version: 66.12
glider: 157
mission: 15
dive: 5
start: 9 27 116 21 21 57
data:
$ID,157
$MISSION,15
$DIVE,5
$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,60
$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,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,2790
$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,22
$R_STBD_OVSHOOT,21
$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,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,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
$GPS1,270916,211100,4742.5913,-12225.5771,5,0.8,8,16.3,0.0,0.0,11,8.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-66.1
$GPS2,270916,212131,4742.5449,-12225.6250,7,0.8,10,16.3,0.0,0.0,11,9.9
$SPEED_LIMITS,0.100,0.142
$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,6.0,2712,-31.4,-10.000,-35.19,889
$D_GRID,189
$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,-1.34,-58.4,193,2179,659,765,0.0,0.0,0,33,0.00,0.00,-13.68,0.000,16386,0.000,0.000,193,2179,1095,1066,1125,0,0,0,0,0,0,26.39,28.83,26.41
$GC,37,-1.34,-58.4,192,2179,1066,1125,2.1,-2.3,2,95,8.20,2.53,-43.85,0.000,18948,0.233,1.266,2359,1015,2113,2262,1965,0,0,1,0,0,0,25.86,24.89,25.99
$GC,148,-1.34,-58.4,2358,1016,2262,1965,6.3,-15.6,19,156,0.00,2.40,0.00,0.000,1030,0.000,0.028,2348,2201,2113,2262,1965,0,0,0,0,0,0,26.21,26.18,26.23
$GC,226,-1.34,-58.4,2348,2200,2262,1965,24.2,-24.9,32,233,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2200,2113,2262,1965,0,0,0,0,0,0,26.51,26.54,26.53
$GC,303,-1.34,-58.4,2348,2200,2262,1965,43.7,-24.1,45,310,0.00,2.40,0.00,0.000,516,0.000,0.035,2349,1020,2114,2262,1966,0,0,0,0,0,0,26.58,26.27,26.60
$GC,466,-1.34,-58.4,2348,1020,2262,1965,82.5,-24.3,73,473,0.00,2.35,0.00,0.000,1030,0.000,0.028,2338,2201,2113,2261,1965,0,0,0,0,0,0,26.47,26.40,26.49
$GC,615,-1.34,-58.4,2336,2199,2261,1965,118.3,-24.1,98,623,0.00,2.42,0.00,0.000,516,0.000,0.037,2338,1025,2114,2262,1966,0,0,0,0,0,0,26.72,26.43,26.74
$STATE,875,end dive,TARGET_DEPTH_EXCEEDED
$STATE,875,begin apogee
$GC,885,-0.21,0.0,2328,2066,2262,1965,180.0,-20.6,143,940,1.30,0.00,48.22,0.737,10246,0.186,0.000,2720,2066,1879,1970,1788,0,0,0,0,0,0,26.28,25.72,25.17
$STATE,941,end apogee,CONTROL_FINISHED_OK
$STATE,941,begin climb
$GC,944,1.34,58.4,2719,2066,1970,1788,184.4,0.0,152,1001,1.45,0.00,49.58,0.718,10246,0.119,0.000,3204,2066,1646,1679,1613,0,0,0,0,0,0,25.73,25.27,24.75
$GC,1142,1.35,75.3,3204,2065,1679,1614,167.3,8.0,185,1160,0.00,0.00,15.38,0.673,8198,0.000,0.000,3203,2065,1578,1600,1557,0,0,0,0,0,0,26.22,25.65,25.13
$GC,1298,1.35,81.2,3204,2065,1600,1558,153.3,9.3,212,1312,0.00,2.47,6.62,0.588,8452,0.000,0.043,3204,3257,1555,1575,1536,0,0,0,0,0,0,26.34,25.93,25.36
$GC,1356,1.36,89.9,3204,3257,1575,1536,147.9,9.0,221,1370,0.00,2.40,8.98,0.621,9222,0.000,0.028,3216,2076,1521,1536,1507,0,0,0,0,0,0,26.15,26.08,25.33
$GC,1512,1.36,92.4,3216,2076,1536,1506,133.8,9.7,247,1526,0.00,2.25,3.60,0.449,8708,0.000,0.045,3226,874,1511,1526,1497,0,0,0,0,0,0,26.45,26.08,25.48
$GC,1700,1.36,92.4,3226,874,1526,1497,112.8,11.6,280,1708,0.00,2.17,0.00,0.000,1030,0.000,0.029,3226,2066,1511,1526,1497,0,0,0,0,0,0,26.35,26.32,26.37
$GC,1848,1.36,92.4,3226,2065,1526,1497,95.4,11.9,305,1854,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,2065,1512,1527,1497,0,0,0,0,0,0,26.66,26.69,26.68
$GC,1989,1.37,101.0,3226,2065,1526,1497,80.4,9.0,330,2004,0.00,2.25,9.07,0.607,8708,0.000,0.043,3236,866,1476,1489,1463,0,0,1,0,0,0,26.72,26.26,25.68
$GC,2069,1.37,101.0,3235,866,1489,1463,71.5,12.5,343,2075,0.00,2.15,0.00,0.000,1030,0.000,0.028,3236,2072,1476,1489,1463,0,0,0,0,0,0,26.46,26.39,26.48
$GC,2211,1.37,101.0,3236,2071,1489,1463,52.3,12.0,368,2218,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,2071,1476,1489,1463,0,0,0,0,0,0,26.71,26.74,26.74
$GC,2355,1.37,103.5,3236,2070,1489,1463,36.9,9.7,393,2363,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,2070,1476,1489,1463,0,0,0,0,0,0,26.77,26.79,26.79
$GC,2433,1.38,119.2,3236,2070,1489,1463,30.4,8.2,406,2455,0.00,0.00,16.35,0.631,8198,0.000,0.000,3237,2070,1403,1416,1390,0,0,0,0,0,0,26.79,26.03,25.68
$GC,2525,1.38,119.2,3236,2070,1416,1390,21.6,10.8,421,2533,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,2070,1403,1416,1390,0,0,0,0,0,0,26.63,26.65,26.65
$GC,2605,1.38,125.2,3236,2070,1416,1390,13.6,9.3,434,2613,0.00,0.00,3.90,0.399,8198,0.000,0.000,3237,2070,1379,1392,1366,0,0,0,0,0,0,26.67,26.27,25.75
$GC,2683,1.38,125.2,3236,2070,1392,1366,2.9,15.2,447,2690,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,2070,1379,1392,1366,0,0,0,0,0,0,26.68,26.70,26.70
$STATE,2696,end climb,SURFACE_DEPTH_REACHED
$STATE,2697,begin surface coast
$FINISH,1.3,0.999016
$STATE,2714,end surface coast,CONTROL_FINISHED_OK
$STATE,2714,begin surface
$SM_CCo,2736,68.15,0.054,0,0,882,250.20
$SM_GC,1.72,7.93,0.35,68.15,0.050,0.057,0.054,192,2211,882,-8.04,-0.59,250.20,0,0,0,0,0,0,26.43,26.45,26.34
$IRIDIUM_FIX,4722.92,-12226.80,270916,211310
$TT8_MAMPS,0.024717,0.283871
$HUMID,52.40
$INTERNAL_PRESSURE,8.97374
$TCM_TEMP,17.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.4,17.2
$ALTIM_BOTTOM_PING,156.4,52.2
$24V_AH,24.75,0.443
$10V_AH,10.33,0.316
$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,18.875,28.150,161.700,68.150,0.000,52.788,112.208,276.544,4.000,0.000,10.983,919.692,370.925,267.301,1677.449,208.385,0.000,717.227,0.000,1228.671,0.000,27.299,0.000
$DEVICE_MAMPS,233.325,1266.075,737.460,54.315,0.000,61.200,160.000,223.000,420.000,0.000,29.210,10.220,2.190,10.220,34.180,40.170,0.000,16.000,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_red_Chl_CDOM,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,309.266,909.904,917.993,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,20.220,61.420,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312628
$DATA_FILE_SIZE,30449,452
$CAP_FILE_SIZE,57892,0
$CFSIZE,260165632,257703936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,1,0
$GPS,270916,220937,4742.604,-12225.811,4,0.9,10,16.3,0.0,0.0,9,9.8