version: 66.13
glider: 178
mission: 22
dive: 47
start: 8 28 116 19 6 42
data:
$ID,178
$MISSION,22
$DIVE,47
$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,112
$R_STBD_OVSHOOT,45
$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
$GPS1,280816,190152,2802.1938,-8730.0078,11,1.7,39,-1.0,0.5,321.1,7,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-61.1
$GPS2,280816,190623,2802.2500,-8729.9883,13,1.2,13,-1.0,0.8,4.7,7,9.4
$SPEED_LIMITS,0.157,0.286
$TGT_NAME,SOUTHLINE
$TGT_LATLONG,2800.000,-8730.043
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,183.5,4168,-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,-194.6,124,2508,1298,1222,0.0,0.0,0,83,0.00,0.00,-73.88,0.000,16386,0.000,0.000,123,2507,3086,3139,3034,0,0,0,0,0,0,26.96,28.83,27.03
$GC,86,-0.93,-194.6,123,2508,3146,3036,3.1,-6.1,12,111,6.70,2.15,-12.00,0.000,18980,0.207,1.262,1951,1127,3697,3771,3623,0,0,0,0,0,0,26.62,25.81,27.07
$GC,316,-0.93,-194.6,1952,1128,3775,3625,61.8,-19.6,51,324,0.00,2.05,0.00,0.000,1030,0.000,0.028,1944,2473,3699,3775,3624,0,0,0,0,0,0,27.21,26.96,27.20
$GC,622,-0.93,-194.6,1945,2473,3781,3625,110.7,-14.0,82,625,0.00,2.00,0.00,0.000,516,0.000,0.028,1944,1121,3702,3781,3624,0,0,0,0,0,0,27.28,27.12,27.34
$GC,757,-0.93,-194.6,1944,1122,3785,3626,128.5,-12.9,95,760,0.00,2.03,0.00,0.000,1030,0.000,0.030,1935,2481,3704,3783,3625,0,0,0,0,0,0,27.40,27.15,27.39
$GC,1061,-0.93,-194.6,1935,2482,3785,3626,168.2,-13.0,125,1065,0.00,2.00,0.00,0.000,260,0.000,0.046,1925,3769,3705,3785,3625,0,0,0,0,0,0,27.39,27.19,27.46
$GC,1141,-0.93,-194.6,1925,3770,3785,3626,179.2,-13.6,133,1144,0.00,1.85,0.00,0.000,1030,0.000,0.025,1925,2504,3705,3785,3625,0,0,0,0,0,0,27.48,27.30,27.48
$GC,1452,-0.93,-194.6,1926,2504,3785,3626,219.7,-12.5,154,1455,0.00,1.95,0.00,0.000,260,0.000,0.046,1915,3778,3705,3785,3625,0,0,0,0,0,0,27.45,27.25,27.51
$GC,1506,-0.93,-194.6,1916,3779,3785,3626,226.8,-12.8,156,1510,0.10,1.90,0.00,0.000,3078,0.132,0.027,1949,2486,3705,3785,3625,0,0,0,0,0,0,27.15,27.35,27.52
$GC,1836,-0.93,-194.6,1948,2486,3786,3626,263.5,-10.9,167,1839,0.00,2.05,0.00,0.000,516,0.000,0.031,1949,1082,3705,3785,3625,0,0,0,0,0,0,27.48,27.32,27.55
$GC,1951,-0.93,-194.6,1950,1083,3785,3626,273.9,-11.3,170,1958,0.00,2.10,0.00,0.000,1030,0.000,0.031,1942,2468,3705,3785,3625,0,0,0,0,0,0,27.56,27.32,27.58
$GC,2256,-0.93,-194.6,1941,2469,3784,3626,311.4,-11.4,181,2260,0.00,2.08,0.00,0.000,516,0.000,0.030,1944,1089,3704,3784,3625,0,0,0,0,0,0,27.51,27.34,27.58
$GC,2306,-0.93,-194.6,1943,1090,3782,3626,314.8,-11.3,182,2309,0.00,2.10,0.00,0.000,1030,0.000,0.031,1933,2475,3704,3783,3625,0,0,0,0,0,0,27.59,27.34,27.60
$GC,2616,-0.93,-194.6,1932,2475,3782,3622,353.6,-11.8,193,2620,0.00,2.10,0.00,0.000,516,0.000,0.031,1933,1085,3702,3780,3625,0,0,0,0,0,0,27.53,27.36,27.59
$GC,2696,-0.93,-194.6,1934,1085,3779,3626,360.8,-11.8,195,2699,0.00,2.12,0.00,0.000,1030,0.000,0.031,1923,2479,3701,3778,3625,0,0,0,0,0,0,27.61,27.36,27.61
$GC,3006,-0.93,-194.6,1922,2480,3778,3626,400.4,-11.8,206,3009,0.00,2.05,0.00,0.000,516,0.000,0.031,1923,1090,3700,3776,3625,0,0,0,0,0,0,27.54,27.37,27.60
$GC,3051,-0.93,-194.6,1924,1090,3776,3625,404.0,-11.9,207,3055,0.10,2.10,0.00,0.000,3078,0.137,0.031,1947,2473,3699,3774,3624,0,0,0,0,0,0,27.24,27.36,27.60
$GC,3366,-0.93,-194.6,1948,2475,3772,3625,439.9,-10.9,218,3367,0.00,0.00,0.00,0.000,6,0.000,0.000,1947,2474,3698,3772,3624,0,0,0,0,0,0,27.55,27.62,27.60
$GC,3666,-0.93,-194.6,1946,2474,3771,3622,471.9,-10.6,228,3667,0.00,0.00,0.00,0.000,6,0.000,0.000,1947,2473,3695,3770,3621,0,0,0,0,0,0,27.55,27.63,27.61
$GC,3966,-0.93,-194.6,1946,2474,3770,3619,504.4,-10.7,238,3970,0.00,2.05,0.00,0.000,516,0.000,0.031,1947,1091,3693,3768,3618,0,0,0,0,0,0,27.55,27.38,27.62
$GC,3996,-0.93,-194.6,1948,1091,3767,3618,507.8,-10.9,239,3999,0.00,2.10,0.00,0.000,1030,0.000,0.032,1939,2467,3692,3767,3618,0,0,0,0,0,0,27.63,27.38,27.64
$GC,4326,-0.93,-194.6,1940,2469,3765,3617,544.6,-11.0,250,4327,0.00,0.00,0.00,0.000,6,0.000,0.000,1939,2468,3691,3766,3616,0,0,0,0,0,0,27.55,27.63,27.62
$GC,4626,-0.93,-194.6,1939,2469,3764,3615,577.5,-11.1,260,4630,0.00,2.05,0.00,0.000,516,0.000,0.033,1940,1090,3687,3762,3613,0,0,0,0,0,0,27.56,27.38,27.62
$GC,4671,-0.93,-194.6,1939,1091,3764,3614,580.8,-11.1,261,4674,0.00,2.12,0.00,0.000,1030,0.000,0.031,1931,2477,3687,3762,3613,0,0,0,0,0,0,27.63,27.39,27.64
$STATE,4835,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4835,begin apogee
$GC,4839,-0.20,0.0,1930,2609,3764,3613,601.6,-11.5,267,4997,0.77,0.00,155.10,1.019,10246,0.122,0.000,2182,2608,2901,2982,2821,0,0,0,0,0,0,27.27,25.78,24.95
$STATE,4998,end apogee,CONTROL_FINISHED_OK
$STATE,4998,begin climb
$GC,5000,0.93,194.6,2178,2608,2983,2821,606.6,0.0,272,5171,1.02,1.92,160.98,0.997,10500,0.064,0.047,2549,3760,2104,2180,2029,0,0,0,0,0,0,25.68,25.46,24.83
$GC,5220,0.93,194.6,2548,3761,2176,2028,588.8,11.8,279,5224,0.00,1.80,0.00,0.000,1030,0.000,0.021,2559,2556,2100,2174,2027,0,0,0,0,0,0,26.29,26.15,26.30
$GC,5531,0.93,194.6,2559,2554,2170,2023,540.4,14.6,290,5534,0.00,2.00,0.00,0.000,516,0.000,0.027,2568,1241,2095,2169,2022,0,0,0,0,0,0,26.91,26.76,26.98
$GC,5616,0.93,194.6,2566,1241,2171,2022,531.6,14.7,292,5623,0.00,2.10,0.00,0.000,1030,0.000,0.028,2568,2596,2095,2169,2021,0,0,0,0,0,0,27.07,26.84,27.07
$GC,5921,0.93,194.6,2569,2596,2168,2020,481.6,15.1,303,5924,0.00,2.05,0.00,0.000,516,0.000,0.026,2577,1249,2094,2168,2020,0,0,0,0,0,0,27.16,27.00,27.24
$GC,5976,0.93,194.6,2576,1250,2169,2020,477.2,15.0,304,5983,0.00,2.08,0.00,0.000,1030,0.000,0.028,2577,2599,2093,2167,2019,0,0,0,0,0,0,27.27,27.03,27.29
$GC,6281,0.93,194.6,2576,2600,2164,2019,426.1,15.6,315,6284,0.00,2.00,0.00,0.000,516,0.000,0.026,2584,1244,2091,2164,2018,0,0,0,0,0,0,27.28,27.12,27.34
$GC,6316,0.93,194.6,2582,1244,2166,2018,421.4,15.7,316,6320,0.12,2.10,0.00,0.000,5126,0.143,0.028,2548,2617,2090,2164,2017,0,0,0,0,0,0,26.96,27.13,27.36
$GC,6641,0.93,194.6,2549,2618,2161,2018,373.6,14.3,327,6644,0.00,2.08,0.00,0.000,516,0.000,0.026,2556,1251,2089,2162,2017,0,0,0,0,0,0,27.35,27.19,27.42
$GC,6756,0.93,194.6,2555,1251,2164,2016,360.8,14.3,330,6763,0.00,2.05,0.00,0.000,1030,0.000,0.028,2556,2595,2088,2162,2015,0,0,0,0,0,0,27.43,27.22,27.45
$GC,7061,0.93,194.6,2556,2595,2161,2016,312.5,14.6,341,7064,0.00,2.00,0.00,0.000,516,0.000,0.026,2565,1239,2088,2161,2015,0,0,0,0,0,0,27.40,27.24,27.47
$GC,7201,0.93,194.6,2564,1239,2161,2015,295.2,14.4,345,7205,0.00,2.03,0.00,0.000,1030,0.000,0.028,2565,2603,2087,2160,2014,0,0,0,0,0,0,27.50,27.27,27.50
$GC,7506,0.93,194.6,2565,2604,2158,2014,246.3,15.1,355,7510,0.00,2.03,0.00,0.000,516,0.000,0.025,2574,1225,2089,2166,2013,0,0,0,0,0,0,27.44,27.28,27.51
$GC,7631,0.93,194.6,2574,1226,2157,2014,228.7,14.8,359,7635,0.00,2.08,0.00,0.000,1030,0.000,0.027,2574,2599,2085,2158,2012,0,0,0,0,0,0,27.53,27.30,27.57
$GC,7936,0.93,194.6,2575,2598,2157,2014,180.9,15.8,376,7937,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2598,2085,2157,2013,0,0,0,0,0,0,27.48,27.55,27.54
$GC,8237,0.93,194.6,2575,2599,2157,2013,134.4,14.9,406,8241,0.00,2.00,0.00,0.000,516,0.000,0.022,2584,1222,2085,2157,2013,0,0,0,0,0,0,27.48,27.34,27.55
$GC,8270,0.93,194.6,2585,1222,2156,2012,130.1,14.3,409,8278,0.10,2.08,0.00,0.000,5126,0.126,0.024,2551,2613,2084,2156,2012,0,0,0,0,0,0,27.17,27.34,27.55
$GC,8576,0.93,194.6,2550,2613,2157,2013,90.7,10.7,440,8579,0.00,2.05,0.00,0.000,516,0.000,0.022,2558,1227,2084,2156,2012,0,0,0,0,0,0,27.50,27.36,27.57
$GC,8656,0.93,194.6,2559,1227,2155,2012,82.4,10.3,448,8659,0.00,2.03,0.00,0.000,1030,0.000,0.022,2558,2597,2083,2156,2011,0,0,0,0,0,0,27.58,27.37,27.58
$GC,8966,0.95,209.9,2559,2598,2156,2012,52.7,8.6,479,8981,0.00,2.03,9.77,0.561,8740,0.000,0.022,2567,1232,2043,2116,1971,0,0,0,0,0,0,27.51,27.24,26.58
$GC,9166,1.17,332.5,2569,1233,2115,1967,37.5,5.2,516,9271,0.10,2.03,96.85,0.630,11302,0.041,0.023,2659,2596,1543,1615,1471,0,0,0,0,0,0,27.32,27.32,25.64
$GC,9451,1.17,332.5,2661,2597,1612,1464,3.8,13.8,569,9458,0.12,1.75,0.00,0.000,4356,0.148,0.034,2628,3763,1537,1612,1463,0,0,0,0,0,0,26.58,26.70,26.94
$STATE,9461,end climb,SURFACE_DEPTH_REACHED
$STATE,9461,begin surface coast
$FINISH,-0.1,1.010331
$STATE,9481,end surface coast,CONTROL_FINISHED_OK
$STATE,9481,begin surface
$SM_CCo,9501,27.52,0.061,0,0,1267,400.08
$SM_GC,0.82,6.35,1.90,27.52,0.029,0.019,0.061,136,2528,1267,-6.50,2.80,400.08,0,0,0,0,0,0,26.78,26.81,26.70
$IRIDIUM_FIX,2722.64,-8719.43,280816,190307
$TT8_MAMPS,0.063665,0.226947
$HUMID,101.54
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,24.20
$BR_FREEKB,7884928
$24V_AH,24.83,6.410
$10V_AH,10.35,4.147
$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,15.500,85.275,422.700,27.525,0.000,0.000,0.000,187.900,0.000,0.000,16.954,0.000,7235.254,527.454,1900.413,133.977,0.000,1411.591,0.000,1219.619,0.000,0.000,0.000
$DEVICE_MAMPS,206.550,1262.250,1018.980,61.200,0.000,0.000,0.000,84.915,0.000,0.000,30.710,0.000,0.390,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,BRB,nil,nil,nil
$SENSOR_SECS,385.598,0.000,0.000,0.000,0.000,0.000,9879.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,10.587,0.000,0.000,0.000
$MEM,287112
$DATA_FILE_SIZE,23447,575
$CAP_FILE_SIZE,95186,0
$CFSIZE,260034560,254201856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.098,356.95,1
$GPS,280816,214628,2801.349,-8730.174,13,1.2,35,-1.0,0.5,1.3,8,4.5