version: 66.11
glider: 157
mission: 13
dive: 10
start: 6 3 115 3 24 42
data:
$ID,157
$MISSION,13
$DIVE,10
$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,-1486822.5
$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,28
$R_STBD_OVSHOOT,29
$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
$GPS1,030615,031306,4744.251,-12224.562,39,0.9,39,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-72.6
$GPS2,030615,032340,4744.295,-12224.476,5,0.8,5,16.3
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.202,-0.130
$KALMAN_X,1280.3,-148.5,-338.2,-112.5,571.1
$KALMAN_Y,-3065.9,-696.9,-455.1,6404.9,-2.6
$MHEAD_RNG_PITCHd_Wd,221.1,835,-14.0,-8.000,-18.40,2768
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-0.54,-146.6,176,1563,741,872,0.0,0.0,0,63,0.00,0.00,-42.72,0.000,16386,0.000,0.000,172,1550,1939,2005,1873,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.54,-146.6,172,1550,2005,1874,3.2,-5.6,8,92,10.45,1.98,-8.77,0.000,18692,0.258,0.057,2766,2727,2332,2494,2171,0,0,0,0,0,0,25.76,26.03,26.32
$GC,282,-0.54,-146.6,1760,2725,2434,2166,33.7,-11.1,49,289,0.00,1.88,0.00,0.000,1030,0.000,0.031,2770,1560,2335,2495,2175,0,0,0,0,0,0,28.83,26.23,28.83
$GC,353,-0.54,-146.6,2770,1559,2495,2175,41.9,-12.2,62,359,0.00,1.90,0.00,0.000,260,0.000,0.041,2764,2728,2335,2495,2175,0,0,0,0,0,0,28.83,26.27,28.83
$GC,393,-0.54,-146.6,2764,2728,2495,2175,46.0,-9.9,69,400,0.00,1.90,0.00,0.000,1030,0.000,0.041,2764,1547,2334,2495,2174,0,0,0,0,0,0,28.83,26.29,28.83
$GC,523,-0.54,-146.6,1760,1546,2434,2167,62.4,-12.6,94,529,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,1547,2335,2495,2175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,653,-0.54,-146.6,2764,1547,2495,2175,80.7,-14.7,119,659,0.00,1.92,0.00,0.000,260,0.000,0.042,2755,2742,2335,2495,2175,0,0,0,0,0,0,28.83,26.41,28.83
$GC,718,-0.54,-146.6,1760,2741,2434,2166,90.2,-13.0,131,724,0.00,1.90,0.00,0.000,1030,0.000,0.031,2755,1547,2335,2495,2175,0,0,0,0,0,0,28.83,26.44,28.83
$GC,848,-0.54,-146.6,1760,1546,2434,2166,106.9,-11.9,156,854,0.00,2.40,0.00,0.000,516,0.000,0.047,2755,363,2335,2495,2175,0,0,0,0,0,0,28.83,26.46,28.83
$GC,888,-0.54,-146.6,2755,362,2495,2175,112.0,-12.6,163,895,0.00,2.35,0.00,0.000,1030,0.000,0.031,2749,1540,2335,2495,2175,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1026,-0.54,-146.6,2749,1540,2495,2175,130.2,-13.6,188,1032,0.00,1.92,0.00,0.000,260,0.000,0.044,2749,2754,2335,2495,2175,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1198,-0.54,-146.6,2749,2753,2495,2175,151.3,-12.8,221,1204,0.00,1.90,0.00,0.000,1030,0.000,0.030,2749,1546,2334,2494,2175,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1331,-0.54,-146.6,2749,1547,2495,2175,171.3,-18.5,246,1338,0.00,2.38,0.00,0.000,516,0.000,0.047,2749,368,2335,2495,2175,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1347,-0.54,-146.6,2749,369,2495,2175,174.1,-16.7,248,1354,0.00,2.38,0.00,0.000,1030,0.000,0.031,2749,1550,2335,2495,2175,0,0,0,0,0,0,28.83,26.58,28.83
$STATE,1359,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1359,begin apogee
$GC,1367,-0.16,0.0,2749,1756,2494,2175,176.5,-15.4,250,1495,0.47,0.03,118.07,0.696,10246,0.163,0.076,2900,1736,1744,1783,1705,0,0,0,0,0,0,26.41,25.06,24.68
$STATE,1498,end apogee,CONTROL_FINISHED_OK
$STATE,1499,begin climb
$GC,1502,0.54,146.6,2899,1736,1783,1705,179.4,0.0,273,1630,0.70,3.03,119.95,0.666,11012,0.132,0.061,3129,550,1160,1137,1183,0,0,0,0,0,0,25.25,24.94,24.44
$GC,1687,0.54,146.6,2128,550,1123,1181,162.3,14.0,306,1694,0.00,2.78,0.00,0.000,1030,0.000,0.032,3129,1717,1159,1137,1182,0,0,0,0,0,0,28.83,25.46,28.83
$GC,1820,0.54,146.6,3129,1717,1137,1182,146.1,11.5,331,1827,0.00,2.80,0.00,0.000,516,0.000,0.053,3129,550,1159,1137,1182,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1866,0.54,146.6,3128,550,1137,1182,141.3,9.3,339,1873,0.00,2.75,0.00,0.000,1030,0.000,0.033,3129,1732,1159,1137,1182,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2001,0.54,146.6,3128,1732,1137,1181,128.1,12.0,364,2007,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1732,1159,1137,1181,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2131,0.54,146.6,3128,1732,1137,1181,113.0,10.5,389,2138,0.00,2.80,0.00,0.000,516,0.000,0.054,3129,553,1159,1137,1181,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2217,0.54,146.6,2112,551,1123,1179,105.9,8.1,405,2224,0.00,2.72,0.00,0.000,1030,0.000,0.041,3128,1738,1159,1137,1181,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2351,0.54,146.6,3129,1738,1137,1181,91.6,10.8,430,2357,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1738,1159,1137,1181,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2481,0.54,146.6,3128,1738,1137,1181,77.6,9.4,455,2487,0.00,2.78,0.00,0.000,516,0.000,0.056,3129,552,1159,1137,1181,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2586,0.54,146.6,3129,552,1138,1181,66.4,10.5,475,2593,0.00,2.70,0.00,0.000,1030,0.000,0.038,3129,1737,1159,1137,1181,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2720,0.54,146.6,3128,1737,1137,1181,49.6,13.8,500,2726,0.00,1.52,0.00,0.000,260,0.000,0.053,3129,2922,1158,1137,1180,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2765,0.54,146.6,3128,2922,1137,1181,43.2,13.5,508,2772,0.00,1.60,0.00,0.000,1030,0.000,0.032,3129,1707,1159,1137,1181,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2899,0.54,146.6,3128,1707,1137,1181,25.2,14.9,533,2905,0.00,2.65,0.00,0.000,516,0.000,0.051,3129,570,1159,1137,1181,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3042,0.54,146.6,3128,570,1137,1181,10.0,9.1,560,3049,0.00,2.67,0.00,0.000,1030,0.000,0.039,3129,1734,1158,1137,1180,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3113,0.55,165.7,2128,1734,1123,1178,4.1,7.3,573,3126,0.00,0.75,10.07,0.474,8707,0.000,0.047,3129,1484,1083,1059,1108,0,0,0,0,0,0,28.83,28.83,25.98
$STATE,3127,end climb,SURFACE_DEPTH_REACHED
$STATE,3127,begin surface coast
$FINISH,0.9,1.010199
$STATE,3163,end surface coast,CONTROL_FINISHED_OK
$STATE,3163,begin surface
$SM_CCo,3185,39.08,0.513,0,0,807,235.12
$SM_GC,2.09,7.75,0.17,39.08,0.055,0.073,0.513,164,1553,807,-8.60,-0.85,235.12,0,0,0,0,0,0,26.45,26.49,25.62
$IRIDIUM_FIX,4716.56,-12006.88,290308,161616
$TT8_MAMPS,0.024717,0.024717
$HUMID,44.68
$INTERNAL_PRESSURE,8.78818
$TCM_TEMP,20.30
$XPDR_PINGS,13
$ALTIM_BOTTOM_PING,120.6,75.1
$24V_AH,24.4,0.879
$10V_AH,10.4,0.805
$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,19.375,57.125,248.100,39.075,0.000,65.920,134.114,239.309,4.500,0.000,6.535,1302.541,631.922,376.553,1293.427,263.826,33.207,870.737,0.000,862.826,0.000,11.686,0.000
$DEVICE_MAMPS,257.805,76.500,696.150,513.315,0.000,63.500,160.000,223.000,420.000,0.000,32.210,12.720,2.190,12.720,38.930,45.670,65.900,10.500,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,395.623,468.480,473.958,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,20.220,62.170,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323116
$DATA_FILE_SIZE,40480,582
$CAP_FILE_SIZE,66482,0
$CFSIZE,260165632,257495040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030615,041913,4744.259,-12224.925,3,0.9,3,16.3