version: 66.10
glider: 157
mission: 6
dive: 17
start: 10 26 112 7 56 41
data:
$ID,157
$MISSION,6
$DIVE,17
$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,-1464125
$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,34
$R_STBD_OVSHOOT,31
$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
$GPS1,261012,074822,4742.675,-12224.440,10,99.0,29,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-75.1
$GPS2,261012,075545,4742.636,-12224.507,9,99.0,28,18.2
$SPEED_LIMITS,0.139,0.201
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.151,0.115
$KALMAN_X,-1524.5,281.4,-129.8,1709.8,313.3
$KALMAN_Y,-1299.6,1251.9,-331.9,-2061.4,-399.0
$MHEAD_RNG_PITCHd_Wd,289.1,384,-19.1,-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,15,begin dive
$GC,19,-0.55,-85.6,0.0,0.0,0,72,0.00,0.00,-48.72,0.000,6,0.000,0.000,117,1871,1781,0,0,0,0,0,0,28.83,28.83,26.34
$GC,77,-0.56,-97.8,2.9,-6.1,7,95,8.95,2.62,-1.20,0.000,4,0.263,0.054,2346,619,1832,0,0,1,0,0,0,25.74,25.98,26.21
$GC,345,-0.56,-97.8,38.4,-11.5,53,353,0.00,2.67,0.00,0.000,6,0.000,0.044,2335,1878,1832,0,0,0,0,0,0,28.83,26.18,28.83
$GC,423,-0.56,-97.8,49.0,-14.4,66,431,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,1877,1832,0,0,0,0,0,0,28.83,28.83,28.83
$GC,569,-0.56,-97.8,66.7,-12.1,91,575,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,1877,1832,0,0,0,0,0,0,28.83,28.83,28.83
$GC,712,-0.56,-97.8,84.1,-12.1,116,719,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,1877,1832,0,0,0,0,0,0,28.83,28.83,28.83
$GC,860,-0.56,-97.8,101.9,-11.9,141,867,0.00,2.58,0.00,0.000,4,0.000,0.044,2338,624,1832,0,0,1,0,0,0,28.83,26.34,28.83
$GC,925,-0.56,-97.8,109.7,-11.9,152,937,0.00,2.65,0.00,0.000,6,0.000,0.045,2327,1875,1832,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1081,-0.56,-97.8,126.9,-11.7,177,1087,0.00,1.52,0.00,0.000,4,0.000,0.051,2319,3099,1832,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1216,-0.56,-97.8,144.5,-13.6,199,1223,0.00,1.55,0.00,0.000,6,0.000,0.034,2319,1836,1832,0,0,0,0,0,0,28.83,26.44,28.83
$STATE,1230,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1230,begin apogee
$GC,1238,-0.14,0.0,147.0,-13.0,201,1335,0.47,0.00,90.28,0.579,6,0.170,0.000,2467,1835,1422,0,0,0,0,0,0,26.27,28.83,24.92
$STATE,1336,end apogee,CONTROL_FINISHED_OK
$STATE,1336,begin climb
$GC,1340,0.56,97.8,152.2,0.0,216,1441,0.70,1.80,83.93,0.783,4,0.123,0.050,2694,3099,1030,0,0,0,0,1,0,25.37,24.83,24.19
$GC,1463,0.56,97.8,141.9,12.6,234,1471,0.00,1.67,0.00,0.000,6,0.000,0.038,2701,1873,1030,0,0,0,0,0,0,28.83,25.18,28.83
$GC,1613,0.56,97.8,123.1,12.5,259,1619,0.00,1.62,0.00,0.000,4,0.000,0.050,2702,3104,1030,0,0,0,0,0,0,28.83,25.70,28.83
$GC,1640,0.56,97.8,119.0,13.6,263,1647,0.00,1.62,0.00,0.000,6,0.000,0.040,2709,1849,1030,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1787,0.56,97.8,99.2,14.3,288,1795,0.00,2.60,0.00,0.000,4,0.000,0.052,2722,643,1030,0,0,1,0,0,0,28.83,25.93,28.83
$GC,1822,0.56,97.8,93.8,15.4,293,1830,0.15,2.60,0.00,0.000,6,0.174,0.044,2684,1883,1030,0,0,1,0,0,0,25.84,25.98,28.83
$GC,1969,0.56,97.8,77.0,9.9,318,1977,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,1883,1030,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2115,0.56,97.8,62.0,8.9,343,2121,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,1883,1031,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2258,0.56,97.8,48.1,9.6,368,2265,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,1882,1030,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2402,0.56,97.8,32.7,10.3,393,2410,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,1883,1030,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2482,0.56,97.8,24.7,9.8,406,2490,0.00,2.65,0.00,0.000,4,0.000,0.051,2694,641,1030,0,0,1,0,0,0,28.83,26.29,28.83
$GC,2511,0.56,97.8,21.8,9.7,410,2520,0.00,2.60,0.00,0.000,6,0.000,0.045,2694,1865,1030,0,0,1,0,0,0,28.83,26.32,28.83
$GC,2592,0.56,97.8,12.7,12.5,423,2600,0.00,1.60,0.00,0.000,4,0.000,0.051,2694,3104,1030,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2617,0.56,97.8,10.7,9.7,426,2625,0.00,1.62,0.00,0.000,6,0.000,0.040,2702,1858,1030,0,0,0,0,0,0,28.83,26.36,28.83
$STATE,2682,end climb,SURFACE_DEPTH_REACHED
$STATE,2683,begin surface coast
$FINISH,0.3,1.010175
$STATE,2712,end surface coast,CONTROL_FINISHED_OK
$STATE,2712,begin surface
$SM_CCo,2732,69.57,0.062,0,0,491,230.09
$SM_GC,1.17,6.57,0.00,69.57,0.041,0.000,0.062,117,1857,491,-7.39,-0.23,230.09,0,0,0,0,0,0,26.41,28.83,26.27
$IRIDIUM_FIX,4726.11,-12225.08,261012,060633
$TT8_MAMPS,0.023968,0.023968
$HUMID,39.68
$INTERNAL_PRESSURE,9.148
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,130.5,29.5
$24V_AH,24.2,1.081
$10V_AH,10.5,1.124
$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,16.850,34.000,174.200,69.575,0.000,22.511,32.012,231.280,1.500,0.000,32.453,998.881,259.907,313.725,1471.981,208.866,33.200,765.433,0.000,1176.188,0.000,11.710,0.000
$DEVICE_MAMPS,263.160,53.550,782.595,61.965,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,316.776,212.212,868.786,163.787,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323180
$DATA_FILE_SIZE,26996,442
$CAP_FILE_SIZE,53408,0
$CFSIZE,260165632,257425408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,1,0,0
$GPS,261012,084436,4742.543,-12225.164,27,1.1,27,18.2