version: 66.12
glider: 157
mission: 15
dive: 7
start: 9 27 116 23 27 18
data:
$ID,157
$MISSION,15
$DIVE,7
$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,300
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$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,14
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,485
$VBD_MAX,3960
$C_VBD,1790
$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
$GPS1,270916,231632,4742.7007,-12226.0654,5,0.8,36,16.3,0.0,247.5,10,6.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-66.7
$GPS2,270916,232648,4742.7002,-12226.1484,2,0.9,6,16.3,0.0,0.0,9,9.7
$SPEED_LIMITS,0.275,0.301
$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,20.8,2786,-11.8,-10.000,-18.35,4253
$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,-0.65,-292.0,192,2207,817,945,0.0,0.0,0,33,0.00,0.00,-13.55,0.000,16386,0.000,0.000,192,2207,1250,1235,1265,0,0,0,0,0,0,26.31,28.83,26.33
$GC,37,-0.65,-292.0,192,2207,1234,1266,2.0,-3.1,2,114,9.40,0.00,-62.00,0.000,18950,0.248,0.000,2577,2207,2953,3157,2749,0,0,0,0,0,0,25.72,25.66,25.90
$GC,184,-0.65,-292.0,2576,2207,3157,2751,14.6,-15.7,25,192,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2207,2954,3157,2751,0,0,0,0,0,0,26.39,26.42,26.41
$GC,261,-0.65,-292.0,2576,2207,3157,2751,26.5,-15.0,38,268,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2207,2954,3157,2751,0,0,0,0,0,0,26.48,26.50,26.49
$GC,338,-0.65,-292.0,2576,2207,3157,2751,38.2,-15.3,51,345,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2207,2954,3157,2751,0,0,0,0,0,0,26.53,26.56,26.55
$GC,414,-0.65,-292.0,2576,2207,3157,2751,49.3,-14.2,64,422,0.00,2.22,0.00,0.000,260,0.000,0.046,2572,3384,2954,3157,2751,0,0,0,0,0,0,26.58,26.32,26.60
$GC,482,-0.65,-292.0,2571,3384,3157,2751,59.5,-15.1,75,488,0.00,2.15,0.00,0.000,1030,0.000,0.030,2572,2192,2954,3158,2751,0,0,0,0,0,0,26.44,26.39,26.46
$GC,623,-0.65,-292.0,2571,2191,3157,2751,81.7,-15.1,100,630,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2191,2954,3157,2751,0,0,0,0,0,0,26.69,26.71,26.71
$GC,769,-0.65,-292.0,2571,2191,3157,2751,102.9,-14.5,125,774,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2191,2954,3157,2751,0,0,0,0,0,0,26.74,26.77,26.76
$GC,916,-0.65,-292.0,2571,2191,3157,2751,124.5,-14.0,150,925,0.00,2.33,0.00,0.000,260,0.000,0.047,2572,3393,2954,3157,2751,0,0,0,0,0,0,26.78,26.48,26.80
$GC,963,-0.65,-292.0,2571,3394,3157,2751,131.0,-13.6,157,969,0.00,2.12,0.00,0.000,1030,0.000,0.024,2572,2200,2954,3157,2751,0,0,0,0,0,0,26.61,26.55,26.63
$GC,1109,-0.65,-292.0,2570,2200,3156,2751,151.5,-13.4,182,1116,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2200,2954,3157,2751,0,0,0,0,0,0,26.82,26.84,26.84
$GC,1254,-0.65,-292.0,2571,2200,3157,2751,171.6,-14.5,207,1260,0.00,2.25,0.00,0.000,260,0.000,0.048,2572,3388,2954,3157,2751,0,0,0,0,0,0,26.86,26.55,26.87
$STATE,1311,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1311,begin apogee
$GC,1322,-0.21,0.0,2571,2077,3157,2751,180.1,-13.2,217,1555,0.45,0.00,224.50,0.744,10246,0.163,0.000,2730,2076,1789,1817,1761,0,0,0,0,0,0,26.47,24.96,24.44
$STATE,1556,end apogee,CONTROL_FINISHED_OK
$STATE,1556,begin climb
$GC,1560,0.65,292.0,2730,2077,1817,1761,193.9,0.0,255,1808,0.75,0.00,238.15,0.703,10758,0.106,0.000,2979,2076,626,587,666,0,0,0,0,0,0,25.08,24.93,24.46
$GC,1947,0.71,398.7,2979,2076,587,666,173.1,7.4,320,1979,0.08,0.00,27.38,0.669,10246,0.112,0.000,3030,2076,483,453,513,0,0,0,0,0,0,25.84,25.41,24.94
$GC,2121,0.75,461.9,3030,2076,455,515,156.6,8.5,349,2127,0.00,2.50,0.00,0.000,260,0.000,0.051,3030,3260,485,456,515,0,0,0,0,0,0,26.20,25.91,26.22
$GC,2173,0.75,461.9,3030,3261,455,515,150.9,12.2,358,2183,0.00,2.47,0.03,0.193,9222,0.000,0.031,3031,2073,485,456,515,0,0,0,0,0,0,26.06,26.02,25.91
$GC,2321,0.76,482.8,3030,2074,456,515,138.8,9.5,383,2327,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2074,485,456,515,0,0,0,0,0,0,26.44,26.46,26.46
$GC,2462,0.78,524.4,3030,2074,456,515,124.7,9.0,408,2470,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2073,485,456,515,0,0,0,0,0,0,26.55,26.58,26.57
$GC,2608,0.79,544.9,3030,2074,456,515,110.6,9.5,433,2614,0.00,2.45,0.00,0.000,260,0.000,0.051,3030,3267,484,455,514,0,0,1,0,0,0,26.63,26.34,26.65
$GC,2657,0.79,544.9,3030,3267,456,515,105.2,11.1,441,2663,0.00,2.40,0.00,0.000,1030,0.000,0.029,3031,2065,485,456,515,0,0,0,0,0,0,26.46,26.39,26.48
$GC,2802,0.79,544.9,3030,2066,456,515,89.7,11.6,466,2809,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2066,485,456,515,0,0,0,0,0,0,26.70,26.73,26.72
$GC,2947,0.80,567.1,3030,2066,456,515,74.5,9.5,491,2952,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2066,485,456,515,0,0,0,0,0,0,26.75,26.77,26.77
$GC,3087,0.81,574.4,3030,2066,456,515,61.0,9.8,516,3095,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2066,485,456,515,0,0,0,0,0,0,26.79,26.82,26.81
$GC,3232,0.81,574.4,3030,2066,456,515,47.7,10.9,541,3238,0.00,2.45,0.00,0.000,260,0.000,0.050,3031,3267,485,456,515,0,0,1,0,0,0,26.82,26.52,26.84
$GC,3285,0.81,574.4,3030,3266,456,515,41.4,11.9,550,3293,0.00,2.45,0.05,0.121,9222,0.000,0.030,3031,2065,485,456,514,0,0,0,0,0,0,26.60,26.56,26.48
$GC,3433,0.87,677.9,3030,2066,456,514,28.9,7.5,575,3441,0.05,0.00,0.00,0.000,2054,0.182,0.000,3060,2065,485,456,514,0,0,0,0,0,0,26.60,26.67,26.65
$GC,3510,0.91,754.3,3059,2065,456,514,22.0,8.2,588,3518,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2065,485,456,514,0,0,0,0,0,0,26.86,26.89,26.89
$GC,3588,0.91,758.2,3059,2066,456,514,14.3,9.9,601,3596,0.00,2.47,0.00,0.000,260,0.000,0.048,3060,3252,485,456,514,0,0,1,0,0,0,26.88,26.58,26.90
$GC,3666,0.91,758.2,3059,3252,456,514,5.1,12.2,614,3675,0.00,2.40,0.03,0.193,9222,0.000,0.028,3060,2073,485,456,514,0,0,0,0,0,0,26.65,26.62,26.50
$STATE,3692,end climb,SURFACE_DEPTH_REACHED
$STATE,3692,begin surface coast
$FINISH,1.2,0.999016
$STATE,3710,end surface coast,CONTROL_FINISHED_OK
$STATE,3710,begin surface
$SM_CCo,3792,0.00,0.000,0,0,484,328.07
$SM_GC,1.82,7.40,0.38,0.00,0.044,0.050,0.000,164,2208,484,-8.11,-0.54,328.07,0,0,1,0,0,0,26.62,26.64,26.67
$IRIDIUM_FIX,4726.11,-12222.38,270916,222010
$TT8_MAMPS,0.024717,0.244923
$HUMID,52.20
$INTERNAL_PRESSURE,8.93467
$TCM_TEMP,16.90
$XPDR_PINGS,9
$ALTIM_TOP_PING,19.7,17.9
$ALTIM_BOTTOM_PING,140.4,65.2
$24V_AH,24.44,0.638
$10V_AH,10.33,0.447
$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,18.125,33.575,490.125,0.000,0.000,23.559,36.111,420.683,5.000,0.000,9.946,1138.762,474.594,429.617,2092.730,282.639,0.000,1131.802,0.000,1654.799,0.000,19.738,0.000
$DEVICE_MAMPS,247.860,51.255,744.345,0.000,0.000,61.200,160.000,223.000,420.000,0.000,29.210,10.220,2.190,10.220,34.180,40.170,0.000,16.000,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_red_Chl_CDOM,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,419.237,1208.828,1220.908,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,20.220,61.420,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312656
$DATA_FILE_SIZE,43747,621
$CAP_FILE_SIZE,71546,0
$CFSIZE,260165632,257605632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0,0
$GPS,280916,003118,4743.226,-12225.708,4,0.8,7,16.3,0.0,0.0,10,9.4