version: 66.13
glider: 178
mission: 22
dive: 23
start: 8 27 116 1 50 5
data:
$ID,178
$MISSION,22
$DIVE,23
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$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,90
$T_MISSION,110
$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,3
$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,74
$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
$GPS1,270816,014422,2804.5530,-8729.9316,8,1.4,12,-1.0,0.2,357.6,9,4.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-57.8
$GPS2,270816,014947,2804.5823,-8729.9561,12,1.3,12,-1.0,0.6,289.0,8,9.7
$SPEED_LIMITS,0.192,0.338
$TGT_NAME,NODE
$TGT_LATLONG,2801.529,-8730.043
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,179.3,5657,-15.3,-11.111,-18.18,3349
$D_GRID,300
$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,-243.3,141,2441,894,829,0.0,0.0,0,103,0.00,0.00,-93.50,0.000,16386,0.000,0.000,142,2441,3145,3196,3094,0,0,0,0,0,0,27.12,28.83,27.18
$GC,106,-1.05,-243.3,146,2442,3198,3096,3.6,-5.0,15,132,6.62,2.10,-15.18,0.000,18980,0.216,1.222,1901,1092,3894,3966,3823,0,0,0,0,0,0,26.72,25.93,27.14
$GC,356,-1.05,-243.3,1901,1093,3970,3824,66.9,-20.7,56,363,0.00,2.08,0.00,0.000,1030,0.000,0.031,1894,2464,3895,3968,3823,0,0,0,0,0,0,27.43,27.27,27.46
$GC,662,-1.05,-243.3,1893,2464,3973,3825,121.8,-16.4,87,665,0.00,2.00,0.00,0.000,516,0.000,0.031,1894,1091,3897,3972,3823,0,0,0,0,0,0,27.52,27.36,27.58
$GC,721,-1.05,-243.3,1893,1091,3973,3825,131.3,-15.5,93,725,0.00,2.08,0.00,0.000,1030,0.000,0.031,1885,2474,3898,3972,3824,0,0,0,0,0,0,27.55,27.39,27.58
$GC,1032,-1.05,-243.3,1885,2476,3973,3825,181.3,-15.5,124,1035,0.00,2.03,0.00,0.000,516,0.000,0.031,1885,1082,3898,3973,3824,0,0,0,0,0,0,27.55,27.42,27.62
$GC,1167,-1.05,-243.3,1884,1082,3975,3825,201.4,-16.0,137,1171,0.15,2.05,0.00,0.000,3078,0.158,0.033,1915,2477,3898,3972,3824,0,0,0,0,0,0,27.29,27.42,27.62
$GC,1477,-1.05,-243.3,1916,2478,3970,3825,242.9,-12.9,148,1480,0.00,2.05,0.00,0.000,516,0.000,0.030,1915,1098,3897,3971,3824,0,0,0,0,0,0,27.58,27.45,27.64
$GC,1516,-1.05,-243.3,1916,1098,3971,3824,246.9,-13.0,149,1520,0.00,2.08,0.00,0.000,1030,0.000,0.032,1910,2474,3897,3970,3824,0,0,0,0,0,0,27.59,27.45,27.62
$GC,1837,-1.05,-243.3,1911,2475,3965,3824,290.1,-13.6,160,1840,0.00,2.03,0.00,0.000,516,0.000,0.031,1910,1092,3894,3965,3824,0,0,0,0,0,0,27.31,27.34,27.38
$GC,1867,-1.05,-243.3,1910,1093,3966,3825,294.1,-13.4,161,1870,0.00,2.05,0.00,0.000,1030,0.000,0.033,1908,2476,3894,3964,3824,0,0,0,0,0,0,27.39,27.31,27.39
$STATE,1925,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1925,begin apogee
$GC,1930,-0.20,0.0,1903,2614,3963,3825,302.4,-13.6,163,2117,0.85,0.00,183.82,0.789,10246,0.112,0.000,2186,2613,2899,2982,2817,0,0,0,0,0,0,27.23,26.29,25.53
$STATE,2117,end apogee,CONTROL_FINISHED_OK
$STATE,2117,begin climb
$GC,2119,1.05,243.3,2187,2614,2981,2818,308.7,0.0,169,2319,1.10,1.88,187.70,0.767,10500,0.061,0.047,2592,3759,1906,1981,1832,0,0,0,0,0,0,26.20,26.12,25.52
$GC,2404,1.05,243.3,2592,3759,1979,1829,272.4,19.7,178,2412,0.00,1.67,0.00,0.000,1030,0.000,0.022,2601,2538,1903,1979,1827,0,0,0,0,0,0,26.95,26.86,26.96
$GC,2709,1.05,243.3,2600,2537,1976,1824,202.3,21.0,189,2712,0.00,1.92,0.00,0.000,516,0.000,0.026,2611,1206,1898,1974,1823,0,0,0,0,0,0,27.30,27.19,27.37
$GC,2758,1.05,243.3,2612,1206,1972,1822,192.0,20.5,192,2762,0.00,2.08,0.00,0.000,1030,0.000,0.029,2611,2608,1897,1972,1822,0,0,0,0,0,0,27.41,27.22,27.41
$GC,3068,1.05,243.3,2612,2609,1966,1819,129.6,20.0,223,3072,0.00,2.05,0.00,0.000,516,0.000,0.025,2621,1202,1893,1968,1818,0,0,0,0,0,0,27.45,27.32,27.51
$GC,3188,1.05,243.3,2621,1202,1966,1817,106.7,18.0,235,3192,0.12,2.08,0.00,0.000,5126,0.162,0.028,2590,2615,1891,1966,1816,0,0,0,0,0,0,27.16,27.29,27.46
$GC,3498,1.05,243.3,2591,2615,1962,1814,56.3,14.2,266,3502,0.00,2.05,0.00,0.000,516,0.000,0.026,2597,1203,1886,1962,1810,0,0,0,0,0,0,27.41,27.33,27.48
$GC,3573,1.05,243.3,2597,1204,1963,1812,47.4,11.3,275,3581,0.00,2.10,0.00,0.000,1030,0.000,0.027,2598,2602,1888,1965,1811,0,0,0,0,0,0,27.33,27.27,27.33
$GC,3761,1.18,316.3,2598,2602,1959,1811,27.3,8.9,312,3822,0.00,2.08,53.47,0.607,8996,0.000,0.026,2606,1209,1608,1679,1537,0,0,0,0,0,0,27.39,26.72,26.15
$GC,3883,1.33,400.4,2605,1210,1680,1533,17.5,8.5,334,3958,0.20,2.08,64.95,0.588,11302,0.053,0.027,2726,2611,1265,1330,1200,0,0,0,0,0,0,26.99,26.94,25.93
$STATE,3972,end climb,SURFACE_DEPTH_REACHED
$STATE,3972,begin surface coast
$FINISH,0.1,1.010012
$STATE,3987,end surface coast,CONTROL_FINISHED_OK
$STATE,3987,begin surface
$SM_CCo,4005,39.67,0.057,0,0,860,500.17
$SM_GC,0.90,6.55,0.15,39.67,0.025,0.056,0.057,134,2499,860,-6.50,2.32,500.17,0,0,0,0,0,0,26.74,26.71,26.75
$IRIDIUM_FIX,2722.64,-8719.43,270816,014653
$TT8_MAMPS,0.064414,0.170023
$HUMID,93.94
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,24.10
$BR_FREEKB,7891168
$24V_AH,25.52,3.793
$10V_AH,10.62,2.906
$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,15.600,40.825,489.950,39.675,0.000,0.000,0.000,0.000,0.000,0.000,15.035,0.000,2481.694,564.860,989.872,66.078,0.000,1003.279,0.000,687.865,0.000,0.000,0.000
$DEVICE_MAMPS,216.495,1221.705,788.715,57.375,0.000,0.000,0.000,0.000,0.000,0.000,30.710,0.000,0.390,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,BRB,nil,nil,nil
$SENSOR_SECS,231.521,0.000,0.000,0.000,0.000,0.000,4054.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,10.346,0.000,0.000,0.000
$MEM,287552
$DATA_FILE_SIZE,13472,352
$CAP_FILE_SIZE,357336,0
$CFSIZE,260034560,254902272
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,1927.13,0x212b2c,2,24
$CURRENT,0.194,349.56,1
$GPS,270816,025827,2804.310,-8729.820,8,1.5,35,-1.0,0.8,285.8,8,4.4