version: 66.12
glider: 157
mission: 15
dive: 15
start: 9 28 116 8 20 42
data:
$ID,157
$MISSION,15
$DIVE,15
$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,11
$R_STBD_OVSHOOT,25
$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
$GPS1,280916,081151,4743.6587,-12224.8418,34,1.0,35,16.3,0.0,0.0,9,6.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-67.9
$GPS2,280916,082012,4743.6289,-12224.8184,7,0.9,9,16.3,0.0,0.0,9,8.8
$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,346.4,502,-30.3,-7.037,-34.86,765
$D_GRID,175
$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,-1.28,-35.5,198,2204,902,1016,0.0,0.0,0,41,0.00,0.00,-20.77,0.000,16386,0.000,0.000,198,2204,1510,1517,1504,0,0,0,0,0,0,26.35,28.83,26.37
$GC,45,-1.28,-35.5,198,2204,1516,1504,2.1,-2.1,3,75,8.57,0.00,-17.58,0.000,18438,0.249,0.000,2380,2204,2023,2125,1921,0,0,0,0,0,0,25.82,25.17,25.99
$GC,145,-1.28,-35.5,2380,2204,2126,1921,14.2,-19.5,19,153,0.00,2.53,0.00,0.000,516,0.000,0.036,2380,995,2023,2126,1921,0,0,0,0,0,0,26.41,26.13,26.43
$GC,371,-1.28,-35.5,2380,996,2126,1921,64.5,-22.0,59,378,0.00,2.40,0.00,0.000,1030,0.000,0.028,2371,2206,2023,2126,1921,0,0,0,0,0,0,26.40,26.33,26.41
$GC,513,-1.28,-35.5,2370,2204,2126,1921,94.8,-19.7,84,521,0.00,2.47,0.00,0.000,516,0.000,0.037,2371,1015,2023,2126,1921,0,0,0,0,0,0,26.65,26.36,26.67
$GC,684,-1.28,-35.5,2370,1016,2126,1921,125.7,-18.0,113,690,0.00,2.35,0.00,0.000,1030,0.000,0.029,2359,2202,2023,2126,1921,0,0,0,0,0,0,26.53,26.46,26.55
$GC,831,-1.28,-35.5,2358,2199,2126,1921,153.1,-19.5,138,839,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2200,2023,2126,1921,0,0,0,0,0,0,26.76,26.79,26.78
$STATE,932,end dive,TARGET_DEPTH_EXCEEDED
$STATE,932,begin apogee
$GC,941,-0.21,0.0,2359,2056,2126,1921,175.8,-21.6,156,979,1.20,0.00,32.65,0.722,10246,0.181,0.000,2726,2056,1878,1959,1798,0,0,0,0,0,0,26.31,25.94,25.39
$STATE,980,end apogee,CONTROL_FINISHED_OK
$STATE,980,begin climb
$GC,983,1.28,35.5,2726,2056,1959,1798,181.3,0.0,162,1022,1.35,2.60,30.88,0.705,10500,0.116,0.041,3186,3271,1736,1785,1688,0,0,1,0,0,0,25.92,25.59,25.04
$GC,1136,1.32,111.3,3185,3271,1786,1688,181.5,-3.1,188,1210,0.00,2.40,64.05,0.708,9222,0.000,0.027,3198,2079,1435,1440,1431,0,0,0,0,0,0,26.02,25.98,24.70
$GC,1345,1.32,111.3,3197,2079,1440,1431,165.9,12.8,224,1353,0.00,2.33,0.00,0.000,516,0.000,0.044,3207,891,1435,1440,1431,0,0,0,0,0,0,26.12,25.83,26.13
$GC,1585,1.32,111.3,3207,891,1440,1431,134.7,14.8,266,1593,0.00,2.17,0.00,0.000,1030,0.000,0.028,3207,2060,1435,1440,1431,0,0,0,0,0,0,26.22,26.19,26.25
$GC,1734,1.32,111.3,3207,2059,1440,1431,114.7,14.3,291,1740,0.00,2.42,0.00,0.000,260,0.000,0.043,3207,3263,1435,1440,1430,0,0,0,0,0,0,26.55,26.27,26.57
$GC,1787,1.32,111.3,3207,3262,1440,1430,105.9,15.9,300,1795,0.00,2.40,0.00,0.000,1030,0.000,0.028,3218,2074,1435,1440,1430,0,0,0,0,0,0,26.36,26.32,26.39
$GC,1936,1.32,111.3,3218,2074,1440,1430,86.2,12.0,325,1942,0.00,2.22,0.00,0.000,516,0.000,0.045,3226,869,1435,1440,1431,0,0,0,0,0,0,26.65,26.35,26.67
$GC,2052,1.32,111.3,3226,869,1440,1430,72.2,12.4,345,2058,0.00,2.15,0.00,0.000,1030,0.000,0.028,3227,2067,1435,1440,1430,0,0,0,0,0,0,26.51,26.44,26.53
$GC,2193,1.32,111.3,3226,2065,1440,1430,52.4,13.9,370,2201,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,2065,1434,1440,1429,0,0,0,0,0,0,26.74,26.77,26.76
$GC,2337,1.32,111.3,3226,2065,1440,1430,31.0,12.7,395,2345,0.00,2.28,0.00,0.000,516,0.000,0.044,3237,877,1435,1440,1430,0,0,0,0,0,0,26.78,26.46,26.80
$STATE,2565,end climb,SURFACE_DEPTH_REACHED
$STATE,2565,begin surface coast
$FINISH,1.2,0.999016
$STATE,2579,end surface coast,CONTROL_FINISHED_OK
$STATE,2579,begin surface
$SM_CCo,2603,68.45,0.056,0,0,963,230.10
$SM_GC,2.49,7.95,2.58,68.45,0.055,0.033,0.056,196,2201,963,-8.04,-0.68,230.10,0,0,0,0,0,0,26.56,26.56,26.47
$IRIDIUM_FIX,4726.11,-12222.38,280916,070923
$TT8_MAMPS,0.024717,0.244174
$HUMID,48.93
$INTERNAL_PRESSURE,8.96397
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,140.5,51.2
$24V_AH,24.70,1.114
$10V_AH,10.36,0.925
$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,19.075,33.675,127.575,68.450,0.000,23.283,49.868,284.283,1.000,0.000,10.952,898.412,323.841,230.906,1534.969,197.164,0.000,639.333,0.000,1181.310,0.000,5.554,0.000
$DEVICE_MAMPS,248.625,45.135,722.160,55.845,0.000,61.200,160.000,223.000,420.000,0.000,29.210,10.220,2.190,10.220,34.180,40.170,0.000,16.000,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_red_Chl_CDOM,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,300.872,864.253,872.321,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,20.220,61.420,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312584
$DATA_FILE_SIZE,30382,438
$CAP_FILE_SIZE,50848,0
$CFSIZE,260165632,257302528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$GPS,280916,090603,4743.657,-12224.859,5,0.9,7,16.3,0.0,0.0,9,9.6