version: 66.11
glider: 157
mission: 13
dive: 15
start: 6 3 115 9 14 6
data:
$ID,157
$MISSION,13
$DIVE,15
$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,-1486828.9
$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,38
$R_STBD_OVSHOOT,20
$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
$GPS1,030615,090509,4744.167,-12225.399,4,1.4,4,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-75.5
$GPS2,030615,091302,4744.140,-12225.429,6,1.4,6,16.3
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.126,-0.205
$KALMAN_X,2095.2,195.5,363.0,-3149.4,-212.1
$KALMAN_Y,-2377.8,1159.5,958.6,2180.9,-296.7
$MHEAD_RNG_PITCHd_Wd,132.2,2779,-14.0,-8.000,-18.40,2768
$D_GRID,252
$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,-0.54,-146.6,179,1537,737,874,0.0,0.0,0,62,0.00,0.00,-43.15,0.000,16386,0.000,0.000,179,1538,1954,2024,1884,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.54,-146.6,179,1538,2024,1884,3.2,-6.1,8,92,10.45,2.50,-8.65,0.000,18948,0.258,0.063,2785,389,2332,2492,2172,0,0,0,0,0,0,25.77,26.03,26.32
$GC,184,-0.54,-146.6,2785,389,2492,2176,19.4,-14.1,29,190,0.00,2.40,0.00,0.000,1030,0.000,0.032,2776,1548,2334,2492,2176,0,0,0,0,0,0,28.83,26.15,28.83
$GC,255,-0.54,-146.6,2776,1548,2492,2177,28.5,-11.2,42,260,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1548,2334,2492,2176,0,0,0,0,0,0,28.83,28.83,28.83
$GC,324,-0.54,-146.6,2776,1548,2492,2177,35.3,-9.2,55,331,0.00,1.92,0.00,0.000,260,0.000,0.044,2776,2745,2334,2492,2177,0,0,0,0,0,0,28.83,26.25,28.83
$GC,405,-0.54,-146.6,2776,2744,2491,2179,43.4,-10.6,70,411,0.00,1.88,0.00,0.000,1030,0.000,0.034,2776,1568,2335,2492,2179,0,0,0,0,0,0,28.83,26.31,28.83
$GC,535,-0.54,-146.6,2776,1568,2492,2178,58.0,-11.1,95,541,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1568,2335,2492,2179,0,0,0,0,0,0,28.83,28.83,28.83
$GC,665,-0.54,-146.6,2776,1568,2491,2178,71.9,-10.6,120,671,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1568,2334,2491,2178,0,0,0,0,0,0,28.83,28.83,28.83
$GC,795,-0.54,-146.6,2776,1568,2491,2178,85.9,-10.5,145,801,0.00,1.88,0.00,0.000,260,0.000,0.044,2776,2744,2335,2492,2178,0,0,0,0,0,0,28.83,26.46,28.83
$GC,845,-0.54,-146.6,1792,2743,2432,2170,90.9,-9.8,154,851,0.00,1.90,0.00,0.000,1030,0.000,0.038,2776,1551,2335,2491,2179,0,0,0,0,0,0,28.83,26.48,28.83
$GC,975,-0.54,-146.6,2776,1551,2491,2178,103.5,-9.2,179,982,0.00,1.92,0.00,0.000,260,0.000,0.046,2776,2748,2335,2491,2179,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1091,-0.54,-146.6,2776,2747,2491,2179,114.3,-9.6,201,1097,0.00,1.90,0.00,0.000,1030,0.000,0.033,2776,1548,2335,2491,2179,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1225,-0.54,-146.6,2776,1548,2491,2179,128.0,-8.9,226,1232,0.00,1.95,0.00,0.000,260,0.000,0.044,2776,2748,2334,2491,2178,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1276,-0.54,-146.6,2776,2747,2491,2179,133.1,-8.4,235,1283,0.00,1.90,0.00,0.000,1030,0.000,0.036,2776,1550,2335,2491,2179,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1409,-0.54,-146.6,2776,1550,2491,2178,145.9,-9.1,260,1416,0.00,1.95,0.00,0.000,260,0.000,0.046,2776,2755,2335,2491,2179,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1480,-0.54,-146.6,2776,2755,2491,2179,151.7,-7.4,273,1487,0.00,1.90,0.00,0.000,1030,0.000,0.034,2776,1550,2335,2491,2179,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1613,-0.54,-146.6,2776,1550,2491,2179,163.3,-9.2,298,1619,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1550,2335,2491,2179,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1743,-0.54,-146.6,2776,1550,2491,2179,175.1,-9.8,323,1749,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1550,2334,2491,2178,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1788,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1788,begin apogee
$GC,1797,-0.16,0.0,2775,1758,2491,2178,180.0,-8.8,332,1925,0.38,0.08,118.22,0.698,10246,0.156,0.044,2899,1716,1744,1779,1710,0,0,0,0,0,0,26.51,25.22,24.72
$STATE,1929,end apogee,CONTROL_FINISHED_OK
$STATE,1929,begin climb
$GC,1932,0.54,146.6,2898,1715,1779,1710,179.2,0.0,355,2060,0.68,2.85,119.45,0.672,11012,0.131,0.050,3127,567,1161,1134,1188,0,0,0,0,0,0,25.27,24.94,24.44
$GC,2117,0.54,146.6,3126,565,1134,1188,161.5,10.8,388,2124,0.00,2.75,0.00,0.000,1030,0.000,0.036,3127,1722,1161,1134,1188,0,0,0,0,0,0,28.83,25.45,28.83
$GC,2251,0.54,146.6,3126,1721,1134,1186,144.8,12.7,413,2258,0.00,2.78,0.00,0.000,516,0.000,0.052,3128,570,1160,1134,1186,0,0,0,0,0,0,28.83,25.80,28.83
$GC,2282,0.54,146.6,3128,570,1134,1186,141.0,11.2,418,2288,0.00,2.72,0.00,0.000,1030,0.000,0.033,3128,1731,1160,1134,1186,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2415,0.54,146.6,3128,1731,1134,1185,124.1,14.7,443,2421,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1732,1159,1134,1185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2545,0.54,146.6,3128,1731,1134,1185,106.6,12.0,468,2551,0.00,2.78,0.00,0.000,516,0.000,0.052,3128,568,1159,1134,1185,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2585,0.54,146.6,3128,568,1134,1185,101.9,10.6,475,2592,0.00,2.70,0.00,0.000,1030,0.000,0.034,3128,1737,1159,1133,1185,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2719,0.54,146.6,3128,1737,1134,1184,86.8,11.0,500,2725,0.00,2.78,0.00,0.000,516,0.000,0.051,3129,566,1158,1133,1184,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2754,0.54,146.6,2144,566,1119,1183,82.8,10.0,506,2760,0.00,2.70,0.00,0.000,1030,0.000,0.035,3128,1733,1159,1134,1184,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2887,0.54,146.6,3128,1733,1134,1184,69.7,10.3,531,2894,0.00,2.75,0.00,0.000,516,0.000,0.057,3128,566,1159,1134,1184,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2963,0.54,146.6,3128,565,1134,1184,62.4,8.4,545,2970,0.00,2.67,0.00,0.000,1030,0.000,0.037,3128,1732,1159,1134,1184,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3097,0.54,146.6,2088,1731,1118,1182,50.3,8.7,570,3104,0.00,2.75,0.00,0.000,516,0.000,0.055,3128,570,1158,1133,1184,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3163,0.54,149.7,3128,570,1134,1184,44.4,7.9,582,3176,0.00,2.67,3.95,0.444,9222,0.000,0.034,3128,1730,1146,1124,1169,0,0,0,0,0,0,28.83,26.46,25.85
$GC,3301,0.54,149.7,3128,1730,1124,1169,32.5,9.1,608,3308,0.00,2.75,0.00,0.000,516,0.000,0.050,3128,562,1147,1124,1170,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3322,0.54,149.7,3128,561,1124,1169,30.5,9.4,611,3329,0.00,2.70,0.00,0.000,1030,0.000,0.034,3129,1737,1146,1124,1169,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3393,0.54,149.7,3128,1737,1124,1169,24.2,9.2,624,3399,0.00,1.52,0.00,0.000,260,0.000,0.047,3128,2925,1146,1124,1169,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3433,0.54,149.7,3128,2925,1124,1169,20.7,8.7,631,3440,0.00,1.60,0.00,0.000,1030,0.000,0.033,3128,1709,1146,1124,1169,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3504,0.54,150.6,3128,1709,1124,1169,15.0,8.0,644,3511,0.00,2.65,0.00,0.000,516,0.000,0.055,3129,570,1146,1124,1169,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3555,0.55,166.3,3128,570,1124,1169,10.9,7.4,653,3573,0.00,2.67,9.38,0.493,9222,0.000,0.041,3129,1738,1080,1051,1109,0,0,0,0,0,0,28.83,26.52,25.96
$GC,3638,0.55,166.3,3128,1738,1051,1109,4.1,8.3,668,3644,0.00,2.75,0.00,0.000,516,0.000,0.053,3128,573,1080,1051,1109,0,0,0,0,0,0,28.83,26.41,28.83
$STATE,3649,end climb,SURFACE_DEPTH_REACHED
$STATE,3649,begin surface coast
$FINISH,0.9,1.001602
$STATE,3686,end surface coast,CONTROL_FINISHED_OK
$STATE,3686,begin surface
$SM_CCo,3709,38.83,0.506,0,0,806,235.12
$SM_GC,2.14,7.70,2.12,38.83,0.051,0.029,0.506,172,1543,806,-8.60,-0.88,235.12,0,0,0,0,0,0,26.45,26.48,25.63
$IRIDIUM_FIX,4722.92,-12225.08,290308,222241
$TT8_MAMPS,0.024717,0.024717
$HUMID,43.77
$INTERNAL_PRESSURE,8.78818
$TCM_TEMP,20.40
$XPDR_PINGS,30
$24V_AH,24.4,1.267
$10V_AH,10.4,1.049
$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,19.200,76.350,251.000,38.825,0.000,34.909,42.291,249.105,7.500,0.000,7.493,1517.230,691.792,417.369,1307.318,296.878,33.224,991.544,0.000,1002.475,0.000,0.531,0.000
$DEVICE_MAMPS,257.805,63.495,698.445,505.665,0.000,63.500,160.000,223.000,420.000,0.000,32.210,12.720,2.190,12.720,38.930,45.670,65.900,10.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,460.586,545.033,552.728,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,20.220,62.170,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323100
$DATA_FILE_SIZE,46997,677
$CAP_FILE_SIZE,77458,0
$CFSIZE,260165632,257245184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$GPS,030615,101758,4743.345,-12225.209,39,0.8,39,16.3