version: 66.13
glider: 178
mission: 22
dive: 4
start: 8 24 116 17 58 28
data:
$ID,178
$MISSION,22
$DIVE,4
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$D_ABORT,1020
$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,200
$T_MISSION,240
$T_ABORT,1440
$T_TURN,225
$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,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51673
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.700001
$TGT_DEFAULT_LON,-122.4
$TGT_AUTO_DEFAULT,0
$SM_CC,557.13361
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100740
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3954
$C_PITCH,2300
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,25
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,226
$ROLL_MAX,3782
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,63
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,2737
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0018
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,148
$AH0_10V,95
$MINV_24V,22
$MINV_10V,9.5
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-48.16478
$PRESSURE_SLOPE,0.0001161899
$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,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,5
$XPDR_VALID,6
$XPDR_INHIBIT,99
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,3
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,-1
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043278597
$SEABIRD_T_H,0.00062587409
$SEABIRD_T_I,2.4307059e-05
$SEABIRD_T_J,2.6760367e-06
$SEABIRD_C_G,-9.9460888
$SEABIRD_C_H,1.1279132
$SEABIRD_C_I,-0.0015660153
$SEABIRD_C_J,0.00020359491
$BR_RECORDABOVE,2000.0
$BR_PROFILE,3.0
$BR_XMITPROFILE,3.0
$BR_HONORSURFACEREQUEST,0.0
$GPS1,240816,175328,2802.6304,-8732.7275,10,3.6,50,-1.0,0.0,315.2,6,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.50
$_SM_ANGLEo,-56.9
$GPS2,240816,175810,2802.6394,-8732.7598,13,2.3,53,-1.0,0.0,264.7,6,9.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,2807.000,-8736.500
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,309.1,10126,-18.2,-10.000,-21.02,2236
$D_GRID,600
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.99,-146.0,144,2426,500,433,0.0,0.0,0,133,0.00,0.00,-110.00,0.000,16390,0.000,0.000,143,2423,3335,3393,3277,0,0,0,0,0,0,27.21,25.70,27.28
$GC,135,-0.99,-146.0,142,2427,3394,3278,4.2,-11.6,18,147,7.15,2.08,0.00,0.000,2308,0.233,0.043,1963,3775,3336,3397,3276,0,0,0,0,0,0,26.86,27.10,27.25
$GC,297,-0.99,-146.0,1963,3776,3402,3277,43.3,-13.9,50,304,0.00,2.05,0.00,0.000,1030,0.000,0.030,1964,2400,3339,3401,3277,0,0,0,0,0,0,27.41,27.27,27.43
$GC,485,-0.99,-146.0,1962,2400,3404,3277,64.8,-10.8,74,488,0.00,2.10,0.00,0.000,260,0.000,0.047,1954,3772,3340,3403,3277,0,0,0,0,0,0,27.46,27.26,27.51
$GC,713,-0.99,-146.0,1952,3773,3405,3277,90.3,-10.9,96,720,0.00,2.03,0.00,0.000,1030,0.000,0.029,1954,2405,3341,3406,3277,0,0,0,0,0,0,27.53,27.40,27.55
$GC,1019,-0.99,-146.0,1954,2402,3407,3277,121.8,-9.5,127,1019,0.00,0.00,0.00,0.000,38,0.000,0.000,1954,2402,3341,3407,3276,0,0,0,0,0,0,27.54,27.61,27.61
$GC,1320,-0.99,-146.0,1952,2402,3409,3277,147.1,-8.6,157,1323,0.00,2.10,0.00,0.000,548,0.000,0.035,1954,995,3341,3407,3276,0,0,0,0,0,0,27.56,27.39,27.63
$GC,1409,-0.99,-146.0,1955,995,3407,3276,154.7,-8.5,166,1412,0.12,2.10,0.00,0.000,3110,0.155,0.033,1983,2401,3341,3407,3276,0,0,0,0,0,0,27.24,27.41,27.63
$GC,1719,-0.99,-146.0,1982,2402,3409,3275,177.3,-7.4,197,1719,0.00,0.00,0.00,0.000,38,0.000,0.000,1983,2401,3340,3407,3274,0,0,0,0,0,0,27.58,27.65,27.65
$GC,2020,-0.99,-146.0,1984,2402,3407,3272,198.0,-7.1,227,2021,0.00,0.00,0.00,0.000,38,0.000,0.000,1989,2401,3339,3407,3271,0,0,0,0,0,0,27.59,27.67,27.66
$GC,2319,-0.99,-146.0,1984,2402,3402,3269,219.0,-7.2,239,2323,0.00,2.08,0.00,0.000,292,0.000,0.049,1975,3771,3338,3407,3269,0,0,0,0,0,0,27.60,27.39,27.66
$GC,2449,-0.99,-146.0,1976,3772,3407,3267,228.3,-7.8,243,2452,0.00,2.03,0.00,0.000,1062,0.000,0.031,1975,2392,3337,3407,3267,0,0,0,0,0,0,27.65,27.48,27.67
$GC,2764,-0.99,-146.0,1974,2390,3408,3266,253.2,-7.7,254,2764,0.00,0.00,0.00,0.000,38,0.000,0.000,1975,2390,3335,3406,3265,0,0,0,0,0,0,27.60,27.67,27.67
$GC,3064,-0.99,-146.0,1976,2390,3404,3264,275.9,-7.5,264,3064,0.00,0.00,0.00,0.000,38,0.000,0.000,1975,2389,3333,3404,3263,0,0,0,0,0,0,27.60,27.68,27.67
$GC,3364,-0.99,-146.0,1974,2390,3404,3260,297.3,-7.2,274,3367,0.00,2.15,0.00,0.000,292,0.000,0.051,1964,3772,3331,3403,3260,0,0,0,0,0,0,27.60,27.39,27.67
$GC,3448,-0.99,-146.0,1965,3773,3403,3260,302.1,-7.5,276,3456,0.00,2.05,0.00,0.000,1062,0.000,0.031,1965,2400,3330,3402,3258,0,0,0,0,0,0,27.63,27.50,27.67
$GC,3754,-0.99,-146.0,1964,2400,3403,3257,328.3,-8.0,287,3754,0.00,0.00,0.00,0.000,38,0.000,0.000,1965,2398,3328,3399,3257,0,0,0,0,0,0,27.60,27.68,27.67
$GC,4054,-0.99,-146.0,1965,2401,3394,3255,352.0,-7.7,297,4055,0.00,0.00,0.00,0.000,38,0.000,0.000,1965,2400,3327,3400,3255,0,0,0,0,0,0,27.60,27.68,27.67
$GC,4354,-0.99,-146.0,1965,2400,3396,3252,375.5,-7.8,307,4355,0.00,0.00,0.00,0.000,38,0.000,0.000,1965,2400,3324,3397,3252,0,0,0,0,0,0,27.60,27.68,27.67
$GC,4654,-0.99,-146.0,1966,2401,3393,3251,399.1,-7.8,317,4657,0.00,2.10,0.00,0.000,292,0.000,0.052,1954,3766,3320,3394,3246,0,0,0,0,0,0,27.60,27.37,27.67
$GC,4693,-0.99,-146.0,1955,3767,3393,3251,401.6,-7.9,318,4697,0.00,2.05,0.00,0.000,1062,0.000,0.032,1954,2399,3322,3394,3250,0,0,0,0,0,0,27.63,27.48,27.66
$GC,5014,-0.99,-146.0,1955,2401,3392,3248,427.5,-7.8,329,5017,0.00,2.08,0.00,0.000,548,0.000,0.037,1955,1008,3321,3393,3249,0,0,0,0,0,0,27.60,27.41,27.67
$GC,5098,-0.99,-146.0,1953,1009,3395,3247,432.3,-7.9,331,5106,0.10,2.12,0.00,0.000,3110,0.143,0.035,1977,2399,3319,3392,3246,0,0,0,0,0,0,27.19,27.41,27.62
$GC,5404,-0.99,-146.0,1978,2400,3390,3245,455.7,-7.1,342,5404,0.00,0.00,0.00,0.000,38,0.000,0.000,1977,2399,3317,3391,3244,0,0,0,0,0,0,27.60,27.67,27.66
$GC,5704,-0.99,-146.0,1977,2399,3391,3243,478.2,-7.4,352,5707,0.00,2.12,0.00,0.000,292,0.000,0.055,1969,3770,3315,3388,3242,0,0,0,0,0,0,27.59,27.34,27.67
$GC,5748,-0.99,-146.0,1970,3771,3387,3243,480.7,-7.6,353,5752,0.00,2.05,0.00,0.000,1062,0.000,0.034,1969,2407,3315,3389,3242,0,0,0,0,0,0,27.62,27.48,27.65
$GC,6064,-0.99,-146.0,1970,2408,3386,3241,505.1,-7.3,364,6067,0.00,2.08,0.00,0.000,548,0.000,0.038,1969,1011,3313,3386,3240,0,0,0,0,0,0,27.59,27.39,27.66
$GC,6103,-0.99,-146.0,1968,1011,3388,3241,507.4,-7.3,365,6107,0.00,2.12,0.00,0.000,1062,0.000,0.037,1959,2393,3312,3385,3240,0,0,0,0,0,0,27.60,27.40,27.65
$GC,6424,-0.99,-146.0,1958,2394,3387,3238,531.4,-7.2,376,6425,0.00,0.00,0.00,0.000,38,0.000,0.000,1959,2393,3311,3385,3237,0,0,0,0,0,0,27.59,27.67,27.66
$GC,6724,-0.99,-146.0,1959,2394,3384,3237,554.0,-7.6,386,6727,0.00,2.15,0.00,0.000,292,0.000,0.057,1949,3782,3309,3382,3236,0,0,0,0,0,0,27.59,27.34,27.66
$GC,6798,-0.99,-146.0,1948,3783,3384,3236,559.0,-8.0,388,6802,0.00,2.08,0.00,0.000,1062,0.000,0.034,1949,2401,3309,3382,3236,0,0,0,0,0,0,27.60,27.46,27.65
$GC,7114,-0.99,-146.0,1948,2401,3382,3235,586.1,-8.3,399,7115,0.10,0.00,0.00,0.000,2086,0.171,0.000,1979,2401,3307,3380,3234,0,0,0,0,0,0,27.13,27.46,27.43
$STATE,7232,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,7232,begin apogee
$GC,7236,-0.20,0.0,1979,2608,3382,3233,594.9,-7.3,403,7356,0.77,0.00,116.22,1.008,10246,0.121,0.000,2232,2607,2737,2803,2671,0,0,0,0,0,0,27.19,25.92,25.08
$STATE,7357,end apogee,CONTROL_FINISHED_OK
$STATE,7357,begin climb
$GC,7359,0.99,146.0,2232,2608,2803,2672,596.1,0.0,407,7489,1.10,2.22,125.10,0.971,10756,0.057,0.028,2643,1200,2141,2214,2068,0,0,0,0,0,0,25.89,25.71,24.94
$GC,7513,0.99,146.0,2644,1201,2212,2063,579.5,13.2,412,7517,0.00,2.25,0.00,0.000,1030,0.000,0.031,2643,2605,2137,2212,2062,0,0,0,0,0,0,26.23,26.08,26.26
$GC,7829,0.99,146.0,2642,2606,2205,2060,515.6,19.7,423,7833,0.00,2.15,0.00,0.000,516,0.000,0.030,2654,1187,2131,2204,2059,0,0,0,0,0,0,27.02,26.90,27.10
$GC,7873,0.99,146.0,2654,1187,2203,2058,509.6,19.9,424,7878,0.10,2.20,0.00,0.000,5126,0.161,0.031,2624,2610,2130,2203,2057,0,0,0,0,0,0,26.77,26.93,27.09
$GC,8189,0.99,146.0,2623,2611,2203,2057,448.1,18.5,435,8193,0.00,2.15,0.00,0.000,516,0.000,0.029,2632,1196,2128,2201,2056,0,0,0,0,0,0,27.24,27.12,27.32
$GC,8254,0.99,146.0,2631,1197,2203,2056,437.2,18.5,437,8257,0.00,2.15,0.00,0.000,1030,0.000,0.031,2632,2596,2128,2201,2056,0,0,0,0,0,0,27.29,27.14,27.32
$GC,8579,0.99,146.0,2633,2597,2198,2056,376.5,18.3,448,8582,0.00,2.08,0.00,0.000,516,0.000,0.029,2642,1194,2126,2198,2055,0,0,0,0,0,0,27.34,27.22,27.42
$GC,8684,0.99,146.0,2643,1193,2197,2055,360.5,17.9,451,8687,0.00,2.15,0.00,0.000,1030,0.000,0.032,2642,2599,2125,2197,2054,0,0,0,0,0,0,27.41,27.25,27.42
$GC,8999,0.99,146.0,2643,2598,2195,2055,298.3,19.4,462,9003,0.00,2.10,0.00,0.000,516,0.000,0.029,2653,1191,2125,2196,2054,0,0,0,0,0,0,27.41,27.27,27.48
$GC,9048,0.99,146.0,2652,1191,2198,2054,292.6,19.3,463,9053,0.10,2.15,0.00,0.000,5126,0.161,0.032,2623,2600,2127,2196,2058,0,0,0,0,0,0,27.04,27.28,27.43
$GC,9359,0.99,146.0,2621,2600,2195,2054,231.7,18.1,474,9362,0.00,2.08,0.00,0.000,516,0.000,0.029,2631,1185,2123,2194,2053,0,0,0,0,0,0,27.45,27.31,27.52
$GC,9428,0.99,146.0,2632,1186,2193,2052,221.0,17.9,476,9433,0.00,2.15,0.00,0.000,1030,0.000,0.031,2630,2597,2123,2194,2052,0,0,0,0,0,0,27.47,27.32,27.51
$GC,9739,0.99,146.0,2631,2598,2191,2053,162.6,18.5,500,9743,0.00,2.10,0.00,0.000,516,0.000,0.029,2641,1196,2122,2193,2052,0,0,0,0,0,0,27.48,27.34,27.55
$GC,9759,0.99,146.0,2642,1198,2193,2053,158.9,18.3,502,9762,0.00,2.15,0.00,0.000,1030,0.000,0.032,2641,2609,2122,2193,2052,0,0,0,0,0,0,27.50,27.32,27.53
$GC,10069,0.99,146.0,2640,2610,2194,2049,103.0,15.9,533,10072,0.00,2.12,0.00,0.000,516,0.000,0.028,2652,1166,2122,2192,2052,0,0,0,0,0,0,27.50,27.34,27.56
$GC,10195,0.99,146.0,2651,1167,2195,2052,84.3,15.3,545,10202,0.12,2.15,0.00,0.000,5126,0.180,0.031,2623,2606,2121,2192,2051,0,0,0,0,0,0,27.11,27.35,27.56
$GC,10499,0.99,146.0,2624,2606,2192,2051,46.0,11.3,579,10506,0.00,2.10,0.00,0.000,516,0.000,0.028,2631,1189,2121,2192,2050,0,0,0,0,0,0,27.51,27.38,27.58
$GC,10525,0.99,146.0,2630,1190,2194,2051,43.1,11.8,584,10532,0.00,2.12,0.00,0.000,1030,0.000,0.031,2631,2594,2121,2192,2050,0,0,0,0,0,0,27.53,27.37,27.57
$GC,10712,1.17,244.0,2632,2595,2192,2051,30.2,5.5,621,10793,0.12,1.85,73.45,0.612,10532,0.083,0.047,2702,3773,1740,1810,1670,0,0,0,0,0,0,27.40,26.46,25.94
$STATE,10916,end climb,SURFACE_DEPTH_REACHED
$STATE,10916,begin surface coast
$FINISH,0.2,1.022068
$STATE,10937,end surface coast,CONTROL_FINISHED_OK
$STATE,10937,begin surface
$SM_CCo,10957,126.97,0.064,0,0,465,557.32
$SM_GC,-0.06,6.62,2.12,126.97,0.039,0.026,0.064,147,2380,465,-6.63,1.24,557.32,0,0,0,0,0,0,26.84,26.86,26.76
$IRIDIUM_FIX,2722.64,-8719.43,240816,175359
$TT8_MAMPS,0.062916,0.181258
$HUMID,74.02
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,23.70
$BR_FREEKB,7901632
$24V_AH,24.94,1.092
$10V_AH,10.46,1.368
$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,16.425,84.575,314.775,126.975,0.000,0.000,0.000,0.000,0.000,0.000,55.898,0.000,8608.880,592.503,1867.543,113.793,0.000,1280.064,0.000,1271.097,0.000,0.000,0.000
$DEVICE_MAMPS,232.560,59.670,1008.270,64.260,0.000,0.000,0.000,0.000,0.000,0.000,30.710,0.000,0.390,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,BRB,nil,nil,nil
$SENSOR_SECS,446.509,0.000,0.000,0.000,0.000,0.000,11100.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,10.683,0.000,0.000,0.000
$MEM,288016
$DATA_FILE_SIZE,26747,663
$CAP_FILE_SIZE,114259,0
$CFSIZE,260034560,255971328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.150,345.54,1
$GPS,240816,210405,2804.550,-8734.056,30,1.1,30,-0.9,0.5,301.5,7,8.6