version: 66.10
glider: 157
mission: 6
dive: 23
start: 10 26 112 14 19 20
data:
$ID,157
$MISSION,6
$DIVE,23
$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,-1464132.5
$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,38
$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
$GPS1,261012,140631,4743.747,-12224.489,10,1.4,10,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-74.2
$GPS2,261012,141824,4743.848,-12224.457,9,1.2,14,18.2
$SPEED_LIMITS,0.139,0.201
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.053,-0.194
$KALMAN_X,-2660.8,-69.2,-392.4,3517.6,65.7
$KALMAN_Y,-1950.7,41.8,567.0,1142.5,11.9
$MHEAD_RNG_PITCHd_Wd,177.0,2167,-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,-50.88,0.000,6,0.000,0.000,120,1857,1831,0,0,0,0,0,0,28.83,28.83,26.26
$GC,77,-0.52,-97.8,2.8,-6.1,7,94,9.05,1.67,0.00,0.000,4,0.266,0.044,2333,3106,1835,0,0,0,0,0,0,25.67,25.92,28.83
$GC,137,-0.52,-97.8,14.0,-15.2,16,145,0.00,1.62,0.00,0.000,6,0.000,0.037,2335,1862,1837,0,0,0,0,0,0,28.83,26.00,28.83
$GC,217,-0.52,-97.8,25.4,-14.4,29,225,0.00,2.62,0.00,0.000,4,0.000,0.047,2340,630,1837,0,0,0,0,0,0,28.83,26.03,28.83
$GC,264,-0.52,-97.8,32.0,-14.0,36,273,0.00,2.67,0.00,0.000,6,0.000,0.049,2329,1862,1837,0,0,0,0,0,0,28.83,26.07,28.83
$GC,343,-0.52,-97.8,43.7,-14.5,49,350,0.00,1.60,0.00,0.000,4,0.000,0.053,2321,3120,1836,0,0,0,0,0,0,28.83,26.11,28.83
$GC,393,-0.52,-97.8,51.1,-14.1,57,400,0.00,1.60,0.00,0.000,6,0.000,0.035,2321,1841,1837,0,0,0,0,0,0,28.83,26.17,28.83
$GC,537,-0.52,-97.8,71.1,-13.3,82,545,0.00,1.70,0.00,0.000,4,0.000,0.054,2315,3107,1836,0,0,0,0,0,0,28.83,26.21,28.83
$GC,572,-0.52,-97.8,75.8,-13.8,87,579,0.00,1.58,0.00,0.000,6,0.000,0.037,2315,1847,1836,0,0,0,0,0,0,28.83,26.25,28.83
$GC,718,-0.52,-97.8,96.9,-13.6,112,726,0.00,2.53,0.00,0.000,4,0.000,0.046,2315,650,1836,0,0,1,0,0,0,28.83,26.27,28.83
$GC,884,-0.52,-97.8,120.1,-14.4,139,891,0.17,2.58,0.00,0.000,6,0.199,0.047,2348,1867,1836,0,0,1,0,0,0,26.16,26.32,28.83
$GC,1032,-0.52,-97.8,138.0,-12.0,164,1041,0.00,1.60,0.00,0.000,4,0.000,0.053,2341,3101,1836,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1079,-0.52,-97.8,143.2,-12.1,171,1085,0.00,1.55,0.00,0.000,6,0.000,0.037,2341,1852,1836,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1222,-0.52,-97.8,160.1,-12.2,196,1230,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,1852,1836,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1302,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1302,begin apogee
$GC,1310,-0.14,0.0,169.4,-10.9,210,1403,0.43,0.00,89.53,0.585,6,0.166,0.000,2472,1852,1429,0,0,0,0,0,0,26.27,28.83,24.92
$STATE,1404,end apogee,CONTROL_FINISHED_OK
$STATE,1404,begin climb
$GC,1407,0.52,97.8,173.3,0.0,224,1508,0.62,2.70,88.82,0.575,4,0.122,0.051,2690,655,1020,0,0,1,0,0,0,25.35,24.98,24.51
$GC,1538,0.52,97.8,162.9,11.0,243,1545,0.00,2.67,0.00,0.000,6,0.000,0.044,2691,1878,1019,0,0,0,0,0,0,28.83,25.29,28.83
$GC,1684,0.52,97.8,144.9,12.4,268,1692,0.00,1.62,0.00,0.000,4,0.000,0.051,2691,3103,1018,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1712,0.52,97.8,140.8,13.4,272,1721,0.00,1.65,0.00,0.000,6,0.000,0.039,2698,1864,1017,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1862,0.52,97.8,121.1,12.7,297,1869,0.00,2.58,0.00,0.000,4,0.000,0.050,2710,636,1016,0,0,1,0,0,0,28.83,25.94,28.83
$GC,1890,0.52,97.8,117.1,13.3,301,1897,0.15,2.62,0.00,0.000,6,0.168,0.044,2672,1873,1016,0,0,0,0,0,0,25.85,25.98,28.83
$GC,2038,0.52,97.8,101.3,10.4,326,2047,0.00,2.67,0.00,0.000,4,0.000,0.051,2682,632,1016,0,0,1,0,0,0,28.83,26.08,28.83
$GC,2073,0.52,97.8,97.4,10.6,331,2080,0.00,2.60,0.00,0.000,6,0.000,0.044,2682,1879,1016,0,0,1,0,0,0,28.83,26.11,28.83
$GC,2220,0.52,97.8,82.4,9.3,356,2228,0.00,1.60,0.00,0.000,4,0.000,0.052,2681,3107,1016,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2247,0.52,97.8,79.2,10.3,360,2256,0.00,1.62,0.00,0.000,6,0.000,0.040,2689,1866,1016,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2395,0.52,97.8,63.3,10.6,385,2401,0.00,1.60,0.00,0.000,4,0.000,0.052,2689,3097,1016,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2478,0.52,97.8,53.7,11.7,399,2485,0.00,1.58,0.00,0.000,6,0.000,0.039,2696,1851,1016,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2624,0.52,97.8,37.7,10.8,424,2632,0.00,2.58,0.00,0.000,4,0.000,0.052,2708,640,1016,0,0,1,0,0,0,28.83,26.31,28.83
$GC,2686,0.52,97.8,31.0,9.9,434,2695,0.00,2.60,0.00,0.000,6,0.000,0.044,2708,1874,1015,0,0,1,0,0,0,28.83,26.34,28.83
$GC,2767,0.52,97.8,23.2,10.3,447,2775,0.00,2.65,0.00,0.000,4,0.000,0.052,2714,629,1015,0,0,1,0,0,0,28.83,26.34,28.83
$GC,2796,0.52,97.8,20.0,11.1,451,2805,0.15,2.60,0.00,0.000,6,0.145,0.044,2664,1861,1015,0,0,1,0,0,0,26.24,26.36,28.83
$GC,2876,0.53,112.4,13.0,7.2,464,2892,0.00,1.62,6.28,0.094,4,0.000,0.051,2664,3105,970,0,0,0,0,0,0,28.83,26.35,26.29
$GC,2910,0.53,125.2,10.7,7.3,468,2926,0.00,1.62,8.12,0.080,6,0.000,0.040,2667,1857,917,0,0,0,0,0,0,28.83,26.38,26.31
$GC,2998,0.53,125.2,3.1,8.1,482,3006,0.00,2.58,0.00,0.000,4,0.000,0.052,2673,636,921,0,0,1,0,0,0,28.83,26.35,28.83
$STATE,3013,end climb,SURFACE_DEPTH_REACHED
$STATE,3013,begin surface coast
$FINISH,0.1,1.011008
$STATE,3054,end surface coast,CONTROL_FINISHED_OK
$STATE,3055,begin surface
$SM_CCo,3077,57.05,0.060,0,0,491,230.09
$SM_GC,1.20,6.50,2.62,57.05,0.041,0.040,0.060,115,1873,491,-7.40,-1.02,230.09,0,0,0,0,0,0,26.41,26.39,26.30
$IRIDIUM_FIX,4729.30,-12222.38,261012,141440
$TT8_MAMPS,0.023968,0.023968
$HUMID,40.15
$INTERNAL_PRESSURE,9.13823
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,130.4,53.8
$24V_AH,24.5,1.422
$10V_AH,10.5,1.565
$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,17.075,67.725,192.750,57.050,0.000,53.885,64.263,352.792,1.750,0.000,16.979,1124.464,354.895,338.958,1756.257,279.544,33.212,857.239,0.000,1289.200,0.000,14.671,0.000
$DEVICE_MAMPS,266.220,53.550,585.225,59.670,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,352.760,230.532,943.559,176.185,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323288
$DATA_FILE_SIZE,30328,491
$CAP_FILE_SIZE,68775,0
$CFSIZE,260165632,257191936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0,0
$GPS,261012,151230,4743.649,-12224.541,10,2.0,10,18.2