version: 66.10
glider: 157
mission: 6
dive: 4
start: 10 25 112 20 4 33
data:
$ID,157
$MISSION,6
$DIVE,4
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$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,65
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$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,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,200
$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,-1464105.8
$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,2505
$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,34
$R_STBD_OVSHOOT,39
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$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
$GPS1,251012,195937,4743.702,-12224.858,11,1.6,11,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-72.5
$GPS2,251012,200337,4743.703,-12224.874,11,1.6,11,18.2
$SPEED_LIMITS,0.133,0.199
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.164,0.112
$KALMAN_X,-340.6,-222.4,-193.3,640.8,-207.3
$KALMAN_Y,-341.8,-229.4,-200.3,309.3,-204.4
$MHEAD_RNG_PITCHd_Wd,37.5,1943,-17.1,-7.692
$D_GRID,175
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.50,-97.8,0.0,0.0,0,70,0.00,0.00,-51.30,0.000,6,0.000,0.000,149,1845,1829,0,0,0,0,0,0,28.83,28.83,26.55
$GC,75,-0.50,-97.8,2.6,-5.3,7,91,8.80,1.62,0.00,0.000,4,0.264,0.039,2337,3103,1833,0,0,0,0,0,0,25.89,26.20,28.83
$GC,344,-0.50,-97.8,36.4,-12.5,54,353,0.00,1.60,0.00,0.000,6,0.000,0.034,2337,1850,1835,0,0,0,0,0,0,28.83,26.34,28.83
$GC,424,-0.50,-97.8,45.3,-10.8,67,431,0.00,1.60,0.00,0.000,4,0.000,0.047,2332,3099,1835,0,0,0,0,0,0,28.83,26.32,28.83
$GC,497,-0.50,-97.8,53.9,-12.1,79,503,0.00,1.55,0.00,0.000,6,0.000,0.037,2332,1852,1835,0,0,0,0,0,0,28.83,26.36,28.83
$GC,640,-0.50,-97.8,69.8,-10.4,104,648,0.00,1.65,0.00,0.000,4,0.000,0.054,2326,3091,1835,0,0,0,0,0,0,28.83,26.36,28.83
$GC,690,-0.50,-97.8,74.6,-8.6,112,698,0.00,1.58,0.00,0.000,6,0.000,0.039,2326,1871,1834,0,0,0,0,0,0,28.83,26.41,28.83
$GC,839,-0.50,-97.8,87.1,-8.9,137,845,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,1871,1835,0,0,0,0,0,0,28.83,28.83,28.83
$GC,981,-0.50,-97.8,101.4,-10.3,162,989,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,1870,1834,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1130,-0.50,-97.8,118.3,-11.5,187,1136,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,1870,1835,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1273,-0.50,-97.8,135.6,-11.2,212,1281,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,1870,1835,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1378,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1378,begin apogee
$GC,1386,-0.14,0.0,150.1,-14.3,230,1478,0.43,0.00,87.40,0.612,6,0.165,0.000,2459,1870,1425,0,0,0,0,0,0,26.32,28.83,24.91
$STATE,1479,end apogee,CONTROL_FINISHED_OK
$STATE,1479,begin climb
$GC,1483,0.50,97.8,158.4,0.0,244,1576,0.62,1.75,86.50,0.581,4,0.119,0.047,2667,3108,1024,0,0,0,0,0,0,25.42,25.10,24.60
$GC,1611,0.50,97.8,152.1,10.3,263,1618,0.00,1.65,0.00,0.000,6,0.000,0.040,2675,1865,1018,0,0,0,0,0,0,28.83,25.44,28.83
$GC,1758,0.50,97.8,135.6,11.1,288,1766,0.00,2.62,0.00,0.000,4,0.000,0.051,2688,632,1018,0,0,1,0,0,0,28.83,25.83,28.83
$GC,1785,0.50,97.8,131.6,12.7,292,1794,0.00,2.60,0.00,0.000,6,0.000,0.041,2688,1856,1018,0,0,1,0,0,0,28.83,25.89,28.83
$GC,1935,0.50,97.8,113.7,12.8,317,1941,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1855,1017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2077,0.50,97.8,91.2,16.5,342,2085,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1856,1017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2223,0.50,97.8,67.6,15.7,367,2230,0.00,2.58,0.00,0.000,4,0.000,0.053,2700,630,1017,0,0,1,0,0,0,28.83,26.22,28.83
$GC,2262,0.50,97.8,61.6,15.4,373,2270,0.15,2.58,0.00,0.000,6,0.179,0.044,2661,1887,1017,0,0,1,0,0,0,26.10,26.25,28.83
$GC,2410,0.50,97.8,43.8,11.8,398,2418,0.00,1.58,0.00,0.000,4,0.000,0.050,2661,3108,1016,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2450,0.50,97.8,39.0,10.8,404,2459,0.00,1.62,0.00,0.000,6,0.000,0.041,2667,1864,1016,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2530,0.50,97.8,31.0,10.1,417,2539,0.00,2.60,0.00,0.000,4,0.000,0.054,2678,629,1016,0,0,1,0,0,0,28.83,26.29,28.83
$GC,2581,0.50,97.8,26.0,9.4,425,2590,0.00,2.60,0.00,0.000,6,0.000,0.044,2678,1874,1016,0,0,1,0,0,0,28.83,26.36,28.83
$GC,2662,0.50,97.8,18.2,9.6,438,2670,0.00,1.58,0.00,0.000,4,0.000,0.050,2678,3101,1016,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2720,0.50,97.8,11.9,11.3,447,2728,0.00,1.62,0.00,0.000,6,0.000,0.041,2685,1854,1015,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2799,0.50,97.8,3.3,10.6,460,2807,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1853,1015,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2814,end climb,SURFACE_DEPTH_REACHED
$STATE,2814,begin surface coast
$FINISH,0.2,1.010279
$STATE,2843,end surface coast,CONTROL_FINISHED_OK
$STATE,2843,begin surface
$SM_CCo,2863,52.60,0.062,0,0,613,200.16
$SM_GC,1.04,6.53,0.00,52.60,0.043,0.000,0.062,122,1853,613,-7.35,-0.37,200.16,0,0,0,0,0,0,26.45,28.83,26.33
$IRIDIUM_FIX,4726.11,-12220.67,251012,191928
$TT8_MAMPS,0.023219,0.023219
$HUMID,42.36
$INTERNAL_PRESSURE,9.17729
$TCM_TEMP,16.10
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,150.1,39.6
$24V_AH,24.6,0.439
$10V_AH,10.5,0.305
$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,16.525,34.975,173.900,52.600,0.000,0.000,0.000,0.000,5.000,0.000,13.746,1049.070,273.131,293.746,1237.178,138.005,32.224,758.227,0.000,1235.259,0.000,16.344,0.000
$DEVICE_MAMPS,263.925,53.550,612.000,61.965,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,335.423,224.325,918.587,173.573,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323280
$DATA_FILE_SIZE,27046,467
$CAP_FILE_SIZE,72819,0
$CFSIZE,260165632,257798144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0,0
$GPS,251012,205401,4743.636,-12224.564,7,1.4,7,18.2