version: 66.11
glider: 158
mission: 13
dive: 2
start: 11 4 115 19 17 15
data:
$ID,158
$MISSION,13
$DIVE,2
$N_DIVES,2
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,100
$D_BOOST,3
$T_BOOST,0
$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,60
$T_MISSION,85
$T_ABORT,1440
$T_TURN,600
$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,51610
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0099999998
$HD_C,9.8500004e-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,300
$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,7
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-721651.94
$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,2558
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.02
$PITCH_GAIN,26.5
$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,40
$C_ROLL_DIVE,1850
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2106
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00089999998
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,3
$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,-162.90207
$PRESSURE_SLOPE,0.000137996
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,30
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,90
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,6
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.4
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,38
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$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,0.004317278
$SEABIRD_T_H,0.00062907452
$SEABIRD_T_I,2.22976e-05
$SEABIRD_T_J,2.1565418e-06
$SEABIRD_C_G,-9.7708368
$SEABIRD_C_H,1.113179
$SEABIRD_C_I,-0.001699872
$SEABIRD_C_J,0.0002155289
$GPS1,041115,190959,4742.576,-12224.594,6,1.5,12,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-74.0
$GPS2,041115,191648,4742.573,-12224.624,12,1.5,12,18.2
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,8.4,3572,-18.2,-10.000,-20.93,2236
$D_GRID,169
$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
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.82,-146.6,128,1836,563,629,0.0,0.0,0,52,0.00,0.00,-33.55,0.000,16386,0.000,0.000,128,1837,1598,1584,1612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,55,-0.82,-146.6,128,1836,1586,1612,3.2,-6.5,6,98,8.55,2.30,-24.75,0.000,18692,0.249,0.063,2284,3262,2691,2690,2692,0,0,0,0,0,0,25.76,26.10,26.44
$GC,409,-0.82,-146.6,2284,3262,2694,2697,65.4,-18.5,74,416,0.00,2.15,0.00,0.000,1030,0.000,0.034,2284,1843,2695,2694,2697,0,0,0,0,0,0,28.83,26.31,28.83
$GC,544,-0.82,-146.6,2283,1843,2694,2697,90.8,-19.2,99,549,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1844,2695,2694,2697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,671,-0.82,-146.6,1408,1841,2629,2688,115.0,-17.8,124,677,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1843,2696,2695,2697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,800,-0.82,-146.6,2285,1842,2695,2697,138.6,-15.2,149,807,0.00,2.17,0.00,0.000,260,0.000,0.045,2274,3261,2696,2695,2697,0,0,0,0,0,0,28.83,26.38,28.83
$GC,829,-0.82,-146.6,1408,3259,2629,2688,143.9,-19.1,154,836,0.00,2.12,0.00,0.000,1030,0.000,0.034,2273,1850,2696,2695,2697,0,0,0,0,0,0,28.83,26.42,28.83
$STATE,957,end dive,TARGET_DEPTH_EXCEEDED
$STATE,957,begin apogee
$GC,965,-0.19,0.0,2273,1849,2694,2697,169.1,-18.5,179,1084,0.70,0.00,110.28,0.646,10246,0.147,0.000,2499,1849,2104,2149,2060,0,0,0,0,0,0,26.23,28.83,24.66
$STATE,1085,end apogee,CONTROL_FINISHED_OK
$STATE,1085,begin climb
$GC,1088,0.82,146.6,2498,1849,2148,2059,177.2,0.0,200,1213,0.95,2.38,113.60,0.637,10756,0.098,0.054,2831,455,1520,1571,1470,0,0,0,0,0,0,25.26,24.99,24.43
$GC,1283,0.82,146.6,2831,456,1563,1469,161.7,14.5,235,1290,0.00,2.22,0.00,0.000,1030,0.000,0.039,2831,1855,1515,1562,1469,0,0,0,0,0,0,28.83,25.55,28.83
$GC,1414,0.82,146.6,1800,1854,1521,1461,144.8,11.4,260,1420,0.00,2.22,0.00,0.000,260,0.000,0.047,2831,3269,1514,1562,1466,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1528,0.82,146.6,1832,3268,1522,1460,129.0,13.9,282,1535,0.00,2.22,0.00,0.000,1030,0.000,0.041,2842,1844,1513,1562,1464,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1660,0.82,146.6,2841,1844,1562,1464,112.8,12.2,307,1667,0.00,2.20,0.00,0.000,516,0.000,0.053,2852,443,1512,1562,1463,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1780,0.82,146.6,2852,443,1561,1463,97.1,13.6,330,1788,0.15,2.17,0.00,0.000,5126,0.177,0.037,2814,1862,1512,1561,1463,0,0,0,0,0,0,26.03,26.22,28.83
$GC,1913,0.82,146.6,2814,1862,1561,1463,82.1,10.7,355,1920,0.00,2.17,0.00,0.000,260,0.000,0.048,2814,3267,1511,1560,1463,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1948,0.82,146.6,2814,3268,1560,1462,78.1,11.0,361,1954,0.00,2.17,0.00,0.000,1030,0.000,0.038,2823,1842,1512,1561,1463,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2079,0.82,146.6,2823,1842,1561,1462,64.2,11.0,386,2086,0.00,2.17,0.00,0.000,516,0.000,0.052,2834,443,1511,1560,1462,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2159,0.82,146.6,2834,443,1560,1462,54.6,11.9,401,2165,0.00,2.15,0.00,0.000,1030,0.000,0.038,2834,1854,1510,1559,1462,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2290,0.84,176.4,2834,1854,1560,1462,40.7,8.6,426,2321,0.00,2.20,23.12,0.549,8452,0.000,0.047,2834,3267,1401,1451,1352,0,0,0,0,0,0,28.83,26.10,25.56
$GC,2348,0.84,176.4,1840,3265,1417,1347,34.7,11.0,436,2355,0.00,2.17,0.00,0.000,1030,0.000,0.039,2845,1851,1400,1449,1351,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2417,0.84,176.4,2842,1852,1450,1349,26.3,12.5,449,2424,0.00,2.20,0.00,0.000,516,0.000,0.052,2855,440,1398,1448,1349,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2472,0.84,176.4,2855,440,1447,1349,18.7,14.6,459,2479,0.00,2.17,0.00,0.000,1030,0.000,0.037,2855,1859,1398,1447,1349,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2541,0.84,176.4,1856,1858,1414,1345,8.8,13.8,472,2547,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1860,1398,1447,1349,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2587,end climb,SURFACE_DEPTH_REACHED
$STATE,2587,begin surface coast
$FINISH,1.3,1.018897
$STATE,2599,end surface coast,CONTROL_FINISHED_OK
$STATE,2599,begin surface
$SM_CCo,2616,53.08,0.051,0,0,911,300.18
$SM_GC,2.71,7.25,0.00,53.08,0.055,0.000,0.051,131,1862,911,-7.54,0.31,300.18,0,0,0,0,0,0,26.25,28.83,26.24
$IRIDIUM_FIX,4722.92,-12225.08,310808,080850
$TT8_MAMPS,0.020223,0.020223
$HUMID,50.90
$INTERNAL_PRESSURE,8.81239
$TCM_TEMP,20.50
$XPDR_PINGS,6
$ALTIM_TOP_PING,29.5,29.0
$ALTIM_BOTTOM_PING,90.8,64.7
$24V_AH,24.4,0.215
$10V_AH,10.5,0.107
$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,17.600,39.600,247.000,53.075,0.000,0.000,0.000,0.000,2.250,0.000,13.635,1096.044,466.638,383.823,712.260,85.381,0.000,796.052,0.000,700.349,0.000,7.246,0.000
$DEVICE_MAMPS,248.625,62.730,645.660,51.255,0.000,0.000,0.000,0.000,420.000,0.000,30.710,11.460,2.190,11.460,39.180,45.920,0.000,17.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,324.071,355.833,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323392
$DATA_FILE_SIZE,23624,483
$CAP_FILE_SIZE,60979,0
$CFSIZE,260165632,257540096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.111,237.7,1
$GPS,041115,200324,4742.760,-12224.531,60,1.6,60,18.2