version: 66.11
glider: 157
mission: 13
dive: 2
start: 6 2 115 18 52 35
data:
$ID,157
$MISSION,13
$DIVE,2
$N_DIVES,3
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,1050
$D_NO_BLEED,45
$D_BOOST,0
$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,50
$T_MISSION,72
$T_ABORT,1440
$T_TURN,300
$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,1.023
$MASS,52229
$MASS_COMP,0
$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,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,45
$CAPUPLOAD,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1486794.1
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,195
$PITCH_MAX,3873
$C_PITCH,2970
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0099999998
$PITCH_GAIN,33
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,268
$ROLL_MAX,3867
$ROLL_DEG,33
$C_ROLL_DIVE,1580
$C_ROLL_CLIMB,1580
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,13
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,485
$VBD_MAX,3960
$C_VBD,1745
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00055
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,5
$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,-59.120026
$PRESSURE_SLOPE,0.0001158973
$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,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,15
$ALTIM_PULSE,6
$ALTIM_SENSITIVITY,4
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$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,0.0042746845
$SEABIRD_T_H,0.00061961456
$SEABIRD_T_I,2.2130595e-05
$SEABIRD_T_J,2.2584688e-06
$SEABIRD_C_G,-10.171194
$SEABIRD_C_H,1.1508522
$SEABIRD_C_I,-0.0016472058
$SEABIRD_C_J,0.00021877296
$GPS1,020615,184736,4743.315,-12224.870,2,1.6,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-71.4
$GPS2,020615,185136,4743.345,-12224.860,5,1.6,5,16.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.020,0.259
$KALMAN_X,39.7,39.7,39.7,84.0,132.9
$KALMAN_Y,50.4,50.4,50.4,280.2,168.8
$MHEAD_RNG_PITCHd_Wd,339.3,1031,-17.5,-10.000,-21.04,2225
$D_GRID,176
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-0.61,-146.6,194,1586,459,558,0.0,0.0,0,73,0.00,0.00,-53.50,0.000,16386,0.000,0.000,194,1586,1952,2031,1874,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-0.61,-146.6,194,1586,2031,1875,3.3,-6.3,10,103,10.23,1.88,-8.48,0.000,18692,0.257,0.057,2768,2777,2332,2495,2170,0,0,1,0,0,0,26.06,26.38,26.69
$GC,412,-0.61,-146.6,1728,2776,2429,2167,53.6,-17.7,74,418,0.00,1.88,0.00,0.000,1030,0.000,0.030,2771,1570,2335,2495,2176,0,0,0,0,0,0,28.83,26.55,28.83
$GC,546,-0.61,-146.6,2770,1570,2495,2176,64.7,-6.6,99,552,0.00,1.88,0.00,0.000,260,0.000,0.041,2764,2772,2335,2495,2176,0,0,0,0,0,0,28.83,26.58,28.83
$GC,581,-0.61,-146.6,2764,2771,2495,2176,67.6,-8.4,105,588,0.00,1.83,0.00,0.000,1030,0.000,0.031,2764,1579,2335,2495,2176,0,0,0,0,0,0,28.83,26.60,28.83
$GC,712,-0.61,-146.6,2764,1579,2495,2176,79.5,-11.0,130,721,0.00,1.88,0.00,0.000,260,0.000,0.041,2755,2780,2335,2495,2176,0,0,0,0,0,0,28.83,26.62,28.83
$GC,830,-0.61,-146.6,2754,2780,2495,2176,94.0,-11.6,151,837,0.00,1.83,0.00,0.000,1030,0.000,0.031,2755,1580,2335,2495,2176,0,0,0,0,0,0,28.83,26.65,28.83
$GC,964,-0.61,-146.6,2755,1580,2495,2176,110.7,-12.3,176,970,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,1580,2335,2495,2176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1099,-0.61,-146.6,2755,1580,2495,2176,127.8,-12.7,201,1106,0.00,1.85,0.00,0.000,260,0.000,0.041,2749,2780,2335,2495,2176,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1150,-0.61,-146.6,2749,2781,2495,2176,134.3,-11.8,210,1156,0.00,1.85,0.00,0.000,1030,0.000,0.031,2750,1578,2335,2495,2176,0,0,0,0,0,0,28.83,26.68,28.83
$GC,1284,-0.61,-146.6,2750,1577,2495,2176,148.0,-9.5,235,1289,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1577,2335,2495,2176,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1306,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1306,begin apogee
$GC,1314,-0.15,0.0,2749,1577,2496,2176,150.4,-9.7,239,1435,0.55,0.00,115.68,0.689,10246,0.158,0.000,2925,1577,1744,1789,1700,0,0,0,0,0,0,26.51,28.83,24.91
$STATE,1436,end apogee,CONTROL_FINISHED_OK
$STATE,1436,begin climb
$GC,1443,0.61,146.6,2925,1577,1788,1700,153.0,0.0,261,1570,0.73,2.58,117.97,0.672,10756,0.111,0.050,3169,398,1159,1141,1177,0,0,0,0,0,0,25.45,25.24,24.70
$GC,1592,0.61,146.6,3168,398,1141,1178,139.3,13.2,287,1598,0.00,2.47,0.00,0.000,1030,0.000,0.030,3169,1572,1159,1141,1178,0,0,0,0,0,0,28.83,25.55,28.83
$GC,1725,0.61,146.6,3169,1571,1141,1177,123.6,11.9,312,1732,0.00,1.90,0.00,0.000,260,0.000,0.041,3169,2786,1159,1141,1177,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1776,0.61,146.6,3168,2786,1141,1176,116.7,13.2,321,1783,0.00,1.90,0.00,0.000,1030,0.000,0.035,3169,1581,1158,1141,1176,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1909,0.61,146.6,3168,1581,1141,1176,101.9,10.5,346,1916,0.00,2.47,0.00,0.000,516,0.000,0.051,3169,396,1158,1141,1176,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1940,0.61,146.6,3169,396,1141,1176,97.5,13.2,351,1947,0.00,2.42,0.00,0.000,1030,0.000,0.032,3169,1582,1158,1141,1176,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2074,0.61,146.6,3169,1582,1141,1174,79.9,13.5,376,2080,0.00,2.50,0.00,0.000,516,0.000,0.050,3169,401,1157,1141,1174,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2114,0.61,146.6,3169,402,1141,1174,73.9,13.7,383,2121,0.00,2.40,0.00,0.000,1030,0.000,0.037,3169,1580,1157,1141,1174,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2247,0.61,146.6,2128,1578,1126,1171,55.6,13.9,408,2253,0.00,1.83,0.00,0.000,260,0.000,0.041,3169,2776,1157,1141,1173,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2302,0.61,146.6,2176,2775,1126,1171,47.2,14.9,418,2308,0.00,1.88,0.00,0.000,1030,0.000,0.035,3169,1580,1157,1141,1173,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2435,0.61,146.6,3169,1580,1141,1173,29.3,11.9,443,2441,0.00,2.45,0.00,0.000,516,0.000,0.052,3170,395,1157,1141,1173,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2506,0.61,154.9,3169,395,1141,1173,20.4,9.6,456,2519,0.00,2.42,4.90,0.462,9222,0.000,0.030,3169,1585,1126,1112,1141,0,0,0,0,0,0,28.83,26.58,25.94
$GC,2583,0.61,154.9,3169,1585,1112,1141,11.8,11.4,470,2589,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,1585,1126,1112,1141,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2653,0.61,154.9,3169,1585,1113,1141,4.5,10.3,483,2659,0.00,2.50,0.00,0.000,516,0.000,0.051,3169,400,1126,1112,1141,0,0,0,0,0,0,28.83,26.54,28.83
$STATE,2664,end climb,SURFACE_DEPTH_REACHED
$STATE,2664,begin surface coast
$FINISH,2.0,1.021708
$STATE,2676,end surface coast,CONTROL_FINISHED_OK
$STATE,2676,begin surface
$SM_CCo,2699,52.53,0.518,0,0,748,250.20
$SM_GC,1.48,7.85,2.42,52.53,0.058,0.027,0.518,177,1581,748,-8.66,-0.54,250.20,0,0,1,0,0,0,26.56,26.58,25.58
$IRIDIUM_FIX,4726.11,-12226.80,290308,080832
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.90
$INTERNAL_PRESSURE,8.84678
$TCM_TEMP,20.40
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,135.8,54.2
$24V_AH,24.7,0.297
$10V_AH,10.4,0.451
$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,19.350,47.000,238.550,52.525,0.000,0.000,0.000,0.000,5.250,0.000,6.519,1078.336,477.228,381.160,734.697,152.516,30.074,805.774,0.000,722.862,0.000,22.547,0.000
$DEVICE_MAMPS,257.040,57.375,689.265,517.905,0.000,0.000,0.000,0.000,420.000,0.000,32.210,12.720,2.190,12.720,38.930,45.670,65.900,10.500,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,329.927,401.055,405.479,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,20.220,62.170,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323112
$DATA_FILE_SIZE,33838,487
$CAP_FILE_SIZE,66974,0
$CFSIZE,260165632,257830912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,1,0
$GPS,020615,193951,4743.613,-12224.718,39,1.0,39,16.3