version: 66.11
glider: 157
mission: 13
dive: 13
start: 6 3 115 6 50 38
data:
$ID,157
$MISSION,13
$DIVE,13
$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,-1486826.2
$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,21
$R_STBD_OVSHOOT,39
$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,0
$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
$GPS1,030615,064058,4744.915,-12224.333,15,0.8,15,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-75.6
$GPS2,030615,064933,4745.004,-12224.662,30,1.0,30,16.3
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.148,-0.190
$KALMAN_X,2467.4,56.2,132.1,-2201.3,693.1
$KALMAN_Y,-794.5,82.8,108.9,4101.5,1572.2
$MHEAD_RNG_PITCHd_Wd,201.6,4271,-14.0,-8.000,-18.40,2768
$D_GRID,187
$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,14,begin dive
$GC,17,-0.54,-146.6,166,1555,436,533,0.0,0.0,0,73,0.00,0.00,-53.45,0.000,16386,0.000,0.000,166,1555,1938,2010,1867,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-0.54,-146.6,166,1555,2011,1868,3.1,-6.1,10,103,10.32,1.95,-8.90,0.000,18692,0.256,0.057,2766,2723,2331,2489,2174,0,0,0,0,0,0,25.88,26.15,26.44
$GC,412,-0.54,-146.6,1728,2722,2428,2170,47.4,-11.0,74,418,0.00,1.90,0.00,0.000,1030,0.000,0.031,2767,1550,2335,2491,2179,0,0,0,0,0,0,28.83,26.36,28.83
$GC,542,-0.54,-146.6,2766,1550,2491,2179,60.7,-9.4,99,548,0.00,1.90,0.00,0.000,260,0.000,0.042,2763,2720,2335,2491,2179,0,0,0,0,0,0,28.83,26.41,28.83
$GC,597,-0.54,-146.6,1760,2718,2431,2170,65.4,-9.0,109,603,0.00,1.88,0.00,0.000,1030,0.000,0.039,2763,1549,2335,2491,2179,0,0,0,0,0,0,28.83,26.44,28.83
$GC,727,-0.54,-146.6,1760,1548,2432,2170,77.4,-10.0,134,733,0.00,1.92,0.00,0.000,260,0.000,0.041,2754,2730,2335,2491,2179,0,0,0,0,0,0,28.83,26.48,28.83
$GC,772,-0.54,-146.6,2754,2729,2491,2179,82.2,-10.9,142,778,0.00,1.90,0.00,0.000,1030,0.000,0.032,2754,1549,2335,2491,2179,0,0,0,0,0,0,28.83,26.49,28.83
$GC,902,-0.54,-146.6,2754,1550,2490,2179,97.1,-11.5,167,908,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,1549,2335,2491,2179,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1032,-0.54,-146.6,2754,1550,2491,2179,111.7,-10.8,192,1038,0.00,1.92,0.00,0.000,260,0.000,0.041,2750,2733,2335,2491,2179,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1127,-0.54,-146.6,1744,2731,2431,2170,122.7,-11.7,210,1133,0.00,1.90,0.00,0.000,1030,0.000,0.033,2750,1549,2334,2490,2179,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1260,-0.54,-146.6,2749,1549,2491,2179,138.6,-11.8,235,1267,0.00,1.90,0.00,0.000,260,0.000,0.041,2742,2736,2335,2491,2179,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1290,-0.54,-146.6,2741,2736,2491,2179,142.4,-11.7,240,1298,0.15,1.90,0.00,0.000,3078,0.195,0.032,2779,1550,2335,2491,2179,0,0,0,0,0,0,26.44,26.60,28.83
$GC,1424,-0.54,-146.6,2779,1550,2490,2179,154.7,-8.8,265,1431,0.00,1.90,0.00,0.000,260,0.000,0.044,2777,2728,2335,2491,2179,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1465,-0.54,-146.6,2776,2728,2490,2179,158.5,-9.4,272,1471,0.00,1.88,0.00,0.000,1030,0.000,0.034,2776,1548,2335,2491,2179,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1598,-0.54,-146.6,2776,1548,2491,2179,170.5,-9.6,297,1604,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1549,2335,2491,2179,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1704,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1704,begin apogee
$GC,1713,-0.16,0.0,2775,1729,2491,2179,180.2,-8.3,318,1834,0.38,0.00,117.20,0.704,10246,0.160,0.000,2897,1729,1745,1778,1712,0,0,0,0,0,0,26.51,28.83,24.72
$STATE,1835,end apogee,CONTROL_FINISHED_OK
$STATE,1836,begin climb
$GC,1842,0.54,146.6,2897,1729,1778,1712,183.9,0.0,340,1970,0.70,3.03,119.85,0.675,10756,0.127,0.050,3128,554,1159,1134,1185,0,0,0,0,0,0,25.25,24.94,24.42
$GC,2007,0.54,146.6,3128,554,1134,1185,170.1,11.6,369,2014,0.00,2.78,0.00,0.000,1030,0.000,0.033,3128,1712,1159,1134,1185,0,0,0,0,0,0,28.83,25.34,28.83
$GC,2140,0.54,146.6,3128,1712,1135,1184,155.5,10.4,394,2147,0.00,2.83,0.00,0.000,516,0.000,0.055,3128,546,1159,1134,1184,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2201,0.54,146.6,3128,546,1134,1184,149.1,9.2,405,2208,0.00,2.78,0.00,0.000,1030,0.000,0.034,3128,1743,1159,1134,1184,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2336,0.54,146.6,3128,1743,1134,1182,135.8,11.0,430,2343,0.00,2.83,0.00,0.000,516,0.000,0.052,3128,556,1158,1134,1182,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2397,0.54,146.6,3128,556,1134,1182,129.1,10.3,441,2403,0.00,2.72,0.00,0.000,1030,0.000,0.035,3128,1736,1158,1134,1182,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2530,0.54,146.6,3128,1737,1134,1181,114.8,10.4,466,2536,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1737,1157,1134,1181,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2660,0.54,146.6,3128,1736,1134,1182,100.1,11.6,491,2666,0.00,2.75,0.00,0.000,516,0.000,0.056,3128,556,1157,1134,1181,0,0,1,0,0,0,28.83,26.28,28.83
$GC,2725,0.54,146.6,2144,556,1120,1179,92.8,11.4,503,2731,0.00,2.70,0.00,0.000,1030,0.000,0.037,3128,1734,1157,1134,1181,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2859,0.54,146.6,3127,1733,1134,1181,78.0,11.2,528,2866,0.00,1.52,0.00,0.000,260,0.000,0.044,3128,2915,1158,1134,1182,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2890,0.54,146.6,3128,2915,1134,1181,73.8,12.2,533,2896,0.00,1.58,0.00,0.000,1030,0.000,0.031,3128,1708,1158,1134,1182,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3023,0.54,146.6,3128,1708,1134,1181,58.9,11.4,558,3030,0.00,2.65,0.00,0.000,516,0.000,0.057,3128,574,1157,1134,1181,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3124,0.54,146.6,3128,575,1134,1181,46.6,11.4,577,3131,0.00,2.65,0.00,0.000,1030,0.000,0.039,3128,1735,1157,1134,1181,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3257,0.54,146.6,2096,1734,1119,1179,34.0,9.5,602,3263,0.00,2.75,0.00,0.000,516,0.000,0.054,3128,566,1157,1134,1181,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3307,0.54,146.6,3128,566,1134,1181,28.4,10.1,611,3314,0.00,2.67,0.00,0.000,1030,0.000,0.034,3128,1732,1157,1134,1180,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3378,0.54,150.6,3128,1732,1134,1181,22.3,7.9,624,3386,0.00,1.60,2.45,0.271,8452,0.000,0.054,3128,2926,1144,1124,1164,0,0,0,0,0,0,28.83,26.51,25.89
$GC,3415,0.54,150.6,3128,2926,1124,1164,19.1,8.3,630,3422,0.00,1.58,0.00,0.000,1030,0.000,0.033,3128,1725,1144,1124,1164,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3486,0.55,173.2,3128,1724,1124,1164,13.2,7.2,643,3505,0.00,2.70,12.73,0.523,8708,0.000,0.054,3128,573,1054,1022,1086,0,0,0,0,0,0,28.83,26.36,25.94
$GC,3570,0.56,194.4,3128,573,1022,1086,7.2,7.2,658,3588,0.00,2.67,12.88,0.490,9222,0.000,0.034,3129,1731,969,933,1005,0,0,0,0,0,0,28.83,26.42,25.84
$STATE,3623,end climb,SURFACE_DEPTH_REACHED
$STATE,3624,begin surface coast
$FINISH,0.8,1.020816
$STATE,3663,end surface coast,CONTROL_FINISHED_OK
$STATE,3663,begin surface
$SM_CCo,3684,22.67,0.508,0,0,809,235.12
$SM_GC,1.66,7.82,0.55,22.67,0.059,0.048,0.508,170,1565,809,-8.61,1.13,235.12,0,0,0,0,0,0,26.34,26.36,25.67
$IRIDIUM_FIX,4726.11,-12226.80,290308,202035
$TT8_MAMPS,0.024717,0.024717
$HUMID,44.25
$INTERNAL_PRESSURE,8.79795
$TCM_TEMP,19.40
$XPDR_PINGS,20
$24V_AH,24.4,1.121
$10V_AH,10.4,0.950
$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,19.375,71.175,265.100,22.675,0.000,32.344,41.935,266.768,5.000,0.000,31.259,1507.468,696.454,396.439,1335.637,294.389,33.230,961.575,0.000,997.153,0.000,0.530,0.000
$DEVICE_MAMPS,255.510,57.375,703.800,507.960,0.000,63.500,160.000,223.000,420.000,0.000,32.210,12.720,2.190,12.720,38.930,45.670,65.900,10.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,459.388,541.103,547.980,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,20.220,62.170,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323048
$DATA_FILE_SIZE,47082,675
$CAP_FILE_SIZE,75394,0
$CFSIZE,260165632,257339392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,1,0
$GPS,030615,075311,4744.788,-12225.070,3,1.5,3,16.3