version: 66.10
glider: 158
mission: 13
dive: 15
start: 2 27 113 10 20 54
data:
$ID,158
$MISSION,13
$DIVE,15
$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,80
$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,-722089.75
$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,2638
$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,36
$R_STBD_OVSHOOT,47
$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,0
$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
$GPS1,270213,101315,4743.627,-12224.943,14,2.7,33,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-71.9
$GPS2,270213,101957,4743.625,-12224.957,10,2.9,29,18.2
$SPEED_LIMITS,0.139,0.182
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.041,0.177
$KALMAN_X,633.9,124.0,-28.3,-937.0,-119.0
$KALMAN_Y,-794.7,909.3,35.2,-2385.7,-616.7
$MHEAD_RNG_PITCHd_Wd,354.9,545,-20.2,-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,-0.64,-78.2,0.0,0.0,0,72,0.00,0.00,-48.05,0.000,6,0.000,0.000,123,2311,2682,0,0,0,0,0,0,28.83,28.83,26.28
$GC,76,-0.64,-78.2,3.3,-6.3,7,93,9.50,1.62,0.00,0.000,4,0.265,0.027,2436,1229,2684,0,0,0,0,0,0,25.67,25.98,28.83
$GC,365,-0.64,-78.2,38.7,-9.7,54,374,0.00,1.62,0.00,0.000,6,0.000,0.030,2429,2303,2683,0,0,0,0,0,0,28.83,26.19,28.83
$GC,446,-0.64,-78.2,46.6,-9.9,67,453,0.00,1.60,0.00,0.000,4,0.000,0.033,2429,1222,2684,0,0,0,0,0,0,28.83,26.20,28.83
$GC,613,-0.64,-78.2,61.7,-7.9,95,620,0.00,1.60,0.00,0.000,6,0.000,0.029,2421,2309,2683,0,0,0,0,0,0,28.83,26.29,28.83
$GC,759,-0.64,-78.2,74.2,-10.0,120,768,0.00,1.60,0.00,0.000,4,0.000,0.040,2413,3347,2684,0,0,0,0,0,0,28.83,26.32,28.83
$GC,909,-0.64,-78.2,88.9,-10.3,145,916,0.00,1.55,0.00,0.000,6,0.000,0.021,2413,2255,2683,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1055,-0.64,-78.2,103.2,-9.2,170,1063,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2255,2684,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1204,-0.64,-78.2,118.1,-12.6,195,1211,0.00,1.65,0.00,0.000,4,0.000,0.038,2405,3351,2683,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1473,-0.64,-78.2,153.8,-14.4,241,1479,0.00,1.50,0.00,0.000,6,0.000,0.021,2405,2282,2683,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1622,-0.64,-78.2,168.9,-9.5,266,1630,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2281,2684,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1680,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1681,begin apogee
$GC,1687,-0.15,0.0,176.3,-11.7,276,1755,0.62,0.00,60.47,0.651,6,0.181,0.000,2590,2432,2357,0,0,0,0,0,0,26.29,28.83,25.10
$STATE,1756,end apogee,CONTROL_FINISHED_OK
$STATE,1756,begin climb
$GC,1758,0.64,78.2,179.1,0.0,286,1834,0.75,0.00,65.90,0.620,6,0.104,0.000,2847,2432,2033,0,0,0,0,0,0,25.61,28.83,24.58
$GC,1976,0.64,78.2,154.6,13.9,321,1982,0.00,1.60,0.00,0.000,4,0.000,0.034,2855,1375,2029,0,0,0,0,0,0,28.83,25.67,28.83
$GC,2072,0.64,78.2,141.3,12.0,337,2078,0.00,1.50,0.00,0.000,6,0.000,0.028,2855,2390,2027,0,0,0,0,0,0,28.83,25.85,28.83
$GC,2221,0.64,78.2,120.3,11.6,362,2229,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2391,2027,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2370,0.64,78.2,96.5,13.2,387,2376,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2391,2027,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2516,0.64,78.2,76.7,12.3,412,2524,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2391,2026,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2665,0.64,78.2,57.4,11.8,437,2671,0.00,1.60,0.00,0.000,4,0.000,0.041,2854,3454,2026,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2704,0.64,78.2,52.7,12.1,443,2710,0.00,1.50,0.00,0.000,6,0.000,0.024,2862,2422,2025,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2852,0.64,78.2,34.1,16.3,468,2861,0.00,1.60,0.00,0.000,4,0.000,0.037,2870,1359,2025,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2959,0.64,78.2,20.1,13.6,485,2968,0.00,1.58,0.00,0.000,6,0.000,0.031,2870,2404,2024,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3042,0.64,78.2,9.9,11.6,498,3050,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2405,2023,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3105,end climb,SURFACE_DEPTH_REACHED
$STATE,3105,begin surface coast
$FINISH,0.0,1.007816
$STATE,3142,end surface coast,CONTROL_FINISHED_OK
$STATE,3142,begin surface
$SM_CCo,3160,59.90,0.056,0,0,1464,220.03
$SM_GC,0.55,7.22,0.12,59.90,0.050,0.079,0.056,124,2269,1464,-7.80,1.72,220.03,0,0,0,0,0,0,26.34,26.43,26.29
$IRIDIUM_FIX,4726.11,-12222.38,270213,090919
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.65
$INTERNAL_PRESSURE,9.07608
$TCM_TEMP,13.50
$XPDR_PINGS,0
$24V_AH,24.6,0.934
$10V_AH,10.4,2.743
$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,18.100,22.425,126.375,59.900,0.000,25.668,29.905,219.691,0.000,0.000,31.235,1171.764,340.605,259.021,1727.638,136.410,33.210,734.682,0.000,1444.046,0.000,0.535,0.000
$DEVICE_MAMPS,265.455,78.795,651.015,55.845,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,PAM,nil,nil,nil
$SENSOR_SECS,362.837,223.076,1068.971,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322644
$DATA_FILE_SIZE,33629,514
$CAP_FILE_SIZE,54958,0
$CFSIZE,260165632,239812608
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270213,111553,4743.488,-12225.167,36,1.4,40,18.2