version: 66.13
glider: 157
mission: 18
dive: 16
start: 10 31 117 10 20 44
data:
$ID,157
$MISSION,18
$DIVE,16
$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,19
$R_STBD_OVSHOOT,49
$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
$GPS1,311017,101122,4743.3350,-12224.4375,7,0.8,18,16.3,0.0,0.0,10,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-72.7
$GPS2,311017,101937,4743.3257,-12224.4453,6,0.8,16,16.3,0.0,0.0,10,8.3
$SPEED_LIMITS,0.100,0.186
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.035196,0.182500
$KALMAN_X,2491.165283,214.148285,-642.507080,-1796.584839,115.951111
$KALMAN_Y,-5708.273438,128.924454,-550.719727,7538.005371,-304.908875
$MHEAD_RNG_PITCHd_Wd,346.3,2176,-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,-1.04,-58.7,186,2156,680,778,0.0,0.0,0,40,0.00,0.00,-30.67,0.000,16386,0.000,0.000,186,2156,1584,1595,1573,0,0,0,0,0,0,26.34,28.83,26.36,8.85,44.56
$GC,43,-1.04,-58.7,186,2156,1595,1573,2.2,-3.9,5,81,9.38,2.55,-17.75,0.000,18692,0.246,1.274,2579,3548,2126,2239,2013,0,0,0,0,0,0,25.83,25.05,26.08,8.93,44.52
$GC,303,-1.04,-58.7,2578,3545,2239,2013,36.0,-13.3,55,310,0.00,2.33,0.00,0.000,1030,0.000,0.026,2582,2140,2126,2239,2013,0,0,0,0,0,0,26.29,26.23,26.31,8.99,44.60
$GC,371,-1.04,-58.7,2581,2141,2239,2013,44.8,-12.8,68,378,0.00,2.42,0.00,0.000,516,0.000,0.044,2582,707,2126,2240,2013,0,0,0,0,0,0,26.52,26.26,26.54,8.99,44.25
$GC,504,-1.04,-58.7,2581,708,2239,2013,61.1,-11.5,94,512,0.00,2.30,0.00,0.000,1030,0.000,0.024,2573,2133,2126,2239,2013,0,0,0,0,0,0,26.43,26.36,26.44,8.99,43.77
$GC,635,-1.04,-58.7,2572,2130,2239,2013,77.3,-13.5,119,641,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2130,2126,2239,2013,0,0,0,0,0,0,26.67,26.69,26.68,8.99,44.48
$GC,762,-1.04,-58.7,2572,2130,2239,2013,95.6,-13.9,144,769,0.00,2.38,0.00,0.000,516,0.000,0.042,2573,690,2126,2239,2013,0,0,0,0,0,0,26.72,26.46,26.74,8.99,44.60
$GC,928,-1.04,-58.7,2572,691,2239,2013,118.0,-13.1,175,935,0.00,2.35,0.00,0.000,1030,0.000,0.026,2562,2148,2126,2239,2013,0,0,0,0,0,0,26.58,26.52,26.60,8.99,44.32
$GC,1059,-1.04,-58.7,2561,2145,2239,2013,132.3,-9.1,200,1065,0.00,2.40,0.00,0.000,516,0.000,0.041,2562,705,2126,2239,2013,0,0,0,0,0,0,26.80,26.53,26.82,8.99,43.54
$GC,1178,-1.04,-58.7,2561,705,2239,2013,149.0,-15.0,223,1185,0.15,2.35,0.00,0.000,3078,0.194,0.030,2592,2150,2126,2239,2013,0,0,0,0,0,0,26.37,25.63,26.55,8.98,44.01
$GC,1307,-1.04,-58.7,2591,2148,2239,2013,165.5,-11.9,248,1313,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2148,2126,2239,2013,0,0,0,0,0,0,26.85,26.87,26.86,8.99,43.69
$STATE,1374,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1374,begin apogee
$GC,1378,-0.19,0.0,2591,2004,2239,2013,172.9,-10.8,261,1434,0.82,0.12,49.80,0.744,10246,0.167,0.075,2858,2099,1886,1956,1817,0,0,0,0,0,0,26.42,25.78,25.24,8.98,44.17
$STATE,1435,end apogee,CONTROL_FINISHED_OK
$STATE,1435,begin climb
$GC,1436,1.04,58.7,2858,2099,1956,1817,175.6,0.0,270,1498,1.05,2.53,49.92,0.691,10500,0.090,0.039,3236,3435,1652,1678,1627,0,0,0,0,0,0,25.79,25.34,24.82,8.96,43.38
$GC,1510,1.04,58.7,3236,3435,1678,1627,170.0,10.9,282,1517,0.00,2.38,0.00,0.000,1030,0.000,0.028,3247,2095,1652,1678,1627,0,0,0,0,0,0,25.60,25.55,25.63,8.95,42.47
$GC,1638,1.04,58.7,3247,2095,1678,1627,152.7,14.4,307,1646,0.00,2.45,0.00,0.000,516,0.000,0.041,3256,611,1652,1678,1627,0,0,0,0,0,0,26.18,25.92,26.20,8.93,43.85
$GC,1757,1.04,58.7,3255,611,1678,1627,136.5,13.0,330,1764,0.00,2.22,0.00,0.000,1030,0.000,0.023,3256,2042,1652,1678,1626,0,0,0,0,0,0,26.19,26.13,26.21,8.93,43.81
$GC,1888,1.04,58.7,3255,2042,1678,1625,119.5,14.1,355,1894,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,2042,1651,1678,1625,0,0,0,0,0,0,26.49,26.51,26.51,8.93,44.32
$GC,2016,1.04,58.7,3255,2042,1678,1625,101.9,13.0,380,2023,0.00,2.33,0.00,0.000,516,0.000,0.041,3267,594,1651,1678,1625,0,0,0,0,0,0,26.59,26.32,26.60,8.93,44.09
$GC,2114,1.04,58.7,3267,594,1678,1625,87.9,13.8,399,2122,0.00,2.25,0.00,0.000,1030,0.000,0.023,3267,2061,1651,1678,1625,0,0,0,0,0,0,26.47,26.42,26.48,8.92,44.32
$GC,2244,1.04,58.7,3266,2058,1678,1624,71.3,12.7,424,2251,0.00,2.33,0.00,0.000,516,0.000,0.040,3275,611,1651,1678,1625,0,0,0,0,0,0,26.70,26.43,26.71,8.92,44.92
$GC,2333,1.04,58.7,3275,611,1678,1625,58.9,13.8,441,2340,0.00,2.20,0.00,0.000,1030,0.000,0.022,3275,2055,1651,1678,1624,0,0,0,0,0,0,26.55,26.50,26.57,8.92,45.23
$GC,2462,1.04,58.7,3275,2054,1678,1624,41.6,12.8,466,2468,0.00,2.33,0.00,0.000,516,0.000,0.039,3286,592,1651,1678,1624,0,0,0,0,0,0,26.77,26.50,26.79,8.92,44.84
$GC,2636,1.04,58.7,3285,592,1678,1624,18.4,11.8,500,2643,0.12,2.22,0.00,0.000,5126,0.194,0.022,3250,2060,1650,1677,1624,0,0,0,0,0,0,26.38,26.59,26.55,8.92,44.64
$GC,2705,1.04,65.2,3249,2058,1678,1623,11.8,9.3,513,2712,0.00,0.00,3.85,0.366,8198,0.000,0.000,3250,2058,1625,1650,1601,0,0,0,0,0,0,26.83,26.44,25.96,8.93,44.72
$GC,2774,1.05,89.0,3249,2059,1652,1601,5.7,7.3,526,2795,0.00,2.40,15.00,0.474,8708,0.000,0.040,3259,594,1530,1547,1513,0,0,0,0,0,0,26.82,26.36,25.91,8.92,45.15
$STATE,2825,end climb,SURFACE_DEPTH_REACHED
$STATE,2825,begin surface coast
$FINISH,0.5,1.017882
$STATE,2847,end surface coast,CONTROL_FINISHED_OK
$STATE,2847,begin surface
$SM_CCo,2864,124.18,0.055,0,0,731,290.14
$SM_GC,1.57,7.93,2.50,124.18,0.045,0.025,0.055,184,2130,731,-8.46,-1.27,290.14,0,0,0,0,0,0,26.44,26.46,26.33
$IRIDIUM_FIX,4744.97,-12226.80,311017,090926
$TT8_MAMPS,0.024717,0.200732
$HUMID,42.87
$INTERNAL_PRESSURE,8.79795
$TCM_TEMP,13.50
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,120.3,67.2
$24V_AH,24.82,1.162
$10V_AH,10.49,0.654
$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,19.450,47.550,118.575,124.175,0.000,24.836,44.306,338.940,3.500,0.000,17.199,1341.627,522.707,364.396,1223.742,54.531,33.452,796.240,0.000,789.401,0.000,17.834,0.000
$DEVICE_MAMPS,246.330,1273.725,744.345,55.080,0.000,61.200,160.000,223.000,420.000,0.000,29.210,10.220,2.190,10.220,34.180,40.170,57.400,16.000,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_red_Chl_CDOM,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,370.790,428.218,432.201,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,20.220,61.420,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312880
$DATA_FILE_SIZE,38350,539
$CAP_FILE_SIZE,63409,0
$CFSIZE,260034560,257581056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.022,54.17,1
$GPS,311017,111132,4743.605,-12224.345,7,1.0,25,16.3,0.0,0.0,8,7.2