version: 66.13
glider: 157
mission: 18
dive: 9
start: 10 31 117 3 1 40
data:
$ID,157
$MISSION,18
$DIVE,9
$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,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,60
$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,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,2150
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$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
$GPS1,311017,025242,4744.1465,-12224.0449,4,0.9,8,16.3,0.0,0.0,9,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-71.2
$GPS2,311017,030032,4744.1343,-12223.9600,8,0.9,11,16.3,0.0,0.0,9,9.1
$SPEED_LIMITS,0.100,0.186
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.181013,0.042190
$KALMAN_X,1332.873779,-269.754181,306.991821,-508.251251,703.975220
$KALMAN_Y,-2073.822266,-720.884583,218.267883,5497.447266,-204.508392
$MHEAD_RNG_PITCHd_Wd,262.3,954,-26.1,-10.000,-28.28,899
$D_GRID,180
$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,-1.08,-58.7,196,2173,837,940,0.0,0.0,0,40,0.00,0.00,-30.73,0.000,16386,0.000,0.000,195,2174,1716,1748,1685,0,0,0,0,0,0,26.39,28.83,26.41,8.87,46.10
$GC,43,-1.08,-58.7,196,2173,1748,1685,2.4,-4.5,5,76,9.25,2.53,-13.10,0.000,18692,0.246,1.278,2566,3550,2125,2242,2009,0,0,0,0,0,0,25.88,25.13,26.12,8.95,45.31
$GC,112,-1.08,-58.7,2565,3550,2241,2009,9.3,-15.8,17,120,0.00,2.33,0.00,0.000,1030,0.000,0.027,2571,2161,2125,2242,2009,0,0,0,0,0,0,26.11,26.06,26.13,9.00,45.19
$GC,182,-1.08,-58.7,2570,2162,2242,2009,19.2,-13.7,30,189,0.00,2.45,0.00,0.000,516,0.000,0.040,2571,708,2125,2241,2009,0,0,0,0,0,0,26.39,26.13,26.40,8.99,44.32
$GC,280,-1.08,-58.7,2571,708,2242,2009,34.9,-17.6,49,288,0.00,2.28,0.00,0.000,1030,0.000,0.026,2563,2138,2125,2241,2009,0,0,0,0,0,0,26.31,26.25,26.33,9.00,44.44
$GC,350,-1.08,-58.7,2562,2136,2242,2009,46.0,-15.8,62,357,0.00,2.35,0.00,0.000,516,0.000,0.038,2562,692,2125,2242,2009,0,0,0,0,0,0,26.55,26.28,26.56,8.99,45.23
$GC,449,-1.08,-58.7,2562,693,2242,2009,63.2,-18.6,81,456,0.00,2.33,0.00,0.000,1030,0.000,0.026,2551,2147,2125,2242,2009,0,0,0,0,0,0,26.43,26.36,26.44,9.00,44.40
$GC,578,-1.08,-58.7,2550,2146,2242,2008,81.1,-12.8,106,584,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2146,2125,2241,2009,0,0,0,0,0,0,26.67,26.69,26.69,9.00,44.56
$GC,705,-1.08,-58.7,2550,2146,2242,2009,99.4,-13.9,131,715,0.00,2.38,0.00,0.000,516,0.000,0.043,2551,700,2125,2242,2009,0,0,0,0,0,0,26.73,26.46,26.74,8.99,44.80
$GC,812,-1.08,-58.7,2550,700,2242,2009,113.8,-12.9,150,819,0.15,2.33,0.00,0.000,3078,0.197,0.029,2581,2154,2125,2242,2009,0,0,0,0,0,0,26.32,26.52,26.48,9.00,44.48
$GC,943,-1.08,-58.7,2580,2152,2242,2009,128.2,-10.3,175,949,0.00,2.40,0.00,0.000,516,0.000,0.040,2582,693,2125,2242,2009,0,0,0,0,0,0,26.80,26.53,26.81,8.99,44.80
$GC,1051,-1.08,-58.7,2581,694,2242,2009,142.0,-13.8,196,1058,0.00,2.33,0.00,0.000,1030,0.000,0.026,2572,2151,2125,2242,2009,0,0,0,0,0,0,26.64,26.58,26.65,8.99,44.60
$GC,1179,-1.08,-58.7,2572,2149,2242,2009,159.4,-11.6,221,1186,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2149,2125,2241,2009,0,0,0,0,0,0,26.85,26.86,26.86,8.98,44.88
$GC,1308,-1.08,-58.7,2572,2148,2242,2009,174.5,-11.3,246,1314,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2148,2125,2242,2009,0,0,0,0,0,0,26.88,26.90,26.89,8.99,44.48
$STATE,1354,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1354,begin apogee
$GC,1358,-0.20,0.0,2572,2002,2241,2009,180.1,-12.6,255,1414,0.90,0.12,49.75,0.724,10246,0.167,0.076,2859,2100,1886,1956,1817,0,0,0,0,0,0,26.44,25.82,25.28,8.99,44.32
$STATE,1415,end apogee,CONTROL_FINISHED_OK
$STATE,1415,begin climb
$GC,1416,1.08,58.7,2859,2100,1956,1817,182.3,0.0,264,1478,1.08,2.47,49.38,0.706,10756,0.089,0.041,3257,658,1653,1678,1628,0,0,0,0,0,0,25.83,25.37,24.84,8.97,44.29
$GC,1512,1.08,58.7,3257,659,1678,1629,173.9,13.5,280,1519,0.00,2.20,0.00,0.000,1030,0.000,0.024,3257,2037,1653,1678,1629,0,0,0,0,0,0,25.76,25.71,25.77,8.95,43.54
$GC,1641,1.08,58.7,3257,2036,1678,1628,154.9,13.5,305,1648,0.00,2.42,0.00,0.000,260,0.000,0.039,3257,3439,1652,1678,1627,0,0,0,0,0,0,26.26,25.98,26.27,8.94,44.56
$GC,1685,1.08,58.7,3257,3434,1678,1627,148.8,14.0,313,1692,0.00,2.28,0.00,0.000,1030,0.000,0.028,3268,2070,1652,1678,1627,0,0,0,0,0,0,26.15,26.08,26.16,8.94,44.17
$GC,1815,1.08,58.7,3268,2070,1678,1627,133.5,11.4,338,1821,0.00,2.33,0.00,0.000,516,0.000,0.041,3280,630,1652,1678,1627,0,0,0,0,0,0,26.47,26.20,26.48,8.94,45.07
$GC,1852,1.08,58.7,3279,631,1678,1627,128.6,12.7,345,1860,0.00,2.20,0.00,0.000,1030,0.000,0.024,3280,2056,1652,1678,1627,0,0,0,0,0,0,26.33,26.28,26.34,8.93,44.40
$GC,1983,1.08,58.7,3279,2054,1678,1627,112.0,12.1,370,1990,0.00,2.30,0.00,0.000,516,0.000,0.040,3291,614,1652,1678,1627,0,0,0,0,0,0,26.60,26.33,26.60,8.93,45.31
$GC,2282,1.08,58.7,3290,614,1678,1627,72.2,12.3,429,2290,0.00,2.20,0.00,0.000,1030,0.000,0.023,3291,2074,1652,1678,1626,0,0,0,0,0,0,26.55,26.50,26.57,8.93,45.47
$GC,2412,1.08,58.7,3290,2072,1678,1626,55.9,11.6,454,2419,0.00,2.30,0.00,0.000,516,0.000,0.039,3302,618,1652,1678,1626,0,0,0,0,0,0,26.78,26.51,26.79,8.93,45.82
$GC,2466,1.08,58.7,3302,619,1678,1626,49.1,12.5,464,2474,0.15,2.17,0.00,0.000,5126,0.197,0.023,3260,2060,1652,1678,1626,0,0,0,0,0,0,26.34,26.56,26.52,8.93,45.35
$GC,2596,1.08,61.6,3260,2059,1678,1625,35.1,9.7,489,2604,0.00,0.00,3.40,0.415,8198,0.000,0.000,3260,2058,1640,1667,1614,0,0,0,0,0,0,26.82,26.42,25.84,8.93,45.35
$GC,2666,1.08,67.0,3259,2058,1669,1615,28.7,9.4,502,2678,0.00,0.00,5.50,0.516,8198,0.000,0.000,3260,2058,1619,1644,1594,0,0,0,0,0,0,26.81,26.39,25.89,8.93,45.70
$GC,2740,1.08,69.2,3260,2058,1645,1595,21.6,9.7,516,2746,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,2058,1620,1645,1595,0,0,0,0,0,0,26.77,26.79,26.79,8.94,46.02
$GC,2808,1.08,69.2,3260,2058,1645,1594,13.3,13.9,529,2816,0.00,2.30,0.00,0.000,516,0.000,0.041,3270,607,1620,1645,1595,0,0,0,0,0,0,26.79,26.53,26.81,8.93,45.31
$GC,2908,1.10,112.5,3269,608,1645,1595,2.4,5.1,548,2923,0.00,2.17,10.02,0.053,9218,0.000,0.024,3269,2056,1556,1575,1537,0,0,0,0,0,0,26.64,26.58,26.66,8.94,45.94
$STATE,2924,end climb,SURFACE_DEPTH_REACHED
$STATE,2924,begin surface coast
$FINISH,2.5,1.021148
$STATE,2969,end surface coast,CONTROL_FINISHED_OK
$STATE,2969,begin surface
$SM_CCo,2971,164.40,0.052,0,0,485,352.43
$SM_GC,1.26,7.88,0.12,0.00,0.041,0.080,0.000,187,2143,482,-8.45,-1.39,353.19,0,0,0,0,0,0,26.47,26.49,26.52
$IRIDIUM_FIX,4744.97,-12226.80,311017,015209
$TT8_MAMPS,0.024717,0.198485
$HUMID,44.40
$INTERNAL_PRESSURE,8.77842
$TCM_TEMP,13.70
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,110.7,84.4
$24V_AH,24.84,0.790
$10V_AH,10.48,0.378
$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,19.400,53.950,118.050,164.400,0.000,24.696,45.988,310.604,3.000,0.000,12.759,1395.929,630.493,427.115,1215.094,61.505,33.454,882.160,0.000,818.194,0.000,8.833,0.000
$DEVICE_MAMPS,246.330,1278.315,724.455,52.020,0.000,61.200,160.000,223.000,420.000,0.000,29.210,10.220,2.190,10.220,34.180,40.170,57.400,16.000,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_red_Chl_CDOM,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,384.250,443.507,447.979,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,20.220,61.420,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312880
$DATA_FILE_SIZE,38411,559
$CAP_FILE_SIZE,68611,0
$CFSIZE,260034560,257908736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.055,50.93,1
$GPS,311017,035628,4744.256,-12224.241,4,0.8,12,16.3,0.0,0.0,10,9.6