version: 66.13
glider: 157
mission: 18
dive: 6
start: 10 30 117 23 58 23
data:
$ID,157
$MISSION,18
$DIVE,6
$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,43
$R_STBD_OVSHOOT,35
$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,15
$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
$GPS1,301017,234904,4743.3213,-12224.6143,6,1.1,37,16.3,0.0,14.3,9,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-66.2
$GPS2,301017,235716,4743.3276,-12224.5820,3,0.8,10,16.3,0.0,0.0,12,8.8
$SPEED_LIMITS,0.100,0.287
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.000624,0.287072
$KALMAN_X,-207.626328,-260.502594,-204.004883,765.650085,49.304459
$KALMAN_Y,-545.753052,-873.122437,-584.312073,3415.717285,187.158173
$MHEAD_RNG_PITCHd_Wd,348.9,2174,-16.4,-10.000,-19.21,2244
$D_GRID,176
$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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,8,-0.71,-146.6,154,2152,673,731,0.0,0.0,0,48,0.00,0.00,-38.53,0.000,16386,0.000,0.000,154,2152,1742,1782,1702,0,0,0,0,0,0,26.35,28.83,26.37,8.87,46.14
$GC,51,-0.71,-146.6,154,2152,1782,1702,2.1,-3.6,6,88,9.93,0.00,-20.62,0.000,18438,0.247,0.000,2686,2152,2473,2631,2315,0,0,0,0,0,0,25.83,25.66,26.09,8.97,46.06
$GC,150,-0.71,-146.6,2685,2152,2631,2318,13.6,-15.2,24,156,0.00,2.45,0.00,0.000,260,0.000,0.048,2676,3567,2475,2631,2319,0,0,0,0,0,0,26.39,26.11,26.40,9.05,45.39
$GC,193,-0.71,-146.6,2675,3570,2631,2320,20.3,-14.0,32,200,0.00,2.30,0.00,0.000,1030,0.000,0.034,2676,2162,2475,2631,2320,0,0,0,0,0,0,26.25,26.20,26.27,9.04,45.39
$GC,262,-0.71,-146.6,2675,2162,2631,2320,30.4,-14.5,45,268,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2162,2475,2631,2320,0,0,0,0,0,0,26.50,26.52,26.51,9.04,44.95
$GC,330,-0.71,-146.6,2675,2162,2631,2321,40.0,-14.1,58,337,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2162,2475,2631,2320,0,0,0,0,0,0,26.56,26.58,26.58,9.04,45.78
$GC,458,-0.71,-146.6,2675,2162,2631,2320,57.4,-12.4,83,464,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2163,2475,2630,2320,0,0,0,0,0,0,26.64,26.66,26.65,9.04,45.27
$GC,585,-0.71,-146.6,2675,2162,2630,2320,73.3,-12.3,108,592,0.00,2.45,0.00,0.000,516,0.000,0.047,2676,702,2475,2630,2320,0,0,0,0,0,0,26.70,26.43,26.72,9.04,45.07
$GC,689,-0.71,-146.6,2675,702,2630,2320,86.8,-13.1,128,696,0.00,2.30,0.00,0.000,1030,0.000,0.028,2670,2142,2475,2630,2320,0,0,0,0,0,0,26.55,26.48,26.56,9.04,45.19
$GC,819,-0.71,-146.6,2670,2140,2631,2320,102.5,-11.5,153,825,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2140,2475,2631,2320,0,0,0,0,0,0,26.78,26.79,26.79,9.03,45.27
$GC,951,-0.71,-146.6,2670,2140,2631,2320,117.7,-12.0,178,957,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2140,2475,2631,2320,0,0,0,0,0,0,26.82,26.84,26.83,9.04,45.03
$GC,1078,-0.71,-146.6,2670,2139,2630,2320,132.8,-11.4,203,1083,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2139,2475,2630,2320,0,0,0,0,0,0,26.84,26.86,26.86,9.03,45.11
$GC,1205,-0.71,-146.6,2670,2139,2630,2320,147.8,-12.5,228,1211,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2139,2475,2631,2320,0,0,0,0,0,0,26.87,26.89,26.89,9.03,45.27
$STATE,1226,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1226,begin apogee
$GC,1230,-0.19,0.0,2670,2013,2630,2320,150.5,-12.0,232,1354,0.52,0.10,115.57,0.701,10246,0.138,0.084,2851,2086,1887,1927,1847,0,0,0,0,0,0,26.45,25.26,24.76,9.03,45.35
$STATE,1355,end apogee,CONTROL_FINISHED_OK
$STATE,1355,begin climb
$GC,1356,0.71,146.6,2851,2086,1926,1847,154.6,0.0,252,1481,0.77,0.00,117.40,0.669,10758,0.094,0.000,3123,2087,1301,1305,1298,0,0,0,0,0,0,25.34,25.06,24.60,8.98,44.80
$GC,1605,0.73,183.4,3122,2087,1305,1298,136.7,8.3,297,1642,0.00,2.42,29.90,0.640,8708,0.000,0.049,3131,646,1154,1147,1162,0,0,0,0,0,0,26.10,25.34,25.00,8.92,43.97
$GC,1699,0.74,207.0,3130,646,1147,1162,128.1,8.9,314,1730,0.00,2.22,21.02,0.643,9222,0.000,0.031,3131,2045,1064,1049,1080,0,0,0,0,0,0,25.89,25.84,25.03,8.91,43.97
$GC,1853,0.74,207.0,3130,2045,1049,1080,113.8,10.0,343,1858,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2045,1065,1050,1080,0,0,0,0,0,0,26.24,26.25,26.25,8.90,44.56
$GC,1980,0.74,207.0,3130,2044,1049,1080,99.0,11.9,368,1986,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2044,1064,1049,1080,0,0,0,0,0,0,26.42,26.44,26.44,8.89,45.27
$GC,2108,0.74,207.0,3130,2044,1049,1080,84.1,11.2,393,2115,0.00,2.28,0.00,0.000,516,0.000,0.048,3131,655,1065,1050,1080,0,0,0,0,0,0,26.54,26.27,26.55,8.89,45.74
$GC,2147,0.74,207.0,3131,655,1049,1080,79.7,11.4,400,2154,0.00,2.17,0.00,0.000,1030,0.000,0.025,3131,2059,1064,1049,1080,0,0,0,0,0,0,26.39,26.33,26.40,8.89,45.43
$GC,2275,0.74,207.0,3131,2057,1049,1079,65.6,10.8,425,2283,0.00,2.38,0.00,0.000,260,0.000,0.045,3132,3457,1064,1049,1080,0,0,1,0,0,0,26.65,25.34,26.66,8.89,45.27
$GC,2299,0.74,207.0,3131,3457,1049,1080,62.7,11.6,429,2307,0.00,2.28,0.00,0.000,1030,0.000,0.029,3131,2072,1064,1049,1079,0,0,0,0,0,0,26.46,26.40,26.48,8.89,45.90
$GC,2430,0.76,229.6,3131,2072,1050,1079,49.9,9.0,454,2461,0.00,2.38,21.30,0.613,8708,0.000,0.045,3132,639,972,948,997,0,0,0,0,0,0,26.71,26.13,25.63,8.89,45.62
$GC,2508,0.76,243.4,3131,639,949,997,42.8,9.4,468,2528,0.00,2.20,13.15,0.579,9222,0.000,0.025,3131,2061,916,887,945,0,0,0,0,0,0,26.32,26.26,25.55,8.90,45.19
$GC,2650,0.78,269.9,3131,2060,888,945,29.6,8.8,495,2675,0.00,0.00,22.17,0.594,8198,0.000,0.000,3132,2060,810,781,840,0,0,0,0,0,0,26.51,25.91,25.46,8.88,45.31
$GC,2736,0.78,275.8,3131,2060,783,841,21.9,9.7,511,2750,0.05,2.47,4.40,0.424,10500,0.161,0.041,3172,3436,789,761,818,0,0,0,0,0,0,26.14,26.02,25.52,8.87,45.58
$GC,2777,0.78,275.8,3171,3436,761,818,17.1,12.6,518,2784,0.00,2.38,0.00,0.000,1030,0.000,0.032,3172,2039,790,762,818,0,0,0,0,0,0,26.20,26.14,26.22,8.87,45.47
$GC,2846,0.79,300.9,3172,2040,761,818,9.8,8.9,531,2867,0.00,2.38,15.70,0.486,8708,0.000,0.045,3173,620,686,659,714,0,0,0,0,0,0,26.46,26.01,25.57,8.87,45.35
$STATE,2938,end climb,SURFACE_DEPTH_REACHED
$STATE,2938,begin surface coast
$FINISH,0.7,1.021656
$STATE,2959,end surface coast,CONTROL_FINISHED_OK
$STATE,2959,begin surface
$SM_CCo,3036,0.00,0.000,0,0,687,301.69
$SM_GC,1.25,7.70,2.47,0.00,0.035,0.025,0.000,156,2136,687,-8.51,-1.13,301.69,0,0,0,0,0,0,26.20,26.21,26.25
$IRIDIUM_FIX,4740.82,-12223.37,301017,225326
$TT8_MAMPS,0.024717,0.245672
$HUMID,45.27
$INTERNAL_PRESSURE,8.79795
$TCM_TEMP,13.60
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,105.3,84.9
$24V_AH,24.60,0.613
$10V_AH,10.43,0.259
$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,18.975,37.800,360.625,0.000,0.000,23.335,47.808,339.100,3.250,0.000,11.843,1272.826,547.050,440.541,1231.770,58.960,33.411,927.261,0.000,804.218,0.000,8.002,0.000
$DEVICE_MAMPS,247.095,84.150,700.740,0.000,0.000,61.200,160.000,223.000,420.000,0.000,29.210,10.220,2.190,10.220,34.180,40.170,57.400,16.000,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_red_Chl_CDOM,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,374.565,439.940,444.094,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,20.220,61.420,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312876
$DATA_FILE_SIZE,38368,552
$CAP_FILE_SIZE,64443,0
$CFSIZE,260034560,258043904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.105,24.80,1
$GPS,311017,004943,4743.894,-12224.387,3,0.8,11,16.3,0.0,0.0,11,9.0