version: 66.13
glider: 157
mission: 18
dive: 8
start: 10 31 117 1 59 50
data:
$ID,157
$MISSION,18
$DIVE,8
$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,60
$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,250
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$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,2920
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0099999998
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,25
$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,3700
$C_ROLL_CLIMB,3700
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,48
$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
$GPS1,311017,015059,4744.0674,-12224.1689,4,0.8,21,16.3,0.0,0.0,10,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-73.0
$GPS2,311017,015835,4744.0513,-12224.1240,9,0.8,10,16.3,0.0,0.0,10,8.9
$SPEED_LIMITS,0.275,0.359
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.268145,0.198405
$KALMAN_X,466.219727,-199.873367,16.330036,378.787933,471.341278
$KALMAN_Y,-1194.534668,-921.845154,28.757252,4853.362793,130.760147
$MHEAD_RNG_PITCHd_Wd,294.6,954,-17.2,-10.000,-20.00,2035
$D_GRID,174
$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,6,begin dive
$GC,8,-0.76,-133.0,168,3742,829,950,0.0,0.0,0,35,0.00,0.00,-25.10,0.000,16386,0.000,0.000,168,3742,1571,1577,1566,0,0,0,0,0,0,26.37,28.83,26.39,8.88,46.45
$GC,37,-0.76,-133.0,168,3742,1578,1566,2.0,-4.1,4,80,9.95,0.00,-27.33,0.000,18438,0.252,0.000,2675,3742,2419,2574,2265,0,0,0,0,0,0,25.84,25.67,26.09,8.94,45.58
$GC,142,-0.76,-133.0,2675,3741,2574,2268,13.2,-16.7,23,147,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,3741,2421,2574,2269,0,0,0,0,0,0,26.39,26.41,26.40,9.03,44.64
$GC,209,-0.76,-133.0,2675,3741,2574,2269,22.3,-12.5,36,215,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,3741,2421,2574,2269,0,0,0,0,0,0,26.46,26.48,26.48,9.03,44.60
$GC,276,-0.76,-133.0,2675,3741,2574,2269,31.0,-12.9,49,283,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,3741,2421,2574,2269,0,0,0,0,0,0,26.52,26.54,26.53,9.03,44.84
$GC,345,-0.76,-133.0,2675,3741,2574,2269,40.3,-14.5,62,351,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,3741,2421,2574,2269,0,0,0,0,0,0,26.57,26.59,26.59,9.03,44.95
$GC,473,-0.76,-133.0,2675,3741,2574,2268,57.2,-13.4,87,478,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,3741,2421,2574,2269,0,0,0,0,0,0,26.65,26.67,26.66,9.03,45.11
$GC,600,-0.76,-133.0,2675,3741,2574,2269,72.3,-12.2,112,606,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,3741,2421,2574,2269,0,0,0,0,0,0,26.71,26.72,26.72,9.03,44.92
$GC,728,-0.76,-133.0,2675,3741,2574,2269,87.8,-12.1,137,734,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,3741,2421,2574,2269,0,0,0,0,0,0,26.76,26.77,26.77,9.02,44.99
$GC,858,-0.76,-133.0,2675,3741,2574,2269,103.7,-12.2,162,864,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,3741,2421,2574,2269,0,0,0,0,0,0,26.79,26.81,26.80,9.03,45.03
$GC,992,-0.76,-133.0,2675,3741,2574,2269,119.5,-12.1,187,998,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,3741,2421,2574,2269,0,0,0,0,0,0,26.82,26.84,26.84,9.02,45.07
$GC,1119,-0.76,-133.0,2675,3741,2574,2269,135.3,-12.6,212,1125,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,3740,2421,2574,2269,0,0,0,0,0,0,26.85,26.87,26.86,9.02,44.88
$GC,1247,-0.76,-133.0,2675,3741,2574,2268,151.3,-12.1,237,1253,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,3741,2421,2574,2269,0,0,0,0,0,0,26.88,26.89,26.89,9.02,44.80
$GC,1376,-0.76,-133.0,2675,3741,2574,2269,165.2,-10.8,262,1381,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,3741,2421,2574,2269,0,0,0,0,0,0,26.90,26.91,26.91,9.02,44.95
$STATE,1427,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1427,begin apogee
$GC,1431,-0.20,0.0,2676,3661,2574,2269,171.0,-10.7,272,1545,0.52,0.00,105.97,0.727,10246,0.136,0.000,2859,3661,1887,1926,1849,0,0,0,0,0,0,26.49,25.14,24.77,9.02,45.11
$STATE,1546,end apogee,CONTROL_FINISHED_OK
$STATE,1547,begin climb
$GC,1548,0.76,133.0,2859,3661,1926,1849,174.4,0.0,291,1662,0.80,0.00,108.10,0.698,10246,0.085,0.000,3146,3661,1357,1357,1357,0,0,0,0,0,0,25.36,25.03,24.56,8.97,43.77
$GC,1784,0.76,133.0,3146,3661,1357,1356,148.7,11.8,334,1791,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,3661,1357,1357,1357,0,0,0,0,0,0,26.07,26.09,26.08,8.92,43.77
$GC,1912,0.76,133.0,3146,3661,1357,1357,132.3,12.5,359,1917,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,3661,1357,1357,1357,0,0,0,0,0,0,26.32,26.34,26.34,8.92,44.25
$GC,2039,0.76,133.0,3146,3661,1357,1357,116.0,12.5,384,2045,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,3661,1356,1357,1356,0,0,0,0,0,0,26.48,26.49,26.49,8.92,44.84
$GC,2167,0.76,133.0,3145,3661,1357,1356,100.5,11.8,409,2173,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,3661,1357,1357,1357,0,0,0,0,0,0,26.58,26.60,26.59,8.92,45.86
$GC,2297,0.76,133.0,3146,3661,1357,1356,84.7,11.1,434,2303,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,3661,1357,1357,1357,0,0,0,0,0,0,26.65,26.67,26.67,8.92,45.43
$GC,2424,0.76,133.0,3146,3661,1357,1356,69.5,12.0,459,2430,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,3661,1356,1357,1356,0,0,0,0,0,0,26.72,26.73,26.72,8.92,45.39
$GC,2551,0.76,133.0,3146,3661,1357,1357,54.4,12.2,484,2557,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,3661,1356,1357,1356,0,0,0,0,0,0,26.76,26.78,26.77,8.92,46.14
$GC,2679,0.76,133.0,3146,3661,1357,1356,39.2,10.9,509,2685,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,3661,1356,1357,1356,0,0,0,0,0,0,26.79,26.82,26.81,8.92,45.43
$GC,2748,0.76,133.0,3146,3661,1357,1356,31.5,11.2,522,2754,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,3661,1357,1357,1357,0,0,0,0,0,0,26.81,26.83,26.83,8.92,45.74
$GC,2816,0.76,133.0,3146,3661,1357,1356,23.7,10.7,535,2822,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,3661,1356,1357,1356,0,0,0,0,0,0,26.83,26.85,26.84,8.92,45.23
$GC,2883,0.76,133.0,3146,3661,1357,1356,16.4,10.6,548,2889,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,3661,1357,1357,1357,0,0,0,0,0,0,26.84,26.86,26.86,8.92,45.94
$GC,2951,0.78,157.8,3146,3661,1357,1357,9.9,8.7,561,2970,0.00,0.00,14.82,0.500,8198,0.000,0.000,3146,3661,1255,1252,1258,0,0,0,0,0,0,26.86,26.36,25.95,8.92,45.43
$GC,3032,0.80,198.5,3146,3661,1253,1259,3.1,8.0,576,3046,0.00,0.00,12.02,0.451,8194,0.000,0.000,3146,3661,1177,1167,1188,0,0,0,0,0,0,26.73,28.83,26.74,8.91,45.23
$STATE,3047,end climb,SURFACE_DEPTH_REACHED
$STATE,3047,begin surface coast
$FINISH,0.6,1.020911
$STATE,3069,end surface coast,CONTROL_FINISHED_OK
$STATE,3069,begin surface
$SM_CCo,3083,47.53,0.054,0,0,891,250.20
$SM_GC,2.13,7.57,0.00,47.53,0.041,0.000,0.054,196,3661,891,-8.43,-1.10,250.20,0,0,0,0,0,0,26.39,26.65,26.33
$IRIDIUM_FIX,4744.97,-12226.80,311017,005055
$TT8_MAMPS,0.023968,0.201481
$HUMID,44.52
$INTERNAL_PRESSURE,8.81748
$TCM_TEMP,13.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,115.6,70.0
$24V_AH,24.56,0.742
$10V_AH,10.49,0.339
$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,18.850,5.650,240.925,47.525,0.000,24.375,48.272,303.259,1.750,0.000,10.788,1383.206,543.768,391.419,1246.350,55.015,33.448,875.338,0.000,848.458,0.000,16.236,0.000
$DEVICE_MAMPS,252.450,110.160,726.750,54.315,0.000,61.200,160.000,223.000,420.000,0.000,29.210,10.220,2.190,10.220,34.180,40.170,57.400,16.000,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_red_Chl_CDOM,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,397.842,458.482,462.383,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,20.220,61.420,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312888
$DATA_FILE_SIZE,41791,582
$CAP_FILE_SIZE,61624,0
$CFSIZE,260034560,257949696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$WARN,PPS timeout
$CURRENT,0.131,12.44,1
$GPS,311017,025242,4744.146,-12224.045,4,0.9,8,16.3,0.0,0.0,9,9.7