version: 66.13
glider: 157
mission: 18
dive: 17
start: 10 31 117 11 20 36
data:
$ID,157
$MISSION,18
$DIVE,17
$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,25
$R_STBD_OVSHOOT,22
$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
$GPS1,311017,111132,4743.6055,-12224.3447,7,1.0,25,16.3,0.0,0.0,8,7.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-72.5
$GPS2,311017,111929,4743.6245,-12224.3154,8,1.1,9,16.3,0.0,0.0,8,9.9
$SPEED_LIMITS,0.100,0.186
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.109282,0.150343
$KALMAN_X,2891.564941,205.926895,-750.995117,-1919.574097,323.889038
$KALMAN_Y,-5871.248047,193.159683,-558.842651,8199.393555,-44.256699
$MHEAD_RNG_PITCHd_Wd,329.5,1638,-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,-58.7,184,2125,681,780,0.0,0.0,0,40,0.00,0.00,-31.05,0.000,16386,0.000,0.000,184,2125,1591,1601,1581,0,0,0,0,0,0,26.34,28.83,26.36,8.85,44.64
$GC,43,-1.04,-58.7,184,2125,1601,1581,2.1,-3.3,5,74,9.43,0.00,-17.77,0.000,18950,0.249,0.000,2586,2121,2125,2237,2013,0,0,0,0,0,0,25.82,25.18,26.08,8.93,44.40
$GC,136,-1.04,-58.7,2585,2118,2241,2013,10.1,-11.8,22,143,0.00,2.40,0.00,0.000,516,0.000,0.044,2586,695,2125,2239,2012,0,0,0,0,0,0,26.40,26.15,26.41,8.99,43.81
$GC,286,-1.04,-58.7,2585,695,2240,2013,31.3,-13.4,51,292,0.00,2.38,0.00,0.000,1030,0.000,0.031,2577,2149,2126,2239,2013,0,0,0,0,0,0,26.35,26.29,26.36,8.99,43.58
$GC,353,-1.04,-58.7,2576,2147,2239,2013,40.3,-13.2,64,361,0.00,2.42,0.00,0.000,516,0.000,0.041,2577,701,2126,2239,2013,0,0,0,0,0,0,26.58,26.32,26.59,8.99,43.73
$GC,467,-1.04,-58.7,2576,702,2239,2013,55.9,-15.2,86,475,0.00,2.35,0.00,0.000,1030,0.000,0.030,2566,2148,2126,2240,2013,0,0,0,0,0,0,26.46,26.39,26.47,8.99,43.97
$GC,597,-1.04,-58.7,2565,2147,2239,2013,73.0,-12.6,111,603,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2147,2126,2240,2012,0,0,0,0,0,0,26.70,26.71,26.71,8.99,43.81
$GC,724,-1.04,-58.7,2565,2146,2239,2013,89.7,-12.5,136,731,0.00,2.42,0.00,0.000,516,0.000,0.039,2567,707,2126,2239,2013,0,0,0,0,0,0,26.74,26.48,26.75,8.99,43.85
$GC,1028,-1.04,-58.7,2567,708,2239,2013,128.8,-13.7,195,1035,0.00,2.33,0.00,0.000,1030,0.000,0.033,2558,2152,2126,2240,2013,0,0,0,0,0,0,26.63,26.58,26.65,8.99,44.29
$GC,1157,-1.04,-58.7,2557,2149,2239,2013,146.5,-15.0,220,1164,0.00,2.33,0.00,0.000,260,0.000,0.040,2546,3578,2126,2239,2013,0,0,1,0,0,0,26.84,26.56,26.86,8.99,43.73
$GC,1296,-1.04,-58.7,2546,3578,2239,2013,165.2,-11.6,247,1304,0.17,2.25,0.00,0.000,3078,0.198,0.029,2594,2146,2126,2239,2013,0,0,0,0,0,0,26.41,26.63,26.59,8.99,44.13
$STATE,1395,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1395,begin apogee
$GC,1399,-0.19,0.0,2594,2010,2239,2013,174.7,-8.5,266,1457,0.82,0.10,49.95,0.749,10246,0.165,0.089,2861,2089,1886,1957,1816,0,0,0,0,0,0,26.44,25.79,25.25,8.98,43.66
$STATE,1458,end apogee,CONTROL_FINISHED_OK
$STATE,1458,begin climb
$GC,1459,1.04,58.7,2861,2089,1957,1817,176.5,0.0,275,1520,1.02,2.47,50.05,0.695,10756,0.083,0.040,3246,655,1653,1678,1628,0,0,0,0,0,0,25.82,25.34,24.79,8.97,43.54
$GC,1562,1.04,58.7,3246,656,1678,1628,166.2,15.5,293,1569,0.00,2.22,0.00,0.000,1030,0.000,0.024,3246,2046,1653,1678,1628,0,0,0,0,0,0,25.76,25.70,25.77,8.93,42.83
$GC,1691,1.04,58.7,3246,2044,1678,1627,147.2,14.1,318,1698,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,2045,1652,1678,1627,0,0,0,0,0,0,26.24,26.26,26.25,8.93,43.18
$GC,1820,1.04,58.7,3246,2044,1678,1627,130.7,14.0,343,1826,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,2045,1652,1678,1626,0,0,0,0,0,0,26.41,26.43,26.43,8.93,43.81
$GC,1947,1.04,58.7,3246,2044,1677,1626,113.6,12.8,368,1954,0.00,2.28,0.00,0.000,516,0.000,0.040,3257,644,1652,1678,1627,0,0,0,0,0,0,26.52,26.26,26.54,8.93,44.21
$GC,1970,1.04,58.7,3257,645,1678,1626,110.6,13.1,372,1977,0.00,2.20,0.00,0.000,1030,0.000,0.024,3257,2060,1652,1678,1626,0,0,0,0,0,0,26.36,26.32,26.38,8.93,44.13
$GC,2099,1.04,58.7,3257,2059,1678,1625,94.0,11.7,397,2105,0.00,2.30,0.00,0.000,516,0.000,0.039,3268,632,1651,1678,1625,0,0,0,0,0,0,26.62,26.35,26.63,8.92,44.17
$GC,2317,1.04,58.7,3268,633,1678,1625,66.8,11.8,440,2324,0.00,2.20,0.00,0.000,1030,0.000,0.023,3268,2061,1651,1678,1625,0,0,0,0,0,0,26.54,26.48,26.56,8.93,44.80
$GC,2446,1.04,58.7,3268,2059,1678,1624,51.2,11.7,465,2452,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,2059,1651,1678,1624,0,0,0,0,0,0,26.76,26.78,26.77,8.92,45.15
$GC,2574,1.04,58.7,3268,2059,1678,1623,35.4,12.8,490,2581,0.00,2.28,0.00,0.000,516,0.000,0.039,3278,643,1651,1678,1624,0,0,0,0,0,0,26.79,26.53,26.81,8.92,45.51
$GC,2653,1.04,58.7,3278,643,1678,1624,25.4,11.6,505,2660,0.00,2.15,0.00,0.000,1030,0.000,0.023,3278,2055,1651,1678,1624,0,0,0,0,0,0,26.64,26.58,26.65,8.92,45.51
$GC,2722,1.04,66.1,3278,2054,1678,1623,18.4,9.2,518,2730,0.00,0.00,4.68,0.438,8198,0.000,0.000,3278,2054,1622,1646,1598,0,0,0,0,0,0,26.83,26.43,25.92,8.93,44.68
$GC,2792,1.04,66.1,3278,2054,1647,1598,11.1,10.7,531,2798,0.00,2.28,0.00,0.000,516,0.000,0.041,3289,634,1622,1647,1598,0,0,0,0,0,0,26.80,26.53,26.82,8.93,44.72
$STATE,2884,end climb,SURFACE_DEPTH_REACHED
$STATE,2884,begin surface coast
$FINISH,0.6,1.021430
$STATE,2910,end surface coast,CONTROL_FINISHED_OK
$STATE,2910,begin surface
$SM_CCo,2926,137.80,0.056,0,0,733,290.14
$SM_GC,1.65,8.00,2.42,137.80,0.050,0.024,0.056,194,2124,733,-8.44,-1.39,290.14,0,0,0,0,0,0,26.56,26.58,26.42
$IRIDIUM_FIX,4744.97,-12226.80,311017,101234
$TT8_MAMPS,0.024717,0.200732
$HUMID,43.50
$INTERNAL_PRESSURE,8.79795
$TCM_TEMP,13.40
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,100.3,89.0
$24V_AH,24.79,1.209
$10V_AH,10.49,0.693
$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,19.450,42.000,104.675,137.800,0.000,25.066,44.579,327.472,2.750,0.000,10.545,1378.382,544.189,364.652,1225.774,53.516,33.439,803.449,0.000,812.963,0.000,5.654,0.000
$DEVICE_MAMPS,248.625,88.740,748.935,55.845,0.000,61.200,160.000,223.000,420.000,0.000,29.210,10.220,2.190,10.220,34.180,40.170,57.400,16.000,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_red_Chl_CDOM,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,381.642,441.129,444.936,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,38307,554
$CAP_FILE_SIZE,62867,0
$CFSIZE,260034560,257536000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,2,0
$CURRENT,0.098,17.65,1
$GPS,311017,121225,4744.023,-12224.345,7,1.2,10,16.3,0.0,0.0,9,9.2