version: 66.11
glider: 157
mission: 13
dive: 19
start: 6 3 115 13 23 41
data:
$ID,157
$MISSION,13
$DIVE,19
$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,-1486834
$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,42
$R_STBD_OVSHOOT,20
$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
$GPS1,030615,131506,4742.887,-12224.548,19,1.7,19,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-75.4
$GPS2,030615,132236,4742.918,-12224.566,19,1.3,19,16.3
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.039,-0.133
$KALMAN_X,1935.8,-75.0,-576.8,-709.8,-130.5
$KALMAN_Y,-1370.8,818.0,-1192.5,1385.8,148.1
$MHEAD_RNG_PITCHd_Wd,180.2,497,-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,-45.2,169,1539,735,874,0.0,0.0,0,62,0.00,0.00,-42.33,0.000,16390,0.000,0.000,169,1539,1926,1988,1864,0,0,0,0,0,0,28.83,28.83,26.31
$GC,67,-0.91,-64.1,169,1539,1988,1864,3.2,-5.8,8,86,9.95,2.40,-1.90,0.000,18948,0.255,0.048,2660,380,2002,2092,1912,0,0,0,0,0,0,25.72,25.99,26.22
$GC,322,-0.91,-64.1,2660,380,2093,1911,44.6,-14.0,57,329,0.00,2.35,0.00,0.000,1030,0.000,0.028,2651,1553,2002,2092,1912,0,0,0,0,0,0,28.83,26.24,28.83
$GC,452,-0.91,-64.1,1664,1552,2038,1904,60.9,-12.9,82,459,0.00,1.85,0.00,0.000,260,0.000,0.038,2641,2740,2002,2093,1912,0,0,0,0,0,0,28.83,26.30,28.83
$GC,493,-0.91,-64.1,2641,2740,2092,1912,66.4,-13.8,89,499,0.00,1.85,0.00,0.000,1030,0.000,0.030,2646,1566,2002,2093,1912,0,0,0,0,0,0,28.83,26.33,28.83
$GC,625,-0.91,-64.1,2646,1566,2093,1911,83.9,-13.4,114,630,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1566,2002,2093,1912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,754,-0.91,-64.1,1664,1565,2038,1904,101.2,-13.4,139,760,0.00,2.42,0.00,0.000,516,0.000,0.044,2650,363,2002,2093,1912,0,0,0,0,0,0,28.83,26.41,28.83
$GC,784,-0.91,-64.1,2649,363,2092,1911,105.4,-13.7,144,791,0.00,2.38,0.00,0.000,1030,0.000,0.027,2640,1552,2002,2093,1912,0,0,0,0,0,0,28.83,26.46,28.83
$GC,918,-0.91,-64.1,2640,1551,2093,1912,122.7,-11.9,169,923,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,1551,2002,2093,1911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1047,-0.91,-64.1,1664,1550,2038,1904,136.8,-10.4,194,1053,0.00,2.42,0.00,0.000,516,0.000,0.044,2640,370,2002,2093,1912,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1077,-0.91,-64.1,2640,370,2093,1912,140.1,-10.8,199,1084,0.00,2.35,0.00,0.000,1030,0.000,0.027,2628,1556,2002,2092,1912,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1211,-0.91,-64.1,2628,1555,2093,1912,154.9,-11.6,224,1216,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,1555,2002,2093,1911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1340,-0.91,-64.1,2627,1555,2092,1912,171.2,-12.7,249,1347,0.00,2.40,0.00,0.000,516,0.000,0.043,2633,369,2002,2093,1912,0,0,0,0,0,0,28.83,26.55,28.83
$STATE,1398,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1398,begin apogee
$GC,1409,-0.16,0.0,2620,1737,2093,1912,179.3,-14.0,260,1471,0.95,0.00,54.60,0.698,10246,0.208,0.000,2894,1736,1745,1806,1684,0,0,0,0,0,0,26.36,28.83,25.25
$STATE,1471,end apogee,CONTROL_FINISHED_OK
$STATE,1472,begin climb
$GC,1475,0.91,64.1,2894,1736,1807,1684,183.0,0.0,271,1538,1.05,1.65,55.17,0.694,10500,0.129,0.042,3240,2909,1488,1499,1478,0,0,0,0,0,0,25.73,25.26,24.73
$GC,1567,0.91,64.1,3239,2909,1499,1478,173.8,14.6,287,1573,0.00,1.62,0.00,0.000,1030,0.000,0.031,3247,1712,1488,1499,1478,0,0,0,0,0,0,28.83,25.50,28.83
$GC,1700,0.91,64.1,3247,1711,1499,1478,152.7,16.7,312,1707,0.00,2.72,0.00,0.000,516,0.000,0.050,3250,573,1488,1499,1478,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1834,0.91,64.1,3249,573,1499,1478,130.5,15.8,337,1840,0.00,2.67,0.00,0.000,1030,0.000,0.033,3250,1727,1488,1499,1478,0,0,0,0,0,0,28.83,26.05,28.83
$GC,1967,0.91,64.1,2240,1727,1467,1473,109.8,15.3,362,1973,0.00,2.75,0.00,0.000,516,0.000,0.048,3262,575,1488,1499,1477,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2017,0.91,64.1,2304,575,1468,1473,102.0,14.7,371,2023,0.00,2.67,0.00,0.000,1030,0.000,0.034,3261,1732,1488,1499,1477,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2150,0.91,64.1,3262,1732,1499,1477,84.1,13.1,396,2156,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,1732,1487,1498,1477,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2280,0.91,64.1,3261,1732,1498,1477,66.0,13.6,421,2286,0.00,2.72,0.00,0.000,516,0.000,0.048,3274,571,1488,1499,1477,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2573,0.91,64.1,3274,570,1499,1477,22.0,13.4,478,2580,0.15,2.67,0.00,0.000,5126,0.188,0.033,3237,1732,1488,1499,1477,0,0,0,0,0,0,26.31,26.46,28.83
$GC,2643,0.91,64.1,2256,1731,1468,1471,13.4,11.4,491,2649,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1732,1486,1498,1475,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2713,0.91,64.1,3237,1732,1498,1475,5.9,10.1,504,2720,0.00,2.72,0.00,0.000,516,0.000,0.049,3248,575,1487,1498,1476,0,0,0,0,0,0,28.83,26.46,28.83
$STATE,2740,end climb,SURFACE_DEPTH_REACHED
$STATE,2740,begin surface coast
$FINISH,0.9,1.021697
$STATE,2771,end surface coast,CONTROL_FINISHED_OK
$STATE,2772,begin surface
$SM_CCo,2795,93.28,0.513,0,0,808,235.12
$SM_GC,2.14,8.10,2.12,93.28,0.060,0.030,0.513,169,1543,808,-8.60,-0.88,235.12,0,0,0,0,0,0,26.50,26.52,25.20
$IRIDIUM_FIX,4722.92,-12222.38,300308,020230
$TT8_MAMPS,0.024717,0.024717
$HUMID,43.69
$INTERNAL_PRESSURE,8.78818
$TCM_TEMP,20.30
$XPDR_PINGS,4
$24V_AH,24.7,1.491
$10V_AH,10.4,1.210
$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,20.200,47.750,109.775,93.275,0.000,32.076,44.134,221.595,1.000,0.000,20.271,1199.629,552.911,313.114,1052.890,233.415,33.225,732.115,0.000,765.125,0.000,0.531,0.000
$DEVICE_MAMPS,254.745,50.490,697.680,513.315,0.000,63.500,160.000,223.000,420.000,0.000,32.210,12.720,2.190,12.720,38.930,45.670,65.900,10.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,352.569,414.864,420.205,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37163,515
$CAP_FILE_SIZE,56972,0
$CFSIZE,260165632,257105920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030615,141304,4742.775,-12224.645,31,0.9,31,16.3