version: 66.13
glider: 157
mission: 18
dive: 13
start: 10 31 117 7 12 44
data:
$ID,157
$MISSION,18
$DIVE,13
$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,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,2920
$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,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,37
$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
$GPS1,311017,070335,4743.3511,-12224.5400,7,0.9,11,16.3,0.0,0.0,9,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-73.3
$GPS2,311017,071137,4743.2402,-12224.5781,5,0.8,13,16.3,0.5,197.5,10,9.8
$SPEED_LIMITS,0.100,0.186
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.022708,0.184472
$KALMAN_X,1813.542236,143.712372,389.477417,-2242.369873,-83.688477
$KALMAN_Y,-4334.881348,-128.750046,136.925140,5587.247559,-711.447449
$MHEAD_RNG_PITCHd_Wd,360.0,2335,-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,5,begin dive
$GC,7,-1.04,-58.7,189,2138,833,944,0.0,0.0,0,35,0.00,0.00,-25.48,0.000,16386,0.000,0.000,189,2139,1594,1609,1579,0,0,0,0,0,0,26.34,28.83,26.36,8.87,44.95
$GC,36,-1.04,-58.7,189,2139,1609,1579,2.4,-4.8,4,68,9.38,0.00,-17.12,0.000,18438,0.246,0.000,2592,2137,2124,2240,2009,0,0,0,0,0,0,25.82,25.16,26.08,8.93,45.70
$GC,130,-1.04,-58.7,2591,2138,2244,2010,9.3,-13.9,21,138,0.00,2.40,0.00,0.000,260,0.000,0.041,2582,3553,2127,2244,2010,0,0,0,0,0,0,26.39,26.10,26.40,8.99,44.29
$GC,164,-1.04,-58.7,2581,3552,2244,2010,13.8,-13.7,27,171,0.00,2.20,0.00,0.000,1030,0.000,0.029,2582,2165,2127,2244,2010,0,0,0,0,0,0,26.24,26.17,26.25,8.99,44.13
$GC,232,-1.04,-58.7,2581,2165,2244,2010,23.1,-14.8,40,239,0.00,2.50,0.00,0.000,516,0.000,0.040,2582,711,2127,2244,2010,0,0,0,0,0,0,26.48,26.22,26.50,8.99,44.01
$GC,251,-1.04,-58.7,2582,711,2244,2010,26.0,-16.0,43,258,0.00,2.33,0.00,0.000,1030,0.000,0.029,2573,2134,2127,2244,2010,0,0,0,0,0,0,26.32,26.25,26.33,9.00,43.89
$GC,320,-1.04,-58.7,2572,2132,2244,2010,36.1,-14.3,56,325,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2132,2127,2244,2010,0,0,0,0,0,0,26.54,26.56,26.55,8.99,44.32
$GC,386,-1.04,-58.7,2572,2132,2244,2010,44.7,-12.3,69,394,0.00,2.40,0.00,0.000,516,0.000,0.037,2573,692,2127,2244,2010,0,0,0,0,0,0,26.59,26.32,26.60,8.99,44.40
$GC,496,-1.04,-58.7,2572,693,2244,2010,58.3,-12.5,90,503,0.00,2.38,0.00,0.000,1030,0.000,0.025,2562,2152,2127,2244,2010,0,0,0,0,0,0,26.46,26.40,26.48,8.99,44.13
$GC,624,-1.04,-58.7,2561,2149,2244,2010,75.1,-12.9,115,631,0.00,2.42,0.00,0.000,516,0.000,0.041,2562,707,2127,2244,2010,0,0,0,0,0,0,26.70,26.44,26.71,8.99,43.73
$GC,703,-1.04,-58.7,2561,708,2244,2010,85.5,-12.6,130,710,0.15,2.35,0.00,0.000,3078,0.194,0.032,2591,2151,2127,2244,2010,0,0,0,0,0,0,26.27,26.46,26.45,9.00,43.89
$GC,833,-1.04,-58.7,2590,2148,2244,2010,100.5,-11.8,155,839,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2148,2127,2244,2010,0,0,0,0,0,0,26.74,26.76,26.75,8.99,43.93
$GC,963,-1.04,-58.7,2590,2148,2244,2010,116.5,-12.4,180,969,0.00,2.42,0.00,0.000,516,0.000,0.040,2591,700,2127,2244,2010,0,0,0,0,0,0,26.80,26.53,26.82,8.99,44.05
$GC,1026,-1.04,-58.7,2590,699,2244,2010,124.5,-11.9,192,1032,0.00,2.35,0.00,0.000,1030,0.000,0.025,2582,2152,2127,2244,2010,0,0,0,0,0,0,26.63,26.57,26.65,8.99,43.97
$GC,1156,-1.04,-58.7,2581,2149,2244,2010,138.3,-9.9,217,1163,0.00,2.35,0.00,0.000,260,0.000,0.046,2570,3579,2127,2244,2010,0,0,0,0,0,0,26.84,26.56,26.85,8.99,44.09
$GC,1272,-1.04,-58.7,2570,3580,2244,2010,151.1,-11.4,239,1278,0.00,2.25,0.00,0.000,1030,0.000,0.031,2570,2148,2127,2244,2010,0,0,0,0,0,0,26.67,26.62,26.70,8.98,44.64
$GC,1400,-1.04,-58.7,2570,2149,2244,2010,166.0,-12.0,264,1407,0.00,2.42,0.00,0.000,516,0.000,0.039,2570,703,2127,2244,2010,0,0,0,0,0,0,26.88,26.61,26.89,8.98,44.68
$STATE,1503,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1503,begin apogee
$GC,1509,-0.19,0.0,2560,2092,2244,2010,179.8,-12.8,284,1565,0.95,0.05,49.88,0.731,10246,0.173,0.147,2858,2033,1886,1957,1816,0,0,0,0,0,0,26.43,25.77,25.28,8.98,43.81
$STATE,1566,end apogee,CONTROL_FINISHED_OK
$STATE,1566,begin climb
$GC,1567,1.04,58.7,2858,2033,1957,1816,182.6,0.0,293,1629,1.05,2.53,49.78,0.700,10500,0.088,0.037,3238,3432,1653,1678,1628,0,0,0,0,0,0,25.83,25.35,24.82,8.97,44.40
$GC,1656,1.04,58.7,3237,3428,1678,1628,175.3,12.5,308,1663,0.00,2.35,0.00,0.000,1030,0.000,0.028,3248,2041,1653,1678,1628,0,0,0,0,0,0,25.70,25.63,25.72,8.94,42.99
$GC,1785,1.04,58.7,3247,2042,1678,1628,158.8,13.4,333,1792,0.00,2.33,0.00,0.000,516,0.000,0.041,3254,627,1652,1677,1628,0,0,0,0,0,0,26.22,25.96,26.24,8.93,43.62
$GC,1983,1.04,58.7,3254,627,1678,1628,130.1,14.5,372,1990,0.00,2.20,0.00,0.000,1030,0.000,0.023,3254,2041,1652,1678,1627,0,0,0,0,0,0,26.31,26.26,26.32,8.93,44.99
$GC,2113,1.04,58.7,3254,2041,1678,1626,112.5,13.8,397,2120,0.00,2.50,0.00,0.000,260,0.000,0.038,3254,3457,1652,1678,1626,0,0,0,0,0,0,26.58,26.29,26.59,8.92,44.48
$GC,2147,1.04,58.7,3254,3456,1678,1626,107.4,14.5,403,2154,0.00,2.40,0.00,0.000,1030,0.000,0.027,3266,2045,1652,1678,1626,0,0,0,0,0,0,26.41,26.35,26.42,8.93,44.84
$GC,2276,1.04,58.7,3266,2047,1678,1626,89.6,13.3,428,2282,0.00,2.28,0.00,0.000,516,0.000,0.040,3277,636,1652,1678,1626,0,0,0,0,0,0,26.66,26.39,26.67,8.92,44.88
$GC,2375,1.04,58.7,3277,635,1678,1626,75.8,12.9,447,2381,0.00,2.20,0.00,0.000,1030,0.000,0.023,3278,2071,1652,1678,1626,0,0,0,0,0,0,26.52,26.46,26.53,8.93,45.31
$GC,2503,1.04,58.7,3277,2068,1678,1626,60.6,10.8,472,2510,0.00,2.33,0.00,0.000,516,0.000,0.040,3285,619,1652,1678,1626,0,0,0,0,0,0,26.74,26.48,26.76,8.92,45.31
$GC,2757,1.04,58.7,3284,620,1677,1626,27.6,12.1,522,2765,0.12,2.17,0.00,0.000,5126,0.194,0.022,3250,2044,1652,1678,1626,0,0,0,0,0,0,26.38,26.60,26.55,8.92,45.19
$GC,2828,1.04,58.7,3249,2043,1678,1625,20.4,10.0,535,2834,0.00,2.42,0.00,0.000,260,0.000,0.038,3250,3451,1651,1678,1624,0,0,0,0,0,0,26.83,26.55,26.84,8.93,45.15
$GC,2861,1.04,58.7,3249,3448,1678,1624,16.9,10.6,541,2868,0.00,2.33,0.00,0.000,1030,0.000,0.028,3259,2050,1651,1678,1624,0,0,0,0,0,0,26.66,26.60,26.67,8.92,45.31
$GC,2930,1.04,58.7,3259,2051,1678,1625,9.4,11.3,554,2937,0.00,2.28,0.00,0.000,516,0.000,0.041,3270,618,1651,1678,1624,0,0,0,0,0,0,26.85,26.58,26.86,8.92,45.03
$GC,2969,1.05,90.6,3270,618,1678,1624,6.5,6.4,561,2995,0.00,2.20,19.95,0.481,9222,0.000,0.022,3270,2061,1524,1540,1509,0,0,0,0,0,0,26.68,26.63,25.89,8.93,45.27
$STATE,3036,end climb,SURFACE_DEPTH_REACHED
$STATE,3036,begin surface coast
$FINISH,1.3,1.020968
$STATE,3058,end surface coast,CONTROL_FINISHED_OK
$STATE,3058,begin surface
$SM_CCo,3073,124.03,0.055,0,0,731,290.14
$SM_GC,1.22,8.43,0.12,124.03,0.081,0.080,0.055,199,2139,731,-8.43,-1.30,290.14,0,0,0,0,0,0,26.41,26.46,26.32
$IRIDIUM_FIX,4745.83,-12224.09,311017,060659
$TT8_MAMPS,0.024717,0.199983
$HUMID,43.54
$INTERNAL_PRESSURE,8.79795
$TCM_TEMP,13.50
$XPDR_PINGS,14
$ALTIM_BOTTOM_PING,105.2,89.2
$24V_AH,24.82,1.011
$10V_AH,10.48,0.537
$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,20.075,65.700,119.600,124.025,0.000,23.447,43.389,330.639,4.250,0.000,14.942,1439.545,556.878,386.734,1257.840,62.510,33.427,856.318,0.000,841.363,0.000,7.699,0.000
$DEVICE_MAMPS,245.565,146.880,731.340,55.080,0.000,61.200,160.000,223.000,420.000,0.000,29.210,10.220,2.190,10.220,34.180,40.170,57.400,16.000,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_red_Chl_CDOM,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,396.785,456.288,460.227,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,41964,577
$CAP_FILE_SIZE,70685,0
$CFSIZE,260034560,257716224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.142,199.38,1
$GPS,311017,080701,4743.255,-12224.580,7,1.0,25,16.3,0.0,188.9,8,9.0