version: 66.13
glider: 157
mission: 18
dive: 15
start: 10 31 117 9 17 32
data:
$ID,157
$MISSION,18
$DIVE,15
$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,290
$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,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,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,34
$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
$GPS1,311017,090815,4743.2222,-12224.5078,7,0.9,9,16.3,0.0,0.0,10,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-73.2
$GPS2,311017,091625,4743.1523,-12224.5127,5,0.8,12,16.3,0.0,0.0,10,8.1
$SPEED_LIMITS,0.100,0.186
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.029327,0.183542
$KALMAN_X,2224.308105,214.621033,-352.602051,-1904.134888,-105.323669
$KALMAN_Y,-5490.905273,71.485168,-361.567474,6870.614746,-624.489746
$MHEAD_RNG_PITCHd_Wd,352.9,2496,-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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-1.04,-58.7,198,2145,681,779,0.0,0.0,0,40,0.00,0.00,-31.33,0.000,16386,0.000,0.000,198,2145,1603,1617,1590,0,0,0,0,0,0,26.33,28.83,26.34,8.85,44.72
$GC,43,-1.04,-58.7,198,2146,1617,1590,2.5,-4.8,5,75,9.55,2.55,-15.48,0.000,18692,0.256,1.269,2576,3567,2125,2238,2013,0,0,0,0,0,0,25.79,25.03,26.06,8.93,44.56
$GC,363,-1.04,-58.7,2575,3563,2240,2013,44.9,-12.7,67,371,0.00,2.25,0.00,0.000,1030,0.000,0.027,2576,2164,2126,2240,2013,0,0,0,0,0,0,26.36,26.30,26.39,8.99,44.01
$GC,493,-1.04,-58.7,2575,2165,2240,2013,60.5,-13.8,92,500,0.00,2.50,0.00,0.000,516,0.000,0.045,2576,703,2126,2240,2013,0,0,0,0,0,0,26.63,26.36,26.64,8.99,44.17
$GC,557,-1.04,-58.7,2575,703,2239,2013,69.8,-14.7,104,564,0.00,2.33,0.00,0.000,1030,0.000,0.031,2565,2137,2126,2240,2013,0,0,0,0,0,0,26.47,26.41,26.49,8.98,44.56
$GC,685,-1.04,-58.7,2564,2136,2240,2013,88.7,-13.8,129,692,0.00,2.45,0.00,0.000,260,0.000,0.040,2553,3590,2126,2239,2014,0,0,0,0,0,0,26.71,26.43,26.72,8.99,44.64
$GC,744,-1.04,-58.7,2552,3589,2240,2013,96.2,-12.0,140,751,0.12,2.30,0.00,0.000,3078,0.200,0.031,2589,2149,2126,2240,2013,0,0,0,0,0,0,26.27,26.48,26.45,8.99,44.36
$GC,874,-1.04,-58.7,2588,2150,2240,2013,109.9,-10.1,165,881,0.00,2.45,0.00,0.000,516,0.000,0.044,2589,703,2126,2240,2013,0,0,0,0,0,0,26.77,26.49,26.78,8.99,44.40
$GC,1063,-1.04,-58.7,2588,703,2240,2013,133.5,-13.3,202,1070,0.00,2.35,0.00,0.000,1030,0.000,0.030,2580,2154,2126,2239,2013,0,0,0,0,0,0,26.63,26.57,26.65,8.99,44.01
$GC,1191,-1.04,-58.7,2579,2152,2240,2013,147.0,-9.4,227,1198,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2152,2126,2240,2013,0,0,0,0,0,0,26.84,26.86,26.85,8.99,43.69
$GC,1321,-1.04,-58.7,2579,2152,2240,2013,159.2,-9.6,252,1327,0.00,2.42,0.00,0.000,516,0.000,0.041,2581,692,2126,2240,2013,0,0,0,0,0,0,26.86,26.60,26.88,8.99,44.05
$STATE,1444,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1444,begin apogee
$GC,1450,-0.19,0.0,2572,2084,2240,2013,173.3,-12.0,276,1506,0.90,0.00,49.80,0.747,10246,0.171,0.000,2856,2083,1887,1957,1817,0,0,0,0,0,0,26.42,25.79,25.24,8.98,44.40
$STATE,1507,end apogee,CONTROL_FINISHED_OK
$STATE,1507,begin climb
$GC,1508,1.04,58.7,2856,2082,1957,1817,175.5,0.0,285,1565,1.05,0.00,49.72,0.694,10246,0.087,0.000,3236,2082,1652,1677,1627,0,0,0,0,0,0,25.81,25.31,24.81,8.96,43.22
$GC,1687,1.04,58.7,3235,2081,1678,1626,156.2,14.0,318,1694,0.00,2.42,0.00,0.000,516,0.000,0.040,3241,605,1652,1678,1626,0,0,0,0,0,0,26.14,25.88,26.15,8.94,43.30
$GC,1891,1.04,58.7,3241,605,1678,1626,127.4,12.7,358,1897,0.00,2.22,0.00,0.000,1030,0.000,0.023,3241,2043,1652,1678,1626,0,0,0,0,0,0,26.27,26.21,26.28,8.92,43.97
$GC,2019,1.04,58.7,3241,2042,1678,1625,110.8,13.8,383,2026,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,2042,1651,1678,1625,0,0,0,0,0,0,26.54,26.56,26.56,8.93,44.05
$GC,2148,1.04,58.7,3241,2041,1678,1625,93.6,13.1,408,2155,0.00,2.30,0.00,0.000,516,0.000,0.040,3251,608,1651,1678,1625,0,0,0,0,0,0,26.63,26.35,26.64,8.92,44.40
$GC,2201,1.04,58.7,3250,609,1678,1625,86.6,13.3,418,2208,0.00,2.22,0.00,0.000,1030,0.000,0.023,3251,2060,1651,1678,1625,0,0,0,0,0,0,26.47,26.41,26.48,8.92,44.56
$GC,2331,1.04,60.9,3250,2059,1679,1624,72.3,9.7,443,2339,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,2059,1650,1678,1623,0,0,0,0,0,0,26.70,26.72,26.72,8.92,44.80
$GC,2461,1.04,60.9,3250,2058,1678,1624,57.1,11.4,468,2468,0.00,2.33,0.00,0.000,516,0.000,0.041,3262,601,1651,1678,1624,0,0,0,0,0,0,26.75,26.48,26.77,8.93,45.39
$GC,2725,1.04,60.9,3261,601,1678,1624,27.1,10.6,520,2732,0.00,2.20,0.00,0.000,1030,0.000,0.023,3262,2056,1651,1678,1624,0,0,0,0,0,0,26.65,26.60,26.66,8.93,44.68
$GC,2794,1.04,69.6,3262,2055,1678,1623,20.5,9.0,533,2806,0.00,0.00,6.68,0.491,8198,0.000,0.000,3262,2055,1610,1634,1587,0,0,0,0,0,0,26.84,26.27,25.92,8.93,44.92
$GC,2868,1.04,69.6,3261,2055,1634,1587,12.5,12.3,547,2875,0.00,2.30,0.00,0.000,516,0.000,0.041,3273,611,1610,1634,1587,0,0,0,0,0,0,26.79,26.51,26.80,8.92,44.99
$GC,2908,1.05,77.1,3272,611,1634,1586,8.6,9.1,554,2921,0.00,2.20,5.12,0.430,9222,0.000,0.021,3273,2060,1578,1599,1557,0,0,0,0,0,0,26.63,26.58,25.94,8.92,45.55
$GC,2984,1.06,95.3,3272,2059,1599,1557,3.1,7.9,568,3002,0.00,2.38,11.70,0.449,8452,0.000,0.036,3273,3445,1504,1519,1490,0,0,0,0,0,0,26.77,26.22,25.93,8.92,44.76
$STATE,3008,end climb,SURFACE_DEPTH_REACHED
$STATE,3008,begin surface coast
$FINISH,0.4,1.021155
$STATE,3039,end surface coast,CONTROL_FINISHED_OK
$STATE,3040,begin surface
$SM_CCo,3056,120.72,0.055,0,0,731,290.14
$SM_GC,1.44,7.97,2.15,120.72,0.045,0.036,0.055,186,2158,731,-8.45,0.85,290.14,0,0,0,0,0,0,26.44,26.44,26.32
$IRIDIUM_FIX,4744.97,-12226.80,311017,080810
$TT8_MAMPS,0.025466,0.199983
$HUMID,43.03
$INTERNAL_PRESSURE,8.79795
$TCM_TEMP,13.40
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,100.2,87.6
$24V_AH,24.81,1.112
$10V_AH,10.49,0.616
$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,19.600,46.575,123.025,120.725,0.000,25.628,47.883,331.941,3.000,0.000,13.970,1431.861,572.092,363.941,1265.395,56.877,33.455,819.589,0.000,841.414,0.000,5.651,0.000
$DEVICE_MAMPS,255.510,1269.135,746.640,55.080,0.000,61.200,160.000,223.000,420.000,0.000,29.210,10.220,2.190,10.220,34.180,40.170,57.400,16.000,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_red_Chl_CDOM,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,398.089,460.236,464.155,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,20.220,61.420,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312856
$DATA_FILE_SIZE,41852,578
$CAP_FILE_SIZE,65201,0
$CFSIZE,260034560,257626112
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,1538.40,0x23672e,1,24
$INTR,1,2331.39,0x236730,1,24
$CURRENT,0.038,200.23,1
$GPS,311017,101122,4743.335,-12224.438,7,0.8,18,16.3,0.0,0.0,10,9.3