version: 66.12
glider: 157
mission: 15
dive: 14
start: 9 28 116 7 14 9
data:
$ID,157
$MISSION,15
$DIVE,14
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,190
$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,90
$T_MISSION,100
$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,200
$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,230
$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,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,23
$R_STBD_OVSHOOT,23
$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,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,140
$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
$GPS1,280916,070726,4743.8237,-12224.6328,5,0.9,14,16.3,0.0,0.0,9,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-66.1
$GPS2,280916,071335,4743.7930,-12224.5967,7,0.8,17,16.3,0.0,0.0,9,9.5
$SPEED_LIMITS,0.070,0.219
$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,291.8,322,-41.5,-7.037,-45.00,444
$D_GRID,174
$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,-1.74,-20.4,203,2198,463,503,0.0,0.0,0,54,0.00,0.00,-34.80,0.000,16386,0.000,0.000,203,2198,1455,1461,1449,0,0,0,0,0,0,26.38,28.83,26.40
$GC,58,-1.76,-48.6,203,2198,1461,1449,2.0,-0.5,5,96,7.93,2.35,-22.10,0.000,18692,0.247,1.268,2223,3405,2074,2199,1950,0,0,0,0,0,0,25.89,25.15,26.03
$GC,180,-1.76,-48.6,2222,3405,2198,1950,21.0,-25.7,24,188,0.00,2.20,0.00,0.000,1030,0.000,0.022,2223,2201,2074,2199,1950,0,0,0,0,0,0,26.22,26.20,26.23
$GC,259,-1.76,-48.6,2222,2201,2199,1950,42.3,-24.7,37,265,0.00,2.38,0.00,0.000,516,0.000,0.036,2223,1013,2074,2199,1950,0,0,0,0,0,0,26.49,26.21,26.51
$GC,320,-1.76,-48.6,2222,1013,2199,1950,58.9,-28.0,47,326,0.00,2.38,0.00,0.000,1030,0.000,0.028,2212,2209,2074,2199,1950,0,0,0,0,0,0,26.35,26.29,26.36
$GC,461,-1.76,-48.6,2211,2207,2199,1950,100.8,-28.6,72,469,0.00,2.47,0.00,0.000,516,0.000,0.035,2212,1014,2074,2199,1950,0,0,0,0,0,0,26.62,26.34,26.64
$STATE,735,end dive,TARGET_DEPTH_EXCEEDED
$STATE,735,begin apogee
$GC,745,-0.21,0.0,2202,2069,2199,1950,174.2,-29.4,120,795,1.77,0.00,41.38,0.715,10246,0.194,0.000,2729,2067,1879,1961,1797,0,0,0,0,0,0,26.24,25.64,25.27
$STATE,796,end apogee,CONTROL_FINISHED_OK
$STATE,796,begin climb
$GC,799,1.76,48.6,2728,2067,1961,1797,181.3,0.0,128,850,1.77,2.50,41.33,0.704,10500,0.107,0.039,3335,3276,1684,1722,1647,0,0,0,0,0,0,25.81,25.23,24.85
$GC,1062,1.76,55.6,3334,3275,1722,1647,167.9,5.4,173,1076,0.00,2.40,7.07,0.597,9222,0.000,0.028,3345,2079,1657,1692,1623,0,0,0,0,0,0,26.12,26.06,25.34
$GC,1218,1.76,58.0,3344,2079,1691,1623,158.7,6.5,199,1223,0.00,0.00,0.00,0.000,6,0.000,0.000,3346,2079,1657,1692,1623,0,0,0,0,0,0,26.41,26.44,26.43
$GC,1359,1.76,59.3,3344,2079,1692,1623,148.9,6.7,224,1367,0.00,0.00,4.50,0.512,8198,0.000,0.000,3345,2079,1642,1675,1610,0,0,0,0,0,0,26.52,26.11,25.56
$GC,1508,1.76,59.3,3345,2079,1675,1610,138.8,7.7,249,1513,0.00,0.00,0.00,0.000,6,0.000,0.000,3345,2079,1642,1675,1610,0,0,0,0,0,0,26.58,26.60,26.60
$GC,1649,1.77,62.5,3344,2079,1675,1610,128.3,6.3,274,1658,0.00,2.30,4.18,0.495,8708,0.000,0.043,3355,862,1629,1660,1599,0,0,0,0,0,0,26.65,26.27,25.67
$GC,2218,1.77,62.5,3355,863,1660,1602,80.7,8.1,375,2224,0.00,2.12,0.00,0.000,1030,0.000,0.028,3355,2067,1631,1660,1602,0,0,0,0,0,0,26.61,26.54,26.63
$GC,2362,1.77,67.5,3355,2066,1660,1602,71.2,5.9,400,2376,0.00,2.25,5.72,0.545,8708,0.000,0.042,3366,857,1610,1638,1583,0,0,1,0,0,0,26.83,26.43,25.83
$GC,2442,1.77,69.1,3365,858,1638,1585,66.2,6.7,413,2448,0.00,2.15,0.00,0.000,1030,0.000,0.028,3366,2067,1611,1638,1585,0,0,0,0,0,0,26.60,26.54,26.61
$GC,2587,1.77,78.2,3365,2065,1638,1585,58.3,4.9,438,2607,0.00,2.25,10.43,0.612,8708,0.000,0.041,3376,860,1567,1588,1546,0,0,1,0,0,0,26.82,26.35,25.79
$GC,2718,1.77,78.2,3375,861,1588,1546,49.0,7.9,460,2726,0.00,2.20,0.00,0.000,1030,0.000,0.028,3375,2070,1567,1588,1546,0,0,0,0,0,0,26.51,26.48,26.53
$GC,2866,1.77,78.2,3375,2069,1588,1546,37.3,8.7,485,2874,0.00,0.00,0.00,0.000,6,0.000,0.000,3376,2069,1567,1588,1546,0,0,0,0,0,0,26.78,26.80,26.80
$GC,2943,1.77,78.2,3375,2068,1588,1546,30.3,9.3,498,2951,0.00,2.25,0.00,0.000,516,0.000,0.042,3386,881,1567,1588,1546,0,0,0,0,0,0,26.80,26.51,26.82
$GC,3116,1.77,78.2,3385,882,1588,1546,13.6,10.0,528,3124,0.00,2.17,0.00,0.000,1030,0.000,0.028,3386,2069,1567,1588,1546,0,0,0,0,0,0,26.63,26.59,26.64
$GC,3194,1.77,78.2,3385,2068,1588,1546,6.6,7.8,541,3202,0.00,2.25,0.00,0.000,516,0.000,0.042,3396,878,1567,1589,1546,0,0,0,0,0,0,26.86,26.55,26.87
$STATE,3246,end climb,SURFACE_DEPTH_REACHED
$STATE,3247,begin surface coast
$FINISH,1.2,0.999016
$STATE,3271,end surface coast,CONTROL_FINISHED_OK
$STATE,3271,begin surface
$SM_CCo,3296,86.57,0.056,0,0,962,230.10
$SM_GC,1.48,9.23,2.55,86.57,0.112,0.029,0.056,198,2207,962,-8.06,-0.68,230.10,0,0,0,0,0,0,26.53,26.61,26.47
$IRIDIUM_FIX,4726.11,-12222.38,280916,062502
$TT8_MAMPS,0.024717,0.283122
$HUMID,49.13
$INTERNAL_PRESSURE,8.97374
$TCM_TEMP,17.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,146.2,42.9
$24V_AH,24.85,1.067
$10V_AH,10.36,0.873
$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,20.700,41.200,114.600,86.575,0.000,23.157,41.356,172.766,1.250,0.000,18.492,1133.346,435.795,264.670,1733.900,207.921,0.000,760.761,0.000,1485.928,0.000,12.772,0.000
$DEVICE_MAMPS,247.095,1267.605,715.275,55.845,0.000,61.200,160.000,223.000,420.000,0.000,29.210,10.220,2.190,10.220,34.180,40.170,0.000,16.000,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_red_Chl_CDOM,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,381.361,1082.945,1092.868,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,20.220,61.420,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312624
$DATA_FILE_SIZE,37085,554
$CAP_FILE_SIZE,59291,0
$CFSIZE,260165632,257327104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,1,0
$GPS,280916,081151,4743.659,-12224.842,34,1.0,35,16.3,0.0,0.0,9,6.7