version: 66.13
glider: 178
mission: 22
dive: 18
start: 8 26 116 8 28 58
data:
$ID,178
$MISSION,22
$DIVE,18
$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,50
$R_STBD_OVSHOOT,48
$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
$GPS1,260816,082335,2759.6514,-8728.3574,11,1.1,28,-1.0,0.9,13.6,8,4.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-57.9
$GPS2,260816,082840,2759.7224,-8728.3730,9,1.3,31,-1.0,0.5,307.3,7,4.5
$SPEED_LIMITS,0.192,0.338
$TGT_NAME,DRIFTSTART
$TGT_LATLONG,2757.000,-8725.800
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,155.0,6568,-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,-243.3,130,2506,897,813,0.0,0.0,0,112,0.00,0.00,-92.47,0.000,16386,0.000,0.000,124,2506,3178,3224,3133,0,0,0,0,0,0,26.82,28.83,26.90
$GC,115,-1.05,-243.3,126,2507,3225,3135,3.5,-8.2,15,141,6.57,2.25,-13.20,0.000,18980,0.210,1.273,1899,1083,3893,3962,3824,0,0,0,0,0,0,26.70,25.91,27.01
$GC,221,-1.05,-243.3,1903,1078,3963,3827,39.1,-26.4,35,228,0.00,2.10,0.00,0.000,1030,0.000,0.036,1895,2460,3898,3964,3833,0,0,0,0,0,0,27.05,26.87,27.07
$GC,407,-1.05,-243.3,1894,2461,3969,3827,82.6,-21.9,58,408,0.00,0.00,0.00,0.000,6,0.000,0.000,1895,2460,3896,3967,3826,0,0,0,0,0,0,27.15,27.22,27.21
$GC,708,-1.05,-243.3,1896,2461,3972,3827,136.1,-16.4,88,711,0.00,2.08,0.00,0.000,516,0.000,0.035,1894,1078,3899,3972,3827,0,0,0,0,0,0,27.28,27.14,27.34
$GC,762,-1.05,-243.3,1896,1078,3973,3828,144.4,-16.4,93,769,0.00,2.17,0.00,0.000,1030,0.000,0.035,1887,2480,3900,3973,3827,0,0,0,0,0,0,27.32,27.15,27.34
$GC,1067,-1.05,-243.3,1886,2481,3976,3828,193.1,-15.5,124,1070,0.00,2.12,0.00,0.000,516,0.000,0.034,1886,1067,3900,3974,3827,0,0,0,0,0,0,27.36,27.22,27.43
$GC,1122,-1.05,-243.3,1886,1068,3976,3828,201.2,-15.9,129,1130,0.08,2.17,0.00,0.000,3078,0.143,0.035,1902,2482,3901,3975,3827,0,0,0,0,0,0,27.15,27.22,27.40
$GC,1427,-1.05,-243.3,1902,2482,3976,3828,245.9,-14.0,140,1428,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,2482,3901,3975,3827,0,0,0,0,0,0,27.41,27.49,27.48
$GC,1727,-1.05,-243.3,1903,2482,3974,3828,286.5,-13.3,150,1728,0.00,0.00,0.00,0.000,6,0.000,0.000,1903,2482,3901,3975,3827,0,0,0,0,0,0,27.45,27.52,27.51
$GC,2027,-1.05,-243.3,1903,2483,3973,3827,327.6,-14.1,160,2028,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,2482,3900,3973,3827,0,0,0,0,0,0,27.47,27.55,27.56
$GC,2327,-1.05,-243.3,1901,2483,3971,3828,368.9,-13.5,170,2330,0.00,2.10,0.00,0.000,516,0.000,0.035,1902,1073,3898,3969,3827,0,0,0,0,0,0,27.48,27.36,27.55
$GC,2362,-1.05,-243.3,1901,1074,3971,3828,373.1,-13.7,171,2366,0.00,2.15,0.00,0.000,1030,0.000,0.037,1895,2469,3898,3969,3827,0,0,0,0,0,0,27.52,27.36,27.55
$GC,2687,-1.05,-243.3,1895,2470,3966,3827,419.4,-14.1,182,2691,0.00,2.12,0.00,0.000,516,0.000,0.037,1895,1082,3895,3964,3826,0,0,0,0,0,0,27.50,27.38,27.57
$GC,2722,-1.05,-243.3,1896,1083,3964,3827,423.7,-14.1,183,2726,0.00,2.15,0.00,0.000,1030,0.000,0.037,1887,2477,3894,3963,3826,0,0,0,0,0,0,27.53,27.36,27.58
$GC,3047,-1.05,-243.3,1886,2478,3965,3823,471.2,-14.4,194,3050,0.00,2.10,0.00,0.000,516,0.000,0.037,1887,1073,3892,3963,3822,0,0,0,0,0,0,27.51,27.38,27.58
$GC,3077,-1.05,-243.3,1886,1074,3965,3823,475.6,-14.4,195,3081,0.12,2.17,0.00,0.000,3078,0.167,0.037,1908,2479,3892,3962,3823,0,0,0,0,0,0,27.27,27.37,27.58
$STATE,3286,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3286,begin apogee
$GC,3290,-0.20,0.0,1910,2612,3960,3821,503.1,-12.9,202,3485,0.85,0.00,191.38,0.941,10246,0.120,0.000,2189,2611,2901,2981,2821,0,0,0,0,0,0,27.29,25.72,24.94
$STATE,3486,end apogee,CONTROL_FINISHED_OK
$STATE,3486,begin climb
$GC,3488,1.05,243.3,2190,2612,2980,2820,509.8,0.0,208,3695,1.15,1.92,197.93,0.926,10500,0.066,0.051,2591,3768,1908,1984,1832,0,0,0,0,0,0,25.67,25.50,24.87
$GC,3719,1.05,243.3,2592,3768,1978,1832,485.3,15.6,216,3723,0.00,1.85,0.00,0.000,1030,0.000,0.025,2601,2559,1905,1979,1831,0,0,0,0,0,0,26.07,26.01,26.09
$GC,4034,1.05,243.3,2600,2556,1976,1825,421.0,19.1,227,4038,0.00,2.03,0.00,0.000,516,0.000,0.031,2611,1244,1899,1974,1824,0,0,0,0,0,0,26.89,26.76,26.96
$GC,4134,1.05,243.3,2610,1241,1975,1824,404.2,18.8,230,4138,0.00,2.12,0.00,0.000,1030,0.000,0.034,2610,2603,1898,1973,1823,0,0,0,0,0,0,27.01,26.86,27.03
$GC,4454,1.05,243.3,2608,2603,1974,1823,338.2,20.1,241,4458,0.00,2.05,0.00,0.000,516,0.000,0.031,2620,1239,1896,1970,1822,0,0,0,0,0,0,27.16,27.03,27.23
$GC,4524,1.05,243.3,2621,1240,1969,1821,326.4,19.9,243,4528,0.10,2.10,0.00,0.000,5126,0.153,0.033,2589,2600,1898,1977,1820,0,0,0,0,0,0,26.93,27.06,27.22
$GC,4844,1.05,243.3,2590,2600,1967,1819,263.6,19.1,254,4848,0.00,2.08,0.00,0.000,516,0.000,0.031,2597,1209,1893,1968,1819,0,0,0,0,0,0,27.28,27.15,27.35
$GC,4879,1.05,243.3,2593,1210,1969,1819,257.9,19.1,255,4883,0.00,2.12,0.00,0.000,1030,0.000,0.032,2597,2592,1892,1967,1818,0,0,0,0,0,0,27.31,27.16,27.34
$GC,5184,1.05,243.3,2597,2593,1964,1819,197.1,19.7,266,5188,0.00,2.03,0.00,0.000,516,0.000,0.030,2607,1229,1891,1964,1818,0,0,0,0,0,0,27.34,27.20,27.41
$GC,5239,1.05,243.3,2607,1228,1964,1817,187.8,18.4,271,5246,0.00,2.10,0.00,0.000,1030,0.000,0.031,2606,2597,1890,1964,1817,0,0,0,0,0,0,27.37,27.23,27.41
$GC,5544,1.05,243.3,2608,2598,1962,1817,124.8,19.1,302,5548,0.00,2.05,0.00,0.000,516,0.000,0.030,2617,1244,1889,1962,1816,0,0,0,0,0,0,27.39,27.26,27.46
$GC,5624,1.05,243.3,2618,1245,1962,1816,110.2,18.0,310,5629,0.08,2.08,0.00,0.000,5126,0.145,0.032,2592,2601,1888,1962,1815,0,0,0,0,0,0,27.16,27.27,27.43
$GC,5934,1.05,243.3,2592,2602,1960,1815,62.8,13.7,341,5935,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2601,1887,1961,1814,0,0,0,0,0,0,27.42,27.50,27.49
$GC,6235,1.31,385.7,2593,2602,1960,1813,30.8,6.7,390,6351,0.22,2.10,107.78,0.633,10788,0.052,0.026,2719,1236,1326,1393,1259,0,0,0,0,0,0,27.37,26.17,25.63
$STATE,6404,end climb,SURFACE_DEPTH_REACHED
$STATE,6404,begin surface coast
$FINISH,0.1,1.022351
$STATE,6419,end surface coast,CONTROL_FINISHED_OK
$STATE,6419,begin surface
$SM_CCo,6440,47.03,0.062,0,0,860,500.17
$SM_GC,0.38,6.72,1.98,47.03,0.036,0.031,0.062,147,2481,860,-6.48,-1.07,500.17,0,0,0,0,0,0,26.53,26.52,26.53
$IRIDIUM_FIX,2722.64,-8719.43,260816,082446
$TT8_MAMPS,0.062916,0.226198
$HUMID,94.69
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,23.40
$BR_FREEKB,7900512
$24V_AH,24.87,3.012
$10V_AH,10.43,2.313
$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,15.900,54.475,497.075,47.025,0.000,0.000,0.000,204.200,0.000,0.000,34.547,0.000,4695.834,605.253,1381.689,110.962,0.000,1300.399,0.000,801.499,0.000,0.000,0.000
$DEVICE_MAMPS,209.610,1272.960,940.950,61.965,0.000,0.000,0.000,82.620,0.000,0.000,30.710,0.000,0.390,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,BRB,nil,nil,nil
$SENSOR_SECS,281.179,0.000,0.000,0.000,0.000,0.000,6875.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,10.683,0.000,0.000,0.000
$MEM,287988
$DATA_FILE_SIZE,16799,423
$CAP_FILE_SIZE,67124,0
$CFSIZE,260034560,255397888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.141,0.16,1
$GPS,260816,101804,2759.040,-8727.916,10,1.3,37,-1.0,0.7,331.7,7,4.6