version: 66.10
glider: 157
mission: 6
dive: 6
start: 10 25 112 22 4 47
data:
$ID,157
$MISSION,6
$DIVE,6
$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,-1464108.2
$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,36
$R_STBD_OVSHOOT,33
$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
$GPS1,251012,215605,4743.662,-12224.279,37,0.8,37,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-72.8
$GPS2,251012,220348,4743.644,-12224.236,12,0.9,30,18.2
$SPEED_LIMITS,0.133,0.199
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.089,0.177
$KALMAN_X,-624.0,-359.2,-164.6,1820.5,-111.4
$KALMAN_Y,-1215.7,-494.7,-118.0,1256.2,-426.5
$MHEAD_RNG_PITCHd_Wd,8.5,1379,-17.1,-7.692
$D_GRID,173
$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,-0.50,-97.8,0.0,0.0,0,70,0.00,0.00,-46.92,0.000,6,0.000,0.000,118,1860,1830,0,0,0,0,0,0,28.83,28.83,26.39
$GC,75,-0.50,-97.8,3.1,-6.8,7,92,9.05,2.55,0.00,0.000,4,0.266,0.040,2353,632,1831,0,0,0,0,0,0,25.74,26.02,28.83
$GC,344,-0.50,-97.8,35.1,-9.3,54,353,0.00,2.62,0.00,0.000,6,0.000,0.049,2342,1865,1832,0,0,1,0,0,0,28.83,26.20,28.83
$GC,424,-0.50,-97.8,43.5,-11.3,67,430,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,1865,1832,0,0,0,0,0,0,28.83,28.83,28.83
$GC,566,-0.50,-97.8,57.9,-9.7,92,575,0.00,2.58,0.00,0.000,4,0.000,0.046,2342,637,1832,0,0,1,0,0,0,28.83,26.28,28.83
$GC,613,-0.50,-97.8,62.3,-10.1,99,619,0.00,2.55,0.00,0.000,6,0.000,0.047,2330,1865,1832,0,0,1,0,0,0,28.83,26.29,28.83
$GC,756,-0.50,-97.8,76.6,-9.9,124,763,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,1864,1832,0,0,0,0,0,0,28.83,28.83,28.83
$GC,903,-0.50,-97.8,90.5,-9.9,149,909,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,1864,1832,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1046,-0.50,-97.8,106.1,-10.2,174,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,1864,1832,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1193,-0.50,-97.8,121.5,-10.6,199,1200,0.00,2.53,0.00,0.000,4,0.000,0.044,2330,633,1832,0,0,1,0,0,0,28.83,26.41,28.83
$GC,1254,-0.50,-97.8,128.1,-11.3,209,1261,0.00,2.55,0.00,0.000,6,0.000,0.047,2317,1868,1832,0,0,1,0,0,0,28.83,26.43,28.83
$GC,1402,-0.50,-97.8,146.6,-11.4,234,1411,0.00,2.58,0.00,0.000,4,0.000,0.045,2317,635,1832,0,0,1,0,0,0,28.83,26.44,28.83
$GC,1430,-0.50,-97.8,149.9,-12.4,238,1439,0.12,2.60,0.00,0.000,6,0.181,0.047,2344,1873,1832,0,0,1,0,0,0,26.28,26.45,28.83
$STATE,1444,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1444,begin apogee
$GC,1452,-0.14,0.0,151.9,-11.4,240,1551,0.38,0.00,87.53,0.850,6,0.159,0.000,2463,1872,1430,0,0,0,0,1,0,26.31,28.83,24.41
$STATE,1552,end apogee,CONTROL_FINISHED_OK
$STATE,1552,begin climb
$GC,1556,0.50,97.8,156.1,0.0,255,1655,0.62,1.70,91.07,0.584,4,0.112,0.048,2670,3103,1023,0,0,0,0,0,0,25.14,25.00,24.51
$GC,1690,0.50,97.8,146.6,11.5,275,1697,0.00,1.62,0.00,0.000,6,0.000,0.038,2678,1864,1020,0,0,0,0,0,0,28.83,25.36,28.83
$GC,1833,0.50,97.8,128.0,13.2,300,1842,0.00,2.65,0.00,0.000,4,0.000,0.054,2691,632,1019,0,0,1,0,0,0,28.83,25.76,28.83
$GC,1902,0.50,97.8,118.8,14.4,311,1909,0.00,2.62,0.00,0.000,6,0.000,0.044,2691,1868,1018,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2048,0.50,97.8,97.2,13.5,336,2056,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,1869,1018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2194,0.50,97.8,76.1,13.4,361,2201,0.00,2.60,0.00,0.000,4,0.000,0.050,2704,630,1018,0,0,1,0,0,0,28.83,26.13,28.83
$GC,2222,0.50,97.8,72.2,14.2,365,2230,0.17,2.58,0.00,0.000,6,0.169,0.044,2656,1873,1017,0,0,1,0,0,0,26.02,26.17,28.83
$GC,2369,0.50,97.8,56.5,9.3,390,2378,0.00,1.60,0.00,0.000,4,0.000,0.050,2656,3103,1017,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2419,0.50,97.8,51.1,10.0,398,2428,0.00,1.62,0.00,0.000,6,0.000,0.040,2662,1860,1018,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2566,0.50,97.8,36.8,9.4,423,2575,0.00,2.58,0.00,0.000,4,0.000,0.053,2675,638,1017,0,0,1,0,0,0,28.83,26.28,28.83
$GC,2629,0.50,97.8,31.1,9.0,433,2637,0.00,2.60,0.00,0.000,6,0.000,0.044,2675,1867,1018,0,0,1,0,0,0,28.83,26.32,28.83
$GC,2709,0.50,97.8,23.7,9.4,446,2717,0.00,1.60,0.00,0.000,4,0.000,0.051,2675,3108,1017,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2771,0.50,97.8,17.2,10.3,456,2779,0.00,1.62,0.00,0.000,6,0.000,0.041,2681,1865,1016,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2851,0.50,97.8,9.7,8.7,469,2859,0.00,2.60,0.00,0.000,4,0.000,0.054,2694,624,1017,0,0,1,0,0,0,28.83,26.35,28.83
$STATE,2927,end climb,SURFACE_DEPTH_REACHED
$STATE,2927,begin surface coast
$FINISH,2.2,1.022693
$STATE,2934,end surface coast,CONTROL_FINISHED_OK
$STATE,2934,begin surface
$SM_CCo,2957,53.55,0.063,0,0,613,200.16
$SM_GC,0.82,6.55,2.65,53.55,0.041,0.043,0.063,116,1876,613,-7.38,-0.85,200.16,0,0,0,0,0,0,26.43,26.39,26.31
$IRIDIUM_FIX,4726.11,-12227.78,251012,212147
$TT8_MAMPS,0.023968,0.023968
$HUMID,41.80
$INTERNAL_PRESSURE,9.16753
$TCM_TEMP,16.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,140.1,42.6
$24V_AH,24.4,0.549
$10V_AH,10.5,0.444
$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,16.900,51.200,178.600,53.550,0.000,28.142,40.719,235.244,2.250,0.000,32.905,1088.939,275.786,308.465,1595.920,215.023,33.218,793.880,0.000,1281.536,0.000,14.805,0.000
$DEVICE_MAMPS,266.220,53.550,849.915,62.730,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,347.253,233.706,952.868,180.186,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323252
$DATA_FILE_SIZE,27060,483
$CAP_FILE_SIZE,58510,0
$CFSIZE,260165632,257732608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,1,0,0
$GPS,251012,225554,4743.858,-12224.085,5,1.2,11,18.2