version: 66.13
glider: 178
mission: 22
dive: 3
start: 8 24 116 15 46 28
data:
$ID,178
$MISSION,22
$DIVE,3
$N_DIVES,3
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,360
$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,120
$T_MISSION,150
$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,150
$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,557.13361
$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,2320
$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,2700
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,79
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,2737
$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
$GPS1,240816,153341,2801.8787,-8731.4521,11,1.0,27,-1.0,0.3,307.6,7,4.5
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-56.8
$GPS2,240816,154610,2801.8948,-8731.5488,8,1.5,12,-1.0,0.4,284.5,7,4.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,281.8,3404526,-18.2,-10.000,-21.02,2236
$D_GRID,360
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.99,-146.0,141,2690,497,426,0.0,0.0,0,133,0.00,0.00,-111.38,0.000,16390,0.000,0.000,140,2689,3334,3392,3276,0,0,0,0,0,0,27.29,25.79,27.36
$GC,135,-0.99,-146.0,141,2689,3393,3275,3.6,-9.3,18,147,7.03,1.65,0.00,0.000,2340,0.223,0.045,1982,3766,3336,3397,3275,0,0,0,0,0,0,26.97,27.22,27.36
$GC,372,-0.99,-146.0,1982,3767,3399,3276,49.0,-12.9,65,380,0.00,1.55,0.00,0.000,1030,0.000,0.033,1983,2724,3337,3399,3275,0,0,0,0,0,0,27.53,27.40,27.56
$GC,564,-0.99,-146.0,1983,2725,3401,3276,70.1,-10.4,85,568,0.00,1.62,0.00,0.000,260,0.000,0.051,1975,3763,3338,3401,3275,0,0,0,0,0,0,27.55,27.36,27.62
$GC,764,-0.99,-146.0,1974,3764,3404,3276,90.2,-10.0,105,768,0.00,1.58,0.00,0.000,1062,0.000,0.032,1975,2699,3339,3403,3275,0,0,0,0,0,0,27.60,27.46,27.64
$GC,1074,-0.99,-146.0,1974,2699,3405,3276,117.6,-8.6,136,1078,0.00,2.05,0.00,0.000,548,0.000,0.033,1975,1297,3339,3403,3275,0,0,0,0,0,0,27.60,27.43,27.67
$GC,1304,-0.99,-146.0,1976,1297,3403,3274,136.4,-7.0,159,1308,0.10,2.10,0.00,0.000,3110,0.158,0.037,1998,2695,3338,3403,3274,0,0,0,0,0,0,27.28,27.43,27.66
$GC,1614,-0.99,-146.0,1997,2695,3405,3272,156.0,-6.9,190,1618,0.00,2.08,0.00,0.000,548,0.000,0.033,1998,1301,3337,3403,3271,0,0,0,0,0,0,27.61,27.45,27.68
$GC,1764,-0.99,-146.0,1999,1302,3403,3271,166.6,-7.2,205,1769,0.00,2.12,0.00,0.000,1062,0.000,0.039,1991,2695,3336,3403,3269,0,0,0,0,0,0,27.63,27.45,27.67
$GC,2074,-0.99,-146.0,1990,2695,3405,3268,188.7,-6.6,236,2078,0.00,2.08,0.00,0.000,548,0.000,0.033,1991,1290,3335,3403,3267,0,0,0,0,0,0,27.61,27.46,27.68
$GC,2159,-0.99,-146.0,1991,1291,3405,3267,194.3,-6.8,244,2166,0.00,2.15,0.00,0.000,1062,0.000,0.037,1982,2699,3334,3403,3266,0,0,0,0,0,0,27.63,27.45,27.67
$GC,2475,-0.99,-146.0,1983,2700,3403,3264,218.1,-7.5,260,2475,0.00,0.00,0.00,0.000,38,0.000,0.000,1983,2699,3333,3403,3263,0,0,0,0,0,0,27.61,27.69,27.67
$GC,2774,-0.99,-146.0,1982,2700,3403,3260,239.6,-7.2,270,2778,0.00,2.10,0.00,0.000,548,0.000,0.034,1983,1299,3330,3401,3260,0,0,0,0,0,0,27.61,27.45,27.68
$GC,2939,-0.99,-146.0,1983,1299,3401,3259,251.0,-7.5,275,2943,0.00,2.15,0.00,0.000,1062,0.000,0.041,1975,2699,3329,3400,3259,0,0,0,0,0,0,27.63,27.43,27.67
$GC,3255,-0.99,-146.0,1974,2700,3401,3256,275.9,-7.5,286,3258,0.00,2.08,0.00,0.000,548,0.000,0.034,1975,1296,3327,3399,3256,0,0,0,0,0,0,27.62,27.44,27.69
$GC,3375,-0.99,-146.0,1975,1297,3398,3255,284.9,-7.5,290,3379,0.10,2.12,0.00,0.000,3110,0.161,0.041,1998,2700,3326,3398,3255,0,0,0,0,0,0,27.25,27.43,27.67
$GC,3699,-0.99,-146.0,1997,2700,3398,3252,305.9,-6.5,301,3703,0.00,2.05,0.00,0.000,548,0.000,0.034,1998,1297,3324,3396,3252,0,0,0,0,0,0,27.61,27.43,27.69
$GC,3769,-0.99,-146.0,1997,1298,3397,3252,310.0,-6.7,303,3773,0.00,2.12,0.00,0.000,1062,0.000,0.040,1990,2707,3323,3395,3252,0,0,0,0,0,0,27.67,27.43,27.68
$GC,4089,-0.99,-146.0,1989,2707,3395,3250,332.7,-6.8,314,4094,0.00,2.12,0.00,0.000,548,0.000,0.034,1991,1293,3320,3393,3248,0,0,0,0,0,0,27.61,27.44,27.67
$GC,4194,-0.99,-146.0,1991,1294,3393,3247,339.0,-7.0,317,4198,0.00,2.15,0.00,0.000,1062,0.000,0.039,1982,2692,3320,3393,3247,0,0,0,0,0,0,27.62,27.43,27.67
$STATE,4508,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4508,begin apogee
$GC,4512,-0.20,0.0,1982,2393,3390,3246,361.3,-6.8,328,4631,0.82,0.00,113.20,0.822,10246,0.112,0.000,2258,2391,2736,2802,2670,0,0,0,0,0,0,27.27,26.32,25.53
$STATE,4632,end apogee,CONTROL_FINISHED_OK
$STATE,4632,begin climb
$GC,4634,0.99,146.0,2259,2392,2801,2671,361.3,0.0,332,4760,1.00,2.22,118.88,0.794,10500,0.042,0.044,2654,3778,2140,2210,2071,0,0,0,0,0,0,26.32,26.06,25.41
$GC,4825,0.99,146.0,2655,3778,2206,2069,335.7,17.9,338,4829,0.00,2.10,0.00,0.000,1030,0.000,0.021,2665,2380,2136,2204,2068,0,0,0,0,0,0,26.77,26.68,26.82
$GC,5135,0.99,146.0,2664,2378,2201,2063,267.6,20.6,349,5139,0.00,2.20,0.00,0.000,260,0.000,0.044,2665,3783,2131,2200,2062,0,0,0,0,0,0,27.26,27.09,27.34
$GC,5159,0.99,146.0,2665,3784,2202,2059,267.6,20.6,349,5167,0.10,2.05,0.00,0.000,5126,0.170,0.022,2645,2385,2130,2199,2062,0,0,0,0,0,0,26.94,27.21,27.30
$GC,5465,0.99,146.0,2645,2380,2198,2061,202.3,19.2,360,5469,0.00,2.20,0.00,0.000,260,0.000,0.045,2646,3785,2127,2196,2059,0,0,0,0,0,0,27.41,27.23,27.48
$GC,5509,0.99,146.0,2645,3786,2198,2060,194.1,19.6,362,5516,0.00,2.03,0.00,0.000,1030,0.000,0.022,2655,2399,2128,2196,2060,0,0,0,0,0,0,27.44,27.34,27.48
$GC,5815,0.99,146.0,2656,2395,2190,2059,131.5,19.5,393,5819,0.00,2.05,0.00,0.000,516,0.000,0.031,2664,1022,2125,2193,2058,0,0,0,0,0,0,27.48,27.34,27.55
$GC,5889,0.99,146.0,2666,1023,2193,2057,118.8,17.7,400,5896,0.00,2.08,0.00,0.000,1030,0.000,0.027,2665,2407,2124,2192,2056,0,0,0,0,0,0,27.51,27.35,27.55
$GC,6195,0.99,146.0,2663,2408,2192,2056,66.7,15.6,431,6195,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2407,2122,2190,2055,0,0,0,0,0,0,27.53,27.61,27.60
$GC,6495,1.07,187.5,2663,2407,2190,2054,30.7,8.1,479,6532,0.00,2.10,29.98,0.597,8484,0.000,0.045,2664,3774,1970,2038,1902,0,0,0,0,0,0,27.55,26.99,26.46
$STATE,6756,end climb,SURFACE_DEPTH_REACHED
$STATE,6756,begin surface coast
$FINISH,1.3,1.022149
$STATE,6775,end surface coast,CONTROL_FINISHED_OK
$STATE,6775,begin surface
$SM_CCo,6796,150.35,0.061,0,0,465,557.32
$SM_GC,0.19,6.88,1.58,150.35,0.073,0.024,0.061,145,2676,465,-6.71,2.15,557.32,0,0,0,0,0,0,27.20,27.32,27.07
$IRIDIUM_FIX,2722.64,-8719.43,240816,154240
$TT8_MAMPS,0.063665,0.17227
$HUMID,69.09
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,23.80
$BR_FREEKB,7901760
$24V_AH,25.41,1.000
$10V_AH,10.56,1.281
$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,16.025,56.900,262.050,150.350,0.000,0.000,0.000,0.000,0.000,0.000,14.823,0.000,4881.527,527.285,1514.726,81.818,0.000,1106.916,0.000,1067.132,0.000,0.000,0.000
$DEVICE_MAMPS,223.380,51.255,821.610,61.200,0.000,0.000,0.000,0.000,0.000,0.000,30.710,0.000,0.390,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,BRB,nil,nil,nil
$SENSOR_SECS,357.800,0.000,0.000,0.000,0.000,0.000,6898.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,10.587,0.000,0.000,0.000
$MEM,288040
$DATA_FILE_SIZE,23511,534
$CAP_FILE_SIZE,87103,0
$CFSIZE,260034560,256049152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.188,343.57,1
$GPS,240816,174344,2802.610,-8732.656,26,3.0,66,-1.0,0.0,236.0,6,9.8