version: 66.10
glider: 157
mission: 6
dive: 12
start: 10 26 112 3 13 15
data:
$ID,157
$MISSION,6
$DIVE,12
$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,-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,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,-1464115.8
$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,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,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,130
$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
$GPS1,261012,030533,4744.256,-12223.421,10,7.5,29,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-75.2
$GPS2,261012,031218,4744.278,-12223.495,8,1.1,13,18.2
$SPEED_LIMITS,0.139,0.201
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.068,-0.189
$KALMAN_X,-1746.9,-218.6,214.9,3349.5,-247.9
$KALMAN_Y,-95.4,-433.0,219.6,908.7,762.5
$MHEAD_RNG_PITCHd_Wd,142.0,3344,-17.8,-8.000
$D_GRID,155
$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,17,-0.52,-97.8,0.0,0.0,0,70,0.00,0.00,-50.22,0.000,6,0.000,0.000,122,1868,1830,0,0,0,0,0,0,28.83,28.83,26.34
$GC,74,-0.52,-97.8,2.8,-6.2,7,91,8.95,2.60,0.00,0.000,4,0.262,0.038,2355,621,1832,0,0,1,0,0,0,25.73,25.98,28.83
$GC,268,-0.52,-97.8,28.9,-11.6,40,276,0.00,2.65,0.00,0.000,6,0.000,0.042,2344,1864,1832,0,0,0,0,0,0,28.83,26.14,28.83
$GC,348,-0.52,-97.8,37.5,-10.5,53,356,0.00,2.62,0.00,0.000,4,0.000,0.045,2344,625,1832,0,0,1,0,0,0,28.83,26.17,28.83
$GC,366,-0.52,-97.8,39.6,-11.1,55,375,0.00,2.67,0.00,0.000,6,0.000,0.047,2331,1877,1832,0,0,0,0,0,0,28.83,26.18,28.83
$GC,445,-0.52,-97.8,48.4,-10.8,68,452,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,1877,1832,0,0,0,0,0,0,28.83,28.83,28.83
$GC,591,-0.52,-97.8,66.2,-12.7,93,597,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,1877,1832,0,0,0,0,0,0,28.83,28.83,28.83
$GC,733,-0.52,-97.8,84.1,-11.9,118,742,0.00,2.62,0.00,0.000,4,0.000,0.046,2331,628,1832,0,0,1,0,0,0,28.83,26.31,28.83
$GC,757,-0.52,-97.8,86.6,-11.3,121,764,0.00,2.58,0.00,0.000,6,0.000,0.047,2319,1866,1832,0,0,1,0,0,0,28.83,26.32,28.83
$GC,901,-0.52,-97.8,103.1,-11.5,146,908,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,1866,1832,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1047,-0.52,-97.8,119.7,-12.3,171,1053,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,1865,1832,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1189,-0.52,-97.8,136.9,-12.6,196,1198,0.00,2.58,0.00,0.000,4,0.000,0.044,2322,633,1832,0,0,1,0,0,0,28.83,26.41,28.83
$GC,1221,-0.52,-97.8,140.4,-12.5,200,1230,0.12,2.60,0.00,0.000,6,0.180,0.047,2349,1861,1832,0,0,1,0,0,0,26.25,26.41,28.83
$STATE,1246,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1246,begin apogee
$GC,1254,-0.14,0.0,144.1,-11.4,204,1347,0.38,0.00,88.50,0.615,6,0.160,0.000,2468,1861,1428,0,0,0,0,0,0,26.26,28.83,24.85
$STATE,1348,end apogee,CONTROL_FINISHED_OK
$STATE,1348,begin climb
$GC,1351,0.52,97.8,148.3,0.0,218,1444,0.65,0.00,88.07,0.571,6,0.121,0.000,2682,1860,1027,0,0,0,0,0,0,25.33,28.83,24.54
$GC,1584,0.52,97.8,124.7,11.6,256,1591,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,1861,1018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1730,0.52,97.8,107.6,11.9,281,1737,0.00,2.62,0.00,0.000,4,0.000,0.050,2695,630,1017,0,0,1,0,0,0,28.83,25.89,28.83
$GC,1769,0.52,97.8,102.8,12.2,287,1776,0.00,2.62,0.00,0.000,6,0.000,0.044,2695,1869,1017,0,0,0,0,0,0,28.83,25.95,28.83
$GC,1913,0.52,97.8,82.9,12.9,312,1921,0.00,1.60,0.00,0.000,4,0.000,0.051,2695,3099,1017,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1963,0.52,97.8,76.5,12.2,320,1971,0.00,1.62,0.00,0.000,6,0.000,0.040,2703,1865,1016,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2113,0.52,97.8,58.3,13.5,345,2119,0.00,1.65,0.00,0.000,4,0.000,0.051,2702,3120,1016,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2144,0.52,97.8,53.4,14.1,350,2152,0.00,1.65,0.00,0.000,6,0.000,0.040,2709,1858,1016,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2294,0.52,97.8,35.2,12.0,375,2302,0.00,2.60,0.00,0.000,4,0.000,0.052,2722,628,1016,0,0,1,0,0,0,28.83,26.24,28.83
$GC,2352,0.52,97.8,28.4,10.6,384,2361,0.15,2.62,0.00,0.000,6,0.157,0.044,2674,1877,1016,0,0,1,0,0,0,26.13,26.28,28.83
$GC,2431,0.52,97.8,21.0,8.5,397,2440,0.00,1.58,0.00,0.000,4,0.000,0.051,2674,3096,1016,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2466,0.52,97.8,17.6,9.5,402,2475,0.00,1.60,0.00,0.000,6,0.000,0.039,2680,1867,1015,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2546,0.52,97.8,10.0,10.0,415,2555,0.00,2.60,0.00,0.000,4,0.000,0.051,2693,627,1016,0,0,1,0,0,0,28.83,26.31,28.83
$GC,2593,0.52,97.8,5.8,9.0,422,2601,0.00,2.65,0.00,0.000,6,0.000,0.044,2692,1876,1016,0,0,0,0,0,0,28.83,26.34,28.83
$STATE,2619,end climb,SURFACE_DEPTH_REACHED
$STATE,2619,begin surface coast
$FINISH,0.1,1.011206
$STATE,2653,end surface coast,CONTROL_FINISHED_OK
$STATE,2654,begin surface
$SM_CCo,2673,67.38,0.062,0,0,491,230.09
$SM_GC,1.16,6.55,0.00,67.38,0.043,0.000,0.062,125,1876,491,-7.37,0.31,230.09,0,0,0,0,0,0,26.38,28.83,26.26
$IRIDIUM_FIX,4726.11,-12220.67,261012,020231
$TT8_MAMPS,0.023968,0.023968
$HUMID,40.43
$INTERNAL_PRESSURE,9.15776
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,140.4,18.5
$24V_AH,24.5,0.828
$10V_AH,10.5,0.794
$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,16.800,46.350,176.575,67.375,0.000,29.908,31.371,207.069,0.750,0.000,16.013,982.586,246.312,312.188,1411.877,202.377,33.215,770.200,0.000,1153.628,0.000,7.063,0.000
$DEVICE_MAMPS,262.395,52.020,615.060,61.965,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,311.098,211.071,859.594,160.472,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323212
$DATA_FILE_SIZE,23659,432
$CAP_FILE_SIZE,54708,0
$CFSIZE,260165632,257601536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0,0
$GPS,261012,040009,4744.062,-12223.412,8,2.2,27,18.2