version: 66.13
glider: 157
mission: 18
dive: 19
start: 10 31 117 13 16 32
data:
$ID,157
$MISSION,18
$DIVE,19
$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,57
$R_STBD_OVSHOOT,17
$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
$GPS1,311017,130724,4744.4697,-12224.3691,7,1.2,22,16.3,0.3,0.0,8,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-72.9
$GPS2,311017,131525,4744.5132,-12224.3008,5,1.1,39,16.3,0.3,114.7,8,7.6
$SPEED_LIMITS,0.100,0.186
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.052578,-0.178273
$KALMAN_X,3656.050293,151.529602,-402.673706,-2959.133789,714.435547
$KALMAN_Y,-5371.157227,242.528412,-183.201294,8916.872070,461.047241
$MHEAD_RNG_PITCHd_Wd,178.5,2813,-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,-58.7,189,2130,678,781,0.0,0.0,0,40,0.00,0.00,-30.15,0.000,16386,0.000,0.000,189,2129,1567,1575,1559,0,0,0,0,0,0,26.41,28.83,26.43,8.85,44.40
$GC,42,-1.04,-58.7,189,2130,1575,1559,2.1,-3.3,5,76,9.25,2.53,-18.45,0.000,18948,0.242,1.277,2595,729,2124,2234,2014,0,0,0,0,0,0,25.89,25.12,26.14,8.92,44.72
$GC,579,-1.04,-58.7,2594,729,2237,2014,81.5,-12.9,110,586,0.00,2.33,0.00,0.000,1030,0.000,0.026,2585,2155,2125,2237,2014,0,0,0,0,0,0,26.52,26.46,26.53,8.99,43.73
$GC,707,-1.04,-58.7,2585,2153,2237,2014,96.4,-10.2,135,713,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2153,2125,2237,2014,0,0,0,0,0,0,26.74,26.77,26.77,8.99,44.01
$GC,842,-1.04,-58.7,2585,2153,2237,2014,110.2,-10.5,160,849,0.00,2.28,0.00,0.000,260,0.000,0.041,2574,3571,2126,2237,2015,0,0,1,0,0,0,26.79,26.50,26.80,8.99,43.54
$GC,911,-1.04,-58.7,2574,3579,2237,2014,117.7,-11.0,173,918,0.00,2.12,0.00,0.000,1030,0.000,0.034,2575,2170,2125,2237,2014,0,0,0,0,0,0,26.62,26.55,26.63,8.99,44.25
$GC,1041,-1.04,-58.7,2574,2171,2237,2014,132.3,-12.5,198,1047,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2170,2125,2237,2014,0,0,0,0,0,0,26.83,26.85,26.84,8.99,43.58
$GC,1168,-1.04,-58.7,2574,2171,2237,2014,147.4,-11.6,223,1174,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2171,2125,2237,2014,0,0,0,0,0,0,26.86,26.87,26.86,8.99,43.50
$GC,1295,-1.04,-58.7,2574,2171,2237,2014,162.6,-12.6,248,1302,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2171,2125,2237,2014,0,0,0,0,0,0,26.88,26.90,26.89,8.98,43.66
$STATE,1368,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1368,begin apogee
$GC,1372,-0.19,0.0,2574,2020,2237,2014,171.9,-11.2,262,1428,0.90,0.08,50.30,0.747,10246,0.166,0.105,2861,2081,1886,1956,1817,0,0,0,0,0,0,26.44,25.79,25.27,8.98,44.13
$STATE,1429,end apogee,CONTROL_FINISHED_OK
$STATE,1429,begin climb
$GC,1430,1.04,58.7,2861,2081,1956,1817,174.0,0.0,271,1491,1.02,2.47,50.10,0.690,10500,0.085,0.037,3235,3435,1653,1678,1628,0,0,0,0,0,0,25.82,25.34,24.82,8.96,43.30
$GC,1524,1.04,58.7,3235,3434,1678,1627,165.5,13.6,287,1531,0.00,2.35,0.00,0.000,1030,0.000,0.027,3246,2067,1653,1678,1628,0,0,0,0,0,0,25.72,25.65,25.73,8.94,42.24
$GC,1653,1.04,58.7,3246,2067,1678,1627,147.3,14.9,312,1660,0.00,2.38,0.00,0.000,516,0.000,0.041,3258,617,1652,1678,1627,0,0,0,0,0,0,26.22,25.96,26.24,8.93,43.03
$GC,1747,1.04,58.7,3258,617,1678,1628,133.7,13.4,330,1754,0.00,2.22,0.00,0.000,1030,0.000,0.024,3258,2050,1652,1678,1627,0,0,0,0,0,0,26.19,26.14,26.20,8.93,43.34
$GC,1877,1.04,58.7,3258,2049,1678,1626,116.3,13.3,355,1883,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,2049,1651,1677,1626,0,0,0,0,0,0,26.49,26.51,26.51,8.93,43.97
$GC,2005,1.04,58.7,3258,2048,1678,1625,98.8,14.1,380,2012,0.00,2.40,0.00,0.000,260,0.000,0.037,3258,3442,1651,1678,1625,0,0,0,0,0,0,26.58,26.31,26.60,8.92,44.92
$GC,2068,1.04,58.7,3258,3441,1678,1625,89.0,15.9,392,2075,0.00,2.33,0.00,0.000,1030,0.000,0.028,3270,2042,1651,1678,1625,0,0,0,0,0,0,26.44,26.38,26.45,8.93,44.09
$GC,2198,1.04,58.7,3269,2042,1678,1625,71.8,13.6,417,2205,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,2042,1651,1678,1625,0,0,0,0,0,0,26.68,26.70,26.70,8.93,44.64
$GC,2327,1.04,58.7,3269,2042,1678,1625,54.2,11.6,442,2334,0.00,2.28,0.00,0.000,516,0.000,0.040,3281,616,1651,1678,1625,0,0,0,0,0,0,26.72,26.46,26.74,8.93,44.88
$GC,2631,1.04,58.7,3281,617,1678,1625,18.6,11.5,502,2638,0.00,2.20,0.00,0.000,1030,0.000,0.023,3281,2072,1651,1678,1624,0,0,0,0,0,0,26.64,26.58,26.65,8.93,45.07
$GC,2700,1.05,90.6,3280,2071,1678,1623,13.3,6.4,515,2725,0.00,2.40,20.20,0.523,8452,0.000,0.036,3281,3433,1524,1542,1507,0,0,0,0,0,0,26.83,26.30,25.84,8.93,45.43
$GC,2833,1.07,120.6,3281,3432,1542,1507,3.3,6.6,540,2858,0.00,2.30,18.67,0.460,9222,0.000,0.025,3291,2049,1403,1415,1391,0,0,0,0,0,0,26.50,26.45,25.78,8.92,44.64
$STATE,2863,end climb,SURFACE_DEPTH_REACHED
$STATE,2863,begin surface coast
$FINISH,0.4,1.020861
$STATE,2921,end surface coast,CONTROL_FINISHED_OK
$STATE,2921,begin surface
$SM_CCo,2936,103.78,0.057,0,0,730,290.14
$SM_GC,1.85,8.07,0.15,103.78,0.047,0.069,0.057,185,2133,730,-8.45,-1.53,290.14,0,0,0,0,0,0,26.32,26.34,26.23
$IRIDIUM_FIX,4744.97,-12226.80,311017,121332
$TT8_MAMPS,0.025466,0.200732
$HUMID,43.03
$INTERNAL_PRESSURE,8.79795
$TCM_TEMP,13.50
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,105.0,81.3
$24V_AH,24.82,1.306
$10V_AH,10.49,0.767
$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,19.250,33.075,139.275,103.775,0.000,30.792,48.453,293.732,2.000,0.000,40.779,1375.360,543.717,341.914,1235.918,50.945,33.427,779.221,0.000,813.713,0.000,10.163,0.000
$DEVICE_MAMPS,241.740,1276.785,746.640,56.610,0.000,61.200,160.000,223.000,420.000,0.000,29.210,10.220,2.190,10.220,34.180,40.170,57.400,16.000,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_red_Chl_CDOM,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,382.649,446.097,450.203,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,20.220,61.420,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312828
$DATA_FILE_SIZE,38419,556
$CAP_FILE_SIZE,59536,0
$CFSIZE,260034560,257462272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$CURRENT,0.178,0.43,1
$GPS,311017,140757,4744.570,-12224.330,4,0.9,11,16.3,0.0,0.0,9,8.7