version: 66.13
glider: 157
mission: 18
dive: 4
start: 10 30 117 21 55 49
data:
$ID,157
$MISSION,18
$DIVE,4
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,150
$D_ABORT,1050
$D_NO_BLEED,500
$D_BOOST,3
$T_BOOST,0
$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,50
$T_MISSION,70
$T_ABORT,1440
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52192
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.00318893
$HD_B,0.0082269898
$HD_C,3.24089e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,41.058334
$TGT_DEFAULT_LON,-124.43333
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,0
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,45
$CAPUPLOAD,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100840
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,195
$PITCH_MAX,3873
$C_PITCH,2914
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0099999998
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,26
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,268
$ROLL_MAX,3867
$ROLL_DEG,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,485
$VBD_MAX,3960
$C_VBD,1888
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00055
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,0.80000001
$MAXI_10V,1
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-59.556149
$PRESSURE_SLOPE,0.0001158973
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042755376
$SEABIRD_T_H,0.00061792543
$SEABIRD_T_I,2.1266471e-05
$SEABIRD_T_J,2.1233338e-06
$SEABIRD_C_G,-10.171201
$SEABIRD_C_H,1.1543965
$SEABIRD_C_I,-0.001885508
$SEABIRD_C_J,0.00023849163
$SEABIRD_C_Z,2972.8101
$GPS1,301017,214731,4742.5317,-12224.8145,5,0.8,9,16.3,0.0,0.0,11,8.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-68.6
$GPS2,301017,215442,4742.4824,-12224.8555,11,0.9,12,16.3,0.0,0.0,10,9.3
$SPEED_LIMITS,0.100,0.287
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.062090,0.280277
$KALMAN_X,-208.350067,-229.888718,-185.031998,380.761078,-136.364304
$KALMAN_Y,-598.710144,-685.060974,-562.176697,1697.039062,-419.175415
$MHEAD_RNG_PITCHd_Wd,2.8,3762,-16.4,-10.000,-19.21,2244
$D_GRID,162
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts,int_press,humidity
$STATE,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-0.71,-146.6,163,2164,683,778,0.0,0.0,0,46,0.00,0.00,-37.00,0.000,16386,0.000,0.000,164,2164,1744,1788,1700,0,0,0,0,0,0,26.46,28.83,26.48,8.88,47.04
$GC,49,-0.71,-146.6,163,2163,1788,1700,2.4,-4.8,6,87,9.75,2.60,-21.50,0.000,18692,0.243,1.278,2677,3557,2474,2635,2314,0,0,0,0,0,0,25.91,25.12,26.17,8.98,46.41
$GC,114,-0.71,-146.6,2676,3554,2635,2318,7.1,-10.8,17,122,0.00,2.33,0.00,0.000,1030,0.000,0.034,2677,2158,2476,2635,2317,0,0,0,0,0,0,26.25,26.18,26.27,9.06,45.70
$GC,184,-0.71,-146.6,2677,2159,2635,2318,16.4,-14.7,30,191,0.00,2.42,0.00,0.000,516,0.000,0.041,2677,709,2476,2635,2317,0,0,0,0,0,0,26.51,26.24,26.53,9.06,46.10
$GC,248,-0.71,-146.6,2676,709,2634,2318,26.5,-15.7,42,255,0.00,2.28,0.00,0.000,1030,0.000,0.028,2669,2140,2476,2635,2318,0,0,0,0,0,0,26.38,26.32,26.39,9.06,45.66
$GC,316,-0.71,-146.6,2668,2138,2634,2318,36.9,-15.1,55,322,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2138,2476,2635,2318,0,0,0,0,0,0,26.62,26.63,26.63,9.06,46.29
$GC,384,-0.71,-146.6,2668,2138,2635,2318,47.8,-16.3,68,390,0.00,2.50,0.00,0.000,260,0.000,0.042,2657,3572,2476,2634,2318,0,0,0,0,0,0,26.66,26.36,26.67,9.05,45.62
$GC,427,-0.71,-146.6,2656,3562,2635,2318,54.6,-15.1,76,434,0.00,2.35,0.00,0.000,1030,0.000,0.028,2657,2146,2476,2635,2318,0,0,0,0,0,0,26.49,26.42,26.51,9.05,45.58
$GC,555,-0.71,-146.6,2656,2146,2634,2318,73.6,-13.6,101,563,0.00,2.35,0.00,0.000,516,0.000,0.046,2657,713,2475,2634,2317,0,0,0,0,0,0,26.74,26.46,26.75,9.05,46.02
$GC,619,-0.71,-146.6,2656,713,2635,2318,83.0,-14.4,113,628,0.15,2.28,0.00,0.000,3078,0.159,0.027,2694,2149,2476,2634,2318,0,0,0,0,0,0,26.34,26.51,26.48,9.05,45.90
$GC,752,-0.71,-146.6,2693,2147,2634,2318,97.8,-10.7,138,757,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2147,2476,2635,2317,0,0,0,0,0,0,26.80,26.82,26.82,9.05,45.62
$GC,885,-0.71,-146.6,2693,2147,2634,2317,110.8,-9.2,163,892,0.00,2.47,0.00,0.000,260,0.000,0.042,2684,3573,2476,2635,2318,0,0,0,0,0,0,26.84,26.53,26.85,9.05,45.66
$GC,928,-0.71,-146.6,2683,3569,2635,2318,115.5,-10.0,171,935,0.00,2.35,0.00,0.000,1030,0.000,0.034,2683,2149,2476,2634,2318,0,0,0,0,0,0,26.65,26.60,26.67,9.05,45.47
$GC,1058,-0.71,-146.6,2683,2150,2634,2318,129.8,-11.6,196,1064,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2150,2476,2635,2318,0,0,0,0,0,0,26.87,26.89,26.89,9.04,45.74
$GC,1186,-0.71,-146.6,2683,2150,2634,2318,145.2,-11.9,221,1192,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2150,2476,2635,2318,0,0,0,0,0,0,26.90,26.91,26.91,9.04,45.74
$STATE,1228,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1228,begin apogee
$GC,1232,-0.19,0.0,2683,2014,2634,2318,150.4,-12.9,229,1360,0.50,0.05,117.47,0.712,10246,0.133,0.054,2857,2071,1886,1928,1844,0,0,0,0,0,0,26.47,25.11,24.75,9.04,46.06
$STATE,1362,end apogee,CONTROL_FINISHED_OK
$STATE,1362,begin climb
$GC,1363,0.71,146.6,2857,2071,1928,1844,156.5,0.0,250,1488,0.77,0.00,117.25,0.687,10246,0.090,0.000,3127,2071,1302,1305,1300,0,0,0,0,0,0,25.37,25.08,24.60,8.99,44.99
$GC,1610,0.71,146.6,3126,2071,1305,1298,139.5,11.1,295,1616,0.00,2.35,0.00,0.000,516,0.000,0.045,3132,648,1301,1305,1298,0,0,0,0,0,0,26.13,25.86,26.15,8.93,44.52
$GC,1658,0.71,146.6,3131,647,1305,1298,134.5,10.6,304,1665,0.00,2.20,0.00,0.000,1030,0.000,0.026,3132,2051,1301,1305,1298,0,0,0,0,0,0,26.08,26.02,26.09,8.93,44.92
$GC,1788,0.71,146.6,3131,2050,1305,1297,119.4,12.6,329,1796,0.00,2.50,0.00,0.000,260,0.000,0.041,3132,3448,1300,1304,1297,0,0,0,0,0,0,26.45,26.17,26.46,8.92,45.19
$GC,1832,0.71,146.6,3131,3443,1305,1297,113.1,13.7,337,1840,0.00,2.38,0.00,0.000,1030,0.000,0.028,3142,2072,1301,1305,1297,0,0,0,0,0,0,26.31,26.25,26.33,8.92,45.47
$GC,1964,0.71,146.6,3141,2072,1305,1297,97.3,11.5,362,1970,0.00,2.33,0.00,0.000,516,0.000,0.044,3145,618,1301,1305,1297,0,0,0,0,0,0,26.60,26.32,26.62,8.92,45.62
$GC,1997,0.71,146.6,3144,619,1305,1297,93.4,11.5,368,2004,0.00,2.20,0.00,0.000,1030,0.000,0.024,3145,2059,1301,1305,1297,0,0,0,0,0,0,26.44,26.39,26.46,8.92,45.86
$GC,2126,0.71,146.6,3145,2057,1305,1297,78.6,11.5,393,2133,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,2057,1300,1305,1296,0,0,0,0,0,0,26.69,26.71,26.70,8.92,45.94
$GC,2255,0.71,146.6,3145,2057,1305,1296,64.5,10.0,418,2262,0.00,2.30,0.00,0.000,516,0.000,0.044,3145,618,1300,1305,1296,0,0,0,0,0,0,26.74,26.46,26.76,8.92,46.81
$GC,2293,0.71,146.6,3145,618,1305,1296,60.2,10.7,425,2301,0.00,2.20,0.00,0.000,1030,0.000,0.024,3145,2063,1300,1305,1296,0,0,0,0,0,0,26.58,26.53,26.60,8.92,46.45
$GC,2424,0.71,146.6,3145,2061,1305,1296,46.8,10.3,450,2430,0.00,2.30,0.00,0.000,516,0.000,0.044,3145,619,1300,1305,1296,0,0,0,0,0,0,26.80,26.52,26.82,8.92,46.49
$GC,2496,0.71,146.6,3145,619,1305,1296,39.3,10.2,464,2503,0.00,2.17,0.00,0.000,1030,0.000,0.024,3146,2048,1301,1306,1297,0,0,0,0,0,0,26.64,26.58,26.65,8.92,46.69
$GC,2564,0.71,146.6,3145,2048,1305,1297,32.7,10.2,477,2572,0.00,2.45,0.00,0.000,260,0.000,0.039,3146,3448,1300,1305,1296,0,0,0,0,0,0,26.84,26.55,26.85,8.92,46.37
$GC,2608,0.71,146.6,3145,3448,1305,1296,28.2,10.4,485,2616,0.00,2.40,0.00,0.000,1030,0.000,0.029,3145,2039,1300,1305,1296,0,0,0,0,0,0,26.65,26.59,26.67,8.92,46.41
$GC,2678,0.71,146.6,3145,2039,1305,1296,20.7,11.1,498,2685,0.00,2.25,0.00,0.000,516,0.000,0.044,3145,616,1300,1305,1296,0,0,0,0,0,0,26.86,26.57,26.87,8.92,46.45
$GC,2737,0.71,146.6,3145,616,1305,1296,13.8,11.6,509,2745,0.00,2.17,0.00,0.000,1030,0.000,0.024,3145,2051,1300,1305,1296,0,0,0,0,0,0,26.69,26.64,26.70,8.92,46.45
$GC,2807,0.71,146.6,3145,2050,1305,1296,6.7,10.6,522,2814,0.00,2.33,0.00,0.000,260,0.000,0.040,3145,3424,1300,1305,1296,0,0,1,0,0,0,26.88,26.59,26.89,8.92,46.29
$STATE,2854,end climb,SURFACE_DEPTH_REACHED
$STATE,2854,begin surface coast
$FINISH,0.4,1.012411
$STATE,2871,end surface coast,CONTROL_FINISHED_OK
$STATE,2872,begin surface
$SM_CCo,2887,60.83,0.054,0,0,890,250.20
$SM_GC,1.67,7.47,2.10,60.83,0.039,0.037,0.054,188,2167,890,-8.41,1.13,250.20,0,0,0,0,0,0,26.64,26.62,26.53
$IRIDIUM_FIX,4742.66,-12229.50,301017,205706
$TT8_MAMPS,0.023968,0.200732
$HUMID,46.06
$INTERNAL_PRESSURE,8.83701
$TCM_TEMP,13.50
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,105.3,84.2
$24V_AH,24.60,0.427
$10V_AH,10.48,0.179
$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,18.650,60.800,234.725,60.825,0.000,26.388,43.230,281.493,3.000,0.000,12.792,1280.515,489.304,431.424,1150.194,55.251,32.428,897.298,0.000,778.465,0.000,8.002,0.000
$DEVICE_MAMPS,243.270,1278.315,712.215,53.550,0.000,61.200,160.000,223.000,420.000,0.000,29.210,10.220,2.190,10.220,34.180,40.170,57.400,16.000,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_red_Chl_CDOM,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,363.771,423.731,427.607,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,20.220,61.420,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312852
$DATA_FILE_SIZE,38438,534
$CAP_FILE_SIZE,66657,0
$CFSIZE,260034560,258138112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,2,0
$CURRENT,0.078,260.80,1
$GPS,301017,224551,4742.848,-12224.821,6,1.0,17,16.3,0.0,0.0,8,10.0