version: 66.13
glider: 157
mission: 18
dive: 14
start: 10 31 117 8 16 37
data:
$ID,157
$MISSION,18
$DIVE,14
$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,45
$R_STBD_OVSHOOT,33
$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
$GPS1,311017,080701,4743.2549,-12224.5801,7,1.0,25,16.3,0.0,188.9,8,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-73.2
$GPS2,311017,081532,4743.1470,-12224.5879,8,0.8,11,16.3,0.0,0.0,10,9.6
$SPEED_LIMITS,0.100,0.186
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.070771,0.171863
$KALMAN_X,1973.309937,209.468323,68.267181,-2160.735352,-258.582764
$KALMAN_Y,-5026.638184,-29.382652,-110.860725,6250.123535,-705.865967
$MHEAD_RNG_PITCHd_Wd,359.0,2508,-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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,8,-1.04,-58.7,199,2137,681,780,0.0,0.0,0,41,0.00,0.00,-31.30,0.000,16386,0.000,0.000,199,2137,1609,1623,1596,0,0,0,0,0,0,26.34,28.83,26.35,8.84,44.68
$GC,44,-1.04,-58.7,199,2137,1623,1595,2.6,-5.1,5,75,9.43,0.00,-15.38,0.000,18438,0.250,0.000,2586,2135,2125,2241,2009,0,0,0,0,0,0,25.82,25.63,26.07,8.93,44.84
$GC,137,-1.04,-58.7,2586,2134,2241,2009,10.8,-12.1,22,143,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2135,2125,2242,2009,0,0,0,0,0,0,26.35,26.37,26.36,8.99,43.77
$GC,205,-1.04,-58.7,2586,2135,2242,2009,22.2,-15.8,35,212,0.00,2.40,0.00,0.000,260,0.000,0.040,2577,3559,2125,2242,2009,0,0,0,0,0,0,26.44,26.01,26.44,8.99,43.93
$GC,350,-1.04,-58.7,2577,3555,2241,2009,42.2,-11.6,63,356,0.00,2.20,0.00,0.000,1030,0.000,0.027,2577,2165,2125,2242,2009,0,0,0,0,0,0,26.36,26.30,26.38,8.98,44.64
$GC,478,-1.04,-58.7,2577,2166,2241,2009,55.9,-11.3,88,484,0.00,2.50,0.00,0.000,516,0.000,0.039,2577,696,2125,2242,2009,0,0,0,0,0,0,26.63,26.36,26.64,8.99,43.97
$GC,632,-1.04,-58.7,2576,697,2242,2009,76.2,-13.6,118,639,0.00,2.33,0.00,0.000,1030,0.000,0.025,2566,2141,2125,2242,2009,0,0,0,0,0,0,26.51,26.45,26.53,8.99,43.93
$GC,762,-1.04,-58.7,2566,2139,2241,2009,92.2,-12.4,143,767,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2139,2125,2241,2009,0,0,0,0,0,0,26.74,26.76,26.75,8.99,44.05
$GC,892,-1.04,-58.7,2566,2139,2242,2009,107.9,-14.0,168,897,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2140,2125,2241,2009,0,0,0,0,0,0,26.78,26.79,26.79,8.99,43.66
$GC,1020,-1.04,-58.7,2566,2139,2241,2009,125.5,-12.7,193,1025,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2139,2125,2241,2009,0,0,0,0,0,0,26.81,26.83,26.82,8.98,44.05
$GC,1146,-1.04,-58.7,2566,2139,2242,2009,142.8,-14.9,218,1153,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2139,2125,2241,2009,0,0,0,0,0,0,26.84,26.86,26.86,8.98,43.93
$GC,1277,-1.04,-58.7,2566,2139,2242,2009,158.4,-11.9,243,1283,0.00,2.38,0.00,0.000,516,0.000,0.038,2568,706,2125,2241,2009,0,0,0,0,0,0,26.87,26.60,26.88,8.98,43.89
$STATE,1414,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1414,begin apogee
$GC,1420,-0.19,0.0,2559,2098,2241,2009,175.4,-11.5,270,1476,0.95,0.08,49.45,0.734,10246,0.172,0.108,2858,2026,1886,1957,1816,0,0,0,0,0,0,26.42,25.80,25.27,8.98,43.89
$STATE,1478,end apogee,CONTROL_FINISHED_OK
$STATE,1478,begin climb
$GC,1479,1.04,58.7,2858,2026,1957,1816,177.9,0.0,279,1540,1.05,2.58,49.75,0.698,10500,0.086,0.037,3239,3431,1652,1678,1627,0,0,0,0,0,0,25.84,25.35,24.82,8.96,44.01
$GC,1567,1.04,58.7,3238,3428,1678,1627,170.1,13.1,294,1574,0.00,2.38,0.00,0.000,1030,0.000,0.027,3250,2046,1652,1678,1627,0,0,0,0,0,0,25.70,25.63,25.71,8.94,42.75
$GC,1698,1.04,58.7,3249,2047,1678,1627,151.3,14.8,319,1705,0.00,2.33,0.00,0.000,516,0.000,0.041,3255,628,1652,1678,1627,0,0,0,0,0,0,26.22,25.96,26.24,8.93,43.58
$GC,1917,1.04,58.7,3254,628,1678,1627,120.9,12.6,362,1924,0.00,2.20,0.00,0.000,1030,0.000,0.022,3255,2051,1652,1678,1626,0,0,0,0,0,0,26.32,26.27,26.34,8.93,44.76
$GC,2047,1.04,58.7,3254,2050,1678,1625,105.1,13.4,387,2054,0.00,2.30,0.00,0.000,516,0.000,0.039,3265,619,1652,1678,1626,0,0,0,0,0,0,26.58,26.32,26.60,8.92,44.60
$GC,2075,1.04,58.7,3264,619,1678,1626,101.3,13.0,392,2081,0.00,2.20,0.00,0.000,1030,0.000,0.023,3265,2057,1651,1678,1625,0,0,0,0,0,0,26.43,26.37,26.44,8.93,44.52
$GC,2204,1.04,58.7,3264,2055,1678,1625,83.6,13.9,417,2210,0.00,2.30,0.00,0.000,516,0.000,0.040,3275,630,1651,1678,1625,0,0,0,0,0,0,26.67,26.40,26.68,8.92,44.60
$GC,2226,1.04,58.7,3274,629,1678,1625,80.3,14.2,421,2233,0.00,2.20,0.00,0.000,1030,0.000,0.023,3275,2060,1651,1678,1625,0,0,0,0,0,0,26.49,26.44,26.51,8.92,44.80
$GC,2357,1.04,58.7,3274,2058,1678,1625,63.9,11.9,446,2363,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,2058,1651,1678,1625,0,0,0,0,0,0,26.72,26.74,26.74,8.92,44.72
$GC,2486,1.04,58.7,3274,2058,1678,1625,47.0,12.5,471,2492,0.00,2.30,0.00,0.000,516,0.000,0.039,3286,628,1651,1678,1625,0,0,0,0,0,0,26.77,26.50,26.78,8.92,44.84
$GC,2633,1.04,58.7,3285,628,1678,1625,27.9,11.6,500,2641,0.12,2.17,0.00,0.000,5126,0.197,0.022,3250,2045,1651,1678,1624,0,0,0,0,0,0,26.36,26.59,26.53,8.93,44.99
$GC,2703,1.04,68.1,3249,2044,1678,1624,21.6,8.9,513,2717,0.00,0.00,6.10,0.484,8198,0.000,0.000,3250,2044,1615,1640,1590,0,0,0,0,0,0,26.82,26.28,25.91,8.93,45.15
$GC,2779,1.05,86.0,3250,2044,1640,1590,14.8,8.0,527,2798,0.00,2.30,12.20,0.522,8708,0.000,0.038,3258,619,1542,1561,1523,0,0,0,0,0,0,26.78,26.18,25.86,8.93,44.68
$GC,2829,1.06,98.5,3258,620,1561,1523,10.4,8.6,536,2843,0.00,2.22,8.43,0.466,9222,0.000,0.023,3258,2054,1493,1509,1478,0,0,0,0,0,0,26.49,26.44,25.80,8.92,45.03
$STATE,2904,end climb,SURFACE_DEPTH_REACHED
$STATE,2904,begin surface coast
$FINISH,1.0,1.021033
$STATE,2920,end surface coast,CONTROL_FINISHED_OK
$STATE,2920,begin surface
$SM_CCo,2935,119.03,0.056,0,0,732,290.14
$SM_GC,1.08,8.20,0.15,119.03,0.067,0.071,0.056,198,2147,732,-8.43,-1.13,290.14,0,0,0,0,0,0,26.36,26.41,26.29
$IRIDIUM_FIX,4744.48,-12222.38,311017,070442
$TT8_MAMPS,0.024717,0.199983
$HUMID,43.89
$INTERNAL_PRESSURE,8.80771
$TCM_TEMP,13.40
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,100.0,89.8
$24V_AH,24.82,1.062
$10V_AH,10.49,0.576
$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,19.750,41.750,125.925,119.025,0.000,24.637,49.342,353.503,1.250,0.000,12.581,1369.901,539.036,370.499,1251.374,56.207,33.450,815.753,0.000,807.703,0.000,5.659,0.000
$DEVICE_MAMPS,250.155,107.865,734.400,55.845,0.000,61.200,160.000,223.000,420.000,0.000,29.210,10.220,2.190,10.220,34.180,40.170,57.400,16.000,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_red_Chl_CDOM,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,380.284,437.088,440.547,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,20.220,61.420,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312864
$DATA_FILE_SIZE,38274,553
$CAP_FILE_SIZE,64746,0
$CFSIZE,260034560,257679360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.095,197.67,1
$GPS,311017,090815,4743.222,-12224.508,7,0.9,9,16.3,0.0,0.0,10,10.0