version: 66.10
glider: 157
mission: 6
dive: 18
start: 10 26 112 8 53 8
data:
$ID,157
$MISSION,6
$DIVE,18
$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,-1464126.2
$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,31
$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
$GPS1,261012,084436,4742.543,-12225.164,27,1.1,27,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-74.7
$GPS2,261012,085212,4742.516,-12225.219,8,1.1,13,18.2
$SPEED_LIMITS,0.139,0.201
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.046,0.196
$KALMAN_X,-2577.8,789.9,157.3,1085.7,-200.4
$KALMAN_Y,-2279.4,1607.7,-479.9,-1510.2,-844.9
$MHEAD_RNG_PITCHd_Wd,355.1,2615,-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,-50.65,0.000,6,0.000,0.000,117,1855,1830,0,0,0,0,0,0,28.83,28.83,26.32
$GC,77,-0.52,-97.8,2.8,-5.5,7,94,8.98,1.67,0.00,0.000,4,0.264,0.043,2333,3118,1834,0,0,0,0,0,0,25.73,25.98,28.83
$GC,336,-0.52,-97.8,41.9,-13.3,52,344,0.00,1.62,0.00,0.000,6,0.000,0.036,2335,1851,1836,0,0,0,0,0,0,28.83,26.20,28.83
$GC,483,-0.52,-97.8,61.9,-13.7,77,489,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,1851,1835,0,0,0,0,0,0,28.83,28.83,28.83
$GC,625,-0.52,-97.8,79.9,-11.0,102,633,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,1851,1836,0,0,0,0,0,0,28.83,28.83,28.83
$GC,771,-0.52,-97.8,96.7,-10.8,127,778,0.00,2.50,0.00,0.000,4,0.000,0.047,2340,639,1836,0,0,1,0,0,0,28.83,26.32,28.83
$GC,833,-0.52,-97.8,103.2,-10.4,137,840,0.00,2.58,0.00,0.000,6,0.000,0.049,2329,1866,1836,0,0,1,0,0,0,28.83,26.34,28.83
$GC,977,-0.52,-97.8,117.0,-9.3,162,986,0.00,1.60,0.00,0.000,4,0.000,0.051,2321,3109,1836,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1095,-0.52,-97.8,128.3,-9.7,182,1103,0.00,1.60,0.00,0.000,6,0.000,0.037,2321,1865,1835,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1247,-0.52,-97.8,143.6,-12.6,207,1253,0.00,1.60,0.00,0.000,4,0.000,0.053,2316,3117,1835,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1298,-0.52,-97.8,152.4,-17.3,215,1305,0.00,1.58,0.00,0.000,6,0.000,0.039,2315,1866,1835,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1448,-0.52,-97.8,174.3,-8.6,240,1456,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,1865,1835,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1509,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1509,begin apogee
$GC,1517,-0.14,0.0,180.0,-11.5,250,1616,0.50,0.00,89.62,0.615,6,0.173,0.000,2468,1863,1425,0,0,0,0,0,0,26.31,28.83,24.94
$STATE,1617,end apogee,CONTROL_FINISHED_OK
$STATE,1617,begin climb
$GC,1621,0.52,97.8,183.7,0.0,265,1720,0.65,1.75,88.32,0.580,4,0.125,0.050,2681,3098,1020,0,0,0,0,0,0,25.38,25.00,24.51
$GC,1865,0.52,97.8,165.4,10.0,305,1872,0.00,1.60,0.00,0.000,6,0.000,0.039,2688,1868,1017,0,0,0,0,0,0,28.83,25.70,28.83
$GC,2011,0.52,97.8,148.1,9.0,330,2019,0.00,2.65,0.00,0.000,4,0.000,0.050,2702,631,1017,0,0,1,0,0,0,28.83,25.89,28.83
$GC,2035,0.52,97.8,145.6,10.0,333,2041,0.00,2.62,0.00,0.000,6,0.000,0.044,2702,1868,1017,0,0,0,0,0,0,28.83,25.93,28.83
$GC,2178,0.52,97.8,128.5,11.4,358,2186,0.00,1.60,0.00,0.000,4,0.000,0.051,2702,3096,1016,0,0,0,0,0,0,28.83,26.05,28.83
$GC,2269,0.52,97.8,118.1,13.5,373,2276,0.00,1.60,0.00,0.000,6,0.000,0.039,2709,1851,1015,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2413,0.52,97.8,98.1,13.0,398,2421,0.00,2.62,0.00,0.000,4,0.000,0.054,2722,625,1016,0,0,1,0,0,0,28.83,26.17,28.83
$GC,2459,0.52,97.8,92.4,13.2,405,2466,0.17,2.60,0.00,0.000,6,0.173,0.043,2675,1869,1015,0,0,0,0,0,0,26.06,26.21,28.83
$GC,2606,0.52,97.8,75.6,13.4,430,2614,0.00,2.65,0.00,0.000,4,0.000,0.050,2681,633,1015,0,0,1,0,0,0,28.83,26.24,28.83
$GC,2633,0.52,97.8,71.8,12.7,434,2642,0.00,2.62,0.00,0.000,6,0.000,0.043,2681,1868,1014,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2783,0.52,97.8,57.1,9.0,459,2790,0.00,1.55,0.00,0.000,4,0.000,0.051,2681,3107,1015,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2833,0.52,97.8,51.2,11.3,467,2840,0.00,1.58,0.00,0.000,6,0.000,0.040,2688,1859,1014,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2979,0.52,97.8,35.3,10.4,492,2987,0.00,2.60,0.00,0.000,4,0.000,0.052,2700,629,1014,0,0,1,0,0,0,28.83,26.34,28.83
$GC,3063,0.52,97.8,27.3,8.8,506,3071,0.00,2.60,0.00,0.000,6,0.000,0.044,2700,1864,1014,0,0,1,0,0,0,28.83,26.37,28.83
$GC,3143,0.52,97.8,19.3,10.4,519,3151,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1863,1014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3222,0.52,97.8,10.9,10.7,532,3231,0.00,1.60,0.00,0.000,4,0.000,0.052,2700,3106,1014,0,0,0,0,0,0,28.83,26.39,28.83
$STATE,3292,end climb,SURFACE_DEPTH_REACHED
$STATE,3292,begin surface coast
$FINISH,2.0,1.022751
$STATE,3300,end surface coast,CONTROL_FINISHED_OK
$STATE,3301,begin surface
$SM_CCo,3322,67.50,0.063,0,0,490,230.09
$SM_GC,1.25,6.55,1.65,67.50,0.041,0.040,0.063,125,1854,490,-7.37,0.79,230.09,0,0,0,0,0,0,26.45,26.43,26.32
$IRIDIUM_FIX,4726.11,-12216.25,261012,070721
$TT8_MAMPS,0.023219,0.023219
$HUMID,41.14
$INTERNAL_PRESSURE,9.148
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,180.0,18.6
$24V_AH,24.5,1.132
$10V_AH,10.5,1.200
$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,16.850,48.650,177.950,67.500,0.000,29.473,32.620,253.897,3.000,0.000,16.388,1229.383,348.343,325.108,1702.051,249.240,33.208,850.467,0.000,1414.045,0.000,22.328,0.000
$DEVICE_MAMPS,263.925,54.315,615.060,62.730,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,393.316,251.883,1021.400,194.485,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323268
$DATA_FILE_SIZE,33722,545
$CAP_FILE_SIZE,63194,0
$CFSIZE,260165632,257376256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0,0
$GPS,261012,095036,4742.666,-12225.438,7,2.0,12,18.2