version: 66.13
glider: 178
mission: 21
dive: 3
start: 8 4 116 17 50 18
data:
$ID,178
$MISSION,21
$DIVE,3
$N_DIVES,3
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,120
$D_ABORT,150
$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,40
$T_MISSION,55
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.024
$MASS,51535
$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,607.1748
$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,2350
$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,2004
$C_ROLL_CLIMB,2004
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,2941
$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,-46.943275
$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
$GPS1,040816,174300,4744.0098,-12223.6865,9,1.0,9,18.2,0.2,323.7,7,7.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-58.1
$GPS2,040816,175000,4744.0552,-12223.6992,14,1.0,14,18.2,0.2,347.9,7,7.7
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,174.4,1919,-18.2,-10.000,-21.00,2236
$D_GRID,169
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.99,-146.5,155,2010,492,430,0.0,0.0,0,136,0.00,0.00,-115.62,0.000,16386,0.000,0.000,155,2009,3232,3274,3190,0,0,0,0,0,0,26.89,28.83,26.96
$GC,138,-0.99,-146.5,156,2011,3277,3190,3.3,-7.8,19,158,7.38,2.38,-6.10,0.000,18724,0.238,1.312,2006,3403,3541,3627,3456,0,0,0,0,0,0,26.62,25.60,27.05
$GC,382,-0.99,-146.5,2005,3405,3634,3456,52.5,-16.4,49,386,0.00,2.17,0.00,0.000,1030,0.000,0.039,2006,2012,3543,3632,3455,0,0,0,0,0,0,27.15,26.98,27.19
$GC,692,-0.99,-146.5,2006,2012,3633,3457,103.6,-16.6,80,696,0.00,2.20,0.00,0.000,260,0.000,0.056,1995,3409,3544,3633,3456,0,0,0,0,0,0,27.27,27.03,27.33
$STATE,791,end dive,TARGET_DEPTH_EXCEEDED
$STATE,791,begin apogee
$GC,797,-0.20,0.0,1995,2000,3634,3456,121.3,-17.1,90,915,0.93,0.00,113.90,0.708,10246,0.135,0.000,2286,1998,2942,3009,2876,0,0,0,0,0,0,26.96,26.03,25.28
$STATE,916,end apogee,CONTROL_FINISHED_OK
$STATE,916,begin climb
$GC,918,0.99,146.5,2286,2000,3009,2875,128.8,0.0,102,1044,1.02,0.00,119.32,0.695,11014,0.051,0.000,2676,1998,2342,2400,2285,0,0,0,0,0,0,25.95,25.84,25.15
$GC,1342,1.13,220.5,2676,1997,2392,2279,116.3,6.6,145,1406,0.12,2.30,58.22,0.685,10532,0.086,0.043,2724,3414,2041,2101,1982,0,0,0,0,0,0,26.78,26.07,25.50
$GC,1566,1.13,220.5,2723,3416,2094,1979,87.8,14.4,167,1569,0.00,2.12,0.00,0.000,1030,0.000,0.027,2731,1990,2036,2092,1980,0,0,0,0,0,0,26.83,26.67,26.84
$GC,1876,1.13,220.5,2732,1990,2091,1978,48.8,10.6,198,1879,0.00,2.25,0.00,0.000,260,0.000,0.046,2732,3420,2034,2092,1976,0,0,0,0,0,0,27.09,26.91,27.16
$GC,2106,1.13,220.5,2732,3421,2091,1976,16.3,13.6,223,2112,0.00,2.12,0.00,0.000,1030,0.000,0.026,2743,2009,2033,2091,1976,0,0,0,0,0,0,27.23,27.08,27.25
$STATE,2210,end climb,SURFACE_DEPTH_REACHED
$STATE,2210,begin surface coast
$FINISH,0.0,1.022088
$STATE,2236,end surface coast,CONTROL_FINISHED_OK
$STATE,2236,begin surface
$SM_CCo,2255,153.95,0.067,0,0,464,607.36
$SM_GC,0.75,6.75,0.00,153.95,0.045,0.000,0.067,153,2009,464,-6.80,0.11,607.36,0,0,0,0,0,0,27.09,27.32,26.88
$IRIDIUM_FIX,4748.51,-12056.72,040816,174353
$TT8_MAMPS,0.063665,0.170023
$HUMID,60.94
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,20.00
$BR_FREEKB,7901440
$24V_AH,25.15,0.375
$10V_AH,10.49,0.381
$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,16.200,17.750,291.450,153.950,0.000,0.000,0.000,0.000,0.000,0.000,16.809,0.000,1242.912,496.135,695.294,35.229,0.000,804.078,0.000,485.082,0.000,0.000,0.000
$DEVICE_MAMPS,237.915,1311.975,708.390,66.555,0.000,0.000,0.000,0.000,0.000,0.000,30.710,0.000,0.390,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,BRB,nil,nil,nil
$SENSOR_SECS,165.102,0.000,0.000,0.000,0.000,0.000,2354.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,9.913,0.000,0.000,0.000
$MEM,312084
$DATA_FILE_SIZE,10219,249
$CAP_FILE_SIZE,40260,0
$CFSIZE,260034560,256131072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.161,347.17,1
$GPS,040816,183140,4744.287,-12223.872,34,1.2,50,18.2,0.1,345.9,7,5.3