version: 66.10
glider: 157
mission: 6
dive: 13
start: 10 26 112 4 8 18
data:
$ID,157
$MISSION,6
$DIVE,13
$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,-1464117
$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,30
$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
$GPS1,261012,040009,4744.062,-12223.412,8,2.2,27,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-74.8
$GPS2,261012,040721,4744.071,-12223.438,12,3.9,31,18.2
$SPEED_LIMITS,0.139,0.201
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.031,-0.199
$KALMAN_X,-2009.8,-102.0,169.2,3609.9,-334.4
$KALMAN_Y,-317.4,-81.4,416.2,202.7,458.8
$MHEAD_RNG_PITCHd_Wd,153.1,3054,-17.8,-8.000
$D_GRID,157
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-0.52,-97.8,0.0,0.0,0,73,0.00,0.00,-50.28,0.000,6,0.000,0.000,125,1877,1830,0,0,0,0,0,0,28.83,28.83,26.35
$GC,77,-0.52,-97.8,2.8,-5.7,7,94,8.93,2.60,0.00,0.000,4,0.262,0.040,2351,621,1832,0,0,1,0,0,0,25.74,26.00,28.83
$GC,148,-0.52,-97.8,15.7,-14.5,18,157,0.00,2.67,0.00,0.000,6,0.000,0.046,2340,1866,1832,0,0,0,0,0,0,28.83,26.06,28.83
$GC,228,-0.52,-97.8,26.6,-13.3,31,236,0.00,1.60,0.00,0.000,4,0.000,0.050,2332,3098,1834,0,0,0,0,0,0,28.83,26.10,28.83
$GC,301,-0.52,-97.8,35.6,-14.9,43,310,0.00,1.60,0.00,0.000,6,0.000,0.036,2335,1849,1834,0,0,0,0,0,0,28.83,26.17,28.83
$GC,379,-0.52,-97.8,44.0,-9.5,56,388,0.00,2.53,0.00,0.000,4,0.000,0.046,2340,655,1833,0,0,1,0,0,0,28.83,26.18,28.83
$GC,485,-0.52,-97.8,55.7,-11.0,74,494,0.00,2.60,0.00,0.000,6,0.000,0.048,2329,1868,1834,0,0,1,0,0,0,28.83,26.23,28.83
$GC,632,-0.52,-97.8,73.9,-12.4,99,638,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,1868,1834,0,0,0,0,0,0,28.83,28.83,28.83
$GC,775,-0.52,-97.8,91.9,-11.7,124,782,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,1868,1834,0,0,0,0,0,0,28.83,28.83,28.83
$GC,921,-0.52,-97.8,107.8,-10.6,149,927,0.00,1.55,0.00,0.000,4,0.000,0.050,2321,3112,1834,0,0,0,0,0,0,28.83,26.36,28.83
$GC,948,-0.52,-97.8,110.7,-10.5,153,955,0.00,1.55,0.00,0.000,6,0.000,0.037,2321,1864,1834,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1095,-0.52,-97.8,126.8,-10.9,178,1103,0.00,2.55,0.00,0.000,4,0.000,0.047,2325,644,1834,0,0,1,0,0,0,28.83,26.38,28.83
$GC,1144,-0.52,-97.8,132.6,-11.3,186,1153,0.00,2.60,0.00,0.000,6,0.000,0.048,2315,1869,1833,0,0,1,0,0,0,28.83,26.41,28.83
$GC,1295,-0.52,-97.8,149.5,-10.9,211,1302,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,1868,1833,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1439,-0.52,-97.8,155.9,0.1,236,1447,0.00,2.60,0.00,0.000,4,0.000,0.047,2315,634,1834,0,0,1,0,0,0,28.83,26.43,28.83
$STATE,1485,end dive,NO_VERTICAL_VELOCITY
$STATE,1486,begin apogee
$GC,1496,-0.14,0.0,156.0,0.0,244,1595,0.47,0.00,88.65,0.598,6,0.109,0.000,2476,1886,1419,0,0,0,0,0,0,26.39,28.83,24.90
$STATE,1596,end apogee,CONTROL_FINISHED_OK
$STATE,1596,begin climb
$GC,1600,0.52,97.8,155.9,0.0,259,1698,0.62,1.67,87.93,0.562,4,0.113,0.050,2686,3104,1018,0,0,0,0,0,0,25.41,25.03,24.55
$GC,1903,0.52,97.8,123.0,12.0,310,1911,0.00,1.62,0.00,0.000,6,0.000,0.039,2693,1877,1014,0,0,0,0,0,0,28.83,25.80,28.83
$GC,2053,0.52,97.8,106.1,12.9,335,2059,0.00,2.62,0.00,0.000,4,0.000,0.052,2706,624,1013,0,0,1,0,0,0,28.83,25.96,28.83
$GC,2103,0.52,97.8,99.3,13.1,343,2110,0.00,2.62,0.00,0.000,6,0.000,0.044,2706,1874,1013,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2249,0.52,97.8,79.4,13.9,368,2257,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,1875,1013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2396,0.52,97.8,60.5,11.1,393,2402,0.00,1.58,0.00,0.000,4,0.000,0.052,2706,3116,1012,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2416,0.52,97.8,57.7,12.8,396,2425,0.12,1.65,0.00,0.000,6,0.158,0.041,2674,1854,1012,0,0,0,0,0,0,26.08,26.23,28.83
$GC,2566,0.52,97.8,43.9,8.6,421,2573,0.00,2.55,0.00,0.000,4,0.000,0.052,2685,625,1012,0,0,1,0,0,0,28.83,26.25,28.83
$GC,2622,0.52,97.8,38.8,8.9,430,2631,0.00,2.62,0.00,0.000,6,0.000,0.044,2685,1875,1012,0,0,1,0,0,0,28.83,26.29,28.83
$GC,2703,0.52,97.8,30.9,10.0,443,2711,0.00,1.58,0.00,0.000,4,0.000,0.052,2685,3094,1012,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2732,0.52,97.8,28.2,10.4,447,2740,0.00,1.60,0.00,0.000,6,0.000,0.040,2692,1865,1011,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2812,0.52,97.8,19.1,12.4,460,2820,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1865,1011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2891,0.52,109.8,12.6,7.3,473,2900,0.00,0.00,4.25,0.085,6,0.000,0.000,2692,1864,981,0,0,0,0,0,0,28.83,28.83,26.25
$GC,2971,0.54,148.9,5.5,5.8,486,2996,0.00,0.00,22.50,0.068,2,0.000,0.000,2692,1864,830,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2997,end climb,SURFACE_DEPTH_REACHED
$STATE,2997,begin surface coast
$FINISH,0.2,1.011795
$STATE,3026,end surface coast,CONTROL_FINISHED_OK
$STATE,3026,begin surface
$SM_CCo,3046,44.28,0.061,0,0,491,230.09
$SM_GC,0.80,6.53,0.00,44.28,0.040,0.000,0.061,125,1864,491,-7.37,-0.03,230.09,0,0,0,0,0,0,26.38,28.83,26.28
$IRIDIUM_FIX,4726.11,-12223.37,261012,030337
$TT8_MAMPS,0.023219,0.023219
$HUMID,40.86
$INTERNAL_PRESSURE,9.148
$TCM_TEMP,16.10
$XPDR_PINGS,0
$24V_AH,24.5,0.875
$10V_AH,10.5,0.865
$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,16.675,47.225,203.325,44.275,0.000,26.663,32.003,215.172,0.750,0.000,34.971,1111.509,305.011,314.615,1578.102,221.711,33.213,824.921,0.000,1296.156,0.000,5.770,0.000
$DEVICE_MAMPS,262.395,52.020,598.230,61.200,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,354.569,230.878,946.800,177.170,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323172
$DATA_FILE_SIZE,30369,494
$CAP_FILE_SIZE,60165,0
$CFSIZE,260165632,257556480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0,0
$GPS,261012,050103,4743.782,-12223.436,9,99.0,28,18.2