version: 66.13
glider: 157
mission: 18
dive: 2
start: 10 30 117 20 8 37
data:
$ID,157
$MISSION,18
$DIVE,2
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,150
$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,-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,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,2930
$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,2150
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,41
$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
$GPS1,301017,200327,4742.4209,-12224.8379,8,0.8,10,16.3,0.0,184.6,11,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-67.0
$GPS2,301017,200731,4742.3647,-12224.8564,10,0.8,13,16.3,0.0,201.4,11,9.8
$SPEED_LIMITS,0.100,0.287
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.083177,0.274759
$KALMAN_X,-63.192139,-63.192139,-63.192139,-48.832863,-211.484100
$KALMAN_Y,-152.555618,-152.555618,-152.555618,105.410477,-510.555420
$MHEAD_RNG_PITCHd_Wd,9.1,3979,-16.4,-10.000,-19.21,2244
$D_GRID,147
$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,-146.6,201,2147,466,502,0.0,0.0,0,59,0.00,0.00,-49.03,0.000,16386,0.000,0.000,202,2147,1820,1873,1767,0,0,0,0,0,0,26.65,28.83,26.66,8.89,45.78
$GC,61,-0.76,-146.6,202,2148,1873,1767,2.3,-4.6,8,100,9.57,2.50,-18.42,0.000,18948,0.244,1.278,2685,717,2475,2637,2314,0,0,0,0,0,0,26.03,25.13,26.32,9.01,45.27
$GC,122,-0.76,-146.6,2684,717,2637,2316,8.2,-12.9,18,129,0.00,2.28,0.00,0.000,1030,0.000,0.028,2683,2145,2477,2637,2317,0,0,0,0,0,0,26.29,26.23,26.31,9.09,44.36
$GC,190,-0.76,-146.6,2682,2144,2637,2318,18.4,-16.4,31,196,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2144,2477,2637,2318,0,0,0,0,0,0,26.56,26.58,26.58,9.09,44.36
$GC,258,-0.76,-146.6,2682,2143,2637,2318,28.3,-14.4,44,264,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2144,2478,2637,2319,0,0,0,0,0,0,26.63,26.64,26.64,9.09,44.76
$GC,326,-0.76,-146.6,2682,2143,2637,2319,37.7,-14.0,57,334,0.00,2.38,0.00,0.000,260,0.000,0.044,2682,3543,2478,2637,2319,0,0,0,0,0,0,26.67,26.37,26.69,9.08,44.60
$GC,400,-0.76,-146.6,2681,3537,2637,2319,47.4,-12.5,71,407,0.00,2.22,0.00,0.000,1030,0.000,0.028,2682,2151,2477,2636,2319,0,0,0,0,0,0,26.52,26.46,26.53,9.08,45.55
$GC,531,-0.76,-146.6,2681,2151,2637,2319,61.9,-11.2,96,537,0.00,2.35,0.00,0.000,516,0.000,0.041,2682,707,2477,2636,2318,0,0,0,0,0,0,26.77,26.48,26.79,9.08,45.58
$GC,614,-0.76,-146.6,2681,708,2636,2318,73.7,-14.1,112,621,0.00,2.28,0.00,0.000,1030,0.000,0.027,2672,2152,2477,2636,2318,0,0,0,0,0,0,26.60,26.53,26.62,9.08,45.07
$GC,743,-0.76,-146.6,2671,2150,2636,2318,91.1,-14.1,137,749,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2150,2477,2636,2318,0,0,0,0,0,0,26.84,26.86,26.85,9.08,45.19
$GC,875,-0.76,-146.6,2671,2150,2636,2318,107.5,-10.5,162,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2150,2477,2636,2318,0,0,0,0,0,0,26.87,26.89,26.89,9.08,45.27
$GC,1003,-0.76,-146.6,2671,2150,2636,2318,120.6,-10.1,187,1009,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2150,2477,2637,2318,0,0,0,0,0,0,26.90,26.91,26.91,9.07,45.43
$GC,1130,-0.76,-146.6,2671,2150,2636,2318,135.1,-14.6,212,1137,0.00,2.30,0.00,0.000,260,0.000,0.041,2661,3548,2477,2635,2319,0,0,1,0,0,0,26.92,26.60,26.94,9.06,45.19
$STATE,1350,end dive,NO_VERTICAL_VELOCITY
$STATE,1350,begin apogee
$GC,1356,-0.21,0.0,2661,2029,2635,2319,145.5,0.0,255,1481,0.60,0.00,116.32,0.688,10246,0.100,0.000,2878,2030,1887,1934,1841,0,0,0,0,0,0,26.53,25.22,24.87,9.06,46.06
$STATE,1483,end apogee,CONTROL_FINISHED_OK
$STATE,1483,begin climb
$GC,1484,0.76,146.6,2878,2030,1934,1841,145.4,0.0,276,1610,0.77,2.35,117.22,0.672,10756,0.093,0.048,3165,619,1302,1310,1294,0,0,0,0,0,0,25.44,25.03,24.68,9.01,44.60
$GC,1933,0.76,146.6,3164,619,1310,1293,91.8,13.8,361,1940,0.00,2.20,0.00,0.000,1030,0.000,0.024,3164,2081,1301,1310,1292,0,0,0,0,0,0,26.35,26.30,26.37,8.94,45.86
$GC,2063,0.76,146.6,3164,2080,1309,1292,75.1,12.2,386,2070,0.00,2.33,0.00,0.000,516,0.000,0.048,3173,632,1300,1309,1292,0,0,0,0,0,0,26.63,26.34,26.65,8.94,46.06
$GC,2376,0.76,146.6,3172,632,1310,1291,35.0,12.6,448,2383,0.00,2.12,0.00,0.000,1030,0.000,0.024,3172,2052,1301,1310,1292,0,0,0,0,0,0,26.61,26.55,26.63,8.93,46.61
$GC,2445,0.76,146.6,3172,2052,1310,1291,27.2,11.4,461,2451,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2052,1300,1310,1291,0,0,0,0,0,0,26.81,26.83,26.82,8.94,46.45
$GC,2516,0.76,146.6,3172,2052,1310,1291,19.9,10.6,474,2522,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2052,1300,1309,1291,0,0,0,0,0,0,26.82,26.83,26.83,8.93,46.81
$GC,2583,0.77,165.2,3172,2052,1310,1291,13.4,9.2,487,2602,0.00,2.30,9.77,0.507,8708,0.000,0.048,3173,634,1228,1231,1225,0,0,0,0,0,0,26.85,26.41,25.92,8.93,46.65
$STATE,2698,end climb,SURFACE_DEPTH_REACHED
$STATE,2698,begin surface coast
$FINISH,0.5,1.008421
$STATE,2714,end surface coast,CONTROL_FINISHED_OK
$STATE,2714,begin surface
$SM_CCo,2731,69.90,0.052,0,0,730,290.14
$SM_GC,1.42,7.60,2.40,69.90,0.041,0.032,0.052,188,2147,730,-8.47,-1.16,290.14,0,0,0,0,0,0,26.53,26.54,26.44
$IRIDIUM_FIX,4742.17,-12225.08,301017,195849
$TT8_MAMPS,0.024717,0.244174
$HUMID,45.70
$INTERNAL_PRESSURE,8.83701
$TCM_TEMP,13.80
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.9,19.0
$ALTIM_BOTTOM_PING,100.0,41.5
$24V_AH,24.68,0.287
$10V_AH,10.47,0.108
$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,18.550,32.525,243.325,69.900,0.000,0.000,0.000,0.000,1.500,0.000,15.012,1201.055,476.081,409.393,759.643,36.850,30.284,834.379,0.000,747.928,0.000,7.156,0.000
$DEVICE_MAMPS,244.035,1277.550,687.735,52.020,0.000,0.000,0.000,0.000,420.000,0.000,29.210,10.220,2.190,10.220,34.180,40.170,57.400,16.000,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_red_Chl_CDOM,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,349.314,410.991,414.739,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,20.220,61.420,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312904
$DATA_FILE_SIZE,34741,512
$CAP_FILE_SIZE,62909,0
$CFSIZE,260034560,258224128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,2,0
$CURRENT,0.177,222.01,1
$GPS,301017,205603,4742.415,-12224.813,6,0.8,11,16.3,0.0,173.8,10,9.8