version: 66.11
glider: 157
mission: 13
dive: 4
start: 6 2 115 20 55 17
data:
$ID,157
$MISSION,13
$DIVE,4
$N_DIVES,25
$D_SURF,3
$D_FLARE,3
$D_TGT,180
$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,65
$T_MISSION,75
$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,-1486814.6
$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,23
$R_STBD_OVSHOOT,16
$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,100
$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
$GPS1,020615,204716,4743.691,-12224.971,3,1.0,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-71.6
$GPS2,020615,205417,4743.687,-12224.905,5,1.0,5,16.3
$SPEED_LIMITS,0.160,0.253
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.002,0.160
$KALMAN_X,188.9,234.5,201.9,-472.3,137.3
$KALMAN_Y,-167.5,-135.1,22.3,1359.2,-162.1
$MHEAD_RNG_PITCHd_Wd,342.9,416,-27.1,-9.231,-30.00,925
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.85,-56.0,174,1584,682,810,0.0,0.0,0,62,0.00,0.00,-43.10,0.000,16386,0.000,0.000,174,1585,1879,1936,1822,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.87,-88.6,174,1585,1936,1822,3.1,-5.6,8,91,10.30,2.53,-5.47,0.000,18948,0.265,0.057,2693,394,2101,2225,1977,0,0,1,0,0,0,25.83,26.10,26.39
$GC,400,-0.87,-88.6,2693,393,2224,1977,51.4,-14.8,72,407,0.00,2.45,0.00,0.000,1030,0.000,0.029,2683,1584,2101,2225,1977,0,0,0,0,0,0,28.83,26.40,28.83
$GC,531,-0.87,-88.6,2683,1584,2225,1977,69.9,-12.6,97,536,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,1583,2101,2225,1977,0,0,0,0,0,0,28.83,28.83,28.83
$GC,660,-0.87,-88.6,2682,1583,2224,1977,88.5,-16.5,122,666,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,1583,2101,2225,1977,0,0,0,0,0,0,28.83,28.83,28.83
$GC,791,-0.87,-88.6,2683,1583,2224,1977,108.0,-13.5,147,798,0.00,2.45,0.00,0.000,516,0.000,0.049,2688,402,2101,2225,1977,0,0,0,0,0,0,28.83,26.51,28.83
$GC,867,-0.87,-88.6,2688,401,2225,1977,118.9,-14.7,161,873,0.00,2.40,0.00,0.000,1030,0.000,0.029,2678,1583,2101,2225,1977,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1002,-0.87,-88.6,1696,1581,2166,1969,137.5,-12.7,186,1009,0.00,1.80,0.00,0.000,260,0.000,0.037,2669,2780,2101,2225,1977,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1230,-0.87,-88.6,2669,2780,2226,1977,167.8,-12.5,230,1237,0.00,1.85,0.00,0.000,1030,0.000,0.031,2669,1578,2101,2225,1977,0,0,0,0,0,0,28.83,26.63,28.83
$STATE,1291,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1292,begin apogee
$GC,1299,-0.15,0.0,2669,1577,2225,1977,176.4,-14.4,242,1377,0.82,0.00,73.18,0.708,10246,0.187,0.000,2919,1577,1745,1814,1676,0,0,0,0,0,0,26.42,28.83,25.08
$STATE,1378,end apogee,CONTROL_FINISHED_OK
$STATE,1378,begin climb
$GC,1382,0.87,88.6,2918,1577,1814,1676,178.9,0.0,256,1465,0.98,0.00,75.68,0.698,10758,0.107,0.000,3250,1577,1391,1396,1386,0,0,0,0,0,0,25.61,28.83,24.64
$GC,1591,0.87,88.6,3250,1577,1396,1386,147.2,18.6,295,1597,0.00,1.92,0.00,0.000,260,0.000,0.041,3250,2783,1391,1396,1386,0,0,0,0,0,0,28.83,25.87,28.83
$GC,1706,0.87,88.6,2272,2781,1369,1382,122.2,20.6,317,1712,0.00,1.88,0.00,0.000,1030,0.000,0.035,3259,1586,1391,1396,1386,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1840,0.87,88.6,3259,1586,1396,1386,99.1,17.8,342,1847,0.00,2.50,0.00,0.000,516,0.000,0.050,3269,391,1391,1396,1386,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1946,0.87,88.6,3269,391,1396,1386,79.3,17.7,362,1953,0.00,2.45,0.00,0.000,1030,0.000,0.031,3269,1577,1391,1396,1386,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2079,0.87,88.6,3269,1577,1396,1385,56.5,17.8,387,2086,0.00,1.85,0.00,0.000,260,0.000,0.041,3269,2779,1390,1396,1385,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2094,0.87,88.6,3269,2779,1396,1385,53.4,17.5,389,2101,0.00,1.88,0.00,0.000,1030,0.000,0.034,3278,1575,1390,1396,1385,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2228,0.87,88.6,3277,1575,1396,1385,32.1,17.3,414,2235,0.00,2.42,0.00,0.000,516,0.000,0.050,3289,397,1390,1396,1385,0,0,0,0,0,0,28.83,26.43,28.83
$STATE,2432,end climb,SURFACE_DEPTH_REACHED
$STATE,2432,begin surface coast
$FINISH,1.0,1.021836
$STATE,2454,end surface coast,CONTROL_FINISHED_OK
$STATE,2454,begin surface
$SM_CCo,2478,87.35,0.513,0,0,747,250.20
$SM_GC,1.78,8.20,2.47,87.35,0.060,0.031,0.513,172,1579,747,-8.66,-0.45,250.20,0,0,0,0,0,0,26.51,26.53,25.27
$IRIDIUM_FIX,4726.11,-12226.80,290308,101039
$TT8_MAMPS,0.024717,0.024717
$HUMID,45.86
$INTERNAL_PRESSURE,8.81748
$TCM_TEMP,20.40
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,125.0,70.2
$24V_AH,24.6,0.429
$10V_AH,10.4,0.529
$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,20.300,30.850,148.850,87.350,0.000,29.806,42.063,213.624,3.250,0.000,6.521,1046.768,481.031,311.427,953.037,206.036,32.217,686.960,0.000,681.909,0.000,16.343,0.000
$DEVICE_MAMPS,265.455,57.375,708.390,513.315,0.000,63.500,160.000,223.000,420.000,0.000,32.210,12.720,2.190,12.720,38.930,45.670,65.900,10.500,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,312.830,373.826,378.023,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,20.220,62.170,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323068
$DATA_FILE_SIZE,33646,458
$CAP_FILE_SIZE,48274,0
$CFSIZE,260165632,257777664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$GPS,020615,213850,4743.630,-12224.948,3,1.0,3,16.3