version: 66.13
glider: 178
mission: 22
dive: 46
start: 8 28 116 16 19 34
data:
$ID,178
$MISSION,22
$DIVE,46
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$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,220
$T_MISSION,240
$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,200
$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,400
$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,4
$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,63
$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
$GPS1,280816,161433,2803.0757,-8729.9092,12,1.4,33,-1.0,0.7,10.4,9,4.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-58.3
$GPS2,280816,161915,2803.1355,-8729.9150,40,1.4,49,-1.0,0.1,357.7,7,5.2
$SPEED_LIMITS,0.157,0.286
$TGT_NAME,SOUTHLINE
$TGT_LATLONG,2800.000,-8730.043
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,180.7,5811,-14.4,-9.091,-17.63,3270
$D_GRID,600
$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,-0.93,-194.6,124,2492,896,815,0.0,0.0,0,102,0.00,0.00,-92.45,0.000,16386,0.000,0.000,123,2492,3193,3239,3147,0,0,0,0,0,0,27.06,28.83,27.13
$GC,105,-0.93,-194.6,122,2492,3247,3149,3.7,-8.3,15,128,6.65,2.20,-9.50,0.000,18980,0.206,1.259,1949,1082,3695,3768,3622,0,0,0,0,0,0,26.70,25.88,27.17
$GC,239,-0.93,-194.6,1949,1083,3772,3624,43.6,-22.0,40,245,0.00,2.08,0.00,0.000,1030,0.000,0.029,1941,2478,3697,3772,3623,0,0,0,0,0,0,27.18,26.94,27.18
$GC,425,-0.93,-194.6,1942,2478,3775,3624,78.0,-17.3,62,425,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,2477,3699,3775,3623,0,0,0,0,0,0,27.22,27.29,27.29
$GC,725,-0.93,-194.6,1942,2478,3780,3625,122.3,-13.4,92,729,0.00,2.08,0.00,0.000,516,0.000,0.028,1941,1073,3702,3781,3624,0,0,0,0,0,0,27.34,27.18,27.41
$GC,784,-0.93,-194.6,1940,1074,3783,3625,129.6,-12.9,97,791,0.00,2.12,0.00,0.000,1030,0.000,0.029,1932,2478,3702,3781,3624,0,0,0,0,0,0,27.43,27.19,27.43
$GC,1089,-0.93,-194.6,1931,2478,3786,3625,169.3,-12.5,128,1093,0.00,2.00,0.00,0.000,260,0.000,0.046,1923,3761,3704,3784,3624,0,0,0,0,0,0,27.42,27.22,27.47
$GC,1154,-0.93,-194.6,1923,3761,3784,3625,177.1,-13.0,134,1161,0.00,1.90,0.00,0.000,1030,0.000,0.024,1923,2457,3704,3784,3624,0,0,0,0,0,0,27.50,27.32,27.51
$GC,1459,-0.93,-194.6,1925,2458,3784,3625,214.5,-12.0,157,1463,0.00,2.05,0.00,0.000,260,0.000,0.046,1912,3769,3704,3784,3624,0,0,0,0,0,0,27.47,27.27,27.53
$GC,1484,-0.93,-194.6,1912,3773,3786,3625,214.5,-12.0,157,1491,0.10,1.90,0.00,0.000,3078,0.129,0.025,1946,2472,3704,3784,3624,0,0,0,0,0,0,27.18,27.36,27.53
$GC,1790,-0.93,-194.6,1947,2473,3784,3624,252.9,-11.4,168,1793,0.00,2.00,0.00,0.000,516,0.000,0.029,1945,1092,3704,3785,3624,0,0,0,0,0,0,27.49,27.32,27.56
$GC,1864,-0.93,-194.6,1945,1093,3785,3625,259.9,-11.5,170,1868,0.00,2.10,0.00,0.000,1030,0.000,0.030,1939,2476,3704,3784,3625,0,0,0,0,0,0,27.56,27.32,27.62
$GC,2179,-0.93,-194.6,1940,2477,3777,3625,297.6,-11.3,181,2183,0.00,2.05,0.00,0.000,516,0.000,0.030,1939,1082,3702,3781,3624,0,0,0,0,0,0,27.52,27.35,27.58
$GC,2214,-0.93,-194.6,1940,1085,3781,3624,301.2,-11.3,182,2218,0.00,2.12,0.00,0.000,1030,0.000,0.030,1930,2479,3702,3781,3624,0,0,0,0,0,0,27.60,27.35,27.60
$GC,2539,-0.93,-194.6,1931,2480,3778,3625,340.4,-11.8,193,2543,0.00,2.05,0.00,0.000,516,0.000,0.030,1930,1089,3701,3778,3624,0,0,0,0,0,0,27.53,27.36,27.60
$GC,2609,-0.93,-194.6,1929,1088,3779,3625,347.6,-11.9,195,2613,0.08,2.10,0.00,0.000,3078,0.140,0.029,1945,2474,3700,3777,3624,0,0,0,0,0,0,27.23,27.37,27.60
$GC,2930,-0.93,-194.6,1944,2475,3775,3625,383.7,-10.9,206,2934,0.00,2.05,0.00,0.000,516,0.000,0.030,1945,1084,3699,3774,3624,0,0,0,0,0,0,27.57,27.38,27.60
$GC,2994,-0.93,-194.6,1944,1084,3775,3625,390.3,-11.1,208,2998,0.00,2.10,0.00,0.000,1030,0.000,0.031,1938,2465,3698,3773,3624,0,0,0,0,0,0,27.62,27.36,27.63
$GC,3320,-0.93,-194.6,1939,2466,3770,3624,427.2,-11.3,219,3323,0.00,2.03,0.00,0.000,516,0.000,0.031,1938,1094,3696,3770,3622,0,0,0,0,0,0,27.55,27.37,27.62
$GC,3379,-0.93,-194.6,1937,1094,3771,3625,434.2,-11.5,221,3383,0.00,2.10,0.00,0.000,1030,0.000,0.031,1929,2475,3696,3768,3624,0,0,0,0,0,0,27.62,27.41,27.63
$GC,3709,-0.93,-194.6,1928,2475,3769,3620,472.4,-11.6,232,3710,0.00,0.00,0.00,0.000,6,0.000,0.000,1929,2475,3693,3767,3619,0,0,0,0,0,0,27.55,27.63,27.62
$GC,4009,-0.93,-194.6,1930,2476,3760,3618,506.1,-11.2,242,4010,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,2475,3691,3766,3617,0,0,0,0,0,0,27.55,27.66,27.62
$GC,4309,-0.93,-194.6,1930,2475,3763,3616,539.6,-11.2,252,4313,0.00,2.08,0.00,0.000,516,0.000,0.031,1929,1072,3690,3764,3616,0,0,0,0,0,0,27.56,27.39,27.62
$GC,4344,-0.93,-194.6,1930,1072,3762,3616,543.0,-11.2,253,4348,0.00,2.12,0.00,0.000,1030,0.000,0.031,1919,2466,3689,3763,3616,0,0,0,0,0,0,27.64,27.39,27.65
$GC,4670,-0.93,-194.6,1917,2467,3759,3613,582.6,-12.2,264,4673,0.12,2.03,0.00,0.000,2564,0.164,0.031,1950,1094,3687,3761,3613,0,0,0,0,0,0,27.23,27.39,27.64
$GC,4709,-0.93,-194.6,1949,1095,3761,3614,586.0,-11.9,265,4713,0.00,2.10,0.00,0.000,1030,0.000,0.031,1944,2472,3686,3760,3612,0,0,0,0,0,0,27.64,27.39,27.65
$STATE,4848,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4848,begin apogee
$GC,4852,-0.20,0.0,1943,2621,3761,3612,602.3,-10.8,270,5011,0.75,0.00,155.62,1.011,10246,0.116,0.000,2191,2622,2900,2980,2820,0,0,0,0,0,0,27.27,25.79,24.95
$STATE,5012,end apogee,CONTROL_FINISHED_OK
$STATE,5012,begin climb
$GC,5014,0.93,194.6,2190,2621,2980,2820,606.8,0.0,275,5184,1.00,1.90,160.73,0.995,10500,0.064,0.048,2546,3765,2104,2181,2028,0,0,0,0,0,0,25.69,25.49,24.85
$GC,5244,0.93,194.6,2549,3765,2174,2027,583.8,13.7,283,5248,0.00,1.77,0.00,0.000,1030,0.000,0.021,2555,2568,2100,2174,2026,0,0,0,0,0,0,26.38,26.23,26.38
$GC,5574,0.93,194.6,2555,2564,2171,2022,534.9,14.7,294,5577,0.00,1.98,0.00,0.000,516,0.000,0.025,2564,1234,2095,2169,2021,0,0,0,0,0,0,26.96,26.82,27.03
$GC,5649,0.93,194.6,2564,1234,2171,2020,526.3,14.4,296,5653,0.00,2.10,0.00,0.000,1030,0.000,0.028,2564,2597,2094,2170,2019,0,0,0,0,0,0,27.11,26.87,27.11
$GC,5964,0.93,194.6,2564,2598,2166,2019,476.0,15.3,307,5967,0.00,2.05,0.00,0.000,516,0.000,0.025,2574,1218,2093,2168,2018,0,0,0,0,0,0,27.20,27.04,27.27
$GC,6019,0.93,194.6,2574,1218,2167,2018,471.5,15.3,308,6027,0.00,2.12,0.00,0.000,1030,0.000,0.028,2574,2604,2092,2168,2017,0,0,0,0,0,0,27.29,27.06,27.31
$GC,6324,0.93,194.6,2574,2605,2164,2017,418.9,16.3,319,6327,0.00,2.03,0.00,0.000,516,0.000,0.025,2583,1239,2091,2165,2017,0,0,0,0,0,0,27.30,27.15,27.37
$GC,6414,0.93,194.6,2583,1240,2163,2016,404.4,16.2,322,6418,0.10,2.08,0.00,0.000,5126,0.154,0.029,2553,2604,2089,2163,2016,0,0,0,0,0,0,26.99,27.17,27.39
$GC,6744,0.93,194.6,2555,2606,2162,2015,355.7,14.5,333,6747,0.00,2.00,0.00,0.000,516,0.000,0.025,2561,1247,2088,2162,2015,0,0,0,0,0,0,27.38,27.22,27.44
$GC,6864,0.93,194.6,2560,1247,2164,2014,338.8,14.1,337,6868,0.00,2.05,0.00,0.000,1030,0.000,0.028,2561,2595,2087,2162,2013,0,0,0,0,0,0,27.47,27.24,27.48
$GC,7194,0.93,194.6,2561,2596,2160,2014,287.8,15.4,348,7197,0.00,2.00,0.00,0.000,516,0.000,0.026,2570,1238,2086,2160,2013,0,0,0,0,0,0,27.43,27.27,27.49
$GC,7274,0.93,194.6,2569,1238,2161,2014,279.0,15.2,350,7277,0.00,2.08,0.00,0.000,1030,0.000,0.028,2570,2606,2086,2159,2013,0,0,0,0,0,0,27.51,27.28,27.52
$GC,7584,0.93,194.6,2569,2607,2161,2013,227.4,15.6,361,7587,0.00,2.05,0.00,0.000,516,0.000,0.024,2580,1208,2085,2158,2012,0,0,0,0,0,0,27.44,27.29,27.53
$GC,7684,0.93,194.6,2581,1208,2158,2012,213.8,15.1,364,7688,0.08,2.10,0.00,0.000,5126,0.143,0.027,2556,2606,2084,2158,2011,0,0,0,0,0,0,27.15,27.30,27.53
$GC,7994,0.93,194.6,2556,2606,2157,2011,167.4,14.1,388,7995,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2606,2084,2157,2011,0,0,0,0,0,0,27.48,27.55,27.55
$GC,8295,0.93,194.6,2554,2606,2159,2012,125.0,14.1,418,8298,0.00,1.75,0.00,0.000,260,0.000,0.041,2557,3767,2084,2157,2011,0,0,0,0,0,0,27.50,27.29,27.56
$GC,8314,0.93,194.6,2555,3768,2157,2011,121.9,14.7,420,8317,0.00,1.65,0.00,0.000,1030,0.000,0.020,2562,2593,2083,2157,2010,0,0,0,0,0,0,27.58,27.43,27.58
$GC,8624,0.93,194.6,2561,2593,2158,2011,82.4,11.2,451,8628,0.00,1.98,0.00,0.000,516,0.000,0.022,2571,1244,2083,2156,2010,0,0,0,0,0,0,27.51,27.37,27.58
$GC,8824,0.93,194.6,2571,1245,2156,2010,62.0,10.2,471,8828,0.00,2.03,0.00,0.000,1030,0.000,0.023,2571,2608,2082,2156,2009,0,0,0,0,0,0,27.59,27.38,27.60
$GC,9129,1.05,263.4,2570,2607,2158,2010,38.6,6.9,518,9185,0.00,1.77,50.85,0.627,8484,0.000,0.037,2571,3764,1825,1899,1751,0,0,0,0,0,0,27.53,26.69,26.12
$GC,9350,1.09,287.2,2572,3765,1894,1748,22.8,8.3,560,9376,0.00,1.65,19.60,0.591,9254,0.000,0.018,2578,2595,1728,1802,1655,0,0,0,0,0,0,27.18,27.01,26.10
$GC,9556,1.17,330.5,2579,2595,1799,1649,7.7,7.7,600,9600,0.15,2.03,35.30,0.590,10788,0.066,0.021,2680,1251,1550,1625,1475,0,0,0,0,0,0,26.94,26.54,25.95
$STATE,9603,end climb,SURFACE_DEPTH_REACHED
$STATE,9603,begin surface coast
$FINISH,-0.1,1.022200
$STATE,9629,end surface coast,CONTROL_FINISHED_OK
$STATE,9629,begin surface
$SM_CCo,9649,28.20,0.060,0,0,1268,400.57
$SM_GC,1.10,6.50,1.90,28.20,0.028,0.023,0.060,139,2481,1268,-6.48,-1.24,400.57,0,0,0,0,0,0,26.65,26.66,26.60
$IRIDIUM_FIX,2722.64,-8719.43,280816,161543
$TT8_MAMPS,0.065163,0.174517
$HUMID,100.56
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,24.70
$BR_FREEKB,7884992
$24V_AH,24.85,6.296
$10V_AH,10.45,4.078
$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,15.525,88.600,422.100,28.200,0.000,0.000,0.000,166.975,0.000,0.000,53.578,0.000,7282.938,536.518,2003.081,138.088,0.000,1432.571,0.000,1277.423,0.000,0.000,0.000
$DEVICE_MAMPS,205.785,1259.190,1010.565,60.435,0.000,0.000,0.000,84.915,0.000,0.000,30.710,0.000,0.390,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,BRB,nil,nil,nil
$SENSOR_SECS,410.829,0.000,0.000,0.000,0.000,0.000,10114.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,10.587,0.000,0.000,0.000
$MEM,287076
$DATA_FILE_SIZE,26784,613
$CAP_FILE_SIZE,99475,0
$CFSIZE,260034560,254246912
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,114.10,0x231a5c,0,24
$CURRENT,0.103,4.52,1
$GPS,280816,190152,2802.194,-8730.008,11,1.7,39,-1.0,0.5,321.1,7,4.8