version: 66.11
glider: 158
mission: 13
dive: 3
start: 11 4 115 21 4 4
data:
$ID,158
$MISSION,13
$DIVE,3
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,200
$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,90
$T_MISSION,95
$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,1
$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,-721906.25
$T_RSLEEP,2
$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,28
$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,37
$R_STBD_OVSHOOT,33
$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,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$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
$GPS1,041115,205923,4742.772,-12224.472,31,1.1,42,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-74.7
$GPS2,041115,210338,4742.776,-12224.479,13,2.3,33,18.2
$SPEED_LIMITS,0.128,0.236
$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,4.8,3193,-13.8,-7.407,-17.44,3006
$D_GRID,173
$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,-0.63,-146.6,130,1862,897,907,0.0,0.0,0,58,0.00,0.00,-39.75,0.000,16386,0.000,0.000,130,1862,2089,2069,2109,0,0,0,0,0,0,28.83,28.83,28.83
$GC,61,-0.63,-146.6,130,1862,2070,2109,3.1,-4.3,7,92,8.93,2.25,-13.27,0.000,18948,0.256,0.063,2353,433,2693,2696,2690,0,0,0,0,0,0,25.77,26.10,26.42
$GC,124,-0.63,-146.6,1472,433,2630,2682,12.9,-15.1,18,131,0.00,2.20,0.00,0.000,1030,0.000,0.037,2344,1864,2693,2696,2691,0,0,0,0,0,0,28.83,26.14,28.83
$GC,194,-0.63,-146.6,2343,1865,2698,2691,23.2,-14.5,31,200,0.00,2.15,0.00,0.000,260,0.000,0.047,2333,3261,2694,2698,2691,0,0,0,0,0,0,28.83,26.15,28.83
$GC,278,-0.63,-146.6,2333,3261,2698,2691,36.1,-14.9,47,285,0.00,2.15,0.00,0.000,1030,0.000,0.034,2333,1841,2695,2699,2691,0,0,0,0,0,0,28.83,26.24,28.83
$GC,348,-0.63,-146.6,2333,1840,2699,2691,47.0,-15.8,60,354,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,1840,2695,2699,2691,0,0,0,0,0,0,28.83,28.83,28.83
$GC,478,-0.63,-146.6,2333,1840,2699,2691,67.0,-15.1,85,484,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,1839,2695,2699,2691,0,0,0,0,0,0,28.83,28.83,28.83
$GC,606,-0.63,-146.6,1440,1838,2633,2683,86.4,-15.0,110,612,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,1839,2695,2699,2691,0,0,0,0,0,0,28.83,28.83,28.83
$GC,734,-0.63,-146.6,2333,1840,2699,2691,106.3,-14.9,135,740,0.00,2.17,0.00,0.000,260,0.000,0.045,2323,3257,2695,2699,2691,0,0,0,0,0,0,28.83,26.35,28.83
$GC,775,-0.63,-146.6,2323,3257,2699,2691,112.6,-15.2,142,782,0.15,2.12,0.00,0.000,3078,0.160,0.034,2362,1844,2695,2699,2691,0,0,0,0,0,0,26.22,26.40,28.83
$GC,911,-0.63,-146.6,2362,1843,2699,2691,130.3,-12.8,167,916,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1844,2695,2699,2691,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1044,-0.63,-146.6,2362,1844,2699,2691,147.6,-13.1,192,1051,0.00,2.17,0.00,0.000,260,0.000,0.046,2354,3262,2695,2699,2691,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1074,-0.63,-146.6,2354,3261,2699,2691,152.1,-14.8,197,1081,0.00,2.12,0.00,0.000,1030,0.000,0.034,2354,1845,2695,2699,2691,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1205,-0.63,-146.6,2354,1845,2699,2691,169.9,-13.2,222,1211,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,1843,2695,2699,2691,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1226,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1226,begin apogee
$GC,1231,-0.18,0.0,2354,1845,2699,2691,173.2,-13.0,226,1347,0.43,0.00,109.78,0.653,10246,0.135,0.000,2497,1843,2106,2149,2063,0,0,0,0,0,0,26.31,28.83,24.65
$STATE,1348,end apogee,CONTROL_FINISHED_OK
$STATE,1348,begin climb
$GC,1351,0.63,146.6,2497,1843,2148,2061,179.8,0.0,246,1471,0.77,0.00,114.28,0.643,10758,0.094,0.000,2763,1843,1521,1573,1469,0,0,0,0,0,0,25.22,28.83,24.37
$GC,1595,0.63,146.6,2763,1843,1568,1464,167.2,7.7,291,1602,0.00,2.25,0.00,0.000,260,0.000,0.046,2763,3262,1515,1567,1464,0,0,0,0,0,0,28.83,25.63,28.83
$GC,1625,0.63,146.6,2763,3262,1567,1463,164.6,8.9,296,1632,0.00,2.22,0.00,0.000,1030,0.000,0.040,2772,1846,1514,1567,1462,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1757,0.63,146.6,2772,1846,1567,1462,154.1,7.6,321,1764,0.00,2.22,0.00,0.000,516,0.000,0.053,2783,440,1514,1566,1462,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1857,0.63,146.6,2783,440,1565,1461,145.1,9.1,340,1864,0.00,2.17,0.00,0.000,1030,0.000,0.037,2783,1852,1513,1565,1461,0,0,0,0,0,0,28.83,26.05,28.83
$GC,1989,0.63,146.6,2783,1854,1565,1461,133.3,9.3,365,1995,0.00,2.22,0.00,0.000,516,0.000,0.051,2793,440,1513,1565,1461,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2034,0.63,146.6,2793,440,1564,1461,129.0,8.9,373,2041,0.15,2.17,0.00,0.000,5126,0.159,0.037,2754,1860,1512,1564,1461,0,0,0,0,0,0,26.03,26.17,28.83
$GC,2165,0.63,150.8,1728,1859,1523,1457,120.1,7.3,398,2171,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,1861,1512,1564,1461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2294,0.64,160.0,2753,1862,1565,1461,111.4,7.1,423,2313,0.00,2.28,10.65,0.546,8708,0.000,0.050,2763,447,1469,1520,1418,0,0,0,0,0,0,28.83,26.14,25.56
$GC,2371,0.64,160.0,2763,447,1519,1417,105.7,8.0,437,2378,0.00,2.15,0.00,0.000,1030,0.000,0.037,2763,1851,1467,1518,1417,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2502,0.64,160.0,2763,1853,1518,1417,96.3,7.9,462,2508,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,1853,1467,1518,1417,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2631,0.64,160.0,2763,1853,1518,1417,86.0,7.9,487,2637,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,1853,1467,1518,1417,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2759,0.64,160.0,1760,1851,1480,1412,75.4,7.9,512,2766,0.00,2.20,0.00,0.000,516,0.000,0.050,2773,434,1467,1518,1417,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2799,0.64,160.0,2773,434,1518,1416,72.0,8.7,519,2806,0.00,2.17,0.00,0.000,1030,0.000,0.037,2773,1861,1466,1517,1416,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2930,0.64,160.0,1744,1860,1478,1412,62.0,7.5,544,2937,0.00,2.15,0.00,0.000,260,0.000,0.048,2773,3267,1466,1517,1416,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2965,0.64,160.0,2773,3268,1517,1416,59.1,8.6,550,2971,0.00,2.17,0.00,0.000,1030,0.000,0.037,2782,1834,1466,1517,1416,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3096,0.64,165.9,2782,1833,1517,1416,49.0,7.2,575,3109,0.00,2.17,5.97,0.467,8708,0.000,0.049,2793,433,1446,1496,1396,0,0,0,0,0,0,28.83,26.35,25.76
$GC,3182,0.64,165.9,2793,433,1495,1395,42.0,8.5,591,3189,0.00,2.15,0.00,0.000,1030,0.000,0.036,2793,1853,1445,1496,1395,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3313,0.64,165.9,2793,1854,1494,1395,31.3,8.5,616,3321,0.00,2.17,0.00,0.000,516,0.000,0.050,2803,443,1445,1495,1395,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3364,0.64,165.9,2802,443,1495,1395,26.7,9.1,625,3371,0.15,2.15,0.00,0.000,5126,0.159,0.037,2762,1862,1445,1495,1395,0,0,0,0,0,0,26.29,26.44,28.83
$GC,3434,0.64,165.9,1764,1862,1458,1392,21.3,7.4,638,3439,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1863,1445,1495,1395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3502,0.65,175.8,2762,1864,1494,1395,16.4,7.1,651,3516,0.00,2.15,5.62,0.403,8452,0.000,0.046,2762,3262,1405,1455,1355,0,0,0,0,0,0,28.83,26.39,25.84
$GC,3554,0.65,175.8,2762,3262,1454,1352,12.6,7.6,660,3561,0.00,2.15,0.00,0.000,1030,0.000,0.037,2770,1841,1403,1454,1352,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3625,0.65,175.8,2770,1841,1453,1351,7.2,9.0,673,3631,0.00,2.15,0.00,0.000,516,0.000,0.050,2781,441,1401,1453,1350,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3659,0.65,175.8,2780,441,1453,1350,3.9,8.7,679,3666,0.00,2.15,0.00,0.000,1030,0.000,0.037,2780,1861,1401,1452,1350,0,0,0,0,0,0,28.83,26.45,28.83
$STATE,3685,end climb,SURFACE_DEPTH_REACHED
$STATE,3685,begin surface coast
$FINISH,1.4,1.019576
$STATE,3717,end surface coast,CONTROL_FINISHED_OK
$STATE,3717,begin surface
$SM_CCo,3734,53.47,0.054,0,0,910,300.18
$SM_GC,1.90,7.03,0.00,53.47,0.055,0.000,0.054,127,1863,910,-7.55,0.37,300.18,0,0,0,0,0,0,26.40,28.83,26.38
$IRIDIUM_FIX,4726.11,-12222.38,310808,101039
$TT8_MAMPS,0.019474,0.019474
$HUMID,50.03
$INTERNAL_PRESSURE,8.81239
$TCM_TEMP,20.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,135.3,55.1
$24V_AH,24.4,0.335
$10V_AH,10.5,0.185
$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,17.600,61.000,246.300,53.475,0.000,0.000,0.000,0.000,2.500,0.000,34.660,1606.507,674.679,437.422,1036.983,126.387,0.000,1010.482,0.000,996.800,0.000,19.458,0.000
$DEVICE_MAMPS,255.510,62.730,652.545,53.550,0.000,0.000,0.000,0.000,420.000,0.000,30.710,11.460,2.190,11.460,39.180,45.920,0.000,17.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,465.044,507.123,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323380
$DATA_FILE_SIZE,33528,690
$CAP_FILE_SIZE,104617,0
$CFSIZE,260165632,257445888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.033,331.7,1
$GPS,041115,220816,4743.267,-12224.210,26,1.8,26,18.2