version: 66.13
glider: 178
mission: 27
dive: 2
start: 2 23 117 16 42 21
data:
$ID,178
$MISSION,27
$DIVE,2
$N_DIVES,2
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,180
$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,50
$T_MISSION,65
$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,150
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,51572
$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,707.0119
$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
$RAFOS_MMODEM,0
$PITCH_MIN,165
$PITCH_MAX,3954
$C_PITCH,2080
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,32
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,226
$ROLL_MAX,3782
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,3348
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00038000001
$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,-43.806149
$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,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,51
$LOGGERDEVICE2,85
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043966938
$SEABIRD_T_H,0.00063700025
$SEABIRD_T_I,2.5067597e-05
$SEABIRD_T_J,2.9826379e-06
$SEABIRD_C_G,-9.7293062
$SEABIRD_C_H,1.1206031
$SEABIRD_C_I,0.00047059715
$SEABIRD_C_J,5.505409e-05
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,7.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,1.0
$PM_SENDDEPTH,0.0
$GPS1,230217,163250,4743.2134,-12223.9219,11,1.6,38,18.2,0.2,92.7,7,5.7
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.38
$_SM_ANGLEo,-60.4
$GPS2,230217,164202,4743.2153,-12223.8359,12,1.8,33,18.2,0.3,78.5,9,5.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,255.6,1543,-18.2,-10.000,-21.02,2236
$D_GRID,166
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.63,-146.0,152,2313,563,358,0.0,0.0,0,166,0.00,0.00,-148.80,0.000,16386,0.000,0.000,155,2312,3435,3482,3388,0,0,0,0,0,0,27.24,28.83,27.31
$GC,168,-0.63,-146.0,149,2313,3485,3387,3.9,-11.8,25,194,7.30,0.00,-10.57,0.000,18694,0.262,0.000,1864,2312,3945,4021,3870,0,0,0,0,0,0,26.62,25.77,26.82
$GC,373,-0.63,-146.0,1864,2313,4015,3873,40.4,-16.2,65,381,0.00,2.22,0.00,0.000,260,0.000,0.060,1858,3702,3946,4021,3872,0,0,0,0,0,0,27.24,26.90,27.30
$GC,471,-0.63,-146.0,1852,3701,4022,3873,56.0,-14.3,84,478,0.00,2.12,0.00,0.000,1030,0.000,0.028,1853,2243,3946,4021,3872,0,0,0,0,0,0,27.15,27.12,27.18
$GC,777,-0.63,-146.0,1856,2239,4020,3872,101.6,-14.6,115,783,0.00,2.35,0.00,0.000,260,0.000,0.058,1844,3704,3946,4021,3872,0,0,0,0,0,0,27.34,27.01,27.43
$GC,914,-0.63,-146.0,1849,3705,4020,3873,122.2,-14.9,142,922,0.12,2.12,0.00,0.000,3078,0.167,0.028,1874,2247,3944,4021,3868,0,0,0,0,0,0,26.94,27.23,27.10
$STATE,1137,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1138,begin apogee
$GC,1142,-0.16,0.0,1876,2296,4032,3872,151.2,-11.7,165,1262,0.47,0.00,116.43,0.768,10246,0.122,0.000,2028,2296,3347,3409,3285,0,0,0,0,0,0,26.97,25.66,25.08
$STATE,1265,end apogee,CONTROL_FINISHED_OK
$STATE,1265,begin climb
$GC,1267,0.63,146.0,2027,2296,3410,3285,157.3,0.0,177,1405,0.70,2.45,121.95,0.761,11012,0.050,0.052,2290,3710,2751,2810,2692,0,0,0,0,0,0,25.93,25.48,24.90
$GC,1409,0.61,396.4,2293,3712,2819,2692,164.2,-1.5,202,1624,0.00,2.25,204.93,0.744,9382,0.000,0.025,2305,2230,1729,1810,1649,0,0,0,0,0,0,25.86,25.84,24.90
$GC,1918,0.81,411.3,2304,2231,1812,1645,121.7,9.3,273,1942,0.12,2.50,16.38,0.506,10660,0.077,0.053,2386,3717,1666,1749,1584,0,0,0,0,0,0,26.71,26.39,25.92
$GC,2032,0.81,411.3,2387,3717,1751,1580,104.3,16.3,295,2039,0.22,2.17,0.00,0.000,5126,0.149,0.025,2336,2247,1665,1752,1579,0,0,0,0,0,0,26.48,26.70,26.63
$GC,2344,0.97,411.3,2336,2241,1754,1577,69.2,11.5,327,2351,0.15,2.35,0.00,0.000,2436,0.070,0.052,2417,3709,1664,1752,1577,0,0,0,0,0,0,26.96,26.83,26.98
$GC,2375,0.91,411.3,2417,3710,1754,1576,64.2,17.5,333,2383,0.20,2.15,0.00,0.000,5254,0.159,0.025,2372,2238,1664,1753,1576,0,0,0,0,0,0,26.74,26.99,26.89
$GC,2682,1.00,411.3,2375,2231,1752,1578,26.1,12.2,384,2690,0.00,2.03,0.00,0.000,644,0.000,0.032,2383,869,1663,1752,1575,0,0,0,0,0,0,27.27,27.04,27.33
$GC,2705,1.11,411.3,2382,872,1753,1577,23.1,13.3,388,2713,0.17,2.17,0.00,0.000,3206,0.063,0.031,2477,2303,1663,1751,1576,0,0,0,0,0,0,27.05,27.02,27.12
$STATE,2817,end climb,SURFACE_DEPTH_REACHED
$STATE,2817,begin surface coast
$FINISH,-0.5,1.019772
$STATE,2831,end surface coast,CONTROL_FINISHED_OK
$STATE,2831,begin surface
$SM_CCo,2852,176.98,0.057,0,0,464,707.20
$SM_GC,0.45,6.07,0.00,176.98,0.044,0.000,0.057,147,2304,464,-5.96,0.08,707.20,0,0,0,0,0,0,27.06,27.38,26.84
$IRIDIUM_FIX,4722.92,-12225.08,230217,162921
$TT8_MAMPS,0.05243,0.31458
$HUMID,38.18
$INTERNAL_PRESSURE,8.94566
$TCM_TEMP,18.00
$XPDR_PINGS,1
$SC_FREEKB,7902368
$PM_FREEKB,62316544
$24V_AH,24.90,9.471
$10V_AH,10.13,5.796
$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,15.550,27.000,459.675,176.975,0.000,0.000,0.000,0.000,0.250,0.000,34.178,0.000,1499.115,689.791,878.525,49.679,0.000,1121.563,0.000,598.130,0.000,0.546,0.000
$DEVICE_MAMPS,261.630,94.860,768.060,56.610,0.000,0.000,0.000,0.000,420.000,0.000,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2818.000,2829.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.854,14.463,0.000,0.000
$MEM,193820
$DATA_FILE_SIZE,13454,413
$CAP_FILE_SIZE,59064,0
$CFSIZE,260034560,258129920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.036,57.03,1
$GPS,230217,173334,4743.375,-12224.315,8,1.4,13,18.2,0.5,126.9,9,6.1