version: 66.13
glider: 157
mission: 18
dive: 20
start: 10 31 117 14 17 36
data:
$ID,157
$MISSION,18
$DIVE,20
$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,50
$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,120
$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,46
$R_STBD_OVSHOOT,35
$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
$GPS1,311017,140757,4744.5698,-12224.3301,4,0.9,11,16.3,0.0,0.0,9,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-72.1
$GPS2,311017,141630,4744.6235,-12224.3066,5,1.2,45,16.3,0.2,0.0,7,3.0
$SPEED_LIMITS,0.120,0.274
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.141285,-0.235157
$KALMAN_X,3285.530762,267.774475,33.908436,-3139.371338,411.897766
$KALMAN_Y,-4846.802734,239.546692,149.194641,8268.416992,560.876953
$MHEAD_RNG_PITCHd_Wd,165.6,3016,-21.3,-12.000,-23.63,1497
$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,-0.89,-117.3,185,2136,681,778,0.0,0.0,0,40,0.00,0.00,-29.90,0.000,16386,0.000,0.000,185,2136,1566,1575,1557,0,0,0,0,0,0,26.36,28.83,26.38,8.84,44.44
$GC,42,-0.89,-117.3,184,2136,1575,1556,2.3,-4.2,5,81,9.43,0.00,-24.70,0.000,18950,0.241,0.000,2636,2138,2357,2518,2197,0,0,0,0,0,0,25.84,25.20,26.09,8.92,44.01
$GC,142,-0.89,-117.3,2635,2138,2518,2199,16.4,-19.6,23,148,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2138,2358,2518,2198,0,0,0,0,0,0,26.41,26.44,26.43,9.01,43.54
$GC,209,-0.89,-117.3,2635,2137,2519,2199,27.2,-15.3,36,215,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2137,2358,2518,2198,0,0,0,0,0,0,26.48,26.50,26.49,9.02,43.69
$GC,277,-0.89,-117.3,2636,2138,2518,2199,37.8,-16.3,49,283,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2138,2358,2518,2199,0,0,0,0,0,0,26.53,26.55,26.55,9.01,43.66
$GC,345,-0.89,-117.3,2635,2137,2517,2199,47.8,-14.4,62,351,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2138,2358,2518,2199,0,0,0,0,0,0,26.58,26.60,26.59,9.01,43.89
$GC,473,-0.89,-117.3,2635,2136,2518,2199,65.2,-13.4,87,480,0.00,2.38,0.00,0.000,516,0.000,0.044,2636,730,2358,2518,2199,0,0,0,0,0,0,26.65,26.38,26.66,9.01,43.81
$GC,547,-0.89,-117.3,2635,731,2518,2199,75.9,-15.2,101,555,0.00,2.28,0.00,0.000,1030,0.000,0.031,2626,2134,2358,2518,2199,0,0,0,0,0,0,26.49,26.43,26.51,9.01,44.29
$GC,677,-0.89,-117.3,2626,2132,2518,2199,96.6,-15.6,126,683,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2133,2358,2518,2199,0,0,0,0,0,0,26.72,26.74,26.74,9.01,43.85
$GC,807,-0.89,-117.3,2626,2132,2518,2199,115.4,-15.4,151,813,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2132,2358,2518,2199,0,0,0,0,0,0,26.77,26.79,26.78,9.01,43.73
$GC,934,-0.89,-117.3,2626,2132,2518,2198,133.8,-14.3,176,941,0.00,2.50,0.00,0.000,260,0.000,0.045,2614,3580,2358,2518,2199,0,0,0,0,0,0,26.80,26.51,26.82,9.01,43.54
$GC,1008,-0.89,-117.3,2613,3581,2518,2199,145.8,-16.8,190,1015,0.00,2.28,0.00,0.000,1030,0.000,0.027,2614,2163,2358,2518,2199,0,0,0,0,0,0,26.63,26.57,26.65,9.01,43.62
$GC,1137,-0.89,-117.3,2613,2165,2518,2199,165.3,-15.0,215,1142,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2165,2358,2518,2199,0,0,0,0,0,0,26.84,26.86,26.85,9.01,43.54
$STATE,1223,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1223,begin apogee
$GC,1227,-0.19,0.0,2613,2010,2518,2199,177.6,-13.5,232,1330,0.75,0.08,94.12,0.730,10246,0.155,0.045,2860,2090,1887,1948,1827,0,0,0,0,0,0,26.43,25.16,24.81,9.01,43.69
$STATE,1332,end apogee,CONTROL_FINISHED_OK
$STATE,1332,begin climb
$GC,1333,0.89,117.3,2860,2090,1948,1827,181.0,0.0,249,1442,0.93,2.47,98.18,0.693,10756,0.086,0.039,3204,654,1419,1427,1411,0,0,0,0,0,0,25.40,24.89,24.53,8.97,42.83
$GC,1485,0.89,117.3,3203,653,1427,1411,164.7,15.6,275,1492,0.00,2.22,0.00,0.000,1030,0.000,0.022,3204,2037,1419,1427,1411,0,0,0,0,0,0,25.60,25.55,25.61,8.92,42.20
$GC,1614,0.89,117.3,3203,2035,1427,1411,144.7,15.3,300,1620,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2035,1419,1427,1411,0,0,0,0,0,0,26.17,26.19,26.18,8.92,43.03
$GC,1741,0.89,117.3,3203,2035,1427,1411,125.8,14.2,325,1747,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2035,1419,1427,1411,0,0,0,0,0,0,26.37,26.39,26.39,8.91,43.66
$GC,1869,0.89,117.3,3203,2034,1427,1411,108.1,14.0,350,1875,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2034,1419,1427,1411,0,0,0,0,0,0,26.50,26.51,26.51,8.91,43.89
$GC,1997,0.89,117.3,3202,2034,1426,1411,89.7,14.5,375,2004,0.00,2.28,0.00,0.000,516,0.000,0.044,3214,632,1419,1427,1411,0,0,0,0,0,0,26.59,26.32,26.60,8.91,44.05
$GC,2025,0.89,117.3,3213,632,1427,1411,85.6,14.0,380,2032,0.00,2.20,0.00,0.000,1030,0.000,0.023,3214,2056,1419,1427,1411,0,0,0,0,0,0,26.43,26.38,26.44,8.92,44.21
$GC,2154,0.89,117.3,3213,2054,1427,1410,67.1,14.8,405,2161,0.00,2.28,0.00,0.000,516,0.000,0.040,3224,646,1418,1427,1410,0,0,0,0,0,0,26.67,26.39,26.68,8.92,44.09
$GC,2248,0.89,117.3,3223,647,1427,1410,52.1,15.6,423,2255,0.00,2.20,0.00,0.000,1030,0.000,0.023,3224,2066,1418,1427,1410,0,0,0,0,0,0,26.53,26.48,26.54,8.91,44.25
$GC,2377,0.89,117.3,3223,2063,1427,1410,32.6,14.6,448,2383,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2063,1418,1427,1410,0,0,0,0,0,0,26.75,26.77,26.77,8.91,44.72
$GC,2445,0.89,117.3,3223,2063,1427,1410,22.7,14.0,461,2452,0.00,2.30,0.00,0.000,516,0.000,0.040,3235,636,1418,1427,1410,0,0,0,0,0,0,26.77,26.50,26.78,8.92,44.52
$GC,2499,0.89,117.3,3234,636,1427,1410,15.0,14.6,471,2506,0.00,2.17,0.00,0.000,1030,0.000,0.024,3235,2045,1418,1427,1410,0,0,0,0,0,0,26.60,26.55,26.62,8.92,44.36
$GC,2567,0.91,162.1,3234,2043,1426,1410,7.3,8.9,484,2598,0.00,0.00,26.17,0.483,8454,0.000,0.000,3235,2043,1238,1233,1244,0,0,0,0,0,0,26.79,26.21,25.82,8.92,44.29
$STATE,2649,end climb,SURFACE_DEPTH_REACHED
$STATE,2649,begin surface coast
$FINISH,0.4,1.010607
$STATE,2681,end surface coast,CONTROL_FINISHED_OK
$STATE,2681,begin surface
$SM_CCo,2695,79.07,0.054,0,0,731,290.14
$SM_GC,1.74,7.80,0.15,79.07,0.040,0.070,0.054,191,2144,731,-8.43,-1.24,290.14,0,0,0,0,0,0,26.36,26.38,26.29
$IRIDIUM_FIX,4745.33,-12219.67,311017,130835
$TT8_MAMPS,0.024717,0.200732
$HUMID,43.18
$INTERNAL_PRESSURE,8.79795
$TCM_TEMP,13.30
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,101.0,91.2
$24V_AH,24.53,1.372
$10V_AH,10.49,0.804
$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,18.900,28.050,218.475,79.075,0.000,24.140,43.924,328.893,2.250,0.000,46.573,1207.529,464.512,399.933,1184.125,54.749,33.433,830.750,0.000,738.808,0.000,5.660,0.000
$DEVICE_MAMPS,240.975,81.090,729.810,54.315,0.000,61.200,160.000,223.000,420.000,0.000,29.210,10.220,2.190,10.220,34.180,40.170,57.400,16.000,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_red_Chl_CDOM,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,344.621,398.300,402.061,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,20.220,61.420,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312876
$DATA_FILE_SIZE,34851,505
$CAP_FILE_SIZE,59669,0
$CFSIZE,260034560,257425408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.099,8.35,1
$GPS,311017,150433,4744.393,-12224.321,4,0.9,8,16.3,0.0,248.2,9,8.8