version: 66.10
glider: 158
mission: 13
dive: 12
start: 2 27 113 7 13 46
data:
$ID,158
$MISSION,13
$DIVE,12
$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,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$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,-722086
$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,2642
$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,85
$R_STBD_OVSHOOT,44
$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,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,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
$GPS1,270213,070435,4744.465,-12224.889,14,1.1,30,18.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-73.1
$GPS2,270213,071249,4744.549,-12224.824,15,1.3,15,18.2
$SPEED_LIMITS,0.139,0.201
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.038,-0.198
$KALMAN_X,810.5,-43.3,128.4,-940.6,190.0
$KALMAN_Y,727.1,-831.7,770.2,-1190.7,1035.8
$MHEAD_RNG_PITCHd_Wd,172.8,1203,-17.8,-8.032
$D_GRID,200
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.58,-97.7,0.0,0.0,0,75,0.00,0.00,-50.47,0.000,6,0.000,0.000,122,2253,2759,0,0,0,0,0,0,28.83,28.83,26.25
$GC,78,-0.58,-97.7,3.4,-6.7,7,96,9.68,1.48,0.00,0.000,4,0.267,0.027,2459,1273,2761,0,0,0,0,0,0,25.64,25.94,28.83
$GC,117,-0.58,-97.7,11.6,-20.6,12,126,0.00,1.58,0.00,0.000,6,0.000,0.031,2453,2305,2761,0,0,0,0,0,0,28.83,25.98,28.83
$GC,200,-0.58,-97.7,21.5,-12.0,25,209,0.00,1.65,0.00,0.000,4,0.000,0.042,2445,3356,2760,0,0,0,0,0,0,28.83,26.03,28.83
$GC,248,-0.58,-97.7,26.7,-10.2,32,256,0.00,1.55,0.00,0.000,6,0.000,0.023,2445,2322,2760,0,0,0,0,0,0,28.83,26.09,28.83
$GC,331,-0.58,-97.7,36.1,-11.0,45,339,0.00,1.62,0.00,0.000,4,0.000,0.037,2445,1254,2760,0,0,0,0,0,0,28.83,26.12,28.83
$GC,419,-0.58,-97.7,46.5,-11.7,59,425,0.00,1.55,0.00,0.000,6,0.000,0.031,2437,2309,2760,0,0,0,0,0,0,28.83,26.20,28.83
$GC,564,-0.58,-97.7,64.8,-12.5,84,573,0.00,1.62,0.00,0.000,4,0.000,0.041,2429,3355,2761,0,0,0,0,0,0,28.83,26.23,28.83
$GC,603,-0.58,-97.7,69.6,-12.5,90,612,0.00,1.58,0.00,0.000,6,0.000,0.022,2429,2280,2761,0,0,0,0,0,0,28.83,26.28,28.83
$GC,753,-0.58,-97.7,85.5,-10.0,115,760,0.00,1.62,0.00,0.000,4,0.000,0.040,2421,3350,2761,0,0,0,0,0,0,28.83,26.29,28.83
$GC,792,-0.58,-97.7,89.3,-9.9,121,800,0.15,1.50,0.00,0.000,6,0.192,0.022,2457,2275,2761,0,0,0,0,0,0,26.12,26.34,28.83
$GC,941,-0.58,-97.7,102.1,-9.6,146,949,0.00,1.48,0.00,0.000,4,0.000,0.037,2457,1296,2762,0,0,0,0,0,0,28.83,26.35,28.83
$GC,976,-0.58,-97.7,104.9,-8.2,151,982,0.00,1.50,0.00,0.000,6,0.000,0.031,2451,2324,2761,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1124,-0.58,-97.7,118.3,-9.1,176,1133,0.00,1.58,0.00,0.000,4,0.000,0.041,2443,3347,2761,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1243,-0.58,-97.7,126.9,-7.7,195,1250,0.00,1.50,0.00,0.000,6,0.000,0.022,2443,2290,2761,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1392,-0.58,-97.7,143.5,-10.2,220,1401,0.00,1.52,0.00,0.000,4,0.000,0.035,2443,1266,2761,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1462,-0.58,-97.7,150.1,-9.9,231,1469,0.00,1.50,0.00,0.000,6,0.000,0.030,2436,2305,2761,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1610,-0.58,-97.7,163.8,-8.5,256,1619,0.00,1.60,0.00,0.000,4,0.000,0.041,2427,3346,2761,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1882,-0.58,-97.7,190.8,-9.8,302,1891,0.00,1.52,0.00,0.000,6,0.000,0.023,2427,2304,2761,0,0,0,0,0,0,28.83,26.53,28.83
$STATE,1932,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1932,begin apogee
$GC,1938,-0.15,0.0,195.9,-9.6,310,2041,0.55,0.00,91.90,0.633,6,0.171,0.000,2593,2415,2362,0,0,0,0,1,0,26.32,28.83,24.69
$STATE,2042,end apogee,CONTROL_FINISHED_OK
$STATE,2042,begin climb
$GC,2044,0.58,97.7,199.1,0.0,325,2140,0.70,1.73,83.18,0.714,4,0.106,0.034,2838,1366,1962,0,0,0,0,1,0,25.33,24.84,24.18
$GC,2168,0.58,97.7,189.0,12.8,343,2175,0.00,1.55,0.00,0.000,6,0.000,0.030,2837,2378,1962,0,0,0,0,0,0,28.83,25.17,28.83
$GC,2316,0.58,97.7,170.7,13.4,368,2325,0.00,1.70,0.00,0.000,4,0.000,0.040,2837,3450,1962,0,0,0,0,0,0,28.83,25.67,28.83
$GC,2397,0.58,97.7,158.6,16.2,381,2404,0.00,1.55,0.00,0.000,6,0.000,0.026,2845,2411,1962,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2545,0.58,97.7,137.0,13.9,406,2554,0.00,1.62,0.00,0.000,4,0.000,0.037,2853,1347,1961,0,0,0,0,0,0,28.83,25.97,28.83
$GC,2626,0.58,97.7,126.1,13.1,419,2633,0.00,1.58,0.00,0.000,6,0.000,0.028,2853,2417,1961,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2774,0.58,97.7,104.1,15.4,444,2782,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2417,1961,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2923,0.58,97.7,81.0,15.3,469,2930,0.00,1.62,0.00,0.000,4,0.000,0.036,2861,1344,1961,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2962,0.58,97.7,75.4,15.3,475,2969,0.15,1.55,0.00,0.000,6,0.187,0.031,2824,2400,1961,0,0,0,0,0,0,26.05,26.25,28.83
$GC,3110,0.58,97.7,58.3,11.0,500,3119,0.00,1.60,0.00,0.000,4,0.000,0.037,2831,1344,1961,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3184,0.58,97.7,50.5,10.4,512,3193,0.00,1.58,0.00,0.000,6,0.000,0.030,2831,2391,1960,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3337,0.58,97.7,35.2,9.0,537,3346,0.00,1.58,0.00,0.000,4,0.000,0.035,2838,1353,1960,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3461,0.58,97.7,21.3,10.0,557,3470,0.00,1.58,0.00,0.000,6,0.000,0.031,2838,2399,1960,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3545,0.58,97.7,11.6,11.9,570,3554,0.00,1.60,0.00,0.000,4,0.000,0.040,2838,3450,1960,0,0,0,0,0,0,28.83,26.39,28.83
$STATE,3614,end climb,SURFACE_DEPTH_REACHED
$STATE,3614,begin surface coast
$FINISH,0.1,1.020173
$STATE,3640,end surface coast,CONTROL_FINISHED_OK
$STATE,3640,begin surface
$SM_CCo,3659,52.50,0.054,0,0,1464,220.03
$SM_GC,0.55,7.05,1.77,52.50,0.042,0.028,0.054,124,2299,1464,-7.81,1.39,220.03,0,0,0,0,0,0,26.39,26.41,26.33
$IRIDIUM_FIX,4729.30,-12222.38,270213,050514
$TT8_MAMPS,0.025466,0.025466
$HUMID,42.12
$INTERNAL_PRESSURE,9.08584
$TCM_TEMP,13.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,130.6,80.3
$24V_AH,24.2,0.800
$10V_AH,10.4,2.533
$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,18.275,50.675,175.075,52.500,0.000,25.226,36.370,304.391,1.250,0.000,16.829,1333.210,389.632,326.259,1993.029,172.017,33.202,911.409,0.000,1622.548,0.000,8.823,0.000
$DEVICE_MAMPS,266.985,79.560,713.745,53.550,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,PAM,nil,nil,nil
$SENSOR_SECS,411.238,245.859,1188.867,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322688
$DATA_FILE_SIZE,37043,585
$CAP_FILE_SIZE,71505,0
$CFSIZE,260165632,239898624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,270213,081651,4744.207,-12224.905,14,5.5,33,18.2