version: 66.13
glider: 178
mission: 22
dive: 16
start: 8 26 116 4 28 34
data:
$ID,178
$MISSION,22
$DIVE,16
$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,150
$T_MISSION,180
$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,44
$R_STBD_OVSHOOT,35
$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
$GPS1,260816,042304,2800.6584,-8729.1924,36,1.3,36,-1.0,0.8,312.5,9,8.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.59
$_SM_ANGLEo,-60.9
$GPS2,260816,042816,2800.7302,-8729.2686,10,1.3,20,-1.0,0.8,338.5,7,4.7
$SPEED_LIMITS,0.192,0.338
$TGT_NAME,DRIFTSTART
$TGT_LATLONG,2757.000,-8725.800
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,146.2,8940,-15.3,-11.111,-18.18,3349
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.05,-243.3,133,2487,1252,1168,0.0,0.0,0,94,0.00,0.00,-74.85,0.000,16386,0.000,0.000,133,2487,3082,3139,3025,0,0,0,0,0,0,26.75,28.83,26.82
$GC,97,-1.05,-243.3,133,2487,3142,3026,3.0,-7.6,12,128,7.05,2.25,-15.15,0.000,18980,0.233,1.276,1901,1069,3894,3959,3829,0,0,0,0,0,0,26.44,25.68,26.81
$GC,327,-1.05,-243.3,1901,1069,3963,3831,64.9,-20.2,50,335,0.00,2.20,0.00,0.000,1030,0.000,0.034,1893,2473,3897,3964,3830,0,0,0,0,0,0,26.91,26.75,26.95
$GC,633,-1.05,-243.3,1894,2474,3969,3832,122.5,-17.9,81,636,0.00,2.05,0.00,0.000,260,0.000,0.050,1883,3772,3900,3969,3831,0,0,0,0,0,0,27.09,26.92,27.15
$GC,673,-1.05,-243.3,1884,3773,3969,3831,129.8,-18.4,85,676,0.00,1.98,0.00,0.000,1030,0.000,0.029,1883,2460,3900,3970,3831,0,0,0,0,0,0,27.14,27.01,27.16
$GC,983,-1.05,-243.3,1882,2460,3975,3832,179.5,-15.7,116,986,0.00,2.10,0.00,0.000,516,0.000,0.034,1883,1083,3902,3973,3831,0,0,0,0,0,0,27.22,27.08,27.29
$GC,1073,-1.05,-243.3,1884,1083,3973,3832,193.5,-15.8,125,1077,0.15,2.10,0.00,0.000,3078,0.162,0.033,1911,2478,3902,3973,3832,0,0,0,0,0,0,26.97,27.10,27.29
$GC,1393,-1.05,-243.3,1908,2479,3973,3833,237.7,-13.8,139,1394,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,2478,3903,3974,3832,0,0,0,0,0,0,27.30,27.37,27.36
$GC,1693,-1.05,-243.3,1910,2478,3975,3833,279.1,-13.6,149,1694,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,2478,3902,3973,3832,0,0,0,0,0,0,27.35,27.42,27.41
$GC,1993,-1.05,-243.3,1911,2479,3972,3832,318.6,-13.2,159,1994,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,2478,3902,3973,3832,0,0,0,0,0,0,27.39,27.46,27.45
$GC,2293,-1.05,-243.3,1910,2478,3972,3831,359.1,-13.3,169,2294,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,2478,3900,3970,3831,0,0,0,0,0,0,27.41,27.48,27.48
$GC,2593,-1.05,-243.3,1910,2478,3968,3832,398.8,-13.2,179,2594,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,2483,3898,3966,3831,0,0,0,0,0,0,27.43,27.51,27.50
$GC,2893,-1.05,-243.3,1912,2478,3964,3829,438.0,-13.1,189,2894,0.00,0.00,0.00,0.000,6,0.000,0.000,1912,2478,3896,3964,3828,0,0,0,0,0,0,27.45,27.53,27.52
$GC,3193,-1.05,-243.3,1910,2478,3965,3827,475.9,-12.6,199,3197,0.00,2.08,0.00,0.000,516,0.000,0.034,1911,1086,3895,3964,3826,0,0,0,0,0,0,27.46,27.34,27.53
$GC,3223,-1.05,-243.3,1910,1087,3965,3827,479.7,-12.6,200,3226,0.00,2.10,0.00,0.000,1030,0.000,0.035,1906,2480,3894,3963,3826,0,0,0,0,0,0,27.52,27.34,27.53
$STATE,3401,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3401,begin apogee
$GC,3406,-0.20,0.0,1907,2610,3961,3825,503.1,-13.0,206,3602,0.88,0.00,192.62,0.953,10246,0.126,0.000,2188,2615,2901,2981,2821,0,0,0,0,0,0,27.24,25.59,24.81
$STATE,3603,end apogee,CONTROL_FINISHED_OK
$STATE,3603,begin climb
$GC,3605,1.05,243.3,2188,2610,2982,2820,509.7,0.0,212,3813,1.17,2.30,199.70,0.933,11012,0.070,0.030,2602,1206,1908,1983,1834,0,0,0,0,0,0,25.53,25.44,24.75
$GC,3842,1.05,243.3,2607,1207,1982,1830,485.8,15.2,220,3846,0.00,2.25,0.00,0.000,1030,0.000,0.030,2602,2593,1904,1980,1829,0,0,0,0,0,0,25.97,25.83,26.01
$GC,4153,1.05,243.3,2603,2594,1976,1826,423.2,19.1,231,4156,0.00,2.10,0.00,0.000,516,0.000,0.030,2612,1206,1900,1974,1826,0,0,0,0,0,0,26.77,26.65,26.84
$GC,4217,1.05,243.3,2612,1206,1974,1826,411.8,19.0,233,4221,0.00,2.17,0.00,0.000,1030,0.000,0.031,2612,2599,1899,1973,1825,0,0,0,0,0,0,26.86,26.73,26.90
$GC,4543,1.05,243.3,2613,2599,1971,1825,346.2,20.0,244,4546,0.00,2.10,0.00,0.000,516,0.000,0.030,2622,1205,1897,1971,1824,0,0,0,0,0,0,27.06,26.94,27.13
$GC,4592,1.05,243.3,2622,1205,1970,1824,340.3,19.9,245,4597,0.10,2.15,0.00,0.000,5126,0.157,0.031,2593,2596,1896,1970,1823,0,0,0,0,0,0,26.79,26.96,27.09
$GC,4903,1.05,243.3,2593,2597,1968,1823,278.3,18.7,256,4907,0.00,2.08,0.00,0.000,516,0.000,0.029,2600,1203,1895,1968,1822,0,0,0,0,0,0,27.19,27.08,27.26
$GC,4938,1.05,243.3,2601,1200,1968,1822,272.8,18.7,257,4941,0.00,2.15,0.00,0.000,1030,0.000,0.031,2600,2598,1894,1968,1821,0,0,0,0,0,0,27.22,27.08,27.24
$GC,5263,1.05,243.3,2600,2599,1966,1822,210.1,19.3,268,5264,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2599,1893,1966,1821,0,0,0,0,0,0,27.27,27.34,27.33
$GC,5564,1.05,243.3,2599,2599,1965,1820,152.9,18.9,294,5568,0.00,2.10,0.00,0.000,516,0.000,0.030,2611,1198,1891,1963,1819,0,0,0,0,0,0,27.32,27.21,27.39
$GC,5743,1.05,243.3,2611,1198,1963,1818,121.5,17.5,312,5747,0.00,2.15,0.00,0.000,1030,0.000,0.031,2611,2604,1890,1963,1818,0,0,0,0,0,0,27.36,27.22,27.40
$GC,6053,1.05,243.3,2611,2604,1962,1817,69.4,14.4,343,6054,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2604,1889,1962,1817,0,0,0,0,0,0,27.37,27.43,27.44
$GC,6353,1.19,323.4,2609,2605,1963,1817,33.3,8.7,389,6421,0.00,2.12,61.00,0.637,8740,0.000,0.027,2619,1203,1580,1650,1510,0,0,0,0,0,0,27.40,26.49,25.95
$GC,6646,1.19,323.4,2620,1204,1645,1503,4.3,11.2,445,6653,0.00,2.15,0.00,0.000,1030,0.000,0.027,2619,2639,1571,1645,1498,0,0,0,0,0,0,27.02,26.85,27.03
$STATE,6661,end climb,SURFACE_DEPTH_REACHED
$STATE,6661,begin surface coast
$FINISH,-0.2,1.021141
$STATE,6696,end surface coast,CONTROL_FINISHED_OK
$STATE,6696,begin surface
$SM_CCo,6715,70.60,0.061,0,0,861,500.17
$SM_GC,0.54,6.35,0.22,70.60,0.034,0.043,0.061,147,2460,861,-6.48,1.70,500.17,0,0,0,0,0,0,26.90,26.92,26.80
$IRIDIUM_FIX,2722.64,-8719.43,260816,042422
$TT8_MAMPS,0.065163,0.170772
$HUMID,88.47
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,24.10
$BR_FREEKB,7900640
$24V_AH,24.75,2.764
$10V_AH,10.49,2.205
$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,15.700,43.075,453.325,70.600,0.000,0.000,0.000,218.050,0.000,0.000,23.123,0.000,4986.759,590.869,1404.988,107.813,0.000,1276.387,0.000,811.664,0.000,0.000,0.000
$DEVICE_MAMPS,233.325,1276.020,953.190,61.200,0.000,0.000,0.000,87.975,0.000,0.000,30.710,0.000,0.390,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,BRB,nil,nil,nil
$SENSOR_SECS,304.183,0.000,0.000,0.000,0.000,0.000,7134.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,10.683,0.000,0.000,0.000
$MEM,287964
$DATA_FILE_SIZE,20074,455
$CAP_FILE_SIZE,65222,0
$CFSIZE,260034560,255479808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.154,345.34,1
$GPS,260816,062233,2800.195,-8728.700,10,2.0,31,-1.0,0.9,326.9,9,4.3