version: 66.13
glider: 156
mission: 10
dive: 18
start: 10 31 117 14 12 7
data:
$ID,156
$MISSION,10
$DIVE,18
$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,60
$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,120
$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,34
$R_STBD_OVSHOOT,76
$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
$GPS1,311017,140232,4744.1719,-12224.3525,11,1.3,38,18.2,0.2,47.5,8,5.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-67.4
$GPS2,311017,141127,4744.1948,-12224.3359,9,1.3,37,18.2,0.0,315.7,8,5.2
$SPEED_LIMITS,0.143,0.261
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$MHEAD_RNG_PITCHd_Wd,162.2,2222,-18.8,-10.000,-21.00,1791
$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,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
$GC,8,-0.85,-117.3,151,1738,389,518,0.0,0.0,0,52,0.00,0.00,-41.35,0.000,16386,0.000,0.000,151,1738,1445,1491,1400,0,0,0,0,0,0,25.88,28.83,25.90,9.02,46.25
$GC,57,-0.85,-117.3,151,1738,1491,1401,3.3,-8.7,7,84,7.72,2.40,-9.75,0.000,18948,0.226,1.209,2079,397,1816,1914,1719,0,0,0,0,0,0,24.77,23.64,25.20,9.12,45.78
$GC,417,-0.85,-117.3,2078,397,1914,1720,62.0,-14.3,76,424,0.00,2.10,0.00,0.000,1030,0.000,0.021,2069,1788,1817,1914,1720,0,0,0,0,0,0,25.91,25.85,25.93,9.17,45.62
$GC,548,-0.85,-117.3,2069,1802,1914,1720,77.5,-11.4,101,556,0.00,2.28,0.00,0.000,516,0.000,0.043,2069,383,1817,1914,1720,0,0,0,0,0,0,26.27,25.67,26.29,9.17,46.02
$GC,590,-0.85,-117.3,2069,383,1914,1720,83.0,-13.9,108,597,0.00,2.15,0.00,0.000,1030,0.000,0.022,2059,1807,1817,1914,1720,0,0,0,0,0,0,25.98,25.91,26.00,9.17,45.74
$GC,724,-0.85,-117.3,2059,1825,1914,1720,98.8,-11.1,133,734,0.00,2.15,0.00,0.000,260,0.000,0.034,2049,3184,1816,1913,1720,0,0,0,0,0,0,26.35,25.80,26.36,9.17,45.74
$GC,779,-0.85,-117.3,2048,3184,1914,1720,106.4,-13.8,142,786,0.00,2.17,0.00,0.000,1030,0.000,0.028,2052,1792,1817,1914,1720,0,0,0,0,0,0,25.93,25.82,25.96,9.17,45.47
$GC,915,-0.85,-117.3,2051,1792,1913,1720,125.2,-13.6,167,921,0.00,2.22,0.00,0.000,260,0.000,0.033,2042,3191,1817,1914,1720,0,0,0,0,0,0,26.41,25.83,26.43,9.17,45.23
$GC,1010,-0.85,-117.3,2042,3191,1913,1720,138.1,-13.0,185,1018,0.10,2.17,0.00,0.000,3078,0.169,0.027,2073,1789,1817,1914,1720,0,0,0,0,0,0,25.56,25.89,25.69,9.17,45.39
$GC,1145,-0.85,-117.3,2073,1789,1913,1719,153.7,-11.7,210,1151,0.00,2.22,0.00,0.000,260,0.000,0.033,2064,3191,1817,1914,1720,0,0,0,0,0,0,26.46,25.86,26.48,9.17,45.39
$GC,1195,-0.85,-117.3,2064,3191,1914,1720,159.4,-11.1,219,1202,0.00,2.15,0.00,0.000,1030,0.000,0.027,2067,1800,1817,1914,1720,0,0,0,0,0,0,26.01,25.91,26.04,9.17,45.43
$STATE,1307,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1307,begin apogee
$GC,1319,-0.30,0.0,2066,1750,1914,1720,172.9,-11.7,241,1423,0.55,0.00,98.70,0.604,10246,0.139,0.000,2243,1750,1344,1354,1335,0,0,0,0,0,0,25.14,24.75,24.14,9.17,44.95
$STATE,1424,end apogee,CONTROL_FINISHED_OK
$STATE,1424,begin climb
$GC,1428,0.85,117.3,2243,1750,1353,1335,178.6,0.0,258,1537,1.08,2.35,99.78,0.583,10500,0.099,0.033,2604,3145,876,804,949,0,0,0,0,0,0,24.89,24.26,23.87,9.11,44.52
$GC,1569,0.85,117.3,2603,3146,804,946,167.9,11.9,281,1577,0.00,2.30,0.00,0.000,1030,0.000,0.032,2614,1749,875,804,946,0,0,0,0,0,0,25.05,24.96,25.08,9.06,44.09
$GC,1705,0.85,117.3,2614,1749,804,945,152.4,12.1,306,1712,0.00,2.30,0.00,0.000,516,0.000,0.048,2625,338,874,804,945,0,0,0,0,0,0,25.77,25.26,25.79,9.06,44.76
$GC,1741,0.85,117.3,2625,338,804,945,147.3,12.6,312,1748,0.00,2.20,0.00,0.000,1030,0.000,0.025,2625,1757,874,804,944,0,0,0,0,0,0,25.58,25.52,25.60,9.06,44.40
$GC,1874,0.85,117.3,2624,1773,804,944,131.2,12.9,337,1881,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,1773,874,804,944,0,0,0,0,0,0,26.03,26.06,26.06,9.06,45.74
$GC,2005,0.85,117.3,2625,1773,804,943,115.6,12.0,362,2012,0.00,2.17,0.00,0.000,260,0.000,0.034,2625,3138,874,804,944,0,0,0,0,0,0,26.15,25.63,26.17,9.06,45.70
$GC,2061,0.85,117.3,2625,3138,804,943,108.7,12.7,372,2067,0.00,2.22,0.00,0.000,1030,0.000,0.034,2635,1745,873,804,943,0,0,0,0,0,0,25.79,25.68,25.83,9.06,46.65
$GC,2194,0.85,117.3,2635,1745,805,943,92.4,12.5,397,2201,0.00,2.25,0.00,0.000,516,0.000,0.047,2645,345,873,804,943,0,0,0,0,0,0,26.27,25.63,26.29,9.06,45.94
$GC,2246,0.85,117.3,2645,345,804,943,85.2,13.3,406,2253,0.00,2.15,0.00,0.000,1030,0.000,0.025,2646,1753,873,804,943,0,0,0,0,0,0,25.96,25.90,25.98,9.07,46.85
$GC,2381,0.85,117.3,2645,1771,804,943,68.4,13.0,431,2387,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1771,873,804,943,0,0,0,0,0,0,26.34,26.37,26.36,9.06,46.18
$GC,2511,0.85,117.3,2645,1772,804,943,51.1,12.1,456,2517,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1772,873,804,943,0,0,0,0,0,0,26.39,26.42,26.41,9.07,46.49
$GC,2641,0.85,127.1,2645,1772,804,943,37.0,9.4,481,2655,0.00,0.00,9.20,0.461,8198,0.000,0.000,2646,1772,838,761,916,0,0,0,0,0,0,26.43,25.60,24.94,9.06,46.14
$GC,2719,0.85,127.1,2644,1772,760,914,29.6,10.1,495,2725,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1772,837,760,914,0,0,0,0,0,0,26.34,26.37,26.36,9.06,46.37
$GC,2790,0.85,127.1,2645,1772,760,913,22.5,10.2,508,2797,0.00,2.30,0.00,0.000,516,0.000,0.047,2657,342,836,760,913,0,0,0,0,0,0,26.38,25.75,26.39,9.06,46.49
$GC,2851,0.85,127.1,2656,342,760,913,15.6,11.2,519,2859,0.10,2.15,0.00,0.000,5126,0.167,0.025,2627,1778,836,760,913,0,0,0,0,0,0,25.63,26.01,25.76,9.06,46.41
$GC,2923,0.86,161.8,2627,1781,760,912,9.1,8.0,532,2962,0.00,2.20,31.38,0.489,8452,0.000,0.033,2627,3127,701,590,813,0,0,0,0,0,0,26.41,25.56,24.88,9.06,46.65
$FREEZE,4.72,11.759,-1.558,0,1,0
$FREEZE,4.36,11.655,-1.553,0,1,0
$FREEZE,3.85,11.518,-1.545,0,1,0
$FREEZE,3.50,11.498,-1.540,0,1,0
$FREEZE,3.09,11.483,-1.535,0,1,0
$FREEZE,2.63,11.485,-1.531,0,1,0
$FREEZE,2.21,11.494,-1.529,0,1,0
$FREEZE,1.70,11.402,-1.524,0,1,0
$GC,2993,0.88,208.9,2626,3127,590,813,4.4,7.3,543,3041,0.00,2.20,41.97,0.479,9220,0.000,0.031,2635,1744,512,447,578,0,0,0,0,0,0,25.78,25.69,24.58,9.05,45.98
$STATE,3042,end climb,SURFACE_DEPTH_REACHED
$STATE,3042,begin surface coast
$FREEZE,0.83,11.324,-1.518,0,1,0
$FREEZE,0.45,11.313,-1.517,0,1,0
$FREEZE,0.14,11.309,-1.514,0,1,0
$FREEZE,0.20,11.055,-0.117,0,1,0
$FREEZE,0.19,11.247,-0.048,0,1,0
$FREEZE,0.15,11.242,-0.000,0,1,0
$FINISH,0.2,0.999582
$STATE,3077,end surface coast,CONTROL_FINISHED_OK
$STATE,3077,begin surface
$SM_CCo,3097,19.77,0.278,1,0,451,224.57
$SM_CCo,3127,-0.05,0.000,0,0,450,224.57
$SM_CCo,3132,0.00,0.000,0,0,451,224.57
$SM_GC,1.31,6.70,0.00,0.00,0.044,0.000,0.000,153,1743,451,-6.78,-1.61,224.57,0,0,0,0,0,0,25.43,25.79,25.70
$IRIDIUM_FIX,4744.83,-12215.26,311017,125223
$TT8_MAMPS,0.026964,0.249417
$HUMID,44.99
$INTERNAL_PRESSURE,8.95542
$TCM_TEMP,12.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,110.2,77.5
$24V_AH,23.64,28.527
$10V_AH,10.49,1.034
$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,16.250,48.875,281.025,19.775,0.000,31.148,50.493,272.511,1.000,0.000,38.079,1330.356,464.800,401.355,1205.067,284.124,0.000,883.478,0.000,855.874,0.000,8.822,0.000
$DEVICE_MAMPS,226.440,1208.700,603.585,277.695,0.000,61.200,160.000,223.000,420.000,0.000,32.210,12.960,2.190,12.210,37.680,44.420,0.000,17.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_blue_red_Chl_old_fw,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,372.325,471.084,480.158,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,38206,555
$CAP_FILE_SIZE,65867,0
$CFSIZE,260165632,256446464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.081,343.56,1
$GPS,311017,150533,4743.941,-12224.347,13,0.9,29,18.2,0.3,126.6,9,4.6