version: 66.10
glider: 157
mission: 6
dive: 21
start: 10 26 112 12 8 50
data:
$ID,157
$MISSION,6
$DIVE,21
$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,-1464130
$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,32
$R_STBD_OVSHOOT,35
$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
$GPS1,261012,115913,4742.829,-12224.893,12,1.8,12,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-75.0
$GPS2,261012,120754,4742.882,-12224.905,40,1.1,40,18.2
$SPEED_LIMITS,0.139,0.201
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.178,0.095
$KALMAN_X,-3817.2,773.6,9.8,2867.5,-762.4
$KALMAN_Y,-1996.2,745.4,-571.6,-168.7,74.5
$MHEAD_RNG_PITCHd_Wd,43.8,1889,-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,-50.55,0.000,6,0.000,0.000,121,1858,1830,0,0,0,0,0,0,28.83,28.83,26.32
$GC,75,-0.52,-97.8,2.8,-6.2,7,92,9.00,1.67,0.00,0.000,4,0.265,0.045,2336,3113,1834,0,0,0,0,0,0,25.73,25.98,28.83
$GC,307,-0.52,-97.8,44.3,-15.1,47,313,0.00,1.60,0.00,0.000,6,0.000,0.037,2337,1843,1836,0,0,0,0,0,0,28.83,26.17,28.83
$GC,450,-0.52,-97.8,64.8,-13.9,72,458,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,1842,1835,0,0,0,0,0,0,28.83,28.83,28.83
$GC,597,-0.52,-97.8,80.2,-9.6,97,602,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,1842,1836,0,0,0,0,0,0,28.83,28.83,28.83
$GC,739,-0.52,-97.8,94.3,-8.8,122,746,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,1842,1835,0,0,0,0,0,0,28.83,28.83,28.83
$GC,885,-0.52,-97.8,108.4,-9.4,147,892,0.00,2.47,0.00,0.000,4,0.000,0.046,2340,642,1835,0,0,1,0,0,0,28.83,26.34,28.83
$GC,968,-0.52,-97.8,116.5,-9.7,161,975,0.00,2.58,0.00,0.000,6,0.000,0.048,2330,1878,1835,0,0,1,0,0,0,28.83,26.36,28.83
$GC,1117,-0.52,-97.8,131.4,-9.7,186,1125,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,1878,1836,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1265,-0.52,-97.8,146.9,-10.8,211,1271,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,1879,1835,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1416,-0.52,-97.8,164.8,-13.0,236,1424,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,1878,1835,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1469,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1470,begin apogee
$GC,1478,-0.14,0.0,172.0,-11.6,245,1582,0.45,0.00,89.45,0.789,6,0.171,0.000,2468,1878,1430,0,0,0,0,1,0,26.30,28.83,24.45
$STATE,1583,end apogee,CONTROL_FINISHED_OK
$STATE,1583,begin climb
$GC,1587,0.52,97.8,177.2,0.0,261,1686,0.65,1.73,91.38,0.599,4,0.118,0.050,2682,3116,1024,0,0,0,0,0,0,25.15,24.92,24.44
$GC,1736,0.52,97.8,163.9,12.9,284,1744,0.00,1.70,0.00,0.000,6,0.000,0.038,2689,1864,1021,0,0,0,0,0,0,28.83,25.35,28.83
$GC,1886,0.52,97.8,146.6,12.6,309,1892,0.00,2.60,0.00,0.000,4,0.000,0.049,2702,630,1020,0,0,1,0,0,0,28.83,25.74,28.83
$GC,1925,0.52,97.8,140.7,13.5,315,1932,0.00,2.65,0.00,0.000,6,0.000,0.043,2702,1882,1020,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2071,0.52,97.8,119.4,15.8,340,2079,0.00,1.60,0.00,0.000,4,0.000,0.052,2703,3097,1019,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2106,0.52,97.8,113.7,16.4,345,2113,0.00,1.60,0.00,0.000,6,0.000,0.040,2709,1853,1019,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2250,0.52,97.8,92.0,14.5,370,2258,0.00,2.60,0.00,0.000,4,0.000,0.051,2722,632,1019,0,0,1,0,0,0,28.83,26.10,28.83
$GC,2329,0.52,97.8,80.5,14.2,383,2337,0.17,2.60,0.00,0.000,6,0.171,0.044,2674,1866,1019,0,0,0,0,0,0,26.03,26.15,28.83
$GC,2476,0.52,97.8,63.0,11.6,408,2485,0.00,1.60,0.00,0.000,4,0.000,0.051,2674,3098,1018,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2534,0.52,97.8,55.9,12.1,417,2540,0.00,1.60,0.00,0.000,6,0.000,0.038,2681,1843,1017,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2677,0.52,97.8,39.7,10.5,442,2685,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,1843,1018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2756,0.52,97.8,32.2,10.0,455,2764,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,1842,1018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2835,0.52,97.8,25.1,9.0,468,2843,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,1842,1018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2915,0.52,99.8,18.5,7.9,481,2923,0.00,2.55,0.00,0.000,4,0.000,0.051,2692,638,1018,0,0,1,0,0,0,28.83,26.34,28.83
$GC,2951,0.52,99.8,15.3,8.8,486,2960,0.00,2.60,0.00,0.000,6,0.000,0.045,2692,1867,1018,0,0,1,0,0,0,28.83,26.36,28.83
$GC,3031,0.52,99.8,8.0,9.0,499,3039,0.00,1.60,0.00,0.000,4,0.000,0.051,2692,3108,1017,0,0,0,0,0,0,28.83,26.36,28.83
$STATE,3079,end climb,SURFACE_DEPTH_REACHED
$STATE,3079,begin surface coast
$FINISH,0.1,1.011576
$STATE,3113,end surface coast,CONTROL_FINISHED_OK
$STATE,3113,begin surface
$SM_CCo,3135,67.88,0.062,0,0,491,230.09
$SM_GC,1.18,6.53,1.65,67.88,0.041,0.038,0.062,121,1854,491,-7.38,0.88,230.09,0,0,0,0,0,0,26.42,26.39,26.29
$IRIDIUM_FIX,4726.11,-12223.37,261012,101042
$TT8_MAMPS,0.023219,0.023219
$HUMID,39.88
$INTERNAL_PRESSURE,9.148
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,160.6,25.9
$24V_AH,24.4,1.305
$10V_AH,10.5,1.420
$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,16.800,37.000,180.825,67.875,0.000,29.924,36.311,284.242,2.750,0.000,42.713,1154.331,315.869,325.521,1688.101,246.334,33.205,828.991,0.000,1338.106,0.000,22.111,0.000
$DEVICE_MAMPS,264.690,52.020,788.715,61.965,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,370.665,240.324,974.690,184.982,0.000,0.000,0.000,0.000,0.000,0.000
$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,30325,513
$CAP_FILE_SIZE,60298,0
$CFSIZE,260165632,257273856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,1,0,0
$GPS,261012,130324,4743.178,-12224.434,9,1.1,26,18.2