version: 66.11
glider: 157
mission: 13
dive: 7
start: 6 3 115 0 5 0
data:
$ID,157
$MISSION,13
$DIVE,7
$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,-1486818.6
$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,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,20
$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
$GPS1,020615,235504,4743.525,-12225.035,34,0.8,34,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-74.3
$GPS2,030615,000356,4743.548,-12225.049,5,0.9,5,16.3
$SPEED_LIMITS,0.160,0.253
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.085,0.238
$KALMAN_X,-283.6,354.2,64.9,-163.0,-312.9
$KALMAN_Y,-2653.2,-357.6,-5.0,3830.4,-884.9
$MHEAD_RNG_PITCHd_Wd,3.4,721,-16.2,-9.231,-20.04,2407
$D_GRID,178
$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,-146.6,179,1579,686,807,0.0,0.0,0,62,0.00,0.00,-42.97,0.000,16386,0.000,0.000,179,1579,1883,1945,1822,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.57,-146.6,179,1579,1945,1822,3.1,-5.4,8,97,10.40,2.55,-10.20,0.000,18948,0.257,0.060,2773,404,2332,2496,2169,0,0,1,0,0,0,25.77,26.05,26.36
$GC,406,-0.57,-146.6,2773,404,2496,2172,46.8,-14.5,73,413,0.00,2.42,0.00,0.000,1030,0.000,0.031,2763,1581,2334,2496,2172,0,0,0,0,0,0,28.83,26.34,28.83
$GC,536,-0.57,-146.6,1760,1579,2435,2163,66.2,-13.8,98,542,0.00,1.85,0.00,0.000,260,0.000,0.043,2756,2774,2334,2496,2172,0,0,0,0,0,0,28.83,26.39,28.83
$GC,680,-0.57,-146.6,2756,2774,2496,2173,82.5,-10.9,125,687,0.00,1.85,0.00,0.000,1030,0.000,0.031,2756,1578,2334,2496,2173,0,0,0,0,0,0,28.83,26.45,28.83
$GC,814,-0.57,-146.6,2755,1578,2495,2173,97.2,-12.1,150,820,0.00,2.42,0.00,0.000,516,0.000,0.047,2756,396,2334,2496,2173,0,0,0,0,0,0,28.83,26.46,28.83
$GC,844,-0.57,-146.6,2756,396,2495,2173,101.4,-12.9,155,851,0.00,2.40,0.00,0.000,1030,0.000,0.031,2750,1579,2334,2496,2173,0,0,0,0,0,0,28.83,26.49,28.83
$GC,979,-0.57,-146.6,2749,1579,2496,2173,117.0,-11.8,180,985,0.00,1.83,0.00,0.000,260,0.000,0.043,2749,2771,2334,2496,2173,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1072,-0.57,-146.6,2749,2772,2495,2173,128.9,-12.0,197,1078,0.00,1.85,0.00,0.000,1030,0.000,0.032,2749,1577,2334,2495,2173,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1208,-0.57,-146.6,2749,1576,2495,2173,145.5,-12.1,222,1215,0.00,2.40,0.00,0.000,516,0.000,0.045,2749,399,2334,2496,2173,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1239,-0.57,-146.6,2749,399,2495,2173,149.8,-14.4,227,1245,0.00,2.40,0.00,0.000,1030,0.000,0.031,2749,1580,2334,2495,2173,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1372,-0.57,-146.6,2748,1579,2495,2173,166.0,-12.0,252,1378,0.00,1.85,0.00,0.000,260,0.000,0.044,2749,2784,2334,2496,2173,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1453,-0.57,-146.6,2749,2784,2495,2173,174.6,-8.3,267,1459,0.00,1.85,0.00,0.000,1030,0.000,0.033,2749,1583,2334,2496,2173,0,0,0,0,0,0,28.83,26.60,28.83
$STATE,1479,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1479,begin apogee
$GC,1487,-0.15,0.0,2748,1582,2495,2173,178.1,-11.6,272,1609,0.47,0.00,117.62,0.704,10246,0.161,0.000,2900,1581,1744,1785,1704,0,0,0,0,0,0,26.44,28.83,24.70
$STATE,1610,end apogee,CONTROL_FINISHED_OK
$STATE,1610,begin climb
$GC,1617,0.57,146.6,2900,1581,1784,1703,182.9,0.0,294,1744,0.73,2.08,119.88,0.675,10500,0.123,0.049,3135,2783,1159,1137,1181,0,0,1,0,0,0,25.24,24.98,24.47
$GC,1776,0.57,146.6,2144,2782,1123,1179,171.1,10.5,322,1782,0.00,2.00,0.00,0.000,1030,0.000,0.035,3139,1581,1159,1137,1181,0,0,0,0,0,0,28.83,25.35,28.83
$GC,1909,0.57,146.6,3139,1580,1137,1181,158.7,9.7,347,1916,0.00,2.53,0.00,0.000,516,0.000,0.052,3142,392,1159,1137,1181,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1964,0.57,146.6,2144,392,1124,1179,152.1,11.8,357,1971,0.00,2.47,0.00,0.000,1030,0.000,0.034,3142,1579,1158,1137,1180,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2097,0.57,146.6,2112,1578,1122,1177,140.4,9.4,382,2103,0.00,2.55,0.00,0.000,516,0.000,0.056,3142,396,1158,1137,1179,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2152,0.57,146.6,3141,396,1137,1179,134.3,10.0,392,2159,0.00,2.47,0.00,0.000,1030,0.000,0.031,3142,1579,1158,1137,1180,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2286,0.57,146.6,3141,1579,1138,1179,120.1,11.1,417,2291,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1579,1158,1137,1179,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2417,0.57,146.6,3142,1579,1137,1179,105.6,11.5,442,2423,0.00,1.85,0.00,0.000,260,0.000,0.042,3142,2776,1157,1136,1179,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2482,0.57,146.6,3142,2775,1137,1179,96.9,12.9,454,2489,0.00,1.90,0.00,0.000,1030,0.000,0.036,3142,1577,1158,1137,1179,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2615,0.57,146.6,3141,1577,1137,1179,83.0,9.8,479,2622,0.00,2.42,0.00,0.000,516,0.000,0.053,3142,406,1158,1138,1179,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2692,0.58,164.8,3142,406,1137,1179,75.9,8.5,493,2716,0.00,2.40,15.30,0.613,9222,0.000,0.033,3142,1580,1086,1060,1112,0,0,0,0,0,0,28.83,26.46,25.70
$GC,2842,0.58,164.8,3142,1579,1061,1112,61.2,10.8,521,2848,0.00,1.83,0.00,0.000,260,0.000,0.041,3142,2774,1087,1062,1112,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2897,0.58,164.8,2144,2772,1050,1110,54.9,11.8,531,2904,0.00,1.88,0.00,0.000,1030,0.000,0.036,3142,1582,1086,1061,1112,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3030,0.58,164.8,2112,1581,1049,1110,41.0,11.1,556,3035,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1581,1086,1061,1112,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3159,0.58,164.8,3142,1581,1061,1112,27.6,9.6,581,3166,0.00,2.47,0.00,0.000,516,0.000,0.053,3142,392,1086,1061,1112,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3220,0.58,164.8,3142,392,1060,1112,21.9,9.3,592,3227,0.00,2.45,0.00,0.000,1030,0.000,0.035,3142,1580,1086,1061,1112,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3291,0.62,227.2,3142,1581,1061,1111,16.4,6.6,605,3337,0.00,2.55,38.90,0.553,8708,0.000,0.050,3142,397,838,794,883,0,0,0,0,0,0,28.83,26.04,25.58
$GC,3355,0.63,246.0,2144,397,790,883,11.1,8.4,616,3374,0.00,2.47,11.32,0.487,9222,0.000,0.034,3142,1579,763,716,811,0,0,0,0,0,0,28.83,26.11,25.53
$GC,3438,0.63,256.3,3142,1579,716,811,3.8,8.8,631,3451,0.00,1.90,6.15,0.412,8452,0.000,0.049,3142,2780,721,674,768,0,0,0,0,0,0,28.83,26.05,25.60
$STATE,3455,end climb,SURFACE_DEPTH_REACHED
$STATE,3456,begin surface coast
$FINISH,0.8,1.021826
$STATE,3487,end surface coast,CONTROL_FINISHED_OK
$STATE,3487,begin surface
$SM_CCo,3571,0.00,0.000,0,0,721,256.98
$SM_GC,1.69,7.88,1.98,0.00,0.053,0.044,0.000,172,1576,721,-8.61,0.54,256.98,0,0,0,0,0,0,26.12,26.12,28.83
$IRIDIUM_FIX,4726.11,-12222.38,290308,131334
$TT8_MAMPS,0.024717,0.024717
$HUMID,45.43
$INTERNAL_PRESSURE,8.78818
$TCM_TEMP,20.50
$XPDR_PINGS,13
$ALTIM_BOTTOM_PING,135.0,8.2
$24V_AH,24.5,0.657
$10V_AH,10.4,0.671
$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,19.475,65.875,309.175,0.000,0.000,34.486,41.487,304.012,5.750,0.000,6.587,1410.276,701.321,396.090,1320.891,281.928,33.236,941.983,0.000,944.510,0.000,19.221,0.000
$DEVICE_MAMPS,257.040,60.435,703.800,0.000,0.000,63.500,160.000,223.000,420.000,0.000,32.210,12.720,2.190,12.720,38.930,45.670,65.900,10.500,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,434.353,519.723,525.479,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,20.220,62.170,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323124
$DATA_FILE_SIZE,47153,640
$CAP_FILE_SIZE,71644,0
$CFSIZE,260165632,257617920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,1,0
$GPS,030615,010513,4743.601,-12224.894,2,1.1,3,16.3