version: 66.10
glider: 158
mission: 13
dive: 17
start: 2 27 113 12 27 22
data:
$ID,158
$MISSION,13
$DIVE,17
$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,-722092.25
$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,85
$R_STBD_OVSHOOT,54
$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
$GPS1,270213,121901,4743.125,-12225.426,12,1.7,12,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-74.0
$GPS2,270213,122627,4743.110,-12225.382,11,2.3,30,18.2
$SPEED_LIMITS,0.139,0.182
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.047,0.176
$KALMAN_X,-256.9,223.3,-218.4,-487.6,-483.3
$KALMAN_Y,-3178.0,1858.9,-1125.7,-749.8,-1350.8
$MHEAD_RNG_PITCHd_Wd,356.8,1633,-20.2,-8.032
$D_GRID,187
$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,-47.95,0.000,6,0.000,0.000,121,2264,2682,0,0,0,0,0,0,28.83,28.83,26.28
$GC,76,-0.64,-78.2,3.2,-6.2,7,93,9.38,1.50,0.00,0.000,4,0.260,0.028,2435,1266,2683,0,0,0,0,0,0,25.68,25.98,28.83
$GC,364,-0.64,-78.2,36.8,-9.2,54,373,0.00,1.55,0.00,0.000,6,0.000,0.029,2429,2298,2683,0,0,0,0,0,0,28.83,26.19,28.83
$GC,447,-0.64,-78.2,42.5,-6.9,67,453,0.00,1.52,0.00,0.000,4,0.000,0.032,2429,1275,2683,0,0,0,0,0,0,28.83,26.21,28.83
$GC,558,-0.64,-78.2,51.7,-8.4,86,567,0.00,1.52,0.00,0.000,6,0.000,0.030,2421,2294,2683,0,0,0,0,0,0,28.83,26.28,28.83
$GC,709,-0.64,-78.2,68.9,-13.0,111,715,0.00,1.50,0.00,0.000,4,0.000,0.032,2421,1269,2684,0,0,0,0,0,0,28.83,26.31,28.83
$GC,776,-0.64,-78.2,77.7,-13.2,122,784,0.00,1.55,0.00,0.000,6,0.000,0.032,2413,2296,2683,0,0,0,0,0,0,28.83,26.34,28.83
$GC,926,-0.64,-78.2,93.9,-14.5,147,932,0.00,1.60,0.00,0.000,4,0.000,0.043,2405,3355,2683,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1080,-0.64,-78.2,110.6,-10.2,173,1086,0.00,1.50,0.00,0.000,6,0.000,0.022,2405,2297,2683,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1227,-0.64,-78.2,125.8,-12.3,198,1236,0.00,1.65,0.00,0.000,4,0.000,0.041,2397,3358,2683,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1286,-0.64,-78.2,132.1,-9.6,207,1293,0.15,1.50,0.00,0.000,6,0.200,0.024,2433,2285,2683,0,0,0,0,0,0,26.24,26.46,28.83
$GC,1436,-0.64,-78.2,144.2,-7.4,232,1444,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2284,2684,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1586,-0.64,-78.2,156.1,-7.5,257,1592,0.00,1.48,0.00,0.000,4,0.000,0.034,2437,1290,2684,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1636,-0.64,-78.2,160.1,-8.8,265,1643,0.00,1.52,0.00,0.000,6,0.000,0.030,2431,2332,2683,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1785,-0.64,-78.2,171.7,-7.4,290,1793,0.00,1.58,0.00,0.000,4,0.000,0.032,2431,1280,2683,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1801,-0.64,-78.2,172.9,-7.3,292,1809,0.00,1.52,0.00,0.000,6,0.000,0.030,2423,2306,2683,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1953,-0.64,-78.2,184.9,-8.2,317,1959,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2305,2683,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1977,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1977,begin apogee
$GC,1983,-0.15,0.0,187.5,-9.2,321,2051,0.52,0.00,60.33,0.658,6,0.163,0.000,2585,2423,2355,0,0,0,0,0,0,26.34,28.83,25.12
$STATE,2052,end apogee,CONTROL_FINISHED_OK
$STATE,2052,begin climb
$GC,2055,0.64,78.2,189.2,0.0,331,2129,0.75,1.60,65.22,0.630,4,0.101,0.031,2852,1392,2035,0,0,0,0,0,0,25.64,25.13,24.58
$GC,2230,0.64,78.2,171.1,12.5,359,2237,0.00,1.50,0.00,0.000,6,0.000,0.031,2852,2389,2030,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2378,0.64,78.2,148.5,16.0,384,2386,0.00,1.55,0.00,0.000,4,0.000,0.034,2860,1393,2029,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2439,0.64,78.2,139.1,14.7,394,2448,0.00,1.55,0.00,0.000,6,0.000,0.031,2859,2404,2027,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2590,0.64,78.2,116.0,14.8,419,2596,0.00,1.52,0.00,0.000,4,0.000,0.034,2866,1382,2027,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2652,0.64,78.2,107.8,12.8,429,2658,0.00,1.50,0.00,0.000,6,0.000,0.028,2867,2404,2026,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2800,0.64,78.2,90.2,14.5,454,2809,0.00,1.62,0.00,0.000,4,0.000,0.044,2867,3440,2026,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2835,0.64,78.2,86.0,13.8,459,2842,0.00,1.50,0.00,0.000,6,0.000,0.019,2875,2362,2026,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2982,0.64,78.2,61.7,19.1,484,2990,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2361,2026,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3131,0.64,78.2,41.1,12.1,509,3138,0.00,1.45,0.00,0.000,4,0.000,0.034,2882,1395,2026,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3385,0.64,78.2,9.8,12.5,551,3395,0.12,1.50,0.00,0.000,6,0.176,0.031,2844,2400,2025,0,0,0,0,0,0,26.20,26.39,28.83
$STATE,3449,end climb,SURFACE_DEPTH_REACHED
$STATE,3449,begin surface coast
$FINISH,0.1,1.012113
$STATE,3488,end surface coast,CONTROL_FINISHED_OK
$STATE,3488,begin surface
$SM_CCo,3505,59.95,0.055,0,0,1464,220.03
$SM_GC,0.58,7.18,0.00,59.95,0.052,0.000,0.055,127,2402,1464,-7.79,2.91,220.03,0,0,0,0,0,0,26.36,28.83,26.30
$IRIDIUM_FIX,4726.11,-12220.67,270213,111133
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.16
$INTERNAL_PRESSURE,9.08584
$TCM_TEMP,13.40
$XPDR_PINGS,2
$24V_AH,24.6,1.018
$10V_AH,10.4,2.901
$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,18.100,36.925,125.550,59.950,0.000,25.710,32.062,256.069,0.500,0.000,32.027,1298.308,371.829,280.472,1909.040,160.884,33.197,806.499,0.000,1589.208,0.000,0.536,0.000
$DEVICE_MAMPS,260.100,85.680,657.900,55.080,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,PAM,nil,nil,nil
$SENSOR_SECS,398.670,245.304,1175.096,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322720
$DATA_FILE_SIZE,37036,567
$CAP_FILE_SIZE,64681,0
$CFSIZE,260165632,239722496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270213,132757,4743.000,-12225.759,10,99.0,29,18.2