version: 66.11
glider: 157
mission: 13
dive: 18
start: 6 3 115 12 23 23
data:
$ID,157
$MISSION,13
$DIVE,18
$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,-1486832.8
$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,24
$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
$GPS1,030615,121527,4742.986,-12224.719,3,1.4,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-75.7
$GPS2,030615,122221,4743.013,-12224.782,5,1.5,5,16.3
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.132,-0.043
$KALMAN_X,2034.3,6.2,-432.5,-1303.5,-228.5
$KALMAN_Y,-2243.6,1162.5,-724.6,1622.3,-506.3
$MHEAD_RNG_PITCHd_Wd,91.8,580,-26.9,-8.000,-30.00,862
$D_GRID,178
$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,-45.2,177,1563,735,875,0.0,0.0,0,62,0.00,0.00,-41.95,0.000,16390,0.000,0.000,177,1564,1926,1990,1862,0,0,0,0,0,0,28.83,28.83,26.29
$GC,66,-0.91,-58.1,177,1563,1990,1862,3.3,-6.5,8,85,9.95,2.45,-1.25,0.000,18948,0.256,0.047,2663,363,1979,2065,1894,0,0,0,0,0,0,25.70,25.97,26.18
$GC,114,-0.91,-58.1,1680,363,2011,1886,11.7,-15.4,16,121,0.00,2.40,0.00,0.000,1030,0.000,0.026,2654,1543,1980,2066,1894,0,0,0,0,0,0,28.83,26.03,28.83
$GC,185,-0.91,-58.1,2653,1543,2068,1893,21.8,-15.2,29,191,0.00,1.92,0.00,0.000,260,0.000,0.038,2644,2752,1981,2068,1894,0,0,0,0,0,0,28.83,26.10,28.83
$GC,205,-0.91,-58.1,2644,2752,2068,1894,25.0,-15.5,32,212,0.00,1.92,0.00,0.000,1030,0.000,0.030,2648,1557,1981,2069,1893,0,0,0,0,0,0,28.83,26.13,28.83
$GC,276,-0.91,-58.1,2647,1556,2069,1894,35.5,-14.1,45,282,0.00,1.92,0.00,0.000,260,0.000,0.037,2640,2742,1981,2069,1893,0,0,0,0,0,0,28.83,26.17,28.83
$GC,371,-0.91,-58.1,2640,2742,2069,1893,47.4,-11.6,63,378,0.00,1.92,0.00,0.000,1030,0.000,0.031,2640,1542,1981,2069,1893,0,0,0,0,0,0,28.83,26.25,28.83
$GC,502,-0.91,-58.1,2640,1542,2069,1893,63.6,-13.1,88,507,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,1542,1981,2069,1893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,631,-0.91,-58.1,2640,1542,2069,1894,79.1,-11.4,113,638,0.00,2.35,0.00,0.000,516,0.000,0.044,2646,369,1981,2069,1893,0,0,0,0,0,0,28.83,26.36,28.83
$GC,944,-0.91,-58.1,2646,369,2068,1893,110.6,-13.7,174,951,0.00,2.35,0.00,0.000,1030,0.000,0.028,2636,1552,1981,2069,1893,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1078,-0.91,-58.1,2636,1551,2068,1894,128.0,-13.5,199,1084,0.00,2.40,0.00,0.000,516,0.000,0.044,2637,370,1981,2069,1893,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1178,-0.91,-58.1,2636,369,2068,1894,142.6,-14.4,218,1185,0.00,2.35,0.00,0.000,1030,0.000,0.027,2627,1549,1981,2069,1893,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1312,-0.91,-58.1,2626,1548,2069,1893,158.9,-11.8,243,1319,0.12,1.88,0.00,0.000,2308,0.249,0.036,2648,2757,1981,2069,1893,0,0,0,0,0,0,26.35,26.56,28.83
$GC,1392,-0.91,-58.1,2647,2757,2068,1893,168.3,-11.1,258,1399,0.00,1.90,0.00,0.000,1030,0.000,0.030,2649,1547,1981,2069,1893,0,0,0,0,0,0,28.83,26.58,28.83
$STATE,1490,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1490,begin apogee
$GC,1498,-0.16,0.0,2649,1770,2068,1893,178.3,-10.1,277,1555,0.82,0.12,50.00,0.701,10246,0.198,0.077,2893,1705,1744,1805,1683,0,0,0,0,0,0,26.39,25.86,25.32
$STATE,1556,end apogee,CONTROL_FINISHED_OK
$STATE,1556,begin climb
$GC,1560,0.91,58.1,2893,1705,1805,1683,180.5,0.0,287,1616,1.05,0.00,49.62,0.692,10246,0.126,0.000,3238,1705,1513,1528,1498,0,0,0,0,0,0,25.80,28.83,24.82
$GC,1742,0.91,58.1,3238,1705,1528,1497,157.7,15.7,321,1749,0.00,2.70,0.00,0.000,516,0.000,0.049,3249,573,1513,1528,1498,0,0,0,0,0,0,28.83,25.78,28.83
$GC,1788,0.91,58.1,3249,572,1528,1498,150.4,16.2,329,1795,0.00,2.67,0.00,0.000,1030,0.000,0.033,3249,1709,1512,1528,1497,0,0,0,0,0,0,28.83,25.90,28.83
$GC,1922,0.91,58.1,3249,1709,1528,1496,129.7,16.1,354,1927,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1708,1512,1528,1496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2051,0.91,58.1,3249,1708,1528,1496,110.7,12.2,379,2058,0.00,2.72,0.00,0.000,516,0.000,0.049,3260,565,1512,1528,1496,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2162,0.91,58.1,3259,564,1528,1496,95.0,14.1,400,2169,0.00,2.72,0.00,0.000,1030,0.000,0.033,3260,1745,1512,1528,1496,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2295,0.91,58.1,2208,1743,1495,1490,77.1,13.6,425,2302,0.00,2.75,0.00,0.000,516,0.000,0.048,3272,570,1511,1528,1494,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2443,0.91,58.1,2272,570,1495,1490,55.8,14.3,453,2450,0.15,2.65,0.00,0.000,5126,0.194,0.034,3236,1734,1511,1529,1494,0,0,0,0,0,0,26.24,26.40,28.83
$GC,2577,0.91,58.1,3235,1734,1528,1493,39.0,11.6,478,2584,0.00,1.52,0.00,0.000,260,0.000,0.043,3236,2903,1510,1528,1493,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2790,0.91,58.1,3236,2903,1528,1493,15.2,9.1,519,2796,0.00,1.55,0.00,0.000,1030,0.000,0.033,3238,1723,1510,1528,1493,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2860,0.91,58.1,3238,1723,1528,1493,7.0,12.7,532,2867,0.00,2.65,0.00,0.000,516,0.000,0.050,3247,580,1510,1528,1493,0,0,0,0,0,0,28.83,26.48,28.83
$STATE,2893,end climb,SURFACE_DEPTH_REACHED
$STATE,2893,begin surface coast
$FINISH,0.8,1.021692
$STATE,2918,end surface coast,CONTROL_FINISHED_OK
$STATE,2918,begin surface
$SM_CCo,2942,96.95,0.509,0,0,806,235.12
$SM_GC,1.93,8.12,2.10,96.95,0.060,0.033,0.509,170,1539,806,-8.60,-0.96,235.12,0,0,0,0,0,0,26.51,26.54,25.20
$IRIDIUM_FIX,4722.92,-12225.08,300308,010150
$TT8_MAMPS,0.024717,0.024717
$HUMID,43.34
$INTERNAL_PRESSURE,8.77842
$TCM_TEMP,20.40
$XPDR_PINGS,3
$24V_AH,24.8,1.438
$10V_AH,10.4,1.170
$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,20.225,50.550,99.625,96.950,0.000,29.305,41.342,204.009,0.750,0.000,6.525,1267.963,588.902,309.931,1063.609,234.723,33.203,747.274,0.000,807.067,0.000,0.531,0.000
$DEVICE_MAMPS,256.275,77.265,700.740,508.725,0.000,63.500,160.000,223.000,420.000,0.000,32.210,12.720,2.190,12.720,38.930,45.670,65.900,10.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,372.231,436.039,442.421,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,20.220,62.170,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323096
$DATA_FILE_SIZE,36984,543
$CAP_FILE_SIZE,59349,0
$CFSIZE,260165632,257142784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$GPS,030615,131506,4742.887,-12224.548,19,1.7,19,16.3