version: 66.13
glider: 178
mission: 22
dive: 67
start: 8 30 116 11 7 20
data:
$ID,178
$MISSION,22
$DIVE,67
$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,134
$R_STBD_OVSHOOT,62
$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
$GPS1,300816,110304,2802.1487,-8729.5996,11,1.2,27,-1.0,0.2,36.3,8,4.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-60.9
$GPS2,300816,110700,2802.1829,-8729.6309,12,1.2,12,-1.0,0.4,36.3,7,9.3
$SPEED_LIMITS,0.200,0.292
$TGT_NAME,RECOV
$TGT_LATLONG,2802.100,-8729.400
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,141.2,407,-28.0,-11.538,-30.00,1040
$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,7,-1.26,-78.1,125,2542,1302,1224,0.0,0.0,0,84,0.00,0.00,-74.85,0.000,16386,0.000,0.000,126,2544,3113,3163,3064,0,0,0,0,0,0,27.03,28.83,27.10
$GC,86,-1.33,-116.2,123,2544,3163,3066,3.6,-7.8,12,106,6.20,2.20,-5.15,0.000,18980,0.206,1.260,1824,1154,3375,3433,3318,0,0,0,0,0,0,26.70,25.71,27.15
$GC,182,-1.33,-116.2,1824,1155,3435,3323,40.3,-35.6,30,188,0.00,1.95,0.00,0.000,1030,0.000,0.028,1816,2470,3379,3436,3323,0,0,0,0,0,0,27.11,26.88,27.11
$GC,373,-1.33,-116.2,1816,2471,3442,3323,84.0,-20.9,52,376,0.00,1.98,0.00,0.000,516,0.000,0.026,1824,1154,3381,3440,3322,0,0,0,0,0,0,27.20,27.04,27.25
$GC,417,-1.33,-116.2,1823,1155,3443,3323,91.4,-18.3,56,425,0.00,2.00,0.00,0.000,1030,0.000,0.026,1816,2480,3382,3442,3323,0,0,0,0,0,0,27.28,27.06,27.29
$GC,724,-1.33,-116.2,1817,2481,3446,3324,141.4,-14.8,87,727,0.00,1.98,0.00,0.000,516,0.000,0.028,1819,1141,3384,3446,3323,0,0,0,0,0,0,27.34,27.17,27.40
$GC,874,-1.33,-116.2,1819,1142,3448,3325,162.6,-14.4,101,880,0.00,1.95,0.00,0.000,1030,0.000,0.028,1812,2473,3386,3447,3325,0,0,0,0,0,0,27.46,27.21,27.46
$GC,1188,-1.33,-116.2,1811,2474,3451,3326,209.7,-15.0,129,1188,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2473,3387,3449,3325,0,0,0,0,0,0,27.43,27.51,27.50
$GC,1488,-1.33,-116.2,1811,2474,3451,3326,253.7,-15.0,139,1489,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2473,3387,3449,3325,0,0,0,0,0,0,27.48,27.55,27.54
$GC,1788,-1.33,-116.2,1813,2474,3449,3325,298.9,-15.1,149,1789,0.00,0.00,0.00,0.000,6,0.000,0.000,1812,2473,3387,3449,3325,0,0,0,0,0,0,27.51,27.58,27.57
$GC,2088,-1.33,-116.2,1811,2474,3451,3326,343.7,-15.1,159,2091,0.00,2.00,0.00,0.000,516,0.000,0.029,1812,1147,3387,3449,3325,0,0,0,0,0,0,27.52,27.35,27.58
$GC,2142,-1.33,-116.2,1811,1149,3451,3326,348.0,-14.9,160,2149,0.00,2.00,0.00,0.000,1030,0.000,0.029,1803,2470,3387,3449,3325,0,0,0,0,0,0,27.60,27.35,27.63
$GC,2448,-1.33,-116.2,1801,2471,3447,3326,396.5,-14.6,171,2451,0.00,1.92,0.00,0.000,516,0.000,0.029,1802,1156,3386,3448,3325,0,0,0,0,0,0,27.53,27.36,27.60
$GC,2652,-1.33,-116.2,1802,1156,3446,3325,423.3,-14.8,177,2659,0.00,2.00,0.00,0.000,1030,0.000,0.030,1793,2473,3385,3446,3325,0,0,0,0,0,0,27.63,27.37,27.63
$STATE,2836,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2836,begin apogee
$GC,2841,-0.20,0.0,1793,2521,3446,3326,454.1,-14.7,184,2937,1.23,0.00,93.60,0.895,10246,0.133,0.000,2185,2520,2900,2978,2823,0,0,0,0,0,0,27.22,26.17,25.40
$STATE,2938,end apogee,CONTROL_FINISHED_OK
$STATE,2938,begin climb
$GC,2940,1.33,116.2,2186,2520,2976,2823,456.8,0.0,187,3043,1.35,2.03,95.57,0.878,10500,0.055,0.044,2684,3771,2425,2497,2354,0,0,0,0,0,0,26.06,25.74,25.14
$GC,3097,1.33,116.2,2686,3773,2492,2352,441.8,12.6,191,3105,0.00,1.77,0.00,0.000,1030,0.000,0.018,2695,2524,2421,2492,2351,0,0,0,0,0,0,26.51,26.37,26.51
$GC,3403,1.33,116.2,2696,2524,2486,2346,381.6,17.8,202,3406,0.00,1.98,0.00,0.000,516,0.000,0.023,2705,1173,2416,2487,2345,0,0,0,0,0,0,27.04,26.89,27.10
$GC,3518,1.33,116.2,2706,1174,2492,2343,365.6,17.8,205,3525,0.00,2.08,0.00,0.000,1030,0.000,0.025,2705,2537,2414,2485,2343,0,0,0,0,0,0,27.20,26.98,27.20
$GC,3824,1.33,116.2,2705,2537,2481,2342,307.3,17.5,216,3827,0.00,1.98,0.00,0.000,516,0.000,0.024,2715,1195,2412,2482,2342,0,0,0,0,0,0,27.27,27.13,27.34
$GC,3903,1.33,116.2,2713,1195,2483,2341,296.7,17.7,218,3907,0.10,2.00,0.00,0.000,5126,0.155,0.025,2683,2524,2410,2481,2340,0,0,0,0,0,0,26.96,27.15,27.36
$GC,4213,1.33,116.2,2684,2525,2477,2339,240.3,17.2,229,4217,0.00,1.92,0.00,0.000,260,0.000,0.044,2679,3759,2408,2478,2338,0,0,0,0,0,0,27.37,27.17,27.44
$GC,4238,1.33,116.2,2682,3760,2479,2340,240.3,17.2,229,4245,0.00,1.70,0.00,0.000,1030,0.000,0.018,2691,2521,2408,2478,2338,0,0,0,0,0,0,27.45,27.31,27.46
$GC,4543,1.33,116.2,2692,2518,2474,2337,181.0,18.0,246,4546,0.00,1.90,0.00,0.000,516,0.000,0.024,2700,1196,2405,2475,2336,0,0,0,0,0,0,27.43,27.27,27.48
$GC,4578,1.33,116.2,2699,1196,2476,2336,176.1,16.9,249,4585,0.00,2.00,0.00,0.000,1030,0.000,0.024,2700,2524,2404,2474,2335,0,0,0,0,0,0,27.51,27.27,27.51
$GC,4883,1.33,116.2,2699,2525,2474,2333,124.6,15.3,280,4887,0.00,1.92,0.00,0.000,260,0.000,0.042,2700,3768,2403,2472,2334,0,0,0,0,0,0,27.46,27.25,27.53
$GC,4908,1.33,116.2,2699,3768,2474,2335,121.4,15.3,282,4915,0.00,1.70,0.00,0.000,1030,0.000,0.018,2710,2513,2403,2472,2334,0,0,0,0,0,0,27.54,27.40,27.55
$GC,5213,1.34,120.5,2711,2514,2467,2333,77.5,11.1,313,5214,0.12,0.00,0.00,0.000,4134,0.172,0.000,2680,2514,2402,2472,2332,0,0,0,0,0,0,27.14,27.56,27.55
$GC,5513,1.46,190.5,2681,2514,2470,2331,55.6,4.6,343,5575,0.12,1.95,53.92,0.627,10532,0.077,0.035,2745,3761,2121,2188,2055,0,0,0,0,0,0,27.37,26.64,26.08
$GC,5801,1.52,220.0,2745,3759,2184,2050,28.6,8.6,391,5832,0.00,1.62,23.40,0.597,9254,0.000,0.017,2755,2531,2001,2069,1933,0,0,0,0,0,0,27.22,27.07,26.12
$GC,6012,1.55,240.9,2754,2531,2067,1930,12.5,9.5,432,6033,0.00,2.00,17.15,0.571,8996,0.000,0.020,2765,1200,1917,1986,1848,0,0,0,0,0,0,27.10,26.77,26.16
$STATE,6096,end climb,SURFACE_DEPTH_REACHED
$STATE,6096,begin surface coast
$FINISH,0.4,1.022124
$STATE,6116,end surface coast,CONTROL_FINISHED_OK
$STATE,6116,begin surface
$SM_CCo,6136,67.50,0.060,0,0,1269,400.33
$SM_GC,0.96,6.65,1.98,67.50,0.029,0.025,0.060,139,2477,1269,-6.48,-1.33,400.33,0,0,0,0,0,0,26.91,26.88,26.79
$IRIDIUM_FIX,2722.64,-8719.43,300816,110411
$TT8_MAMPS,0.065163,0.226947
$HUMID,104.65
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,24.50
$BR_FREEKB,7883648
$24V_AH,25.14,8.009
$10V_AH,10.39,5.222
$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,15.775,50.550,283.650,67.500,0.000,0.000,0.000,160.300,0.000,0.000,14.711,0.000,4486.200,438.164,1412.679,107.888,0.000,1097.128,0.000,865.094,0.000,0.000,0.000
$DEVICE_MAMPS,205.785,1259.955,895.050,59.670,0.000,0.000,0.000,82.620,0.000,0.000,30.710,0.000,0.390,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,BRB,nil,nil,nil
$SENSOR_SECS,301.244,0.000,0.000,0.000,0.000,0.000,6470.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,10.587,0.000,0.000,0.000
$MEM,286872
$DATA_FILE_SIZE,20083,452
$CAP_FILE_SIZE,68560,0
$CFSIZE,260034560,253427712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.135,346.04,1
$GPS,300816,125151,2802.147,-8729.223,18,1.8,45,-1.0,0.5,356.3,8,4.7