version: 66.13
glider: 178
mission: 22
dive: 5
start: 8 24 116 21 9 23
data:
$ID,178
$MISSION,22
$DIVE,5
$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,500
$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,60
$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
$GPS1,240816,210405,2804.5498,-8734.0557,30,1.1,30,-0.9,0.5,301.5,7,8.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.31
$_SM_ANGLEo,-60.4
$GPS2,240816,210905,2804.5791,-8734.1299,8,1.1,13,-0.9,0.4,261.1,7,4.5
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NE
$TGT_LATLONG,2807.000,-8724.300
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,110.5,16671,-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,-146.0,148,2374,500,427,0.0,0.0,0,130,0.00,0.00,-109.60,0.000,16390,0.000,0.000,145,2374,3334,3391,3278,0,0,0,0,0,0,26.86,25.65,26.94
$GC,133,-0.99,-146.0,145,2374,3394,3280,4.1,-12.7,18,145,7.30,2.05,0.00,0.000,2564,0.237,0.028,1981,1001,3338,3397,3279,0,0,0,0,0,0,26.63,26.89,26.99
$GC,190,-0.99,-146.0,1981,1002,3401,3280,24.2,-21.6,29,198,0.00,2.12,0.00,0.000,1030,0.000,0.035,1973,2388,3340,3402,3278,0,0,0,0,0,0,27.13,26.93,27.14
$GC,377,-0.99,-146.0,1971,2389,3405,3279,54.2,-13.6,63,381,0.00,2.10,0.00,0.000,516,0.000,0.033,1973,1016,3340,3403,3278,0,0,0,0,0,0,27.21,27.05,27.27
$GC,492,-0.99,-146.0,1974,1017,3407,3279,68.1,-12.0,74,499,0.00,2.12,0.00,0.000,1030,0.000,0.032,1964,2403,3342,3407,3278,0,0,0,0,0,0,27.27,27.10,27.29
$GC,797,-0.99,-146.0,1963,2402,3414,3279,100.0,-10.1,105,802,0.00,2.15,0.00,0.000,260,0.000,0.049,1953,3808,3345,3412,3278,0,0,0,0,0,0,27.36,27.17,27.43
$GC,1007,-0.99,-146.0,1953,3808,3416,3279,120.7,-9.5,126,1011,0.00,2.08,0.00,0.000,1062,0.000,0.028,1953,2401,3346,3414,3278,0,0,0,0,0,0,27.45,27.30,27.47
$GC,1317,-0.99,-146.0,1952,2396,3418,3279,148.2,-8.7,157,1321,0.00,2.05,0.00,0.000,548,0.000,0.034,1953,1006,3347,3416,3278,0,0,0,0,0,0,27.45,27.29,27.51
$GC,1422,-0.99,-146.0,1952,1006,3418,3279,157.3,-9.0,167,1429,0.10,2.12,0.00,0.000,3110,0.142,0.032,1975,2401,3347,3416,3278,0,0,0,0,0,0,27.14,27.31,27.48
$GC,1727,-0.99,-146.0,1975,2401,3418,3279,182.2,-7.6,198,1731,0.00,2.10,0.00,0.000,548,0.000,0.033,1976,999,3347,3416,3278,0,0,0,0,0,0,27.49,27.34,27.56
$GC,1828,-0.99,-146.0,1975,999,3418,3278,190.1,-8.1,208,1831,0.00,2.08,0.00,0.000,1062,0.000,0.033,1970,2402,3347,3416,3278,0,0,0,0,0,0,27.55,27.34,27.56
$GC,2139,-0.99,-146.0,1971,2402,3416,3277,213.6,-7.4,227,2139,0.00,0.00,0.00,0.000,38,0.000,0.000,1970,2401,3346,3416,3277,0,0,0,0,0,0,27.52,27.59,27.59
$GC,2438,-0.99,-146.0,1971,2402,3416,3276,236.7,-7.7,237,2441,0.00,2.08,0.00,0.000,292,0.000,0.050,1960,3769,3345,3416,3275,0,0,0,0,0,0,27.53,27.33,27.60
$GC,2512,-0.99,-146.0,1958,3770,3418,3276,241.6,-7.9,239,2516,0.00,2.05,0.00,0.000,1062,0.000,0.028,1960,2394,3349,3423,3275,0,0,0,0,0,0,27.55,27.43,27.58
$GC,2828,-0.99,-146.0,1959,2388,3417,3274,268.1,-7.9,250,2831,0.00,2.05,0.00,0.000,548,0.000,0.034,1960,1003,3344,3415,3273,0,0,0,0,0,0,27.53,27.39,27.60
$GC,2867,-0.99,-146.0,1959,1004,3415,3274,270.8,-8.0,251,2872,0.00,2.12,0.00,0.000,1062,0.000,0.033,1951,2400,3343,3414,3273,0,0,0,0,0,0,27.57,27.38,27.59
$GC,3188,-0.99,-146.0,1953,2401,3414,3272,297.7,-8.2,262,3191,0.00,2.10,0.00,0.000,292,0.000,0.050,1941,3771,3342,3414,3271,0,0,0,0,0,0,27.55,27.34,27.62
$GC,3252,-0.99,-146.0,1942,3771,3413,3271,302.9,-8.3,264,3256,0.10,2.05,0.00,0.000,3110,0.138,0.028,1975,2391,3342,3413,3271,0,0,0,0,0,0,27.23,27.45,27.58
$GC,3578,-0.99,-146.0,1974,2391,3414,3270,328.1,-7.7,275,3578,0.00,0.00,0.00,0.000,38,0.000,0.000,1975,2391,3341,3412,3270,0,0,0,0,0,0,27.55,27.63,27.62
$GC,3878,-0.99,-146.0,1974,2391,3412,3268,351.2,-7.8,285,3882,0.00,2.17,0.00,0.000,292,0.000,0.052,1966,3773,3338,3410,3267,0,0,0,0,0,0,27.56,27.35,27.62
$GC,3962,-0.99,-146.0,1965,3774,3413,3268,356.2,-8.0,287,3969,0.00,2.05,0.00,0.000,1062,0.000,0.031,1966,2400,3338,3410,3267,0,0,0,0,0,0,27.60,27.46,27.63
$GC,4268,-0.99,-146.0,1965,2400,3410,3265,382.9,-8.1,298,4268,0.00,0.00,0.00,0.000,38,0.000,0.000,1966,2400,3337,3409,3265,0,0,0,0,0,0,27.56,27.64,27.63
$GC,4567,-0.99,-146.0,1966,2401,3408,3264,406.8,-7.9,308,4571,0.00,2.12,0.00,0.000,292,0.000,0.050,1956,3781,3335,3407,3263,0,0,0,0,0,0,27.57,27.36,27.63
$GC,4622,-0.99,-146.0,1955,3781,3409,3264,409.4,-8.2,309,4629,0.00,2.05,0.00,0.000,1062,0.000,0.031,1956,2404,3335,3407,3263,0,0,0,0,0,0,27.60,27.45,27.62
$GC,4927,-0.99,-146.0,1955,2405,3408,3260,437.0,-8.4,320,4931,0.00,2.15,0.00,0.000,292,0.000,0.053,1946,3780,3333,3406,3260,0,0,0,0,0,0,27.56,27.36,27.64
$GC,4967,-0.99,-146.0,1945,3780,3405,3260,439.7,-8.3,321,4972,0.10,2.08,0.00,0.000,3110,0.135,0.031,1978,2397,3332,3406,3259,0,0,0,0,0,0,27.22,27.46,27.59
$GC,5288,-0.99,-146.0,1980,2398,3404,3258,464.4,-7.4,332,5289,0.00,0.00,0.00,0.000,38,0.000,0.000,1978,2397,3328,3404,3252,0,0,0,0,0,0,27.57,27.65,27.64
$GC,5588,-0.99,-146.0,1977,2397,3405,3256,486.9,-7.5,342,5588,0.00,0.00,0.00,0.000,38,0.000,0.000,1978,2397,3328,3402,3255,0,0,0,0,0,0,27.57,27.65,27.63
$GC,5888,-0.99,-146.0,1977,2397,3403,3254,508.8,-7.3,352,5888,0.00,0.00,0.00,0.000,38,0.000,0.000,1978,2397,3327,3401,3253,0,0,0,0,0,0,27.57,27.65,27.64
$GC,6188,-0.99,-146.0,1977,2397,3402,3252,530.8,-7.2,362,6188,0.00,0.00,0.00,0.000,38,0.000,0.000,1978,2397,3325,3400,3251,0,0,0,0,0,0,27.57,27.65,27.64
$GC,6487,-0.99,-146.0,1977,2397,3399,3251,551.6,-6.9,372,6491,0.00,2.15,0.00,0.000,292,0.000,0.053,1970,3768,3324,3398,3250,0,0,0,0,0,0,27.57,27.36,27.64
$GC,6562,-0.99,-146.0,1970,3768,3398,3251,556.1,-7.1,374,6566,0.00,2.05,0.00,0.000,1062,0.000,0.032,1970,2401,3323,3397,3250,0,0,0,0,0,0,27.60,27.48,27.62
$GC,6878,-0.99,-146.0,1973,2402,3398,3250,579.8,-7.1,385,6879,0.00,0.00,0.00,0.000,38,0.000,0.000,1970,2401,3322,3396,3248,0,0,0,0,0,0,27.57,27.65,27.64
$STATE,7176,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7176,begin apogee
$GC,7180,-0.20,0.0,1970,2599,3394,3247,601.8,-7.5,395,7302,0.82,0.00,119.15,1.013,10246,0.125,0.000,2235,2597,2737,2803,2672,0,0,0,0,0,0,27.16,25.79,24.94
$STATE,7303,end apogee,CONTROL_FINISHED_OK
$STATE,7303,begin climb
$GC,7305,0.99,146.0,2236,2598,2802,2672,602.9,0.0,399,7437,1.10,2.22,126.43,0.979,10756,0.056,0.029,2643,1205,2140,2213,2067,0,0,0,0,0,0,25.75,25.58,24.82
$GC,7478,0.99,146.0,2645,1205,2210,2060,581.4,15.6,405,7481,0.00,2.20,0.00,0.000,1030,0.000,0.031,2644,2606,2134,2210,2059,0,0,0,0,0,0,26.25,26.06,26.26
$GC,7798,0.99,146.0,2643,2607,2204,2057,520.2,19.0,416,7801,0.00,2.15,0.00,0.000,516,0.000,0.028,2654,1195,2129,2203,2056,0,0,0,0,0,0,26.93,26.83,27.01
$GC,7842,0.99,146.0,2654,1197,2202,2056,514.7,18.8,417,7846,0.10,2.17,0.00,0.000,5126,0.164,0.031,2625,2600,2129,2203,2056,0,0,0,0,0,0,26.70,26.86,27.00
$GC,8157,0.99,146.0,2625,2598,2199,2055,456.2,17.5,428,8161,0.00,2.12,0.00,0.000,516,0.000,0.028,2633,1190,2127,2200,2055,0,0,0,0,0,0,27.16,27.05,27.23
$GC,8207,0.99,146.0,2634,1191,2199,2055,450.9,17.6,429,8211,0.00,2.17,0.00,0.000,1030,0.000,0.031,2633,2607,2127,2200,2054,0,0,0,0,0,0,27.20,27.05,27.22
$GC,8517,0.99,146.0,2634,2608,2197,2054,391.3,18.2,440,8521,0.00,2.15,0.00,0.000,516,0.000,0.028,2643,1196,2122,2191,2053,0,0,0,0,0,0,27.27,27.16,27.34
$GC,8552,0.99,146.0,2644,1197,2197,2054,385.9,18.1,441,8557,0.00,2.15,0.00,0.000,1030,0.000,0.031,2643,2597,2125,2198,2053,0,0,0,0,0,0,27.30,27.15,27.32
$GC,8878,0.99,146.0,2642,2597,2198,2055,323.0,19.2,452,8881,0.00,2.10,0.00,0.000,516,0.000,0.028,2654,1198,2123,2193,2053,0,0,0,0,0,0,27.34,27.22,27.41
$GC,8917,0.99,146.0,2654,1198,2196,2053,318.2,19.2,453,8921,0.10,2.15,0.00,0.000,5126,0.163,0.031,2624,2605,2124,2196,2052,0,0,0,0,0,0,27.00,27.22,27.36
$GC,9232,0.99,146.0,2624,2607,2194,2053,257.6,17.9,464,9233,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2606,2123,2194,2052,0,0,0,0,0,0,27.39,27.46,27.46
$GC,9533,0.99,146.0,2624,2607,2192,2051,204.1,18.0,474,9536,0.00,2.10,0.00,0.000,516,0.000,0.028,2632,1197,2122,2193,2051,0,0,0,0,0,0,27.41,27.31,27.48
$GC,9572,0.99,146.0,2632,1198,2192,2051,196.6,18.3,476,9576,0.00,2.12,0.00,0.000,1030,0.000,0.031,2632,2593,2122,2193,2051,0,0,0,0,0,0,27.43,27.28,27.47
$GC,9882,0.99,146.0,2627,2594,2195,2051,140.0,17.3,507,9886,0.00,2.10,0.00,0.000,516,0.000,0.028,2642,1197,2121,2192,2051,0,0,0,0,0,0,27.43,27.32,27.51
$GC,10013,0.99,146.0,2642,1198,2192,2050,118.0,15.9,520,10017,0.00,2.10,0.00,0.000,1030,0.000,0.031,2642,2602,2121,2192,2050,0,0,0,0,0,0,27.50,27.31,27.51
$GC,10322,0.99,146.0,2643,2601,2192,2050,68.7,15.0,551,10323,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2601,2121,2192,2050,0,0,0,0,0,0,27.46,27.54,27.53
$GC,10623,1.02,159.5,2642,2602,2191,2050,33.7,9.4,597,10636,0.00,2.08,8.82,0.557,8740,0.000,0.028,2652,1196,2085,2157,2014,0,0,0,0,0,0,27.48,27.24,26.57
$GC,10805,1.21,267.1,2651,1197,2156,2012,21.8,5.1,633,10899,0.12,2.12,83.68,0.607,11302,0.081,0.030,2720,2619,1646,1717,1575,0,0,0,0,0,0,27.29,27.27,25.75
$STATE,10952,end climb,SURFACE_DEPTH_REACHED
$STATE,10952,begin surface coast
$FINISH,-0.2,1.022254
$STATE,10967,end surface coast,CONTROL_FINISHED_OK
$STATE,10967,begin surface
$SM_CCo,10986,93.12,0.063,0,0,698,500.17
$SM_GC,0.00,6.62,0.32,93.12,0.029,0.036,0.063,149,2396,698,-6.64,1.41,500.17,0,0,0,0,0,0,26.60,26.63,26.58
$IRIDIUM_FIX,2722.64,-8719.43,240816,175414
$TT8_MAMPS,0.062916,0.173019
$HUMID,77.32
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,23.70
$BR_FREEKB,7901568
$24V_AH,24.82,1.183
$10V_AH,10.52,1.445
$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,16.475,85.100,338.075,93.125,0.000,0.000,0.000,217.400,0.000,0.000,16.306,0.000,8639.786,569.390,2024.635,141.568,0.000,1475.216,0.000,1258.136,0.000,0.000,0.000
$DEVICE_MAMPS,237.150,58.905,1012.860,63.495,0.000,0.000,0.000,84.150,0.000,0.000,30.710,0.000,0.390,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,BRB,nil,nil,nil
$SENSOR_SECS,445.603,0.000,0.000,0.000,0.000,0.000,11484.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,10.683,0.000,0.000,0.000
$MEM,288148
$DATA_FILE_SIZE,26801,662
$CAP_FILE_SIZE,104210,0
$CFSIZE,260034560,255926272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.158,349.91,1
$GPS,250816,001505,2804.856,-8732.809,41,1.0,41,-1.0,0.5,15.0,8,8.0