version: 66.13
glider: 178
mission: 22
dive: 38
start: 8 28 116 1 0 47
data:
$ID,178
$MISSION,22
$DIVE,38
$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,140
$T_MISSION,170
$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,59
$R_STBD_OVSHOOT,52
$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
$GPS1,280816,005635,2801.6785,-8729.9736,41,1.1,41,-1.0,0.5,41.6,8,8.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-59.8
$GPS2,280816,010028,2801.6968,-8729.9766,10,1.3,14,-1.0,0.4,346.4,7,5.2
$SPEED_LIMITS,0.206,0.347
$TGT_NAME,NORTHLINE
$TGT_LATLONG,2803.000,-8730.043
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,356.7,2416,-28.0,-11.905,-30.00,1057
$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,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
$GC,6,-1.27,-81.9,140,2495,899,811,0.0,0.0,0,101,0.00,0.00,-92.22,0.000,16386,0.000,0.000,139,2494,3156,3199,3113,0,0,0,0,0,0,26.93,28.83,26.99
$GC,103,-1.32,-109.7,138,2495,3202,3114,3.6,-9.2,15,123,6.20,2.08,-3.80,0.000,18724,0.208,1.278,1811,3759,3351,3418,3284,0,0,0,0,0,0,26.64,25.75,26.99
$GC,272,-1.32,-109.7,1809,3760,3425,3285,59.2,-23.2,44,279,0.00,1.95,0.00,0.000,1030,0.000,0.026,1811,2468,3354,3424,3285,0,0,0,0,0,0,27.02,26.92,27.02
$GC,578,-1.32,-109.7,1810,2469,3433,3285,114.0,-16.7,75,579,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2468,3357,3431,3284,0,0,0,0,0,0,27.21,27.28,27.27
$GC,879,-1.32,-109.7,1810,2469,3437,3285,160.0,-14.9,105,880,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2468,3359,3435,3284,0,0,0,0,0,0,27.32,27.39,27.38
$GC,1199,-1.32,-109.7,1812,2468,3437,3285,205.0,-13.7,135,1200,0.00,0.00,0.00,0.000,6,0.000,0.000,1811,2468,3360,3437,3284,0,0,0,0,0,0,27.38,27.45,27.44
$GC,1498,-1.32,-109.7,1810,2469,3439,3285,247.3,-14.0,145,1502,0.00,2.03,0.00,0.000,516,0.000,0.032,1811,1091,3361,3438,3285,0,0,0,0,0,0,27.42,27.28,27.48
$GC,1547,-1.32,-109.7,1812,1087,3438,3286,251.4,-13.9,146,1551,0.00,2.10,0.00,0.000,1030,0.000,0.031,1804,2460,3361,3438,3285,0,0,0,0,0,0,27.45,27.29,27.48
$GC,1858,-1.32,-109.7,1803,2461,3438,3285,297.8,-14.0,157,1861,0.00,2.08,0.00,0.000,516,0.000,0.033,1803,1060,3361,3438,3284,0,0,0,0,0,0,27.46,27.32,27.51
$GC,1922,-1.32,-109.7,1802,1061,3440,3286,306.5,-14.1,159,1926,0.10,2.17,0.00,0.000,3078,0.160,0.032,1823,2479,3361,3438,3284,0,0,0,0,0,0,27.15,27.35,27.48
$GC,2248,-1.32,-109.7,1824,2480,3437,3285,350.0,-13.4,170,2251,0.00,2.08,0.00,0.000,516,0.000,0.033,1823,1081,3361,3437,3285,0,0,0,0,0,0,27.46,27.33,27.53
$GC,2399,-1.32,-109.7,1824,1083,3436,3285,370.7,-13.8,175,2403,0.00,2.10,0.00,0.000,1030,0.000,0.033,1815,2489,3357,3435,3280,0,0,0,0,0,0,27.53,27.32,27.54
$GC,2728,-1.32,-109.7,1816,2490,3433,3285,415.8,-13.4,186,2732,0.00,2.12,0.00,0.000,516,0.000,0.034,1815,1066,3359,3434,3285,0,0,0,0,0,0,27.44,27.35,27.51
$GC,2943,-1.32,-109.7,1815,1067,3429,3285,445.0,-13.7,193,2946,0.00,2.15,0.00,0.000,1030,0.000,0.032,1805,2469,3357,3430,3284,0,0,0,0,0,0,27.55,27.34,27.55
$GC,3268,-1.32,-109.7,1806,2469,3428,3282,490.0,-13.4,204,3271,0.00,2.10,0.00,0.000,516,0.000,0.034,1805,1089,3355,3428,3282,0,0,0,0,0,0,27.50,27.36,27.57
$STATE,3356,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3356,begin apogee
$GC,3362,-0.20,0.0,1795,2611,3427,3282,502.4,-13.7,207,3454,1.23,0.00,88.93,0.929,10246,0.142,0.000,2180,2610,2899,2977,2822,0,0,0,0,0,0,27.21,26.12,25.34
$STATE,3455,end apogee,CONTROL_FINISHED_OK
$STATE,3455,begin climb
$GC,3457,1.32,109.7,2179,2611,2978,2823,505.0,0.0,210,3554,1.40,0.00,92.80,0.908,10502,0.060,0.000,2682,2610,2452,2522,2382,0,0,0,0,0,0,26.02,25.79,25.06
$GC,3838,1.32,109.7,2681,2611,2514,2374,445.7,17.9,223,3841,0.00,2.12,0.00,0.000,516,0.000,0.025,2692,1196,2442,2512,2373,0,0,0,0,0,0,26.88,26.78,26.95
$GC,3983,1.32,109.7,2692,1196,2510,2372,424.3,17.8,227,3990,0.00,2.15,0.00,0.000,1030,0.000,0.029,2692,2613,2439,2509,2370,0,0,0,0,0,0,27.07,26.89,27.08
$GC,4288,1.32,109.7,2692,2614,2506,2370,366.8,17.0,238,4291,0.00,2.10,0.00,0.000,516,0.000,0.025,2702,1202,2438,2507,2370,0,0,0,0,0,0,27.14,27.06,27.21
$GC,4408,1.32,109.7,2703,1202,2505,2368,346.9,16.6,242,4411,0.00,2.12,0.00,0.000,1030,0.000,0.028,2702,2622,2436,2505,2368,0,0,0,0,0,0,27.27,27.10,27.29
$GC,4738,1.32,109.7,2703,2622,2502,2367,289.7,17.5,253,4741,0.00,2.10,0.00,0.000,516,0.000,0.025,2711,1199,2437,2502,2373,0,0,0,0,0,0,27.26,27.19,27.33
$GC,4837,1.32,109.7,2712,1200,2503,2366,274.6,17.0,256,4841,0.12,2.12,0.00,0.000,5126,0.164,0.028,2676,2599,2433,2501,2365,0,0,0,0,0,0,27.00,27.20,27.31
$GC,5158,1.32,109.7,2681,2600,2499,2364,223.1,15.6,267,5161,0.00,2.08,0.00,0.000,516,0.000,0.024,2683,1192,2431,2499,2363,0,0,0,0,0,0,27.32,27.25,27.39
$GC,5243,1.32,109.7,2684,1190,2498,2362,213.4,15.7,269,5250,0.00,2.15,0.00,0.000,1030,0.000,0.028,2683,2605,2429,2498,2361,0,0,0,0,0,0,27.37,27.24,27.39
$GC,5548,1.32,109.7,2683,2606,2498,2361,158.2,16.1,296,5549,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2605,2428,2496,2361,0,0,0,0,0,0,27.35,27.43,27.42
$GC,5849,1.32,109.7,2683,2606,2497,2361,112.2,15.5,326,5850,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2605,2428,2495,2361,0,0,0,0,0,0,27.38,27.46,27.45
$GC,6149,1.32,109.7,2684,2606,2494,2360,74.2,12.0,356,6152,0.00,2.05,0.00,0.000,516,0.000,0.023,2694,1195,2427,2495,2360,0,0,0,0,0,0,27.43,27.32,27.50
$GC,6233,1.40,156.3,2693,1195,2495,2360,67.3,7.4,364,6275,0.00,2.10,33.42,0.633,9254,0.000,0.024,2694,2635,2260,2327,2194,0,0,0,0,0,0,27.46,27.32,26.27
$GC,6573,1.52,220.4,2693,2635,2321,2188,35.5,5.7,415,6629,0.12,0.00,49.17,0.618,10790,0.080,0.000,2756,2635,2000,2067,1934,0,0,0,0,0,0,27.10,26.55,25.92
$GC,6809,1.55,239.1,2756,2636,2063,1927,12.6,10.1,460,6828,0.00,2.15,15.27,0.565,8740,0.000,0.021,2767,1188,1923,1991,1855,0,0,0,0,0,0,26.91,26.70,26.09
$STATE,6902,end climb,SURFACE_DEPTH_REACHED
$STATE,6902,begin surface coast
$FINISH,0.1,1.022197
$STATE,6922,end surface coast,CONTROL_FINISHED_OK
$STATE,6922,begin surface
$SM_CCo,6942,107.10,0.060,0,0,860,500.17
$SM_GC,0.52,6.80,1.98,107.10,0.038,0.028,0.060,140,2464,860,-6.50,-1.75,500.17,0,0,0,0,0,0,26.83,26.82,26.75
$IRIDIUM_FIX,2722.64,-8719.43,280816,005745
$TT8_MAMPS,0.062167,0.174517
$HUMID,96.19
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,24.10
$BR_FREEKB,7885536
$24V_AH,25.06,5.419
$10V_AH,10.49,3.639
$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,15.975,50.525,279.600,107.100,0.000,0.000,0.000,155.150,0.000,0.000,16.772,0.000,5136.560,479.678,1565.284,104.891,0.000,1183.359,0.000,1006.449,0.000,0.000,0.000
$DEVICE_MAMPS,208.080,1277.550,929.475,60.435,0.000,0.000,0.000,84.150,0.000,0.000,30.710,0.000,0.390,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,BRB,nil,nil,nil
$SENSOR_SECS,322.416,0.000,0.000,0.000,0.000,0.000,7307.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,10.539,0.000,0.000,0.000
$MEM,287096
$DATA_FILE_SIZE,20186,482
$CAP_FILE_SIZE,72185,0
$CFSIZE,260034560,254599168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.130,357.78,1
$GPS,280816,025903,2803.065,-8729.974,9,2.0,24,-1.0,0.2,284.4,7,4.5