version: 66.11
glider: 157
mission: 13
dive: 16
start: 6 3 115 10 27 8
data:
$ID,157
$MISSION,13
$DIVE,16
$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,-1486830.2
$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,39
$R_STBD_OVSHOOT,22
$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
$GPS1,030615,101758,4743.345,-12225.209,39,0.8,39,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-74.3
$GPS2,030615,102603,4743.314,-12225.240,5,0.8,5,16.3
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.197,-0.020
$KALMAN_X,2047.6,161.1,108.5,-2582.0,-337.2
$KALMAN_Y,-3039.1,1485.1,676.0,1261.8,-1052.6
$MHEAD_RNG_PITCHd_Wd,79.4,1262,-18.2,-8.000,-22.05,1780
$D_GRID,181
$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,-0.64,-93.9,171,1542,740,872,0.0,0.0,0,62,0.00,0.00,-42.80,0.000,16386,0.000,0.000,171,1542,1935,2002,1869,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.66,-131.6,171,1542,2001,1870,3.2,-5.8,8,92,10.30,2.00,-7.97,0.000,18692,0.258,0.056,2727,2741,2272,2426,2119,0,0,0,0,0,0,25.78,26.03,26.31
$GC,194,-0.66,-131.6,2727,2741,2426,2123,21.6,-14.7,31,200,0.00,1.90,0.00,0.000,1030,0.000,0.031,2731,1564,2274,2426,2123,0,0,0,0,0,0,28.83,26.16,28.83
$GC,264,-0.66,-131.6,2730,1564,2426,2124,32.7,-14.5,44,271,0.00,1.92,0.00,0.000,260,0.000,0.040,2724,2749,2274,2426,2123,0,0,0,0,0,0,28.83,26.20,28.83
$GC,300,-0.66,-131.6,2724,2749,2426,2123,38.2,-15.5,50,307,0.00,1.92,0.00,0.000,1030,0.000,0.031,2727,1551,2274,2426,2123,0,0,0,0,0,0,28.83,26.24,28.83
$GC,371,-0.66,-131.6,2727,1551,2426,2123,48.3,-14.0,63,377,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1551,2274,2426,2123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,500,-0.66,-131.6,2727,1551,2426,2123,65.6,-13.0,88,507,0.00,1.95,0.00,0.000,260,0.000,0.041,2722,2746,2274,2426,2123,0,0,0,0,0,0,28.83,26.34,28.83
$GC,531,-0.66,-131.6,2721,2746,2426,2123,69.9,-14.2,93,537,0.00,1.90,0.00,0.000,1030,0.000,0.037,2721,1551,2274,2426,2123,0,0,0,0,0,0,28.83,26.36,28.83
$GC,661,-0.66,-131.6,1728,1550,2367,2115,86.8,-12.4,118,667,0.00,1.92,0.00,0.000,260,0.000,0.041,2713,2735,2274,2426,2123,0,0,0,0,0,0,28.83,26.41,28.83
$GC,737,-0.66,-131.6,2712,2735,2426,2123,96.7,-13.2,132,744,0.00,1.90,0.00,0.000,1030,0.000,0.031,2716,1551,2274,2426,2123,0,0,0,0,0,0,28.83,26.44,28.83
$GC,868,-0.66,-131.6,2715,1551,2426,2123,116.2,-16.0,157,873,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1551,2275,2426,2124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,997,-0.66,-131.6,1728,1550,2367,2115,135.0,-14.7,182,1003,0.00,1.92,0.00,0.000,260,0.000,0.041,2709,2742,2274,2426,2123,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1057,-0.66,-131.6,2709,2741,2426,2123,143.6,-13.3,193,1064,0.00,1.90,0.00,0.000,1030,0.000,0.041,2709,1548,2275,2426,2124,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1190,-0.66,-131.6,2709,1549,2426,2123,161.1,-13.2,218,1196,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1549,2274,2426,2123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1320,-0.66,-131.6,2709,1549,2426,2124,179.4,-13.9,243,1327,0.00,2.38,0.00,0.000,516,0.000,0.055,2714,364,2274,2426,2123,0,0,0,0,0,0,28.83,26.55,28.83
$STATE,1331,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1331,begin apogee
$GC,1343,-0.16,0.0,2701,1748,2426,2123,181.3,-13.0,245,1458,0.62,0.00,106.90,0.703,10246,0.176,0.000,2895,1748,1744,1789,1700,0,0,0,0,0,0,26.41,28.83,24.75
$STATE,1459,end apogee,CONTROL_FINISHED_OK
$STATE,1459,begin climb
$GC,1463,0.66,131.6,2895,1748,1788,1700,186.5,0.0,266,1579,0.82,0.00,108.47,0.676,10502,0.129,0.000,3159,1748,1220,1202,1238,0,0,0,0,0,0,25.24,28.83,24.42
$GC,1705,0.66,131.6,3159,1748,1202,1238,160.3,13.5,311,1712,0.00,2.85,0.00,0.000,516,0.000,0.050,3168,555,1220,1202,1238,0,0,1,0,0,0,28.83,25.65,28.83
$GC,1795,0.66,131.6,2176,554,1185,1236,147.4,13.6,328,1802,0.00,2.78,0.00,0.000,1030,0.000,0.034,3168,1738,1220,1202,1238,0,0,0,0,0,0,28.83,25.88,28.83
$GC,1929,0.66,131.6,3168,1737,1202,1236,129.2,14.1,353,1935,0.00,2.80,0.00,0.000,516,0.000,0.050,3169,556,1219,1202,1237,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1969,0.66,131.6,2176,556,1185,1234,123.0,14.6,360,1976,0.00,2.75,0.00,0.000,1030,0.000,0.034,3169,1737,1219,1202,1237,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2102,0.66,131.6,3169,1737,1202,1236,105.1,14.0,385,2109,0.00,2.80,0.00,0.000,516,0.000,0.050,3169,543,1219,1202,1236,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2143,0.66,131.6,3169,543,1202,1237,99.1,13.1,392,2150,0.00,2.75,0.00,0.000,1030,0.000,0.034,3169,1736,1219,1202,1237,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2274,0.66,131.6,3169,1736,1202,1236,82.6,12.3,417,2281,0.00,2.78,0.00,0.000,516,0.000,0.050,3169,553,1219,1202,1236,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2365,0.66,131.6,3168,553,1202,1236,71.2,12.3,434,2371,0.00,2.72,0.00,0.000,1030,0.000,0.035,3169,1736,1219,1202,1236,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2496,0.66,131.6,3168,1735,1202,1236,55.1,12.2,459,2501,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,1735,1219,1202,1236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2625,0.66,131.6,2176,1734,1185,1234,38.9,12.9,484,2632,0.00,2.78,0.00,0.000,516,0.000,0.050,3169,556,1219,1202,1236,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2681,0.66,131.6,3169,556,1202,1236,32.4,10.9,494,2687,0.00,2.70,0.00,0.000,1030,0.000,0.034,3169,1730,1219,1202,1236,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2751,0.66,131.6,3169,1730,1202,1236,25.1,10.7,507,2758,0.00,2.78,0.00,0.000,516,0.000,0.050,3169,546,1219,1202,1236,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2787,0.66,131.6,3169,547,1202,1236,21.1,10.4,513,2794,0.00,2.72,0.00,0.000,1030,0.000,0.038,3169,1736,1219,1202,1236,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2858,0.66,131.6,3168,1736,1202,1236,13.9,10.0,526,2864,0.00,2.78,0.00,0.000,516,0.000,0.055,3169,552,1219,1202,1236,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2908,0.66,131.6,3169,552,1201,1236,8.5,10.2,535,2915,0.00,2.72,0.00,0.000,1030,0.000,0.035,3169,1743,1219,1202,1236,0,0,0,0,0,0,28.83,26.51,28.83
$STATE,2956,end climb,SURFACE_DEPTH_REACHED
$STATE,2956,begin surface coast
$FINISH,0.8,1.014273
$STATE,2982,end surface coast,CONTROL_FINISHED_OK
$STATE,2982,begin surface
$SM_CCo,3003,56.62,0.510,0,0,806,235.12
$SM_GC,1.49,7.85,0.60,56.62,0.056,0.073,0.510,170,1547,806,-8.61,0.68,235.12,0,0,0,0,0,0,26.51,26.54,25.52
$IRIDIUM_FIX,4722.92,-12225.08,290308,232333
$TT8_MAMPS,0.024717,0.024717
$HUMID,43.77
$INTERNAL_PRESSURE,8.78818
$TCM_TEMP,20.30
$XPDR_PINGS,10
$24V_AH,24.4,1.337
$10V_AH,10.4,1.092
$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,19.600,63.950,215.375,56.625,0.000,31.146,46.837,257.000,2.500,0.000,6.613,1231.587,557.236,382.536,1125.362,259.870,33.205,856.794,0.000,814.281,0.000,0.530,0.000
$DEVICE_MAMPS,257.805,73.440,703.035,510.255,0.000,63.500,160.000,223.000,420.000,0.000,32.210,12.720,2.190,12.720,38.930,45.670,65.900,10.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,373.020,440.631,446.742,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,20.220,62.170,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323064
$DATA_FILE_SIZE,40334,549
$CAP_FILE_SIZE,64254,0
$CFSIZE,260165632,257216512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$GPS,030615,111855,4742.987,-12224.785,3,0.9,3,16.3