version: 66.13
glider: 178
mission: 22
dive: 40
start: 8 28 116 4 56 18
data:
$ID,178
$MISSION,22
$DIVE,40
$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,140
$T_MISSION,170
$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,61
$R_STBD_OVSHOOT,40
$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
$GPS1,280816,044928,2802.4072,-8730.0117,13,1.3,40,-1.0,0.2,310.4,7,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-58.7
$GPS2,280816,045600,2802.4504,-8730.0430,13,1.3,13,-1.0,0.4,349.7,7,9.8
$SPEED_LIMITS,0.206,0.347
$TGT_NAME,SOUTHLINE
$TGT_LATLONG,2800.000,-8730.043
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,180.7,4538,-16.2,-11.905,-18.96,3129
$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,-1.09,-243.3,123,2490,896,809,0.0,0.0,0,102,0.00,0.00,-92.43,0.000,16386,0.000,0.000,122,2496,3170,3219,3121,0,0,0,0,0,0,26.98,28.83,27.06
$GC,105,-1.09,-243.3,122,2491,3221,3123,3.4,-7.9,15,131,6.47,2.22,-13.50,0.000,18980,0.205,1.262,1897,1075,3893,3964,3823,0,0,0,0,0,0,26.66,25.89,27.13
$GC,315,-1.09,-243.3,1898,1074,3969,3825,64.9,-24.6,49,322,0.00,2.15,0.00,0.000,1030,0.000,0.029,1890,2481,3897,3970,3824,0,0,0,0,0,0,27.21,26.99,27.22
$GC,620,-1.09,-243.3,1889,2480,3977,3825,124.8,-19.1,80,621,0.00,0.00,0.00,0.000,6,0.000,0.000,1889,2481,3899,3975,3824,0,0,0,0,0,0,27.30,27.37,27.36
$GC,921,-1.09,-243.3,1890,2482,3977,3825,175.7,-16.7,110,925,0.00,2.08,0.00,0.000,516,0.000,0.030,1889,1085,3901,3977,3825,0,0,0,0,0,0,27.39,27.22,27.45
$GC,1010,-1.09,-243.3,1889,1085,3979,3826,190.5,-16.3,119,1014,0.00,2.12,0.00,0.000,1030,0.000,0.031,1880,2476,3900,3976,3825,0,0,0,0,0,0,27.47,27.22,27.48
$GC,1340,-1.09,-243.3,1879,2477,3979,3826,245.6,-16.4,134,1344,0.00,2.08,0.00,0.000,516,0.000,0.031,1880,1073,3901,3977,3825,0,0,0,0,0,0,27.45,27.28,27.51
$GC,1395,-1.09,-243.3,1881,1074,3978,3826,250.6,-16.5,135,1402,0.00,2.12,0.00,0.000,1030,0.000,0.031,1870,2469,3904,3977,3831,0,0,0,0,0,0,27.53,27.29,27.53
$GC,1700,-1.09,-243.3,1871,2469,3977,3825,305.1,-16.4,146,1704,0.00,2.08,0.00,0.000,516,0.000,0.031,1869,1071,3900,3977,3824,0,0,0,0,0,0,27.49,27.32,27.55
$GC,1735,-1.09,-243.3,1870,1071,3977,3826,310.1,-16.4,147,1739,0.10,2.15,0.00,0.000,3078,0.140,0.032,1894,2476,3901,3977,3825,0,0,0,0,0,0,27.19,27.32,27.55
$GC,2061,-1.09,-243.3,1891,2476,3977,3826,359.1,-14.6,158,2061,0.00,0.00,0.00,0.000,6,0.000,0.000,1892,2476,3900,3976,3825,0,0,0,0,0,0,27.51,27.59,27.57
$GC,2360,-1.09,-243.3,1892,2477,3975,3826,402.6,-14.5,168,2364,0.00,1.98,0.00,0.000,260,0.000,0.050,1885,3775,3899,3973,3825,0,0,0,0,0,0,27.52,27.32,27.59
$GC,2395,-1.09,-243.3,1884,3776,3974,3826,407.1,-14.6,169,2399,0.00,1.92,0.00,0.000,1030,0.000,0.028,1885,2470,3898,3972,3825,0,0,0,0,0,0,27.60,27.41,27.61
$GC,2721,-1.09,-243.3,1885,2470,3970,3826,457.4,-15.0,180,2724,0.00,2.08,0.00,0.000,516,0.000,0.032,1885,1088,3896,3968,3825,0,0,0,0,0,0,27.54,27.36,27.60
$GC,2770,-1.09,-243.3,1886,1088,3967,3826,462.0,-15.1,181,2775,0.00,2.12,0.00,0.000,1030,0.000,0.032,1875,2476,3896,3967,3825,0,0,0,0,0,0,27.61,27.37,27.62
$STATE,3019,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3019,begin apogee
$GC,3023,-0.20,0.0,1874,2609,3966,3819,503.3,-15.3,190,3218,0.95,0.00,191.88,0.929,10246,0.119,0.000,2188,2609,2900,2982,2819,0,0,0,0,0,0,27.26,25.82,25.03
$STATE,3219,end apogee,CONTROL_FINISHED_OK
$STATE,3219,begin climb
$GC,3221,1.09,243.3,2187,2609,2983,2819,510.0,0.0,196,3429,1.15,1.92,197.68,0.913,10500,0.061,0.047,2599,3772,1906,1983,1830,0,0,0,0,0,0,25.72,25.56,24.95
$GC,3455,1.09,243.3,2598,3773,1981,1829,483.7,16.5,204,3459,0.00,1.80,0.00,0.000,1030,0.000,0.021,2609,2560,1904,1980,1828,0,0,0,0,0,0,26.20,26.05,26.20
$GC,3770,1.09,243.3,2609,2557,1974,1822,417.3,19.7,215,3774,0.00,1.98,0.00,0.000,516,0.000,0.027,2618,1222,1898,1975,1821,0,0,0,0,0,0,26.94,26.79,27.01
$GC,3835,1.09,243.3,2619,1223,1973,1820,405.8,19.5,217,3839,0.00,2.12,0.00,0.000,1030,0.000,0.030,2618,2593,1896,1974,1819,0,0,0,0,0,0,27.08,26.86,27.09
$GC,4161,1.09,243.3,2617,2593,1972,1818,338.1,20.8,228,4164,0.00,2.00,0.00,0.000,516,0.000,0.026,2628,1245,1894,1970,1818,0,0,0,0,0,0,27.20,27.05,27.27
$GC,4190,1.09,243.3,2627,1246,1972,1819,332.1,20.6,229,4194,0.00,2.08,0.00,0.000,1030,0.000,0.030,2628,2595,1894,1970,1818,0,0,0,0,0,0,27.29,27.07,27.30
$GC,4521,1.09,243.3,2627,2595,1969,1818,261.9,21.6,240,4524,0.00,1.98,0.00,0.000,516,0.000,0.027,2637,1254,1891,1967,1816,0,0,0,0,0,0,27.32,27.15,27.39
$GC,4610,1.09,243.3,2638,1254,1966,1816,242.5,21.6,243,4614,0.08,2.05,0.00,0.000,5126,0.152,0.031,2598,2598,1890,1966,1815,0,0,0,0,0,0,27.03,27.18,27.41
$GC,4922,1.09,243.3,2597,2598,1965,1814,181.3,19.3,258,4925,0.00,2.00,0.00,0.000,516,0.000,0.025,2606,1241,1888,1963,1813,0,0,0,0,0,0,27.39,27.24,27.46
$GC,5025,1.09,243.3,2607,1240,1963,1812,161.2,19.1,268,5029,0.00,2.08,0.00,0.000,1030,0.000,0.029,2606,2603,1887,1963,1811,0,0,0,0,0,0,27.48,27.25,27.48
$GC,5335,1.09,243.3,2607,2604,1961,1812,102.2,18.0,299,5339,0.00,2.03,0.00,0.000,516,0.000,0.024,2616,1249,1886,1961,1811,0,0,0,0,0,0,27.44,27.29,27.51
$GC,5400,1.09,243.3,2615,1249,1962,1812,91.5,17.6,305,5407,0.00,2.05,0.00,0.000,1030,0.000,0.026,2616,2609,1886,1961,1811,0,0,0,0,0,0,27.51,27.30,27.53
$GC,5705,1.09,246.2,2616,2610,1960,1811,42.4,11.8,342,5713,0.00,2.03,0.00,0.000,548,0.000,0.023,2622,1209,1884,1959,1810,0,0,0,0,0,0,27.48,27.32,27.54
$GC,5918,1.36,397.2,2625,1210,1958,1808,24.4,6.9,384,6041,0.17,2.03,116.35,0.610,11302,0.061,0.024,2720,2605,1278,1344,1213,0,0,0,0,0,0,27.36,27.35,25.62
$STATE,6065,end climb,SURFACE_DEPTH_REACHED
$STATE,6065,begin surface coast
$FINISH,-0.2,1.022218
$STATE,6081,end surface coast,CONTROL_FINISHED_OK
$STATE,6081,begin surface
$SM_CCo,6100,42.20,0.061,0,0,859,500.17
$SM_GC,0.56,6.68,0.10,42.20,0.030,0.072,0.061,148,2503,859,-6.48,3.08,500.17,0,0,0,0,0,0,26.46,26.45,26.46
$IRIDIUM_FIX,2722.64,-8719.43,280816,045253
$TT8_MAMPS,0.062916,0.2247
$HUMID,100.12
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,23.50
$BR_FREEKB,7885376
$24V_AH,24.95,5.675
$10V_AH,10.39,3.744
$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,15.600,53.500,505.900,42.200,0.000,0.000,0.000,189.075,0.000,0.000,16.559,0.000,4356.371,585.865,1497.045,98.230,0.000,1290.077,0.000,828.784,0.000,0.000,0.000
$DEVICE_MAMPS,205.020,1262.250,928.710,61.200,0.000,0.000,0.000,82.620,0.000,0.000,30.710,0.000,0.390,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,BRB,nil,nil,nil
$SENSOR_SECS,273.456,0.000,0.000,0.000,0.000,0.000,6607.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,10.587,0.000,0.000,0.000
$MEM,287084
$DATA_FILE_SIZE,16859,412
$CAP_FILE_SIZE,67674,0
$CFSIZE,260034560,254529536
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,3246.10,0x231a5a,1,24
$CURRENT,0.114,2.06,1
$GPS,280816,063934,2801.699,-8730.080,9,1.0,31,-1.0,0.2,345.0,9,4.0