version: 66.13
glider: 157
mission: 18
dive: 21
start: 10 31 117 15 13 55
data:
$ID,157
$MISSION,18
$DIVE,21
$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,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,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$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,350
$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,58
$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
$GPS1,311017,150433,4744.3931,-12224.3213,4,0.9,8,16.3,0.0,248.2,9,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-72.4
$GPS2,311017,151249,4744.3359,-12224.2725,9,0.9,11,16.3,0.0,0.0,9,9.1
$SPEED_LIMITS,0.120,0.274
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.103497,-0.254064
$KALMAN_X,3449.304688,242.092163,353.339722,-3562.338623,264.638062
$KALMAN_Y,-5189.748535,403.172058,520.589844,7555.768555,359.907745
$MHEAD_RNG_PITCHd_Wd,170.9,2490,-21.3,-12.000,-23.63,1497
$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,-0.89,-117.3,190,2142,678,781,0.0,0.0,0,40,0.00,0.00,-31.35,0.000,16386,0.000,0.000,190,2142,1600,1613,1587,0,0,0,0,0,0,26.35,28.83,26.37,8.85,44.76
$GC,43,-0.89,-117.3,190,2142,1614,1588,2.4,-4.6,5,82,9.50,2.58,-21.58,0.000,18948,0.246,1.276,2634,743,2356,2519,2194,0,0,0,0,0,0,25.82,25.09,26.09,8.92,44.21
$GC,534,-0.89,-117.3,2633,744,2519,2195,78.3,-14.7,101,541,0.00,2.28,0.00,0.000,1030,0.000,0.034,2624,2136,2356,2518,2195,0,0,0,0,0,0,26.48,26.42,26.50,9.01,43.62
$GC,663,-0.89,-117.3,2624,2133,2519,2195,97.6,-15.5,126,670,0.00,2.28,0.00,0.000,260,0.000,0.041,2613,3517,2357,2519,2195,0,0,1,0,0,0,26.72,26.43,26.73,9.02,43.77
$GC,696,-0.89,-117.3,2613,3516,2518,2195,102.6,-14.4,132,703,0.00,2.05,0.00,0.000,1030,0.000,0.030,2613,2175,2357,2519,2195,0,0,0,0,0,0,26.53,26.47,26.55,9.01,43.42
$GC,831,-0.89,-117.3,2613,2175,2519,2195,122.5,-14.2,157,838,0.00,2.50,0.00,0.000,516,0.000,0.044,2613,702,2357,2519,2195,0,0,0,0,0,0,26.77,26.50,26.77,9.01,43.46
$GC,929,-0.89,-117.3,2613,702,2519,2195,138.0,-15.8,176,937,0.12,2.35,0.00,0.000,3078,0.195,0.031,2637,2152,2357,2519,2195,0,0,0,0,0,0,26.35,26.54,26.52,9.01,43.38
$GC,1059,-0.89,-117.3,2636,2150,2518,2196,154.8,-13.1,201,1065,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2150,2356,2518,2195,0,0,0,0,0,0,26.82,26.84,26.84,9.01,43.81
$GC,1186,-0.89,-117.3,2637,2150,2518,2195,170.4,-12.4,226,1193,0.00,2.30,0.00,0.000,260,0.000,0.042,2627,3567,2357,2519,2195,0,0,0,0,0,0,26.85,26.56,26.86,9.01,43.38
$GC,1229,-0.89,-117.3,2627,3566,2519,2195,176.0,-12.7,234,1237,0.00,2.20,0.00,0.000,1030,0.000,0.034,2627,2153,2356,2518,2195,0,0,0,0,0,0,26.67,26.61,26.69,9.00,43.69
$STATE,1242,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1242,begin apogee
$GC,1246,-0.19,0.0,2627,2003,2518,2195,177.8,-13.5,236,1348,0.70,0.12,94.00,0.724,10246,0.151,0.073,2859,2101,1887,1946,1828,0,0,0,0,0,0,26.44,25.34,24.83,9.00,43.46
$STATE,1349,end apogee,CONTROL_FINISHED_OK
$STATE,1349,begin climb
$GC,1350,0.89,117.3,2859,2101,1946,1828,181.3,0.0,253,1459,0.93,2.47,97.75,0.692,10756,0.086,0.041,3202,654,1419,1427,1412,0,0,0,0,0,0,25.41,25.03,24.52,8.97,42.63
$GC,1492,0.89,117.3,3201,655,1427,1412,167.1,14.3,277,1498,0.00,2.33,0.00,0.000,1030,0.000,0.023,3202,2089,1419,1427,1412,0,0,0,0,0,0,25.54,25.49,25.56,8.92,42.71
$GC,1620,0.89,117.3,3201,2087,1427,1412,148.6,13.2,302,1628,0.00,2.42,0.00,0.000,260,0.000,0.039,3202,3445,1419,1427,1412,0,0,0,0,0,0,26.15,25.88,26.16,8.92,42.87
$GC,1664,0.89,117.3,3201,3444,1427,1411,142.0,15.1,310,1672,0.00,2.35,0.00,0.000,1030,0.000,0.027,3213,2074,1419,1427,1412,0,0,0,0,0,0,26.06,26.00,26.07,8.92,42.91
$GC,1795,0.89,117.3,3213,2075,1427,1412,122.2,15.5,335,1801,0.00,2.38,0.00,0.000,516,0.000,0.041,3224,612,1419,1427,1412,0,0,0,0,0,0,26.41,26.14,26.42,8.91,43.58
$GC,1899,0.89,117.3,3223,612,1427,1411,105.3,16.4,355,1905,0.00,2.22,0.00,0.000,1030,0.000,0.024,3224,2055,1419,1427,1412,0,0,0,0,0,0,26.33,26.28,26.34,8.92,43.73
$GC,2027,0.89,117.3,3223,2053,1427,1410,85.3,14.5,380,2033,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2053,1418,1427,1410,0,0,0,0,0,0,26.59,26.61,26.60,8.92,43.89
$GC,2154,0.89,117.3,3223,2053,1427,1411,65.9,16.2,405,2161,0.00,2.30,0.00,0.000,516,0.000,0.040,3235,623,1418,1427,1410,0,0,0,0,0,0,26.66,26.39,26.67,8.92,44.09
$GC,2303,0.89,117.3,3234,623,1427,1411,42.7,15.7,434,2311,0.00,2.20,0.00,0.000,1030,0.000,0.024,3235,2060,1418,1427,1410,0,0,0,0,0,0,26.55,26.49,26.55,8.92,44.40
$GC,2433,0.89,117.3,3234,2059,1427,1410,23.0,15.3,459,2439,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,2058,1418,1427,1410,0,0,0,0,0,0,26.76,26.78,26.77,8.91,44.44
$GC,2500,0.89,117.3,3234,2059,1427,1410,12.8,13.9,472,2506,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,2058,1418,1427,1410,0,0,0,0,0,0,26.78,26.79,26.79,8.91,44.29
$GC,2568,0.92,178.5,3234,2058,1427,1410,5.6,7.8,485,2611,0.00,2.35,35.80,0.474,8708,0.000,0.041,3241,613,1172,1160,1185,0,0,0,0,0,0,26.79,26.02,25.76,8.92,44.40
$GC,2623,0.97,261.8,3241,613,1160,1185,2.4,6.3,494,2633,0.00,2.22,4.50,0.054,9218,0.000,0.023,3241,2055,1144,1130,1159,0,0,0,0,0,0,26.30,26.25,26.32,8.89,44.17
$STATE,2634,end climb,SURFACE_DEPTH_REACHED
$STATE,2634,begin surface coast
$FINISH,0.5,1.011925
$STATE,2660,end surface coast,CONTROL_FINISHED_OK
$STATE,2660,begin surface
$SM_CCo,2674,100.78,0.054,0,0,493,350.17
$SM_GC,1.25,7.75,0.12,100.78,0.032,0.076,0.054,189,2137,493,-8.43,-1.36,350.17,0,0,0,0,0,0,26.27,26.29,26.20
$IRIDIUM_FIX,4744.97,-12226.80,311017,140904
$TT8_MAMPS,0.024717,0.199983
$HUMID,42.91
$INTERNAL_PRESSURE,8.77842
$TCM_TEMP,13.40
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,115.5,75.9
$24V_AH,24.52,1.443
$10V_AH,10.49,0.840
$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,19.000,42.275,232.050,100.775,0.000,23.204,49.892,342.412,3.750,0.000,11.589,1191.791,461.260,425.947,1163.763,53.581,33.435,848.465,0.000,730.736,0.000,13.333,0.000
$DEVICE_MAMPS,245.565,1276.020,724.455,53.550,0.000,61.200,160.000,223.000,420.000,0.000,29.210,10.220,2.190,10.220,34.180,40.170,57.400,16.000,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_red_Chl_CDOM,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,341.306,391.825,395.822,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,34877,500
$CAP_FILE_SIZE,59656,0
$CFSIZE,260034560,257384448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,2,0
$CURRENT,0.008,23.35,1
$GPS,311017,160053,4744.040,-12224.264,4,0.9,8,16.3,0.0,0.0,9,9.5