version: 66.13
glider: 157
mission: 18
dive: 3
start: 10 30 117 21 5 5
data:
$ID,157
$MISSION,18
$DIVE,3
$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,34
$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,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
$GPS1,301017,205603,4742.4150,-12224.8135,6,0.8,11,16.3,0.0,173.8,10,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-68.7
$GPS2,301017,210358,4742.3359,-12224.8379,10,0.9,46,16.3,0.4,204.8,9,9.8
$SPEED_LIMITS,0.100,0.287
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.066152,0.279347
$KALMAN_X,-130.584763,-147.000778,-138.546295,195.088867,-159.860352
$KALMAN_Y,-401.148865,-475.288940,-436.367188,899.088135,-519.977966
$MHEAD_RNG_PITCHd_Wd,11.0,4029,-16.4,-10.000,-19.21,2244
$D_GRID,143
$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,-146.6,187,2144,685,774,0.0,0.0,0,46,0.00,0.00,-37.08,0.000,16386,0.000,0.000,187,2144,1734,1772,1696,0,0,0,0,0,0,26.51,28.83,26.53,8.88,46.85
$GC,49,-0.76,-146.6,187,2144,1772,1695,2.3,-5.0,6,86,9.68,0.00,-21.02,0.000,18950,0.244,0.000,2689,2144,2473,2637,2309,0,0,0,0,0,0,25.94,25.76,26.21,8.99,46.49
$GC,148,-0.76,-146.6,2689,2144,2637,2312,12.6,-14.6,24,153,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2143,2474,2637,2312,0,0,0,0,0,0,26.51,26.53,26.52,9.06,46.02
$GC,215,-0.76,-146.6,2689,2143,2637,2312,22.4,-15.0,37,222,0.00,2.35,0.00,0.000,516,0.000,0.041,2689,705,2474,2637,2312,0,0,0,0,0,0,26.58,26.30,26.59,9.06,45.62
$GC,259,-0.76,-146.6,2689,705,2637,2312,29.2,-15.5,45,266,0.00,2.28,0.00,0.000,1030,0.000,0.028,2683,2145,2474,2637,2312,0,0,0,0,0,0,26.42,26.36,26.44,9.07,45.62
$GC,329,-0.76,-146.6,2682,2143,2636,2313,40.0,-16.4,58,336,0.00,2.42,0.00,0.000,260,0.000,0.044,2683,3635,2474,2637,2312,0,0,0,0,0,0,26.66,26.35,26.67,9.06,45.78
$GC,408,-0.76,-146.6,2682,3614,2637,2313,53.6,-17.0,73,415,0.00,2.25,0.00,0.000,1030,0.000,0.028,2683,2158,2475,2637,2313,0,0,0,0,0,0,26.51,26.44,26.53,9.06,45.82
$GC,537,-0.76,-146.6,2682,2158,2637,2313,74.9,-16.9,98,544,0.00,2.38,0.00,0.000,516,0.000,0.041,2683,711,2475,2637,2313,0,0,0,0,0,0,26.76,26.47,26.77,9.07,45.82
$GC,631,-0.76,-146.6,2682,711,2637,2312,90.2,-14.9,116,637,0.00,2.28,0.00,0.000,1030,0.000,0.028,2673,2150,2474,2637,2312,0,0,0,0,0,0,26.60,26.53,26.61,9.06,45.86
$GC,764,-0.76,-146.6,2672,2149,2637,2312,110.0,-13.9,141,771,0.00,2.40,0.00,0.000,260,0.000,0.043,2662,3564,2475,2637,2313,0,0,0,0,0,0,26.83,26.52,26.84,9.06,45.78
$GC,822,-0.76,-146.6,2661,3564,2637,2312,117.4,-14.2,152,829,0.00,2.28,0.00,0.000,1030,0.000,0.032,2661,2153,2475,2637,2313,0,0,0,0,0,0,26.65,26.59,26.67,9.05,45.74
$GC,951,-0.76,-146.6,2661,2153,2637,2313,135.0,-13.5,177,958,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2153,2475,2637,2313,0,0,0,0,0,0,26.87,26.89,26.89,9.06,45.47
$GC,1082,-0.76,-146.6,2661,2153,2637,2313,136.9,0.1,202,1089,0.00,2.38,0.00,0.000,516,0.000,0.044,2661,699,2474,2637,2312,0,0,0,0,0,0,26.90,26.60,26.91,9.05,46.02
$STATE,1109,end dive,NO_VERTICAL_VELOCITY
$STATE,1109,begin apogee
$GC,1115,-0.21,0.0,2658,2082,2636,2312,136.9,0.0,207,1237,0.60,0.03,116.72,0.696,10246,0.114,0.220,2869,2036,1887,1932,1843,0,0,0,0,0,0,26.48,25.26,24.81,9.05,45.86
$STATE,1239,end apogee,CONTROL_FINISHED_OK
$STATE,1239,begin climb
$GC,1240,0.76,146.6,2868,2036,1931,1842,136.7,0.0,227,1367,0.82,2.08,117.15,0.676,10500,0.094,0.038,3159,3433,1301,1304,1299,0,0,0,0,0,0,25.36,24.99,24.64,9.00,44.95
$GC,1420,0.76,146.6,3158,3356,1304,1297,123.6,14.4,258,1426,0.00,1.92,0.00,0.000,1030,0.000,0.029,3166,2040,1300,1304,1297,0,0,1,0,0,0,25.77,25.71,25.77,8.94,44.05
$GC,1549,0.76,146.6,3166,2040,1304,1297,106.3,12.4,283,1555,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,2040,1300,1304,1297,0,0,0,0,0,0,26.30,26.32,26.32,8.93,44.80
$GC,1677,0.77,166.4,3166,2040,1304,1297,91.8,9.1,308,1696,0.00,0.00,16.67,0.623,8198,0.000,0.000,3166,2040,1223,1227,1220,0,0,0,0,0,0,26.48,25.93,25.46,8.93,46.06
$GC,1819,0.77,166.4,3166,2040,1227,1220,74.6,11.4,335,1825,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,2040,1223,1227,1220,0,0,0,0,0,0,26.48,26.49,26.49,8.92,46.73
$GC,1947,0.77,166.4,3166,2040,1227,1220,57.7,13.2,360,1953,0.00,2.25,0.00,0.000,516,0.000,0.044,3172,621,1223,1227,1220,0,0,0,0,0,0,26.60,26.32,26.61,8.92,46.02
$GC,2000,0.77,166.4,3172,621,1227,1220,50.7,13.6,370,2007,0.00,2.17,0.00,0.000,1030,0.000,0.025,3172,2054,1223,1227,1220,0,0,0,0,0,0,26.45,26.39,26.46,8.92,46.33
$GC,2129,0.77,166.4,3172,2053,1227,1219,34.4,11.5,395,2136,0.00,2.42,0.00,0.000,260,0.000,0.040,3173,3439,1223,1227,1219,0,0,0,0,0,0,26.70,26.41,26.72,8.92,46.18
$GC,2162,0.77,166.4,3172,3435,1227,1219,29.9,13.0,401,2170,0.00,2.38,0.00,0.000,1030,0.000,0.031,3173,2045,1223,1227,1219,0,0,0,0,0,0,26.53,26.46,26.54,8.92,47.20
$GC,2232,0.77,166.4,3172,2045,1227,1219,21.7,12.9,414,2238,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2046,1223,1227,1219,0,0,0,0,0,0,26.74,26.76,26.76,8.92,47.08
$GC,2300,0.77,166.4,3172,2046,1226,1219,12.9,12.2,427,2306,0.00,2.25,0.00,0.000,516,0.000,0.045,3173,619,1223,1227,1219,0,0,0,0,0,0,26.77,26.48,26.78,8.92,46.41
$GC,2362,0.77,166.4,3172,619,1227,1219,5.7,10.6,439,2369,0.00,2.17,0.00,0.000,1030,0.000,0.024,3173,2060,1223,1227,1219,0,0,0,0,0,0,26.60,26.55,26.63,8.92,46.29
$STATE,2400,end climb,SURFACE_DEPTH_REACHED
$STATE,2401,begin surface coast
$FINISH,0.6,1.021419
$STATE,2417,end surface coast,CONTROL_FINISHED_OK
$STATE,2417,begin surface
$SM_CCo,2431,71.30,0.053,0,0,731,290.14
$SM_GC,1.53,7.57,0.15,71.30,0.034,0.071,0.053,165,2164,731,-8.54,-0.82,290.14,0,0,0,0,0,0,26.53,26.57,26.45
$IRIDIUM_FIX,4742.17,-12225.08,301017,200406
$TT8_MAMPS,0.024717,0.200732
$HUMID,45.23
$INTERNAL_PRESSURE,8.82725
$TCM_TEMP,13.50
$XPDR_PINGS,4
$ALTIM_TOP_PING,19.3,18.3
$ALTIM_BOTTOM_PING,105.4,28.2
$24V_AH,24.64,0.358
$10V_AH,10.48,0.142
$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,18.675,41.025,250.550,71.300,0.000,22.847,42.485,293.844,2.250,0.000,47.892,1066.580,398.090,418.754,1072.160,50.571,31.510,817.818,0.000,657.650,0.000,12.259,0.000
$DEVICE_MAMPS,244.035,219.555,696.150,52.785,0.000,61.200,160.000,223.000,420.000,0.000,29.210,10.220,2.190,10.220,34.180,40.170,57.400,16.000,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_red_Chl_CDOM,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,304.992,363.542,366.755,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,31452,449
$CAP_FILE_SIZE,57046,0
$CFSIZE,260034560,258195456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,2,0
$CURRENT,0.112,220.04,1
$GPS,301017,214731,4742.532,-12224.814,5,0.8,9,16.3,0.0,0.0,11,8.5