version: 66.13
glider: 157
mission: 18
dive: 1
start: 10 30 117 19 29 40
data:
$ID,157
$MISSION,18
$DIVE,1
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,45
$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,15
$T_MISSION,20
$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,150
$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,2850
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0099999998
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,24
$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,2100
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,64
$R_STBD_OVSHOOT,89
$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,20
$ALTIM_BOTTOM_TURN_MARGIN,0
$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
$GPS1,301017,192513,4742.5908,-12224.6396,4,0.9,10,16.3,0.0,0.0,10,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-64.7
$GPS2,301017,192830,4742.5630,-12224.6602,7,0.8,14,16.3,0.0,0.0,11,9.8
$SPEED_LIMITS,0.100,0.287
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.015955,0.286629
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,346.9,3592,-16.4,-10.000,-19.21,2244
$D_GRID,172
$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,-0.76,-146.6,197,2053,479,509,0.0,0.0,0,70,0.00,0.00,-60.83,0.000,16386,0.000,0.000,197,2053,2131,2196,2067,0,0,0,0,0,0,26.69,28.83,26.70,8.93,42.79
$GC,72,-0.76,-146.6,197,2053,2196,2068,2.5,-5.4,10,98,9.52,0.00,-8.30,0.000,18438,0.250,0.000,2609,2052,2474,2626,2323,0,0,0,0,0,0,25.95,25.82,26.28,9.10,42.83
$GC,160,-0.76,-146.6,2608,2053,2626,2325,16.6,-17.8,26,166,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2052,2475,2626,2325,0,0,0,0,0,0,26.62,26.63,26.63,9.13,42.16
$GC,227,-0.76,-146.6,2609,2052,2626,2325,27.0,-15.5,39,233,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2052,2475,2626,2325,0,0,0,0,0,0,26.67,26.69,26.69,9.12,42.95
$GC,295,-0.76,-146.6,2609,2052,2626,2325,38.0,-17.4,52,301,0.00,2.20,0.00,0.000,260,0.000,0.043,2601,3437,2476,2626,2326,0,0,0,0,0,0,26.72,26.39,26.73,9.13,42.63
$STATE,336,end dive,TARGET_DEPTH_EXCEEDED
$STATE,337,begin apogee
$GC,342,-0.21,0.0,2600,2136,2626,2326,45.3,-16.4,60,468,0.57,0.05,115.50,0.643,10246,0.161,0.058,2785,2073,1888,1933,1844,0,0,0,0,0,0,26.21,25.23,24.91,9.11,42.95
$STATE,469,end apogee,CONTROL_FINISHED_OK
$STATE,469,begin climb
$GC,470,0.76,146.6,2784,2073,1933,1844,54.4,0.0,81,595,0.88,0.00,116.62,0.634,10502,0.122,0.000,3076,2073,1303,1311,1295,0,0,0,0,0,0,25.41,25.23,24.78,9.07,42.43
$GC,717,0.81,229.5,3075,2073,1311,1293,42.4,6.2,126,789,0.05,0.00,68.07,0.611,10246,0.148,0.000,3128,2072,973,950,997,0,0,0,0,0,0,26.05,25.38,24.94,8.99,43.30
$GC,852,0.82,245.8,3128,2072,949,996,30.4,9.3,150,871,0.00,0.00,14.80,0.557,8198,0.000,0.000,3128,2072,907,881,934,0,0,0,0,0,0,26.10,25.64,25.20,8.96,43.42
$GC,933,0.82,252.8,3127,2073,881,934,22.3,9.7,165,940,0.00,0.00,3.95,0.386,8198,0.000,0.000,3128,2072,880,853,908,0,0,0,0,0,0,26.22,25.85,25.39,8.95,43.42
$GC,1002,0.83,266.8,3128,2072,853,907,15.5,9.4,178,1016,0.00,2.45,7.72,0.457,8452,0.000,0.042,3128,3443,824,798,850,0,0,0,0,0,0,26.34,25.82,25.51,8.94,43.38
$GC,1028,0.84,282.2,3128,3442,799,849,13.0,9.3,182,1043,0.00,2.25,8.18,0.446,9222,0.000,0.030,3131,2124,763,738,788,0,0,0,0,0,0,26.13,26.07,25.50,8.94,43.50
$GC,1105,0.87,348.9,3131,2125,737,787,7.7,7.0,196,1148,0.00,2.45,33.28,0.465,8708,0.000,0.044,3131,668,495,478,513,0,0,0,0,0,0,26.39,25.82,25.40,8.93,43.73
$GC,1195,0.92,430.8,3131,667,477,514,2.4,6.3,212,1202,0.00,2.15,1.70,0.060,9222,0.000,0.026,3131,2057,483,466,501,0,0,0,0,0,0,26.11,26.06,26.00,8.92,43.62
$STATE,1207,end climb,SURFACE_DEPTH_REACHED
$STATE,1207,begin surface coast
$FINISH,1.0,1.021863
$STATE,1214,end surface coast,CONTROL_FINISHED_OK
$STATE,1214,begin surface
$SM_CCo,1288,0.00,0.000,0,0,484,352.68
$SM_GC,1.12,7.47,0.00,0.00,0.030,0.000,0.000,194,2056,484,-8.21,-1.24,352.68,0,0,0,0,0,0,26.09,26.34,26.14
$IRIDIUM_FIX,4741.67,-12220.67,301017,192042
$TT8_MAMPS,0.023968,0.246421
$HUMID,43.73
$INTERNAL_PRESSURE,8.84678
$TCM_TEMP,16.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.9,19.2
$24V_AH,24.78,0.213
$10V_AH,10.43,0.070
$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,18.500,13.550,369.825,0.000,0.000,0.000,0.000,0.000,0.500,0.000,15.025,433.434,191.197,391.320,327.494,30.248,29.312,636.605,0.000,323.303,0.000,2.617,0.000
$DEVICE_MAMPS,250.155,58.140,643.365,0.000,0.000,0.000,0.000,0.000,420.000,0.000,29.210,10.220,2.190,10.220,34.180,40.170,57.400,16.000,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_red_Chl_CDOM,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,140.290,223.173,225.323,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,20.220,61.420,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,313072
$DATA_FILE_SIZE,14159,215
$CAP_FILE_SIZE,56821,1
$CFSIZE,260034560,258289664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.209,213.05,1
$GPS,301017,195145,4742.590,-12224.771,7,0.8,7,16.3,0.0,0.0,11,0.0