version: 66.10
glider: 157
mission: 6
dive: 19
start: 10 26 112 9 59 57
data:
$ID,157
$MISSION,6
$DIVE,19
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,180
$D_ABORT,1050
$D_NO_BLEED,40
$D_BOOST,30
$T_BOOST,3
$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,80
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52741
$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,4438
$TGT_DEFAULT_LON,-12501
$TGT_AUTO_DEFAULT,0
$SM_CC,230
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,2
$NOCOMM_ACTION,2
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1464127.5
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,148
$PITCH_MAX,3937
$C_PITCH,2512
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0099999998
$PITCH_GAIN,37
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,231
$ROLL_MAX,3775
$ROLL_DEG,35
$C_ROLL_DIVE,1865
$C_ROLL_CLIMB,1865
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,275
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,485
$VBD_MAX,3960
$C_VBD,1430
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$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,-20.531336
$PRESSURE_SLOPE,0.0001140972
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,90
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.30000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,119
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042748204
$SEABIRD_T_H,0.00061971153
$SEABIRD_T_I,2.2227921e-05
$SEABIRD_T_J,2.2882891e-06
$SEABIRD_C_G,-10.177173
$SEABIRD_C_H,1.1523328
$SEABIRD_C_I,-0.0019126741
$SEABIRD_C_J,0.00023621984
$GPS1,261012,095036,4742.666,-12225.438,7,2.0,12,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-75.1
$GPS2,261012,095901,4742.665,-12225.452,14,1.8,14,18.2
$SPEED_LIMITS,0.139,0.201
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.154,0.129
$KALMAN_X,-3723.4,1172.7,391.9,1321.1,-735.2
$KALMAN_Y,-2571.0,1530.8,-700.8,-650.6,-702.2
$MHEAD_RNG_PITCHd_Wd,31.7,2427,-17.8,-8.000
$D_GRID,180
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,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,-0.52,-97.8,0.0,0.0,0,70,0.00,0.00,-50.53,0.000,6,0.000,0.000,124,1853,1830,0,0,0,0,0,0,28.83,28.83,26.29
$GC,75,-0.52,-97.8,2.8,-5.8,7,91,9.02,1.67,0.00,0.000,4,0.265,0.044,2334,3111,1833,0,0,0,0,0,0,25.70,25.96,28.83
$GC,268,-0.52,-97.8,31.8,-13.6,40,277,0.00,1.62,0.00,0.000,6,0.000,0.037,2336,1855,1835,0,0,0,0,0,0,28.83,26.15,28.83
$GC,348,-0.52,-97.8,42.8,-13.7,53,355,0.00,2.53,0.00,0.000,4,0.000,0.047,2340,640,1835,0,0,1,0,0,0,28.83,26.13,28.83
$GC,469,-0.52,-97.8,60.0,-14.4,74,478,0.00,2.62,0.00,0.000,6,0.000,0.048,2329,1864,1835,0,0,1,0,0,0,28.83,26.20,28.83
$GC,616,-0.52,-97.8,78.6,-14.0,99,623,0.00,1.58,0.00,0.000,4,0.000,0.052,2321,3116,1835,0,0,0,0,0,0,28.83,26.26,28.83
$GC,702,-0.52,-97.8,90.3,-13.9,113,709,0.00,1.58,0.00,0.000,6,0.000,0.035,2322,1844,1835,0,0,0,0,0,0,28.83,26.32,28.83
$GC,848,-0.52,-97.8,108.9,-12.3,138,859,0.00,2.53,0.00,0.000,4,0.000,0.045,2327,640,1835,0,0,1,0,0,0,28.83,26.32,28.83
$GC,959,-0.52,-97.8,122.4,-11.6,156,967,0.00,2.62,0.00,0.000,6,0.000,0.049,2316,1875,1835,0,0,1,0,0,0,28.83,26.35,28.83
$GC,1110,-0.52,-97.8,139.2,-11.3,181,1117,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,1875,1835,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1258,-0.52,-97.8,157.3,-13.4,206,1266,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,1874,1835,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1410,-0.52,-97.8,176.9,-13.3,231,1416,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,1874,1835,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1430,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1430,begin apogee
$GC,1438,-0.14,0.0,180.2,-13.7,234,1538,0.50,0.00,90.68,0.834,6,0.180,0.000,2467,1874,1429,0,0,0,0,1,0,26.28,28.83,24.34
$STATE,1539,end apogee,CONTROL_FINISHED_OK
$STATE,1539,begin climb
$GC,1543,0.52,97.8,186.9,0.0,249,1648,0.65,1.70,89.30,0.827,4,0.125,0.050,2678,3104,1030,0,0,0,0,1,0,25.03,24.72,24.06
$GC,1678,0.52,97.8,177.8,11.6,269,1684,0.00,1.62,0.00,0.000,6,0.000,0.039,2685,1879,1030,0,0,0,0,0,0,28.83,25.18,28.83
$GC,1824,0.52,97.8,160.6,12.6,294,1832,0.00,2.67,0.00,0.000,4,0.000,0.051,2698,642,1030,0,0,1,0,0,0,28.83,25.67,28.83
$GC,1870,0.52,97.8,154.7,11.9,301,1877,0.00,2.65,0.00,0.000,6,0.000,0.044,2698,1885,1030,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2017,0.52,97.8,135.8,13.2,326,2025,0.00,1.60,0.00,0.000,4,0.000,0.051,2698,3105,1030,0,0,0,0,0,0,28.83,25.95,28.83
$GC,2056,0.52,97.8,129.7,14.4,332,2064,0.00,1.65,0.00,0.000,6,0.000,0.041,2706,1856,1030,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2205,0.52,97.8,108.9,13.5,357,2212,0.00,2.58,0.00,0.000,4,0.000,0.052,2719,626,1030,0,0,1,0,0,0,28.83,26.09,28.83
$GC,2278,0.52,97.8,98.5,13.7,369,2286,0.17,2.62,0.00,0.000,6,0.174,0.044,2672,1883,1030,0,0,0,0,0,0,26.01,26.15,28.83
$GC,2425,0.52,97.8,81.2,10.6,394,2434,0.00,2.65,0.00,0.000,4,0.000,0.050,2681,642,1030,0,0,1,0,0,0,28.83,26.20,28.83
$GC,2461,0.52,97.8,77.3,11.0,399,2468,0.00,2.55,0.00,0.000,6,0.000,0.044,2681,1866,1030,0,0,1,0,0,0,28.83,26.22,28.83
$GC,2604,0.52,97.8,60.5,12.3,424,2613,0.00,1.60,0.00,0.000,4,0.000,0.051,2681,3101,1030,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2684,0.52,97.8,51.0,11.5,437,2691,0.00,1.58,0.00,0.000,6,0.000,0.039,2688,1854,1030,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2830,0.52,97.8,37.4,8.4,462,2838,0.00,2.58,0.00,0.000,4,0.000,0.052,2700,634,1030,0,0,1,0,0,0,28.83,26.32,28.83
$GC,2888,0.52,97.8,32.1,11.3,471,2896,0.00,2.60,0.00,0.000,6,0.000,0.045,2700,1862,1030,0,0,1,0,0,0,28.83,26.36,28.83
$GC,2967,0.52,97.8,24.4,10.3,484,2975,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1862,1030,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3047,0.52,97.8,15.2,11.0,497,3055,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1862,1030,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3126,0.52,97.8,6.4,10.8,510,3135,0.00,1.60,0.00,0.000,4,0.000,0.051,2700,3105,1029,0,0,0,0,0,0,28.83,26.39,28.83
$STATE,3159,end climb,SURFACE_DEPTH_REACHED
$STATE,3159,begin surface coast
$FINISH,0.2,1.010904
$STATE,3188,end surface coast,CONTROL_FINISHED_OK
$STATE,3188,begin surface
$SM_CCo,3210,69.22,0.061,0,0,491,230.09
$SM_GC,1.22,6.57,1.62,69.22,0.043,0.037,0.061,116,1860,491,-7.39,1.19,230.09,0,0,0,0,0,0,26.44,26.43,26.31
$IRIDIUM_FIX,4726.11,-12223.37,261012,080846
$TT8_MAMPS,0.023219,0.023219
$HUMID,40.35
$INTERNAL_PRESSURE,9.148
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,180.2,20.1
$24V_AH,24.1,1.197
$10V_AH,10.5,1.274
$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,16.925,50.625,179.975,69.225,0.000,30.840,35.681,293.108,3.250,0.000,17.248,1175.545,326.753,336.510,1694.436,257.223,33.209,854.123,0.000,1356.927,0.000,25.153,0.000
$DEVICE_MAMPS,265.455,52.020,833.850,61.200,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,371.598,239.662,987.125,186.816,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323300
$DATA_FILE_SIZE,30402,520
$CAP_FILE_SIZE,63572,0
$CFSIZE,260165632,257343488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,2,0,0
$GPS,261012,105531,4742.830,-12225.342,9,1.9,9,18.2