3,9,4.6