version: 66.10
glider: 157
mission: 6
dive: 16
start: 10 26 112 7 3 41
data:
$ID,157
$MISSION,6
$DIVE,16
$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,0
$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,-1464123.8
$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,37
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,90
$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
$GPS1,261012,065525,4742.979,-12223.935,8,1.9,8,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-74.7
$GPS2,261012,070245,4742.943,-12223.981,13,99.0,32,18.2
$SPEED_LIMITS,0.139,0.201
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.198,-0.034
$KALMAN_X,-1522.1,97.6,-190.3,2603.4,227.5
$KALMAN_Y,-743.3,891.3,-85.6,-1935.8,-142.0
$MHEAD_RNG_PITCHd_Wd,242.1,1115,-17.8,-8.000
$D_GRID,180
$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,16,begin dive
$GC,19,-0.52,-97.8,0.0,0.0,0,73,0.00,0.00,-50.28,0.000,6,0.000,0.000,118,1872,1830,0,0,0,0,0,0,28.83,28.83,26.35
$GC,77,-0.52,-97.8,2.8,-5.9,7,94,8.98,2.58,0.00,0.000,4,0.264,0.037,2353,629,1832,0,0,1,0,0,0,25.75,26.01,28.83
$GC,345,-0.52,-97.8,42.2,-11.9,54,353,0.00,2.65,0.00,0.000,6,0.000,0.045,2341,1870,1832,0,0,0,0,0,0,28.83,26.19,28.83
$GC,492,-0.52,-97.8,60.5,-12.0,79,499,0.00,2.58,0.00,0.000,4,0.000,0.043,2342,635,1832,0,0,1,0,0,0,28.83,26.24,28.83
$GC,703,-0.52,-97.8,86.4,-12.4,116,711,0.00,2.62,0.00,0.000,6,0.000,0.047,2329,1872,1832,0,0,1,0,0,0,28.83,26.32,28.83
$GC,858,-0.52,-97.8,105.0,-12.1,141,864,0.00,1.55,0.00,0.000,4,0.000,0.051,2321,3114,1832,0,0,0,0,0,0,28.83,26.34,28.83
$GC,952,-0.52,-97.8,116.6,-12.9,157,959,0.00,1.60,0.00,0.000,6,0.000,0.036,2321,1841,1832,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1098,-0.52,-97.8,135.3,-13.8,182,1106,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,1840,1832,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1122,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1122,begin apogee
$GC,1130,-0.14,0.0,139.4,-13.2,186,1223,0.47,0.00,88.47,0.588,6,0.173,0.000,2468,1839,1428,0,0,0,0,0,0,26.25,28.83,24.93
$STATE,1223,end apogee,CONTROL_FINISHED_OK
$STATE,1224,begin climb
$GC,1227,0.52,97.8,145.8,0.0,200,1320,0.65,0.00,87.97,0.557,6,0.122,0.000,2680,1839,1028,0,0,0,0,0,0,25.36,28.83,24.55
$GC,1457,0.52,97.8,125.4,10.6,238,1466,0.00,1.73,0.00,0.000,4,0.000,0.050,2680,3097,1017,0,0,0,0,0,0,28.83,25.65,28.83
$GC,1493,0.52,97.8,121.6,12.0,243,1499,0.00,1.60,0.00,0.000,6,0.000,0.041,2687,1864,1017,0,0,0,0,0,0,28.83,25.74,28.83
$GC,1639,0.52,97.8,103.7,14.5,268,1647,0.00,2.62,0.00,0.000,4,0.000,0.050,2701,632,1017,0,0,1,0,0,0,28.83,25.91,28.83
$GC,1667,0.52,97.8,99.7,13.3,272,1675,0.00,2.67,0.00,0.000,6,0.000,0.044,2701,1877,1016,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1816,0.52,97.8,80.0,13.2,297,1822,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,1878,1016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1959,0.52,97.8,60.2,12.8,322,1967,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,1877,1016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2105,0.52,97.8,42.2,11.8,347,2112,0.00,2.60,0.00,0.000,4,0.000,0.050,2713,636,1016,0,0,1,0,0,0,28.83,26.21,28.83
$GC,2125,0.52,97.8,39.5,12.2,350,2135,0.10,2.65,0.00,0.000,6,0.147,0.045,2678,1870,1016,0,0,0,0,0,0,26.12,26.24,28.83
$GC,2205,0.52,97.8,31.5,9.7,363,2214,0.00,1.60,0.00,0.000,4,0.000,0.050,2679,3107,1016,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2257,0.52,97.8,26.2,10.5,371,2266,0.00,1.62,0.00,0.000,6,0.000,0.041,2684,1862,1015,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2338,0.52,97.8,18.1,9.6,384,2346,0.00,2.60,0.00,0.000,4,0.000,0.052,2697,628,1016,0,0,1,0,0,0,28.83,26.28,28.83
$GC,2356,0.52,97.8,16.0,11.3,386,2365,0.00,2.62,0.00,0.000,6,0.000,0.045,2696,1869,1015,0,0,1,0,0,0,28.83,26.31,28.83
$GC,2437,0.52,97.8,7.2,10.3,399,2445,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1869,1015,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2484,end climb,SURFACE_DEPTH_REACHED
$STATE,2484,begin surface coast
$FINISH,0.3,1.010962
$STATE,2518,end surface coast,CONTROL_FINISHED_OK
$STATE,2518,begin surface
$SM_CCo,2538,67.47,0.062,0,0,491,230.09
$SM_GC,1.21,6.57,0.00,67.47,0.042,0.000,0.062,118,1869,491,-7.39,0.11,230.09,0,0,0,0,0,0,26.39,28.83,26.25
$IRIDIUM_FIX,4726.11,-12223.37,261012,060630
$TT8_MAMPS,0.023219,0.023219
$HUMID,39.91
$INTERNAL_PRESSURE,9.148
$TCM_TEMP,16.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.2,53.8
$24V_AH,24.5,1.030
$10V_AH,10.5,1.059
$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,16.775,35.900,176.450,67.475,0.000,31.102,31.016,217.783,0.750,0.000,36.416,932.378,233.517,294.618,1392.394,200.970,33.209,719.695,0.000,1101.559,0.000,7.108,0.000
$DEVICE_MAMPS,263.925,52.020,587.520,61.965,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,298.632,202.113,818.954,154.002,0.000,0.000,0.000,0.000,0.000,0.000
$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,23659,413
$CAP_FILE_SIZE,50223,0
$CFSIZE,260165632,257470464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0,0
$GPS,261012,074822,4742.675,-12224.440,10,99.0,29,18.2