version: 66.13
glider: 178
mission: 21
dive: 4
start: 8 4 116 18 40 51
data:
$ID,178
$MISSION,21
$DIVE,4
$N_DIVES,4
$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,2340
$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,2700
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,28
$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
$GPS1,040816,183616,4744.3081,-12223.8809,9,1.2,49,18.2,0.1,354.3,6,5.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-59.2
$GPS2,040816,184033,4744.3276,-12223.8857,13,1.2,34,18.2,0.1,3.7,7,5.1
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,173.6,2068,-18.2,-10.000,-21.00,2236
$D_GRID,172
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.99,-146.5,154,2697,492,430,0.0,0.0,0,137,0.00,0.00,-116.93,0.000,16386,0.000,0.000,154,2702,3312,3360,3264,0,0,0,0,0,0,26.98,28.83,27.05
$GC,139,-0.99,-146.5,153,2698,3361,3265,3.8,-10.3,19,158,7.40,1.83,-4.30,0.000,18692,0.240,1.321,2007,3775,3541,3624,3458,0,0,0,0,0,0,26.66,25.81,26.99
$GC,383,-0.99,-146.5,2007,3775,3630,3459,53.6,-16.0,48,386,0.00,1.67,0.00,0.000,1030,0.000,0.041,2007,2713,3544,3630,3458,0,0,0,0,0,0,26.90,26.83,26.92
$GC,693,-0.99,-146.5,2007,2712,3630,3460,104.1,-14.7,79,696,0.00,2.17,0.00,0.000,516,0.000,0.041,2007,1290,3544,3630,3458,0,0,0,0,0,0,27.14,26.96,27.20
$GC,778,-0.99,-146.5,2007,1290,3632,3464,115.7,-14.8,87,785,0.00,2.22,0.00,0.000,1030,0.000,0.047,1997,2691,3544,3630,3459,0,0,0,0,0,0,27.19,27.00,27.22
$STATE,801,end dive,TARGET_DEPTH_EXCEEDED
$STATE,801,begin apogee
$GC,806,-0.20,0.0,1998,2399,3632,3460,120.3,-14.7,90,925,0.88,0.00,114.55,0.710,10246,0.131,0.000,2273,2399,2941,3007,2875,0,0,0,0,0,0,26.88,25.95,25.24
$STATE,926,end apogee,CONTROL_FINISHED_OK
$STATE,926,begin climb
$GC,928,0.99,146.5,2273,2399,3008,2873,124.8,0.0,102,1056,1.08,2.30,118.82,0.694,11012,0.065,0.049,2661,3788,2342,2398,2287,0,0,0,0,0,0,25.88,25.68,25.08
$GC,1282,1.10,207.6,2661,3789,2392,2284,116.8,7.2,137,1338,0.00,2.10,48.53,0.681,9254,0.000,0.027,2671,2359,2094,2151,2037,0,0,0,0,0,0,26.84,26.70,25.48
$GC,1636,1.13,221.4,2672,2360,2147,2031,83.1,9.4,173,1652,0.00,2.28,11.62,0.617,8484,0.000,0.050,2672,3788,2038,2096,1980,0,0,0,0,0,0,26.93,26.60,26.01
$GC,1876,1.13,221.4,2672,3788,2092,1980,59.5,10.1,196,1883,0.00,2.08,0.00,0.000,1030,0.000,0.027,2683,2403,2034,2090,1979,0,0,0,0,0,0,27.05,26.97,27.08
$GC,2183,1.15,233.4,2682,2403,2091,1977,28.7,9.5,227,2197,0.00,2.17,10.82,0.595,8484,0.000,0.049,2683,3783,1988,2044,1932,0,0,0,0,0,0,27.10,26.79,26.25
$GC,2267,1.15,233.4,2682,3785,2045,1931,18.3,14.0,236,2274,0.00,2.08,0.00,0.000,1030,0.000,0.028,2693,2408,1987,2043,1932,0,0,0,0,0,0,27.09,26.96,27.10
$STATE,2393,end climb,SURFACE_DEPTH_REACHED
$STATE,2393,begin surface coast
$FINISH,0.4,1.022070
$STATE,2412,end surface coast,CONTROL_FINISHED_OK
$STATE,2412,begin surface
$SM_CCo,2431,152.00,0.067,0,0,465,607.36
$SM_GC,0.71,6.70,0.50,152.00,0.050,0.055,0.067,158,2714,465,-6.75,-0.57,607.36,0,0,0,0,0,0,26.96,26.96,26.79
$IRIDIUM_FIX,4748.51,-12337.82,040816,183647
$TT8_MAMPS,0.062167,0.222453
$HUMID,64.49
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,19.90
$BR_FREEKB,7901120
$24V_AH,25.08,0.444
$10V_AH,10.42,0.417
$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,16.050,21.850,304.350,152.000,0.000,0.000,0.000,0.000,0.000,0.000,36.820,0.000,1328.384,513.809,780.872,39.882,0.000,850.210,0.000,531.574,0.000,0.000,0.000
$DEVICE_MAMPS,240.210,1321.155,709.920,67.320,0.000,0.000,0.000,0.000,0.000,0.000,30.710,0.000,0.390,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,BRB,nil,nil,nil
$SENSOR_SECS,175.638,0.000,0.000,0.000,0.000,0.000,2551.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,9.336,0.000,0.000,0.000
$MEM,312116
$DATA_FILE_SIZE,10159,265
$CAP_FILE_SIZE,43426,0
$CFSIZE,260034560,256102400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.153,355.82,1
$GPS,040816,192452,4744.394,-12223.883,7,1.5,35,18.2,0.1,319.0,7,5.5