version: 66.13
glider: 178
mission: 22
dive: 49
start: 8 29 116 0 36 7
data:
$ID,178
$MISSION,22
$DIVE,49
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,660
$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,220
$T_MISSION,240
$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,175
$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,400
$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,2525
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,95
$R_STBD_OVSHOOT,60
$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
$GPS1,290816,003035,2800.5117,-8730.2158,29,0.9,29,-1.0,0.2,22.3,10,6.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-63.7
$GPS2,290816,003548,2800.5381,-8730.1855,10,1.3,10,-1.0,0.2,146.9,7,9.7
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,RECOV
$TGT_LATLONG,2802.100,-8729.400
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,43.9,3165,-27.8,-10.000,-30.00,969
$D_GRID,660
$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,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
$GC,6,-1.23,-63.1,131,2468,1303,1221,0.0,0.0,0,83,0.00,0.00,-73.97,0.000,16386,0.000,0.000,127,2467,3098,3147,3050,0,0,0,0,0,0,26.97,28.83,27.04
$GC,85,-1.29,-97.1,128,2468,3149,3056,3.2,-6.4,12,99,6.25,2.15,-4.03,0.000,18724,0.206,1.274,1818,3758,3298,3366,3230,0,0,0,0,0,0,26.61,25.67,27.08
$GC,124,-1.29,-97.1,1820,3759,3369,3231,19.3,-36.9,19,131,0.00,1.90,0.00,0.000,1030,0.000,0.026,1825,2496,3299,3369,3230,0,0,0,0,0,0,27.06,26.86,27.07
$GC,316,-1.29,-97.1,1824,2496,3375,3231,68.5,-18.3,48,320,0.00,2.08,0.00,0.000,516,0.000,0.028,1834,1082,3301,3373,3230,0,0,0,0,0,0,27.15,26.98,27.21
$GC,545,-1.29,-97.1,1833,1082,3380,3232,106.1,-14.0,70,552,0.00,2.10,0.00,0.000,1030,0.000,0.031,1826,2457,3305,3379,3231,0,0,0,0,0,0,27.31,27.09,27.34
$GC,850,-1.29,-97.1,1827,2458,3384,3231,151.8,-13.5,101,851,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2457,3307,3384,3231,0,0,0,0,0,0,27.36,27.42,27.42
$GC,1151,-1.29,-97.1,1826,2458,3388,3232,189.2,-12.0,131,1152,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2457,3308,3386,3231,0,0,0,0,0,0,27.41,27.48,27.48
$GC,1451,-1.29,-97.1,1827,2458,3386,3231,225.9,-11.9,147,1454,0.00,2.03,0.00,0.000,516,0.000,0.030,1832,1084,3308,3386,3231,0,0,0,0,0,0,27.45,27.28,27.50
$GC,1591,-1.29,-97.1,1833,1085,3386,3231,241.2,-12.8,151,1594,0.00,2.08,0.00,0.000,1030,0.000,0.030,1824,2480,3308,3386,3231,0,0,0,0,0,0,27.55,27.29,27.55
$GC,1896,-1.29,-97.1,1824,2481,3385,3232,283.1,-13.1,161,1896,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2480,3308,3386,3231,0,0,0,0,0,0,27.49,27.56,27.55
$GC,2196,-1.29,-97.1,1824,2481,3385,3231,320.6,-12.3,171,2199,0.00,2.05,0.00,0.000,516,0.000,0.031,1824,1089,3308,3385,3231,0,0,0,0,0,0,27.51,27.33,27.60
$GC,2260,-1.29,-97.1,1823,1089,3387,3232,328.1,-12.3,173,2265,0.00,2.10,0.00,0.000,1030,0.000,0.031,1813,2470,3308,3385,3231,0,0,0,0,0,0,27.59,27.33,27.60
$GC,2585,-1.29,-97.1,1814,2472,3383,3231,369.6,-12.6,184,2586,0.00,0.00,0.00,0.000,6,0.000,0.000,1814,2470,3306,3383,3230,0,0,0,0,0,0,27.52,27.60,27.59
$GC,2886,-1.29,-97.1,1813,2471,3383,3232,408.0,-12.8,194,2889,0.00,2.05,0.00,0.000,516,0.000,0.032,1814,1086,3304,3379,3230,0,0,0,0,0,0,27.53,27.36,27.60
$GC,2940,-1.29,-97.1,1815,1087,3379,3231,412.0,-13.0,195,2948,0.08,2.12,0.00,0.000,3078,0.163,0.031,1827,2477,3304,3378,3231,0,0,0,0,0,0,27.19,27.36,27.60
$GC,3246,-1.29,-97.1,1827,2478,3376,3231,453.1,-12.2,206,3249,0.00,2.05,0.00,0.000,516,0.000,0.031,1826,1089,3305,3379,3231,0,0,0,0,0,0,27.54,27.36,27.60
$GC,3381,-1.29,-97.1,1825,1089,3376,3231,468.1,-12.5,210,3384,0.00,2.08,0.00,0.000,1030,0.000,0.031,1819,2478,3302,3373,3232,0,0,0,0,0,0,27.62,27.37,27.62
$GC,3690,-1.29,-97.1,1819,2479,3372,3227,509.5,-13.0,221,3694,0.00,2.08,0.00,0.000,516,0.000,0.031,1818,1078,3300,3373,3227,0,0,0,0,0,0,27.55,27.37,27.61
$GC,3845,-1.29,-97.1,1817,1078,3373,3226,529.3,-13.2,226,3849,0.00,2.15,0.00,0.000,1030,0.000,0.032,1809,2478,3298,3370,3226,0,0,0,0,0,0,27.63,27.39,27.64
$GC,4170,-1.29,-97.1,1808,2478,3370,3225,572.6,-13.0,237,4174,0.00,2.05,0.00,0.000,516,0.000,0.032,1808,1090,3296,3368,3224,0,0,0,0,0,0,27.55,27.38,27.62
$GC,4231,-1.29,-97.1,1809,1091,3368,3224,580.5,-13.0,239,4235,0.15,2.10,0.00,0.000,3078,0.177,0.033,1834,2491,3295,3367,3223,0,0,0,0,0,0,27.20,27.36,27.63
$GC,4560,-1.29,-97.1,1835,2492,3366,3222,619.5,-11.8,250,4561,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2491,3294,3367,3221,0,0,0,0,0,0,27.55,27.63,27.62
$GC,4860,-1.29,-97.1,1835,2491,3364,3220,656.1,-12.1,260,4864,0.00,2.10,0.00,0.000,516,0.000,0.033,1834,1080,3291,3364,3219,0,0,0,0,0,0,27.55,27.39,27.62
$STATE,4919,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4919,begin apogee
$GC,4925,-0.20,0.0,1825,2536,3365,3219,663.7,-12.5,262,5013,1.12,0.00,78.93,1.056,10246,0.142,0.000,2179,2535,2900,2978,2822,0,0,0,0,0,0,27.21,26.10,25.24
$STATE,5014,end apogee,CONTROL_FINISHED_OK
$STATE,5014,begin climb
$GC,5015,1.29,97.1,2184,2536,2978,2822,666.8,0.0,265,5106,1.38,2.20,85.22,1.031,10756,0.059,0.024,2683,1142,2503,2572,2434,0,0,0,0,0,0,26.03,25.62,24.90
$GC,5131,1.29,97.1,2683,1139,2573,2428,656.9,9.7,269,5134,0.00,2.17,0.00,0.000,1030,0.000,0.027,2682,2527,2499,2570,2428,0,0,0,0,0,0,26.20,25.96,26.20
$GC,5461,1.29,97.1,2681,2527,2564,2425,605.6,15.8,280,5462,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2527,2493,2563,2424,0,0,0,0,0,0,26.93,27.01,27.01
$GC,5761,1.29,97.1,2681,2528,2560,2423,558.4,15.6,290,5765,0.00,2.10,0.00,0.000,516,0.000,0.026,2693,1124,2490,2559,2422,0,0,0,0,0,0,27.13,26.98,27.20
$GC,5811,1.29,97.1,2692,1124,2560,2421,553.7,15.8,291,5814,0.00,2.15,0.00,0.000,1030,0.000,0.027,2693,2525,2489,2558,2421,0,0,0,0,0,0,27.23,27.01,27.24
$GC,6121,1.29,97.1,2693,2526,2557,2420,500.9,16.2,302,6124,0.00,2.08,0.00,0.000,516,0.000,0.026,2703,1127,2488,2557,2419,0,0,0,0,0,0,27.27,27.13,27.34
$GC,6201,1.29,97.1,2704,1129,2555,2419,491.3,16.0,304,6205,0.10,2.12,0.00,0.000,5126,0.163,0.026,2672,2523,2487,2556,2418,0,0,0,0,0,0,26.93,27.13,27.35
$GC,6511,1.29,97.1,2671,2524,2555,2418,441.5,15.1,315,6514,0.00,2.08,0.00,0.000,516,0.000,0.025,2681,1125,2485,2554,2417,0,0,0,0,0,0,27.34,27.19,27.41
$GC,6636,1.29,97.1,2681,1124,2551,2417,423.7,14.9,319,6639,0.00,2.12,0.00,0.000,1030,0.000,0.026,2680,2520,2484,2552,2416,0,0,0,0,0,0,27.43,27.21,27.45
$GC,6961,1.29,97.1,2685,2522,2551,2416,373.6,15.3,330,6964,0.00,2.05,0.00,0.000,516,0.000,0.025,2690,1133,2483,2551,2415,0,0,0,0,0,0,27.40,27.24,27.48
$GC,7031,1.29,97.1,2691,1134,2550,2413,364.4,15.2,332,7035,0.00,2.12,0.00,0.000,1030,0.000,0.026,2691,2531,2481,2550,2413,0,0,0,0,0,0,27.51,27.25,27.49
$GC,7351,1.29,97.1,2690,2532,2552,2414,312.7,15.5,343,7352,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2531,2481,2549,2413,0,0,0,0,0,0,27.43,27.51,27.51
$GC,7651,1.29,97.1,2689,2532,2549,2414,266.4,15.2,353,7655,0.00,2.05,0.00,0.000,516,0.000,0.025,2700,1132,2480,2548,2412,0,0,0,0,0,0,27.46,27.30,27.53
$GC,7706,1.29,97.1,2701,1133,2547,2411,261.8,15.3,354,7713,0.10,2.10,0.00,0.000,5126,0.155,0.025,2672,2525,2480,2548,2412,0,0,0,0,0,0,27.10,27.30,27.52
$GC,8012,1.29,97.1,2671,2526,2546,2412,213.7,14.8,365,8012,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2525,2478,2546,2411,0,0,0,0,0,0,27.48,27.55,27.54
$GC,8311,1.29,97.1,2673,2526,2547,2411,169.8,14.8,387,8312,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2525,2478,2546,2410,0,0,0,0,0,0,27.49,27.57,27.56
$GC,8612,1.29,97.1,2669,2526,2546,2411,128.9,13.8,417,8615,0.00,1.85,0.00,0.000,260,0.000,0.038,2671,3764,2477,2545,2410,0,0,0,0,0,0,27.50,27.32,27.57
$GC,8671,1.29,97.1,2670,3766,2546,2411,120.4,13.8,423,8674,0.00,1.80,0.00,0.000,1030,0.000,0.018,2678,2464,2477,2545,2410,0,0,0,0,0,0,27.58,27.44,27.59
$GC,8981,1.29,97.1,2679,2462,2545,2411,87.0,11.6,454,8984,0.00,1.95,0.00,0.000,516,0.000,0.021,2688,1102,2477,2545,2410,0,0,0,0,0,0,27.51,27.38,27.58
$GC,9101,1.33,119.1,2687,1102,2547,2410,75.5,7.7,466,9123,0.00,2.12,14.48,0.612,9254,0.000,0.021,2688,2538,2412,2481,2344,0,0,0,0,0,0,27.58,27.38,26.51
$GC,9421,1.39,153.0,2687,2539,2481,2342,53.7,6.4,498,9454,0.00,2.12,27.12,0.631,8740,0.000,0.021,2698,1110,2277,2346,2208,0,0,0,0,0,0,27.39,26.90,26.25
$GC,9679,1.52,227.2,2693,1111,2344,2202,35.8,2.1,543,9743,0.12,2.08,58.40,0.629,11302,0.080,0.021,2765,2540,1974,2043,1905,0,0,0,0,0,0,27.05,27.07,25.78
$GC,9923,1.52,227.2,2765,2540,2038,1898,18.2,11.6,589,9929,0.00,2.10,0.00,0.000,516,0.000,0.021,2776,1112,1966,2036,1897,0,0,0,0,0,0,26.90,26.77,26.96
$STATE,10053,end climb,SURFACE_DEPTH_REACHED
$STATE,10053,begin surface coast
$FINISH,0.0,0.998041
$STATE,10077,end surface coast,CONTROL_FINISHED_OK
$STATE,10077,begin surface
$SM_CCo,10098,69.18,0.060,0,0,1268,400.08
$SM_GC,0.54,6.68,2.08,69.18,0.028,0.024,0.060,149,2461,1268,-6.48,-1.70,400.08,0,0,0,0,0,0,26.93,26.90,26.80
$IRIDIUM_FIX,2722.64,-8719.43,280816,214754
$TT8_MAMPS,0.061418,0.174517
$HUMID,97.25
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,24.60
$BR_FREEKB,7884800
$24V_AH,24.90,6.595
$10V_AH,10.43,4.288
$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,15.975,78.950,264.150,69.175,0.000,0.000,0.000,235.075,0.000,0.000,13.212,0.000,7883.965,453.260,2000.442,142.980,0.000,1360.009,0.000,1261.534,0.000,0.000,0.000
$DEVICE_MAMPS,205.785,1273.725,1055.700,60.435,0.000,0.000,0.000,83.385,0.000,0.000,30.710,0.000,0.390,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,BRB,nil,nil,nil
$SENSOR_SECS,417.571,0.000,0.000,0.000,0.000,0.000,10511.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,10.587,0.000,0.000,0.000
$MEM,287216
$DATA_FILE_SIZE,26777,620
$CAP_FILE_SIZE,95551,0
$CFSIZE,260034560,254099456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.116,349.45,1
$GPS,290816,032633,2802.083,-8729.427,9,1.1,36,-1.0,0.2,12.3,10,4.2