version: 66.10
glider: 157
mission: 6
dive: 7
start: 10 25 112 23 4 0
data:
$ID,157
$MISSION,6
$DIVE,7
$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,-1464109.5
$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,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,30
$R_STBD_OVSHOOT,36
$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
$GPS1,251012,225554,4743.858,-12224.085,5,1.2,11,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-74.7
$GPS2,251012,230301,4743.869,-12224.012,9,1.4,9,18.2
$SPEED_LIMITS,0.133,0.199
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.089,0.178
$KALMAN_X,-733.8,-396.1,-87.7,2170.9,-33.6
$KALMAN_Y,-1492.5,-536.4,-86.9,1954.2,-389.8
$MHEAD_RNG_PITCHd_Wd,8.4,884,-17.1,-7.692
$D_GRID,172
$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,-46.30,0.000,6,0.000,0.000,115,1878,1829,0,0,0,0,0,0,28.83,28.83,26.35
$GC,75,-0.50,-97.8,3.0,-6.4,7,92,9.10,1.58,0.00,0.000,4,0.267,0.039,2336,3106,1832,0,0,0,0,0,0,25.74,26.03,28.83
$GC,101,-0.50,-97.8,9.3,-18.3,10,110,0.00,1.62,0.00,0.000,6,0.000,0.032,2337,1837,1833,0,0,0,0,0,0,28.83,26.05,28.83
$GC,182,-0.50,-97.8,19.8,-12.0,23,190,0.00,2.53,0.00,0.000,4,0.000,0.046,2339,652,1833,0,0,1,0,0,0,28.83,26.08,28.83
$GC,445,-0.50,-97.8,49.5,-10.2,69,452,0.00,2.55,0.00,0.000,6,0.000,0.044,2328,1865,1833,0,0,1,0,0,0,28.83,26.24,28.83
$GC,588,-0.50,-97.8,63.8,-9.0,94,597,0.00,2.58,0.00,0.000,4,0.000,0.047,2328,658,1833,0,0,1,0,0,0,28.83,26.27,28.83
$GC,764,-0.50,-97.8,80.4,-9.2,124,773,0.00,2.58,0.00,0.000,6,0.000,0.050,2316,1863,1833,0,0,1,0,0,0,28.83,26.33,28.83
$GC,914,-0.50,-97.8,95.5,-10.0,149,920,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,1862,1833,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1059,-0.50,-97.8,111.4,-10.9,174,1067,0.00,2.55,0.00,0.000,4,0.000,0.045,2316,658,1833,0,0,1,0,0,0,28.83,26.39,28.83
$GC,1105,-0.50,-97.8,115.9,-9.7,181,1113,0.17,2.53,0.00,0.000,6,0.194,0.047,2349,1877,1833,0,0,1,0,0,0,26.23,26.41,28.83
$GC,1252,-0.50,-97.8,127.4,-8.4,206,1260,0.00,2.58,0.00,0.000,4,0.000,0.047,2352,655,1833,0,0,1,0,0,0,28.83,26.41,28.83
$GC,1302,-0.50,-97.8,131.4,-8.7,213,1308,0.00,2.53,0.00,0.000,6,0.000,0.048,2342,1866,1833,0,0,1,0,0,0,28.83,26.43,28.83
$GC,1445,-0.50,-97.8,144.6,-9.5,238,1453,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,1865,1833,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1502,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1502,begin apogee
$GC,1510,-0.14,0.0,150.1,-9.3,248,1610,0.38,0.00,89.88,0.610,6,0.165,0.000,2458,1865,1423,0,0,0,0,0,0,26.32,28.83,24.93
$STATE,1611,end apogee,CONTROL_FINISHED_OK
$STATE,1611,begin climb
$GC,1614,0.50,97.8,153.4,0.0,263,1707,0.62,0.00,88.50,0.576,6,0.120,0.000,2665,1866,1028,0,0,0,0,0,0,25.39,28.83,24.55
$GC,1849,0.50,97.8,130.5,11.5,301,1854,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,1866,1017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1991,0.50,97.8,114.2,11.5,326,2000,0.00,2.65,0.00,0.000,4,0.000,0.051,2677,658,1016,0,0,1,0,0,0,28.83,25.91,28.83
$GC,2049,0.50,97.8,107.8,11.7,335,2055,0.00,2.55,0.00,0.000,6,0.000,0.044,2677,1864,1017,0,0,1,0,0,0,28.83,25.99,28.83
$GC,2192,0.50,97.8,89.5,12.0,360,2200,0.00,1.62,0.00,0.000,4,0.000,0.050,2677,3107,1016,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2216,0.50,97.8,86.7,12.7,363,2223,0.00,1.58,0.00,0.000,6,0.000,0.040,2684,1872,1016,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2360,0.50,97.8,68.2,11.7,388,2368,0.00,2.60,0.00,0.000,4,0.000,0.052,2697,640,1016,0,0,1,0,0,0,28.83,26.18,28.83
$GC,2417,0.50,97.8,61.9,10.6,397,2424,0.00,2.55,0.00,0.000,6,0.000,0.044,2698,1867,1016,0,0,1,0,0,0,28.83,26.22,28.83
$GC,2560,0.50,97.8,44.9,11.8,422,2568,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1866,1016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2704,0.50,97.8,29.4,10.3,447,2712,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1866,1016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2784,0.50,97.8,20.7,10.9,460,2792,0.00,2.62,0.00,0.000,4,0.000,0.050,2709,633,1016,0,0,1,0,0,0,28.83,26.32,28.83
$GC,2813,0.50,97.8,17.2,11.5,464,2822,0.15,2.60,0.00,0.000,6,0.155,0.044,2660,1869,1015,0,0,1,0,0,0,26.21,26.35,28.83
$GC,2892,0.50,97.8,9.6,9.2,477,2900,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1869,1015,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2969,end climb,SURFACE_DEPTH_REACHED
$STATE,2969,begin surface coast
$FINISH,0.2,1.012541
$STATE,3009,end surface coast,CONTROL_FINISHED_OK
$STATE,3010,begin surface
$SM_CCo,3029,53.47,0.063,0,0,613,200.16
$SM_GC,0.86,6.43,0.00,53.47,0.040,0.000,0.063,121,1869,613,-7.35,0.11,200.16,0,0,0,0,0,0,26.43,28.83,26.32
$IRIDIUM_FIX,4726.11,-12227.78,251012,212121
$TT8_MAMPS,0.023219,0.023219
$HUMID,41.45
$INTERNAL_PRESSURE,9.16753
$TCM_TEMP,16.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,130.2,54.2
$24V_AH,24.5,0.597
$10V_AH,10.5,0.515
$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,16.850,42.375,178.375,53.475,0.000,30.773,30.476,226.439,1.750,0.000,11.720,1119.315,299.696,297.974,1588.330,214.100,33.229,789.864,0.000,1311.144,0.000,13.288,0.000
$DEVICE_MAMPS,266.985,52.020,610.470,62.730,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,356.450,234.883,965.402,182.722,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323188
$DATA_FILE_SIZE,30294,497
$CAP_FILE_SIZE,57805,0
$CFSIZE,260165632,257691648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0,0
$GPS,251012,235619,4744.197,-12223.909,11,1.2,11,18.2