version: 66.12
glider: 157
mission: 15
dive: 10
start: 9 28 116 3 24 41
data:
$ID,157
$MISSION,15
$DIVE,10
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,200
$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,95
$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,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$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,29
$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,15
$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
$GPS1,280916,031504,4744.0620,-12224.8848,5,0.8,9,16.3,0.0,0.0,12,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-65.7
$GPS2,280916,032410,4744.1201,-12224.9170,7,0.8,13,16.3,0.0,338.8,11,9.7
$SPEED_LIMITS,0.084,0.238
$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,144.0,433,-36.0,-7.018,-40.00,566
$D_GRID,200
$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,-1.52,-26.0,194,2178,738,844,0.0,0.0,0,47,0.00,0.00,-27.88,0.000,16386,0.000,0.000,193,2178,1534,1545,1524,0,0,0,0,0,0,26.36,28.83,26.38
$GC,51,-1.52,-26.0,194,2178,1545,1525,2.3,-2.1,4,82,8.23,2.45,-12.60,0.000,18948,0.246,1.261,2308,1040,1895,1969,1821,0,0,1,0,0,0,25.82,24.91,25.97
$GC,517,-1.52,-26.0,2308,1040,1969,1820,85.3,-18.7,86,526,0.00,2.40,0.00,0.000,1030,0.000,0.028,2298,2210,1895,1969,1821,0,0,0,0,0,0,26.41,26.40,26.43
$GC,663,-1.52,-26.0,2297,2208,1969,1821,110.2,-17.0,111,669,0.00,2.42,0.00,0.000,516,0.000,0.035,2298,1019,1895,1969,1821,0,0,0,0,0,0,26.69,26.40,26.71
$GC,815,-1.52,-26.0,2298,1020,1969,1821,136.4,-17.1,137,821,0.00,2.35,0.00,0.000,1030,0.000,0.026,2286,2208,1895,1969,1821,0,0,0,0,0,0,26.55,26.49,26.57
$GC,962,-1.52,-26.0,2285,2207,1969,1821,161.0,-16.3,162,970,0.00,2.45,0.00,0.000,516,0.000,0.034,2286,1020,1895,1969,1821,0,0,0,0,0,0,26.79,26.50,26.80
$GC,1052,-1.52,-26.0,2285,1020,1969,1821,177.0,-19.3,177,1059,0.00,2.35,0.00,0.000,1030,0.000,0.027,2274,2206,1895,1969,1821,0,0,0,0,0,0,26.61,26.55,26.63
$STATE,1135,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1136,begin apogee
$GC,1144,-0.21,0.0,2274,2072,1969,1821,192.9,-18.8,192,1177,1.48,0.00,25.48,0.746,10246,0.186,0.000,2721,2071,1788,1849,1727,0,0,0,0,0,0,26.32,25.89,25.48
$STATE,1178,end apogee,CONTROL_FINISHED_OK
$STATE,1178,begin climb
$GC,1182,1.52,26.0,2721,2071,1849,1727,196.7,0.0,197,1212,1.52,0.00,23.20,0.729,10758,0.116,0.000,3253,2071,1685,1723,1647,0,0,0,0,0,0,26.03,25.58,25.20
$GC,1349,1.53,56.0,3253,2071,1723,1647,191.0,1.6,226,1382,0.00,2.50,25.73,0.716,8452,0.000,0.041,3254,3258,1565,1587,1544,0,0,1,0,0,0,26.36,25.51,25.12
$GC,1464,1.53,56.0,3253,3258,1586,1544,183.6,10.2,245,1471,0.00,2.40,0.00,0.000,1030,0.000,0.028,3264,2079,1565,1586,1544,0,0,0,0,0,0,26.03,25.95,26.05
$GC,1609,1.53,56.0,3263,2079,1586,1544,170.5,7.8,270,1617,0.00,2.47,0.00,0.000,260,0.000,0.042,3264,3262,1565,1586,1544,0,0,1,0,0,0,26.41,26.14,26.43
$GC,1688,1.53,56.0,3263,3261,1586,1544,163.5,10.0,283,1695,0.00,2.42,0.00,0.000,1030,0.000,0.029,3264,2062,1565,1586,1544,0,0,0,0,0,0,26.29,26.21,26.31
$GC,1833,1.53,56.0,3263,2062,1586,1544,148.0,10.5,308,1841,0.00,2.22,0.00,0.000,516,0.000,0.044,3275,872,1565,1586,1544,0,0,0,0,0,0,26.58,26.28,26.60
$GC,1968,1.53,56.0,3274,873,1586,1544,133.5,10.0,331,1974,0.00,2.12,0.00,0.000,1030,0.000,0.029,3275,2065,1565,1586,1544,0,0,0,0,0,0,26.46,26.38,26.47
$GC,2112,1.53,56.0,3274,2063,1586,1544,118.2,11.0,356,2120,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,2063,1565,1586,1544,0,0,0,0,0,0,26.70,26.73,26.72
$GC,2258,1.53,56.0,3274,2063,1586,1544,102.2,10.2,381,2263,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,2063,1565,1586,1544,0,0,0,0,0,0,26.75,26.77,26.77
$GC,2398,1.53,56.0,3274,2063,1586,1544,89.2,8.4,406,2406,0.00,2.25,0.00,0.000,516,0.000,0.044,3285,866,1565,1586,1544,0,0,0,0,0,0,26.79,26.48,26.81
$GC,2548,1.53,56.0,3285,867,1586,1544,76.3,9.2,431,2554,0.00,2.12,0.00,0.000,1030,0.000,0.028,3285,2067,1565,1586,1544,0,0,0,0,0,0,26.64,26.57,26.65
$GC,2692,1.53,56.0,3285,2065,1586,1544,63.4,7.8,456,2700,0.00,2.45,0.00,0.000,260,0.000,0.042,3285,3273,1564,1586,1543,0,0,0,0,0,0,26.85,26.57,26.86
$GC,2750,1.53,56.0,3285,3273,1586,1543,58.6,8.9,465,2756,0.00,2.38,0.00,0.000,1030,0.000,0.028,3298,2064,1565,1586,1544,0,0,0,0,0,0,26.67,26.60,26.68
$GC,2894,1.53,56.0,3297,2064,1586,1543,47.0,7.3,490,2902,0.00,2.47,0.00,0.000,260,0.000,0.043,3297,3266,1564,1586,1543,0,0,1,0,0,0,26.88,26.60,26.90
$GC,3124,1.54,61.9,3297,3266,1586,1543,29.0,6.0,530,3140,0.00,2.40,4.95,0.516,9222,0.000,0.028,3309,2073,1542,1561,1523,0,0,0,0,0,0,26.69,26.65,25.91
$GC,3210,1.54,76.7,3309,2073,1562,1523,25.3,4.3,544,3226,0.00,2.17,9.62,0.587,8708,0.000,0.041,3320,870,1485,1496,1475,0,0,0,0,0,0,26.87,26.23,25.84
$GC,3430,1.54,76.7,3320,870,1495,1475,5.9,11.5,582,3439,0.12,2.17,0.00,0.000,5126,0.183,0.028,3283,2072,1485,1495,1475,0,0,0,0,0,0,26.36,26.57,26.48
$STATE,3461,end climb,SURFACE_DEPTH_REACHED
$STATE,3462,begin surface coast
$FINISH,1.1,0.999016
$STATE,3479,end surface coast,CONTROL_FINISHED_OK
$STATE,3480,begin surface
$SM_CCo,3501,100.70,0.057,0,0,793,250.20
$SM_GC,2.00,8.02,0.35,100.70,0.052,0.053,0.057,196,2213,793,-8.02,-0.45,250.20,0,0,0,0,0,0,26.55,26.58,26.44
$IRIDIUM_FIX,4726.11,-12203.72,280916,020402
$TT8_MAMPS,0.024717,0.244923
$HUMID,49.25
$INTERNAL_PRESSURE,8.9542
$TCM_TEMP,17.30
$XPDR_PINGS,2
$ALTIM_TOP_PING,20.0,17.8
$ALTIM_BOTTOM_PING,140.6,66.9
$24V_AH,24.91,0.842
$10V_AH,10.36,0.672
$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,19.375,47.775,88.975,100.700,0.000,25.947,40.788,330.078,1.250,0.000,14.604,1215.901,453.899,261.784,1987.746,240.809,0.000,777.475,0.000,1594.546,0.000,7.224,0.000
$DEVICE_MAMPS,246.330,1261.485,745.875,57.375,0.000,61.200,160.000,223.000,420.000,0.000,29.210,10.220,2.190,10.220,34.180,40.170,0.000,16.000,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_red_Chl_CDOM,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,406.967,1171.398,1181.919,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40473,590
$CAP_FILE_SIZE,67182,0
$CFSIZE,260165632,257466368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,1,0
$GPS,280916,042546,4744.164,-12224.808,6,1.2,19,16.3,0.0,355.1,9,9.9