version: 66.11
glider: 158
mission: 13
dive: 13
start: 11 5 115 9 7 50
data:
$ID,158
$MISSION,13
$DIVE,13
$N_DIVES,0
$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,90
$T_MISSION,100
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$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,320
$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,-721918.88
$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,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,66
$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,0
$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
$GPS1,051115,085626,4743.980,-12224.334,13,2.2,33,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-71.1
$GPS2,051115,090714,4744.045,-12224.224,13,2.4,33,18.2
$SPEED_LIMITS,0.183,0.256
$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,326.9,910,-15.1,-6.667,-18.71,2402
$D_GRID,174
$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,-105.3,119,2040,596,618,0.0,0.0,0,58,0.00,0.00,-40.10,0.000,16386,0.000,0.000,119,2041,1804,1793,1816,0,0,0,0,0,0,28.83,28.83,28.83
$GC,61,-0.63,-105.3,119,2041,1793,1816,3.4,-7.4,7,92,8.98,2.35,-15.57,0.000,18948,0.252,0.056,2356,579,2527,2544,2511,0,0,0,0,0,0,25.66,25.92,26.21
$GC,307,-0.63,-105.3,2356,578,2548,2511,37.4,-14.3,54,314,0.00,2.12,0.00,0.000,1030,0.000,0.030,2348,1989,2529,2548,2511,0,0,0,0,0,0,28.83,26.15,28.83
$GC,377,-0.63,-105.3,2347,1989,2548,2511,47.4,-14.0,67,383,0.00,2.17,0.00,0.000,260,0.000,0.042,2337,3410,2529,2548,2511,0,0,0,0,0,0,28.83,26.16,28.83
$GC,426,-0.63,-105.3,2337,3409,2548,2511,54.3,-14.1,76,433,0.00,2.15,0.00,0.000,1030,0.000,0.030,2337,1983,2529,2548,2511,0,0,0,0,0,0,28.83,26.22,28.83
$GC,555,-0.63,-105.3,1440,1980,2480,2502,72.1,-14.6,101,562,0.00,2.10,0.00,0.000,516,0.000,0.041,2336,593,2529,2548,2510,0,0,0,0,0,0,28.83,26.25,28.83
$GC,609,-0.63,-105.3,1448,593,2480,2502,80.4,-15.0,111,616,0.15,2.12,0.00,0.000,3078,0.173,0.031,2365,2008,2529,2548,2511,0,0,0,0,0,0,26.14,26.29,28.83
$GC,741,-0.63,-105.3,2364,2008,2548,2511,96.7,-11.6,136,747,0.00,2.12,0.00,0.000,260,0.000,0.042,2356,3406,2529,2548,2511,0,0,0,0,0,0,28.83,26.32,28.83
$GC,790,-0.63,-105.3,2355,3407,2548,2511,102.9,-12.1,145,798,0.00,2.10,0.00,0.000,1030,0.000,0.029,2356,1997,2529,2548,2511,0,0,0,0,0,0,28.83,26.36,28.83
$GC,923,-0.63,-105.3,2356,1996,2547,2511,119.5,-13.0,170,929,0.00,2.12,0.00,0.000,516,0.000,0.041,2356,587,2529,2548,2511,0,0,0,0,0,0,28.83,26.36,28.83
$GC,988,-0.63,-105.3,2356,587,2548,2511,128.8,-13.8,182,994,0.00,2.12,0.00,0.000,1030,0.000,0.031,2346,2005,2529,2548,2511,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1118,-0.63,-105.3,1416,2004,2477,2501,146.8,-14.3,207,1124,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2006,2529,2548,2511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1247,-0.63,-105.3,2346,2006,2548,2511,164.8,-13.8,232,1253,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2006,2529,2548,2511,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1318,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1318,begin apogee
$GC,1325,-0.18,0.0,2346,1735,2548,2511,174.3,-12.7,246,1407,0.47,0.00,78.62,0.649,10246,0.136,0.000,2504,1735,2106,2143,2069,0,0,0,0,0,0,26.33,28.83,24.92
$STATE,1408,end apogee,CONTROL_FINISHED_OK
$STATE,1408,begin climb
$GC,1411,0.63,105.3,2504,1734,2142,2069,179.1,0.0,260,1504,0.77,2.33,83.00,0.640,10500,0.092,0.042,2772,3155,1685,1732,1638,0,0,0,0,0,0,25.47,25.00,24.44
$GC,1578,0.63,105.3,2772,3155,1727,1635,171.6,9.7,290,1585,0.00,2.17,0.00,0.000,1030,0.000,0.034,2782,1766,1680,1726,1634,0,0,0,0,0,0,28.83,25.49,28.83
$GC,1709,0.63,105.3,2782,1766,1725,1631,160.0,7.6,315,1716,0.00,2.25,0.00,0.000,516,0.000,0.048,2793,348,1677,1724,1631,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1789,0.63,105.3,2792,348,1723,1630,153.6,7.7,330,1796,0.00,2.15,0.00,0.000,1030,0.000,0.032,2793,1751,1676,1723,1630,0,0,0,0,0,0,28.83,25.93,28.83
$GC,1920,0.63,105.3,1760,1749,1672,1624,143.8,7.5,355,1926,0.00,2.17,0.00,0.000,260,0.000,0.042,2793,3161,1676,1723,1629,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1994,0.63,105.3,1792,3160,1674,1623,137.3,8.7,369,2002,0.15,2.17,0.00,0.000,5126,0.172,0.034,2764,1737,1675,1723,1628,0,0,0,0,0,0,25.96,26.12,28.83
$GC,2126,0.63,105.3,2764,1737,1722,1628,126.6,8.3,394,2131,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,1737,1675,1723,1628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2254,0.63,105.3,1792,1735,1674,1623,116.9,8.0,419,2260,0.00,2.20,0.00,0.000,260,0.000,0.042,2764,3163,1675,1722,1628,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2328,0.63,105.3,2764,3163,1722,1628,111.3,7.3,433,2335,0.00,2.15,0.00,0.000,1030,0.000,0.034,2773,1746,1675,1722,1628,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2461,0.63,105.3,2773,1746,1722,1627,102.4,7.1,458,2466,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1746,1675,1722,1628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2589,0.63,105.3,1792,1745,1674,1622,93.3,6.8,483,2594,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1746,1674,1722,1627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2717,0.64,118.9,2773,1746,1722,1627,85.1,6.1,508,2731,0.00,0.00,10.50,0.542,8198,0.000,0.000,2773,1746,1632,1681,1584,0,0,0,0,0,0,28.83,28.83,25.71
$GC,2856,0.66,136.9,2772,1746,1678,1582,76.9,5.9,534,2880,0.00,2.17,15.57,0.561,8452,0.000,0.042,2773,3152,1559,1607,1511,0,0,0,0,0,0,28.83,26.13,25.60
$GC,2938,0.66,136.9,2773,3152,1606,1509,71.4,6.9,549,2945,0.00,2.15,0.00,0.000,1030,0.000,0.034,2783,1740,1557,1606,1508,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3070,0.66,136.9,2783,1740,1604,1507,61.5,7.8,574,3077,0.00,2.15,0.00,0.000,516,0.000,0.047,2794,347,1555,1603,1507,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3159,0.66,136.9,1808,347,1563,1501,53.3,9.7,591,3166,0.00,2.12,0.00,0.000,1030,0.000,0.033,2794,1758,1554,1603,1506,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3290,0.66,136.9,2793,1759,1603,1506,41.1,9.4,616,3296,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1759,1554,1603,1506,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3419,0.66,136.9,2793,1759,1603,1506,30.1,7.7,641,3425,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1758,1554,1603,1506,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3489,0.66,136.9,2793,1759,1603,1506,24.9,7.6,654,3495,0.00,2.17,0.00,0.000,516,0.000,0.047,2804,347,1554,1602,1506,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3528,0.66,136.9,2804,347,1603,1505,21.4,8.9,661,3536,0.00,2.12,0.00,0.000,1030,0.000,0.032,2804,1763,1553,1602,1505,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3599,0.66,136.9,2804,1763,1602,1505,15.1,8.9,674,3605,0.00,2.20,0.00,0.000,516,0.000,0.047,2815,337,1553,1602,1504,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3664,0.66,136.9,2815,337,1602,1504,9.3,9.2,686,3671,0.17,2.12,0.00,0.000,5126,0.158,0.032,2766,1758,1553,1602,1504,0,0,0,0,0,0,26.30,26.46,28.83
$GC,3734,0.73,217.8,1760,1757,1561,1500,5.8,3.2,699,3776,0.00,2.20,35.10,0.452,8452,0.000,0.040,2766,3150,1236,1290,1183,0,0,0,0,0,0,28.83,26.11,25.68
$GC,3840,0.83,320.6,2766,3150,1285,1179,2.7,2.3,718,3877,0.17,2.12,31.10,0.055,11266,0.074,0.034,2855,1748,941,986,897,0,0,0,0,0,0,26.19,26.19,28.83
$STATE,3878,end climb,SURFACE_DEPTH_REACHED
$STATE,3879,begin surface coast
$FINISH,0.2,1.013592
$STATE,3943,end surface coast,CONTROL_FINISHED_OK
$STATE,3943,begin surface
$SM_CCo,3960,11.40,0.057,0,0,832,320.03
$SM_GC,4.19,7.15,0.38,11.40,0.044,0.046,0.057,124,2017,832,-7.55,-1.24,320.03,0,0,0,0,0,0,26.22,26.25,26.17
$IRIDIUM_FIX,4726.11,-12224.09,310808,222242
$TT8_MAMPS,0.020223,0.020223
$HUMID,48.54
$INTERNAL_PRESSURE,8.79286
$TCM_TEMP,20.60
$XPDR_PINGS,0
$24V_AH,24.4,1.063
$10V_AH,10.6,0.708
$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,18.025,61.400,253.900,11.400,0.000,50.069,113.952,278.940,0.000,0.000,34.767,1735.037,796.354,390.922,1506.213,210.007,0.000,992.060,0.000,1064.017,0.000,0.537,0.000
$DEVICE_MAMPS,251.685,55.845,649.485,56.610,0.000,55.840,160.000,223.000,420.000,0.000,30.710,11.460,2.190,11.460,39.180,45.920,0.000,17.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,496.824,550.696,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323364
$DATA_FILE_SIZE,36856,736
$CAP_FILE_SIZE,81275,0
$CFSIZE,260165632,257044480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.059, 17.8,1
$GPS,051115,101605,4744.575,-12224.376,84,1.3,84,18.2