version: 66.11
glider: 157
mission: 13
dive: 8
start: 6 3 115 1 13 47
data:
$ID,157
$MISSION,13
$DIVE,8
$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,-1486820
$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
$GPS1,030615,010513,4743.601,-12224.894,2,1.1,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-72.0
$GPS2,030615,011243,4743.610,-12224.858,5,1.0,5,16.3
$SPEED_LIMITS,0.160,0.253
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.065,0.244
$KALMAN_X,-168.5,302.1,-110.4,182.7,-215.3
$KALMAN_Y,-3227.5,-397.8,-203.6,4755.1,-702.4
$MHEAD_RNG_PITCHd_Wd,358.6,542,-16.2,-9.231,-20.04,2407
$D_GRID,175
$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,-146.6,171,1574,670,771,0.0,0.0,0,68,0.00,0.00,-48.53,0.000,16386,0.000,0.000,171,1575,2029,2114,1944,0,0,0,0,0,0,28.83,28.83,28.83
$GC,72,-0.57,-146.6,171,1574,2114,1945,3.5,-6.1,9,97,10.43,2.45,-6.30,0.000,18948,0.257,0.053,2773,404,2331,2484,2179,0,0,0,0,0,0,25.78,26.06,26.35
$GC,184,-0.57,-146.6,2773,404,2485,2181,23.5,-14.0,29,190,0.00,2.45,0.00,0.000,1030,0.000,0.031,2764,1578,2333,2485,2181,0,0,0,0,0,0,28.83,26.17,28.83
$GC,254,-0.57,-146.6,2763,1578,2487,2181,32.1,-12.6,42,261,0.00,1.88,0.00,0.000,260,0.000,0.042,2756,2778,2334,2487,2181,0,0,0,0,0,0,28.83,26.22,28.83
$GC,275,-0.57,-146.6,2755,2779,2487,2181,35.0,-13.2,45,281,0.00,1.90,0.00,0.000,1030,0.000,0.031,2756,1578,2334,2487,2182,0,0,0,0,0,0,28.83,26.24,28.83
$GC,345,-0.57,-146.6,2755,1577,2487,2181,43.4,-11.8,58,352,0.00,2.45,0.00,0.000,516,0.000,0.047,2755,396,2334,2487,2181,0,0,0,0,0,0,28.83,26.26,28.83
$GC,410,-0.57,-146.6,1760,395,2427,2172,51.7,-13.7,70,417,0.00,2.45,0.00,0.000,1030,0.000,0.031,2750,1583,2334,2487,2181,0,0,0,0,0,0,28.83,26.32,28.83
$GC,541,-0.57,-146.6,2749,1582,2487,2181,68.8,-12.9,95,547,0.00,1.83,0.00,0.000,260,0.000,0.044,2750,2770,2334,2487,2181,0,0,0,0,0,0,28.83,26.37,28.83
$GC,684,-0.57,-146.6,2749,2769,2487,2181,85.9,-11.7,122,690,0.00,1.85,0.00,0.000,1030,0.000,0.031,2749,1582,2334,2486,2182,0,0,0,0,0,0,28.83,26.44,28.83
$GC,817,-0.57,-146.6,2749,1582,2487,2181,102.3,-12.2,147,824,0.00,2.42,0.00,0.000,516,0.000,0.047,2749,393,2334,2487,2181,0,0,0,0,0,0,28.83,26.46,28.83
$GC,842,-0.57,-146.6,2749,393,2487,2181,105.7,-11.7,151,849,0.00,2.42,0.00,0.000,1030,0.000,0.031,2749,1579,2334,2487,2181,0,0,0,0,0,0,28.83,26.48,28.83
$GC,979,-0.57,-146.6,2748,1579,2487,2182,122.6,-13.4,176,986,0.00,1.88,0.00,0.000,260,0.000,0.044,2749,2788,2334,2487,2181,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1127,-0.57,-146.6,1728,2786,2424,2172,140.6,-12.2,204,1133,0.00,1.88,0.00,0.000,1030,0.000,0.031,2749,1578,2334,2487,2181,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1260,-0.57,-146.6,2748,1577,2487,2181,157.4,-12.2,229,1267,0.00,2.40,0.00,0.000,516,0.000,0.048,2749,397,2334,2487,2181,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1336,-0.57,-146.6,2748,397,2487,2181,166.9,-11.4,243,1343,0.00,2.40,0.00,0.000,1030,0.000,0.029,2737,1583,2334,2486,2182,0,0,0,0,0,0,28.83,26.58,28.83
$STATE,1403,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1403,begin apogee
$GC,1411,-0.15,0.0,2737,1583,2487,2181,175.5,-11.8,256,1533,0.52,0.00,117.45,0.700,10246,0.162,0.000,2904,1583,1744,1784,1705,0,0,0,0,0,0,26.44,28.83,24.68
$STATE,1534,end apogee,CONTROL_FINISHED_OK
$STATE,1534,begin climb
$GC,1540,0.57,146.6,2903,1583,1784,1704,179.6,0.0,278,1672,0.70,2.70,120.10,0.669,10756,0.120,0.050,3136,401,1160,1138,1182,0,0,1,0,0,0,25.23,24.97,24.45
$GC,1710,0.57,146.6,3136,401,1138,1182,166.7,10.5,308,1716,0.00,2.53,0.00,0.000,1030,0.000,0.036,3136,1576,1160,1138,1182,0,0,0,0,0,0,28.83,25.41,28.83
$GC,1843,0.57,146.6,3136,1576,1137,1182,151.8,12.0,333,1850,0.00,2.55,0.00,0.000,516,0.000,0.056,3140,395,1160,1138,1182,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1884,0.57,146.6,3140,396,1138,1182,146.7,11.1,340,1890,0.00,2.50,0.00,0.000,1030,0.000,0.031,3140,1583,1160,1138,1182,0,0,0,0,0,0,28.83,25.92,28.83
$GC,2017,0.57,146.6,3140,1583,1138,1182,132.0,12.6,365,2023,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1582,1160,1138,1182,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2147,0.57,146.6,3140,1582,1138,1182,117.5,10.3,390,2154,0.00,1.85,0.00,0.000,260,0.000,0.043,3140,2774,1159,1138,1181,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2188,0.57,146.6,3140,2773,1138,1182,112.9,11.4,397,2194,0.00,1.88,0.00,0.000,1030,0.000,0.036,3141,1586,1160,1138,1182,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2320,0.57,146.6,2112,1585,1123,1179,99.1,10.0,422,2327,0.00,2.47,0.00,0.000,516,0.000,0.052,3142,402,1160,1138,1182,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2361,0.57,146.6,3141,402,1137,1181,94.3,10.9,429,2367,0.00,2.42,0.00,0.000,1030,0.000,0.031,3142,1580,1160,1138,1182,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2494,0.57,146.6,3142,1581,1138,1181,79.5,11.6,454,2501,0.00,1.85,0.00,0.000,260,0.000,0.043,3142,2779,1159,1137,1181,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2525,0.57,146.6,3142,2779,1137,1181,75.7,11.3,459,2532,0.00,1.88,0.00,0.000,1030,0.000,0.036,3141,1575,1159,1138,1181,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2659,0.57,146.6,3142,1575,1138,1181,61.6,10.3,484,2664,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1575,1159,1138,1181,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2790,0.57,148.2,3141,1575,1137,1181,48.5,9.2,509,2797,0.00,1.90,0.00,0.000,260,0.000,0.045,3142,2789,1159,1138,1181,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2811,0.57,150.7,3141,2789,1137,1181,46.4,9.1,512,2823,0.00,1.90,4.38,0.466,9222,0.000,0.035,3142,1581,1143,1125,1161,0,0,0,0,0,0,28.83,26.49,25.85
$GC,2950,0.57,150.7,3141,1581,1126,1162,32.7,9.9,538,2957,0.00,2.45,0.00,0.000,516,0.000,0.053,3142,402,1143,1125,1162,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2993,0.58,155.0,3142,402,1125,1162,28.6,9.0,545,3005,0.00,2.42,5.38,0.496,9222,0.000,0.037,3142,1582,1125,1106,1145,0,0,0,0,0,0,28.83,26.51,25.88
$GC,3069,0.58,155.0,3141,1581,1106,1145,20.8,10.3,559,3076,0.00,1.85,0.00,0.000,260,0.000,0.048,3142,2779,1126,1107,1145,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3090,0.58,155.0,3141,2779,1106,1145,18.2,12.6,562,3097,0.00,1.90,0.00,0.000,1030,0.000,0.035,3142,1574,1125,1106,1145,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3161,0.58,156.5,3142,1574,1106,1145,11.1,9.2,575,3167,0.00,2.42,0.00,0.000,516,0.000,0.053,3142,409,1125,1106,1145,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3181,0.58,156.5,3142,408,1106,1145,9.2,9.6,578,3188,0.00,2.42,0.00,0.000,1030,0.000,0.031,3142,1584,1126,1108,1144,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3252,0.59,180.3,3142,1584,1107,1145,3.2,8.2,591,3260,0.00,0.00,5.80,0.424,8450,0.000,0.000,3141,1584,1083,1060,1107,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3261,end climb,SURFACE_DEPTH_REACHED
$STATE,3261,begin surface coast
$FINISH,0.8,1.018385
$STATE,3297,end surface coast,CONTROL_FINISHED_OK
$STATE,3297,begin surface
$SM_CCo,3317,47.70,0.513,0,0,747,250.20
$SM_GC,1.56,7.78,0.00,47.70,0.056,0.000,0.513,177,1585,747,-8.60,0.14,250.20,0,0,0,0,0,0,26.46,28.83,25.54
$IRIDIUM_FIX,4726.11,-12226.80,290308,141442
$TT8_MAMPS,0.024717,0.024717
$HUMID,45.35
$INTERNAL_PRESSURE,8.78818
$TCM_TEMP,20.40
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,120.6,72.6
$24V_AH,24.4,0.730
$10V_AH,10.4,0.716
$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,19.425,70.550,253.100,47.700,0.000,28.450,40.000,238.752,4.250,0.000,6.569,1341.803,598.767,417.259,1172.353,296.216,33.235,940.145,0.000,886.085,0.000,14.678,0.000
$DEVICE_MAMPS,257.040,55.845,699.975,513.315,0.000,63.500,160.000,223.000,420.000,0.000,32.210,12.720,2.190,12.720,38.930,45.670,65.900,10.500,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,406.409,478.815,485.186,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,20.220,62.170,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323084
$DATA_FILE_SIZE,43533,599
$CAP_FILE_SIZE,72947,0
$CFSIZE,260165632,257576960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$GPS,030615,021040,4743.816,-12224.530,2,1.7,2,16.3