version: 66.13
glider: 178
mission: 22
dive: 48
start: 8 28 116 21 51 5
data:
$ID,178
$MISSION,22
$DIVE,48
$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,100
$R_STBD_OVSHOOT,56
$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
$GPS1,280816,214628,2801.3489,-8730.1738,13,1.2,35,-1.0,0.5,1.3,8,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-62.9
$GPS2,280816,215046,2801.4126,-8730.1436,9,1.3,14,-1.0,0.4,337.8,7,4.5
$SPEED_LIMITS,0.157,0.286
$TGT_NAME,SOUTHLINE
$TGT_LATLONG,2800.000,-8730.043
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,177.6,2621,-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,-194.6,131,2502,1303,1219,0.0,0.0,0,84,0.00,0.00,-74.20,0.000,16386,0.000,0.000,129,2502,3110,3157,3064,0,0,0,0,0,0,26.96,28.83,27.03
$GC,86,-0.93,-194.6,128,2503,3159,3065,3.3,-7.4,12,111,6.70,2.20,-11.07,0.000,18980,0.208,1.266,1951,1127,3697,3771,3624,0,0,0,0,0,0,26.61,25.69,27.06
$GC,286,-0.93,-194.6,1950,1127,3778,3626,58.6,-21.5,46,293,0.00,2.05,0.00,0.000,1030,0.000,0.028,1944,2468,3701,3777,3625,0,0,0,0,0,0,27.14,26.91,27.15
$GC,591,-0.93,-194.6,1943,2467,3784,3625,108.8,-14.8,77,594,0.00,2.00,0.00,0.000,516,0.000,0.027,1944,1114,3703,3782,3625,0,0,0,0,0,0,27.24,27.08,27.31
$GC,721,-0.93,-194.6,1944,1114,3784,3626,126.7,-13.5,90,724,0.00,2.03,0.00,0.000,1030,0.000,0.030,1934,2482,3705,3784,3626,0,0,0,0,0,0,27.36,27.13,27.36
$GC,1031,-0.93,-194.6,1935,2483,3786,3626,167.8,-13.1,121,1035,0.00,2.00,0.00,0.000,260,0.000,0.045,1924,3765,3706,3786,3626,0,0,0,0,0,0,27.37,27.16,27.43
$GC,1091,-0.93,-194.6,1924,3766,3788,3627,176.0,-13.5,127,1094,0.00,1.85,0.00,0.000,1030,0.000,0.026,1924,2508,3706,3786,3626,0,0,0,0,0,0,27.45,27.27,27.46
$GC,1423,-0.93,-194.6,1924,2506,3789,3627,219.6,-12.9,150,1424,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,2506,3706,3786,3626,0,0,0,0,0,0,27.43,27.51,27.50
$GC,1721,-0.93,-194.6,1924,2506,3788,3627,258.1,-12.5,160,1724,0.00,2.08,0.00,0.000,516,0.000,0.030,1924,1085,3706,3786,3626,0,0,0,0,0,0,27.47,27.30,27.53
$GC,1806,-0.93,-194.6,1923,1085,3788,3627,265.6,-12.5,162,1813,0.10,2.10,0.00,0.000,3078,0.133,0.031,1949,2464,3706,3787,3626,0,0,0,0,0,0,27.17,27.31,27.53
$GC,2111,-0.93,-194.6,1948,2465,3788,3627,302.9,-11.0,173,2115,0.00,2.08,0.00,0.000,516,0.000,0.029,1949,1085,3706,3786,3626,0,0,0,0,0,0,27.50,27.33,27.55
$GC,2171,-0.93,-194.6,1950,1085,3785,3627,309.5,-10.9,175,2174,0.00,2.08,0.00,0.000,1030,0.000,0.031,1943,2478,3706,3786,3626,0,0,0,0,0,0,27.58,27.33,27.58
$GC,2501,-0.93,-194.6,1943,2479,3783,3627,346.5,-11.1,186,2504,0.00,2.05,0.00,0.000,516,0.000,0.029,1942,1086,3705,3784,3626,0,0,0,0,0,0,27.52,27.34,27.58
$GC,2561,-0.93,-194.6,1943,1087,3784,3626,353.4,-11.3,188,2565,0.00,2.08,0.00,0.000,1030,0.000,0.031,1933,2482,3705,3784,3626,0,0,0,0,0,0,27.60,27.37,27.60
$GC,2891,-0.93,-194.6,1932,2482,3782,3626,392.0,-11.7,199,2894,0.00,2.08,0.00,0.000,516,0.000,0.031,1932,1079,3703,3781,3626,0,0,0,0,0,0,27.53,27.36,27.59
$GC,2946,-0.93,-194.6,1932,1079,3782,3626,395.8,-11.9,200,2953,0.00,2.12,0.00,0.000,1030,0.000,0.031,1924,2473,3702,3779,3626,0,0,0,0,0,0,27.60,27.35,27.61
$GC,3251,-0.93,-194.6,1923,2474,3778,3626,435.4,-12.0,211,3252,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,2471,3701,3777,3626,0,0,0,0,0,0,27.53,27.60,27.60
$GC,3551,-0.93,-194.6,1925,2473,3773,3626,471.5,-12.0,221,3552,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,2473,3699,3774,3625,0,0,0,0,0,0,27.54,27.62,27.61
$GC,3852,-0.93,-194.6,1928,2474,3773,3623,507.8,-12.1,231,3852,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,2473,3697,3772,3622,0,0,0,0,0,0,27.55,27.62,27.64
$GC,4151,-0.93,-194.6,1925,2474,3770,3620,545.3,-12.7,241,4154,0.00,2.05,0.00,0.000,516,0.000,0.031,1924,1090,3694,3769,3619,0,0,0,0,0,0,27.55,27.38,27.62
$GC,4201,-0.93,-194.6,1925,1091,3768,3620,549.2,-12.8,242,4205,0.10,2.12,0.00,0.000,3078,0.135,0.032,1949,2477,3693,3768,3619,0,0,0,0,0,0,27.24,27.38,27.62
$GC,4511,-0.93,-194.6,1948,2478,3769,3618,586.1,-11.0,253,4514,0.00,2.08,0.00,0.000,516,0.000,0.031,1949,1079,3692,3767,3617,0,0,0,0,0,0,27.55,27.38,27.62
$GC,4536,-0.93,-194.6,1949,1081,3766,3617,586.1,-11.0,253,4543,0.00,2.15,0.00,0.000,1030,0.000,0.032,1943,2487,3691,3766,3617,0,0,0,0,0,0,27.65,27.37,27.64
$STATE,4660,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4660,begin apogee
$GC,4664,-0.20,0.0,1943,2619,3766,3616,602.6,-11.0,258,4823,0.73,0.00,155.98,1.011,10246,0.112,0.000,2183,2618,2900,2981,2820,0,0,0,0,0,0,27.27,25.77,24.96
$STATE,4824,end apogee,CONTROL_FINISHED_OK
$STATE,4824,begin climb
$GC,4825,0.93,194.6,2184,2619,2980,2819,607.3,0.0,263,4996,1.02,1.90,161.05,0.994,10500,0.067,0.048,2547,3759,2105,2181,2030,0,0,0,0,0,0,25.65,25.46,24.82
$GC,5061,0.93,194.6,2546,3760,2175,2028,584.3,13.7,271,5064,0.00,1.77,0.00,0.000,1030,0.000,0.021,2556,2566,2100,2174,2027,0,0,0,0,0,0,26.35,26.20,26.36
$GC,5386,0.93,194.6,2557,2562,2168,2023,535.7,14.2,282,5389,0.00,2.00,0.00,0.000,516,0.000,0.026,2561,1245,2096,2169,2023,0,0,0,0,0,0,26.93,26.78,26.99
$GC,5476,0.93,194.6,2560,1246,2171,2022,523.2,14.0,285,5479,0.00,2.08,0.00,0.000,1030,0.000,0.028,2561,2592,2095,2169,2021,0,0,0,0,0,0,27.08,26.86,27.09
$GC,5806,0.93,194.6,2559,2592,2169,2021,474.7,14.7,296,5809,0.00,2.00,0.00,0.000,516,0.000,0.025,2571,1247,2094,2168,2020,0,0,0,0,0,0,27.18,27.03,27.27
$GC,5855,0.93,194.6,2571,1248,2167,2020,470.2,14.8,297,5859,0.00,2.08,0.00,0.000,1030,0.000,0.028,2570,2597,2093,2167,2019,0,0,0,0,0,0,27.27,27.05,27.29
$GC,6166,0.93,194.6,2570,2598,2165,2019,419.7,15.5,308,6169,0.00,2.00,0.00,0.000,516,0.000,0.025,2580,1244,2091,2164,2018,0,0,0,0,0,0,27.29,27.13,27.36
$GC,6201,0.93,194.6,2579,1244,2165,2019,415.1,15.5,309,6205,0.08,2.08,0.00,0.000,5126,0.153,0.028,2549,2606,2090,2163,2018,0,0,0,0,0,0,26.96,27.15,27.37
$GC,6526,0.93,194.6,2547,2607,2164,2018,368.6,14.0,320,6529,0.00,2.05,0.00,0.000,516,0.000,0.025,2556,1250,2089,2162,2017,0,0,0,0,0,0,27.35,27.20,27.41
$GC,6620,0.93,194.6,2555,1250,2164,2017,356.2,13.8,323,6624,0.00,2.05,0.00,0.000,1030,0.000,0.028,2556,2601,2089,2162,2016,0,0,0,0,0,0,27.43,27.22,27.45
$GC,6946,0.93,194.6,2556,2602,2158,2017,307.8,14.8,334,6949,0.00,2.00,0.00,0.000,516,0.000,0.025,2565,1245,2088,2160,2016,0,0,0,0,0,0,27.41,27.24,27.48
$GC,7060,0.93,194.6,2566,1246,2160,2018,294.7,14.6,337,7068,0.00,2.05,0.00,0.000,1030,0.000,0.028,2566,2598,2087,2161,2014,0,0,0,0,0,0,27.49,27.27,27.50
$GC,7366,0.93,194.6,2566,2599,2157,2015,244.7,15.5,348,7369,0.00,2.05,0.00,0.000,516,0.000,0.024,2575,1238,2086,2158,2014,0,0,0,0,0,0,27.43,27.28,27.51
$GC,7496,0.93,194.6,2576,1239,2158,2013,226.3,15.3,352,7500,0.00,2.00,0.00,0.000,1030,0.000,0.028,2575,2602,2085,2158,2013,0,0,0,0,0,0,27.53,27.29,27.53
$GC,7802,0.93,194.6,2574,2603,2159,2014,176.3,16.0,372,7805,0.00,2.00,0.00,0.000,516,0.000,0.024,2585,1234,2085,2158,2013,0,0,0,0,0,0,27.47,27.32,27.53
$GC,7870,0.93,194.6,2583,1235,2159,2014,166.2,15.4,378,7878,0.10,2.08,0.00,0.000,5126,0.132,0.026,2552,2616,2085,2157,2013,0,0,0,0,0,0,27.16,27.32,27.54
$GC,8176,0.93,194.6,2551,2617,2159,2014,125.3,13.1,409,8180,0.00,2.05,0.00,0.000,516,0.000,0.022,2560,1234,2084,2157,2012,0,0,0,0,0,0,27.48,27.34,27.55
$GC,8241,0.93,194.6,2560,1235,2160,2013,116.8,14.1,415,8247,0.00,2.05,0.00,0.000,1030,0.000,0.024,2560,2607,2086,2160,2012,0,0,0,0,0,0,27.55,27.35,27.55
$GC,8546,0.93,194.6,2560,2608,2156,2012,79.9,11.5,446,8550,0.00,2.03,0.00,0.000,516,0.000,0.021,2569,1235,2083,2156,2011,0,0,0,0,0,0,27.50,27.36,27.57
$GC,8771,0.93,197.3,2570,1236,2155,2012,58.5,9.0,468,8777,0.00,2.03,0.00,0.000,1062,0.000,0.022,2569,2601,2083,2156,2011,0,0,0,0,0,0,27.58,27.36,27.59
$GC,9076,1.14,316.6,2570,2601,2154,2012,37.4,5.3,519,9175,0.15,2.08,92.88,0.627,10788,0.067,0.022,2666,1229,1607,1679,1536,0,0,0,0,0,0,27.39,26.29,25.72
$GC,9240,1.14,316.6,2665,1229,1679,1532,20.2,11.9,548,9247,0.12,2.10,0.00,0.000,5126,0.111,0.022,2614,2607,1603,1676,1530,0,0,0,0,0,0,26.42,26.55,26.77
$GC,9427,1.15,321.1,2613,2608,1679,1528,3.2,8.9,585,9434,0.00,0.00,3.20,0.324,8230,0.000,0.000,2614,2607,1589,1664,1515,0,0,0,0,0,0,26.98,26.94,26.17
$STATE,9436,end climb,SURFACE_DEPTH_REACHED
$STATE,9436,begin surface coast
$FINISH,0.0,1.010863
$STATE,9467,end surface coast,CONTROL_FINISHED_OK
$STATE,9467,begin surface
$SM_CCo,9486,33.20,0.060,0,0,1269,400.33
$SM_GC,1.06,6.25,0.12,33.20,0.026,0.060,0.060,142,2468,1269,-6.48,2.63,400.33,0,0,0,0,0,0,26.86,26.90,26.77
$IRIDIUM_FIX,2722.64,-8719.43,280816,214741
$TT8_MAMPS,0.064414,0.230692
$HUMID,101.38
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,24.60
$BR_FREEKB,7884864
$24V_AH,24.82,6.521
$10V_AH,10.34,4.216
$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,15.350,81.975,413.100,33.200,0.000,0.000,0.000,175.625,0.000,0.000,17.923,0.000,7183.026,528.751,1928.297,136.932,0.000,1410.984,0.000,1249.232,0.000,0.000,0.000
$DEVICE_MAMPS,208.080,1266.075,1011.330,60.435,0.000,0.000,0.000,84.915,0.000,0.000,30.710,0.000,0.390,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,BRB,nil,nil,nil
$SENSOR_SECS,397.418,0.000,0.000,0.000,0.000,0.000,9847.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,10.587,0.000,0.000,0.000
$MEM,287100
$DATA_FILE_SIZE,26786,593
$CAP_FILE_SIZE,96011,0
$CFSIZE,260034560,254148608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.115,354.68,1
$GPS,290816,003035,2800.512,-8730.216,29,0.9,29,-1.0,0.2,22.3,10,6.6