version: 66.13
glider: 178
mission: 22
dive: 21
start: 8 26 116 14 29 48
data:
$ID,178
$MISSION,22
$DIVE,21
$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,58
$R_STBD_OVSHOOT,41
$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
$GPS1,260816,142503,2759.9048,-8728.1660,12,1.7,39,-1.0,0.5,14.1,9,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-58.2
$GPS2,260816,142930,2759.9624,-8728.1465,11,1.1,11,-1.0,0.1,349.7,8,8.6
$SPEED_LIMITS,0.192,0.338
$TGT_NAME,NODE
$TGT_LATLONG,2801.529,-8730.043
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,301.1,4246,-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,-243.3,122,2489,899,814,0.0,0.0,0,103,0.00,0.00,-93.50,0.000,16386,0.000,0.000,122,2488,3193,3239,3148,0,0,0,0,0,0,26.92,28.83,26.99
$GC,106,-1.05,-243.3,124,2490,3239,3148,3.5,-8.3,15,131,6.55,2.20,-13.02,0.000,18980,0.207,1.271,1907,1090,3893,3963,3824,0,0,0,0,0,0,26.64,25.86,26.89
$GC,346,-1.05,-243.3,1904,1090,3969,3827,67.3,-19.4,53,353,0.00,2.12,0.00,0.000,1030,0.000,0.033,1900,2470,3897,3968,3826,0,0,0,0,0,0,27.12,26.99,27.14
$GC,651,-1.05,-243.3,1899,2470,3976,3827,125.9,-16.9,84,652,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,2470,3900,3974,3826,0,0,0,0,0,0,27.27,27.34,27.33
$GC,952,-1.05,-243.3,1899,2470,3979,3827,173.4,-14.8,114,955,0.00,2.08,0.00,0.000,516,0.000,0.034,1899,1087,3901,3977,3826,0,0,0,0,0,0,27.36,27.22,27.42
$GC,1026,-1.05,-243.3,1900,1088,3977,3827,184.5,-14.6,121,1029,0.00,2.10,0.00,0.000,1030,0.000,0.034,1891,2480,3904,3977,3832,0,0,0,0,0,0,27.39,27.22,27.40
$GC,1346,-1.05,-243.3,1891,2481,3977,3827,231.6,-14.4,139,1350,0.00,2.08,0.00,0.000,516,0.000,0.034,1890,1087,3902,3977,3827,0,0,0,0,0,0,27.42,27.28,27.48
$GC,1391,-1.05,-243.3,1891,1088,3977,3827,236.0,-14.3,140,1394,0.00,2.12,0.00,0.000,1030,0.000,0.035,1882,2471,3902,3977,3827,0,0,0,0,0,0,27.45,27.28,27.48
$GC,1706,-1.05,-243.3,1880,2472,3978,3828,285.9,-15.0,151,1707,0.12,0.00,0.00,0.000,2054,0.167,0.000,1913,2471,3902,3977,3827,0,0,0,0,0,0,27.21,27.53,27.53
$GC,2006,-1.05,-243.3,1911,2472,3979,3828,325.9,-13.2,161,2007,0.00,0.00,0.00,0.000,6,0.000,0.000,1912,2471,3901,3976,3826,0,0,0,0,0,0,27.48,27.55,27.55
$GC,2306,-1.05,-243.3,1913,2472,3975,3828,365.1,-13.0,171,2307,0.00,0.00,0.00,0.000,6,0.000,0.000,1913,2471,3901,3975,3827,0,0,0,0,0,0,27.52,27.58,27.56
$GC,2606,-1.05,-243.3,1912,2472,3973,3828,404.9,-13.6,181,2610,0.00,2.08,0.00,0.000,516,0.000,0.035,1912,1080,3899,3971,3827,0,0,0,0,0,0,27.51,27.38,27.58
$GC,2656,-1.05,-243.3,1911,1081,3971,3828,409.1,-13.7,182,2659,0.00,2.15,0.00,0.000,1030,0.000,0.036,1905,2476,3898,3970,3827,0,0,0,0,0,0,27.53,27.38,27.56
$GC,2966,-1.05,-243.3,1905,2477,3967,3826,454.4,-13.7,193,2969,0.00,2.08,0.00,0.000,516,0.000,0.035,1906,1083,3896,3967,3826,0,0,0,0,0,0,27.52,27.39,27.58
$GC,2996,-1.05,-243.3,1905,1084,3968,3826,458.4,-13.5,194,3000,0.00,2.10,0.00,0.000,1030,0.000,0.037,1898,2477,3895,3966,3825,0,0,0,0,0,0,27.58,27.38,27.59
$STATE,3324,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3325,begin apogee
$GC,3329,-0.20,0.0,1897,2608,3966,3823,503.5,-13.4,205,3524,0.88,0.00,191.27,0.942,10246,0.119,0.000,2186,2607,2902,2983,2821,0,0,0,0,0,0,27.29,25.77,24.97
$STATE,3525,end apogee,CONTROL_FINISHED_OK
$STATE,3525,begin climb
$GC,3527,1.05,243.3,2187,2608,2981,2821,510.0,0.0,211,3735,1.12,2.00,198.05,0.929,10500,0.066,0.052,2588,3767,1906,1981,1832,0,0,0,0,0,0,25.72,25.55,24.91
$GC,3761,1.05,243.3,2588,3766,1979,1832,485.4,15.3,219,3765,0.00,1.83,0.00,0.000,1030,0.000,0.024,2597,2572,1905,1978,1832,0,0,0,0,0,0,26.13,26.04,26.17
$GC,4076,1.05,243.3,2597,2568,1975,1826,422.9,18.7,230,4079,0.00,2.03,0.00,0.000,516,0.000,0.030,2607,1215,1898,1973,1824,0,0,0,0,0,0,26.92,26.80,26.99
$GC,4166,1.05,243.3,2608,1215,1972,1824,406.4,18.4,233,4170,0.00,2.15,0.00,0.000,1030,0.000,0.032,2607,2599,1898,1973,1823,0,0,0,0,0,0,27.03,26.89,27.07
$GC,4496,1.05,243.3,2606,2600,1972,1822,341.0,20.0,244,4499,0.00,2.05,0.00,0.000,516,0.000,0.029,2617,1231,1895,1970,1821,0,0,0,0,0,0,27.19,27.06,27.26
$GC,4561,1.05,243.3,2616,1231,1971,1820,329.1,20.0,246,4565,0.00,2.12,0.00,0.000,1030,0.000,0.032,2617,2607,1894,1969,1819,0,0,0,0,0,0,27.24,27.09,27.25
$GC,4886,1.05,243.3,2618,2608,1966,1819,258.9,21.6,257,4890,0.12,2.05,0.00,0.000,4612,0.177,0.028,2596,1226,1893,1967,1819,0,0,0,0,0,0,27.03,27.17,27.37
$GC,4940,1.05,243.3,2595,1227,1968,1819,253.0,21.1,258,4948,0.00,2.10,0.00,0.000,1030,0.000,0.031,2596,2597,1892,1966,1818,0,0,0,0,0,0,27.34,27.19,27.36
$GC,5246,1.05,243.3,2595,2598,1965,1818,188.2,19.8,273,5249,0.00,2.03,0.00,0.000,516,0.000,0.028,2606,1230,1890,1964,1817,0,0,0,0,0,0,27.36,27.23,27.43
$GC,5341,1.05,243.3,2606,1230,1962,1817,171.4,18.8,282,5349,0.00,2.10,0.00,0.000,1030,0.000,0.031,2606,2604,1890,1964,1816,0,0,0,0,0,0,27.41,27.26,27.43
$GC,5646,1.05,243.3,2606,2605,1962,1817,110.7,18.9,313,5649,0.00,2.08,0.00,0.000,516,0.000,0.028,2616,1198,1889,1962,1816,0,0,0,0,0,0,27.37,27.30,27.43
$GC,5831,1.05,243.3,2617,1198,1961,1814,80.8,16.3,331,5839,0.08,2.12,0.00,0.000,5126,0.132,0.029,2590,2605,1887,1961,1814,0,0,0,0,0,0,27.19,27.32,27.45
$GC,6136,1.12,279.9,2590,2606,1962,1814,40.6,10.0,370,6167,0.00,0.00,26.85,0.634,8486,0.000,0.000,2590,2605,1757,1829,1686,0,0,0,0,0,0,27.45,27.08,26.38
$GC,6347,1.33,396.4,2591,2607,1824,1681,20.9,7.5,411,6446,0.25,2.10,91.15,0.617,10788,0.047,0.023,2728,1222,1281,1348,1215,0,0,0,0,0,0,27.15,26.19,25.63
$STATE,6466,end climb,SURFACE_DEPTH_REACHED
$STATE,6466,begin surface coast
$FINISH,-0.2,1.022335
$STATE,6480,end surface coast,CONTROL_FINISHED_OK
$STATE,6480,begin surface
$SM_CCo,6500,41.92,0.060,0,0,861,500.17
$SM_GC,0.52,6.68,1.98,41.92,0.029,0.031,0.060,149,2465,861,-6.47,-1.50,500.17,0,0,0,0,0,0,26.46,26.41,26.48
$IRIDIUM_FIX,2722.64,-8719.43,260816,142612
$TT8_MAMPS,0.065163,0.223951
$HUMID,96.58
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,23.60
$BR_FREEKB,7900192
$24V_AH,24.91,3.396
$10V_AH,10.41,2.488
$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,15.800,50.000,507.325,41.925,0.000,0.000,0.000,191.475,0.000,0.000,14.132,0.000,4706.412,592.576,1402.175,109.179,0.000,1310.914,0.000,860.861,0.000,0.000,0.000
$DEVICE_MAMPS,206.550,1270.665,942.480,60.435,0.000,0.000,0.000,82.620,0.000,0.000,30.710,0.000,0.390,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,BRB,nil,nil,nil
$SENSOR_SECS,288.435,0.000,0.000,0.000,0.000,0.000,6895.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,10.683,0.000,0.000,0.000
$MEM,287776
$DATA_FILE_SIZE,16811,434
$CAP_FILE_SIZE,67036,0
$CFSIZE,260034560,255275008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.083,2.95,1
$GPS,260816,161957,2800.901,-8729.273,12,1.4,45,-1.0,0.2,108.2,7,4.8