version: 66.12
glider: 157
mission: 15
dive: 4
start: 9 27 116 20 22 37
data:
$ID,157
$MISSION,15
$DIVE,4
$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,12
$R_STBD_OVSHOOT,27
$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
$GPS1,270916,201332,4742.5898,-12225.2422,2,0.9,29,16.3,0.4,205.7,9,3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-67.2
$GPS2,270916,202208,4742.5386,-12225.3213,12,0.8,12,16.3,0.0,0.0,10,4.9
$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,358.1,2604,-25.2,-10.000,-29.55,1326
$D_GRID,186
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-1.14,-87.6,185,2206,657,766,0.0,0.0,0,33,0.00,0.00,-14.02,0.000,16386,0.000,0.000,185,2206,1106,1075,1137,0,0,0,0,0,0,26.44,28.83,26.46
$GC,37,-1.14,-87.6,185,2206,1075,1137,2.0,-2.2,2,95,8.48,0.00,-42.78,0.000,18950,0.234,0.000,2427,2204,2138,2281,1996,0,0,0,0,0,0,25.91,25.74,26.04
$GC,165,-1.14,-87.6,2426,2204,2281,1997,13.7,-19.4,22,172,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2204,2139,2281,1997,0,0,0,0,0,0,26.47,26.49,26.49
$GC,241,-1.14,-87.6,2426,2204,2281,1997,29.1,-19.5,35,249,0.00,2.47,0.00,0.000,516,0.000,0.038,2431,1013,2139,2281,1997,0,0,0,0,0,0,26.55,26.25,26.57
$GC,373,-1.14,-87.6,2429,1014,2281,1997,56.5,-19.2,58,381,0.00,2.38,0.00,0.000,1030,0.000,0.029,2420,2197,2139,2281,1997,0,0,0,0,0,0,26.41,26.38,26.44
$GC,519,-1.14,-87.6,2420,2196,2281,1997,82.9,-18.6,83,524,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2196,2139,2281,1997,0,0,0,0,0,0,26.72,26.74,26.74
$GC,663,-1.14,-87.6,2420,2196,2281,1997,111.6,-20.2,108,671,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2196,2139,2281,1997,0,0,0,0,0,0,26.77,26.79,26.79
$GC,811,-1.14,-87.6,2419,2196,2281,1997,140.7,-18.8,133,817,0.00,2.38,0.00,0.000,516,0.000,0.039,2420,1013,2139,2281,1997,0,0,0,0,0,0,26.80,26.50,26.82
$STATE,984,end dive,TARGET_DEPTH_EXCEEDED
$STATE,984,begin apogee
$GC,995,-0.22,0.0,2410,2071,2281,1997,180.5,-23.2,162,1075,1.02,0.00,71.07,0.737,10246,0.175,0.000,2727,2069,1789,1858,1720,0,0,0,0,0,0,26.33,25.36,24.97
$STATE,1076,end apogee,CONTROL_FINISHED_OK
$STATE,1076,begin climb
$GC,1079,1.14,87.6,2728,2070,1858,1720,188.2,0.0,175,1165,1.25,0.00,74.93,0.715,10502,0.116,0.000,3144,2069,1439,1454,1425,0,0,0,0,0,0,25.57,25.12,24.63
$GC,1303,1.14,87.6,3143,2069,1454,1425,169.4,12.5,213,1308,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2069,1439,1454,1425,0,0,0,0,0,0,26.20,26.23,26.22
$GC,1444,1.16,119.5,3143,2069,1455,1425,158.2,7.5,238,1477,0.00,0.00,26.27,0.683,8198,0.000,0.000,3144,2069,1313,1316,1310,0,0,0,0,0,0,26.44,25.58,25.20
$GC,1617,1.16,119.5,3143,2069,1316,1310,139.5,12.8,267,1623,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2069,1313,1316,1310,0,0,0,0,0,0,26.39,26.42,26.41
$GC,1758,1.16,119.5,3143,2069,1316,1310,119.4,13.9,292,1766,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2069,1313,1316,1310,0,0,0,0,0,0,26.54,26.56,26.55
$GC,1903,1.16,119.5,3143,2069,1316,1310,103.0,11.5,317,1908,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2069,1313,1316,1310,0,0,0,0,0,0,26.64,26.67,26.66
$GC,2043,1.16,119.5,3143,2069,1316,1310,85.4,11.3,342,2051,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2069,1313,1316,1310,0,0,0,0,0,0,26.71,26.74,26.73
$GC,2188,1.16,119.5,3143,2069,1316,1310,68.3,11.5,367,2193,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2069,1313,1316,1310,0,0,0,0,0,0,26.77,26.79,26.79
$GC,2328,1.16,119.5,3143,2069,1316,1310,50.7,12.7,392,2336,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2069,1313,1316,1310,0,0,0,0,0,0,26.81,26.83,26.83
$GC,2472,1.16,119.5,3143,2069,1316,1310,32.6,13.5,417,2479,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2069,1313,1317,1309,0,0,0,0,0,0,26.84,26.86,26.86
$GC,2549,1.16,119.5,3143,2069,1316,1310,23.0,12.0,430,2557,0.00,2.25,0.00,0.000,516,0.000,0.045,3154,865,1313,1316,1310,0,0,0,0,0,0,26.86,26.53,26.88
$GC,2633,1.16,119.5,3153,865,1316,1310,12.7,12.2,444,2641,0.00,2.17,0.00,0.000,1030,0.000,0.029,3154,2072,1313,1316,1310,0,0,0,0,0,0,26.64,26.60,26.66
$GC,2711,1.16,119.5,3153,2071,1316,1310,3.5,11.9,457,2719,0.00,2.47,0.00,0.000,260,0.000,0.044,3154,3266,1313,1316,1310,0,0,0,0,0,0,26.89,26.58,26.91
$STATE,2726,end climb,SURFACE_DEPTH_REACHED
$STATE,2726,begin surface coast
$FINISH,1.5,0.999016
$STATE,2746,end surface coast,CONTROL_FINISHED_OK
$STATE,2746,begin surface
$SM_CCo,2769,82.38,0.054,0,0,713,270.04
$SM_GC,1.75,7.62,2.12,82.38,0.050,0.028,0.054,195,2188,713,-8.04,0.34,270.04,0,0,0,0,0,0,26.62,26.63,26.50
$IRIDIUM_FIX,4722.92,-12227.78,270916,191724
$TT8_MAMPS,0.024717,0.241927
$HUMID,52.16
$INTERNAL_PRESSURE,8.96397
$TCM_TEMP,17.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,20.0,17.7
$ALTIM_BOTTOM_PING,176.1,33.2
$24V_AH,24.63,0.386
$10V_AH,10.35,0.261
$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,18.375,18.275,172.275,82.375,0.000,23.279,35.853,313.291,5.000,0.000,13.923,926.062,329.872,294.801,1627.918,201.805,0.000,758.480,0.000,1248.271,0.000,33.761,0.000
$DEVICE_MAMPS,234.090,45.135,737.460,53.550,0.000,61.200,160.000,223.000,420.000,0.000,29.210,10.220,2.190,10.220,34.180,40.170,0.000,16.000,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_red_Chl_CDOM,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,315.770,916.214,925.187,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,20.220,61.420,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312628
$DATA_FILE_SIZE,33653,462
$CAP_FILE_SIZE,55466,0
$CFSIZE,260165632,257740800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,270916,211100,4742.591,-12225.577,5,0.8,8,16.3,0.0,0.0,11,8.9