version: 66.12
glider: 178
mission: 20
dive: 6
start: 3 2 115 8 35 28
data:
$ID,178
$MISSION,20
$DIVE,6
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,660
$D_ABORT,1030
$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,220
$T_MISSION,250
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51652
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$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,500
$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,2870
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,38
$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,2150
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,31
$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_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,-46.597843
$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,0
$LOGGERDEVICE1,99
$LOGGERDEVICE2,-1
$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,0.0043278597
$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
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,125000.0
$PA_MAXOPTIONALUPLOADSIZE,20480.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,020315,083058,1311.8663,14433.5938,37,1.4,59,1.5,0.4,242.2,9,8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.47
$_SM_ANGLEo,-73.4
$GPS2,020315,083517,1311.8842,14433.5430,10,1.3,14,1.5,1.0,297.3,8,8.7
$SPEED_LIMITS,0.173,0.320
$TGT_NAME,S1
$TGT_LATLONG,1312.720,14446.380
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,126.5,23196,-13.2,-10.000,-17.34,3646
$D_GRID,1505
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.78,-243.3,128,2157,908,888,0.0,0.0,0,110,0.00,0.00,-94.05,0.000,16386,0.000,0.000,126,2157,3224,3268,3181,0,0,0,0,0,0,27.11,28.83,27.18
$GC,112,-0.78,-243.3,128,2158,3268,3182,4.0,-13.7,16,141,10.50,2.17,-11.65,0.000,18948,0.252,0.049,2607,735,3936,4007,3866,0,0,0,0,0,0,26.54,25.66,26.83
$GC,200,-0.78,-243.3,2608,735,4007,3870,32.9,-18.1,33,207,0.00,2.20,0.00,0.000,1030,0.000,0.037,2599,2154,3938,4007,3869,0,0,0,0,0,0,26.96,26.92,26.98
$GC,506,-0.78,-243.3,2599,2154,4007,3871,109.1,-24.5,71,510,0.00,2.17,0.00,0.000,260,0.000,0.051,2588,3543,3939,4007,3871,0,0,0,0,0,0,27.33,27.03,27.38
$GC,736,-0.78,-243.3,2587,3544,4010,3873,154.1,-15.0,94,740,0.00,2.08,0.00,0.000,1030,0.000,0.028,2588,2142,3940,4008,3872,0,0,0,0,0,0,27.21,27.18,27.22
$GC,1046,-0.78,-243.3,2589,2138,4011,3875,194.6,-11.6,125,1050,0.00,2.22,0.00,0.000,260,0.000,0.050,2579,3551,3943,4011,3875,0,0,0,0,0,0,27.44,27.15,27.51
$GC,1201,-0.78,-243.3,2581,3551,4011,3878,211.1,-10.3,134,1205,0.10,2.08,0.00,0.000,3078,0.126,0.028,2615,2146,3944,4011,3877,0,0,0,0,0,0,27.06,27.24,27.15
$GC,1527,-0.78,-243.3,2616,2143,4011,3881,234.8,-8.2,145,1530,0.00,2.17,0.00,0.000,260,0.000,0.049,2607,3554,3945,4011,3880,0,0,0,0,0,0,27.49,27.20,27.55
$GC,1672,-0.78,-243.3,2606,3554,4013,3881,243.7,-7.4,149,1678,0.00,2.05,0.00,0.000,1030,0.000,0.029,2607,2147,3946,4012,3881,0,0,0,0,0,0,27.35,27.30,27.36
$GC,1977,-0.78,-243.3,2608,2145,4011,3881,270.0,-7.5,160,1980,0.00,2.15,0.00,0.000,260,0.000,0.050,2596,3552,3946,4011,3881,0,0,0,0,0,0,27.53,27.23,27.59
$GC,2107,-0.78,-243.3,2596,3553,4014,3881,277.8,-6.8,164,2110,0.00,2.05,0.00,0.000,1030,0.000,0.030,2597,2153,3945,4011,3880,0,0,0,0,0,0,27.38,27.32,27.39
$GC,2422,-0.78,-243.3,2598,2151,4010,3881,296.4,-5.8,175,2426,0.00,2.20,0.00,0.000,260,0.000,0.052,2591,3548,3945,4010,3880,0,0,0,0,0,0,27.55,27.22,27.61
$GC,2596,-0.78,-243.3,2590,3549,4009,3882,306.9,-7.2,180,2603,0.00,2.08,0.00,0.000,1030,0.000,0.031,2591,2152,3944,4008,3881,0,0,0,0,0,0,27.37,27.34,27.39
$GC,2902,-0.78,-243.3,2591,2151,4007,3877,331.7,-6.6,191,2905,0.00,2.20,0.00,0.000,260,0.000,0.054,2584,3544,3941,4007,3876,0,0,0,0,0,0,27.56,27.24,27.63
$GC,3047,-0.78,-243.3,2583,3544,4007,3876,340.8,-7.6,195,3053,0.12,2.08,0.00,0.000,3078,0.148,0.031,2620,2137,3940,4005,3876,0,0,0,0,0,0,27.18,27.35,27.31
$GC,3352,-0.78,-243.3,2621,2134,4003,3874,367.9,-9.4,206,3355,0.00,2.22,0.00,0.000,260,0.000,0.054,2620,3560,3938,4004,3873,0,0,0,0,0,0,27.57,27.26,27.64
$GC,3581,-0.78,-243.3,2620,3560,4003,3872,392.2,-12.0,213,3585,0.00,2.12,0.00,0.000,1030,0.000,0.032,2620,2146,3937,4003,3872,0,0,0,0,0,0,27.39,27.36,27.41
$GC,3892,-0.78,-243.3,2619,2144,4003,3869,426.8,-10.0,224,3895,0.00,2.20,0.00,0.000,260,0.000,0.054,2620,3561,3935,4001,3869,0,0,0,0,0,0,27.58,27.27,27.65
$GC,3966,-0.78,-243.3,2620,3562,3999,3869,432.6,-9.6,226,3970,0.00,2.12,0.00,0.000,1030,0.000,0.032,2619,2145,3934,4000,3869,0,0,0,0,0,0,27.39,27.37,27.41
$GC,4281,-0.78,-243.3,2619,2142,4000,3866,464.4,-10.3,237,4285,0.00,2.22,0.00,0.000,260,0.000,0.054,2619,3547,3932,3998,3866,0,0,0,0,0,0,27.58,27.29,27.65
$GC,4356,-0.78,-243.3,2619,3547,3999,3867,471.2,-10.9,239,4360,0.00,2.10,0.00,0.000,1030,0.000,0.031,2620,2145,3931,3997,3866,0,0,0,0,0,0,27.39,27.37,27.41
$GC,4672,-0.78,-243.3,2620,2146,3995,3862,505.1,-9.5,250,4675,0.00,2.20,0.00,0.000,260,0.000,0.054,2620,3560,3929,3996,3862,0,0,0,0,0,0,27.58,27.26,27.65
$GC,4822,-0.78,-243.3,2620,3561,3994,3863,517.9,-8.4,255,4826,0.00,2.10,0.00,0.000,1030,0.000,0.033,2620,2141,3927,3993,3861,0,0,0,0,0,0,27.42,27.36,27.43
$GC,5152,-0.78,-243.3,2620,2139,3990,3861,543.5,-8.3,266,5155,0.00,2.22,0.00,0.000,260,0.000,0.055,2620,3559,3925,3991,3860,0,0,0,0,0,0,27.58,27.26,27.65
$GC,5326,-0.78,-243.3,2619,3560,3991,3861,557.7,-9.6,271,5333,0.00,2.10,0.00,0.000,1030,0.000,0.032,2620,2147,3925,3990,3860,0,0,0,0,0,0,27.40,27.37,27.42
$GC,5631,-0.78,-243.3,2620,2148,3987,3858,592.8,-10.8,282,5636,0.00,2.22,0.00,0.000,260,0.000,0.054,2620,3548,3922,3988,3857,0,0,0,0,0,0,27.58,27.26,27.65
$GC,5696,-0.78,-243.3,2620,3549,3986,3859,599.3,-10.8,284,5700,0.00,2.08,0.00,0.000,1030,0.000,0.031,2620,2153,3922,3987,3857,0,0,0,0,0,0,27.40,27.38,27.42
$GC,6022,-0.78,-243.3,2620,2150,3985,3855,633.6,-9.8,295,6025,0.00,2.22,0.00,0.000,260,0.000,0.055,2620,3549,3920,3986,3854,0,0,0,0,0,0,27.58,27.26,27.65
$GC,6076,-0.78,-243.3,2619,3548,3986,3854,636.5,-9.7,296,6083,0.00,2.10,0.00,0.000,1030,0.000,0.032,2620,2144,3919,3985,3854,0,0,0,0,0,0,27.40,27.37,27.42
$STATE,6320,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6320,begin apogee
$GC,6324,-0.13,0.0,2620,2144,3985,3855,660.5,-8.5,305,6525,0.55,0.00,198.57,1.044,10246,0.051,0.000,2852,2142,2941,2990,2892,0,0,0,0,0,0,27.36,25.29,24.61
$STATE,6525,end apogee,CONTROL_FINISHED_OK
$STATE,6525,begin climb
$GC,6527,0.78,243.3,2853,2144,2989,2891,668.4,0.0,311,6744,0.73,2.35,206.05,1.025,10500,0.044,0.053,3130,3497,1947,1997,1897,0,0,0,0,0,0,25.53,25.25,24.58
$GC,6854,0.78,243.3,3131,3498,1986,1898,614.3,25.3,322,6858,0.00,2.17,0.00,0.000,1030,0.000,0.032,3141,2119,1942,1987,1897,0,0,0,0,0,0,26.29,26.27,26.32
$GC,7164,0.78,243.3,3142,2119,1986,1893,532.6,24.6,333,7168,0.00,2.25,0.00,0.000,516,0.000,0.047,3152,705,1939,1986,1893,0,0,0,0,0,0,26.96,26.73,27.03
$GC,7239,0.78,243.3,3152,704,1985,1891,518.0,24.3,335,7242,0.00,2.20,0.00,0.000,1030,0.000,0.037,3152,2101,1938,1986,1891,0,0,0,0,0,0,26.83,26.79,26.85
$GC,7554,0.78,243.3,3151,2102,1986,1891,438.5,23.1,346,7557,0.00,2.25,0.00,0.000,260,0.000,0.055,3152,3502,1937,1984,1890,0,0,0,0,0,0,27.17,26.91,27.24
$GC,7604,0.78,243.3,3151,3502,1984,1891,430.9,23.5,347,7608,0.12,2.17,0.00,0.000,5126,0.178,0.034,3126,2098,1936,1983,1890,0,0,0,0,0,0,26.76,26.98,26.88
$GC,7914,0.78,243.3,3125,2099,1983,1890,358.0,22.8,358,7917,0.00,2.20,0.00,0.000,516,0.000,0.047,3135,700,1935,1981,1889,0,0,0,0,0,0,27.28,27.02,27.35
$GC,7964,0.78,243.3,3136,701,1980,1889,351.2,22.7,359,7968,0.00,2.20,0.00,0.000,1030,0.000,0.037,3135,2106,1934,1981,1888,0,0,0,0,0,0,27.08,27.05,27.10
$GC,8274,0.78,243.3,3136,2107,1980,1888,278.9,20.7,370,8277,0.00,2.22,0.00,0.000,260,0.000,0.054,3136,3499,1934,1980,1888,0,0,0,0,0,0,27.34,27.06,27.41
$GC,8329,0.78,243.3,3135,3499,1979,1888,272.3,21.0,371,8335,0.00,2.15,0.00,0.000,1030,0.000,0.034,3146,2094,1933,1980,1887,0,0,0,0,0,0,27.15,27.13,27.18
$GC,8634,0.78,243.3,3147,2095,1978,1888,199.4,21.4,382,8637,0.00,2.20,0.00,0.000,516,0.000,0.046,3156,688,1933,1979,1887,0,0,0,0,0,0,27.39,27.13,27.46
$GC,8754,0.78,243.3,3155,688,1979,1888,175.0,18.9,394,8758,0.10,2.20,0.00,0.000,5126,0.173,0.038,3127,2101,1932,1978,1887,0,0,0,0,0,0,26.95,27.15,27.06
$GC,9064,0.78,243.3,3128,2102,1976,1885,128.4,11.8,425,9067,0.00,2.22,0.00,0.000,516,0.000,0.045,3136,686,1930,1976,1884,0,0,0,0,0,0,27.42,27.17,27.50
$GC,9129,0.78,243.3,3136,687,1975,1884,120.9,12.4,431,9135,0.00,2.20,0.00,0.000,1030,0.000,0.036,3136,2110,1929,1976,1883,0,0,0,0,0,0,27.22,27.18,27.26
$GC,9434,0.90,310.1,3135,2111,1977,1883,95.8,8.1,462,9496,0.00,2.28,52.15,0.657,8452,0.000,0.050,3137,3503,1675,1721,1630,0,0,0,0,0,0,27.45,26.44,25.82
$GC,9650,0.90,310.1,3135,3504,1721,1630,68.6,15.5,483,9658,0.00,2.17,0.00,0.000,1030,0.000,0.031,3146,2088,1673,1720,1627,0,0,0,0,0,0,26.79,26.81,26.84
$GC,9955,0.90,310.1,3146,2089,1722,1627,24.7,11.5,532,9962,0.00,2.15,0.00,0.000,516,0.000,0.042,3156,702,1672,1719,1626,0,0,0,0,0,0,27.18,26.94,27.25
$GC,10031,0.90,310.1,3157,703,1719,1627,14.6,16.9,547,10038,0.00,2.15,0.00,0.000,1030,0.000,0.034,3156,2094,1672,1719,1626,0,0,0,0,0,0,27.02,26.98,27.04
$STATE,10106,end climb,SURFACE_DEPTH_REACHED
$STATE,10106,begin surface coast
$FINISH,-0.6,1.001049
$STATE,10128,end surface coast,CONTROL_FINISHED_OK
$STATE,10128,begin surface
$SM_CCo,10142,75.95,0.063,0,0,902,500.17
$SM_GC,0.29,7.75,0.08,75.95,0.040,0.106,0.063,159,2158,902,-8.41,-1.02,500.17,0,0,0,0,0,0,26.99,27.13,26.88
$IRIDIUM_FIX,1309.80,14429.80,020315,051019
$TT8_MAMPS,0.050183,0.050183
$HUMID,49.29
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,24.58,1.160
$10V_AH,10.47,1.700
$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,19.975,99.975,456.775,75.950,0.000,0.000,0.000,188.125,0.000,0.000,17.493,0.000,7686.719,653.184,2006.025,122.426,0.000,1642.550,0.000,1457.056,0.000,0.551,0.000
$DEVICE_MAMPS,251.685,105.570,1044.225,62.730,0.000,0.000,0.000,82.620,420.000,0.000,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,379.932,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,230012
$DATA_FILE_SIZE,23499,566
$CAP_FILE_SIZE,104623,0
$CFSIZE,260034560,256659456
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12112.44,0x236db2,7,5
$INTR,1,2109.67,0x212970,0,24
$INTR,2,6321.89,0x236db2,2,5
$CURRENT,0.507,328.37,1
$GPS,020315,112634,1310.794,14433.949,7,2.0,28,1.5,0.7,249.1,8,9.0