version: 66.13
glider: 157
mission: 18
dive: 12
start: 10 31 117 6 14 33
data:
$ID,157
$MISSION,18
$DIVE,12
$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,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,60
$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,2920
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0099999998
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,25
$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,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,29
$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
$GPS1,311017,060550,4743.4341,-12224.4121,7,0.9,9,16.3,0.0,198.0,8,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-73.3
$GPS2,311017,061327,4743.3359,-12224.4424,8,0.8,11,16.3,0.0,0.0,10,8.3
$SPEED_LIMITS,0.100,0.186
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.002381,0.185849
$KALMAN_X,1783.302734,95.292595,640.016418,-2245.845215,-18.656952
$KALMAN_Y,-3397.108398,-314.138641,211.327560,4933.317871,-371.946991
$MHEAD_RNG_PITCHd_Wd,345.3,2157,-26.1,-10.000,-28.28,899
$D_GRID,180
$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,-1.08,-58.7,186,2135,838,941,0.0,0.0,0,35,0.00,0.00,-25.17,0.000,16386,0.000,0.000,186,2135,1584,1597,1571,0,0,0,0,0,0,26.32,28.83,26.33,8.87,45.27
$GC,37,-1.08,-58.7,186,2135,1597,1571,2.3,-5.6,4,69,9.40,2.62,-16.35,0.000,18692,0.249,1.271,2565,3564,2125,2245,2006,0,0,0,0,0,0,25.79,25.03,26.04,8.94,45.35
$GC,81,-1.08,-58.7,2564,3561,2246,2006,5.5,-5.8,11,88,0.00,2.25,0.00,0.000,1030,0.000,0.026,2568,2164,2126,2246,2006,0,0,0,0,0,0,26.09,26.04,26.10,9.00,44.68
$GC,150,-1.08,-58.7,2567,2165,2246,2006,13.2,-12.3,24,155,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2165,2126,2246,2007,0,0,0,0,0,0,26.36,26.38,26.38,9.00,44.92
$GC,217,-1.08,-58.7,2567,2165,2246,2006,22.6,-14.7,37,224,0.00,2.47,0.00,0.000,516,0.000,0.040,2568,706,2126,2246,2006,0,0,0,0,0,0,26.44,26.18,26.45,8.99,44.48
$GC,236,-1.08,-58.7,2568,706,2246,2006,25.9,-16.5,40,243,0.00,2.33,0.00,0.000,1030,0.000,0.025,2559,2141,2126,2246,2006,0,0,0,0,0,0,26.27,26.22,26.29,8.99,44.29
$GC,304,-1.08,-58.7,2559,2139,2246,2007,36.1,-13.8,53,310,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2139,2126,2246,2007,0,0,0,0,0,0,26.51,26.53,26.52,9.00,43.97
$GC,373,-1.08,-58.7,2559,2138,2246,2006,44.1,-12.0,66,379,0.00,2.38,0.00,0.000,516,0.000,0.039,2559,706,2126,2246,2006,0,0,0,0,0,0,26.56,26.29,26.58,9.00,44.36
$GC,486,-1.08,-58.7,2559,705,2246,2006,59.8,-14.6,88,493,0.00,2.35,0.00,0.000,1030,0.000,0.028,2548,2155,2126,2246,2006,0,0,0,0,0,0,26.43,26.36,26.44,8.99,44.13
$GC,615,-1.08,-58.7,2547,2152,2246,2006,80.2,-17.4,113,622,0.00,2.40,0.00,0.000,516,0.000,0.038,2548,711,2126,2246,2006,0,0,0,0,0,0,26.68,26.42,26.70,9.00,44.21
$GC,658,-1.08,-58.7,2547,711,2246,2006,87.9,-17.3,121,667,0.15,2.33,0.00,0.000,3078,0.199,0.024,2577,2150,2126,2246,2007,0,0,0,0,0,0,26.10,26.46,26.42,8.99,43.97
$GC,788,-1.08,-58.7,2576,2148,2246,2006,104.7,-12.0,146,798,0.00,2.40,0.00,0.000,516,0.000,0.043,2577,704,2126,2246,2006,0,0,0,0,0,0,26.74,26.48,26.76,8.99,44.09
$GC,857,-1.08,-58.7,2577,705,2246,2006,113.8,-12.9,158,863,0.00,2.33,0.00,0.000,1030,0.000,0.026,2568,2149,2126,2246,2006,0,0,0,0,0,0,26.58,26.51,26.59,8.99,44.09
$GC,985,-1.08,-58.7,2567,2147,2246,2006,129.8,-12.7,183,991,0.00,2.40,0.00,0.000,516,0.000,0.038,2568,695,2126,2246,2006,0,0,0,0,0,0,26.79,26.53,26.81,8.99,43.77
$GC,1067,-1.08,-58.7,2567,695,2246,2006,141.1,-13.6,199,1074,0.00,2.35,0.00,0.000,1030,0.000,0.025,2559,2152,2126,2246,2006,0,0,0,0,0,0,26.63,26.56,26.64,8.99,44.01
$GC,1196,-1.08,-58.7,2558,2150,2245,2006,156.1,-10.7,224,1203,0.00,2.40,0.00,0.000,516,0.000,0.038,2559,707,2126,2246,2006,0,0,0,0,0,0,26.84,26.58,26.85,8.99,43.93
$STATE,1319,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1320,begin apogee
$GC,1325,-0.20,0.0,2548,2084,2246,2007,173.8,-13.9,248,1380,1.00,0.00,49.55,0.731,10246,0.177,0.000,2859,2081,1886,1959,1814,0,0,0,0,0,0,26.40,25.79,25.26,8.99,44.13
$STATE,1381,end apogee,CONTROL_FINISHED_OK
$STATE,1381,begin climb
$GC,1382,1.08,58.7,2859,2082,1960,1814,177.0,0.0,257,1437,1.08,0.00,49.75,0.692,10502,0.086,0.000,3250,2081,1652,1678,1627,0,0,0,0,0,0,25.81,25.32,24.81,8.97,43.58
$GC,1561,1.08,58.7,3249,2081,1678,1627,158.6,11.5,290,1568,0.00,2.35,0.00,0.000,260,0.000,0.037,3250,3441,1652,1678,1627,0,0,0,0,0,0,26.15,25.89,26.16,8.93,43.50
$GC,1591,1.08,58.7,3250,3437,1678,1627,154.9,12.3,295,1598,0.00,2.35,0.00,0.000,1030,0.000,0.028,3261,2031,1652,1678,1627,0,0,0,0,0,0,26.03,25.97,26.05,8.93,43.30
$GC,1720,1.08,58.7,3261,2032,1678,1627,136.7,15.4,320,1727,0.00,2.28,0.00,0.000,516,0.000,0.040,3273,633,1652,1678,1627,0,0,0,0,0,0,26.39,26.13,26.41,8.93,44.29
$GC,1843,1.08,58.7,3272,633,1678,1627,118.5,13.9,344,1850,0.00,2.17,0.00,0.000,1030,0.000,0.023,3273,2035,1652,1678,1627,0,0,0,0,0,0,26.34,26.29,26.35,8.93,44.13
$GC,1973,1.08,58.7,3272,2034,1678,1626,101.1,13.4,369,1980,0.00,2.28,0.00,0.000,516,0.000,0.040,3283,621,1652,1678,1626,0,0,0,0,0,0,26.60,26.33,26.61,8.93,44.60
$GC,2062,1.08,58.7,3283,621,1678,1626,88.1,14.1,386,2069,0.00,2.22,0.00,0.000,1030,0.000,0.022,3283,2069,1652,1678,1626,0,0,0,0,0,0,26.47,26.41,26.48,8.93,44.80
$GC,2192,1.08,58.7,3283,2067,1678,1625,71.3,11.8,411,2199,0.00,2.33,0.00,0.000,516,0.000,0.038,3294,617,1652,1678,1626,0,0,0,0,0,0,26.70,26.44,26.72,8.93,45.23
$GC,2220,1.08,58.7,3294,617,1678,1626,67.9,12.2,416,2226,0.00,2.20,0.00,0.000,1030,0.000,0.022,3294,2047,1652,1678,1626,0,0,0,0,0,0,25.77,26.49,26.22,8.93,44.76
$GC,2349,1.08,58.7,3294,2045,1678,1626,51.5,14.3,441,2355,0.00,2.28,0.00,0.000,516,0.000,0.039,3305,626,1652,1678,1626,0,0,0,0,0,0,26.76,26.48,26.77,8.93,44.99
$GC,2583,1.08,58.7,3305,626,1678,1626,17.5,13.1,487,2590,0.15,2.20,0.00,0.000,5126,0.197,0.023,3263,2064,1651,1678,1625,0,0,0,0,0,0,26.37,26.59,26.55,8.93,46.02
$GC,2651,1.08,58.7,3263,2062,1678,1624,10.1,10.0,500,2658,0.00,2.30,0.00,0.000,516,0.000,0.040,3272,626,1651,1678,1624,0,0,0,0,0,0,26.84,26.56,26.84,8.92,45.03
$GC,2725,1.09,92.2,3272,626,1678,1625,3.9,6.2,514,2751,0.00,2.20,20.70,0.463,9222,0.000,0.024,3272,2054,1518,1533,1504,0,0,0,0,0,0,26.67,26.61,25.94,8.93,45.51
$STATE,2757,end climb,SURFACE_DEPTH_REACHED
$STATE,2757,begin surface coast
$FINISH,0.6,1.006677
$STATE,2778,end surface coast,CONTROL_FINISHED_OK
$STATE,2779,begin surface
$SM_CCo,2793,98.45,0.055,0,0,890,250.20
$SM_GC,1.60,7.95,0.12,98.45,0.045,0.079,0.055,189,2140,890,-8.44,-1.41,250.20,0,0,0,0,0,0,26.41,26.44,26.32
$IRIDIUM_FIX,4745.33,-12219.67,311017,050442
$TT8_MAMPS,0.024717,0.200732
$HUMID,43.58
$INTERNAL_PRESSURE,8.81748
$TCM_TEMP,13.50
$XPDR_PINGS,13
$ALTIM_BOTTOM_PING,110.2,77.9
$24V_AH,24.81,0.961
$10V_AH,10.48,0.497
$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,19.725,60.500,120.000,98.450,0.000,25.445,47.355,301.364,4.250,0.000,12.682,1310.534,494.509,351.209,1161.056,55.585,33.428,783.187,0.000,765.707,0.000,8.812,0.000
$DEVICE_MAMPS,248.625,1271.430,731.340,55.080,0.000,61.200,160.000,223.000,420.000,0.000,29.210,10.220,2.190,10.220,34.180,40.170,57.400,16.000,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_red_Chl_CDOM,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,359.255,415.299,419.420,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,38215,523
$CAP_FILE_SIZE,65301,0
$CFSIZE,260034560,257777664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.151,199.56,1
$GPS,311017,070335,4743.351,-12224.540,7,0.9,11,16.3,0.0,0.0,9,10.0