version: 66.11
glider: 158
mission: 13
dive: 8
start: 11 5 115 3 2 51
data:
$ID,158
$MISSION,13
$DIVE,8
$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,90
$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,-721912.62
$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,2562
$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,2000
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,27
$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,15
$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
$GPS1,051115,025535,4744.672,-12224.357,34,1.7,34,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-72.9
$GPS2,051115,030224,4744.748,-12224.371,13,1.9,13,18.2
$SPEED_LIMITS,0.074,0.190
$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,156.6,3241,-18.1,-7.407,-21.29,1849
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.73,-88.0,133,1986,634,636,0.0,0.0,0,59,0.00,0.00,-40.88,0.000,16386,0.000,0.000,133,1986,1882,1859,1906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-0.73,-88.0,133,1986,1859,1907,3.4,-6.3,7,93,8.65,2.20,-12.15,0.000,18948,0.245,0.058,2328,601,2460,2471,2449,0,0,0,0,0,0,25.64,25.91,26.21
$GC,272,-0.73,-88.0,1440,600,2407,2440,37.7,-16.4,47,278,0.00,2.15,0.00,0.000,1030,0.000,0.034,2320,2015,2462,2475,2449,0,0,0,0,0,0,28.83,26.11,28.83
$GC,341,-0.73,-88.0,2320,2015,2475,2449,49.1,-15.6,60,347,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2015,2461,2474,2449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,470,-0.73,-88.0,2320,2014,2475,2449,70.0,-16.4,85,477,0.00,2.17,0.00,0.000,516,0.000,0.042,2320,597,2462,2475,2449,0,0,0,0,0,0,28.83,26.21,28.83
$GC,520,-0.73,-88.0,2319,597,2475,2449,78.8,-17.3,94,527,0.00,2.12,0.00,0.000,1030,0.000,0.033,2310,2004,2462,2475,2449,0,0,0,0,0,0,28.83,26.25,28.83
$GC,649,-0.73,-88.0,1416,2001,2407,2440,99.1,-15.7,119,656,0.00,2.15,0.00,0.000,260,0.000,0.045,2299,3412,2462,2475,2449,0,0,0,0,0,0,28.83,26.28,28.83
$GC,729,-0.73,-88.0,2299,3412,2474,2449,111.9,-16.6,134,735,0.00,2.12,0.00,0.000,1030,0.000,0.031,2299,1998,2462,2475,2449,0,0,0,0,0,0,28.83,26.34,28.83
$GC,861,-0.73,-88.0,2299,1995,2475,2449,133.2,-15.7,159,867,0.00,2.12,0.00,0.000,516,0.000,0.042,2299,588,2462,2475,2449,0,0,0,0,0,0,28.83,26.35,28.83
$GC,895,-0.73,-88.0,2299,588,2475,2449,139.0,-16.9,165,903,0.17,2.12,0.00,0.000,3078,0.177,0.034,2334,2002,2462,2475,2449,0,0,0,0,0,0,26.20,26.38,28.83
$GC,1028,-0.73,-88.0,2334,2003,2475,2449,156.9,-11.4,190,1035,0.00,2.15,0.00,0.000,516,0.000,0.041,2334,582,2462,2475,2449,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1073,-0.73,-88.0,2334,582,2475,2449,162.9,-13.4,198,1080,0.00,2.12,0.00,0.000,1030,0.000,0.032,2326,2002,2462,2476,2449,0,0,0,0,0,0,28.83,26.42,28.83
$STATE,1180,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1180,begin apogee
$GC,1188,-0.18,0.0,2325,1783,2475,2449,177.8,-14.1,219,1259,0.55,0.00,66.05,0.645,10246,0.139,0.000,2506,1783,2105,2142,2069,0,0,0,0,0,0,26.29,28.83,25.01
$STATE,1260,end apogee,CONTROL_FINISHED_OK
$STATE,1260,begin climb
$GC,1262,0.73,88.0,2506,1783,2142,2069,182.8,0.0,231,1343,0.82,2.30,70.35,0.636,10756,0.090,0.048,2806,410,1753,1797,1709,0,0,0,0,0,0,25.55,25.07,24.51
$GC,1407,0.75,112.3,1808,409,1739,1699,177.2,6.1,257,1431,0.00,2.17,19.98,0.607,9222,0.000,0.034,2806,1800,1658,1706,1610,0,0,0,0,0,0,28.83,25.51,24.74
$GC,1555,0.75,112.3,2806,1800,1701,1605,165.6,9.2,285,1562,0.00,2.20,0.00,0.000,260,0.000,0.044,2806,3208,1653,1701,1605,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1595,0.75,112.3,2806,3208,1701,1605,161.8,9.3,292,1601,0.00,2.15,0.00,0.000,1030,0.000,0.035,2816,1820,1652,1701,1604,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1725,0.75,112.3,1792,1817,1651,1598,151.6,8.1,317,1732,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1819,1651,1699,1603,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1855,0.75,112.3,1808,1817,1652,1597,140.5,9.3,342,1862,0.00,2.22,0.00,0.000,516,0.000,0.048,2828,387,1650,1698,1602,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1900,0.75,112.3,2828,386,1697,1602,136.2,9.7,350,1907,0.00,2.17,0.00,0.000,1030,0.000,0.034,2828,1812,1649,1697,1602,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2031,0.75,112.3,1808,1811,1649,1596,124.4,9.2,375,2037,0.00,2.22,0.00,0.000,516,0.000,0.047,2838,389,1649,1696,1602,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2091,0.75,112.3,2838,389,1696,1602,118.5,9.5,386,2098,0.15,2.15,0.00,0.000,5126,0.174,0.034,2800,1808,1649,1696,1602,0,0,0,0,0,0,26.07,26.24,28.83
$GC,2223,0.75,112.3,2799,1809,1696,1602,108.2,8.1,411,2229,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,1809,1648,1696,1601,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2352,0.75,112.3,2799,1809,1696,1601,98.2,7.5,436,2358,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1810,1648,1696,1601,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2481,0.75,112.3,2799,1809,1696,1601,88.4,7.5,461,2488,0.00,2.12,0.00,0.000,260,0.000,0.044,2799,3205,1648,1696,1601,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2633,0.75,112.3,2799,3205,1696,1601,75.1,8.8,490,2640,0.00,2.12,0.00,0.000,1030,0.000,0.034,2808,1793,1648,1696,1601,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2764,0.75,112.3,2808,1793,1696,1601,63.8,8.8,515,2771,0.00,2.15,0.00,0.000,516,0.000,0.048,2819,395,1648,1696,1600,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2844,0.75,112.3,2819,395,1696,1600,56.5,9.0,530,2851,0.00,2.12,0.00,0.000,1030,0.000,0.034,2820,1808,1647,1695,1600,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2975,0.75,112.3,1792,1808,1648,1594,45.8,8.1,555,2981,0.00,2.20,0.00,0.000,516,0.000,0.047,2830,385,1647,1695,1600,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3106,0.75,112.3,2830,385,1695,1599,34.8,8.4,580,3112,0.00,2.12,0.00,0.000,1030,0.000,0.034,2830,1801,1647,1695,1600,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3175,0.75,112.3,2830,1802,1695,1600,29.1,7.8,593,3183,0.00,2.17,0.00,0.000,516,0.000,0.047,2840,397,1647,1695,1600,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3236,0.75,112.3,2840,397,1695,1600,24.2,8.3,604,3243,0.15,2.10,0.00,0.000,5126,0.176,0.033,2802,1805,1647,1695,1600,0,0,0,0,0,0,26.34,26.51,28.83
$GC,3306,0.77,134.5,2802,1805,1695,1600,19.5,6.2,617,3325,0.00,2.22,10.38,0.467,8708,0.000,0.047,2812,399,1568,1616,1521,0,0,0,0,0,0,28.83,26.38,25.86
$GC,3358,0.77,134.5,2811,399,1611,1521,15.7,7.7,626,3365,0.00,2.10,0.00,0.000,1030,0.000,0.034,2811,1797,1566,1611,1521,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3428,0.78,146.9,1808,1796,1569,1515,10.7,6.7,639,3441,0.00,2.15,5.30,0.373,8452,0.000,0.044,2811,3205,1519,1567,1471,0,0,0,0,0,0,28.83,26.36,25.87
$GC,3535,0.81,181.8,1792,3203,1526,1465,3.9,5.5,659,3554,0.00,2.12,15.07,0.422,9222,0.000,0.035,2821,1793,1382,1431,1333,0,0,0,0,0,0,28.83,26.42,25.82
$GC,3620,0.93,311.7,2821,1793,1424,1328,3.1,0.2,674,3679,0.12,0.08,55.42,0.436,10755,0.094,0.118,2887,1730,863,896,830,0,0,0,0,0,0,26.35,28.83,25.41
$STATE,3680,end climb,SURFACE_DEPTH_REACHED
$STATE,3680,begin surface coast
$FINISH,0.1,1.008634
$STATE,3747,end surface coast,CONTROL_FINISHED_OK
$STATE,3747,begin surface
$SM_CCo,3825,0.00,0.000,0,0,856,313.75
$SM_GC,3.23,7.30,0.40,0.00,0.044,0.044,0.000,129,2009,856,-7.55,-1.33,313.75,0,0,0,0,0,0,25.97,26.01,28.83
$IRIDIUM_FIX,4729.30,-12224.09,310808,151509
$TT8_MAMPS,0.020223,0.020223
$HUMID,49.56
$INTERNAL_PRESSURE,8.79286
$TCM_TEMP,20.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.6,72.0
$24V_AH,24.5,0.676
$10V_AH,10.5,0.443
$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,17.925,68.125,242.550,0.000,0.000,24.880,40.313,224.656,0.500,0.000,14.156,1639.023,747.613,368.386,1294.992,192.064,0.000,943.386,0.000,1007.394,0.000,5.623,0.000
$DEVICE_MAMPS,244.800,117.810,644.895,0.000,0.000,55.840,160.000,223.000,420.000,0.000,30.710,11.460,2.190,11.460,39.180,45.920,0.000,17.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,470.339,530.222,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323344
$DATA_FILE_SIZE,33430,697
$CAP_FILE_SIZE,78277,0
$CFSIZE,260165632,257257472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.035,187.0,1
$GPS,051115,040802,4744.290,-12224.336,30,99.0,50,18.2