version: 66.13
glider: 178
mission: 22
dive: 44
start: 8 28 116 12 26 29
data:
$ID,178
$MISSION,22
$DIVE,44
$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,106
$R_STBD_OVSHOOT,39
$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
$GPS1,280816,122203,2800.0684,-8729.9951,7,1.7,40,-1.0,0.5,45.9,10,3.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-58.4
$GPS2,280816,122610,2800.1206,-8730.0000,12,1.7,16,-1.0,0.5,51.5,8,6.8
$SPEED_LIMITS,0.206,0.347
$TGT_NAME,NORTHLINE
$TGT_LATLONG,2803.000,-8730.043
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,0.9,5333,-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,-243.3,134,2479,901,816,0.0,0.0,0,101,0.00,0.00,-90.80,0.000,16386,0.000,0.000,127,2481,3140,3184,3096,0,0,0,0,0,0,27.01,28.83,27.08
$GC,103,-1.09,-243.3,127,2481,3187,3097,3.2,-6.7,14,129,6.53,2.12,-14.07,0.000,18724,0.208,1.278,1887,3773,3895,3965,3826,0,0,0,0,0,0,26.66,25.75,27.13
$GC,309,-1.09,-243.3,1887,3777,3969,3828,71.9,-25.7,47,312,0.00,1.88,0.00,0.000,1030,0.000,0.027,1887,2520,3898,3970,3827,0,0,0,0,0,0,27.23,27.03,27.23
$GC,619,-1.09,-243.3,1886,2520,3977,3829,134.8,-20.0,78,622,0.00,2.12,0.00,0.000,516,0.000,0.031,1887,1078,3902,3976,3828,0,0,0,0,0,0,27.31,27.13,27.37
$GC,723,-1.09,-243.3,1886,1078,3978,3830,153.2,-17.1,88,731,0.00,2.12,0.00,0.000,1030,0.000,0.031,1877,2470,3903,3977,3829,0,0,0,0,0,0,27.41,27.15,27.41
$GC,1049,-1.09,-243.3,1874,2470,3978,3830,210.8,-17.6,117,1052,0.00,2.10,0.00,0.000,516,0.000,0.031,1877,1077,3902,3975,3830,0,0,0,0,0,0,27.41,27.24,27.47
$GC,1169,-1.09,-243.3,1882,1079,3981,3830,230.5,-16.4,121,1173,0.12,2.12,0.00,0.000,3078,0.157,0.032,1899,2500,3904,3979,3830,0,0,0,0,0,0,27.13,27.25,27.51
$GC,1499,-1.09,-243.3,1898,2501,3981,3830,279.9,-15.2,132,1502,0.00,2.10,0.00,0.000,516,0.000,0.030,1899,1073,3904,3979,3829,0,0,0,0,0,0,27.46,27.30,27.53
$GC,1559,-1.09,-243.3,1898,1073,3981,3830,289.1,-15.3,134,1562,0.00,2.12,0.00,0.000,1030,0.000,0.032,1891,2463,3904,3980,3829,0,0,0,0,0,0,27.55,27.30,27.55
$GC,1889,-1.09,-243.3,1892,2464,3977,3830,340.4,-15.5,145,1892,0.00,2.08,0.00,0.000,516,0.000,0.031,1892,1060,3903,3977,3829,0,0,0,0,0,0,27.50,27.34,27.56
$GC,1944,-1.09,-243.3,1892,1061,3977,3830,344.9,-15.5,146,1951,0.00,2.17,0.00,0.000,1030,0.000,0.032,1882,2480,3903,3977,3829,0,0,0,0,0,0,27.58,27.34,27.58
$GC,2249,-1.09,-243.3,1881,2480,3976,3830,396.1,-15.6,157,2252,0.00,2.08,0.00,0.000,516,0.000,0.031,1882,1075,3901,3974,3829,0,0,0,0,0,0,27.52,27.34,27.58
$GC,2298,-1.09,-243.3,1881,1076,3976,3830,400.7,-15.6,158,2302,0.00,2.15,0.00,0.000,1030,0.000,0.032,1871,2477,3901,3974,3829,0,0,0,0,0,0,27.58,27.35,27.60
$GC,2609,-1.09,-243.3,1872,2478,3970,3830,452.2,-15.5,169,2612,0.00,2.03,0.00,0.000,260,0.000,0.050,1861,3778,3899,3970,3829,0,0,0,0,0,0,27.53,27.34,27.60
$GC,2639,-1.09,-243.3,1862,3779,3969,3830,457.1,-15.8,170,2643,0.12,1.95,0.00,0.000,3078,0.140,0.028,1902,2469,3899,3969,3829,0,0,0,0,0,0,27.22,27.41,27.61
$STATE,2967,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2967,begin apogee
$GC,2972,-0.20,0.0,1903,2622,3967,3826,503.3,-13.9,181,3168,0.85,0.00,192.30,0.937,10246,0.112,0.000,2187,2621,2901,2983,2820,0,0,0,0,0,0,27.25,25.79,25.01
$STATE,3169,end apogee,CONTROL_FINISHED_OK
$STATE,3169,begin climb
$GC,3170,1.09,243.3,2186,2621,2984,2821,510.4,0.0,187,3378,1.17,1.92,197.30,0.917,10500,0.063,0.047,2606,3763,1909,1987,1832,0,0,0,0,0,0,25.71,25.53,24.94
$GC,3439,1.09,243.3,2607,3763,1979,1831,477.7,18.5,196,3443,0.00,1.77,0.00,0.000,1030,0.000,0.021,2618,2553,1905,1980,1830,0,0,0,0,0,0,26.40,26.25,26.41
$GC,3749,1.09,243.3,2615,2549,1978,1825,407.8,21.1,207,3752,0.00,1.98,0.00,0.000,516,0.000,0.025,2625,1241,1900,1977,1824,0,0,0,0,0,0,26.96,26.82,27.03
$GC,3784,1.09,243.3,2626,1243,1976,1824,401.5,21.0,208,3787,0.00,2.10,0.00,0.000,1030,0.000,0.029,2625,2597,1899,1977,1822,0,0,0,0,0,0,27.08,26.85,27.10
$GC,4109,1.09,243.3,2624,2598,1975,1823,330.2,21.8,219,4112,0.00,2.00,0.00,0.000,516,0.000,0.024,2635,1246,1897,1972,1822,0,0,0,0,0,0,27.20,27.04,27.27
$GC,4239,1.09,243.3,2633,1246,1972,1820,305.3,20.7,223,4243,0.10,2.08,0.00,0.000,5126,0.148,0.030,2603,2602,1895,1972,1819,0,0,0,0,0,0,26.94,27.10,27.31
$GC,4559,1.09,243.3,2604,2603,1969,1819,240.3,19.9,234,4562,0.00,2.05,0.00,0.000,516,0.000,0.024,2611,1209,1893,1969,1818,0,0,0,0,0,0,27.33,27.17,27.40
$GC,4688,1.09,243.3,2609,1211,1970,1817,217.0,19.4,238,4692,0.00,2.10,0.00,0.000,1030,0.000,0.028,2611,2594,1892,1969,1816,0,0,0,0,0,0,27.43,27.20,27.44
$GC,4999,1.09,243.3,2610,2595,1968,1821,153.3,20.0,264,5003,0.00,2.03,0.00,0.000,516,0.000,0.024,2621,1244,1891,1966,1816,0,0,0,0,0,0,27.43,27.24,27.47
$GC,5073,1.09,243.3,2621,1245,1965,1815,140.3,18.5,271,5080,0.00,2.05,0.00,0.000,1030,0.000,0.028,2621,2596,1889,1965,1814,0,0,0,0,0,0,27.48,27.26,27.49
$GC,5379,1.09,243.3,2620,2597,1965,1814,81.6,16.8,302,5382,0.00,2.03,0.00,0.000,516,0.000,0.023,2631,1234,1888,1963,1813,0,0,0,0,0,0,27.45,27.29,27.51
$GC,5515,1.09,243.3,2631,1233,1962,1812,61.5,14.3,315,5521,0.12,2.00,0.00,0.000,5126,0.147,0.024,2597,2612,1887,1963,1811,0,0,0,0,0,0,27.17,27.32,27.53
$GC,5819,1.30,362.7,2597,2613,1963,1812,30.5,8.0,367,5918,0.20,2.12,90.75,0.613,10788,0.054,0.021,2716,1237,1419,1490,1349,0,0,0,0,0,0,27.38,26.34,25.75
$STATE,6016,end climb,SURFACE_DEPTH_REACHED
$STATE,6016,begin surface coast
$FINISH,1.5,1.022333
$STATE,6021,end surface coast,CONTROL_FINISHED_OK
$STATE,6021,begin surface
$SM_CCo,6042,56.72,0.061,0,0,861,500.17
$SM_GC,0.39,6.57,1.92,56.72,0.028,0.025,0.061,150,2468,861,-6.47,-1.33,500.17,0,0,0,0,0,0,26.68,26.67,26.65
$IRIDIUM_FIX,2722.64,-8719.43,280816,122311
$TT8_MAMPS,0.062916,0.229943
$HUMID,101.30
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,23.60
$BR_FREEKB,7885120
$24V_AH,24.94,6.115
$10V_AH,10.39,3.950
$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,15.800,57.525,480.350,56.725,0.000,0.000,0.000,166.050,0.000,0.000,19.377,0.000,4248.667,581.533,1418.052,99.781,0.000,1285.936,0.000,895.013,0.000,0.000,0.000
$DEVICE_MAMPS,208.080,1277.550,937.125,61.200,0.000,0.000,0.000,84.150,0.000,0.000,30.710,0.000,0.390,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,BRB,nil,nil,nil
$SENSOR_SECS,268.654,0.000,0.000,0.000,0.000,0.000,6465.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,10.587,0.000,0.000,0.000
$MEM,287112
$DATA_FILE_SIZE,16827,404
$CAP_FILE_SIZE,67298,0
$CFSIZE,260034560,254373888
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,7526.52,0x212b2c,7,24
$CURRENT,0.121,354.25,1
$GPS,280816,140903,2801.664,-8730.053,12,1.5,33,-1.0,0.8,45.1,9,4.1