version: 66.13
glider: 178
mission: 22
dive: 66
start: 8 30 116 9 16 45
data:
$ID,178
$MISSION,22
$DIVE,66
$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,121
$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
$GPS1,300816,091204,2802.5071,-8730.1270,14,0.9,35,-1.0,0.8,296.4,9,3.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-62.0
$GPS2,300816,091624,2802.5415,-8730.1641,14,0.9,14,-1.0,0.3,231.7,9,7.3
$SPEED_LIMITS,0.200,0.292
$TGT_NAME,RECOV
$TGT_LATLONG,2802.100,-8729.400
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,140.2,1492,-19.1,-11.538,-21.64,2238
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-1.07,-168.5,121,2472,1298,1224,0.0,0.0,0,84,0.00,0.00,-74.22,0.000,16386,0.000,0.000,121,2472,3106,3151,3062,0,0,0,0,0,0,27.10,28.83,27.17
$GC,86,-1.07,-170.3,121,2472,3153,3062,3.6,-8.1,12,107,6.43,2.08,-9.62,0.000,18980,0.203,1.257,1904,1132,3598,3674,3522,0,0,0,0,0,0,26.72,25.72,27.21
$GC,331,-1.07,-170.3,1904,1133,3683,3524,70.5,-18.8,50,335,0.00,2.00,0.00,0.000,1030,0.000,0.026,1898,2464,3601,3680,3523,0,0,0,0,0,0,27.32,27.09,27.33
$GC,641,-1.07,-170.3,1898,2465,3686,3524,122.0,-16.2,81,642,0.00,0.00,0.00,0.000,6,0.000,0.000,1898,2464,3605,3686,3524,0,0,0,0,0,0,27.36,27.43,27.43
$GC,943,-1.07,-170.3,1897,2465,3691,3525,166.5,-14.0,111,946,0.00,1.95,0.00,0.000,516,0.000,0.027,1898,1132,3607,3689,3525,0,0,0,0,0,0,27.43,27.27,27.50
$GC,976,-1.07,-170.3,1897,1133,3691,3525,171.3,-13.8,114,981,0.00,2.00,0.00,0.000,1030,0.000,0.027,1889,2468,3607,3689,3525,0,0,0,0,0,0,27.51,27.27,27.51
$GC,1308,-1.07,-170.3,1891,2469,3690,3526,217.0,-13.7,139,1311,0.00,1.95,0.00,0.000,516,0.000,0.027,1891,1130,3607,3690,3525,0,0,0,0,0,0,27.48,27.32,27.54
$GC,1351,-1.07,-170.3,1889,1130,3692,3526,220.4,-13.7,140,1355,0.00,2.00,0.00,0.000,1030,0.000,0.028,1882,2465,3607,3690,3525,0,0,0,0,0,0,27.58,27.32,27.56
$GC,1662,-1.07,-170.3,1882,2467,3690,3526,266.3,-13.8,151,1662,0.00,0.00,0.00,0.000,6,0.000,0.000,1882,2465,3607,3690,3525,0,0,0,0,0,0,27.51,27.58,27.57
$GC,1962,-1.07,-170.3,1882,2466,3689,3526,308.2,-14.1,161,1965,0.00,1.98,0.00,0.000,260,0.000,0.044,1872,3779,3607,3690,3525,0,0,0,0,0,0,27.53,27.32,27.59
$GC,2001,-1.07,-170.3,1871,3780,3689,3526,312.7,-14.2,162,2005,0.10,1.83,0.00,0.000,3078,0.135,0.024,1905,2523,3607,3690,3525,0,0,0,0,0,0,27.21,27.42,27.60
$GC,2322,-1.07,-170.3,1903,2524,3689,3526,356.2,-12.9,173,2325,0.00,2.12,0.00,0.000,516,0.000,0.028,1905,1097,3609,3687,3531,0,0,0,0,0,0,27.53,27.36,27.60
$GC,2376,-1.07,-170.3,1906,1097,3688,3526,360.3,-13.1,174,2383,0.00,2.08,0.00,0.000,1030,0.000,0.028,1898,2471,3606,3687,3525,0,0,0,0,0,0,27.64,27.36,27.65
$GC,2682,-1.07,-170.3,1897,2473,3687,3526,404.0,-13.1,185,2685,0.00,2.03,0.00,0.000,516,0.000,0.028,1898,1089,3604,3683,3525,0,0,0,0,0,0,27.55,27.37,27.61
$GC,2751,-1.07,-170.3,1897,1090,3684,3525,411.3,-13.0,187,2755,0.00,2.10,0.00,0.000,1030,0.000,0.029,1888,2477,3604,3683,3525,0,0,0,0,0,0,27.62,27.38,27.63
$STATE,3035,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3035,begin apogee
$GC,3039,-0.20,0.0,1890,2520,3679,3526,450.8,-13.1,197,3177,0.90,0.00,135.30,0.894,10246,0.117,0.000,2184,2519,2900,2982,2818,0,0,0,0,0,0,27.23,25.98,25.21
$STATE,3178,end apogee,CONTROL_FINISHED_OK
$STATE,3178,begin climb
$GC,3180,1.07,170.3,2185,2519,2981,2817,454.2,0.0,201,3327,1.15,2.10,137.70,0.883,10500,0.059,0.044,2599,3776,2204,2282,2126,0,0,0,0,0,0,25.88,25.70,25.10
$GC,3361,1.08,175.9,2600,3777,2275,2130,439.3,11.3,207,3371,0.00,1.90,5.10,0.607,9254,0.000,0.018,2609,2477,2184,2260,2109,0,0,0,0,0,0,26.36,26.22,25.48
$GC,3697,1.08,175.9,2610,2478,2253,2103,379.5,16.4,219,3700,0.00,1.90,0.00,0.000,516,0.000,0.024,2619,1186,2177,2254,2101,0,0,0,0,0,0,27.03,26.88,27.09
$GC,3761,1.08,175.9,2618,1179,2255,2101,369.9,16.2,221,3766,0.00,2.08,0.00,0.000,1030,0.000,0.026,2619,2536,2176,2253,2100,0,0,0,0,0,0,27.16,26.93,27.17
$GC,4087,1.08,175.9,2619,2536,2249,2099,314.0,17.0,232,4090,0.00,2.00,0.00,0.000,516,0.000,0.024,2629,1177,2174,2250,2098,0,0,0,0,0,0,27.26,27.10,27.32
$GC,4161,1.08,175.9,2627,1180,2251,2099,303.6,17.0,234,4165,0.10,2.05,0.00,0.000,5126,0.138,0.026,2596,2528,2173,2248,2098,0,0,0,0,0,0,26.96,27.12,27.35
$GC,4477,1.08,175.9,2596,2529,2247,2097,250.9,15.5,245,4480,0.00,1.88,0.00,0.000,260,0.000,0.044,2596,3761,2170,2245,2096,0,0,0,0,0,0,27.36,27.16,27.43
$GC,4526,1.08,175.9,2597,3761,2245,2097,245.6,15.8,246,4530,0.00,1.73,0.00,0.000,1030,0.000,0.019,2603,2517,2170,2245,2096,0,0,0,0,0,0,27.45,27.29,27.46
$GC,4837,1.08,175.9,2602,2514,2243,2095,191.2,16.5,259,4840,0.00,1.95,0.00,0.000,516,0.000,0.024,2613,1194,2168,2242,2094,0,0,0,0,0,0,27.42,27.28,27.48
$GC,4931,1.08,175.9,2612,1194,2243,2094,176.7,16.2,268,4938,0.00,2.00,0.00,0.000,1030,0.000,0.026,2613,2518,2167,2242,2093,0,0,0,0,0,0,27.49,27.27,27.51
$GC,5236,1.08,175.9,2612,2518,2241,2094,125.7,14.9,299,5237,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2518,2166,2239,2093,0,0,0,0,0,0,27.46,27.53,27.53
$GC,5538,1.08,175.9,2612,2519,2240,2093,81.6,14.0,329,5541,0.00,1.92,0.00,0.000,516,0.000,0.021,2623,1186,2165,2238,2092,0,0,0,0,0,0,27.48,27.35,27.55
$GC,5673,1.12,196.5,2623,1187,2237,2091,65.7,10.6,342,5694,0.00,1.98,14.75,0.594,9254,0.000,0.023,2622,2544,2097,2170,2025,0,0,0,0,0,0,27.57,27.34,26.54
$GC,5992,1.34,318.5,2623,2545,2166,2022,37.6,5.9,392,6097,0.17,2.08,95.12,0.620,10788,0.060,0.020,2732,1192,1601,1672,1531,0,0,0,0,0,0,27.28,26.28,25.70
$GC,6202,1.34,318.5,2733,1192,1668,1523,11.0,15.1,430,6210,0.15,2.00,0.00,0.000,5126,0.127,0.020,2674,2533,1596,1669,1524,0,0,0,0,0,0,26.53,26.68,26.89
$STATE,6258,end climb,SURFACE_DEPTH_REACHED
$STATE,6258,begin surface coast
$FINISH,0.0,1.022161
$STATE,6279,end surface coast,CONTROL_FINISHED_OK
$STATE,6279,begin surface
$SM_CCo,6297,32.97,0.060,0,0,1269,400.08
$SM_GC,0.97,6.40,0.00,32.97,0.026,0.000,0.060,143,2534,1269,-6.47,1.64,400.08,0,0,0,0,0,0,26.83,27.03,26.74
$IRIDIUM_FIX,2722.64,-8719.43,300816,091325
$TT8_MAMPS,0.065163,0.220206
$HUMID,105.36
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,24.00
$BR_FREEKB,7883712
$24V_AH,25.10,7.940
$10V_AH,10.40,5.173
$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,15.400,51.675,387.975,32.975,0.000,0.000,0.000,177.150,0.000,0.000,18.033,0.000,4584.212,461.451,1444.703,104.661,0.000,1156.246,0.000,873.930,0.000,0.000,0.000
$DEVICE_MAMPS,202.725,1256.895,894.285,59.670,0.000,0.000,0.000,78.795,0.000,0.000,30.710,0.000,0.390,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,BRB,nil,nil,nil
$SENSOR_SECS,296.544,0.000,0.000,0.000,0.000,0.000,6707.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,10.635,0.000,0.000,0.000
$MEM,286908
$DATA_FILE_SIZE,20123,445
$CAP_FILE_SIZE,68548,0
$CFSIZE,260034560,253468672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.115,346.65,1
$GPS,300816,110304,2802.149,-8729.600,11,1.2,27,-1.0,0.2,36.3,8,4.2