version: 66.11
glider: 158
mission: 13
dive: 6
start: 11 5 115 0 40 30
data:
$ID,158
$MISSION,13
$DIVE,6
$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,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,80
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$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,280
$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,-721910
$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,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,350
$C_ROLL_CLIMB,350
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,45
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,120
$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
$GPS1,051115,003300,4744.431,-12224.369,9,1.8,9,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-72.2
$GPS2,051115,003959,4744.438,-12224.305,15,1.5,20,18.2
$SPEED_LIMITS,0.074,0.178
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-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,172.7,2674,-19.5,-7.407,-22.56,1609
$D_GRID,200
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.77,-78.2,133,357,572,608,0.0,0.0,0,52,0.00,0.00,-34.28,0.000,16386,0.000,0.000,133,357,1609,1603,1615,0,0,0,0,0,0,28.83,28.83,28.83
$GC,55,-0.77,-78.2,132,357,1604,1616,3.1,-6.5,6,85,8.62,0.00,-16.70,0.000,18438,0.246,0.000,2309,352,2421,2443,2399,0,0,0,0,0,0,25.58,28.83,26.17
$GC,148,-0.77,-78.2,2309,353,2446,2399,19.2,-16.5,23,154,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,353,2423,2447,2399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,217,-0.77,-78.2,2309,353,2447,2399,30.7,-17.2,36,223,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,353,2423,2447,2399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,286,-0.77,-78.2,2309,352,2448,2399,42.9,-17.3,49,292,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,352,2423,2448,2399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,414,-0.77,-78.2,1424,352,2378,2389,65.3,-17.0,74,420,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,352,2423,2448,2399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,543,-0.77,-78.2,2309,353,2448,2399,87.7,-17.0,99,548,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,352,2423,2448,2399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,671,-0.77,-78.2,2309,353,2449,2399,109.1,-16.4,124,678,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,352,2423,2448,2399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,806,-0.77,-78.2,2309,352,2448,2399,131.1,-17.0,149,812,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,352,2423,2448,2399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,934,-0.77,-78.2,1424,352,2378,2390,153.3,-17.9,174,940,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,353,2423,2448,2399,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1025,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1026,begin apogee
$GC,1031,-0.18,0.0,2308,353,2448,2399,168.1,-16.4,192,1096,0.60,0.00,58.60,0.640,10246,0.162,0.000,2498,352,2106,2140,2072,0,0,0,0,0,0,26.22,28.83,25.04
$STATE,1097,end apogee,CONTROL_FINISHED_OK
$STATE,1097,begin climb
$GC,1100,0.77,78.2,2498,353,2139,2071,174.1,0.0,203,1168,0.90,0.00,62.72,0.637,10246,0.105,0.000,2803,352,1794,1835,1753,0,0,0,0,0,0,25.58,28.83,24.56
$GC,1292,0.83,143.9,2803,352,1829,1747,168.8,3.2,239,1350,0.00,0.00,52.00,0.630,8198,0.000,0.000,2803,352,1532,1579,1486,0,0,0,0,0,0,28.83,28.83,24.62
$GC,1475,0.83,143.9,2803,352,1574,1482,156.0,8.1,273,1480,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,352,1528,1574,1482,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1602,0.83,143.9,1808,352,1533,1477,144.0,7.9,298,1608,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,353,1527,1573,1481,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1731,0.83,143.9,2803,352,1573,1480,131.5,10.5,323,1737,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,352,1526,1573,1480,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1860,0.83,143.9,2803,352,1573,1480,118.5,9.6,348,1867,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,353,1526,1573,1480,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1990,0.83,143.9,2803,352,1573,1480,106.6,9.5,373,1995,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,352,1525,1572,1479,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2118,0.83,143.9,1808,352,1532,1475,93.1,10.2,398,2123,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,352,1525,1572,1479,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2246,0.83,143.9,2803,352,1572,1479,80.7,8.7,423,2252,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,352,1525,1572,1479,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2375,0.83,143.9,2803,352,1572,1479,69.8,8.3,448,2382,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,352,1525,1572,1479,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2505,0.83,143.9,2803,352,1572,1479,59.7,7.5,473,2511,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,352,1525,1572,1479,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2633,0.83,143.9,1808,352,1532,1474,49.4,8.5,498,2639,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,352,1525,1572,1479,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2762,0.83,143.9,2803,352,1572,1479,38.5,8.9,523,2767,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,352,1525,1572,1479,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2830,0.83,143.9,2803,352,1571,1479,32.7,8.7,536,2837,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,352,1525,1572,1479,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2900,0.83,143.9,2803,352,1571,1479,26.5,8.7,549,2906,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,352,1524,1571,1478,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2969,0.83,145.5,2803,352,1572,1478,21.1,7.3,562,2975,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,352,1525,1571,1479,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3038,0.86,177.5,2803,353,1571,1479,16.8,5.4,575,3057,0.00,0.00,16.33,0.480,8198,0.000,0.000,2803,352,1398,1446,1351,0,0,0,0,0,0,28.83,28.83,25.79
$GC,3119,0.86,177.5,1808,352,1410,1345,11.2,9.6,590,3125,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,352,1394,1441,1348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3188,0.90,227.7,2803,352,1442,1347,8.4,4.2,603,3218,0.12,0.00,22.42,0.454,10246,0.091,0.000,2877,352,1198,1242,1154,0,0,0,0,0,0,26.41,28.83,25.67
$GC,3281,1.00,342.0,2877,352,1239,1150,6.3,0.1,620,3336,0.00,0.00,50.72,0.454,8198,0.000,0.000,2877,352,743,742,744,0,0,0,0,0,0,28.83,28.83,25.31
$STATE,3390,end climb,SURFACE_DEPTH_REACHED
$STATE,3390,begin surface coast
$FINISH,0.7,1.018431
$STATE,3429,end surface coast,CONTROL_FINISHED_OK
$STATE,3429,begin surface
$SM_CCo,3506,0.00,0.000,0,0,738,343.64
$SM_GC,2.62,7.47,0.00,0.00,0.057,0.000,0.000,112,352,738,-7.56,0.06,343.64,0,0,0,0,0,0,25.93,28.83,28.83
$IRIDIUM_FIX,4722.92,-12213.55,310808,121238
$TT8_MAMPS,0.019474,0.019474
$HUMID,49.29
$INTERNAL_PRESSURE,8.7831
$TCM_TEMP,20.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.5,67.5
$24V_AH,24.6,0.538
$10V_AH,10.5,0.337
$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,17.725,2.375,262.800,0.000,0.000,22.433,40.591,226.597,0.500,0.000,20.835,1480.408,700.617,350.214,1241.002,155.750,0.000,881.371,0.000,936.294,0.000,5.612,0.000
$DEVICE_MAMPS,245.565,40.545,640.305,0.000,0.000,55.840,160.000,223.000,420.000,0.000,30.710,11.460,2.190,11.460,39.180,45.920,0.000,17.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,436.343,496.353,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323296
$DATA_FILE_SIZE,33604,647
$CAP_FILE_SIZE,64035,0
$CFSIZE,260165632,257351680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.083,357.4,1
$GPS,051115,013936,4744.630,-12224.312,13,1.5,13,18.2