version: 66.13
glider: 178
mission: 22
dive: 17
start: 8 26 116 6 29 28
data:
$ID,178
$MISSION,22
$DIVE,17
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$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,150
$T_MISSION,180
$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,250
$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,2250
$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,2475
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,72
$R_STBD_OVSHOOT,45
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,2900
$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
$GPS1,260816,062233,2800.1946,-8728.7002,10,2.0,31,-1.0,0.9,326.9,9,4.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-60.0
$GPS2,260816,062910,2800.2952,-8728.7822,10,1.4,14,-1.0,0.3,346.3,8,4.4
$SPEED_LIMITS,0.192,0.338
$TGT_NAME,DRIFTSTART
$TGT_LATLONG,2757.000,-8725.800
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,153.1,7813,-15.3,-11.111,-18.18,3349
$D_GRID,500
$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,-1.05,-243.3,128,2459,902,812,0.0,0.0,0,113,0.00,0.00,-92.43,0.000,16386,0.000,0.000,126,2460,3192,3236,3149,0,0,0,0,0,0,26.86,28.83,26.93
$GC,115,-1.05,-243.3,128,2460,3239,3150,3.5,-8.4,15,141,6.60,2.15,-13.02,0.000,18980,0.213,1.275,1903,1094,3895,3963,3827,0,0,0,0,0,0,26.72,25.92,27.03
$GC,345,-1.05,-243.3,1903,1094,3966,3829,66.3,-21.8,52,352,0.00,2.12,0.00,0.000,1030,0.000,0.036,1894,2460,3897,3967,3828,0,0,0,0,0,0,27.13,26.96,27.15
$GC,651,-1.05,-243.3,1893,2461,3974,3829,124.2,-17.6,83,654,0.00,2.08,0.00,0.000,260,0.000,0.052,1884,3772,3901,3973,3829,0,0,0,0,0,0,27.24,27.08,27.32
$GC,721,-1.05,-243.3,1884,3772,3975,3829,136.6,-17.5,90,725,0.00,1.92,0.00,0.000,1030,0.000,0.030,1884,2487,3901,3973,3829,0,0,0,0,0,0,27.29,27.18,27.32
$GC,1031,-1.05,-243.3,1884,2487,3977,3829,186.8,-15.6,121,1035,0.00,2.12,0.00,0.000,516,0.000,0.035,1885,1089,3901,3975,3828,0,0,0,0,0,0,27.34,27.20,27.40
$GC,1115,-1.05,-243.3,1885,1090,3975,3830,199.3,-15.6,129,1123,0.10,2.12,0.00,0.000,3078,0.148,0.034,1907,2478,3902,3975,3829,0,0,0,0,0,0,27.10,27.22,27.38
$GC,1421,-1.05,-243.3,1907,2478,3977,3830,241.8,-13.7,140,1421,0.00,0.00,0.00,0.000,6,0.000,0.000,1907,2478,3902,3975,3829,0,0,0,0,0,0,27.40,27.47,27.46
$GC,1721,-1.05,-243.3,1908,2478,3975,3830,282.3,-13.2,150,1721,0.00,0.00,0.00,0.000,6,0.000,0.000,1907,2477,3901,3974,3829,0,0,0,0,0,0,27.43,27.51,27.50
$GC,2021,-1.05,-243.3,1906,2477,3974,3830,321.8,-13.3,160,2022,0.00,0.00,0.00,0.000,6,0.000,0.000,1907,2477,3900,3972,3829,0,0,0,0,0,0,27.46,27.53,27.52
$GC,2321,-1.05,-243.3,1906,2478,3970,3830,361.5,-13.2,170,2321,0.00,0.00,0.00,0.000,6,0.000,0.000,1907,2477,3899,3969,3829,0,0,0,0,0,0,27.47,27.55,27.54
$GC,2621,-1.05,-243.3,1906,2478,3967,3827,399.9,-12.7,180,2621,0.00,0.00,0.00,0.000,6,0.000,0.000,1907,2477,3896,3965,3827,0,0,0,0,0,0,27.48,27.56,27.55
$GC,2921,-1.05,-243.3,1908,2478,3963,3824,438.4,-12.8,190,2924,0.00,2.12,0.00,0.000,516,0.000,0.036,1907,1085,3894,3964,3824,0,0,0,0,0,0,27.50,27.37,27.56
$GC,2981,-1.05,-243.3,1905,1085,3965,3827,446.1,-12.8,192,2984,0.00,2.15,0.00,0.000,1030,0.000,0.037,1901,2479,3892,3962,3823,0,0,0,0,0,0,27.53,27.36,27.58
$GC,3311,-1.05,-243.3,1902,2480,3961,3821,489.2,-13.1,203,3314,0.00,2.08,0.00,0.000,516,0.000,0.035,1901,1088,3891,3961,3821,0,0,0,0,0,0,27.51,27.37,27.57
$GC,3345,-1.05,-243.3,1900,1088,3962,3822,493.4,-13.3,204,3349,0.00,2.12,0.00,0.000,1030,0.000,0.036,1892,2473,3890,3959,3821,0,0,0,0,0,0,27.53,27.37,27.55
$STATE,3399,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3399,begin apogee
$GC,3403,-0.20,0.0,1893,2617,3959,3820,501.4,-13.4,206,3599,0.90,0.00,191.43,0.947,10246,0.125,0.000,2184,2616,2900,2981,2819,0,0,0,0,0,0,27.27,25.69,24.91
$STATE,3599,end apogee,CONTROL_FINISHED_OK
$STATE,3600,begin climb
$GC,3601,1.05,243.3,2183,2617,2981,2820,507.8,0.0,212,3808,1.15,1.92,197.40,0.923,10500,0.070,0.050,2590,3773,1907,1982,1832,0,0,0,0,0,0,25.63,25.48,24.85
$GC,3830,1.05,243.3,2589,3774,1981,1833,482.5,16.0,220,3834,0.00,1.83,0.00,0.000,1030,0.000,0.024,2599,2575,1905,1979,1831,0,0,0,0,0,0,26.03,25.92,26.05
$GC,4151,1.05,243.3,2600,2572,1974,1825,418.9,19.0,231,4154,0.00,2.00,0.00,0.000,516,0.000,0.031,2609,1242,1900,1975,1825,0,0,0,0,0,0,26.86,26.73,26.92
$GC,4235,1.05,243.3,2606,1244,1973,1824,407.7,18.9,233,4242,0.00,2.10,0.00,0.000,1030,0.000,0.032,2609,2593,1898,1973,1823,0,0,0,0,0,0,26.97,26.83,27.00
$GC,4541,1.05,243.3,2610,2595,1970,1823,343.0,19.6,244,4544,0.00,2.05,0.00,0.000,516,0.000,0.029,2619,1231,1894,1967,1822,0,0,0,0,0,0,27.12,26.99,27.20
$GC,4601,1.05,243.3,2619,1231,1970,1822,331.5,19.3,246,4604,0.12,2.08,0.00,0.000,5126,0.173,0.033,2589,2608,1895,1970,1821,0,0,0,0,0,0,26.89,27.02,27.22
$GC,4931,1.05,243.3,2590,2609,1967,1819,271.6,18.1,257,4934,0.00,2.05,0.00,0.000,516,0.000,0.030,2597,1236,1893,1968,1819,0,0,0,0,0,0,27.25,27.12,27.32
$GC,4970,1.05,243.3,2596,1240,1969,1819,266.2,18.1,258,4974,0.00,2.10,0.00,0.000,1030,0.000,0.032,2597,2603,1893,1968,1818,0,0,0,0,0,0,27.28,27.13,27.31
$GC,5291,1.05,243.3,2596,2604,1967,1819,204.2,19.0,269,5294,0.00,2.08,0.00,0.000,516,0.000,0.029,2607,1207,1891,1965,1818,0,0,0,0,0,0,27.32,27.20,27.39
$GC,5325,1.05,243.3,2608,1208,1965,1818,198.7,18.9,270,5332,0.00,2.15,0.00,0.000,1030,0.000,0.031,2607,2612,1891,1964,1818,0,0,0,0,0,0,27.36,27.20,27.39
$GC,5631,1.05,243.3,2608,2612,1965,1817,138.7,19.5,301,5634,0.00,2.08,0.00,0.000,516,0.000,0.030,2618,1213,1890,1963,1817,0,0,0,0,0,0,27.36,27.24,27.43
$GC,5776,1.05,243.3,2617,1213,1965,1816,115.2,16.3,315,5783,0.12,2.08,0.00,0.000,5126,0.156,0.032,2586,2607,1888,1962,1815,0,0,0,0,0,0,27.14,27.25,27.45
$GC,6081,1.05,243.3,2584,2608,1962,1815,67.9,13.8,346,6084,0.00,2.08,0.00,0.000,516,0.000,0.028,2593,1234,1888,1961,1815,0,0,0,0,0,0,27.41,27.29,27.48
$GC,6101,1.05,243.3,2594,1234,1961,1814,65.1,13.5,348,6104,0.00,2.08,0.00,0.000,1030,0.000,0.029,2593,2602,1887,1961,1814,0,0,0,0,0,0,27.44,27.29,27.47
$GC,6406,1.16,306.7,2594,2604,1962,1813,30.6,9.2,397,6461,0.00,2.10,47.30,0.628,8740,0.000,0.028,2602,1241,1647,1718,1576,0,0,0,0,0,0,27.43,26.70,26.17
$GC,6636,1.22,338.5,2602,1242,1714,1570,10.3,10.1,441,6668,0.12,2.05,25.67,0.588,11302,0.077,0.028,2681,2617,1519,1590,1448,0,0,0,0,0,0,26.96,26.94,26.12
$STATE,6696,end climb,SURFACE_DEPTH_REACHED
$STATE,6696,begin surface coast
$FINISH,-0.1,1.022348
$STATE,6713,end surface coast,CONTROL_FINISHED_OK
$STATE,6713,begin surface
$SM_CCo,6731,65.57,0.060,0,0,860,500.17
$SM_GC,0.63,6.55,0.15,65.57,0.033,0.057,0.060,148,2509,860,-6.48,2.57,500.17,0,0,0,0,0,0,26.68,26.37,26.68
$IRIDIUM_FIX,2722.64,-8719.43,260816,062546
$TT8_MAMPS,0.062916,0.226198
$HUMID,89.77
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,23.90
$BR_FREEKB,7900576
$24V_AH,24.85,2.885
$10V_AH,10.44,2.261
$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,15.675,54.150,461.800,65.575,0.000,0.000,0.000,195.050,0.000,0.000,16.724,0.000,4918.600,581.912,1583.818,113.100,0.000,1309.657,0.000,879.617,0.000,0.000,0.000
$DEVICE_MAMPS,212.670,1275.255,947.070,60.435,0.000,0.000,0.000,80.325,0.000,0.000,30.710,0.000,0.390,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,BRB,nil,nil,nil
$SENSOR_SECS,303.246,0.000,0.000,0.000,0.000,0.000,7269.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,10.683,0.000,0.000,0.000
$MEM,287964
$DATA_FILE_SIZE,20142,455
$CAP_FILE_SIZE,72649,0
$CFSIZE,260034560,255434752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.152,352.52,1
$GPS,260816,082335,2759.651,-8728.357,11,1.1,28,-1.0,0.9,13.6,8,4.3