version: 66.11
glider: 157
mission: 13
dive: 17
start: 6 3 115 11 27 11
data:
$ID,157
$MISSION,13
$DIVE,17
$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,-1486831.5
$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,22
$R_STBD_OVSHOOT,30
$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
$GPS1,030615,111855,4742.987,-12224.785,3,0.9,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-75.3
$GPS2,030615,112606,4742.962,-12224.842,5,1.1,6,16.3
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.088,0.107
$KALMAN_X,2040.3,82.3,-194.9,-1697.1,-280.5
$KALMAN_Y,-2779.0,1401.2,-69.0,1168.0,-886.2
$MHEAD_RNG_PITCHd_Wd,22.9,487,-26.9,-8.000,-30.00,862
$D_GRID,179
$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,-0.90,-45.2,169,1544,735,873,0.0,0.0,0,62,0.00,0.00,-42.15,0.000,16390,0.000,0.000,169,1544,1926,1992,1860,0,0,0,0,0,0,28.83,28.83,26.35
$GC,66,-0.91,-62.9,169,1544,1993,1860,3.2,-5.9,8,86,10.00,1.95,-1.67,0.000,18692,0.258,0.047,2651,2742,1995,2083,1908,0,0,0,0,0,0,25.76,26.04,26.25
$GC,267,-0.91,-62.9,2650,2742,2087,1908,32.9,-14.9,46,273,0.00,1.92,0.00,0.000,1030,0.000,0.031,2651,1551,1997,2087,1908,0,0,0,0,0,0,28.83,26.22,28.83
$GC,337,-0.91,-62.9,2650,1550,2087,1908,42.6,-13.3,59,344,0.00,2.40,0.00,0.000,516,0.000,0.046,2651,364,1997,2087,1908,0,0,0,0,0,0,28.83,26.25,28.83
$GC,515,-0.91,-62.9,2650,364,2087,1908,67.4,-13.1,93,521,0.00,2.35,0.00,0.000,1030,0.000,0.027,2641,1544,1997,2087,1908,0,0,0,0,0,0,28.83,26.37,28.83
$GC,645,-0.91,-62.9,2640,1543,2087,1908,84.8,-12.8,118,651,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,1543,1997,2087,1908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,775,-0.91,-62.9,2641,1543,2087,1908,101.4,-12.6,143,780,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,1543,1997,2087,1908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,904,-0.91,-62.9,2640,1543,2087,1908,119.3,-12.1,168,911,0.00,2.42,0.00,0.000,516,0.000,0.044,2646,359,1997,2087,1908,0,0,0,0,0,0,28.83,26.48,28.83
$GC,991,-0.91,-62.9,2646,358,2086,1908,131.3,-14.1,184,998,0.00,2.38,0.00,0.000,1030,0.000,0.028,2637,1551,1997,2087,1908,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1122,-0.91,-62.9,2636,1550,2086,1908,148.2,-12.8,209,1128,0.00,1.85,0.00,0.000,260,0.000,0.037,2627,2753,1997,2087,1908,0,0,0,0,0,0,28.83,26.54,28.83
$STATE,1370,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1370,begin apogee
$GC,1380,-0.16,0.0,2627,1694,2087,1908,179.1,-12.0,258,1442,0.90,0.08,53.45,0.705,10246,0.200,0.048,2894,1734,1744,1808,1681,0,0,0,0,0,0,26.39,25.79,25.28
$STATE,1443,end apogee,CONTROL_FINISHED_OK
$STATE,1443,begin climb
$GC,1447,0.91,62.9,2894,1734,1807,1681,182.3,0.0,269,1508,1.05,0.00,53.75,0.689,10502,0.126,0.000,3239,1734,1493,1503,1483,0,0,0,0,0,0,25.76,28.83,24.76
$GC,1634,0.91,62.9,3239,1733,1503,1482,158.1,16.9,304,1640,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1733,1492,1503,1482,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1765,0.91,62.9,3239,1733,1503,1483,136.9,15.6,329,1771,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1733,1493,1503,1483,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1895,0.91,62.9,3239,1733,1503,1482,116.8,14.1,354,1901,0.00,2.78,0.00,0.000,516,0.000,0.049,3249,573,1493,1503,1483,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1980,0.91,62.9,2272,573,1472,1478,104.5,14.8,370,1986,0.00,2.70,0.00,0.000,1030,0.000,0.033,3249,1730,1492,1503,1482,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2113,0.91,62.9,3249,1730,1503,1481,85.5,14.8,395,2120,0.00,2.75,0.00,0.000,516,0.000,0.050,3255,564,1492,1503,1481,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2275,0.91,62.9,3255,563,1503,1481,60.4,14.1,426,2282,0.00,2.72,0.00,0.000,1030,0.000,0.034,3255,1745,1492,1503,1481,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2409,0.91,62.9,3255,1745,1503,1481,39.8,15.0,451,2416,0.00,2.75,0.00,0.000,516,0.000,0.047,3266,574,1491,1503,1480,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2444,0.91,62.9,2304,573,1472,1476,34.2,14.5,457,2451,0.00,2.67,0.00,0.000,1030,0.000,0.033,3266,1730,1491,1503,1480,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2514,0.91,62.9,2304,1729,1472,1476,24.6,13.3,470,2521,0.00,2.72,0.00,0.000,516,0.000,0.048,3278,576,1491,1503,1480,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2640,0.91,62.9,3277,576,1503,1480,8.8,13.0,494,2647,0.17,2.67,0.00,0.000,5126,0.190,0.036,3233,1727,1491,1503,1480,0,0,0,0,0,0,26.32,26.48,28.83
$STATE,2694,end climb,SURFACE_DEPTH_REACHED
$STATE,2694,begin surface coast
$FINISH,0.9,1.021694
$STATE,2733,end surface coast,CONTROL_FINISHED_OK
$STATE,2733,begin surface
$SM_CCo,2755,94.68,0.508,0,0,807,235.12
$SM_GC,2.13,8.07,0.52,94.68,0.060,0.048,0.508,178,1566,807,-8.58,1.30,235.12,0,0,0,0,0,0,26.49,26.53,25.21
$IRIDIUM_FIX,4722.92,-12220.67,300308,000022
$TT8_MAMPS,0.024717,0.024717
$HUMID,43.10
$INTERNAL_PRESSURE,8.77842
$TCM_TEMP,20.30
$XPDR_PINGS,3
$24V_AH,24.8,1.389
$10V_AH,10.4,1.130
$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,20.200,39.100,107.200,94.675,0.000,29.395,41.266,221.896,0.750,0.000,6.566,1188.427,555.964,300.258,1024.398,225.129,33.209,709.730,0.000,758.494,0.000,0.531,0.000
$DEVICE_MAMPS,257.805,49.725,705.330,507.960,0.000,63.500,160.000,223.000,420.000,0.000,32.210,12.720,2.190,12.720,38.930,45.670,65.900,10.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,350.194,414.835,419.774,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,20.220,62.170,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323080
$DATA_FILE_SIZE,37046,511
$CAP_FILE_SIZE,53889,0
$CFSIZE,260165632,257183744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030615,121527,4742.986,-12224.719,3,1.4,3,16.3