version: 66.12
glider: 157
mission: 15
dive: 21
start: 9 28 116 15 16 54
data:
$ID,157
$MISSION,15
$DIVE,21
$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,60
$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,0.00318893
$HD_B,0.0082269898
$HD_C,3.24089e-06
$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,26
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,485
$VBD_MAX,3960
$C_VBD,1800
$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,0
$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
$GPS1,280916,150502,4744.7715,-12224.0518,38,0.8,38,16.3,0.0,0.0,12,7.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-67.0
$GPS2,280916,151626,4744.8706,-12224.0596,7,1.0,10,16.3,0.0,0.0,8,10.0
$SPEED_LIMITS,0.106,0.332
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-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,176.6,4124,-14.7,-10.556,-17.66,2833
$D_GRID,172
$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,14,begin dive
$GC,18,-0.72,-194.6,193,2188,759,840,0.0,0.0,0,47,0.00,0.00,-27.15,0.000,16386,0.000,0.000,193,2189,1529,1539,1519,0,0,0,0,0,0,26.31,28.83,26.33
$GC,51,-0.72,-194.6,193,2189,1539,1520,2.2,-2.5,4,102,9.15,2.38,-33.47,0.000,18692,0.241,1.269,2560,3383,2575,2750,2401,0,0,0,0,0,0,25.82,25.03,25.96
$GC,348,-0.72,-194.6,2559,3383,2750,2402,44.2,-15.7,55,354,0.00,2.12,0.00,0.000,1030,0.000,0.023,2560,2196,2576,2750,2402,0,0,0,0,0,0,26.34,26.29,26.36
$GC,490,-0.72,-194.6,2559,2196,2749,2402,66.4,-14.9,80,497,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2196,2575,2749,2402,0,0,0,0,0,0,26.60,26.63,26.63
$GC,635,-0.72,-194.6,2558,2196,2749,2402,89.4,-15.7,105,640,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2196,2575,2749,2402,0,0,0,0,0,0,26.67,26.70,26.69
$GC,775,-0.72,-194.6,2559,2196,2749,2402,111.0,-15.1,130,783,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2196,2576,2750,2402,0,0,0,0,0,0,26.72,26.75,26.74
$GC,920,-0.72,-194.6,2559,2196,2749,2402,132.7,-15.2,155,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2196,2575,2749,2402,0,0,0,0,0,0,26.77,26.79,26.79
$GC,1061,-0.72,-194.6,2559,2196,2749,2402,155.5,-15.5,180,1068,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2196,2575,2749,2402,0,0,0,0,0,0,26.80,26.83,26.82
$STATE,1169,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1169,begin apogee
$GC,1178,-0.21,0.0,2559,2073,2749,2401,172.3,-14.9,199,1340,0.50,0.00,153.50,0.732,10246,0.137,0.000,2731,2073,1798,1836,1761,0,0,0,0,0,0,26.44,24.88,24.52
$STATE,1344,end apogee,CONTROL_FINISHED_OK
$STATE,1344,begin climb
$GC,1347,0.72,194.6,2730,2073,1836,1761,182.9,0.0,226,1513,0.82,0.00,157.90,0.695,10758,0.107,0.000,3005,2073,1024,997,1052,0,0,0,0,0,0,25.16,24.93,24.46
$GC,1654,0.76,261.7,3004,2073,997,1052,166.8,8.1,277,1721,0.05,2.53,58.22,0.665,10500,0.148,0.045,3043,3255,757,717,797,0,0,0,0,0,0,25.84,25.22,24.71
$GC,1768,0.76,261.7,3042,3255,717,797,155.2,11.4,295,1774,0.00,2.40,0.00,0.000,1030,0.000,0.028,3044,2075,757,717,797,0,0,0,0,0,0,25.66,25.59,25.68
$GC,1912,0.76,264.7,3043,2075,718,797,139.7,10.4,320,1922,0.00,2.40,3.58,0.425,8708,0.000,0.052,3044,862,745,706,785,0,0,0,0,0,0,26.20,25.86,25.30
$GC,1963,0.76,272.2,3044,862,706,786,134.2,10.3,328,1977,0.00,2.25,7.80,0.580,9222,0.000,0.034,3044,2056,714,676,753,0,0,0,0,0,0,26.03,26.00,25.32
$GC,2114,0.76,272.2,3043,2055,678,753,117.5,11.5,354,2122,0.00,2.53,0.00,0.000,260,0.000,0.047,3044,3276,716,678,754,0,0,0,0,0,0,26.36,26.08,26.38
$GC,2182,0.76,272.2,3044,3276,678,754,109.1,12.7,365,2188,0.00,2.40,0.00,0.000,1030,0.000,0.029,3044,2069,716,678,754,0,0,0,0,0,0,26.24,26.15,26.25
$GC,2328,0.77,276.4,3044,2069,678,754,92.6,10.4,390,2336,0.00,0.00,4.90,0.495,8198,0.000,0.000,3044,2069,698,660,737,0,0,0,0,0,0,26.53,26.13,25.61
$GC,2476,0.77,276.4,3044,2069,661,737,76.2,10.6,415,2482,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2069,699,661,737,0,0,0,0,0,0,26.58,26.60,26.60
$GC,2618,0.77,276.4,3043,2069,661,737,60.6,10.6,440,2626,0.00,2.47,0.00,0.000,260,0.000,0.044,3044,3254,699,661,737,0,0,0,0,0,0,26.65,26.36,26.67
$GC,2675,0.77,276.4,3044,3255,661,737,54.8,10.6,449,2681,0.00,2.35,0.00,0.000,1030,0.000,0.028,3044,2067,699,661,737,0,0,0,0,0,0,26.48,26.39,26.49
$GC,2820,0.79,319.3,3044,2067,661,737,41.5,9.0,474,2862,0.00,2.30,33.05,0.623,8708,0.000,0.044,3044,871,525,488,563,0,0,0,0,0,0,26.72,25.84,25.51
$GC,2910,0.79,324.6,3044,871,489,564,32.1,10.4,488,2926,0.00,2.28,5.25,0.484,9222,0.000,0.028,3044,2068,506,473,539,0,0,0,0,0,0,26.17,26.14,25.52
$GC,2996,0.79,324.6,3044,2067,474,540,22.9,11.0,502,3004,0.00,2.45,0.00,0.000,260,0.000,0.044,3044,3256,507,475,540,0,0,0,0,0,0,26.43,26.15,26.45
$GC,3047,0.79,324.6,3044,3256,475,540,17.5,11.0,510,3055,0.00,2.40,0.00,0.000,1030,0.000,0.028,3044,2070,508,476,540,0,0,0,0,0,0,26.26,26.22,26.28
$GC,3125,0.81,347.1,3044,2070,475,540,9.6,9.7,523,3133,0.00,0.00,3.83,0.368,8198,0.000,0.000,3044,2070,483,456,510,0,0,0,0,0,0,26.54,26.16,25.69
$STATE,3199,end climb,SURFACE_DEPTH_REACHED
$STATE,3199,begin surface coast
$FINISH,1.1,0.999016
$STATE,3217,end surface coast,CONTROL_FINISHED_OK
$STATE,3217,begin surface
$SM_CCo,3299,0.00,0.000,0,0,484,330.58
$SM_GC,1.73,7.45,0.40,0.00,0.050,0.051,0.000,201,2216,484,-8.06,-0.31,330.58,0,0,0,0,0,0,26.28,26.33,26.35
$IRIDIUM_FIX,4726.11,-12226.80,280916,134420
$TT8_MAMPS,0.024717,0.283122
$HUMID,49.44
$INTERNAL_PRESSURE,8.92491
$TCM_TEMP,17.00
$XPDR_PINGS,5
$24V_AH,24.46,1.567
$10V_AH,10.34,1.332
$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,17.975,34.000,428.025,0.000,0.000,51.515,50.839,387.356,1.250,0.000,10.947,1000.540,465.028,361.182,1911.188,248.268,0.000,961.299,0.000,1451.610,0.000,0.531,0.000
$DEVICE_MAMPS,240.975,1269.135,732.105,0.000,0.000,61.200,160.000,223.000,420.000,0.000,29.210,10.220,2.190,10.220,34.180,40.170,0.000,16.000,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_red_Chl_CDOM,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,364.300,1061.992,1073.499,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,20.220,61.420,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312716
$DATA_FILE_SIZE,36940,539
$CAP_FILE_SIZE,63853,0
$CFSIZE,260165632,257024000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,280916,161243,4744.745,-12224.311,5,1.2,11,16.3,0.0,0.0,8,9.9