version: 66.13
glider: 178
mission: 22
dive: 19
start: 8 26 116 10 23 5
data:
$ID,178
$MISSION,22
$DIVE,19
$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,90
$R_STBD_OVSHOOT,40
$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
$GPS1,260816,101804,2759.0398,-8727.9160,10,1.3,37,-1.0,0.7,331.7,7,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-57.6
$GPS2,260816,102246,2759.1162,-8727.9238,14,1.6,30,-1.0,0.7,12.9,7,4.6
$SPEED_LIMITS,0.192,0.338
$TGT_NAME,DRIFTSTART
$TGT_LATLONG,2757.000,-8725.800
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,155.6,5238,-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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-1.05,-243.3,128,2492,899,812,0.0,0.0,0,102,0.00,0.00,-92.18,0.000,16386,0.000,0.000,129,2492,3146,3190,3102,0,0,0,0,0,0,26.91,28.83,26.98
$GC,104,-1.05,-243.3,129,2492,3194,3103,3.2,-7.3,15,130,6.55,2.22,-14.12,0.000,18980,0.210,1.279,1903,1112,3895,3965,3825,0,0,0,0,0,0,26.64,25.87,26.98
$GC,295,-1.05,-243.3,1901,1113,3969,3827,56.8,-20.2,48,302,0.00,2.12,0.00,0.000,1030,0.000,0.036,1894,2483,3897,3967,3827,0,0,0,0,0,0,27.10,26.94,27.13
$GC,600,-1.05,-243.3,1894,2479,3975,3828,118.0,-18.1,79,601,0.00,0.00,0.00,0.000,6,0.000,0.000,1894,2479,3900,3973,3827,0,0,0,0,0,0,27.24,27.31,27.30
$GC,901,-1.05,-243.3,1896,2480,3976,3828,166.0,-15.3,109,902,0.00,0.00,0.00,0.000,6,0.000,0.000,1895,2479,3902,3977,3827,0,0,0,0,0,0,27.33,27.40,27.39
$GC,1211,-1.05,-243.3,1894,2479,3979,3825,213.5,-15.1,134,1214,0.00,2.05,0.00,0.000,516,0.000,0.036,1894,1117,3902,3977,3828,0,0,0,0,0,0,27.39,27.25,27.45
$GC,1290,-1.05,-243.3,1896,1117,3979,3829,222.8,-15.1,136,1293,0.00,2.10,0.00,0.000,1030,0.000,0.038,1888,2472,3905,3977,3833,0,0,0,0,0,0,27.41,27.27,27.45
$GC,1600,-1.05,-243.3,1887,2473,3979,3829,272.3,-15.0,147,1601,0.00,0.00,0.00,0.000,6,0.000,0.000,1888,2473,3902,3977,3828,0,0,0,0,0,0,27.43,27.51,27.50
$GC,1900,-1.05,-243.3,1889,2473,3977,3828,316.5,-14.6,157,1901,0.00,0.00,0.00,0.000,6,0.000,0.000,1888,2472,3902,3977,3828,0,0,0,0,0,0,27.46,27.54,27.53
$GC,2200,-1.05,-243.3,1889,2473,3974,3828,361.0,-14.7,167,2203,0.00,2.03,0.00,0.000,516,0.000,0.039,1887,1121,3901,3975,3827,0,0,0,0,0,0,27.48,27.34,27.55
$GC,2275,-1.05,-243.3,1887,1121,3976,3828,370.1,-15.0,169,2279,0.10,2.10,0.00,0.000,3078,0.138,0.039,1911,2473,3900,3974,3827,0,0,0,0,0,0,27.24,27.35,27.51
$GC,2590,-1.05,-243.3,1910,2474,3972,3828,413.8,-13.2,180,2591,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,2473,3898,3970,3827,0,0,0,0,0,0,27.50,27.58,27.56
$GC,2890,-1.05,-243.3,1912,2474,3967,3828,452.7,-13.0,190,2893,0.00,2.08,0.00,0.000,516,0.000,0.038,1912,1123,3897,3967,3827,0,0,0,0,0,0,27.51,27.39,27.57
$GC,2945,-1.05,-243.3,1911,1123,3968,3827,456.6,-13.0,191,2952,0.00,2.10,0.00,0.000,1030,0.000,0.038,1906,2478,3896,3967,3826,0,0,0,0,0,0,27.53,27.36,27.56
$STATE,3249,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3249,begin apogee
$GC,3253,-0.20,0.0,1907,2620,3964,3824,501.4,-13.7,202,3448,0.82,0.00,191.98,0.944,10246,0.120,0.000,2181,2619,2902,2982,2822,0,0,0,0,0,0,27.29,25.73,24.95
$STATE,3449,end apogee,CONTROL_FINISHED_OK
$STATE,3449,begin climb
$GC,3451,1.05,243.3,2182,2620,2981,2822,508.9,0.0,208,3659,1.15,2.00,198.62,0.926,10500,0.070,0.053,2587,3775,1907,1982,1832,0,0,0,0,0,0,25.66,25.52,24.87
$GC,3736,1.05,243.3,2588,3775,1975,1831,473.1,18.5,218,3739,0.00,1.73,0.00,0.000,1030,0.000,0.024,2596,2591,1902,1975,1830,0,0,0,0,0,0,26.41,26.31,26.42
$GC,4060,1.05,243.3,2597,2588,1973,1825,410.5,18.8,229,4063,0.00,2.00,0.00,0.000,516,0.000,0.029,2604,1249,1898,1972,1825,0,0,0,0,0,0,26.95,26.83,27.02
$GC,4180,1.05,243.3,2605,1250,1971,1824,388.4,18.4,233,4184,0.00,2.10,0.00,0.000,1030,0.000,0.033,2605,2635,1897,1972,1823,0,0,0,0,0,0,27.10,26.92,27.11
$GC,4510,1.05,243.3,2605,2636,1971,1821,323.7,19.4,244,4513,0.00,2.08,0.00,0.000,516,0.000,0.030,2615,1249,1895,1969,1821,0,0,0,0,0,0,27.20,27.08,27.27
$GC,4600,1.05,243.3,2616,1250,1969,1820,306.2,19.6,247,4604,0.00,2.08,0.00,0.000,1030,0.000,0.033,2615,2595,1894,1969,1819,0,0,0,0,0,0,27.25,27.11,27.30
$GC,4930,1.05,243.3,2614,2596,1968,1819,238.3,20.7,258,4933,0.00,2.03,0.00,0.000,516,0.000,0.030,2625,1234,1892,1966,1819,0,0,0,0,0,0,27.31,27.17,27.38
$GC,4980,1.05,243.3,2624,1233,1968,1819,232.2,20.8,259,4984,0.10,2.10,0.00,0.000,5126,0.155,0.033,2593,2604,1892,1966,1818,0,0,0,0,0,0,27.05,27.18,27.35
$GC,5291,1.05,243.3,2593,2605,1965,1818,168.8,19.6,280,5295,0.00,2.03,0.00,0.000,516,0.000,0.029,2601,1247,1890,1964,1816,0,0,0,0,0,0,27.36,27.24,27.43
$GC,5360,1.05,243.3,2601,1247,1963,1817,156.2,19.1,286,5367,0.00,2.05,0.00,0.000,1030,0.000,0.031,2601,2593,1889,1963,1816,0,0,0,0,0,0,27.40,27.26,27.43
$GC,5665,1.05,243.3,2600,2593,1965,1817,97.7,17.1,317,5669,0.00,2.05,0.00,0.000,516,0.000,0.029,2611,1240,1889,1962,1817,0,0,0,0,0,0,27.40,27.27,27.48
$GC,5730,1.05,243.3,2610,1240,1963,1816,87.6,16.8,323,5737,0.00,2.08,0.00,0.000,1030,0.000,0.031,2611,2600,1888,1961,1815,0,0,0,0,0,0,27.43,27.29,27.48
$GC,6035,1.05,243.3,2610,2601,1963,1814,42.3,12.3,360,6042,0.00,2.00,0.00,0.000,516,0.000,0.028,2620,1235,1887,1961,1814,0,0,0,0,0,0,27.43,27.32,27.51
$GC,6122,1.19,322.1,2619,1235,1962,1813,33.4,8.7,377,6190,0.00,2.03,59.12,0.632,9254,0.000,0.028,2620,2616,1584,1653,1515,0,0,0,0,0,0,27.49,27.33,26.03
$GC,6370,1.19,322.1,2621,2617,1653,1510,6.7,11.9,424,6376,0.00,1.80,0.00,0.000,260,0.000,0.042,2620,3769,1584,1654,1514,0,0,0,0,0,0,27.00,26.84,27.06
$GC,6396,1.19,322.1,2619,3769,1655,1510,3.5,12.8,429,6403,0.00,1.67,0.00,0.000,1030,0.000,0.021,2629,2603,1581,1654,1509,0,0,0,0,0,0,27.06,26.98,27.08
$STATE,6405,end climb,SURFACE_DEPTH_REACHED
$STATE,6406,begin surface coast
$FINISH,-0.3,1.022189
$STATE,6426,end surface coast,CONTROL_FINISHED_OK
$STATE,6427,begin surface
$SM_CCo,6445,71.10,0.061,0,0,860,500.41
$SM_GC,0.38,6.28,0.10,71.10,0.026,0.076,0.061,144,2502,860,-6.50,2.66,500.41,0,0,0,0,0,0,26.94,26.96,26.85
$IRIDIUM_FIX,2722.64,-8719.43,260816,101910
$TT8_MAMPS,0.061418,0.229943
$HUMID,95.28
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,23.70
$BR_FREEKB,7900448
$24V_AH,24.87,3.131
$10V_AH,10.40,2.366
$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,15.000,48.900,449.725,71.100,0.000,0.000,0.000,192.150,0.000,0.000,32.203,0.000,4681.085,579.820,1437.056,105.213,0.000,1291.694,0.000,864.882,0.000,0.000,0.000
$DEVICE_MAMPS,210.375,1279.080,944.010,61.200,0.000,0.000,0.000,82.620,0.000,0.000,30.710,0.000,0.390,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,BRB,nil,nil,nil
$SENSOR_SECS,289.780,0.000,0.000,0.000,0.000,0.000,6853.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,10.683,0.000,0.000,0.000
$MEM,287800
$DATA_FILE_SIZE,16792,435
$CAP_FILE_SIZE,67703,0
$CFSIZE,260034560,255361024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.131,356.92,1
$GPS,260816,121234,2758.469,-8727.314,8,1.3,30,-1.0,0.7,69.2,8,4.4