version: 66.13
glider: 178
mission: 22
dive: 20
start: 8 26 116 12 36 15
data:
$ID,178
$MISSION,22
$DIVE,20
$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,64
$R_STBD_OVSHOOT,46
$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
$GPS1,260816,123212,2758.7546,-8727.2393,8,1.3,8,-1.0,0.3,298.3,7,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-57.5
$GPS2,260816,123557,2758.8098,-8727.2246,12,1.5,21,-1.0,0.8,345.5,7,5.4
$SPEED_LIMITS,0.192,0.338
$TGT_NAME,NODE
$TGT_LATLONG,2801.529,-8730.043
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,304.3,6826,-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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-1.05,-243.3,160,2499,892,829,0.0,0.0,0,102,0.00,0.00,-92.82,0.000,16386,0.000,0.000,156,2499,3239,3287,3192,0,0,0,0,0,0,27.09,28.83,27.16
$GC,105,-1.05,-243.3,156,2500,3291,3193,4.1,-9.3,15,130,6.50,2.05,-11.95,0.000,18724,0.213,1.279,1900,3761,3894,3965,3823,0,0,0,0,0,0,26.79,26.00,27.11
$GC,355,-1.05,-243.3,1901,3761,3967,3825,75.5,-19.6,52,362,0.00,1.92,0.00,0.000,1030,0.000,0.031,1900,2491,3896,3968,3824,0,0,0,0,0,0,27.22,27.10,27.24
$GC,660,-1.05,-243.3,1900,2492,3971,3825,131.1,-16.6,83,661,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,2491,3898,3972,3825,0,0,0,0,0,0,27.32,27.39,27.38
$GC,961,-1.05,-243.3,1900,2491,3972,3825,177.7,-14.8,113,965,0.00,2.10,0.00,0.000,516,0.000,0.034,1900,1072,3898,3972,3825,0,0,0,0,0,0,27.39,27.26,27.46
$GC,1080,-1.05,-243.3,1899,1072,3974,3826,195.4,-14.7,125,1084,0.00,2.12,0.00,0.000,1030,0.000,0.036,1892,2454,3899,3973,3825,0,0,0,0,0,0,27.43,27.27,27.48
$GC,1390,-1.05,-243.3,1891,2455,3974,3826,241.3,-14.7,138,1393,0.00,2.05,0.00,0.000,516,0.000,0.034,1892,1072,3898,3972,3825,0,0,0,0,0,0,27.45,27.32,27.51
$GC,1425,-1.05,-243.3,1892,1071,3971,3825,245.7,-14.8,139,1429,0.08,2.15,0.00,0.000,3078,0.147,0.034,1906,2475,3898,3971,3825,0,0,0,0,0,0,27.21,27.35,27.49
$GC,1750,-1.05,-243.3,1907,2477,3968,3825,291.1,-13.8,150,1751,0.00,0.00,0.00,0.000,6,0.000,0.000,1907,2476,3896,3968,3825,0,0,0,0,0,0,27.48,27.56,27.55
$GC,2050,-1.05,-243.3,1907,2476,3963,3830,332.7,-13.7,160,2054,0.00,2.08,0.00,0.000,516,0.000,0.034,1907,1075,3894,3963,3825,0,0,0,0,0,0,27.50,27.37,27.57
$GC,2075,-1.05,-243.3,1905,1075,3965,3825,332.7,-13.7,160,2082,0.00,2.15,0.00,0.000,1030,0.000,0.036,1900,2477,3893,3963,3824,0,0,0,0,0,0,27.52,27.36,27.57
$GC,2380,-1.05,-243.3,1899,2479,3963,3822,378.3,-13.6,171,2383,0.00,2.03,0.00,0.000,260,0.000,0.053,1891,3773,3891,3962,3821,0,0,0,0,0,0,27.51,27.36,27.58
$GC,2405,-1.05,-243.3,1891,3774,3960,3822,378.3,-13.6,171,2412,0.00,1.95,0.00,0.000,1030,0.000,0.031,1891,2468,3890,3960,3821,0,0,0,0,0,0,27.55,27.43,27.58
$GC,2710,-1.05,-243.3,1891,2469,3959,3818,424.9,-14.1,182,2714,0.00,2.08,0.00,0.000,516,0.000,0.035,1890,1091,3887,3957,3817,0,0,0,0,0,0,27.52,27.39,27.58
$GC,2760,-1.05,-243.3,1890,1091,3959,3818,429.2,-14.2,183,2764,0.00,2.12,0.00,0.000,1030,0.000,0.036,1881,2474,3887,3957,3817,0,0,0,0,0,0,27.55,27.39,27.58
$GC,3070,-1.05,-243.3,1880,2475,3956,3813,477.3,-14.5,194,3075,0.12,2.08,0.00,0.000,2564,0.168,0.035,1912,1076,3883,3954,3813,0,0,0,0,0,0,27.27,27.40,27.60
$GC,3100,-1.05,-243.3,1911,1077,3955,3814,481.3,-14.2,195,3104,0.00,2.12,0.00,0.000,1030,0.000,0.037,1906,2492,3883,3953,3813,0,0,0,0,0,0,27.58,27.39,27.60
$STATE,3249,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3249,begin apogee
$GC,3253,-0.20,0.0,1906,2609,3955,3812,500.5,-12.7,200,3445,0.85,0.00,188.70,0.936,10246,0.119,0.000,2185,2609,2900,2981,2819,0,0,0,0,0,0,27.30,25.80,25.01
$STATE,3446,end apogee,CONTROL_FINISHED_OK
$STATE,3446,begin climb
$GC,3448,1.05,243.3,2183,2606,2982,2819,506.1,0.0,206,3650,1.15,0.00,196.52,0.919,10502,0.067,0.000,2592,2609,1908,1984,1832,0,0,0,0,0,0,25.74,25.70,24.94
$GC,3940,1.05,243.3,2593,2609,1974,1824,426.7,19.2,223,3944,0.00,2.12,0.00,0.000,516,0.000,0.029,2603,1204,1898,1974,1823,0,0,0,0,0,0,26.88,26.77,26.95
$GC,3995,1.05,243.3,2603,1203,1974,1822,421.0,19.1,224,4003,0.00,2.17,0.00,0.000,1030,0.000,0.032,2602,2603,1898,1975,1821,0,0,0,0,0,0,26.97,26.82,27.00
$GC,4300,1.05,243.3,2602,2603,1972,1819,355.5,19.9,235,4303,0.00,2.10,0.00,0.000,516,0.000,0.028,2613,1201,1895,1971,1819,0,0,0,0,0,0,27.16,27.05,27.22
$GC,4370,1.05,243.3,2611,1201,1972,1818,343.8,19.8,237,4373,0.00,2.17,0.00,0.000,1030,0.000,0.032,2613,2607,1894,1970,1818,0,0,0,0,0,0,27.22,27.07,27.24
$GC,4690,1.05,243.3,2613,2608,1967,1818,277.1,20.1,248,4693,0.00,2.10,0.00,0.000,516,0.000,0.028,2622,1193,1892,1967,1817,0,0,0,0,0,0,27.29,27.18,27.36
$GC,4750,1.05,243.3,2620,1194,1968,1817,265.2,20.0,250,4754,0.15,2.12,0.00,0.000,5126,0.168,0.032,2585,2610,1891,1967,1816,0,0,0,0,0,0,27.04,27.17,27.36
$GC,5080,1.05,243.3,2582,2611,1963,1816,203.9,18.8,261,5083,0.00,2.08,0.00,0.000,516,0.000,0.028,2592,1202,1889,1964,1815,0,0,0,0,0,0,27.36,27.25,27.43
$GC,5150,1.05,243.3,2592,1202,1965,1814,191.4,17.6,266,5154,0.00,2.10,0.00,0.000,1030,0.000,0.031,2593,2606,1888,1963,1814,0,0,0,0,0,0,27.43,27.25,27.44
$GC,5460,1.05,243.3,2595,2606,1961,1813,132.5,19.3,297,5464,0.00,2.12,0.00,0.000,516,0.000,0.028,2603,1202,1886,1959,1813,0,0,0,0,0,0,27.41,27.30,27.48
$GC,5610,1.05,243.3,2604,1202,1960,1812,105.2,17.7,312,5614,0.00,2.12,0.00,0.000,1030,0.000,0.031,2602,2604,1885,1960,1811,0,0,0,0,0,0,27.46,27.31,27.48
$GC,5920,1.05,243.3,2603,2604,1958,1811,54.7,15.0,343,5923,0.00,1.80,0.00,0.000,260,0.000,0.043,2603,3773,1885,1959,1811,0,0,0,0,0,0,27.45,27.31,27.52
$GC,5955,1.05,243.3,2600,3774,1959,1812,50.4,14.7,346,5962,0.00,1.73,0.00,0.000,1030,0.000,0.020,2612,2548,1884,1958,1811,0,0,0,0,0,0,27.50,27.39,27.51
$GC,6262,1.29,377.5,2611,2548,1959,1811,18.8,7.0,407,6373,0.15,2.05,100.50,0.618,10788,0.067,0.027,2712,1207,1359,1427,1291,0,0,0,0,0,0,27.39,26.27,25.74
$STATE,6382,end climb,SURFACE_DEPTH_REACHED
$STATE,6382,begin surface coast
$FINISH,-0.0,1.022344
$STATE,6396,end surface coast,CONTROL_FINISHED_OK
$STATE,6396,begin surface
$SM_CCo,6416,49.92,0.061,0,0,860,500.17
$SM_GC,0.31,6.70,2.00,49.92,0.034,0.028,0.061,146,2476,860,-6.50,-1.22,500.17,0,0,0,0,0,0,26.48,26.46,26.53
$IRIDIUM_FIX,2722.64,-8719.43,260816,123247
$TT8_MAMPS,0.064414,0.2247
$HUMID,96.89
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,23.70
$BR_FREEKB,7900256
$24V_AH,24.94,3.268
$10V_AH,10.43,2.436
$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,15.700,57.950,485.725,49.925,0.000,0.000,0.000,0.000,0.000,0.000,23.720,0.000,4632.924,591.154,1232.448,76.470,0.000,1114.648,0.000,858.392,0.000,0.000,0.000
$DEVICE_MAMPS,213.435,1279.080,935.595,61.200,0.000,0.000,0.000,0.000,0.000,0.000,30.710,0.000,0.390,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,BRB,nil,nil,nil
$SENSOR_SECS,285.855,0.000,0.000,0.000,0.000,0.000,6464.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,10.635,0.000,0.000,0.000
$MEM,287776
$DATA_FILE_SIZE,16790,430
$CAP_FILE_SIZE,86631,0
$CFSIZE,260034560,255299584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.091,10.40,1
$GPS,260816,142503,2759.905,-8728.166,12,1.7,39,-1.0,0.5,14.1,9,4.5