version: 66.13
glider: 178
mission: 22
dive: 28
start: 8 27 116 7 59 52
data:
$ID,178
$MISSION,22
$DIVE,28
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$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,90
$T_MISSION,110
$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,3
$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,77
$R_STBD_OVSHOOT,47
$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
$GPS1,270816,075158,2803.2227,-8730.0605,10,1.7,32,-1.0,1.3,286.5,7,5.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-58.3
$GPS2,270816,075933,2803.3252,-8730.1641,11,1.7,26,-1.0,0.5,323.8,7,5.2
$SPEED_LIMITS,0.192,0.338
$TGT_NAME,NODE
$TGT_LATLONG,2801.529,-8730.043
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,176.0,3333,-15.3,-11.111,-18.18,3349
$D_GRID,300
$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,-243.3,132,2507,893,820,0.0,0.0,0,104,0.00,0.00,-94.07,0.000,16386,0.000,0.000,131,2507,3233,3276,3190,0,0,0,0,0,0,26.86,28.83,26.73
$GC,106,-1.05,-243.3,131,2508,3278,3191,4.1,-9.9,15,132,6.90,2.22,-11.82,0.000,18980,0.225,1.250,1905,1096,3890,3961,3819,0,0,0,0,0,0,26.60,25.86,26.90
$GC,218,-1.05,-243.3,1904,1097,3965,3821,39.4,-25.2,36,224,0.00,2.10,0.00,0.000,1030,0.000,0.033,1898,2473,3891,3962,3821,0,0,0,0,0,0,26.86,26.77,26.86
$GC,409,-1.05,-243.3,1898,2474,3965,3821,82.4,-19.0,59,409,0.00,0.00,0.00,0.000,6,0.000,0.000,1898,2472,3893,3965,3821,0,0,0,0,0,0,26.91,26.98,26.97
$GC,709,-1.05,-243.3,1897,2474,3972,3822,137.0,-16.4,89,713,0.00,2.05,0.00,0.000,516,0.000,0.031,1898,1101,3895,3970,3821,0,0,0,0,0,0,26.98,26.96,27.03
$GC,778,-1.05,-243.3,1897,1101,3973,3823,148.7,-16.5,96,782,0.00,2.12,0.00,0.000,1030,0.000,0.033,1888,2477,3896,3971,3821,0,0,0,0,0,0,27.07,26.98,27.07
$GC,1088,-1.05,-243.3,1889,2478,3972,3823,197.2,-15.9,127,1092,0.00,2.10,0.00,0.000,516,0.000,0.030,1893,1096,3897,3972,3822,0,0,0,0,0,0,27.20,27.05,27.27
$GC,1149,-1.05,-243.3,1887,1096,3974,3823,206.3,-15.4,131,1152,0.12,2.08,0.00,0.000,3078,0.165,0.032,1909,2479,3897,3973,3822,0,0,0,0,0,0,26.96,27.10,27.30
$GC,1478,-1.05,-243.3,1908,2479,3974,3822,252.1,-13.6,142,1479,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,2479,3897,3973,3822,0,0,0,0,0,0,27.16,27.24,27.22
$GC,1779,-1.05,-243.3,1910,2479,3971,3822,292.9,-13.5,152,1780,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,2481,3896,3971,3822,0,0,0,0,0,0,27.36,27.43,27.42
$STATE,1837,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1837,begin apogee
$GC,1841,-0.20,0.0,1909,2615,3970,3822,301.0,-13.6,154,2030,0.82,0.00,185.85,0.778,10246,0.115,0.000,2184,2614,2900,2982,2819,0,0,0,0,0,0,27.16,26.03,25.34
$STATE,2031,end apogee,CONTROL_FINISHED_OK
$STATE,2031,begin climb
$GC,2033,1.05,243.3,2185,2615,2980,2818,307.2,0.0,160,2231,1.12,1.88,190.65,0.763,10500,0.063,0.046,2592,3768,1906,1983,1830,0,0,0,0,0,0,25.96,25.84,25.29
$GC,2322,1.05,243.3,2591,3765,1980,1827,264.0,21.0,170,2325,0.00,1.70,0.00,0.000,1030,0.000,0.021,2601,2568,1902,1978,1827,0,0,0,0,0,0,26.70,26.60,26.71
$GC,2651,1.05,243.3,2601,2561,1974,1822,197.1,19.9,181,2655,0.00,1.95,0.00,0.000,516,0.000,0.024,2610,1253,1897,1974,1821,0,0,0,0,0,0,27.13,27.01,27.19
$GC,2711,1.05,243.3,2611,1253,1973,1820,185.3,19.3,187,2715,0.00,2.05,0.00,0.000,1030,0.000,0.028,2610,2595,1896,1973,1819,0,0,0,0,0,0,27.07,27.01,27.08
$GC,3021,1.05,243.3,2610,2595,1972,1819,121.5,19.4,218,3024,0.00,2.03,0.00,0.000,516,0.000,0.025,2620,1212,1894,1970,1818,0,0,0,0,0,0,27.29,27.15,27.36
$GC,3152,1.05,243.3,2620,1212,1970,1817,97.6,18.1,231,3156,0.12,2.08,0.00,0.000,5126,0.167,0.028,2590,2613,1892,1968,1816,0,0,0,0,0,0,27.06,27.21,27.39
$GC,3456,1.05,243.3,2591,2615,1966,1814,52.3,11.9,261,3459,0.00,2.05,0.00,0.000,516,0.000,0.026,2598,1242,1889,1966,1813,0,0,0,0,0,0,27.41,27.28,27.47
$GC,3587,1.15,297.5,2597,1242,1966,1818,37.8,9.4,285,3632,0.00,2.00,40.03,0.602,9254,0.000,0.028,2597,2608,1687,1760,1615,0,0,0,0,0,0,27.47,27.31,26.26
$GC,3811,1.26,358.3,2598,2608,1755,1608,14.5,9.2,328,3868,0.17,2.10,47.53,0.581,10788,0.062,0.025,2708,1247,1438,1510,1366,0,0,0,0,0,0,27.09,26.55,26.02
$STATE,3896,end climb,SURFACE_DEPTH_REACHED
$STATE,3896,begin surface coast
$FINISH,0.3,1.022253
$STATE,3911,end surface coast,CONTROL_FINISHED_OK
$STATE,3911,begin surface
$SM_CCo,3931,56.88,0.057,0,0,859,500.17
$SM_GC,0.58,6.53,1.92,56.88,0.028,0.028,0.057,146,2478,859,-6.47,-1.10,500.17,0,0,0,0,0,0,26.77,26.74,26.75
$IRIDIUM_FIX,2722.64,-8719.43,270816,075541
$TT8_MAMPS,0.062916,0.163282
$HUMID,93.43
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,24.00
$BR_FREEKB,7888736
$24V_AH,25.29,4.306
$10V_AH,10.56,3.101
$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,15.800,32.600,464.050,56.875,0.000,0.000,0.000,286.750,0.000,0.000,28.818,0.000,2568.912,547.410,1241.137,92.935,0.000,1240.321,0.000,640.822,0.000,0.000,0.000
$DEVICE_MAMPS,224.910,1250.010,778.005,56.610,0.000,0.000,0.000,86.445,0.000,0.000,30.710,0.000,0.390,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,BRB,nil,nil,nil
$SENSOR_SECS,228.403,0.000,0.000,0.000,0.000,0.000,4524.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,9.480,0.000,0.000,0.000
$MEM,287576
$DATA_FILE_SIZE,13471,346
$CAP_FILE_SIZE,52794,0
$CFSIZE,260034560,254996480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.159,358.61,1
$GPS,270816,090722,2803.003,-8730.105,12,0.8,40,-1.0,1.2,320.4,10,3.7