version: 66.12
glider: 178
mission: 20
dive: 8
start: 3 2 115 14 37 24
data:
$ID,178
$MISSION,20
$DIVE,8
$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,45
$R_STBD_OVSHOOT,39
$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
$GPS1,020315,143236,1309.0396,14434.3223,59,0.9,59,1.5,0.5,271.1,10,6.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-73.3
$GPS2,020315,143712,1309.0472,14434.2812,15,0.9,32,1.5,0.5,282.7,10,6.7
$SPEED_LIMITS,0.173,0.320
$TGT_NAME,S1
$TGT_LATLONG,1312.720,14446.380
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,116.2,22850,-13.2,-10.000,-17.34,3646
$D_GRID,1229
$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,-243.3,127,2153,910,887,0.0,0.0,0,111,0.00,0.00,-95.80,0.000,16386,0.000,0.000,127,2151,3282,3324,3240,0,0,0,0,0,0,27.11,28.83,27.18
$GC,114,-0.78,-243.3,128,2151,3325,3241,4.0,-12.4,17,143,10.50,2.15,-10.70,0.000,18948,0.252,0.049,2615,745,3937,4004,3870,0,0,0,0,0,0,26.57,25.75,26.84
$GC,182,-0.78,-243.3,2616,745,4004,3873,31.2,-21.8,30,189,0.00,2.17,0.00,0.000,1030,0.000,0.040,2607,2132,3938,4005,3872,0,0,0,0,0,0,26.94,26.89,26.97
$GC,493,-0.78,-243.3,2608,2133,4006,3873,103.3,-23.9,70,497,0.00,2.22,0.00,0.000,260,0.000,0.051,2596,3553,3940,4007,3873,0,0,0,0,0,0,27.29,27.00,27.35
$GC,723,-0.78,-243.3,2594,3553,4009,3874,149.5,-16.1,93,728,0.00,2.10,0.00,0.000,1030,0.000,0.028,2596,2136,3940,4007,3873,0,0,0,0,0,0,27.17,27.16,27.20
$GC,1033,-0.78,-243.3,2595,2134,4012,3876,193.2,-11.4,124,1038,0.00,2.25,0.00,0.000,260,0.000,0.049,2586,3564,3942,4010,3875,0,0,0,0,0,0,27.41,27.14,27.48
$GC,1218,-0.78,-243.3,2586,3565,4010,3879,210.6,-9.1,135,1222,0.08,2.10,0.00,0.000,3078,0.119,0.028,2614,2147,3944,4010,3878,0,0,0,0,0,0,27.08,27.24,27.16
$GC,1543,-0.78,-243.3,2615,2144,4010,3881,240.2,-10.1,146,1548,0.00,2.22,0.00,0.000,260,0.000,0.049,2606,3564,3945,4010,3881,0,0,0,0,0,0,27.48,27.20,27.54
$GC,1684,-0.78,-243.3,2606,3564,4010,3882,251.5,-9.4,150,1688,0.00,2.08,0.00,0.000,1030,0.000,0.029,2606,2147,3945,4010,3880,0,0,0,0,0,0,27.34,27.29,27.35
$GC,1993,-0.78,-243.3,2605,2146,4012,3881,272.7,-5.7,161,1997,0.00,2.22,0.00,0.000,260,0.000,0.050,2597,3568,3945,4010,3881,0,0,0,0,0,0,27.51,27.22,27.57
$GC,2163,-0.78,-243.3,2596,3568,4012,3881,283.1,-6.9,166,2167,0.00,2.10,0.00,0.000,1030,0.000,0.030,2597,2153,3945,4010,3881,0,0,0,0,0,0,27.34,27.33,27.37
$GC,2473,-0.78,-243.3,2598,2153,4007,3881,307.7,-7.7,177,2477,0.00,2.22,0.00,0.000,260,0.000,0.052,2591,3594,3944,4008,3880,0,0,0,0,0,0,27.53,27.25,27.60
$GC,2638,-0.78,-243.3,2591,3594,4008,3881,319.7,-7.9,182,2642,0.00,2.15,0.00,0.000,1030,0.000,0.031,2591,2153,3943,4006,3881,0,0,0,0,0,0,27.36,27.34,27.39
$GC,2953,-0.78,-243.3,2592,2151,4006,3878,348.6,-8.7,193,2958,0.00,2.20,0.00,0.000,260,0.000,0.054,2584,3569,3941,4006,3877,0,0,0,0,0,0,27.55,27.26,27.61
$GC,3108,-0.78,-243.3,2585,3569,4004,3877,361.5,-8.6,198,3112,0.08,2.12,0.00,0.000,3078,0.119,0.031,2613,2147,3940,4004,3876,0,0,0,0,0,0,27.20,27.35,27.27
$GC,3433,-0.78,-243.3,2613,2145,4005,3874,386.2,-7.1,209,3437,0.00,2.22,0.00,0.000,260,0.000,0.054,2611,3566,3938,4003,3873,0,0,0,0,0,0,27.55,27.27,27.62
$GC,3508,-0.78,-243.3,2611,3566,4002,3873,389.2,-5.7,211,3512,0.00,2.12,0.00,0.000,1030,0.000,0.031,2610,2141,3937,4002,3873,0,0,0,0,0,0,27.38,27.36,27.40
$GC,3823,-0.78,-243.3,2610,2139,4001,3870,410.9,-8.1,222,3827,0.00,2.20,0.00,0.000,260,0.000,0.054,2610,3563,3934,4000,3869,0,0,0,0,0,0,27.55,27.28,27.62
$GC,3908,-0.78,-243.3,2611,3564,3998,3870,416.5,-8.9,224,3915,0.00,2.12,0.00,0.000,1030,0.000,0.031,2611,2139,3934,3999,3869,0,0,0,0,0,0,27.39,27.37,27.42
$GC,4214,-0.78,-243.3,2610,2139,3999,3867,452.3,-11.5,235,4217,0.00,2.20,0.00,0.000,260,0.000,0.053,2610,3563,3932,3997,3867,0,0,0,0,0,0,27.56,27.29,27.63
$GC,4368,-0.78,-243.3,2611,3563,3996,3867,469.9,-11.6,240,4372,0.00,2.10,0.00,0.000,1030,0.000,0.031,2610,2157,3931,3996,3866,0,0,0,0,0,0,27.41,27.38,27.42
$GC,4693,-0.78,-243.3,2611,2156,3994,3863,504.7,-10.6,251,4697,0.00,2.22,0.00,0.000,260,0.000,0.054,2611,3560,3928,3994,3863,0,0,0,0,0,0,27.58,27.29,27.64
$GC,4863,-0.78,-243.3,2611,3561,3991,3863,519.9,-10.1,256,4867,0.00,2.10,0.00,0.000,1030,0.000,0.032,2611,2153,3926,3991,3862,0,0,0,0,0,0,27.40,27.38,27.42
$GC,5173,-0.78,-243.3,2610,2150,3991,3861,549.1,-8.5,267,5177,0.00,2.25,0.00,0.000,260,0.000,0.057,2610,3561,3925,3990,3860,0,0,0,0,0,0,27.57,27.29,27.64
$GC,5388,-0.78,-243.3,2611,3561,3987,3861,568.5,-9.6,274,5392,0.00,2.12,0.00,0.000,1030,0.000,0.032,2611,2145,3923,3987,3859,0,0,0,0,0,0,27.41,27.38,27.42
$GC,5713,-0.78,-243.3,2611,2141,3986,3857,603.4,-10.9,285,5717,0.00,2.25,0.00,0.000,260,0.000,0.055,2610,3557,3920,3985,3856,0,0,0,0,0,0,27.58,27.29,27.65
$GC,5859,-0.78,-243.3,2611,3558,3983,3856,617.6,-11.8,289,5865,0.00,2.10,0.00,0.000,1030,0.000,0.033,2611,2132,3919,3983,3856,0,0,0,0,0,0,27.43,27.38,27.44
$GC,6163,-0.78,-243.3,2610,2132,3984,3855,657.1,-11.9,300,6167,0.00,2.28,0.00,0.000,260,0.000,0.055,2611,3562,3918,3983,3854,0,0,0,0,0,0,27.58,27.29,27.65
$STATE,6192,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6192,begin apogee
$GC,6198,-0.13,0.0,2610,2103,3984,3855,660.5,-11.7,301,6397,0.60,0.00,197.05,1.062,10246,0.070,0.000,2836,2101,2941,2991,2892,0,0,0,0,0,0,27.29,25.27,24.60
$STATE,6398,end apogee,CONTROL_FINISHED_OK
$STATE,6398,begin climb
$GC,6399,0.78,243.3,2837,2101,2990,2891,672.3,0.0,307,6616,0.77,2.33,204.90,1.043,11012,0.044,0.042,3142,722,1947,1999,1896,0,0,0,0,0,0,25.48,25.21,24.54
$GC,6766,0.78,243.3,3141,723,1994,1889,606.7,24.3,320,6769,0.00,2.22,0.00,0.000,1030,0.000,0.035,3142,2108,1940,1993,1888,0,0,0,0,0,0,26.36,26.33,26.39
$GC,7096,0.78,243.3,3143,2109,1989,1888,524.6,25.0,331,7097,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2109,1938,1989,1887,0,0,0,0,0,0,26.98,27.05,27.05
$GC,7396,0.78,243.3,3141,2109,1989,1887,453.0,23.0,341,7399,0.00,2.20,0.00,0.000,516,0.000,0.043,3153,721,1936,1987,1886,0,0,0,0,0,0,27.14,26.91,27.21
$GC,7450,0.78,243.3,3152,722,1986,1887,445.9,23.1,342,7458,0.00,2.15,0.00,0.000,1030,0.000,0.035,3152,2094,1936,1987,1886,0,0,0,0,0,0,26.98,26.94,27.01
$GC,7756,0.78,243.3,3153,2095,1986,1886,375.7,21.2,353,7759,0.00,2.25,0.00,0.000,260,0.000,0.054,3153,3504,1936,1987,1885,0,0,0,0,0,0,27.24,26.99,27.32
$GC,7776,0.78,243.3,3152,3505,1986,1885,375.7,21.2,353,7780,0.12,2.12,0.00,0.000,5126,0.175,0.032,3126,2119,1935,1985,1885,0,0,0,0,0,0,26.84,27.05,26.96
$GC,8086,0.78,243.3,3127,2120,1983,1884,302.1,22.6,364,8089,0.00,2.20,0.00,0.000,516,0.000,0.045,3135,696,1933,1983,1884,0,0,0,0,0,0,27.32,27.07,27.39
$GC,8110,0.78,243.3,3136,697,1983,1883,302.1,22.6,364,8118,0.00,2.17,0.00,0.000,1030,0.000,0.036,3136,2098,1932,1983,1882,0,0,0,0,0,0,27.13,27.08,27.15
$GC,8416,0.78,243.3,3136,2099,1981,1882,230.1,20.7,375,8419,0.00,2.22,0.00,0.000,260,0.000,0.054,3136,3499,1931,1981,1882,0,0,0,0,0,0,27.36,27.08,27.43
$GC,8430,0.78,243.3,3136,3499,1980,1882,230.1,20.7,375,8435,0.00,2.15,0.00,0.000,1030,0.000,0.032,3146,2091,1931,1981,1882,0,0,0,0,0,0,27.18,27.15,27.22
$GC,8736,0.78,243.3,3145,2092,1981,1882,170.4,20.6,395,8740,0.00,2.17,0.00,0.000,516,0.000,0.044,3156,692,1930,1979,1881,0,0,0,0,0,0,27.39,27.15,27.46
$GC,8851,0.78,243.3,3156,693,1981,1881,149.7,16.8,406,8858,0.10,2.17,0.00,0.000,5126,0.164,0.036,3126,2098,1929,1979,1880,0,0,0,0,0,0,27.00,27.17,27.10
$GC,9156,0.86,283.7,3125,2099,1980,1878,115.7,8.9,437,9191,0.00,2.20,30.73,0.681,8708,0.000,0.044,3135,695,1782,1830,1735,0,0,0,0,0,0,27.43,26.63,26.05
$GC,9316,0.86,283.7,3134,696,1831,1731,99.6,10.5,453,9319,0.00,2.17,0.00,0.000,1030,0.000,0.034,3134,2095,1779,1829,1729,0,0,0,0,0,0,26.89,26.86,26.92
$GC,9626,0.86,283.7,3136,2095,1829,1729,65.8,11.4,484,9629,0.00,2.22,0.00,0.000,260,0.000,0.050,3135,3506,1778,1829,1728,0,0,0,0,0,0,27.23,26.97,27.29
$GC,9831,0.86,283.7,3134,3508,1831,1729,37.7,14.6,512,9837,0.00,2.12,0.00,0.000,1030,0.000,0.029,3146,2092,1779,1829,1729,0,0,0,0,0,0,27.12,27.10,27.15
$STATE,10100,end climb,SURFACE_DEPTH_REACHED
$STATE,10100,begin surface coast
$FINISH,-0.2,1.022106
$STATE,10120,end surface coast,CONTROL_FINISHED_OK
$STATE,10121,begin surface
$SM_CCo,10135,86.78,0.063,0,0,901,500.17
$SM_GC,0.57,7.60,0.10,86.78,0.034,0.090,0.063,160,2169,901,-8.41,-0.90,500.17,0,0,0,0,0,0,27.08,27.21,26.98
$IRIDIUM_FIX,1303.16,14431.09,020315,112746
$TT8_MAMPS,0.049434,0.049434
$HUMID,46.53
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,24.54,1.421
$10V_AH,10.58,1.797
$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,19.850,96.025,432.675,86.775,0.000,0.000,0.000,189.700,0.000,0.000,35.103,0.000,7694.459,636.003,2044.766,117.579,0.000,1624.596,0.000,1476.791,0.000,0.551,0.000
$DEVICE_MAMPS,252.450,90.270,1061.820,62.730,0.000,0.000,0.000,81.855,420.000,0.000,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,383.215,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,229968
$DATA_FILE_SIZE,23419,570
$CAP_FILE_SIZE,102855,0
$CFSIZE,260034560,256552960
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,11194.36,0x236db2,7,5
$CURRENT,0.448,325.59,1
$GPS,020315,172852,1308.060,14434.239,12,1.3,45,1.5,0.2,9.4,10,7.9