version: 66.10
glider: 158
mission: 13
dive: 8
start: 2 27 113 2 40 35
data:
$ID,158
$MISSION,13
$DIVE,8
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,200
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,30
$T_BOOST,2
$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,83
$T_MISSION,100
$T_ABORT,1440
$T_TURN,225
$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,51658
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,220
$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,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-722081
$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,2654
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.02
$PITCH_GAIN,34
$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,30
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,46
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,10
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2362
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00060000003
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$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,-57.386631
$PRESSURE_SLOPE,0.0001162534
$AD7714Ch0Gain,128
$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,120
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,6
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.4
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,101
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043174815
$SEABIRD_T_H,0.00062973832
$SEABIRD_T_I,2.2850083e-05
$SEABIRD_T_J,2.3190789e-06
$SEABIRD_C_G,-9.7740049
$SEABIRD_C_H,1.1142186
$SEABIRD_C_I,-0.0020427832
$SEABIRD_C_J,0.00024115926
$PA_RECORDABOVE,1010.0
$PA_PROFILE,3.0
$PA_XMITPROFILE,0.0
$PA_UPLOADMAX,0.0
$PA_STARTS,10.0
$GPS1,270213,023235,4743.742,-12224.751,29,0.9,29,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-62.7
$GPS2,270213,023937,4743.803,-12224.706,14,1.0,14,18.2
$SPEED_LIMITS,0.139,0.241
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.053,0.217
$KALMAN_X,227.8,-90.1,-40.4,1.5,120.2
$KALMAN_Y,-2388.5,-271.1,-160.0,898.0,-762.8
$MHEAD_RNG_PITCHd_Wd,328.0,214,-15.6,-8.032
$D_GRID,176
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,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,-0.53,-123.2,0.0,0.0,0,112,0.00,0.10,-86.28,0.000,6,0.000,0.364,122,2298,2866,0,0,0,0,0,0,28.83,25.89,26.31
$GC,116,-0.54,-133.8,3.7,-7.6,12,134,9.75,1.58,-0.80,0.000,4,0.266,0.054,2485,1250,2910,0,0,0,0,0,0,25.68,25.98,26.15
$GC,405,-0.54,-133.8,39.3,-9.7,59,414,0.00,1.60,0.00,0.000,6,0.000,0.033,2478,2304,2910,0,0,0,0,0,0,28.83,26.20,28.83
$GC,484,-0.54,-133.8,47.8,-10.9,72,493,0.00,1.60,0.00,0.000,4,0.000,0.037,2478,1256,2911,0,0,0,0,0,0,28.83,26.20,28.83
$GC,570,-0.54,-133.8,56.8,-10.9,86,579,0.00,1.58,0.00,0.000,6,0.000,0.033,2471,2301,2911,0,0,0,0,0,0,28.83,26.27,28.83
$GC,720,-0.54,-133.8,71.7,-9.5,111,727,0.00,1.55,0.00,0.000,4,0.000,0.035,2471,1250,2910,0,0,0,0,0,0,28.83,26.29,28.83
$GC,759,-0.54,-133.8,75.4,-9.3,117,766,0.00,1.55,0.00,0.000,6,0.000,0.032,2463,2309,2911,0,0,0,0,0,0,28.83,26.34,28.83
$GC,905,-0.54,-133.8,90.9,-11.2,142,914,0.00,1.62,0.00,0.000,4,0.000,0.044,2455,3356,2911,0,0,0,0,0,0,28.83,26.34,28.83
$GC,968,-0.54,-133.8,97.9,-11.7,152,977,0.00,1.60,0.00,0.000,6,0.000,0.025,2455,2277,2910,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1120,-0.54,-133.8,114.5,-10.6,177,1127,0.00,1.62,0.00,0.000,4,0.000,0.043,2447,3350,2911,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1163,-0.54,-133.8,119.3,-10.2,184,1172,0.10,1.55,0.00,0.000,6,0.164,0.025,2478,2290,2911,0,0,0,0,0,0,26.23,26.43,28.83
$GC,1315,-0.55,-146.6,130.3,-6.6,209,1322,0.00,1.62,-0.30,0.000,4,0.000,0.060,2472,3358,2964,0,0,0,0,0,0,28.83,26.42,26.54
$GC,1412,-0.55,-146.6,138.3,-9.2,225,1419,0.00,1.50,0.00,0.000,6,0.000,0.024,2471,2306,2964,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1560,-0.55,-146.6,151.3,-8.6,250,1569,0.00,1.62,0.00,0.000,4,0.000,0.043,2463,3350,2965,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1647,-0.55,-146.6,159.3,-9.4,264,1655,0.00,1.55,0.00,0.000,6,0.000,0.024,2463,2300,2964,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1798,-0.55,-146.6,171.9,-8.2,289,1805,0.00,1.60,0.00,0.000,4,0.000,0.041,2455,3362,2964,0,0,0,0,0,0,28.83,26.49,28.83
$STATE,1846,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1847,begin apogee
$GC,1854,-0.15,0.0,176.2,-8.2,297,1975,0.47,0.00,113.53,0.642,6,0.155,0.000,2604,2395,2355,0,0,0,0,0,0,26.32,28.83,24.63
$STATE,1976,end apogee,CONTROL_FINISHED_OK
$STATE,1976,begin climb
$GC,1979,0.55,146.6,178.1,0.0,315,2101,0.68,0.00,117.40,0.602,6,0.104,0.000,2831,2395,1763,0,0,0,0,0,0,25.16,28.83,24.33
$GC,2242,0.55,146.6,145.3,13.3,357,2248,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2394,1747,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2387,0.55,146.6,127.3,11.8,382,2396,0.00,1.67,0.00,0.000,4,0.000,0.041,2831,3448,1746,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2434,0.55,146.6,121.6,13.1,389,2441,0.00,1.55,0.00,0.000,6,0.000,0.029,2839,2413,1745,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2583,0.55,146.6,103.1,11.6,414,2591,0.00,1.62,0.00,0.000,4,0.000,0.041,2847,1355,1745,0,0,0,0,0,0,28.83,26.05,28.83
$GC,2618,0.55,146.6,99.2,11.4,419,2625,0.00,1.58,0.00,0.000,6,0.000,0.031,2846,2408,1744,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2766,0.55,146.6,79.9,12.9,444,2774,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2408,1744,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2917,0.55,146.6,60.1,12.3,469,2923,0.00,1.60,0.00,0.000,4,0.000,0.040,2854,1348,1744,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2979,0.55,146.6,52.2,12.2,479,2985,0.00,1.55,0.00,0.000,6,0.000,0.031,2854,2405,1744,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3129,0.55,146.6,32.7,13.8,504,3137,0.00,1.62,0.00,0.000,4,0.000,0.038,2862,1344,1744,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3241,0.55,146.6,18.3,12.6,522,3251,0.10,1.60,0.00,0.000,6,0.161,0.031,2831,2409,1743,0,0,0,0,0,0,26.17,26.35,28.83
$GC,3326,0.55,146.6,8.5,11.8,535,3334,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2409,1743,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3370,end climb,SURFACE_DEPTH_REACHED
$STATE,3370,begin surface coast
$FINISH,-0.0,1.005645
$STATE,3396,end surface coast,CONTROL_FINISHED_OK
$STATE,3396,begin surface
$SM_CCo,3413,29.35,0.054,0,0,1463,220.03
$SM_GC,0.98,7.15,0.15,29.35,0.052,0.068,0.054,124,2243,1463,-7.85,1.36,220.03,0,0,0,0,0,0,26.34,26.42,26.32
$IRIDIUM_FIX,4726.11,-12225.08,270213,010151
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.16
$INTERNAL_PRESSURE,9.08584
$TCM_TEMP,13.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,121.0,77.2
$24V_AH,24.3,0.570
$10V_AH,10.5,2.206
$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,18.250,38.225,230.925,29.350,0.000,25.933,47.551,227.027,0.500,0.000,15.456,1214.491,341.396,333.143,1827.061,161.402,33.217,897.607,0.000,1529.673,0.000,5.636,0.000
$DEVICE_MAMPS,266.220,364.140,641.835,53.550,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,PAM,nil,nil,nil
$SENSOR_SECS,383.189,232.141,1130.753,0.000,0.000,0.000,19987.951,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,300.000,0.000,0.000,0.000
$MEM,322712
$DATA_FILE_SIZE,33702,546
$CAP_FILE_SIZE,64311,2
$CFSIZE,260165632,240066560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270213,033849,4744.367,-12224.825,12,1.7,12,18.2