version: 66.13
glider: 178
mission: 22
dive: 51
start: 8 29 116 5 21 14
data:
$ID,178
$MISSION,22
$DIVE,51
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$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,130
$T_MISSION,145
$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,65
$R_STBD_OVSHOOT,45
$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
$GPS1,290816,051633,2803.0911,-8730.0254,12,2.0,33,-1.0,0.3,267.9,10,3.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-60.3
$GPS2,290816,052054,2803.1157,-8730.0537,14,1.1,14,-1.0,0.5,354.6,7,8.8
$SPEED_LIMITS,0.200,0.292
$TGT_NAME,RECOV
$TGT_LATLONG,2802.100,-8729.400
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,158.6,2163,-19.0,-11.538,-21.54,2262
$D_GRID,450
$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,-1.07,-170.3,123,2474,1302,1225,0.0,0.0,0,83,0.00,0.00,-73.75,0.000,16386,0.000,0.000,122,2474,3094,3143,3045,0,0,0,0,0,0,27.01,28.83,27.08
$GC,85,-1.07,-170.3,122,2474,3145,3047,3.4,-6.5,12,105,6.50,2.17,-9.93,0.000,18980,0.205,1.258,1902,1088,3596,3671,3521,0,0,0,0,0,0,26.65,25.84,27.11
$GC,330,-1.07,-170.3,1902,1088,3681,3523,70.3,-19.8,51,333,0.00,2.10,0.00,0.000,1030,0.000,0.028,1895,2470,3600,3679,3522,0,0,0,0,0,0,27.27,27.03,27.27
$GC,640,-1.07,-170.3,1896,2471,3685,3523,120.3,-15.9,82,643,0.00,2.10,0.00,0.000,516,0.000,0.028,1895,1080,3604,3685,3523,0,0,0,0,0,0,27.32,27.15,27.39
$GC,796,-1.07,-170.3,1896,1081,3686,3525,143.0,-14.2,97,802,0.00,2.08,0.00,0.000,1030,0.000,0.030,1886,2477,3605,3686,3524,0,0,0,0,0,0,27.44,27.19,27.44
$GC,1100,-1.07,-170.3,1884,2478,3689,3525,187.5,-14.3,128,1103,0.00,2.08,0.00,0.000,516,0.000,0.029,1886,1075,3606,3688,3524,0,0,0,0,0,0,27.42,27.25,27.48
$GC,1165,-1.07,-170.3,1886,1075,3690,3526,196.7,-15.5,134,1172,0.00,2.12,0.00,0.000,1030,0.000,0.030,1876,2477,3604,3688,3520,0,0,0,0,0,0,27.51,27.25,27.51
$GC,1490,-1.07,-170.3,1875,2477,3689,3526,245.5,-14.6,147,1494,0.12,2.05,0.00,0.000,2564,0.167,0.029,1906,1080,3606,3688,3525,0,0,0,0,0,0,27.16,27.31,27.55
$GC,1521,-1.07,-170.3,1906,1080,3688,3525,249.5,-14.3,148,1524,0.00,2.08,0.00,0.000,1030,0.000,0.030,1899,2473,3606,3688,3524,0,0,0,0,0,0,27.55,27.29,27.55
$GC,1845,-1.07,-170.3,1900,2477,3688,3525,291.9,-13.2,159,1849,0.00,2.05,0.00,0.000,516,0.000,0.029,1899,1085,3606,3688,3525,0,0,0,0,0,0,27.50,27.33,27.56
$GC,1870,-1.07,-170.3,1898,1085,3689,3526,291.9,-13.2,159,1877,0.00,2.12,0.00,0.000,1030,0.000,0.031,1889,2479,3606,3688,3525,0,0,0,0,0,0,27.58,27.33,27.58
$GC,2175,-1.07,-170.3,1889,2480,3687,3525,335.8,-13.4,170,2179,0.00,2.05,0.00,0.000,516,0.000,0.029,1889,1085,3606,3687,3525,0,0,0,0,0,0,27.52,27.34,27.58
$GC,2200,-1.07,-170.3,1890,1085,3686,3526,335.8,-13.4,170,2207,0.00,2.12,0.00,0.000,1030,0.000,0.031,1879,2480,3605,3686,3525,0,0,0,0,0,0,27.58,27.35,27.60
$GC,2505,-1.07,-170.3,1879,2481,3683,3526,381.2,-13.7,181,2506,0.00,0.00,0.00,0.000,6,0.000,0.000,1879,2480,3605,3685,3525,0,0,0,0,0,0,27.53,27.60,27.59
$GC,2805,-1.07,-170.3,1878,2481,3683,3526,422.3,-13.8,191,2806,0.00,0.00,0.00,0.000,6,0.000,0.000,1878,2481,3604,3685,3524,0,0,0,0,0,0,27.53,27.61,27.60
$STATE,3013,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3014,begin apogee
$GC,3017,-0.20,0.0,1878,2481,3679,3525,451.4,-13.8,198,3156,0.95,0.03,135.00,0.896,10246,0.124,0.196,2187,2519,2900,2981,2819,0,0,0,0,0,0,27.24,25.72,25.16
$STATE,3157,end apogee,CONTROL_FINISHED_OK
$STATE,3157,begin climb
$GC,3159,1.07,170.3,2187,2520,2982,2818,454.9,0.0,202,3303,1.15,0.00,137.80,0.879,10502,0.063,0.000,2598,2519,2205,2282,2129,0,0,0,0,0,0,25.87,25.77,25.02
$GC,3585,1.07,170.3,2597,2520,2274,2121,397.1,16.3,217,3588,0.00,2.08,0.00,0.000,516,0.000,0.025,2608,1134,2196,2272,2120,0,0,0,0,0,0,26.90,26.75,26.97
$GC,3605,1.07,170.3,2609,1134,2272,2120,397.1,16.3,217,3608,0.00,2.17,0.00,0.000,1030,0.000,0.026,2608,2541,2195,2272,2119,0,0,0,0,0,0,27.00,26.77,27.00
$GC,3915,1.07,170.3,2609,2542,2268,2118,339.5,17.8,228,3916,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2541,2191,2264,2118,0,0,0,0,0,0,27.16,27.24,27.23
$GC,4215,1.07,170.3,2609,2541,2264,2116,287.0,17.4,238,4218,0.00,2.10,0.00,0.000,516,0.000,0.026,2618,1123,2189,2264,2115,0,0,0,0,0,0,27.28,27.13,27.34
$GC,4295,1.07,170.3,2618,1124,2264,2115,277.0,17.1,240,4298,0.00,2.15,0.00,0.000,1030,0.000,0.028,2618,2530,2189,2263,2115,0,0,0,0,0,0,27.38,27.15,27.39
$GC,4605,1.07,170.3,2618,2530,2262,2114,220.0,17.3,251,4606,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2530,2187,2260,2114,0,0,0,0,0,0,27.38,27.44,27.43
$GC,4905,1.07,170.3,2617,2531,2259,2112,168.8,16.4,273,4908,0.00,2.05,0.00,0.000,516,0.000,0.025,2629,1132,2184,2257,2111,0,0,0,0,0,0,27.42,27.25,27.48
$GC,5135,1.07,170.3,2629,1133,2253,2110,131.0,16.0,296,5139,0.10,2.10,0.00,0.000,5126,0.139,0.025,2580,2529,2183,2257,2109,0,0,0,0,0,0,27.13,27.29,27.52
$GC,5445,1.07,170.3,2579,2530,2258,2109,91.1,13.3,327,5446,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2529,2182,2256,2108,0,0,0,0,0,0,27.47,27.54,27.53
$GC,5747,1.15,218.0,2581,2530,2254,2108,57.8,9.4,357,5789,0.12,2.08,34.15,0.622,10788,0.076,0.021,2669,1121,2010,2082,1938,0,0,0,0,0,0,27.36,26.90,26.30
$GC,6014,1.26,276.0,2669,1121,2079,1931,29.5,8.9,403,6064,0.00,2.05,45.47,0.616,9254,0.000,0.021,2669,2530,1775,1846,1704,0,0,0,0,0,0,27.31,27.10,25.96
$GC,6244,1.26,276.0,2668,2531,1842,1697,7.1,11.6,447,6250,0.00,2.08,0.00,0.000,516,0.000,0.022,2679,1118,1768,1840,1697,0,0,0,0,0,0,27.02,26.88,27.08
$STATE,6278,end climb,SURFACE_DEPTH_REACHED
$STATE,6279,begin surface coast
$FINISH,0.4,1.022238
$STATE,6299,end surface coast,CONTROL_FINISHED_OK
$STATE,6299,begin surface
$SM_CCo,6319,51.55,0.060,0,0,1268,400.08
$SM_GC,0.69,6.53,2.08,51.55,0.036,0.024,0.060,139,2470,1268,-6.50,-1.55,400.08,0,0,0,0,0,0,26.94,26.92,26.84
$IRIDIUM_FIX,2722.64,-8719.43,290816,051740
$TT8_MAMPS,0.063665,0.173768
$HUMID,101.82
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,24.10
$BR_FREEKB,7884672
$24V_AH,25.02,6.755
$10V_AH,10.57,4.392
$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,15.475,46.075,352.425,51.550,0.000,0.000,0.000,181.925,0.000,0.000,17.809,0.000,4677.866,460.867,1396.812,99.808,0.000,1126.471,0.000,839.451,0.000,0.000,0.000
$DEVICE_MAMPS,205.020,1257.660,895.815,60.435,0.000,0.000,0.000,82.620,0.000,0.000,30.710,0.000,0.390,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,BRB,nil,nil,nil
$SENSOR_SECS,306.046,0.000,0.000,0.000,0.000,0.000,6716.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,10.587,0.000,0.000,0.000
$MEM,286888
$DATA_FILE_SIZE,20134,458
$CAP_FILE_SIZE,64866,0
$CFSIZE,260034560,254054400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.131,347.15,1
$GPS,290816,070827,2802.653,-8729.731,7,1.3,40,-1.0,0.3,34.1,9,4.0