version: 66.12
glider: 157
mission: 15
dive: 2
start: 9 27 116 18 8 13
data:
$ID,157
$MISSION,15
$DIVE,2
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52265
$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,2820
$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,27
$R_STBD_OVSHOOT,46
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,485
$VBD_MAX,3960
$C_VBD,1835
$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,4
$ALTIM_SENSITIVITY,4
$XPDR_VALID,5
$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
$GPS1,270916,180308,4742.5649,-12224.7539,2,0.9,11,16.3,0.0,0.0,9,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-66.6
$GPS2,270916,180743,4742.5356,-12224.7578,40,0.9,40,16.3,0.0,179.4,9,3.0
$SPEED_LIMITS,0.100,0.225
$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,342.5,2527,-18.7,-10.000,-23.98,2185
$D_GRID,173
$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,-0.86,-146.0,196,2188,449,521,0.0,0.0,0,26,0.00,0.00,-7.03,0.000,16386,0.000,0.000,196,2188,699,662,737,0,0,0,0,0,0,26.71,28.83,26.73
$GC,30,-0.86,-146.0,196,2188,661,737,2.0,0.0,1,122,8.60,0.00,-73.82,0.000,18438,0.225,0.000,2545,2166,2418,2582,2255,0,0,0,0,0,0,26.15,25.27,26.27
$GC,195,-0.86,-146.0,2544,2166,2583,2255,6.6,-14.2,26,202,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2166,2419,2583,2255,0,0,0,0,0,0,26.65,26.67,26.66
$GC,273,-0.86,-146.0,2544,2166,2583,2255,19.2,-15.5,39,280,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2166,2419,2583,2255,0,0,0,0,0,0,26.71,26.73,26.73
$GC,350,-0.86,-146.0,2544,2166,2582,2255,30.9,-14.9,52,357,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2166,2419,2583,2255,0,0,0,0,0,0,26.75,26.78,26.77
$GC,427,-0.86,-146.0,2544,2166,2582,2255,41.6,-12.8,65,432,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2166,2419,2583,2255,0,0,0,0,0,0,26.79,26.81,26.80
$GC,568,-0.86,-146.0,2544,2166,2583,2255,61.6,-14.4,90,575,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2166,2419,2583,2255,0,0,0,0,0,0,26.84,26.86,26.86
$GC,713,-0.86,-146.0,2544,2166,2583,2255,82.9,-14.6,115,718,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2166,2419,2583,2255,0,0,0,0,0,0,26.88,26.90,26.89
$GC,853,-0.86,-146.0,2544,2166,2583,2255,104.2,-15.7,140,862,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2166,2419,2583,2255,0,0,0,0,0,0,26.91,26.94,26.94
$GC,1006,-0.86,-146.0,2544,2166,2583,2255,126.1,-14.8,165,1012,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2166,2419,2583,2255,0,0,0,0,0,0,26.94,26.96,26.96
$GC,1154,-0.86,-146.0,2544,2166,2583,2255,148.0,-15.9,190,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2166,2419,2583,2255,0,0,0,0,0,0,26.96,26.98,26.98
$GC,1301,-0.86,-146.0,2544,2166,2583,2255,168.7,-14.1,215,1306,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2166,2419,2583,2255,0,0,0,0,0,0,26.97,27.00,26.99
$STATE,1328,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1328,begin apogee
$GC,1336,-0.21,0.0,2544,2073,2583,2255,173.3,-14.5,220,1458,0.60,0.00,115.12,0.732,10246,0.138,0.000,2751,2073,1834,1880,1789,0,0,0,0,0,0,26.47,25.33,24.79
$STATE,1459,end apogee,CONTROL_FINISHED_OK
$STATE,1459,begin climb
$GC,1463,0.86,146.0,2750,2073,1881,1789,179.3,0.0,240,1593,0.95,2.28,117.25,0.713,10756,0.099,0.044,3084,880,1252,1246,1259,0,0,0,0,0,0,25.41,25.20,24.68
$GC,1689,0.86,146.0,3084,880,1246,1259,163.3,10.9,277,1695,0.00,2.10,0.00,0.000,1030,0.000,0.028,3084,2053,1252,1246,1259,0,0,0,0,0,0,26.01,25.94,26.03
$GC,1834,0.86,146.0,3084,2053,1246,1259,147.7,10.9,302,1842,0.00,2.58,0.00,0.000,260,0.000,0.044,3084,3261,1252,1246,1259,0,0,0,0,0,0,26.48,26.19,26.49
$GC,1902,0.86,146.0,3084,3260,1247,1258,139.3,12.1,313,1908,0.00,2.42,0.00,0.000,1030,0.000,0.029,3086,2075,1252,1246,1258,0,0,0,0,0,0,26.36,26.28,26.37
$GC,2047,0.86,146.0,3085,2075,1246,1258,123.5,11.3,338,2055,0.00,2.20,0.00,0.000,516,0.000,0.052,3087,881,1252,1246,1258,0,0,0,0,0,0,26.67,26.36,26.69
$GC,2115,0.86,146.0,3087,881,1246,1258,116.0,11.1,349,2121,0.00,2.10,0.00,0.000,1030,0.000,0.037,3087,2067,1252,1246,1258,0,0,0,0,0,0,26.51,26.45,26.53
$GC,2260,0.86,146.0,3086,2066,1246,1258,99.4,10.7,374,2267,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2066,1252,1246,1258,0,0,0,0,0,0,26.77,26.80,26.79
$GC,2405,0.86,146.0,3087,2066,1246,1258,83.6,10.5,399,2411,0.00,2.45,0.00,0.000,260,0.000,0.047,3087,3258,1252,1246,1258,0,0,0,0,0,0,26.83,26.53,26.85
$GC,2476,0.86,146.0,3087,3258,1246,1258,75.3,11.7,411,2482,0.00,2.42,0.00,0.000,1030,0.000,0.029,3087,2064,1252,1246,1258,0,0,0,0,0,0,26.64,26.55,26.66
$GC,2621,0.86,151.9,3087,2063,1246,1258,60.3,9.7,436,2634,0.00,2.15,6.18,0.556,8708,0.000,0.054,3088,864,1228,1224,1232,0,0,0,0,0,0,26.89,26.46,25.89
$GC,2703,0.86,151.9,3087,864,1223,1232,51.0,11.5,450,2711,0.00,2.15,0.00,0.000,1030,0.000,0.037,3088,2069,1228,1224,1232,0,0,0,0,0,0,26.60,26.56,26.63
$GC,2851,0.86,151.9,3087,2068,1223,1232,33.6,13.1,475,2858,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2068,1227,1223,1232,0,0,0,0,0,0,26.88,26.91,26.90
$GC,2928,0.86,151.9,3087,2068,1223,1232,24.0,10.7,488,2935,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2068,1227,1223,1232,0,0,0,0,0,0,26.90,26.92,26.91
$GC,3006,0.87,159.1,3087,2068,1224,1232,16.2,9.7,501,3014,0.00,0.00,4.30,0.428,8198,0.000,0.000,3088,2068,1200,1193,1207,0,0,0,0,0,0,26.91,26.48,25.96
$GC,3085,0.89,198.2,3087,2068,1192,1207,9.0,8.2,514,3114,0.00,0.00,20.83,0.511,8198,0.000,0.000,3088,2068,1043,1018,1069,0,0,0,0,0,0,26.89,26.28,25.84
$STATE,3158,end climb,SURFACE_DEPTH_REACHED
$STATE,3159,begin surface coast
$FINISH,1.6,0.999016
$STATE,3187,end surface coast,CONTROL_FINISHED_OK
$STATE,3187,begin surface
$SM_CCo,3209,29.83,0.054,0,0,838,250.20
$SM_GC,2.14,7.53,0.35,29.83,0.050,0.051,0.054,193,2205,838,-8.13,-0.76,250.20,0,0,0,0,0,0,26.46,26.48,26.41
$IRIDIUM_FIX,4722.92,-12220.67,270916,175833
$TT8_MAMPS,0.024717,0.283871
$HUMID,53.18
$INTERNAL_PRESSURE,9.0128
$TCM_TEMP,15.70
$XPDR_PINGS,53
$ALTIM_TOP_PING,19.8,17.6
$24V_AH,24.68,0.263
$10V_AH,10.37,0.146
$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,17.675,23.575,263.675,29.825,0.000,0.000,0.000,0.000,17.750,0.000,41.885,1022.625,353.423,319.810,1491.155,160.282,0.000,879.808,0.000,1445.026,0.000,31.876,0.000
$DEVICE_MAMPS,224.910,84.915,732.105,53.550,0.000,0.000,0.000,0.000,420.000,0.000,29.210,10.220,2.190,10.220,34.180,40.170,0.000,16.000,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_red_Chl_CDOM,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,359.023,1062.569,1083.393,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,20.220,61.420,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312644
$DATA_FILE_SIZE,37078,528
$CAP_FILE_SIZE,71084,0
$CFSIZE,260165632,257802240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,12,0
$GPS,270916,190301,4742.733,-12224.896,2,0.9,7,16.3,0.0,0.0,9,9.7