version: 66.13
glider: 157
mission: 18
dive: 7
start: 10 31 117 0 58 53
data:
$ID,157
$MISSION,18
$DIVE,7
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,180
$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,60
$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,90
$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,350
$C_ROLL_CLIMB,350
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,23
$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
$GPS1,311017,004943,4743.8936,-12224.3867,3,0.8,11,16.3,0.0,0.0,11,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-68.5
$GPS2,311017,005743,4743.8491,-12224.3174,3,0.8,17,16.3,0.3,135.1,10,9.4
$SPEED_LIMITS,0.100,0.227
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.131841,0.184827
$KALMAN_X,11.881714,-220.491302,-166.610794,797.760742,269.703033
$KALMAN_Y,-618.669617,-934.840332,-331.803314,4268.471680,367.624237
$MHEAD_RNG_PITCHd_Wd,317.5,1226,-21.3,-10.000,-23.77,1348
$D_GRID,173
$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,-0.87,-88.0,155,363,659,716,0.0,0.0,0,46,0.00,0.00,-36.60,0.000,16386,0.000,0.000,155,363,1695,1725,1665,0,0,0,0,0,0,26.36,28.83,26.37,8.86,46.18
$GC,49,-0.87,-88.0,155,363,1725,1665,2.3,-4.6,6,80,9.73,0.00,-16.27,0.000,18438,0.250,0.000,2637,354,2242,2366,2118,0,0,0,0,0,0,25.83,25.18,26.09,8.95,46.29
$GC,141,-0.87,-88.0,2636,354,2366,2121,12.9,-14.9,23,147,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,354,2243,2366,2120,0,0,0,0,0,0,26.40,26.41,26.41,9.02,45.27
$GC,209,-0.87,-88.0,2636,354,2366,2120,22.5,-14.8,36,215,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,354,2243,2366,2121,0,0,0,0,0,0,26.47,26.49,26.48,9.02,44.56
$GC,276,-0.87,-88.0,2636,354,2366,2121,32.6,-14.9,49,283,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,354,2243,2366,2121,0,0,0,0,0,0,26.53,26.55,26.54,9.02,44.76
$GC,345,-0.87,-88.0,2636,354,2366,2120,42.6,-15.1,62,351,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,354,2243,2366,2120,0,0,0,0,0,0,26.58,26.60,26.60,9.02,45.43
$GC,472,-0.87,-88.0,2636,354,2366,2120,62.0,-14.8,87,478,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,354,2243,2366,2121,0,0,0,0,0,0,26.65,26.67,26.67,9.02,44.80
$GC,600,-0.87,-88.0,2636,355,2366,2120,80.3,-13.8,112,605,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,354,2243,2366,2121,0,0,0,0,0,0,26.71,26.73,26.72,9.02,45.03
$GC,727,-0.87,-88.0,2636,354,2366,2120,98.9,-15.5,137,733,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,354,2243,2366,2121,0,0,0,0,0,0,26.75,26.77,26.77,9.02,44.88
$GC,859,-0.87,-88.0,2636,354,2366,2121,117.4,-13.1,162,865,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,354,2243,2366,2121,0,0,0,0,0,0,26.79,26.81,26.81,9.01,44.99
$GC,986,-0.87,-88.0,2636,355,2366,2121,134.8,-14.5,187,992,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,354,2243,2366,2121,0,0,0,0,0,0,26.83,26.84,26.84,9.01,44.92
$GC,1114,-0.87,-88.0,2636,354,2366,2121,152.6,-14.1,212,1120,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,355,2243,2366,2121,0,0,0,0,0,0,26.86,26.87,26.86,9.01,44.60
$GC,1241,-0.87,-88.0,2636,355,2366,2120,171.2,-13.4,237,1248,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,354,2243,2366,2121,0,0,0,0,0,0,26.88,26.89,26.89,9.00,45.19
$STATE,1258,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1259,begin apogee
$GC,1262,-0.19,0.0,2636,354,2366,2121,173.5,-12.5,240,1340,0.68,0.00,71.43,0.730,10246,0.168,0.000,2854,354,1886,1947,1826,0,0,0,0,0,0,26.41,25.56,25.04,9.01,44.80
$STATE,1341,end apogee,CONTROL_FINISHED_OK
$STATE,1341,begin climb
$GC,1343,0.87,88.0,2854,354,1947,1826,177.1,0.0,253,1421,0.93,0.00,74.62,0.704,10246,0.119,0.000,3174,354,1536,1555,1517,0,0,0,0,0,0,25.57,25.11,24.63,8.98,44.29
$GC,1543,0.87,88.0,3174,354,1555,1517,157.6,11.1,290,1549,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,354,1535,1554,1517,0,0,0,0,0,0,26.10,26.11,26.10,8.93,44.05
$GC,1671,0.87,88.0,3174,354,1554,1517,142.5,11.6,315,1677,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,354,1536,1555,1517,0,0,0,0,0,0,26.35,26.36,26.36,8.93,44.84
$GC,1799,0.87,88.0,3173,355,1554,1517,127.5,12.0,340,1805,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,354,1535,1554,1517,0,0,0,0,0,0,26.49,26.51,26.51,8.92,44.95
$GC,1926,0.87,88.0,3174,354,1555,1517,112.4,11.5,365,1932,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,354,1535,1554,1517,0,0,0,0,0,0,26.59,26.61,26.60,8.92,45.58
$GC,2055,0.87,88.0,3174,354,1554,1517,98.3,10.5,390,2062,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,354,1536,1555,1517,0,0,0,0,0,0,26.67,26.68,26.68,8.93,45.58
$GC,2184,0.87,88.0,3174,354,1554,1517,83.2,12.2,415,2190,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,355,1536,1555,1517,0,0,0,0,0,0,26.72,26.74,26.73,8.92,45.74
$GC,2311,0.87,88.0,3174,354,1554,1517,69.4,10.5,440,2317,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,354,1535,1554,1517,0,0,0,0,0,0,26.77,26.79,26.78,8.92,45.55
$GC,2439,0.87,94.6,3173,354,1554,1517,56.3,9.5,465,2452,0.00,0.00,6.50,0.543,8198,0.000,0.000,3174,354,1509,1530,1488,0,0,0,0,0,0,26.81,26.23,25.86,8.92,45.78
$GC,2576,0.87,94.6,3174,354,1529,1488,41.6,12.2,491,2582,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,354,1509,1530,1488,0,0,0,0,0,0,26.78,26.80,26.79,8.92,46.41
$GC,2703,0.87,94.6,3174,354,1530,1488,26.2,11.9,516,2709,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,354,1509,1530,1488,0,0,0,0,0,0,26.82,26.84,26.83,8.92,45.51
$GC,2770,0.87,94.6,3174,355,1530,1488,18.8,10.8,529,2777,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,354,1509,1530,1488,0,0,0,0,0,0,26.84,26.85,26.85,8.92,45.58
$GC,2839,0.89,131.8,3173,354,1530,1488,13.1,7.2,542,2864,0.00,0.00,22.73,0.526,8198,0.000,0.000,3174,354,1362,1369,1355,0,0,0,0,0,0,26.85,26.26,25.83,8.92,45.47
$GC,2926,0.91,163.4,3174,354,1366,1353,6.6,7.6,558,2950,0.00,0.00,18.30,0.477,8198,0.000,0.000,3174,354,1233,1230,1236,0,0,0,0,0,0,26.65,26.01,25.74,8.92,45.55
$STATE,2986,end climb,SURFACE_DEPTH_REACHED
$STATE,2986,begin surface coast
$FINISH,0.4,1.013542
$STATE,3012,end surface coast,CONTROL_FINISHED_OK
$STATE,3012,begin surface
$SM_CCo,3026,53.62,0.053,0,0,890,250.20
$SM_GC,1.88,7.68,0.00,53.62,0.041,0.000,0.053,195,354,890,-8.42,0.11,250.20,0,0,0,0,0,0,26.29,26.56,26.25
$IRIDIUM_FIX,4744.48,-12222.38,301017,235011
$TT8_MAMPS,0.023968,0.245672
$HUMID,44.40
$INTERNAL_PRESSURE,8.81748
$TCM_TEMP,13.60
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,105.5,85.5
$24V_AH,24.63,0.673
$10V_AH,10.44,0.299
$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,19.000,2.875,193.575,53.625,0.000,26.091,43.588,320.748,1.750,0.000,18.589,1370.960,546.149,353.228,1252.462,54.225,33.430,822.423,0.000,837.825,0.000,7.244,0.000
$DEVICE_MAMPS,250.155,40.545,729.810,52.785,0.000,61.200,160.000,223.000,420.000,0.000,29.210,10.220,2.190,10.220,34.180,40.170,57.400,16.000,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_red_Chl_CDOM,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,393.372,456.053,460.282,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,20.220,61.420,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312868
$DATA_FILE_SIZE,38299,574
$CAP_FILE_SIZE,60760,0
$CFSIZE,260034560,257998848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.134,14.01,1
$GPS,311017,015059,4744.067,-12224.169,4,0.8,21,16.3,0.0,0.0,10,9.9