version: 66.12
glider: 157
mission: 15
dive: 6
start: 9 27 116 22 25 41
data:
$ID,157
$MISSION,15
$DIVE,6
$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,60
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52269
$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,250
$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,2790
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0099999998
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,24
$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,13
$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,1880
$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,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,0.0042744437
$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
$GPS1,270916,220937,4742.6035,-12225.8105,4,0.9,10,16.3,0.0,0.0,9,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-67.7
$GPS2,270916,222512,4742.5400,-12225.8926,7,1.0,17,16.3,0.0,0.0,10,9.7
$SPEED_LIMITS,0.100,0.142
$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,12.1,2863,-31.4,-10.000,-35.19,889
$D_GRID,189
$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,-1.34,-58.4,192,2210,821,942,0.0,0.0,0,33,0.00,0.00,-13.90,0.000,16386,0.000,0.000,191,2210,1258,1241,1275,0,0,0,0,0,0,26.30,28.83,26.32
$GC,37,-1.34,-58.4,192,2210,1241,1275,2.0,-0.8,2,88,8.48,2.62,-33.72,0.000,18948,0.245,1.258,2360,1014,2112,2247,1978,0,0,0,0,0,0,25.72,24.98,25.89
$GC,166,-1.34,-58.4,2360,1015,2247,1978,16.6,-24.6,22,175,0.00,2.42,0.00,0.000,1030,0.000,0.029,2351,2201,2112,2247,1978,0,0,0,0,0,0,26.12,26.08,26.14
$GC,244,-1.34,-58.4,2350,2199,2247,1978,35.8,-23.3,35,252,0.00,2.47,0.00,0.000,516,0.000,0.037,2351,1003,2112,2247,1978,0,0,0,0,0,0,26.44,26.14,26.46
$GC,328,-1.34,-58.4,2351,1004,2246,1979,57.8,-27.7,49,334,0.00,2.40,0.00,0.000,1030,0.000,0.030,2340,2208,2112,2247,1978,0,0,0,0,0,0,26.32,26.25,26.34
$GC,470,-1.34,-58.4,2339,2206,2247,1978,93.2,-23.0,74,478,0.00,2.47,0.00,0.000,516,0.000,0.037,2339,1015,2112,2247,1978,0,0,0,0,0,0,26.61,26.30,26.63
$GC,807,-1.34,-58.4,2339,1015,2247,1978,177.8,-28.4,131,814,0.12,2.35,0.00,0.000,3078,0.213,0.030,2361,2202,2112,2247,1978,0,0,0,0,0,0,26.23,26.48,26.44
$STATE,820,end dive,TARGET_DEPTH_EXCEEDED
$STATE,821,begin apogee
$GC,830,-0.21,0.0,2361,2046,2247,1978,182.0,-26.7,133,884,1.17,0.00,48.83,0.749,10246,0.179,0.000,2722,2044,1879,1967,1792,0,0,0,0,0,0,26.24,25.65,25.10
$STATE,885,end apogee,CONTROL_FINISHED_OK
$STATE,885,begin climb
$GC,889,1.34,58.4,2722,2045,1967,1792,190.0,0.0,142,947,1.42,2.70,49.85,0.714,10500,0.116,0.042,3199,3263,1646,1679,1613,0,0,1,0,0,0,25.66,25.25,24.70
$GC,1258,1.36,87.5,3199,3262,1679,1613,172.4,6.6,205,1289,0.00,2.35,25.65,0.712,9222,0.000,0.028,3212,2087,1530,1545,1515,0,0,0,0,0,0,26.25,26.17,25.16
$GC,1427,1.36,87.5,3210,2087,1545,1515,154.0,16.3,234,1434,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2087,1530,1545,1515,0,0,0,0,0,0,26.36,26.39,26.38
$GC,1572,1.36,87.5,3210,2087,1544,1515,135.7,11.9,259,1578,0.00,2.25,0.00,0.000,516,0.000,0.044,3221,881,1530,1545,1515,0,0,0,0,0,0,26.51,26.20,26.53
$GC,1788,1.36,95.9,3220,881,1545,1515,113.3,9.0,297,1802,0.00,2.12,8.27,0.621,9222,0.000,0.029,3221,2070,1497,1510,1484,0,0,0,0,0,0,26.46,26.38,25.60
$GC,1943,1.36,100.4,3221,2069,1511,1484,100.4,9.5,323,1957,0.00,2.25,5.50,0.549,8708,0.000,0.041,3232,883,1478,1491,1466,0,0,0,0,0,0,26.63,26.03,25.62
$GC,2087,1.37,103.5,3231,883,1491,1466,86.9,9.6,347,2101,0.00,2.12,3.95,0.466,9222,0.000,0.029,3232,2069,1466,1478,1455,0,0,0,0,0,0,26.46,26.39,25.65
$GC,2240,1.37,103.5,3231,2068,1478,1455,69.4,10.7,373,2246,0.00,2.22,0.00,0.000,516,0.000,0.044,3237,861,1466,1478,1455,0,0,0,0,0,0,26.69,26.37,26.71
$GC,2349,1.37,103.5,3236,861,1478,1455,57.4,11.6,392,2357,0.00,2.17,0.00,0.000,1030,0.000,0.029,3237,2064,1466,1478,1455,0,0,0,0,0,0,26.51,26.48,26.53
$GC,2497,1.37,103.5,3236,2063,1478,1455,41.6,11.3,417,2504,0.00,2.42,0.00,0.000,260,0.000,0.044,3237,3261,1466,1478,1455,0,0,0,0,0,0,26.78,26.48,26.79
$GC,2627,1.37,103.5,3237,3260,1478,1455,27.1,11.6,440,2635,0.00,2.42,0.00,0.000,1030,0.000,0.031,3237,2071,1466,1478,1455,0,0,0,0,0,0,26.57,26.53,26.60
$GC,2706,1.37,103.5,3237,2071,1479,1455,18.3,11.5,453,2714,0.00,2.22,0.00,0.000,516,0.000,0.047,3240,868,1467,1479,1455,0,0,0,0,0,0,26.82,26.51,26.84
$STATE,2846,end climb,SURFACE_DEPTH_REACHED
$STATE,2849,begin surface coast
$FINISH,1.4,0.999016
$STATE,2866,end surface coast,CONTROL_FINISHED_OK
$STATE,2867,begin surface
$SM_CCo,2890,80.60,0.056,0,0,882,250.20
$SM_GC,1.64,7.85,2.58,80.60,0.048,0.030,0.056,194,2209,882,-8.03,-0.40,250.20,0,0,0,0,0,0,26.59,26.59,26.47
$IRIDIUM_FIX,4726.11,-12226.80,270916,221521
$TT8_MAMPS,0.024717,0.283871
$HUMID,51.45
$INTERNAL_PRESSURE,8.97374
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.7,17.5
$ALTIM_BOTTOM_PING,150.3,57.8
$24V_AH,24.70,0.510
$10V_AH,10.35,0.375
$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,19.050,43.000,142.050,80.600,0.000,78.210,109.378,477.966,4.500,0.000,18.730,981.209,447.043,263.429,1984.573,243.429,0.000,712.260,0.000,1298.588,0.000,31.551,0.000
$DEVICE_MAMPS,244.800,1258.425,748.935,55.845,0.000,61.200,160.000,223.000,420.000,0.000,29.210,10.220,2.190,10.220,34.180,40.170,0.000,16.000,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_red_Chl_CDOM,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,330.100,949.283,958.330,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33670,481
$CAP_FILE_SIZE,62867,0
$CFSIZE,260165632,257658880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$GPS,270916,231632,4742.701,-12226.065,5,0.8,36,16.3,0.0,247.5,10,6.1