version: 66.11
glider: 157
mission: 13
dive: 12
start: 6 3 115 5 32 5
data:
$ID,157
$MISSION,13
$DIVE,12
$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,65
$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,250
$COURSE_BIAS,0
$GLIDE_SLOPE,15
$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,-1486825
$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,335
$C_ROLL_CLIMB,333
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,34
$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,110
$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
$GPS1,030615,052227,4744.639,-12224.871,3,1.5,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-75.2
$GPS2,030615,053037,4744.657,-12224.628,9,1.0,9,16.3
$SPEED_LIMITS,0.344,0.354
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.173,-0.310
$KALMAN_X,2059.1,-2.0,-38.7,-1527.9,662.7
$KALMAN_Y,-1833.1,-369.5,-252.7,5316.2,1017.0
$MHEAD_RNG_PITCHd_Wd,192.9,3630,-9.9,-9.231,-14.60,5277
$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,-0.45,-244.4,175,350,734,874,0.0,0.0,0,57,0.00,0.00,-37.47,0.000,16386,0.000,0.000,175,350,1782,1822,1742,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-0.45,-244.4,175,350,1823,1741,3.0,-5.1,7,102,10.45,0.00,-22.95,0.000,18438,0.254,0.000,2804,344,2720,2922,2518,0,0,0,0,0,0,25.77,28.83,26.33
$GC,166,-0.45,-244.4,2803,344,2922,2519,14.9,-12.0,26,172,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,344,2721,2923,2519,0,0,0,0,0,0,28.83,28.83,28.83
$GC,236,-0.45,-244.4,2803,344,2923,2519,21.9,-10.1,39,242,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,344,2720,2922,2519,0,0,0,0,0,0,28.83,28.83,28.83
$GC,305,-0.45,-244.4,2803,344,2922,2519,29.5,-10.7,52,311,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,343,2720,2922,2519,0,0,0,0,0,0,28.83,28.83,28.83
$GC,375,-0.45,-244.4,2803,344,2922,2519,36.6,-8.9,65,381,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,344,2720,2922,2519,0,0,0,0,0,0,28.83,28.83,28.83
$GC,445,-0.45,-244.4,2804,344,2922,2519,42.4,-8.5,78,451,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,344,2720,2922,2519,0,0,0,0,0,0,28.83,28.83,28.83
$GC,576,-0.45,-244.4,2803,344,2922,2519,55.2,-10.1,103,582,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,344,2720,2922,2519,0,0,0,0,0,0,28.83,28.83,28.83
$GC,706,-0.45,-244.4,2803,344,2922,2519,70.0,-11.3,128,712,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,344,2720,2922,2519,0,0,0,0,0,0,28.83,28.83,28.83
$GC,836,-0.45,-244.4,2803,344,2922,2519,83.6,-10.7,153,841,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,344,2720,2922,2519,0,0,0,0,0,0,28.83,28.83,28.83
$GC,965,-0.45,-244.4,1792,344,2877,2511,95.9,-8.8,178,971,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,344,2720,2922,2519,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1095,-0.45,-244.4,2803,345,2922,2519,107.9,-9.2,203,1101,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,344,2720,2922,2519,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1230,-0.45,-244.4,2803,346,2922,2519,121.6,-10.7,228,1236,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,345,2720,2922,2519,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1360,-0.45,-244.4,2803,345,2922,2519,135.8,-10.5,253,1366,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,345,2720,2922,2519,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1489,-0.45,-244.4,2803,345,2922,2519,149.1,-9.9,278,1495,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,345,2720,2922,2519,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1619,-0.45,-244.4,2803,345,2922,2519,162.7,-10.7,303,1625,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,345,2720,2922,2519,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1749,-0.45,-244.4,2803,345,2921,2519,174.7,-9.1,328,1755,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,345,2720,2922,2519,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1810,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1810,begin apogee
$GC,1818,-0.16,0.0,2803,345,2921,2519,180.0,-8.4,340,2019,0.28,0.00,189.25,0.698,10246,0.139,0.000,2901,345,1744,1759,1729,0,0,0,0,0,0,26.54,28.83,24.46
$STATE,2020,end apogee,CONTROL_FINISHED_OK
$STATE,2020,begin climb
$GC,2024,0.45,244.4,2900,345,1759,1729,187.7,0.0,376,2236,0.60,0.00,200.65,0.666,10246,0.117,0.000,3095,345,771,709,833,0,0,0,0,0,0,25.04,28.83,24.41
$GC,2363,0.49,312.4,3095,345,709,833,160.3,7.9,438,2423,0.00,0.00,54.53,0.646,8198,0.000,0.000,3095,345,500,447,554,0,0,0,0,0,0,28.83,28.83,24.70
$GC,2550,0.50,331.2,3095,345,447,554,144.0,8.9,473,2557,0.00,0.00,4.57,0.483,8198,0.000,0.000,3095,345,484,436,532,0,0,0,0,0,0,28.83,28.83,25.15
$GC,2684,0.50,331.2,3095,347,437,533,130.9,10.7,498,2689,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,347,485,437,533,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2814,0.50,331.2,3095,347,437,533,116.9,10.4,523,2819,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,347,485,437,533,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2943,0.50,331.2,3095,347,437,533,102.8,10.6,548,2949,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,347,485,437,534,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3073,0.50,331.2,3095,347,437,533,90.1,10.0,573,3079,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,347,484,436,533,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3202,0.50,331.2,2096,346,437,533,77.6,12.0,598,3208,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,347,485,437,533,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3332,0.50,331.2,3095,347,437,533,62.8,11.8,623,3338,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,347,485,437,533,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3462,0.50,331.2,2080,347,437,533,48.6,9.6,648,3468,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,347,485,437,533,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3593,0.55,412.1,3095,347,437,534,38.7,7.7,673,3598,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,347,485,437,533,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3664,0.62,541.6,3095,347,437,533,33.7,6.7,686,3671,0.15,0.00,0.08,0.092,10246,0.127,0.000,3151,347,484,437,532,0,0,0,0,0,0,26.46,28.83,26.46
$GC,3735,0.62,541.6,3151,347,437,532,27.9,9.2,699,3741,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,346,484,437,532,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3805,0.67,627.9,3151,347,437,532,21.9,7.6,712,3811,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,347,484,437,532,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3875,0.67,627.9,3151,347,437,532,15.0,11.0,725,3881,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,346,484,437,532,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3945,0.67,627.9,3151,347,437,532,7.3,11.1,738,3950,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,347,484,437,532,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3980,end climb,SURFACE_DEPTH_REACHED
$STATE,3980,begin surface coast
$FINISH,0.8,1.006473
$STATE,4007,end surface coast,CONTROL_FINISHED_OK
$STATE,4007,begin surface
$SM_CCo,4088,0.00,0.000,0,0,484,316.76
$SM_GC,1.64,7.65,0.00,0.00,0.046,0.000,0.000,177,347,484,-8.59,0.34,316.76,0,0,0,0,0,0,26.55,28.83,28.83
$IRIDIUM_FIX,4726.11,-12226.80,290308,171708
$TT8_MAMPS,0.023968,0.023968
$HUMID,44.56
$INTERNAL_PRESSURE,8.75888
$TCM_TEMP,20.40
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,120.6,81.2
$24V_AH,24.4,1.047
$10V_AH,10.4,0.900
$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,19.125,5.250,449.075,0.000,0.000,32.868,56.187,258.208,1.500,0.000,10.500,1589.988,806.940,502.662,1416.271,285.028,33.220,1146.337,0.000,1103.303,0.000,11.519,0.000
$DEVICE_MAMPS,253.980,35.955,697.680,0.000,0.000,63.500,160.000,223.000,420.000,0.000,32.210,12.720,2.190,12.720,38.930,45.670,65.900,10.500,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,507.656,594.740,601.470,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,20.220,62.170,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323168
$DATA_FILE_SIZE,53701,750
$CAP_FILE_SIZE,71923,1
$CFSIZE,260165632,257384448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030615,064058,4744.915,-12224.333,15,0.8,15,16.3