version: 66.12
glider: 178
mission: 20
dive: 7
start: 3 2 115 11 30 49
data:
$ID,178
$MISSION,20
$DIVE,7
$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,42
$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,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
$GPS1,020315,112634,1310.7937,14433.9492,7,2.0,28,1.5,0.7,249.1,8,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.50
$_SM_ANGLEo,-72.8
$GPS2,020315,113037,1310.7963,14433.8926,11,0.9,11,1.5,0.7,270.1,8,6.8
$SPEED_LIMITS,0.173,0.320
$TGT_NAME,S1
$TGT_LATLONG,1312.720,14446.380
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,124.5,22794,-13.2,-10.000,-17.34,3646
$D_GRID,1320
$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,-243.3,127,2166,912,885,0.0,0.0,0,107,0.00,0.00,-91.53,0.000,16386,0.000,0.000,127,2162,3125,3173,3077,0,0,0,0,0,0,27.05,28.83,27.12
$GC,109,-0.78,-243.3,127,2162,3174,3078,3.3,-9.8,16,139,10.43,2.15,-13.88,0.000,18948,0.249,0.049,2613,730,3933,4004,3863,0,0,0,0,0,0,26.52,26.27,26.79
$GC,158,-0.78,-243.3,2614,731,4004,3867,23.3,-33.2,25,165,0.00,2.20,0.00,0.000,1030,0.000,0.038,2605,2139,3935,4004,3866,0,0,0,0,0,0,26.88,26.85,26.91
$GC,464,-0.78,-243.3,2604,2139,4007,3868,102.6,-25.3,66,469,0.00,2.22,0.00,0.000,260,0.000,0.050,2594,3557,3936,4005,3867,0,0,0,0,0,0,27.26,26.98,27.32
$GC,694,-0.78,-243.3,2595,3557,4006,3869,149.1,-14.8,89,698,0.00,2.12,0.00,0.000,1030,0.000,0.028,2594,2133,3938,4007,3869,0,0,0,0,0,0,27.15,27.13,27.17
$GC,1004,-0.78,-243.3,2595,2131,4012,3870,190.7,-12.6,120,1008,0.00,2.22,0.00,0.000,260,0.000,0.050,2586,3551,3940,4012,3869,0,0,0,0,0,0,27.40,27.12,27.46
$GC,1164,-0.78,-243.3,2586,3552,4012,3872,208.1,-11.2,131,1168,0.08,2.08,0.00,0.000,3078,0.125,0.028,2613,2148,3942,4012,3872,0,0,0,0,0,0,27.05,27.22,27.13
$GC,1485,-0.78,-243.3,2612,2146,4013,3874,234.1,-8.4,142,1489,0.00,2.20,0.00,0.000,260,0.000,0.049,2605,3564,3942,4012,3873,0,0,0,0,0,0,27.46,27.18,27.53
$GC,1654,-0.78,-243.3,2605,3565,4012,3874,248.5,-9.7,147,1658,0.00,2.10,0.00,0.000,1030,0.000,0.029,2605,2146,3943,4012,3874,0,0,0,0,0,0,27.31,27.28,27.32
$GC,1965,-0.78,-243.3,2605,2144,4011,3874,275.0,-8.0,158,1968,0.00,2.17,0.00,0.000,260,0.000,0.050,2596,3557,3943,4012,3874,0,0,0,0,0,0,27.50,27.21,27.57
$GC,2110,-0.78,-243.3,2597,3558,4010,3874,283.2,-6.8,162,2116,0.00,2.08,0.00,0.000,1030,0.000,0.031,2596,2150,3942,4012,3873,0,0,0,0,0,0,27.35,27.31,27.37
$GC,2415,-0.78,-243.3,2597,2149,4010,3874,301.8,-6.0,173,2418,0.00,2.20,0.00,0.000,260,0.000,0.052,2589,3562,3942,4011,3873,0,0,0,0,0,0,27.53,27.24,27.59
$GC,2599,-0.78,-243.3,2588,3562,4010,3874,317.9,-9.6,179,2603,0.00,2.10,0.00,0.000,1030,0.000,0.031,2589,2156,3941,4009,3873,0,0,0,0,0,0,27.36,27.33,27.37
$GC,2925,-0.78,-243.3,2589,2155,4006,3873,343.0,-6.0,190,2928,0.00,2.20,0.00,0.000,260,0.000,0.054,2584,3561,3939,4006,3873,0,0,0,0,0,0,27.54,27.25,27.61
$GC,3119,-0.78,-243.3,2585,3562,4004,3874,358.0,-8.9,196,3123,0.08,2.12,0.00,0.000,3078,0.118,0.032,2613,2144,3938,4004,3873,0,0,0,0,0,0,27.18,27.34,27.26
$GC,3435,-0.78,-243.3,2612,2143,4005,3870,378.0,-5.5,207,3438,0.00,2.25,0.00,0.000,260,0.000,0.055,2607,3575,3936,4002,3870,0,0,0,0,0,0,27.55,27.26,27.62
$GC,3504,-0.78,-243.3,2606,3577,4004,3871,381.6,-5.9,209,3508,0.00,2.15,0.00,0.000,1030,0.000,0.032,2607,2144,3936,4002,3870,0,0,0,0,0,0,27.38,27.36,27.40
$GC,3824,-0.78,-243.3,2608,2141,4000,3867,410.8,-10.0,220,3828,0.00,2.25,0.00,0.000,260,0.000,0.054,2607,3560,3933,4000,3867,0,0,0,0,0,0,27.56,27.27,27.62
$GC,4044,-0.78,-243.3,2606,3560,4000,3866,432.4,-10.2,227,4048,0.00,2.12,0.00,0.000,1030,0.000,0.031,2607,2143,3932,3998,3866,0,0,0,0,0,0,27.38,27.37,27.41
$GC,4365,-0.78,-243.3,2608,2141,3996,3862,463.7,-9.5,238,4368,0.00,2.20,0.00,0.000,260,0.000,0.053,2607,3566,3929,3996,3862,0,0,0,0,0,0,27.57,27.27,27.64
$GC,4505,-0.78,-243.3,2608,3566,3994,3862,475.1,-9.5,242,4508,0.00,2.10,0.00,0.000,1030,0.000,0.032,2607,2147,3928,3994,3862,0,0,0,0,0,0,27.41,27.36,27.43
$GC,4815,-0.78,-243.3,2606,2147,3994,3862,503.5,-8.1,253,4818,0.00,2.22,0.00,0.000,260,0.000,0.054,2607,3566,3926,3992,3860,0,0,0,0,0,0,27.57,27.28,27.64
$GC,5014,-0.78,-243.3,2608,3566,3990,3860,519.0,-8.6,259,5018,0.00,2.12,0.00,0.000,1030,0.000,0.032,2607,2143,3924,3990,3859,0,0,0,0,0,0,27.40,27.38,27.41
$GC,5325,-0.78,-243.3,2608,2142,3989,3857,546.7,-8.6,270,5328,0.00,2.20,0.00,0.000,260,0.000,0.054,2607,3560,3922,3989,3856,0,0,0,0,0,0,27.58,27.27,27.64
$GC,5504,-0.78,-243.3,2606,3561,3988,3856,563.2,-9.2,276,5509,0.00,2.12,0.00,0.000,1030,0.000,0.033,2607,2143,3920,3986,3855,0,0,0,0,0,0,27.40,27.37,27.42
$GC,5835,-0.78,-243.3,2608,2140,3985,3854,591.0,-8.2,287,5838,0.00,2.22,0.00,0.000,260,0.000,0.055,2607,3572,3919,3985,3853,0,0,0,0,0,0,27.58,27.27,27.65
$GC,6045,-0.78,-243.3,2608,3572,3982,3853,608.8,-8.9,294,6048,0.00,2.12,0.00,0.000,1030,0.000,0.032,2607,2138,3917,3982,3853,0,0,0,0,0,0,27.42,27.37,27.43
$GC,6375,-0.78,-243.3,2606,2137,3983,3850,638.5,-9.6,305,6378,0.00,2.22,0.00,0.000,260,0.000,0.055,2607,3557,3915,3982,3849,0,0,0,0,0,0,27.58,27.27,27.65
$GC,6569,-0.78,-243.3,2608,3558,3979,3850,657.8,-11.0,311,6574,0.00,2.10,0.00,0.000,1030,0.000,0.033,2607,2152,3914,3979,3849,0,0,0,0,0,0,27.43,27.37,27.42
$STATE,6583,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6583,begin apogee
$GC,6587,-0.13,0.0,2607,2150,3981,3850,661.2,-11.2,312,6787,0.60,0.00,198.12,1.053,10246,0.057,0.000,2847,2147,2941,2990,2893,0,0,0,0,0,0,27.33,25.25,24.58
$STATE,6788,end apogee,CONTROL_FINISHED_OK
$STATE,6788,begin climb
$GC,6789,0.78,243.3,2847,2148,2991,2893,674.5,0.0,318,7007,0.75,2.40,207.00,1.041,11012,0.046,0.043,3141,709,1947,1998,1897,0,0,0,0,0,0,25.48,25.19,24.52
$GC,7232,0.78,243.3,3142,709,1991,1887,610.7,20.1,333,7236,0.00,2.22,0.00,0.000,1030,0.000,0.037,3142,2098,1940,1992,1888,0,0,0,0,0,0,26.50,26.46,26.53
$GC,7547,0.78,243.3,3141,2099,1990,1887,533.7,24.5,344,7551,0.00,2.22,0.00,0.000,516,0.000,0.045,3151,708,1938,1989,1887,0,0,0,0,0,0,27.01,26.78,27.08
$GC,7632,0.78,243.3,3151,708,1990,1888,518.6,24.8,346,7639,0.00,2.20,0.00,0.000,1030,0.000,0.037,3151,2104,1938,1989,1887,0,0,0,0,0,0,26.88,26.84,26.90
$GC,7937,0.78,243.3,3152,2105,1987,1887,439.8,23.9,357,7938,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2104,1936,1987,1886,0,0,0,0,0,0,27.19,27.27,27.25
$GC,8237,0.78,243.3,3151,2105,1988,1886,369.6,24.0,367,8240,0.00,2.20,0.00,0.000,516,0.000,0.047,3162,708,1936,1986,1886,0,0,0,0,0,0,27.27,27.02,27.34
$GC,8287,0.78,243.3,3162,708,1986,1886,362.6,24.0,368,8291,0.12,2.17,0.00,0.000,5126,0.168,0.038,3125,2098,1936,1986,1886,0,0,0,0,0,0,26.86,27.04,26.96
$GC,8597,0.78,243.3,3124,2099,1986,1885,295.5,19.6,379,8600,0.00,2.22,0.00,0.000,260,0.000,0.054,3125,3495,1933,1984,1883,0,0,0,0,0,0,27.33,27.05,27.40
$GC,8772,0.78,243.3,3125,3496,1981,1884,265.4,20.0,384,8778,0.00,2.12,0.00,0.000,1030,0.000,0.034,3133,2110,1932,1981,1883,0,0,0,0,0,0,27.17,27.14,27.19
$GC,9077,0.78,243.3,3132,2110,1982,1882,200.7,18.4,395,9080,0.00,2.20,0.00,0.000,516,0.000,0.046,3144,702,1931,1980,1882,0,0,0,0,0,0,27.39,27.13,27.46
$GC,9172,0.78,243.3,3143,703,1982,1882,184.2,17.4,402,9179,0.00,2.17,0.00,0.000,1030,0.000,0.037,3144,2099,1931,1980,1882,0,0,0,0,0,0,27.19,27.15,27.20
$GC,9477,0.78,243.3,3143,2100,1981,1881,138.1,14.0,433,9480,0.00,2.20,0.00,0.000,516,0.000,0.045,3154,698,1929,1979,1880,0,0,0,0,0,0,27.41,27.17,27.49
$GC,9613,0.78,243.3,3155,698,1979,1881,118.4,14.4,446,9619,0.12,2.17,0.00,0.000,5126,0.182,0.037,3125,2119,1929,1979,1880,0,0,0,0,0,0,27.02,27.19,27.20
$GC,9917,0.84,274.5,3124,2119,1980,1880,91.1,9.1,477,9942,0.00,0.00,23.92,0.643,8710,0.000,0.000,3125,2119,1821,1870,1772,0,0,0,0,0,0,27.44,26.71,26.18
$GC,10237,0.84,274.5,3124,2119,1867,1770,57.9,10.1,509,10240,0.00,2.17,0.00,0.000,260,0.000,0.050,3125,3501,1817,1865,1769,0,0,0,0,0,0,27.26,26.99,27.32
$GC,10407,0.84,274.5,3124,3502,1868,1770,37.6,13.6,536,10414,0.00,2.12,0.00,0.000,1030,0.000,0.031,3133,2099,1817,1866,1769,0,0,0,0,0,0,27.13,27.10,27.15
$STATE,10696,end climb,SURFACE_DEPTH_REACHED
$STATE,10696,begin surface coast
$FINISH,0.1,1.022110
$STATE,10718,end surface coast,CONTROL_FINISHED_OK
$STATE,10718,begin surface
$SM_CCo,10731,96.10,0.063,0,0,901,500.17
$SM_GC,0.60,7.75,0.08,96.10,0.047,0.110,0.063,162,2154,901,-8.42,-1.19,500.17,0,0,0,0,0,0,27.10,27.24,26.96
$IRIDIUM_FIX,1307.59,14435.98,020315,083220
$TT8_MAMPS,0.050932,0.050932
$HUMID,46.69
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,24.90
$XPDR_PINGS,1
$24V_AH,24.52,1.290
$10V_AH,10.46,1.750
$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,19.925,91.500,429.050,96.100,0.000,0.000,0.000,178.300,0.250,0.000,14.310,0.000,8090.944,631.394,2219.485,124.157,0.000,1686.493,0.000,1660.427,0.000,0.551,0.000
$DEVICE_MAMPS,249.390,110.160,1053.405,63.495,0.000,0.000,0.000,83.385,420.000,0.000,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,402.698,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,229988
$DATA_FILE_SIZE,26742,598
$CAP_FILE_SIZE,110049,0
$CFSIZE,260034560,256598016
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,10520.20,0x236db2,7,5
$INTR,1,6584.85,0x236db2,2,5
$CURRENT,0.356,331.77,1
$GPS,020315,143236,1309.040,14434.322,59,0.9,59,1.5,0.5,271.1,10,6.7