version: 66.13
glider: 178
mission: 27
dive: 3
start: 2 23 117 17 50 59
data:
$ID,178
$MISSION,27
$DIVE,3
$N_DIVES,3
$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,2700
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,40
$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
$GPS1,230217,174503,4743.3379,-12224.1602,18,1.4,28,18.2,0.4,127.2,9,6.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.38
$_SM_ANGLEo,-63.6
$GPS2,230217,175040,4743.3032,-12224.0801,12,1.7,17,18.2,0.4,116.5,8,7.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,263.3,1202,-18.2,-10.000,-21.02,2236
$D_GRID,174
$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,13,-0.63,-146.0,157,2715,563,359,0.0,0.0,0,148,0.00,0.00,-131.38,0.000,16386,0.000,0.000,158,2715,3143,3185,3101,0,0,0,0,0,0,27.17,28.83,27.24
$GC,150,-0.63,-146.0,158,2716,3188,3102,4.0,-12.1,22,183,7.80,1.77,-16.35,0.000,18692,0.286,1.343,1862,3758,3940,4019,3861,0,0,0,0,0,0,26.55,25.68,26.87
$GC,217,-0.59,-146.0,1862,3758,4019,3862,19.4,-17.6,34,225,0.00,1.60,0.00,0.000,1158,0.000,0.033,1862,2669,3941,4020,3862,0,0,0,0,0,0,26.96,26.92,26.97
$GC,405,-0.59,-146.0,1862,2669,4017,3862,50.0,-15.3,71,411,0.00,2.05,0.00,0.000,516,0.000,0.027,1861,1312,3941,4020,3862,0,0,0,0,0,0,27.21,26.96,27.27
$GC,471,-0.64,-146.0,1860,1313,4022,3862,59.5,-14.3,84,478,0.00,2.15,0.00,0.000,1158,0.000,0.047,1852,2686,3941,4020,3863,0,0,0,0,0,0,27.03,26.96,27.06
$GC,776,-0.64,-146.0,1851,2686,4021,3863,105.5,-14.1,115,778,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,2686,3941,4020,3862,0,0,0,0,0,0,27.33,27.40,27.39
$GC,1077,-0.64,-146.0,1850,2687,4019,3861,146.9,-13.4,145,1084,0.00,1.75,0.00,0.000,260,0.000,0.064,1844,3787,3940,4020,3860,0,0,0,0,0,0,27.39,27.05,27.45
$STATE,1097,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1097,begin apogee
$GC,1103,-0.16,0.0,1844,2286,4022,3863,150.1,-14.0,149,1223,0.60,0.00,115.10,0.776,10246,0.136,0.000,2025,2279,3348,3411,3285,0,0,0,0,0,0,26.91,25.63,25.06
$STATE,1225,end apogee,CONTROL_FINISHED_OK
$STATE,1225,begin climb
$GC,1227,0.63,146.0,2031,2280,3410,3285,155.5,0.0,161,1367,0.73,2.50,122.40,0.757,11012,0.067,0.054,2291,3719,2751,2809,2693,0,0,0,0,0,0,25.84,25.41,24.85
$GC,1442,0.55,295.1,2290,3719,2810,2690,159.9,3.1,201,1581,0.15,2.15,124.93,0.738,13478,0.173,0.025,2265,2271,2140,2214,2066,0,0,0,0,0,0,26.00,26.23,24.84
$GC,1877,0.86,368.5,2265,2270,2214,2058,132.6,6.6,257,1945,0.22,2.08,60.15,0.723,10916,0.054,0.034,2389,943,1841,1922,1761,0,0,0,0,0,0,26.65,25.77,25.20
$GC,2075,0.91,368.5,2388,944,1918,1762,106.5,13.3,296,2082,0.00,2.15,0.00,0.000,1158,0.000,0.034,2388,2303,1838,1916,1761,0,0,0,0,0,0,26.46,26.39,26.48
$GC,2380,0.91,368.5,2389,2301,1915,1759,61.1,13.7,327,2387,0.00,2.25,0.00,0.000,260,0.000,0.056,2389,3705,1837,1916,1759,0,0,0,0,0,0,26.99,26.71,27.05
$GC,2417,0.86,368.5,2387,3706,1917,1756,55.4,15.9,334,2426,0.17,2.05,0.00,0.000,5254,0.163,0.024,2354,2314,1835,1915,1755,0,0,0,0,0,0,26.65,26.84,26.80
$GC,2722,0.97,368.5,2354,2310,1917,1754,19.2,10.8,391,2730,0.12,0.00,0.00,0.000,2182,0.082,0.000,2418,2308,1836,1915,1757,0,0,0,0,0,0,27.00,27.02,27.01
$STATE,2843,end climb,SURFACE_DEPTH_REACHED
$STATE,2843,begin surface coast
$FINISH,0.0,1.020170
$STATE,2863,end surface coast,CONTROL_FINISHED_OK
$STATE,2863,begin surface
$SM_CCo,2884,201.10,0.057,0,0,463,707.20
$SM_GC,0.41,6.00,0.65,201.10,0.050,0.047,0.057,156,2719,463,-5.96,-0.62,707.20,0,0,0,0,0,0,26.96,27.00,26.76
$IRIDIUM_FIX,4726.11,-12226.80,230217,174140
$TT8_MAMPS,0.050183,0.304843
$HUMID,38.18
$INTERNAL_PRESSURE,8.93589
$TCM_TEMP,18.00
$XPDR_PINGS,0
$SC_FREEKB,7901984
$PM_FREEKB,62299456
$24V_AH,24.84,9.571
$10V_AH,10.17,5.848
$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,15.800,25.425,422.575,201.100,0.000,0.000,0.000,0.000,0.000,0.000,18.079,0.000,1549.715,681.732,874.261,51.459,0.000,1111.411,0.000,606.546,0.000,0.545,0.000
$DEVICE_MAMPS,286.110,1343.340,776.475,57.375,0.000,0.000,0.000,0.000,420.000,0.000,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2850.000,2861.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.945,14.448,0.000,0.000
$MEM,193648
$DATA_FILE_SIZE,13443,419
$CAP_FILE_SIZE,59390,0
$CFSIZE,260034560,258080768
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,102.68,0x233da2,0,24
$CURRENT,0.033,169.99,1
$GPS,230217,184332,4743.346,-12224.601,10,1.7,37,18.2,0.3,183.9,10,4.6