version: 66.13
glider: 178
mission: 22
dive: 24
start: 8 27 116 3 3 47
data:
$ID,178
$MISSION,22
$DIVE,24
$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,50
$R_STBD_OVSHOOT,46
$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
$GPS1,270816,025827,2804.3101,-8729.8203,8,1.5,35,-1.0,0.8,285.8,8,4.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-55.9
$GPS2,270816,030329,2804.3428,-8729.8496,9,1.4,14,-1.0,0.0,28.5,7,5.3
$SPEED_LIMITS,0.192,0.338
$TGT_NAME,NODE
$TGT_LATLONG,2801.529,-8730.043
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,176.6,5221,-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,-243.3,130,2494,892,815,0.0,0.0,0,103,0.00,0.00,-93.75,0.000,16386,0.000,0.000,128,2493,3154,3198,3111,0,0,0,0,0,0,26.94,28.83,27.00
$GC,106,-1.05,-243.3,128,2494,3199,3112,3.6,-8.3,15,132,6.55,2.22,-14.02,0.000,18980,0.208,1.249,1906,1080,3896,3967,3825,0,0,0,0,0,0,26.72,25.84,27.00
$GC,241,-1.05,-243.3,1906,1080,3971,3827,45.5,-24.8,41,249,0.00,2.15,0.00,0.000,1030,0.000,0.034,1899,2474,3898,3970,3826,0,0,0,0,0,0,27.06,26.62,27.03
$GC,429,-1.05,-243.3,1899,2475,3973,3827,84.7,-18.1,61,433,0.00,2.08,0.00,0.000,516,0.000,0.031,1898,1073,3900,3974,3826,0,0,0,0,0,0,27.28,27.14,27.35
$GC,503,-1.05,-243.3,1899,1074,3974,3827,97.4,-17.7,68,510,0.00,2.12,0.00,0.000,1030,0.000,0.032,1888,2471,3900,3974,3826,0,0,0,0,0,0,27.34,27.19,27.39
$GC,808,-1.05,-243.3,1889,2472,3978,3828,150.4,-16.4,99,812,0.00,2.03,0.00,0.000,260,0.000,0.048,1879,3771,3903,3978,3828,0,0,0,0,0,0,27.42,27.24,27.48
$GC,829,-1.05,-243.3,1875,3771,3979,3835,154.0,-17.0,101,832,0.12,1.88,0.00,0.000,3078,0.163,0.028,1909,2458,3902,3978,3827,0,0,0,0,0,0,27.14,27.34,27.49
$GC,1138,-1.05,-243.3,1908,2459,3982,3829,199.2,-14.2,132,1142,0.00,2.05,0.00,0.000,516,0.000,0.032,1909,1089,3904,3981,3828,0,0,0,0,0,0,27.49,27.36,27.56
$GC,1260,-1.05,-243.3,1910,1090,3981,3829,216.1,-14.0,137,1263,0.00,2.05,0.00,0.000,1030,0.000,0.031,1903,2478,3905,3981,3829,0,0,0,0,0,0,27.55,27.37,27.58
$GC,1584,-1.05,-243.3,1904,2480,3980,3829,262.0,-14.0,148,1584,0.00,0.00,0.00,0.000,6,0.000,0.000,1903,2479,3904,3981,3828,0,0,0,0,0,0,27.51,27.58,27.58
$STATE,1852,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1852,begin apogee
$GC,1856,-0.20,0.0,1903,2616,3980,3829,300.2,-14.3,157,2046,0.85,0.00,186.12,0.786,10246,0.113,0.000,2186,2615,2900,2981,2820,0,0,0,0,0,0,27.29,26.19,25.48
$STATE,2046,end apogee,CONTROL_FINISHED_OK
$STATE,2046,begin climb
$GC,2048,1.05,243.3,2188,2615,2980,2819,307.1,0.0,163,2246,1.10,1.90,188.82,0.769,10500,0.062,0.047,2591,3768,1908,1981,1835,0,0,0,0,0,0,26.11,26.01,25.46
$GC,2337,1.05,243.3,2590,3768,1980,1829,263.9,21.4,173,2340,0.00,1.70,0.00,0.000,1030,0.000,0.021,2600,2550,1903,1977,1829,0,0,0,0,0,0,26.86,26.76,26.87
$GC,2666,1.05,243.3,2600,2539,1975,1824,195.7,20.0,184,2669,0.00,1.92,0.00,0.000,516,0.000,0.027,2610,1248,1898,1973,1823,0,0,0,0,0,0,27.28,27.13,27.32
$GC,2730,1.05,243.3,2609,1249,1973,1824,184.0,19.5,190,2738,0.00,2.05,0.00,0.000,1030,0.000,0.028,2610,2601,1897,1972,1823,0,0,0,0,0,0,27.30,27.17,27.32
$GC,3036,1.05,243.3,2610,2602,1967,1821,121.1,20.0,221,3039,0.00,1.98,0.00,0.000,516,0.000,0.025,2619,1251,1894,1969,1820,0,0,0,0,0,0,27.36,27.26,27.43
$GC,3136,1.05,243.3,2620,1251,1967,1819,102.6,18.2,231,3140,0.08,2.05,0.00,0.000,5126,0.145,0.029,2579,2612,1891,1964,1818,0,0,0,0,0,0,27.12,27.27,27.41
$GC,3446,1.05,243.3,2578,2612,1965,1818,55.6,12.5,262,3449,0.00,2.00,0.00,0.000,516,0.000,0.026,2587,1240,1891,1965,1817,0,0,0,0,0,0,27.36,27.27,27.43
$GC,3526,1.06,250.8,2587,1239,1963,1815,46.9,10.9,272,3534,0.00,2.00,4.00,0.410,9254,0.000,0.028,2587,2606,1879,1953,1805,0,0,0,0,0,0,27.48,27.31,26.60
$GC,3713,1.24,347.7,2587,2607,1952,1804,28.3,8.1,309,3795,0.17,2.05,76.25,0.602,10788,0.060,0.024,2700,1256,1480,1551,1410,0,0,0,0,0,0,27.29,26.51,25.97
$STATE,3903,end climb,SURFACE_DEPTH_REACHED
$STATE,3903,begin surface coast
$FINISH,-0.1,1.022342
$STATE,3918,end surface coast,CONTROL_FINISHED_OK
$STATE,3918,begin surface
$SM_CCo,3937,60.25,0.057,0,0,860,500.17
$SM_GC,0.58,6.53,1.88,60.25,0.032,0.028,0.057,141,2468,860,-6.50,-1.58,500.17,0,0,0,0,0,0,26.94,26.93,26.89
$IRIDIUM_FIX,2722.64,-8719.43,270816,030010
$TT8_MAMPS,0.063665,0.223202
$HUMID,95.00
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,23.90
$BR_FREEKB,7890816
$24V_AH,25.46,3.894
$10V_AH,10.51,2.945
$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,15.400,36.275,455.200,60.250,0.000,0.000,0.000,191.625,0.000,0.000,17.172,0.000,2493.095,553.562,1149.479,87.018,0.000,1158.435,0.000,662.155,0.000,0.000,0.000
$DEVICE_MAMPS,208.080,1249.245,785.655,57.375,0.000,0.000,0.000,80.325,0.000,0.000,30.710,0.000,0.390,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,BRB,nil,nil,nil
$SENSOR_SECS,229.182,0.000,0.000,0.000,0.000,0.000,4352.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,9.480,0.000,0.000,0.000
$MEM,287568
$DATA_FILE_SIZE,13480,347
$CAP_FILE_SIZE,52124,0
$CFSIZE,260034560,255123456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.145,358.74,1
$GPS,270816,041127,2803.997,-8729.762,13,1.8,40,-1.0,0.6,305.6,8,4.7