version: 66.13
glider: 157
mission: 18
dive: 5
start: 10 30 117 22 58 33
data:
$ID,157
$MISSION,18
$DIVE,5
$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,250
$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,2914
$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,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,36
$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
$GPS1,301017,224551,4742.8477,-12224.8213,6,1.0,17,16.3,0.0,0.0,8,10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-70.3
$GPS2,301017,225725,4742.8438,-12224.8486,11,1.2,29,16.3,0.0,205.8,9,9.8
$SPEED_LIMITS,0.100,0.287
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.059618,0.280814
$KALMAN_X,-310.610748,-299.984222,-187.787018,564.101440,-78.024017
$KALMAN_Y,-607.257324,-801.271301,-631.077637,2554.928955,-128.722717
$MHEAD_RNG_PITCHd_Wd,6.9,3098,-16.4,-10.000,-19.21,2244
$D_GRID,179
$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,-0.71,-146.6,181,2166,831,942,0.0,0.0,0,40,0.00,0.00,-31.00,0.000,16386,0.000,0.000,181,2167,1716,1750,1683,0,0,0,0,0,0,26.45,28.83,26.46,8.89,46.06
$GC,43,-0.71,-146.6,181,2167,1750,1684,2.3,-4.1,5,82,9.82,2.60,-21.67,0.000,18948,0.249,1.276,2684,712,2473,2633,2313,0,0,0,0,0,0,25.89,25.16,26.16,8.97,46.41
$GC,94,-0.71,-146.6,2684,712,2633,2315,6.9,-11.2,13,102,0.00,2.30,0.00,0.000,1030,0.000,0.027,2675,2141,2474,2633,2316,0,0,0,0,0,0,26.18,26.13,26.20,9.05,45.70
$GC,164,-0.71,-146.6,2675,2140,2633,2318,17.1,-14.1,26,170,0.00,2.47,0.00,0.000,260,0.000,0.044,2666,3579,2475,2633,2318,0,0,0,0,0,0,26.46,26.17,26.47,9.05,45.39
$GC,318,-0.71,-146.6,2665,3577,2633,2320,40.8,-15.4,56,325,0.00,2.33,0.00,0.000,1030,0.000,0.027,2666,2145,2476,2632,2320,0,0,0,0,0,0,26.41,26.35,26.43,9.05,45.90
$GC,447,-0.71,-146.6,2665,2144,2633,2320,59.0,-13.5,81,455,0.00,2.38,0.00,0.000,516,0.000,0.041,2666,709,2476,2633,2320,0,0,0,0,0,0,26.67,26.40,26.69,9.05,45.11
$GC,571,-0.71,-146.6,2665,709,2633,2319,77.4,-14.4,105,578,0.00,2.30,0.00,0.000,1030,0.000,0.030,2655,2149,2476,2633,2320,0,0,0,0,0,0,26.53,26.47,26.55,9.05,45.19
$GC,701,-0.71,-146.6,2654,2147,2633,2319,96.6,-14.4,130,707,0.00,2.38,0.00,0.000,516,0.000,0.044,2655,704,2476,2633,2319,0,0,0,0,0,0,26.77,26.50,26.79,9.05,45.47
$GC,750,-0.71,-146.6,2655,704,2633,2319,104.3,-15.5,139,758,0.15,2.33,0.00,0.000,3078,0.162,0.030,2692,2152,2476,2632,2320,0,0,0,0,0,0,26.36,26.53,26.51,9.04,44.92
$GC,884,-0.71,-146.6,2691,2150,2632,2320,120.3,-12.8,164,891,0.00,2.35,0.00,0.000,260,0.000,0.043,2683,3575,2476,2632,2320,0,0,1,0,0,0,26.80,26.52,26.82,9.04,45.15
$GC,928,-0.71,-146.6,2683,3574,2633,2320,126.1,-11.8,172,935,0.00,2.28,0.00,0.000,1030,0.000,0.034,2684,2146,2476,2633,2320,0,0,0,0,0,0,26.64,26.58,26.65,9.04,45.31
$GC,1058,-0.71,-146.6,2683,2149,2633,2320,141.9,-11.7,197,1065,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2149,2476,2633,2320,0,0,0,0,0,0,26.86,26.87,26.87,9.04,44.99
$STATE,1126,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1126,begin apogee
$GC,1130,-0.19,0.0,2683,2007,2633,2320,150.4,-11.2,210,1257,0.50,0.08,117.80,0.708,10246,0.133,0.046,2856,2081,1886,1926,1846,0,0,0,0,0,0,26.44,25.10,24.76,9.03,45.47
$STATE,1258,end apogee,CONTROL_FINISHED_OK
$STATE,1258,begin climb
$GC,1259,0.71,146.6,2856,2081,1926,1846,154.2,0.0,231,1385,0.77,2.50,117.20,0.672,10756,0.093,0.044,3133,653,1302,1305,1299,0,0,0,0,0,0,25.33,25.10,24.60,8.98,44.44
$GC,1408,0.72,160.1,3132,653,1305,1300,143.9,9.4,256,1427,0.00,2.22,12.15,0.610,9222,0.000,0.024,3133,2037,1248,1249,1248,0,0,0,0,0,0,25.53,25.48,24.84,8.93,43.22
$GC,1550,0.72,164.6,3132,2036,1249,1248,129.2,9.8,283,1557,0.00,0.00,5.38,0.526,8198,0.000,0.000,3133,2037,1231,1234,1229,0,0,0,0,0,0,26.17,25.78,25.27,8.92,44.64
$GC,1680,0.73,182.7,3132,2036,1233,1228,117.5,9.2,308,1699,0.00,0.00,15.48,0.623,8198,0.000,0.000,3133,2036,1158,1153,1164,0,0,0,0,0,0,26.36,25.83,25.35,8.91,45.47
$GC,1822,0.73,188.3,3132,2036,1153,1165,104.3,9.7,335,1835,0.00,0.00,5.93,0.526,8198,0.000,0.000,3133,2036,1137,1131,1143,0,0,0,0,0,0,26.40,25.85,25.48,8.91,45.19
$GC,1956,0.73,188.3,3132,2036,1131,1143,90.7,10.4,361,1963,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2036,1137,1131,1143,0,0,0,0,0,0,26.49,26.51,26.51,8.91,45.19
$GC,2085,0.74,200.8,3132,2036,1131,1143,78.6,9.4,386,2104,0.00,2.33,12.62,0.614,8708,0.000,0.044,3133,644,1086,1077,1096,0,0,0,0,0,0,26.60,26.12,25.58,8.90,45.78
$GC,2152,0.75,213.7,3132,645,1077,1096,72.4,9.4,398,2171,0.00,2.20,13.02,0.607,9222,0.000,0.025,3133,2070,1035,1021,1050,0,0,0,0,0,0,26.32,26.25,25.51,8.90,45.74
$GC,2294,0.75,217.6,3132,2068,1021,1051,58.8,9.8,425,2302,0.00,0.00,5.18,0.498,8198,0.000,0.000,3133,2068,1019,1003,1036,0,0,0,0,0,0,26.51,26.10,25.59,8.89,45.70
$GC,2425,0.75,219.9,3132,2068,1003,1036,45.6,9.9,450,2432,0.00,2.30,0.00,0.000,516,0.000,0.044,3134,647,1020,1003,1037,0,0,0,0,0,0,26.57,26.26,26.58,8.89,45.62
$GC,2483,0.75,219.9,3133,648,1003,1036,39.7,10.4,461,2491,0.00,2.15,0.00,0.000,1030,0.000,0.024,3134,2042,1019,1003,1036,0,0,0,0,0,0,26.43,26.37,26.44,8.90,45.94
$GC,2554,0.76,230.0,3133,2040,1003,1036,32.9,9.5,474,2573,0.00,2.08,11.93,0.586,8452,0.000,0.037,3134,3363,971,948,995,0,0,0,0,0,0,26.65,26.03,25.70,8.90,46.33
$GC,2620,0.76,230.0,3133,3364,950,995,25.3,11.9,486,2627,0.00,1.95,0.00,0.000,1030,0.000,0.029,3141,2062,972,949,995,0,0,0,0,0,0,26.36,26.30,26.38,8.89,46.14
$GC,2688,0.76,230.0,3141,2062,949,994,17.5,10.8,499,2694,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2062,972,949,995,0,0,0,0,0,0,26.60,26.62,26.62,8.89,46.14
$GC,2756,0.78,267.6,3140,2062,949,995,11.0,8.3,512,2787,0.00,2.33,23.98,0.509,8708,0.000,0.041,3145,623,820,792,848,0,0,0,0,0,0,26.65,25.95,25.66,8.89,45.98
$GC,2819,0.79,297.1,3144,623,792,848,5.5,8.7,523,2844,0.00,2.22,17.65,0.461,9222,0.000,0.030,3145,2053,701,675,728,0,0,0,0,0,0,26.27,26.22,25.58,8.88,45.78
$STATE,2860,end climb,SURFACE_DEPTH_REACHED
$STATE,2860,begin surface coast
$FINISH,0.4,1.022088
$STATE,2886,end surface coast,CONTROL_FINISHED_OK
$STATE,2886,begin surface
$SM_CCo,2961,0.00,0.000,0,0,703,297.67
$SM_GC,1.26,7.65,0.15,0.00,0.036,0.067,0.000,159,2152,703,-8.49,-1.02,297.67,0,0,0,0,0,0,26.13,26.15,26.18
$IRIDIUM_FIX,4744.97,-12226.80,301017,224706
$TT8_MAMPS,0.024717,0.246421
$HUMID,45.51
$INTERNAL_PRESSURE,8.80771
$TCM_TEMP,13.50
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,120.3,74.3
$24V_AH,24.60,0.523
$10V_AH,10.43,0.219
$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,18.900,46.425,358.300,0.000,0.000,52.837,89.146,391.685,4.500,0.000,30.425,1249.243,577.313,427.071,1364.620,60.955,33.415,901.212,0.000,779.223,0.000,13.517,0.000
$DEVICE_MAMPS,249.390,1276.020,708.390,0.000,0.000,61.200,160.000,223.000,420.000,0.000,29.210,10.220,2.190,10.220,34.180,40.170,57.400,16.000,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_red_Chl_CDOM,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,362.997,424.573,428.339,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,20.220,61.420,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312844
$DATA_FILE_SIZE,38408,535
$CAP_FILE_SIZE,68315,0
$CFSIZE,260034560,258088960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,2,0
$CURRENT,0.064,351.61,1
$GPS,301017,234904,4743.321,-12224.614,6,1.1,37,16.3,0.0,14.3,9,9.5