version: 66.12
glider: 157
mission: 15
dive: 20
start: 9 28 116 13 52 11
data:
$ID,157
$MISSION,15
$DIVE,20
$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,90
$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,0.0025548199
$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,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,29
$R_STBD_OVSHOOT,25
$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,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$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
$GPS1,280916,134152,4744.3989,-12224.3076,4,1.1,12,16.3,0.0,0.0,8,8.9
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-64.8
$GPS2,280916,135138,4744.4673,-12224.3350,2,0.9,12,16.3,0.0,331.3,9,9.0
$SPEED_LIMITS,0.070,0.219
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$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,99.1,1152,-9.5,-7.037,-17.78,3920
$D_GRID,175
$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,-0.50,-194.6,188,2178,543,618,0.0,0.0,0,54,0.00,0.00,-35.22,0.000,16386,0.000,0.000,188,2178,1536,1549,1523,0,0,0,0,0,0,26.34,28.83,26.36
$GC,59,-0.50,-194.6,188,2178,1549,1523,2.1,-1.5,5,111,9.40,2.47,-35.53,0.000,18948,0.239,1.266,2634,1030,2654,2843,2466,0,0,0,0,0,0,25.85,25.06,25.99
$GC,275,-0.50,-194.6,2633,1030,2843,2467,23.9,-11.7,41,283,0.00,2.42,0.00,0.000,1030,0.000,0.031,2626,2197,2654,2843,2466,0,0,0,0,0,0,26.27,26.22,26.29
$GC,353,-0.50,-194.6,2626,2195,2842,2467,33.4,-12.6,54,361,0.00,2.25,0.00,0.000,260,0.000,0.047,2626,3388,2654,2842,2466,0,0,0,0,0,0,26.55,26.26,26.56
$GC,405,-0.50,-194.6,2626,3388,2842,2466,39.3,-11.0,62,413,0.00,2.17,0.00,0.000,1030,0.000,0.024,2626,2195,2654,2842,2467,0,0,0,0,0,0,26.38,26.35,26.39
$GC,484,-0.50,-194.6,2626,2195,2843,2466,47.8,-9.7,75,489,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2195,2654,2842,2467,0,0,0,0,0,0,26.62,26.64,26.63
$GC,624,-0.50,-194.6,2626,2195,2842,2466,63.8,-11.4,100,632,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2195,2654,2842,2467,0,0,0,0,0,0,26.68,26.70,26.70
$GC,770,-0.50,-194.6,2626,2195,2842,2467,79.2,-9.7,125,776,0.00,2.25,0.00,0.000,260,0.000,0.045,2622,3401,2654,2842,2466,0,0,0,0,0,0,26.73,26.45,26.75
$GC,867,-0.50,-194.6,2622,3401,2841,2467,89.3,-9.7,142,876,0.00,2.17,0.00,0.000,1030,0.000,0.028,2622,2195,2653,2841,2466,0,0,0,0,0,0,26.56,26.53,26.58
$GC,1013,-0.50,-194.6,2622,2195,2841,2467,104.7,-10.9,167,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2195,2653,2840,2466,0,0,0,0,0,0,26.79,26.82,26.82
$GC,1154,-0.50,-194.6,2622,2194,2841,2466,121.1,-12.4,192,1163,0.00,2.28,0.00,0.000,260,0.000,0.046,2622,3393,2654,2841,2467,0,0,0,0,0,0,26.83,26.53,26.85
$GC,1201,-0.50,-194.6,2621,3393,2839,2466,126.3,-12.2,199,1207,0.00,2.10,0.00,0.000,1030,0.000,0.024,2622,2197,2653,2839,2467,0,0,0,0,0,0,26.66,26.61,26.67
$GC,1344,-0.50,-194.6,2621,2197,2838,2467,143.2,-11.4,224,1352,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2197,2653,2839,2467,0,0,0,0,0,0,26.86,26.89,26.88
$GC,1490,-0.50,-194.6,2621,2197,2839,2467,158.3,-10.7,249,1495,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2197,2653,2839,2467,0,0,0,0,0,0,26.89,26.91,26.90
$GC,1631,-0.50,-194.6,2621,2197,2839,2467,172.4,-9.9,274,1638,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2197,2653,2839,2467,0,0,0,0,0,0,26.90,26.93,26.92
$STATE,1661,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1661,begin apogee
$GC,1670,-0.21,0.0,2622,2071,2838,2466,175.4,-9.6,279,1828,0.30,0.00,151.88,0.718,10246,0.126,0.000,2732,2070,1879,1921,1837,0,0,0,0,0,0,26.55,25.06,24.54
$STATE,1832,end apogee,CONTROL_FINISHED_OK
$STATE,1832,begin climb
$GC,1836,0.50,194.6,2731,2070,1921,1837,178.8,0.0,305,1998,0.60,0.00,156.20,0.703,10758,0.084,0.000,2943,2070,1104,1082,1126,0,0,0,0,0,0,25.20,24.91,24.44
$GC,2137,0.52,225.6,2943,2070,1082,1125,164.2,6.2,356,2169,0.00,0.00,29.38,0.668,8198,0.000,0.000,2943,2070,980,947,1014,0,0,0,0,0,0,26.03,25.39,24.89
$GC,2310,0.52,225.6,2942,2070,947,1013,151.4,8.2,385,2316,0.00,2.30,0.00,0.000,516,0.000,0.045,2944,879,980,947,1013,0,0,0,0,0,0,26.17,25.87,26.18
$GC,2407,0.52,225.6,2943,879,946,1013,143.5,7.8,402,2416,0.00,2.22,0.00,0.000,1030,0.000,0.030,2944,2057,979,946,1013,0,0,0,0,0,0,26.01,25.87,26.06
$GC,2556,0.52,225.6,2943,2056,946,1013,132.7,7.9,427,2562,0.00,2.45,0.00,0.000,260,0.000,0.049,2942,3266,979,946,1013,0,0,0,0,0,0,26.46,26.19,26.48
$GC,2664,0.52,225.6,2942,3265,946,1013,123.8,8.0,446,2672,0.00,2.40,0.00,0.000,1030,0.000,0.034,2942,2074,979,946,1013,0,0,0,0,0,0,26.32,26.28,26.34
$GC,2813,0.52,225.6,2941,2074,946,1013,111.7,8.4,471,2819,0.00,2.28,0.00,0.000,516,0.000,0.052,2942,878,979,946,1012,0,0,0,0,0,0,26.62,26.32,26.63
$GC,3033,0.53,238.3,2941,879,946,1012,95.9,6.7,509,3052,0.00,2.17,12.40,0.620,9222,0.000,0.028,2942,2067,930,894,966,0,0,0,0,0,0,26.52,26.46,25.70
$GC,3191,0.54,256.9,2942,2066,895,965,84.9,6.5,536,3216,0.00,2.47,16.73,0.638,8452,0.000,0.050,2942,3266,857,817,897,0,0,0,0,0,0,26.63,26.10,25.57
$GC,3263,0.54,256.9,2941,3266,817,896,79.7,7.4,548,3271,0.00,2.42,0.00,0.000,1030,0.000,0.034,2942,2068,856,817,896,0,0,0,0,0,0,26.25,26.22,26.27
$GC,3412,0.54,270.7,2941,2069,817,896,71.0,6.7,573,3431,0.00,2.25,12.65,0.612,8708,0.000,0.045,2942,869,802,764,840,0,0,0,0,0,0,26.58,25.95,25.58
$GC,3751,0.54,270.7,2942,869,763,839,44.9,8.8,633,3758,0.00,2.20,0.00,0.000,1030,0.000,0.028,2942,2074,800,763,838,0,0,0,0,0,0,26.47,26.40,26.48
$GC,3896,0.54,270.7,2941,2072,763,838,30.5,11.2,658,3904,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2072,800,763,838,0,0,0,0,0,0,26.71,26.74,26.73
$GC,3973,0.54,270.7,2941,2072,763,839,22.3,10.3,671,3981,0.00,2.30,0.00,0.000,516,0.000,0.044,2942,879,800,763,838,0,0,1,0,0,0,26.74,26.44,26.76
$GC,4142,0.54,270.7,2941,880,762,838,6.1,9.5,700,4150,0.00,2.20,0.00,0.000,1030,0.000,0.028,2942,2068,800,763,838,0,0,0,0,0,0,26.56,26.53,26.58
$STATE,4183,end climb,SURFACE_DEPTH_REACHED
$STATE,4184,begin surface coast
$FINISH,1.0,0.999016
$STATE,4212,end surface coast,CONTROL_FINISHED_OK
$STATE,4212,begin surface
$SM_CCo,4294,0.00,0.000,0,0,800,271.30
$SM_GC,1.79,7.12,0.35,0.00,0.050,0.053,0.000,194,2215,800,-8.05,-0.37,271.30,0,0,0,0,0,0,26.53,26.56,26.58
$IRIDIUM_FIX,4722.92,-12217.96,280916,122126
$TT8_MAMPS,0.023968,0.283871
$HUMID,49.80
$INTERNAL_PRESSURE,8.9542
$TCM_TEMP,16.90
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,140.4,45.2
$24V_AH,24.44,1.456
$10V_AH,10.33,1.268
$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,17.425,46.525,379.225,0.000,0.000,25.636,35.210,362.506,2.750,0.000,16.047,1356.357,581.782,359.720,2317.385,272.187,0.000,1070.710,0.000,1892.823,0.000,5.542,0.000
$DEVICE_MAMPS,239.445,1266.075,717.570,0.000,0.000,61.200,160.000,223.000,420.000,0.000,29.210,10.220,2.190,10.220,34.180,40.170,0.000,16.000,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_red_Chl_CDOM,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,485.206,1375.548,1388.759,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,20.220,61.420,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312600
$DATA_FILE_SIZE,50484,712
$CAP_FILE_SIZE,76545,0
$CFSIZE,260165632,257044480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,280916,150502,4744.771,-12224.052,38,0.8,38,16.3,0.0,0.0,12,7.4