version: 66.11
glider: 157
mission: 13
dive: 9
start: 6 3 115 2 19 50
data:
$ID,157
$MISSION,13
$DIVE,9
$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,75
$T_MISSION,85
$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,235
$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,-1486821.2
$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,2948
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0099999998
$PITCH_GAIN,30.799999
$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,1550
$C_ROLL_CLIMB,1730
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,18
$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,110
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,15
$ALTIM_PULSE,5
$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
$GPS1,030615,021040,4743.816,-12224.530,2,1.7,2,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-70.8
$GPS2,030615,021847,4743.810,-12224.428,6,0.8,6,16.3
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.134,0.163
$KALMAN_X,470.3,51.6,-244.8,461.4,122.7
$KALMAN_Y,-3622.4,-450.1,-323.4,5691.3,-535.1
$MHEAD_RNG_PITCHd_Wd,304.3,493,-16.7,-8.000,-20.78,2056
$D_GRID,173
$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,-0.60,-108.6,175,1539,684,811,0.0,0.0,0,62,0.00,0.00,-42.75,0.000,16386,0.000,0.000,176,1539,1867,1926,1809,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.62,-146.6,176,1539,1926,1809,3.1,-5.6,8,97,10.32,2.05,-11.05,0.000,18692,0.256,0.059,2740,2736,2332,2494,2171,0,0,0,0,0,0,25.77,26.04,26.32
$GC,156,-0.62,-146.6,2739,2736,2495,2174,17.2,-17.0,24,163,0.00,1.90,0.00,0.000,1030,0.000,0.031,2742,1561,2334,2495,2174,0,0,0,0,0,0,28.83,26.13,28.83
$GC,226,-0.62,-146.6,1744,1561,2434,2165,28.5,-15.9,37,233,0.00,2.45,0.00,0.000,516,0.000,0.047,2743,371,2334,2495,2174,0,0,0,0,0,0,28.83,26.16,28.83
$GC,322,-0.62,-146.6,2742,370,2495,2173,42.6,-13.5,55,328,0.00,2.38,0.00,0.000,1030,0.000,0.030,2733,1552,2334,2495,2174,0,0,0,0,0,0,28.83,26.26,28.83
$GC,452,-0.62,-146.6,1728,1551,2434,2165,60.8,-13.8,80,458,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1552,2334,2495,2174,0,0,0,0,0,0,28.83,28.83,28.83
$GC,581,-0.62,-146.6,2733,1552,2495,2173,77.3,-11.5,105,588,0.00,1.88,0.00,0.000,260,0.000,0.041,2724,2750,2334,2495,2174,0,0,0,0,0,0,28.83,26.39,28.83
$GC,682,-0.62,-146.6,2724,2750,2495,2174,89.4,-12.5,124,688,0.00,1.92,0.00,0.000,1030,0.000,0.031,2724,1551,2334,2494,2174,0,0,0,0,0,0,28.83,26.44,28.83
$GC,812,-0.62,-146.6,1728,1549,2434,2165,107.1,-13.7,149,818,0.00,1.92,0.00,0.000,260,0.000,0.041,2715,2752,2334,2495,2174,0,0,0,0,0,0,28.83,26.46,28.83
$GC,895,-0.62,-146.6,2715,2751,2494,2174,118.1,-12.9,164,903,0.15,1.92,0.00,0.000,3078,0.191,0.037,2754,1548,2334,2495,2173,0,0,0,0,0,0,26.32,26.49,28.83
$GC,1031,-0.62,-146.6,2754,1547,2494,2174,133.1,-11.8,189,1038,0.00,1.92,0.00,0.000,260,0.000,0.042,2750,2740,2334,2494,2174,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1122,-0.62,-146.6,2749,2741,2495,2174,143.4,-10.8,206,1128,0.00,1.90,0.00,0.000,1030,0.000,0.031,2749,1550,2334,2495,2173,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1256,-0.62,-146.6,2749,1550,2495,2174,157.2,-11.3,231,1261,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1550,2334,2494,2174,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1385,-0.62,-146.6,2750,1550,2495,2174,172.4,-11.3,256,1392,0.00,1.95,0.00,0.000,260,0.000,0.043,2749,2751,2334,2495,2174,0,0,0,0,0,0,28.83,26.58,28.83
$STATE,1396,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1397,begin apogee
$GC,1406,-0.16,0.0,2749,1692,2495,2174,173.9,-11.2,258,1529,0.47,0.12,117.22,0.692,10246,0.189,0.080,2902,1745,1744,1784,1705,0,0,0,0,0,0,26.44,25.22,24.70
$STATE,1533,end apogee,CONTROL_FINISHED_OK
$STATE,1533,begin climb
$GC,1537,0.62,146.6,2902,1745,1784,1705,178.3,0.0,280,1665,0.75,3.00,120.00,0.671,10756,0.120,0.047,3155,580,1159,1137,1182,0,0,0,0,0,0,25.25,24.96,24.44
$GC,1757,0.62,146.6,3155,579,1137,1182,157.3,13.0,320,1764,0.00,2.78,0.00,0.000,1030,0.000,0.034,3155,1735,1159,1137,1182,0,0,0,0,0,0,28.83,25.61,28.83
$GC,1890,0.62,146.6,3155,1735,1137,1182,137.9,13.8,345,1897,0.00,2.78,0.00,0.000,516,0.000,0.048,3155,581,1159,1137,1181,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1921,0.62,146.6,3155,582,1137,1182,133.2,14.4,350,1928,0.00,2.72,0.00,0.000,1030,0.000,0.037,3156,1730,1159,1137,1182,0,0,0,0,0,0,28.83,25.97,28.83
$GC,2055,0.62,146.6,3155,1730,1137,1181,116.6,12.7,375,2060,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1730,1159,1137,1181,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2184,0.62,146.6,2176,1729,1123,1179,100.8,11.9,400,2190,0.00,2.78,0.00,0.000,516,0.000,0.050,3156,572,1159,1137,1181,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2259,0.62,146.6,2152,571,1123,1179,92.7,10.5,414,2266,0.00,2.70,0.00,0.000,1030,0.000,0.034,3156,1732,1159,1137,1181,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2393,0.62,146.6,3155,1732,1137,1181,76.5,14.1,439,2398,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1731,1159,1137,1181,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2522,0.62,146.6,3155,1732,1137,1181,59.0,12.5,464,2529,0.00,2.75,0.00,0.000,516,0.000,0.050,3156,574,1159,1137,1181,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2628,0.62,146.6,3155,574,1137,1181,46.2,12.2,484,2635,0.00,2.67,0.00,0.000,1030,0.000,0.034,3156,1730,1159,1137,1181,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2761,0.62,146.6,3155,1730,1137,1181,31.3,10.2,509,2768,0.00,2.72,0.00,0.000,516,0.000,0.048,3157,577,1159,1137,1181,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2853,0.62,146.6,3157,577,1137,1181,20.7,10.8,526,2860,0.00,2.67,0.00,0.000,1030,0.000,0.034,3157,1738,1159,1137,1181,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2924,0.62,146.6,2176,1737,1123,1179,12.8,11.2,539,2930,0.00,2.75,0.00,0.000,516,0.000,0.050,3157,567,1159,1137,1181,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2964,0.62,146.6,3157,566,1137,1181,8.6,9.5,546,2971,0.00,2.67,0.00,0.000,1030,0.000,0.034,3157,1730,1159,1137,1181,0,0,0,0,0,0,28.83,26.52,28.83
$STATE,3015,end climb,SURFACE_DEPTH_REACHED
$STATE,3016,begin surface coast
$FINISH,0.8,1.021984
$STATE,3042,end surface coast,CONTROL_FINISHED_OK
$STATE,3042,begin surface
$SM_CCo,3064,49.08,0.508,0,0,806,235.12
$SM_GC,1.73,7.75,0.52,49.08,0.051,0.057,0.508,178,1564,806,-8.59,1.33,235.12,0,0,0,0,0,0,26.53,26.57,25.59
$IRIDIUM_FIX,4726.11,-12224.09,290308,151512
$TT8_MAMPS,0.024717,0.024717
$HUMID,44.99
$INTERNAL_PRESSURE,8.78818
$TCM_TEMP,20.30
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,120.2,69.5
$24V_AH,24.4,0.803
$10V_AH,10.4,0.759
$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,19.450,57.425,237.225,49.075,0.000,34.614,47.482,257.285,3.750,0.000,7.500,1255.475,565.730,379.660,1148.403,260.537,33.209,858.157,0.000,832.844,0.000,11.662,0.000
$DEVICE_MAMPS,256.275,79.560,691.560,507.960,0.000,63.500,160.000,223.000,420.000,0.000,32.210,12.720,2.190,12.720,38.930,45.670,65.900,10.500,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,381.229,448.555,454.391,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,20.220,62.170,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323096
$DATA_FILE_SIZE,40402,561
$CAP_FILE_SIZE,64289,0
$CFSIZE,260165632,257540096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030615,031306,4744.251,-12224.562,39,0.9,39,16.3