version: 66.11
glider: 157
mission: 13
dive: 11
start: 6 3 115 4 33 2
data:
$ID,157
$MISSION,13
$DIVE,11
$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,80
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$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,-1486823.8
$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,3350
$C_ROLL_CLIMB,3330
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,68
$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
$GPS1,030615,041913,4744.259,-12224.925,3,0.9,3,16.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-73.4
$GPS2,030615,043157,4744.370,-12224.943,5,1.1,5,16.3
$SPEED_LIMITS,0.092,0.189
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.137,-0.130
$KALMAN_X,1282.1,-23.6,-159.2,-993.0,509.5
$KALMAN_Y,-2308.2,-686.5,-500.8,5822.8,637.9
$MHEAD_RNG_PITCHd_Wd,210.3,889,-22.8,-9.231,-25.99,1290
$D_GRID,185
$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,-0.78,-78.2,151,3397,741,872,0.0,0.0,0,62,0.00,0.00,-43.30,0.000,16386,0.000,0.000,151,3398,1960,2026,1895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.78,-78.2,151,3398,2026,1895,3.4,-6.5,8,85,10.35,0.00,-2.25,0.000,18438,0.262,0.000,2699,3400,2060,2157,1963,0,0,0,0,0,0,25.78,28.83,26.27
$GC,149,-0.78,-78.2,2699,3400,2163,1963,20.2,-20.5,23,155,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,3401,2063,2163,1964,0,0,0,0,0,0,28.83,28.83,28.83
$GC,219,-0.78,-78.2,2699,3400,2163,1964,32.4,-15.1,36,225,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,3401,2063,2163,1964,0,0,0,0,0,0,28.83,28.83,28.83
$GC,289,-0.78,-78.2,2700,3401,2163,1964,41.5,-11.7,49,294,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,3401,2063,2163,1963,0,0,0,0,0,0,28.83,28.83,28.83
$GC,418,-0.78,-78.2,2699,3400,2163,1964,58.7,-13.8,74,424,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,3400,2063,2163,1963,0,0,0,0,0,0,28.83,28.83,28.83
$GC,548,-0.78,-78.2,2699,3401,2163,1964,75.5,-12.6,99,553,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,3400,2063,2163,1964,0,0,0,0,0,0,28.83,28.83,28.83
$GC,677,-0.78,-78.2,1704,3400,2106,1956,93.3,-12.1,124,682,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,3401,2063,2163,1964,0,0,0,0,0,0,28.83,28.83,28.83
$GC,809,-0.78,-78.2,2699,3400,2163,1964,110.0,-12.6,149,814,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,3400,2063,2163,1964,0,0,0,0,0,0,28.83,28.83,28.83
$GC,939,-0.78,-78.2,1680,3400,2104,1956,124.9,-12.4,174,946,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,3401,2063,2163,1963,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1075,-0.78,-78.2,2699,3401,2163,1963,142.7,-13.4,199,1081,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,3401,2063,2163,1963,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1205,-0.78,-78.2,2700,3401,2163,1964,159.1,-13.0,224,1211,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,3400,2063,2163,1963,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1335,-0.78,-78.2,2699,3400,2163,1964,177.6,-13.7,249,1340,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,3401,2063,2163,1963,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1356,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1356,begin apogee
$GC,1364,-0.16,0.0,2700,3253,2163,1963,180.6,-12.3,253,1437,0.62,0.05,65.55,0.703,10246,0.185,0.166,2892,3294,1744,1806,1683,0,0,0,0,0,0,26.39,25.56,25.13
$STATE,1438,end apogee,CONTROL_FINISHED_OK
$STATE,1438,begin climb
$GC,1442,0.78,78.2,2892,3294,1806,1683,184.8,0.0,266,1515,0.95,0.00,67.40,0.687,10246,0.135,0.000,3199,3294,1432,1433,1432,0,0,0,0,0,0,25.58,28.83,24.60
$GC,1641,0.78,78.2,3199,3294,1433,1432,162.3,15.8,303,1647,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,3294,1433,1434,1432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1770,0.78,78.2,2208,3293,1405,1428,143.9,14.3,328,1776,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,3294,1432,1433,1432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1900,0.78,78.2,3199,3294,1433,1432,126.9,13.3,353,1906,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,3294,1432,1433,1432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2030,0.78,78.2,3199,3295,1433,1432,108.7,15.8,378,2035,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,3294,1432,1433,1432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2159,0.78,78.2,3199,3294,1433,1432,89.7,13.2,403,2165,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,3294,1432,1433,1432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2289,0.78,78.2,3199,3294,1433,1432,70.9,14.4,428,2295,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,3294,1432,1433,1432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2419,0.78,78.2,3199,3294,1433,1432,52.5,14.6,453,2424,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,3294,1432,1433,1432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2548,0.78,78.2,3199,3294,1433,1432,32.9,15.6,478,2554,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,3294,1432,1433,1432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2620,0.78,78.2,3199,3294,1433,1432,22.3,13.3,491,2625,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,3294,1432,1433,1432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2689,0.78,78.2,3199,3294,1433,1432,13.5,13.2,504,2695,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,3294,1433,1434,1432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2759,0.78,78.2,3199,3294,1433,1432,5.5,10.5,517,2765,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,3294,1432,1433,1432,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2785,end climb,SURFACE_DEPTH_REACHED
$STATE,2785,begin surface coast
$FINISH,0.8,1.007196
$STATE,2811,end surface coast,CONTROL_FINISHED_OK
$STATE,2811,begin surface
$SM_CCo,2832,85.78,0.518,0,0,807,235.12
$SM_GC,2.11,7.93,0.08,85.78,0.057,0.264,0.518,174,3359,807,-8.59,-0.82,235.12,0,0,0,0,0,0,26.51,25.98,25.27
$IRIDIUM_FIX,4726.11,-12226.80,290308,171754
$TT8_MAMPS,0.024717,0.024717
$HUMID,43.66
$INTERNAL_PRESSURE,8.79795
$TCM_TEMP,20.30
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,140.1,75.5
$24V_AH,24.6,0.943
$10V_AH,10.4,0.847
$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,19.850,2.875,132.950,85.775,0.000,95.423,189.439,243.336,3.000,0.000,6.514,1208.998,648.028,319.945,1291.353,226.732,33.207,751.041,0.000,781.917,0.000,15.065,0.000
$DEVICE_MAMPS,262.395,263.925,703.035,517.905,0.000,63.500,160.000,223.000,420.000,0.000,32.210,12.720,2.190,12.720,38.930,45.670,65.900,10.500,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,360.399,417.377,422.794,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,20.220,62.170,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323072
$DATA_FILE_SIZE,37144,527
$CAP_FILE_SIZE,57024,0
$CFSIZE,260165632,257462272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030615,052227,4744.639,-12224.871,3,1.5,3,16.3