version: 66.12
glider: 178
mission: 20
dive: 13
start: 3 3 115 10 7 35
data:
$ID,178
$MISSION,20
$DIVE,13
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$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,300
$T_MISSION,330
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00420903
$HD_B,0.0099256597
$HD_C,8.8912799e-05
$HEADING,110
$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,2780
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,45
$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,2550
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,29
$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
$GPS1,030315,100304,1309.7426,14439.5947,35,1.3,75,1.5,1.7,267.3,7,8.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.51
$_SM_ANGLEo,-68.5
$GPS2,030315,100724,1309.7216,14439.5322,11,0.9,16,1.5,0.3,245.8,8,7.8
$SPEED_LIMITS,0.191,0.314
$TGT_NAME,HEADING
$TGT_LATLONG,1306.028,14449.951
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,108.5,20000,-16.3,-11.000,-19.31,3089
$D_GRID,1027
$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,-0.80,-243.3,156,2561,911,886,0.0,0.0,0,105,0.00,0.00,-88.25,0.000,16386,0.000,0.000,154,2560,3064,3120,3008,0,0,0,0,0,0,26.82,28.83,26.89
$GC,107,-0.80,-243.3,155,2561,3121,3010,3.3,-10.1,16,140,10.12,2.20,-15.15,0.000,18948,0.254,0.051,2518,1144,3936,4004,3869,0,0,0,0,0,0,26.37,25.68,26.63
$GC,165,-0.80,-243.3,2517,1145,4006,3873,27.2,-34.8,27,171,0.00,2.25,0.00,0.000,1030,0.000,0.044,2510,2552,3938,4004,3872,0,0,0,0,0,0,26.71,26.67,26.74
$GC,476,-0.80,-243.3,2509,2553,4007,3874,150.8,-29.3,64,480,0.00,1.95,0.00,0.000,260,0.000,0.053,2501,3778,3939,4005,3873,0,0,0,0,0,0,27.10,26.84,27.16
$GC,586,-0.80,-243.3,2501,3780,4004,3876,180.2,-24.7,75,589,0.00,1.85,0.00,0.000,1030,0.000,0.028,2501,2531,3940,4006,3875,0,0,0,0,0,0,27.00,26.98,27.01
$GC,916,-0.80,-243.3,2502,2531,4009,3880,246.0,-17.3,92,919,0.00,2.05,0.00,0.000,516,0.000,0.034,2503,1166,3944,4009,3879,0,0,0,0,0,0,27.24,27.03,27.31
$GC,986,-0.80,-243.3,2502,1167,4011,3882,255.2,-16.0,94,989,0.00,2.17,0.00,0.000,1030,0.000,0.043,2496,2552,3945,4009,3881,0,0,0,0,0,0,27.07,27.02,27.08
$GC,1306,-0.80,-243.3,2497,2554,4009,3883,310.4,-17.2,105,1309,0.00,1.92,0.00,0.000,260,0.000,0.054,2487,3767,3946,4009,3883,0,0,0,0,0,0,27.32,27.08,27.38
$GC,1336,-0.80,-243.3,2488,3768,4009,3883,315.0,-16.6,106,1340,0.08,1.80,0.00,0.000,3078,0.157,0.031,2510,2557,3946,4009,3883,0,0,0,0,0,0,26.96,27.15,27.05
$GC,1666,-0.80,-243.3,2510,2558,4009,3883,360.6,-13.4,117,1669,0.00,2.12,0.00,0.000,516,0.000,0.037,2510,1156,3945,4009,3882,0,0,0,0,0,0,27.36,27.16,27.43
$GC,1730,-0.80,-243.3,2509,1156,4010,3883,369.2,-14.1,119,1734,0.00,2.17,0.00,0.000,1030,0.000,0.042,2503,2548,3946,4010,3883,0,0,0,0,0,0,27.19,27.15,27.21
$GC,2056,-0.80,-243.3,2502,2549,4009,3882,412.4,-12.6,130,2057,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2547,3944,4007,3881,0,0,0,0,0,0,27.41,27.48,27.47
$GC,2356,-0.80,-243.3,2504,2548,4004,3879,449.3,-11.7,140,2359,0.00,2.12,0.00,0.000,516,0.000,0.037,2503,1161,3941,4005,3878,0,0,0,0,0,0,27.43,27.22,27.50
$GC,2411,-0.80,-243.3,2502,1162,4006,3880,452.7,-11.5,141,2417,0.00,2.17,0.00,0.000,1030,0.000,0.045,2494,2545,3941,4004,3878,0,0,0,0,0,0,27.24,27.20,27.27
$GC,2716,-0.80,-243.3,2492,2545,4004,3875,490.1,-12.0,152,2717,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2545,3938,4002,3874,0,0,0,0,0,0,27.45,27.53,27.52
$GC,3016,-0.80,-243.3,2494,2545,3999,3872,522.6,-10.2,162,3017,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2545,3935,3999,3872,0,0,0,0,0,0,27.46,27.55,27.53
$GC,3316,-0.80,-243.3,2492,2546,3998,3870,558.8,-13.1,172,3316,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2545,3932,3996,3868,0,0,0,0,0,0,27.48,27.56,27.55
$GC,3616,-0.80,-243.3,2492,2546,3995,3867,601.5,-14.7,182,3617,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2545,3929,3993,3866,0,0,0,0,0,0,27.49,27.57,27.55
$GC,3916,-0.80,-243.3,2494,2546,3990,3864,647.2,-15.7,192,3919,0.00,2.12,0.00,0.000,516,0.000,0.041,2493,1168,3926,3989,3864,0,0,0,0,0,0,27.50,27.28,27.57
$GC,3950,-0.80,-243.3,2493,1168,3989,3864,652.0,-15.9,193,3955,0.10,2.20,0.00,0.000,3078,0.152,0.048,2515,2557,3925,3988,3863,0,0,0,0,0,0,27.15,27.26,27.24
$GC,4276,-0.80,-243.3,2516,2557,3986,3861,696.3,-12.4,204,4277,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2557,3923,3986,3860,0,0,0,0,0,0,27.51,27.58,27.58
$GC,4576,-0.80,-243.3,2515,2558,3984,3859,726.3,-9.1,214,4579,0.00,2.15,0.00,0.000,516,0.000,0.040,2515,1161,3920,3983,3858,0,0,0,0,0,0,27.51,27.29,27.58
$GC,4596,-0.80,-243.3,2516,1161,3982,3859,726.3,-9.1,214,4600,0.00,2.17,0.00,0.000,1030,0.000,0.041,2516,2559,3920,3982,3858,0,0,0,0,0,0,27.34,27.29,27.36
$STATE,4844,end dive,NO_VERTICAL_VELOCITY
$STATE,4844,begin apogee
$GC,4848,-0.11,0.0,2516,2106,3984,3856,728.4,0.0,223,5050,0.60,0.00,199.20,1.099,10246,0.050,0.000,2759,2104,2941,2987,2895,0,0,0,0,0,0,27.31,25.15,24.47
$STATE,5051,end apogee,CONTROL_FINISHED_OK
$STATE,5051,begin climb
$GC,5052,0.80,243.3,2759,2105,2989,2895,728.0,0.0,229,5268,0.77,2.45,205.43,1.089,10500,0.053,0.055,3044,3504,1948,2000,1896,0,0,0,0,0,0,25.34,25.04,24.34
$GC,5333,0.80,243.3,3043,3505,1991,1896,691.4,19.0,239,5336,0.00,2.25,0.00,0.000,1030,0.000,0.032,3054,2115,1942,1989,1895,0,0,0,0,0,0,25.91,25.88,25.93
$GC,5657,0.80,243.3,3055,2115,1987,1890,637.0,15.8,250,5658,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2115,1938,1987,1890,0,0,0,0,0,0,26.77,26.84,26.84
$GC,5958,0.80,243.3,3054,2116,1987,1889,580.0,19.6,260,5961,0.00,2.28,0.00,0.000,260,0.000,0.056,3054,3502,1937,1985,1889,0,0,0,0,0,0,27.00,26.75,27.06
$GC,6002,0.80,243.3,3054,3502,1986,1889,573.9,19.5,261,6006,0.00,2.20,0.00,0.000,1030,0.000,0.033,3064,2090,1936,1984,1888,0,0,0,0,0,0,26.85,26.82,26.87
$GC,6317,0.80,243.3,3064,2091,1984,1889,508.7,19.8,272,6318,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2090,1934,1982,1887,0,0,0,0,0,0,27.14,27.22,27.21
$GC,6618,0.80,243.3,3065,2090,1980,1888,454.3,17.2,282,6618,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2090,1933,1980,1887,0,0,0,0,0,0,27.22,27.29,27.29
$GC,6917,0.80,243.3,3065,2090,1978,1888,403.2,16.7,292,6918,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2090,1933,1980,1887,0,0,0,0,0,0,27.27,27.34,27.34
$GC,7217,0.80,243.3,3064,2089,1981,1888,349.7,18.7,302,7221,0.00,2.20,0.00,0.000,516,0.000,0.047,3076,692,1933,1979,1887,0,0,0,0,0,0,27.32,27.08,27.38
$GC,7237,0.80,243.3,3075,692,1981,1887,349.7,18.7,302,7241,0.10,2.20,0.00,0.000,5126,0.161,0.036,3046,2106,1932,1979,1886,0,0,0,0,0,0,26.96,27.10,27.05
$GC,7548,0.80,243.3,3046,2106,1978,1886,295.4,15.6,313,7551,0.00,2.22,0.00,0.000,260,0.000,0.055,3045,3499,1931,1978,1885,0,0,0,0,0,0,27.35,27.10,27.41
$GC,7577,0.80,243.3,3045,3499,1979,1885,290.3,15.8,314,7581,0.00,2.15,0.00,0.000,1030,0.000,0.033,3054,2094,1931,1978,1885,0,0,0,0,0,0,27.17,27.15,27.20
$GC,7907,0.80,243.3,3053,2095,1978,1884,241.6,13.8,325,7911,0.00,2.25,0.00,0.000,260,0.000,0.054,3054,3495,1929,1976,1883,0,0,0,0,0,0,27.38,27.12,27.45
$GC,7943,0.80,243.3,3054,3495,1976,1884,236.7,14.2,326,7946,0.00,2.12,0.00,0.000,1030,0.000,0.033,3064,2103,1929,1976,1883,0,0,0,0,0,0,27.22,27.18,27.24
$GC,8247,0.80,243.3,3065,2103,1974,1883,193.2,13.8,339,8251,0.00,2.20,0.00,0.000,516,0.000,0.044,3075,694,1928,1974,1882,0,0,0,0,0,0,27.40,27.17,27.46
$GC,8462,0.80,243.3,3074,694,1975,1882,162.1,13.6,360,8469,0.10,2.17,0.00,0.000,5126,0.150,0.034,3044,2104,1928,1975,1881,0,0,0,0,0,0,27.05,27.19,27.14
$GC,8768,0.94,319.5,3043,2105,1976,1881,135.4,8.5,391,8832,0.12,2.30,59.17,0.712,10500,0.099,0.052,3099,3499,1637,1682,1593,0,0,0,0,0,0,27.24,26.24,25.67
$GC,8947,0.94,319.5,3099,3499,1680,1591,112.1,14.1,409,8951,0.00,2.17,0.00,0.000,1030,0.000,0.031,3110,2100,1634,1678,1591,0,0,0,0,0,0,26.63,26.59,26.65
$GC,9257,1.05,383.5,3109,2100,1680,1588,76.9,8.9,440,9311,0.00,0.00,51.97,0.657,8198,0.000,0.000,3111,2100,1377,1422,1332,0,0,0,0,0,0,27.05,26.03,25.54
$GC,9607,1.05,383.5,3111,2100,1418,1326,33.3,13.5,488,9613,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2100,1372,1418,1326,0,0,0,0,0,0,26.91,26.98,26.97
$STATE,9856,end climb,SURFACE_DEPTH_REACHED
$STATE,9856,begin surface coast
$FINISH,0.0,1.022102
$STATE,9881,end surface coast,CONTROL_FINISHED_OK
$STATE,9881,begin surface
$SM_CCo,9895,48.38,0.063,0,0,902,500.17
$SM_GC,0.48,7.82,0.70,48.38,0.050,0.041,0.063,163,2556,902,-8.14,-1.07,500.17,0,0,0,0,0,0,26.79,26.89,26.79
$IRIDIUM_FIX,1303.16,14445.24,030315,060755
$TT8_MAMPS,0.050932,0.050932
$HUMID,44.72
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,24.90
$XPDR_PINGS,2
$24V_AH,24.34,2.289
$10V_AH,10.55,2.052
$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,19.825,66.000,515.775,48.375,0.000,0.000,0.000,187.450,0.500,0.000,18.666,0.000,7901.569,626.739,1560.125,106.696,0.000,1438.221,0.000,1074.137,0.000,0.550,0.000
$DEVICE_MAMPS,253.980,55.845,1099.305,62.730,0.000,0.000,0.000,85.680,420.000,0.000,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,364.819,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,230468
$DATA_FILE_SIZE,23434,543
$CAP_FILE_SIZE,84822,0
$CFSIZE,260034560,256282624
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,14188.91,0x236db2,7,5
$GPS,030315,125423,1308.869,14440.920,15,1.3,43,1.5,0.6,33.1,7,8.8