version: 66.12
glider: 157
mission: 15
dive: 3
start: 9 27 116 19 22 45
data:
$ID,157
$MISSION,15
$DIVE,3
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,180
$D_ABORT,1050
$D_NO_BLEED,200
$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,80
$T_ABORT,1440
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,90
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52265
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0025548199
$HD_B,0.0129854
$HD_C,1.6100001e-05
$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,270
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$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
$PITCH_MIN,195
$PITCH_MAX,3873
$C_PITCH,2795
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0099999998
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,23
$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,33
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2067
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,485
$VBD_MAX,3960
$C_VBD,1790
$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,5
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-59.18203
$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,20
$ALTIM_BOTTOM_TURN_MARGIN,0
$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,4
$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,0.0042744437
$SEABIRD_T_H,0.00061931956
$SEABIRD_T_I,2.1970962e-05
$SEABIRD_T_J,2.2243628e-06
$SEABIRD_C_G,-10.172618
$SEABIRD_C_H,1.1509272
$SEABIRD_C_I,-0.0014653053
$SEABIRD_C_J,0.00019874881
$GPS1,270916,191640,4742.5776,-12224.9219,2,0.9,8,16.3,0.0,0.0,9,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-66.9
$GPS2,270916,192217,4742.5127,-12224.9453,15,0.9,15,16.3,0.0,190.9,9,4.6
$SPEED_LIMITS,0.100,0.176
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.000000,0.000000
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,347.7,2576,-25.2,-10.000,-29.55,1326
$D_GRID,181
$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
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.14,-87.6,192,2205,445,521,0.0,0.0,0,27,0.00,0.00,-7.40,0.000,16386,0.000,0.000,192,2204,709,667,751,0,0,0,0,0,0,26.67,28.83,26.70
$GC,31,-1.14,-87.6,192,2205,667,751,2.0,0.0,1,109,8.20,0.00,-60.80,0.000,18694,0.225,0.000,2433,2205,2137,2281,1993,0,0,0,0,0,0,26.14,25.91,26.26
$GC,179,-1.14,-87.6,2433,2205,2280,1994,8.4,-16.3,24,186,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2205,2137,2280,1995,0,0,0,0,0,0,26.60,26.62,26.61
$GC,256,-1.14,-87.6,2432,2205,2280,1994,23.1,-19.5,37,263,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2204,2137,2280,1994,0,0,0,0,0,0,26.66,26.68,26.68
$GC,333,-1.14,-87.6,2433,2205,2280,1994,39.1,-21.2,50,341,0.00,2.45,0.00,0.000,516,0.000,0.039,2433,1017,2136,2279,1994,0,0,0,0,0,0,26.70,26.40,26.72
$GC,445,-1.14,-87.6,2433,1017,2280,1994,63.6,-21.6,69,452,0.00,2.33,0.00,0.000,1030,0.000,0.029,2424,2204,2137,2280,1994,0,0,0,0,0,0,26.55,26.48,26.58
$GC,587,-1.14,-87.6,2423,2203,2280,1994,91.1,-18.2,94,595,0.00,2.45,0.00,0.000,516,0.000,0.039,2423,1005,2137,2280,1994,0,0,0,0,0,0,26.82,26.50,26.83
$GC,668,-1.14,-87.6,2423,1005,2280,1994,105.8,-18.3,107,674,0.00,2.33,0.00,0.000,1030,0.000,0.029,2412,2200,2137,2280,1994,0,0,0,0,0,0,26.63,26.55,26.65
$GC,815,-1.14,-87.6,2412,2199,2280,1994,137.1,-19.8,132,822,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2199,2137,2280,1994,0,0,0,0,0,0,26.86,26.89,26.88
$GC,964,-1.14,-87.6,2411,2199,2280,1994,165.3,-18.2,157,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2199,2137,2280,1994,0,0,0,0,0,0,26.88,26.91,26.90
$STATE,1037,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1037,begin apogee
$GC,1046,-0.22,0.0,2412,2055,2280,1994,180.9,-19.4,170,1126,1.00,0.00,70.00,0.743,10246,0.170,0.000,2725,2055,1790,1859,1721,0,0,0,0,0,0,26.38,25.56,25.01
$STATE,1127,end apogee,CONTROL_FINISHED_OK
$STATE,1127,begin climb
$GC,1131,1.14,87.6,2725,2055,1859,1721,186.7,0.0,183,1210,1.25,0.00,74.68,0.724,10246,0.114,0.000,3142,2054,1440,1454,1426,0,0,0,0,0,0,25.63,25.16,24.65
$GC,1345,1.14,87.6,3141,2054,1454,1426,170.1,11.5,220,1353,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2054,1439,1453,1426,0,0,0,0,0,0,26.23,26.25,26.25
$GC,1490,1.14,89.3,3141,2054,1454,1426,156.1,9.9,245,1496,0.00,2.55,0.00,0.000,260,0.000,0.043,3142,3270,1440,1454,1426,0,0,1,0,0,0,26.47,26.19,26.49
$GC,1642,1.14,89.3,3141,3270,1454,1426,138.0,12.1,271,1648,0.00,2.38,0.00,0.000,1030,0.000,0.030,3142,2082,1440,1454,1426,0,0,0,0,0,0,26.41,26.34,26.44
$GC,1786,1.14,89.3,3141,2082,1454,1426,120.6,11.4,296,1794,0.00,2.25,0.00,0.000,516,0.000,0.047,3142,873,1440,1454,1426,0,0,0,0,0,0,26.70,26.38,26.72
$GC,1888,1.14,91.6,3141,873,1454,1426,109.9,9.8,313,1901,0.00,2.10,4.62,0.508,9222,0.000,0.028,3142,2068,1423,1439,1407,0,0,0,0,0,0,26.55,26.47,25.76
$GC,2040,1.15,102.0,3141,2067,1439,1407,94.0,9.2,339,2053,0.00,0.00,10.00,0.617,8198,0.000,0.000,3142,2066,1382,1397,1367,0,0,0,0,0,0,26.77,26.25,25.73
$GC,2194,1.15,102.0,3142,2066,1396,1367,77.5,11.4,365,2199,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2067,1381,1396,1367,0,0,0,0,0,0,26.72,26.75,26.74
$GC,2334,1.15,102.0,3141,2066,1396,1367,60.9,12.3,390,2342,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2066,1381,1396,1367,0,0,0,0,0,0,26.79,26.81,26.80
$GC,2479,1.15,102.0,3141,2066,1396,1367,43.9,12.2,415,2484,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2066,1381,1396,1367,0,0,0,0,0,0,26.84,26.86,26.85
$GC,2619,1.15,102.0,3141,2066,1396,1367,28.6,11.0,440,2627,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2066,1381,1396,1367,0,0,0,0,0,0,26.87,26.89,26.89
$GC,2698,1.15,102.0,3141,2066,1396,1367,18.8,12.4,453,2706,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2066,1381,1396,1367,0,0,0,0,0,0,26.89,26.91,26.90
$GC,2786,1.15,102.0,3141,2066,1396,1367,9.0,10.6,466,2796,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2066,1381,1396,1367,0,0,0,0,0,0,26.90,26.92,26.92
$STATE,2842,end climb,SURFACE_DEPTH_REACHED
$STATE,2842,begin surface coast
$FINISH,1.3,0.999016
$STATE,2860,end surface coast,CONTROL_FINISHED_OK
$STATE,2861,begin surface
$SM_CCo,2882,91.45,0.054,0,0,711,270.04
$SM_GC,1.84,7.62,0.35,91.45,0.052,0.047,0.054,189,2205,711,-8.06,-0.71,270.04,0,0,0,0,0,0,26.63,26.67,26.51
$IRIDIUM_FIX,4726.11,-12222.38,270916,191212
$TT8_MAMPS,0.025466,0.282373
$HUMID,51.96
$INTERNAL_PRESSURE,8.9835
$TCM_TEMP,17.00
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,17.3
$24V_AH,24.65,0.327
$10V_AH,10.33,0.206
$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,18.075,19.575,159.300,91.450,0.000,0.000,0.000,0.000,4.750,0.000,16.901,953.012,338.108,305.352,1325.827,133.857,0.000,778.211,0.000,1310.096,0.000,31.962,0.000
$DEVICE_MAMPS,224.910,47.430,742.815,54.315,0.000,0.000,0.000,0.000,420.000,0.000,29.210,10.220,2.190,10.220,34.180,40.170,0.000,16.000,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_red_Chl_CDOM,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,326.083,952.097,983.243,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,20.220,61.420,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312644
$DATA_FILE_SIZE,33581,477
$CAP_FILE_SIZE,67372,0
$CFSIZE,260165632,257769472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,4,0
$GPS,270916,201332,4742.590,-12225.242,2,0.9,29,16.3,0.4,205.7,9,3.4