version: 66.12
glider: 157
mission: 15
dive: 18
start: 9 28 116 11 28 3
data:
$ID,157
$MISSION,15
$DIVE,18
$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,10
$R_STBD_OVSHOOT,26
$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
$GPS1,280916,111857,4743.6997,-12224.8486,5,0.9,23,16.3,0.0,169.2,9,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-68.5
$GPS2,280916,112732,4743.6768,-12224.8828,7,0.9,31,16.3,0.2,191.7,9,4.3
$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,357.7,426,-35.4,-7.037,-39.41,585
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-1.49,-27.0,188,2208,906,1013,0.0,0.0,0,40,0.00,0.00,-20.95,0.000,16386,0.000,0.000,188,2208,1509,1519,1499,0,0,0,0,0,0,26.38,28.83,26.40
$GC,44,-1.49,-27.0,188,2208,1519,1500,2.0,-2.0,3,74,8.30,0.00,-17.05,0.000,18438,0.247,0.000,2315,2208,1989,2083,1896,0,0,0,0,0,0,25.84,25.19,26.01
$GC,144,-1.49,-27.0,2314,2208,2083,1896,14.5,-20.4,19,151,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2208,1989,2083,1896,0,0,0,0,0,0,26.42,26.44,26.44
$GC,221,-1.49,-27.0,2314,2208,2083,1896,32.0,-23.1,32,228,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2208,1989,2083,1896,0,0,0,0,0,0,26.48,26.51,26.51
$GC,298,-1.49,-27.0,2314,2208,2083,1896,49.7,-22.6,45,303,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2208,1989,2083,1896,0,0,0,0,0,0,26.54,26.56,26.56
$GC,439,-1.49,-27.0,2314,2208,2083,1896,82.2,-22.0,70,447,0.00,2.50,0.00,0.000,516,0.000,0.037,2321,1011,1989,2082,1896,0,0,0,0,0,0,26.62,26.34,26.64
$GC,788,-1.49,-27.0,2321,1011,2083,1896,154.9,-19.5,131,795,0.00,2.35,0.00,0.000,1030,0.000,0.028,2311,2203,1989,2083,1896,0,0,0,0,0,0,26.56,26.50,26.58
$STATE,882,end dive,TARGET_DEPTH_EXCEEDED
$STATE,882,begin apogee
$GC,891,-0.21,0.0,2311,2052,2083,1896,175.4,-19.7,148,923,1.38,0.00,26.02,0.717,10246,0.186,0.000,2726,2050,1879,1959,1800,0,0,0,0,0,0,26.28,26.03,25.46
$STATE,924,end apogee,CONTROL_FINISHED_OK
$STATE,924,begin climb
$GC,928,1.49,27.0,2725,2050,1959,1800,179.1,0.0,153,958,1.52,0.00,23.92,0.695,10246,0.103,0.000,3253,2050,1772,1825,1719,0,0,0,0,0,0,26.02,25.71,25.19
$GC,1095,1.52,83.1,3253,2050,1825,1719,178.2,-2.8,182,1151,0.00,2.22,46.78,0.707,8708,0.000,0.043,3263,896,1549,1566,1532,0,0,0,0,0,0,26.34,25.44,24.88
$GC,1479,1.52,83.1,3262,896,1566,1532,141.5,11.4,249,1485,0.00,2.12,0.00,0.000,1030,0.000,0.028,3263,2063,1549,1566,1532,0,0,0,0,0,0,26.25,26.18,26.27
$GC,1623,1.52,83.1,3263,2061,1566,1531,128.2,8.8,274,1631,0.00,2.47,0.00,0.000,260,0.000,0.042,3262,3272,1547,1565,1530,0,0,0,0,0,0,26.54,26.27,26.56
$GC,1670,1.52,83.1,3262,3272,1565,1530,123.2,10.9,281,1676,0.00,2.35,0.00,0.000,1030,0.000,0.029,3264,2078,1548,1566,1530,0,0,0,0,0,0,26.38,26.32,26.40
$GC,1814,1.52,83.1,3263,2078,1565,1530,106.9,11.7,306,1822,0.00,2.28,0.00,0.000,516,0.000,0.044,3275,883,1548,1566,1530,0,0,0,0,0,0,26.64,26.34,26.66
$GC,2052,1.52,83.1,3275,884,1566,1530,75.5,11.8,348,2060,0.00,2.17,0.00,0.000,1030,0.000,0.029,3275,2065,1548,1566,1530,0,0,0,0,0,0,26.50,26.48,26.53
$GC,2201,1.52,83.1,3274,2063,1566,1530,61.0,8.6,373,2208,0.00,2.22,0.00,0.000,516,0.000,0.042,3285,860,1547,1565,1530,0,0,0,0,0,0,26.77,26.47,26.79
$GC,2265,1.52,83.1,3285,860,1566,1530,56.0,7.0,384,2274,0.00,2.20,0.00,0.000,1030,0.000,0.028,3286,2066,1547,1565,1530,0,0,0,0,0,0,26.60,26.54,26.60
$GC,2414,1.52,83.1,3285,2065,1566,1530,46.0,7.4,409,2421,0.00,2.40,0.00,0.000,260,0.000,0.041,3285,3285,1547,1565,1529,0,0,0,0,0,0,26.82,26.54,26.84
$GC,2576,1.52,83.1,3285,3285,1566,1529,31.8,9.3,437,2584,0.00,2.40,0.00,0.000,1030,0.000,0.028,3298,2071,1547,1565,1529,0,0,0,0,0,0,26.63,26.59,26.65
$GC,2654,1.52,83.1,3297,2071,1566,1529,24.6,9.3,450,2661,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,2071,1547,1565,1529,0,0,0,0,0,0,26.86,26.89,26.88
$GC,2732,1.52,83.1,3297,2071,1566,1529,18.3,8.2,463,2740,0.00,2.45,0.00,0.000,260,0.000,0.045,3298,3279,1547,1565,1529,0,0,1,0,0,0,26.87,26.60,26.89
$STATE,2901,end climb,SURFACE_DEPTH_REACHED
$STATE,2901,begin surface coast
$FINISH,1.2,0.999016
$STATE,2918,end surface coast,CONTROL_FINISHED_OK
$STATE,2919,begin surface
$SM_CCo,2943,85.38,0.057,0,0,961,230.10
$SM_GC,1.56,8.12,2.10,85.38,0.057,0.030,0.057,201,2189,961,-8.05,0.37,230.10,0,0,0,0,0,0,26.59,26.65,26.51
$IRIDIUM_FIX,4726.11,-12231.22,280916,101101
$TT8_MAMPS,0.024717,0.238931
$HUMID,48.58
$INTERNAL_PRESSURE,8.96397
$TCM_TEMP,17.20
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,140.6,51.6
$24V_AH,24.88,1.250
$10V_AH,10.35,1.109
$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,19.325,32.650,96.725,85.375,0.000,28.033,33.576,286.778,1.500,0.000,32.675,1020.396,366.907,238.823,1711.578,217.889,0.000,683.902,0.000,1350.550,0.000,5.555,0.000
$DEVICE_MAMPS,247.095,45.135,716.805,56.610,0.000,61.200,160.000,223.000,420.000,0.000,29.210,10.220,2.190,10.220,34.180,40.170,0.000,16.000,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_red_Chl_CDOM,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,341.685,995.146,1004.930,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,20.220,61.420,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312568
$DATA_FILE_SIZE,33779,496
$CAP_FILE_SIZE,56075,0
$CFSIZE,260165632,257175552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$GPS,280916,121922,4744.005,-12224.817,5,0.8,8,16.3,0.0,0.0,10,9.8