version: 66.11
glider: 157
mission: 13
dive: 5
start: 6 2 115 21 46 26
data:
$ID,157
$MISSION,13
$DIVE,5
$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,-1486815.9
$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,2950
$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,22
$R_STBD_OVSHOOT,15
$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
$GPS1,020615,213850,4743.630,-12224.948,3,1.0,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-72.3
$GPS2,020615,214525,4743.608,-12224.920,5,1.1,5,16.3
$SPEED_LIMITS,0.160,0.253
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.023,0.252
$KALMAN_X,119.1,274.2,231.4,-489.6,0.5
$KALMAN_Y,-887.8,-272.8,159.6,1934.9,-635.8
$MHEAD_RNG_PITCHd_Wd,349.0,560,-16.2,-9.231,-20.04,2407
$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,-0.57,-146.6,171,1580,681,810,0.0,0.0,0,62,0.00,0.00,-42.97,0.000,16386,0.000,0.000,171,1580,1881,1938,1824,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.57,-146.6,171,1580,1938,1825,3.1,-5.7,8,97,10.68,2.50,-10.45,0.000,18948,0.266,0.057,2773,403,2332,2497,2167,0,0,1,0,0,0,25.78,26.07,26.38
$GC,323,-0.57,-146.6,2773,403,2497,2169,35.6,-11.4,57,330,0.00,2.45,0.00,0.000,1030,0.000,0.031,2764,1578,2333,2497,2169,0,0,0,0,0,0,28.83,26.32,28.83
$GC,394,-0.57,-146.6,2763,1578,2497,2169,44.0,-12.9,70,400,0.00,1.88,0.00,0.000,260,0.000,0.042,2755,2784,2333,2497,2170,0,0,0,0,0,0,28.83,26.35,28.83
$GC,484,-0.57,-146.6,2754,2783,2497,2172,54.1,-9.8,87,490,0.00,1.88,0.00,0.000,1030,0.000,0.033,2756,1577,2334,2497,2172,0,0,0,0,0,0,28.83,26.39,28.83
$GC,614,-0.57,-146.6,2756,1576,2497,2172,66.4,-10.5,112,621,0.00,1.90,0.00,0.000,260,0.000,0.041,2750,2775,2334,2497,2172,0,0,0,0,0,0,28.83,26.45,28.83
$GC,709,-0.57,-146.6,1744,2774,2437,2163,76.2,-9.8,130,716,0.00,1.85,0.00,0.000,1030,0.000,0.031,2750,1582,2334,2497,2172,0,0,0,0,0,0,28.83,26.48,28.83
$GC,843,-0.57,-146.6,2749,1582,2497,2172,89.1,-10.2,155,848,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1582,2334,2497,2172,0,0,0,0,0,0,28.83,28.83,28.83
$GC,973,-0.57,-146.6,1744,1581,2437,2163,103.2,-10.5,180,979,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1582,2334,2497,2172,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1107,-0.57,-146.6,1704,1581,2432,2162,118.5,-12.4,205,1114,0.00,2.40,0.00,0.000,516,0.000,0.047,2750,400,2334,2497,2172,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1147,-0.57,-146.6,1744,399,2436,2163,123.9,-12.9,212,1154,0.00,2.42,0.00,0.000,1030,0.000,0.032,2749,1583,2334,2497,2171,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1283,-0.57,-146.6,1744,1582,2436,2163,138.1,-9.8,237,1289,0.00,1.83,0.00,0.000,260,0.000,0.044,2749,2787,2334,2497,2172,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1388,-0.57,-146.6,1744,2785,2435,2163,149.4,-10.7,257,1394,0.00,1.85,0.00,0.000,1030,0.000,0.031,2749,1579,2334,2497,2171,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1522,-0.57,-146.6,2749,1578,2496,2172,165.5,-13.5,282,1528,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1578,2334,2496,2172,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1603,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1603,begin apogee
$GC,1611,-0.15,0.0,2748,1578,2497,2172,176.2,-12.0,298,1737,0.47,0.00,117.65,0.708,10246,0.158,0.000,2902,1578,1744,1784,1704,0,0,0,0,0,0,26.48,28.83,24.77
$STATE,1738,end apogee,CONTROL_FINISHED_OK
$STATE,1741,begin climb
$GC,1745,0.57,146.6,2901,1578,1784,1704,181.1,0.0,321,1873,0.73,2.67,119.75,0.684,10756,0.142,0.054,3142,398,1159,1137,1182,0,0,0,0,0,0,25.25,25.06,24.53
$GC,1900,0.57,146.6,3142,398,1137,1182,169.1,10.5,348,1907,0.00,2.53,0.00,0.000,1030,0.000,0.034,3142,1577,1159,1137,1182,0,0,0,0,0,0,28.83,25.39,28.83
$GC,2033,0.57,146.6,3143,1577,1137,1180,154.2,11.4,373,2040,0.00,1.88,0.00,0.000,260,0.000,0.042,3142,2774,1159,1137,1181,0,0,0,0,0,0,28.83,25.88,28.83
$GC,2064,0.57,146.6,3141,2774,1137,1179,150.4,11.5,378,2071,0.00,1.90,0.00,0.000,1030,0.000,0.034,3142,1583,1158,1137,1180,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2198,0.58,166.4,3142,1582,1137,1179,138.7,8.4,403,2220,0.00,0.00,16.75,0.637,8198,0.000,0.000,3142,1582,1080,1054,1106,0,0,0,0,0,0,28.83,28.83,25.36
$GC,2347,0.58,166.4,3142,1582,1054,1106,122.0,12.2,431,2354,0.00,2.47,0.00,0.000,516,0.000,0.054,3142,401,1080,1054,1106,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2413,0.58,166.4,3142,401,1054,1106,114.1,11.7,443,2419,0.00,2.45,0.00,0.000,1030,0.000,0.031,3142,1585,1080,1054,1106,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2546,0.58,166.4,3142,1585,1054,1106,98.8,11.9,468,2552,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1585,1080,1054,1106,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2676,0.58,166.4,3142,1585,1054,1105,83.6,11.8,493,2682,0.00,1.83,0.00,0.000,260,0.000,0.043,3142,2780,1080,1054,1106,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2701,0.58,166.4,3142,2780,1054,1106,80.5,12.5,497,2708,0.00,1.88,0.00,0.000,1030,0.000,0.035,3142,1577,1079,1054,1105,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2835,0.58,166.4,3142,1577,1054,1105,65.8,10.0,522,2840,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1577,1079,1054,1105,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2964,0.58,166.4,3142,1577,1054,1105,50.7,12.0,547,2970,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1577,1079,1054,1105,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3094,0.58,166.4,3142,1577,1054,1105,35.5,11.1,572,3101,0.00,1.90,0.00,0.000,260,0.000,0.048,3142,2780,1079,1054,1105,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3125,0.58,166.4,3142,2779,1054,1105,32.2,10.7,577,3131,0.00,1.88,0.00,0.000,1030,0.000,0.037,3142,1583,1079,1054,1105,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3196,0.60,198.9,3142,1583,1054,1105,26.0,7.8,590,3225,0.00,2.47,22.58,0.597,8708,0.000,0.051,3143,401,953,919,987,0,0,0,0,0,0,28.83,26.22,25.72
$GC,3264,0.62,236.1,3142,401,919,987,20.4,7.6,602,3294,0.00,2.45,24.15,0.562,9222,0.000,0.036,3142,1582,802,756,849,0,0,0,0,0,0,28.83,26.30,25.53
$GC,3358,0.62,236.1,3142,1582,756,850,12.0,10.6,619,3364,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1582,803,756,850,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3428,0.62,236.1,3142,1582,756,849,5.3,9.3,632,3434,0.00,2.55,0.00,0.000,516,0.000,0.052,3143,392,802,756,849,0,0,0,0,0,0,28.83,26.18,28.83
$STATE,3450,end climb,SURFACE_DEPTH_REACHED
$STATE,3450,begin surface coast
$FINISH,0.9,1.009984
$STATE,3482,end surface coast,CONTROL_FINISHED_OK
$STATE,3482,begin surface
$SM_CCo,3506,7.45,0.459,0,0,748,250.20
$SM_GC,3.05,7.88,2.47,7.45,0.058,0.027,0.459,173,1582,748,-8.61,-0.48,250.20,0,0,1,0,0,0,26.25,26.27,25.70
$IRIDIUM_FIX,4726.11,-12226.80,290308,111110
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.28
$INTERNAL_PRESSURE,8.79795
$TCM_TEMP,20.30
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,135.2,61.8
$24V_AH,24.5,0.503
$10V_AH,10.4,0.575
$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,19.750,52.275,300.875,7.450,0.000,30.211,44.313,189.710,5.500,0.000,6.514,1412.576,646.014,398.198,1206.191,257.717,33.214,945.851,0.000,948.141,0.000,22.107,0.000
$DEVICE_MAMPS,266.220,56.610,707.625,459.000,0.000,63.500,160.000,223.000,420.000,0.000,32.210,12.720,2.190,12.720,38.930,45.670,65.900,10.500,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,435.856,517.168,523.133,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,20.220,62.170,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323072
$DATA_FILE_SIZE,43690,642
$CAP_FILE_SIZE,69839,0
$CFSIZE,260165632,257712128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,1,0
$GPS,020615,224548,4743.536,-12224.995,3,1.1,3,16.3