version: 66.11
glider: 157
mission: 13
dive: 20
start: 6 3 115 14 26 33
data:
$ID,157
$MISSION,13
$DIVE,20
$N_DIVES,0
$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,305
$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,-1486835.2
$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,37
$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
$GPS1,030615,141304,4742.775,-12224.645,31,0.9,31,16.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-74.5
$GPS2,030615,142531,4742.838,-12224.656,4,0.9,4,16.3
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.072,-0.229
$KALMAN_X,2231.2,-259.8,-609.7,-902.5,195.0
$KALMAN_Y,-476.5,514.5,-1308.0,764.6,845.7
$MHEAD_RNG_PITCHd_Wd,181.2,312,-14.0,-8.000,-18.40,2768
$D_GRID,180
$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,-146.6,168,1555,734,874,0.0,0.0,0,62,0.00,0.00,-42.78,0.000,16386,0.000,0.000,168,1555,1937,1998,1876,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.54,-146.6,168,1555,1999,1877,3.1,-6.0,8,97,10.43,2.47,-9.35,0.000,18948,0.255,0.066,2774,397,2331,2495,2167,0,0,1,0,0,0,25.71,25.97,26.27
$GC,333,-0.54,-146.6,2774,397,2495,2170,38.5,-12.6,59,339,0.00,2.38,0.00,0.000,1030,0.000,0.030,2765,1549,2332,2495,2170,0,0,0,0,0,0,28.83,26.23,28.83
$GC,403,-0.54,-146.6,2764,1548,2495,2170,46.7,-11.5,72,410,0.00,1.92,0.00,0.000,260,0.000,0.042,2755,2749,2333,2495,2171,0,0,0,0,0,0,28.83,26.26,28.83
$GC,484,-0.54,-146.6,2755,2749,2494,2172,55.9,-12.8,87,490,0.00,1.88,0.00,0.000,1030,0.000,0.030,2755,1562,2333,2495,2172,0,0,0,0,0,0,28.83,26.32,28.83
$GC,614,-0.54,-146.6,1760,1561,2435,2164,73.7,-13.0,112,620,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,1562,2333,2495,2172,0,0,0,0,0,0,28.83,28.83,28.83
$GC,743,-0.54,-146.6,2755,1562,2495,2172,89.4,-11.8,137,750,0.00,1.90,0.00,0.000,260,0.000,0.041,2749,2748,2333,2495,2172,0,0,0,0,0,0,28.83,26.41,28.83
$GC,789,-0.54,-146.6,2749,2747,2495,2172,95.0,-12.5,145,795,0.00,1.90,0.00,0.000,1030,0.000,0.031,2749,1552,2333,2495,2172,0,0,0,0,0,0,28.83,26.44,28.83
$GC,922,-0.54,-146.6,2749,1551,2495,2172,111.9,-12.9,170,928,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1552,2333,2495,2172,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1052,-0.54,-146.6,2749,1551,2495,2172,128.3,-12.2,195,1058,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1552,2333,2495,2172,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1181,-0.54,-146.6,2749,1552,2495,2172,144.1,-11.8,220,1188,0.00,1.92,0.00,0.000,260,0.000,0.042,2741,2743,2333,2495,2172,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1252,-0.54,-146.6,2741,2743,2495,2172,152.7,-12.3,233,1260,0.15,1.90,0.00,0.000,3078,0.193,0.032,2782,1546,2333,2495,2172,0,0,0,0,0,0,26.40,26.55,28.83
$GC,1385,-0.54,-146.6,1760,1545,2434,2164,165.9,-9.0,258,1390,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1547,2333,2495,2172,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1514,-0.54,-146.6,1792,1546,2435,2164,179.0,-10.3,283,1519,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1546,2333,2495,2172,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1524,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1524,begin apogee
$GC,1533,-0.16,0.0,2781,1755,2495,2172,180.3,-10.0,285,1659,0.35,0.00,118.38,0.704,10246,0.154,0.000,2896,1756,1744,1779,1709,0,0,0,0,0,0,26.46,28.83,24.67
$STATE,1663,end apogee,CONTROL_FINISHED_OK
$STATE,1663,begin climb
$GC,1667,0.54,146.6,2895,1756,1779,1709,184.9,0.0,308,1800,0.70,3.05,120.55,0.678,10756,0.122,0.052,3129,556,1160,1133,1188,0,0,0,0,0,0,25.22,24.91,24.40
$GC,1837,0.54,146.6,3128,555,1133,1188,173.4,8.6,338,1844,0.00,2.80,0.00,0.000,1030,0.000,0.036,3129,1720,1160,1133,1188,0,0,0,0,0,0,28.83,25.34,28.83
$GC,1972,0.54,146.6,3128,1719,1133,1186,159.7,10.8,363,1978,0.00,2.80,0.00,0.000,516,0.000,0.054,3128,556,1159,1133,1186,0,0,0,0,0,0,28.83,25.76,28.83
$GC,2042,0.54,146.6,2144,555,1119,1184,152.2,9.6,376,2049,0.00,2.78,0.00,0.000,1030,0.000,0.036,3129,1741,1159,1133,1186,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2175,0.54,146.6,3129,1741,1133,1184,138.1,11.3,401,2182,0.00,1.52,0.00,0.000,260,0.000,0.046,3128,2923,1159,1133,1185,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2221,0.54,146.6,3128,2923,1133,1185,132.5,11.3,409,2228,0.00,1.60,0.00,0.000,1030,0.000,0.031,3128,1710,1159,1133,1185,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2354,0.54,146.6,2112,1709,1118,1182,119.4,10.0,434,2360,0.00,2.67,0.00,0.000,516,0.000,0.051,3129,576,1158,1133,1184,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2444,0.54,146.6,3128,575,1133,1184,110.6,9.7,451,2451,0.00,2.67,0.00,0.000,1030,0.000,0.034,3128,1733,1158,1133,1184,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2578,0.54,146.6,3128,1732,1133,1183,97.3,10.4,476,2584,0.00,2.72,0.00,0.000,516,0.000,0.050,3129,580,1158,1133,1183,0,0,1,0,0,0,28.83,26.30,28.83
$GC,2649,0.54,146.6,3128,578,1133,1183,89.5,11.6,489,2655,0.00,2.67,0.00,0.000,1030,0.000,0.034,3129,1739,1158,1133,1183,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2781,0.54,146.6,2112,1738,1118,1180,74.9,10.4,514,2788,0.00,2.75,0.00,0.000,516,0.000,0.050,3129,578,1157,1133,1182,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2842,0.54,146.6,3128,578,1133,1182,68.3,10.3,525,2848,0.00,2.65,0.00,0.000,1030,0.000,0.037,3129,1730,1157,1133,1182,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2975,0.54,146.6,3128,1731,1133,1182,54.4,13.2,550,2982,0.00,1.52,0.00,0.000,260,0.000,0.044,3129,2913,1157,1133,1182,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3026,0.54,146.6,3128,2913,1133,1182,48.9,8.9,559,3032,0.00,1.55,0.00,0.000,1030,0.000,0.031,3129,1718,1157,1133,1182,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3159,0.54,146.6,3129,1718,1133,1182,37.1,8.6,584,3166,0.00,2.65,0.00,0.000,516,0.000,0.050,3129,581,1157,1133,1182,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3250,0.54,146.6,3128,580,1133,1182,29.4,8.3,601,3257,0.00,2.65,0.00,0.000,1030,0.000,0.033,3128,1731,1157,1133,1182,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3320,0.54,146.6,2144,1730,1119,1180,23.1,9.4,614,3326,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1731,1157,1133,1182,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3390,0.54,146.6,3128,1731,1133,1182,16.8,9.4,627,3397,0.00,2.72,0.00,0.000,516,0.000,0.050,3129,577,1157,1133,1182,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3430,0.54,146.6,3128,576,1133,1182,12.6,10.4,634,3437,0.00,2.67,0.00,0.000,1030,0.000,0.037,3129,1741,1157,1133,1182,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3501,0.54,146.6,3128,1741,1133,1182,6.1,9.1,647,3508,0.00,1.50,0.00,0.000,260,0.000,0.044,3129,2913,1157,1133,1182,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3532,0.54,146.6,3128,2913,1133,1181,3.3,9.0,652,3539,0.00,1.55,0.00,0.000,1030,0.000,0.032,3129,1727,1157,1133,1181,0,0,0,0,0,0,28.83,26.60,28.83
$STATE,3543,end climb,SURFACE_DEPTH_REACHED
$STATE,3544,begin surface coast
$FINISH,0.8,1.021556
$STATE,3575,end surface coast,CONTROL_FINISHED_OK
$STATE,3575,begin surface
$SM_CCo,3597,85.53,0.511,0,0,527,305.21
$SM_GC,1.48,7.70,0.45,85.53,0.054,0.052,0.511,170,1571,527,-8.60,1.44,305.21,0,0,0,0,0,0,26.57,26.60,25.34
$IRIDIUM_FIX,4726.11,-12222.38,300308,030340
$TT8_MAMPS,0.024717,0.024717
$HUMID,43.58
$INTERNAL_PRESSURE,8.76865
$TCM_TEMP,20.50
$XPDR_PINGS,15
$24V_AH,24.4,1.575
$10V_AH,10.4,1.261
$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,19.325,64.850,238.925,85.525,0.000,92.562,196.700,223.433,3.750,0.000,5.100,1474.352,767.972,446.093,1468.964,285.011,33.204,1002.070,0.000,974.532,0.000,0.530,0.000
$DEVICE_MAMPS,254.745,65.790,703.800,511.020,0.000,63.500,160.000,223.000,420.000,0.000,32.210,12.720,2.190,12.720,38.930,45.670,65.900,10.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,449.202,529.303,535.831,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47100,660
$CAP_FILE_SIZE,74522,0
$CFSIZE,260165632,257036288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,1,0
$GPS,030615,152843,4742.666,-12224.652,2,1.0,3,16.3