version: 66.10
glider: 157
mission: 6
dive: 22
start: 10 26 112 13 12 39
data:
$ID,157
$MISSION,6
$DIVE,22
$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,-1464131.2
$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,32
$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
$GPS1,261012,130324,4743.178,-12224.434,9,1.1,26,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-75.1
$GPS2,261012,131143,4743.256,-12224.428,10,1.3,10,18.2
$SPEED_LIMITS,0.139,0.201
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.014,0.201
$KALMAN_X,-3204.7,273.7,-257.4,3618.3,-352.8
$KALMAN_Y,-1827.8,337.8,-47.3,240.4,184.4
$MHEAD_RNG_PITCHd_Wd,337.7,1280,-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,12,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,-50.53,0.000,6,0.000,0.000,122,1853,1830,0,0,0,0,0,0,28.83,28.83,26.29
$GC,77,-0.52,-97.8,2.9,-6.0,7,94,9.05,1.67,0.00,0.000,4,0.265,0.044,2340,3110,1834,0,0,0,0,0,0,25.71,25.96,28.83
$GC,347,-0.52,-97.8,44.3,-13.7,54,356,0.00,1.62,0.00,0.000,6,0.000,0.036,2340,1850,1836,0,0,0,0,0,0,28.83,26.18,28.83
$GC,494,-0.52,-97.8,64.3,-11.6,79,500,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,1850,1836,0,0,0,0,0,0,28.83,28.83,28.83
$GC,637,-0.52,-97.8,80.2,-10.0,104,645,0.00,1.67,0.00,0.000,4,0.000,0.053,2334,3101,1836,0,0,0,0,0,0,28.83,26.27,28.83
$GC,694,-0.52,-97.8,86.7,-11.9,113,701,0.00,1.55,0.00,0.000,6,0.000,0.035,2333,1852,1836,0,0,0,0,0,0,28.83,26.33,28.83
$GC,840,-0.52,-97.8,102.6,-11.8,138,848,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,1853,1836,0,0,0,0,0,0,28.83,28.83,28.83
$GC,993,-0.52,-97.8,120.0,-11.5,163,999,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,1853,1836,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1136,-0.52,-97.8,137.5,-11.8,188,1144,0.00,1.67,0.00,0.000,4,0.000,0.054,2327,3108,1836,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1183,-0.52,-97.8,143.1,-12.3,195,1189,0.00,1.55,0.00,0.000,6,0.000,0.038,2327,1867,1836,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1329,-0.52,-97.8,161.1,-12.2,220,1338,0.00,2.55,0.00,0.000,4,0.000,0.047,2332,649,1836,0,0,1,0,0,0,28.83,26.45,28.83
$STATE,1399,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1399,begin apogee
$GC,1409,-0.14,0.0,170.2,-10.6,232,1509,0.47,0.00,87.60,0.827,6,0.172,0.000,2467,1879,1430,0,0,0,0,1,0,26.29,28.83,24.42
$STATE,1510,end apogee,CONTROL_FINISHED_OK
$STATE,1510,begin climb
$GC,1514,0.52,97.8,175.3,0.0,247,1612,0.65,1.73,91.43,0.594,4,0.119,0.050,2678,3114,1023,0,0,0,0,0,0,25.10,24.91,24.44
$GC,1640,0.52,97.8,165.4,11.0,266,1649,0.00,1.70,0.00,0.000,6,0.000,0.039,2686,1870,1021,0,0,0,0,0,0,28.83,25.22,28.83
$GC,1791,0.52,97.8,147.9,12.3,291,1798,0.00,2.62,0.00,0.000,4,0.000,0.050,2699,633,1020,0,0,1,0,0,0,28.83,25.69,28.83
$GC,1863,0.52,97.8,138.5,11.4,303,1870,0.00,2.65,0.00,0.000,6,0.000,0.044,2699,1882,1020,0,0,0,0,0,0,28.83,25.83,28.83
$GC,2007,0.52,97.8,120.6,12.7,328,2016,0.00,1.62,0.00,0.000,4,0.000,0.053,2699,3109,1019,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2042,0.52,97.8,115.9,13.7,333,2049,0.00,1.62,0.00,0.000,6,0.000,0.040,2707,1846,1019,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2186,0.52,97.8,95.8,13.7,358,2194,0.00,2.60,0.00,0.000,4,0.000,0.050,2720,630,1019,0,0,1,0,0,0,28.83,26.10,28.83
$GC,2243,0.52,97.8,87.3,15.9,367,2251,0.17,2.62,0.00,0.000,6,0.168,0.044,2672,1883,1019,0,0,0,0,0,0,26.01,26.15,28.83
$GC,2392,0.52,97.8,71.0,10.0,392,2400,0.00,1.58,0.00,0.000,4,0.000,0.053,2672,3093,1018,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2472,0.52,97.8,62.7,10.2,405,2478,0.00,1.58,0.00,0.000,6,0.000,0.038,2678,1849,1018,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2615,0.52,97.8,47.8,10.1,430,2624,0.00,2.58,0.00,0.000,4,0.000,0.050,2691,638,1018,0,0,1,0,0,0,28.83,26.28,28.83
$GC,2684,0.52,97.8,41.2,9.9,441,2691,0.00,2.58,0.00,0.000,6,0.000,0.044,2690,1884,1018,0,0,1,0,0,0,28.83,26.31,28.83
$GC,2833,0.52,97.8,27.4,9.3,466,2840,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,1883,1017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2912,0.52,97.8,19.6,9.6,479,2921,0.00,2.65,0.00,0.000,4,0.000,0.051,2702,637,1017,0,0,1,0,0,0,28.83,26.34,28.83
$GC,2936,0.52,97.8,17.2,9.9,482,2945,0.00,2.60,0.00,0.000,6,0.000,0.046,2702,1864,1017,0,0,1,0,0,0,28.83,26.36,28.83
$GC,3016,0.52,97.8,7.8,12.5,495,3025,0.00,1.60,0.00,0.000,4,0.000,0.052,2701,3102,1017,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3042,0.52,97.8,4.9,11.7,498,3051,0.10,1.62,0.00,0.000,6,0.164,0.040,2677,1858,1017,0,0,0,0,0,0,26.25,26.41,28.83
$STATE,3057,end climb,SURFACE_DEPTH_REACHED
$STATE,3057,begin surface coast
$FINISH,0.1,1.022754
$STATE,3088,end surface coast,CONTROL_FINISHED_OK
$STATE,3088,begin surface
$SM_CCo,3108,68.12,0.062,0,0,491,230.09
$SM_GC,1.17,6.47,0.00,68.12,0.040,0.000,0.062,119,1858,491,-7.38,-0.20,230.09,0,0,0,0,0,0,26.43,28.83,26.29
$IRIDIUM_FIX,4726.11,-12232.20,261012,121230
$TT8_MAMPS,0.023219,0.023219
$HUMID,39.68
$INTERNAL_PRESSURE,9.148
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.0,65.2
$24V_AH,24.4,1.364
$10V_AH,10.5,1.492
$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,16.925,48.900,179.025,68.125,0.000,28.974,36.132,293.316,1.250,0.000,13.348,1143.216,313.937,327.388,1644.489,252.750,33.208,829.818,0.000,1320.766,0.000,10.250,0.000
$DEVICE_MAMPS,265.455,54.315,826.965,61.965,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,361.776,233.784,959.105,181.458,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323244
$DATA_FILE_SIZE,30329,505
$CAP_FILE_SIZE,62000,0
$CFSIZE,260165632,257232896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,1,0,0
$GPS,261012,140631,4743.747,-12224.489,10,1.4,10,18.2