version: 66.12
glider: 178
mission: 20
dive: 24
start: 3 5 115 6 14 46
data:
$ID,178
$MISSION,20
$DIVE,24
$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,330
$T_MISSION,360
$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,180
$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,0.00420903
$HD_B,0.0099256597
$HD_C,8.8912799e-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,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,44
$R_STBD_OVSHOOT,44
$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
$GPS1,050315,060936,1315.3721,14450.3779,26,1.2,26,1.5,1.0,215.3,7,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-68.6
$GPS2,050315,061434,1315.3451,14450.3213,14,1.2,35,1.5,1.1,272.4,9,6.9
$SPEED_LIMITS,0.173,0.265
$TGT_NAME,S2
$TGT_LATLONG,1336.000,14506.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,36.3,47538,-17.8,-10.000,-20.71,2479
$D_GRID,993
$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,13,-0.71,-175.2,142,2569,904,889,0.0,0.0,0,105,0.00,0.00,-89.53,0.000,16386,0.000,0.000,138,2568,3089,3142,3037,0,0,0,0,0,0,26.91,28.83,26.99
$GC,107,-0.71,-175.2,139,2568,3142,3040,3.0,-8.4,16,131,10.38,0.00,-10.48,0.000,18694,0.256,0.000,2546,2568,3660,3733,3587,0,0,0,0,0,0,26.46,25.86,26.71
$GC,436,-0.71,-175.2,2546,2568,3736,3592,118.6,-29.8,61,439,0.00,2.15,0.00,0.000,516,0.000,0.032,2548,1145,3663,3736,3591,0,0,0,0,0,0,27.13,26.92,27.19
$GC,496,-0.71,-175.2,2549,1146,3737,3591,133.0,-23.5,67,499,0.00,2.17,0.00,0.000,1030,0.000,0.041,2541,2535,3663,3737,3590,0,0,0,0,0,0,26.94,26.92,26.98
$GC,806,-0.71,-175.2,2540,2537,3743,3593,193.1,-13.3,98,809,0.00,2.12,0.00,0.000,516,0.000,0.037,2541,1139,3666,3741,3591,0,0,0,0,0,0,27.25,27.03,27.32
$GC,856,-0.71,-175.2,2540,1140,3743,3592,200.0,-13.9,103,859,0.00,2.20,0.00,0.000,1030,0.000,0.038,2530,2555,3666,3741,3592,0,0,0,0,0,0,27.07,27.03,27.10
$GC,1166,-0.71,-175.2,2530,2557,3746,3596,247.6,-15.6,114,1169,0.00,1.92,0.00,0.000,260,0.000,0.053,2521,3777,3670,3745,3595,0,0,0,0,0,0,27.32,27.08,27.39
$GC,1260,-0.71,-175.2,2522,3778,3745,3596,262.5,-16.1,117,1265,0.00,1.85,0.00,0.000,1030,0.000,0.028,2521,2529,3670,3745,3595,0,0,0,0,0,0,27.19,27.17,27.20
$GC,1586,-0.71,-175.2,2520,2527,3747,3596,321.1,-16.9,128,1589,0.00,2.05,0.00,0.000,516,0.000,0.034,2521,1166,3671,3746,3596,0,0,0,0,0,0,27.38,27.18,27.44
$GC,1665,-0.71,-175.2,2520,1166,3748,3596,330.5,-15.9,130,1669,0.10,2.15,0.00,0.000,3078,0.139,0.040,2545,2554,3671,3746,3596,0,0,0,0,0,0,27.05,27.17,27.14
$GC,1976,-0.71,-175.2,2545,2554,3746,3596,367.9,-10.3,141,1976,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2554,3669,3744,3595,0,0,0,0,0,0,27.41,27.49,27.48
$GC,2276,-0.71,-175.2,2547,2554,3740,3596,393.6,-8.4,151,2279,0.00,2.08,0.00,0.000,516,0.000,0.036,2548,1163,3667,3740,3595,0,0,0,0,0,0,27.44,27.23,27.51
$GC,2330,-0.71,-175.2,2546,1163,3741,3596,396.3,-8.7,152,2338,0.00,2.15,0.00,0.000,1030,0.000,0.041,2541,2547,3667,3739,3595,0,0,0,0,0,0,27.25,27.22,27.28
$GC,2636,-0.71,-175.2,2542,2548,3734,3595,433.3,-12.4,163,2639,0.00,2.10,0.00,0.000,516,0.000,0.037,2541,1167,3664,3734,3595,0,0,0,0,0,0,27.46,27.26,27.53
$GC,2660,-0.71,-175.2,2542,1167,3734,3595,433.3,-12.4,163,2668,0.00,2.15,0.00,0.000,1030,0.000,0.041,2531,2546,3664,3734,3595,0,0,0,0,0,0,27.28,27.23,27.29
$GC,2966,-0.71,-175.2,2530,2546,3732,3593,473.0,-11.3,174,2969,0.00,2.10,0.00,0.000,516,0.000,0.037,2531,1170,3661,3730,3592,0,0,0,0,0,0,27.47,27.27,27.54
$GC,3060,-0.71,-175.2,2530,1170,3731,3592,483.0,-11.1,177,3064,0.00,2.15,0.00,0.000,1030,0.000,0.044,2523,2545,3661,3730,3592,0,0,0,0,0,0,27.29,27.25,27.32
$GC,3386,-0.71,-175.2,2523,2545,3726,3590,521.1,-12.2,188,3387,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2545,3658,3727,3590,0,0,0,0,0,0,27.48,27.56,27.55
$GC,3686,-0.71,-175.2,2523,2545,3723,3588,557.1,-11.3,198,3689,0.00,2.10,0.00,0.000,516,0.000,0.039,2523,1173,3655,3723,3587,0,0,0,0,0,0,27.49,27.29,27.56
$GC,3771,-0.71,-175.2,2523,1173,3721,3588,563.7,-10.9,200,3778,0.10,2.15,0.00,0.000,3078,0.149,0.044,2547,2543,3654,3721,3587,0,0,0,0,0,0,27.16,27.27,27.25
$GC,4076,-0.71,-175.2,2546,2544,3721,3585,591.3,-8.0,211,4079,0.00,2.08,0.00,0.000,516,0.000,0.040,2547,1165,3652,3719,3585,0,0,0,0,0,0,27.51,27.29,27.58
$GC,4110,-0.71,-175.2,2546,1165,3719,3585,593.4,-8.1,212,4114,0.00,2.17,0.00,0.000,1030,0.000,0.045,2545,2549,3652,3719,3585,0,0,0,0,0,0,27.31,27.28,27.34
$GC,4431,-0.71,-175.2,2545,2550,3715,3581,620.2,-8.0,223,4435,0.00,2.12,0.00,0.000,516,0.000,0.040,2545,1167,3648,3716,3580,0,0,0,0,0,0,27.51,27.29,27.58
$GC,4475,-0.71,-175.2,2544,1168,3717,3581,622.7,-8.1,224,4479,0.00,2.17,0.00,0.000,1030,0.000,0.044,2538,2552,3647,3715,3580,0,0,0,0,0,0,27.33,27.29,27.35
$GC,4791,-0.71,-175.2,2538,2553,3711,3579,650.1,-8.4,235,4794,0.00,2.12,0.00,0.000,516,0.000,0.040,2538,1173,3644,3711,3578,0,0,0,0,0,0,27.52,27.31,27.58
$GC,4881,-0.71,-175.2,2537,1173,3713,3579,658.0,-8.7,238,4885,0.00,2.17,0.00,0.000,1030,0.000,0.045,2530,2555,3644,3711,3578,0,0,0,0,0,0,27.34,27.29,27.36
$GC,5211,-0.71,-175.2,2529,2556,3709,3577,690.1,-10.1,249,5215,0.00,2.15,0.00,0.000,516,0.000,0.040,2530,1163,3642,3708,3576,0,0,0,0,0,0,27.52,27.30,27.58
$GC,5306,-0.71,-175.2,2531,1164,3707,3578,699.7,-10.6,252,5309,0.00,2.17,0.00,0.000,1030,0.000,0.046,2522,2544,3641,3707,3576,0,0,0,0,0,0,27.33,27.29,27.36
$GC,5631,-0.71,-175.2,2521,2544,3706,3575,736.7,-11.5,263,5634,0.00,2.12,0.00,0.000,516,0.000,0.041,2522,1170,3639,3705,3573,0,0,0,0,0,0,27.52,27.31,27.59
$GC,5695,-0.71,-175.2,2520,1171,3705,3575,743.8,-11.7,265,5699,0.10,2.17,0.00,0.000,3078,0.148,0.045,2546,2551,3639,3704,3574,0,0,0,0,0,0,27.22,27.29,27.27
$GC,6021,-0.71,-175.2,2546,2553,3703,3572,775.1,-8.8,276,6024,0.00,2.12,0.00,0.000,516,0.000,0.041,2546,1172,3637,3703,3572,0,0,0,0,0,0,27.53,27.31,27.60
$GC,6086,-0.71,-175.2,2545,1172,3703,3573,780.2,-8.6,278,6089,0.00,2.17,0.00,0.000,1030,0.000,0.045,2541,2551,3636,3701,3571,0,0,0,0,0,0,27.32,27.29,27.37
$GC,6411,-0.71,-175.2,2542,2551,3699,3570,807.9,-8.6,289,6414,0.00,2.12,0.00,0.000,516,0.000,0.041,2541,1169,3634,3699,3569,0,0,0,0,0,0,27.53,27.32,27.59
$GC,6446,-0.71,-175.2,2540,1170,3701,3570,810.7,-9.1,290,6449,0.00,2.17,0.00,0.000,1030,0.000,0.046,2533,2549,3634,3699,3569,0,0,0,0,0,0,27.34,27.30,27.36
$GC,6771,-0.71,-175.2,2534,2550,3698,3568,841.9,-9.5,301,6775,0.00,2.15,0.00,0.000,516,0.000,0.041,2533,1160,3633,3698,3568,0,0,0,0,0,0,27.53,27.32,27.60
$GC,6861,-0.71,-175.2,2534,1160,3697,3568,850.7,-9.6,304,6864,0.00,2.20,0.00,0.000,1030,0.000,0.047,2532,2551,3632,3697,3568,0,0,0,0,0,0,27.34,27.29,27.36
$GC,7191,-0.71,-175.2,2532,2552,3698,3567,881.9,-9.2,315,7194,0.00,2.12,0.00,0.000,516,0.000,0.041,2532,1171,3630,3695,3566,0,0,0,0,0,0,27.53,27.31,27.60
$GC,7316,-0.71,-175.2,2533,1172,3694,3566,892.3,-8.6,319,7320,0.00,2.15,0.00,0.000,1030,0.000,0.047,2533,2555,3629,3694,3565,0,0,0,0,0,0,27.37,27.29,27.39
$GC,7641,-0.71,-175.2,2531,2556,3697,3565,916.5,-6.9,330,7644,0.00,2.10,0.00,0.000,516,0.000,0.041,2533,1168,3629,3693,3565,0,0,0,0,0,0,27.53,27.31,27.60
$GC,7696,-0.71,-175.2,2532,1169,3695,3564,918.4,-6.7,331,7702,0.00,2.17,0.00,0.000,1030,0.000,0.047,2533,2551,3628,3693,3564,0,0,0,0,0,0,27.34,27.29,27.37
$GC,8001,-0.71,-175.2,2532,2551,3694,3564,939.6,-5.6,342,8002,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2551,3627,3692,3563,0,0,0,0,0,0,27.53,27.61,27.60
$GC,8301,-0.71,-175.2,2532,2551,3690,3563,954.4,-7.0,352,8304,0.00,2.12,0.00,0.000,516,0.000,0.041,2533,1176,3626,3690,3562,0,0,0,0,0,0,27.53,27.31,27.60
$GC,8366,-0.71,-175.2,2532,1176,3691,3563,958.3,-6.5,354,8369,0.00,2.15,0.00,0.000,1030,0.000,0.047,2533,2555,3626,3690,3562,0,0,0,0,0,0,27.37,27.29,27.39
$GC,8691,-0.71,-175.2,2532,2556,3690,3562,987.4,-9.3,365,8694,0.00,2.15,0.00,0.000,516,0.000,0.041,2532,1168,3625,3689,3561,0,0,0,0,0,0,27.53,27.31,27.60
$STATE,8719,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8719,begin apogee
$GC,8725,-0.11,0.0,2532,2109,3691,3563,990.2,-9.2,366,8873,0.65,0.00,145.75,1.304,10246,0.130,0.000,2740,2108,2941,2988,2895,0,0,0,0,0,0,27.18,25.10,24.34
$STATE,8874,end apogee,CONTROL_FINISHED_OK
$STATE,8874,begin climb
$GC,8876,0.71,175.2,2741,2109,2987,2894,993.8,0.0,371,9038,0.75,2.38,154.57,1.287,10756,0.049,0.044,3033,718,2226,2276,2176,0,0,0,0,0,0,25.33,24.71,24.15
$GC,9127,0.71,175.2,3032,719,2269,2171,964.3,15.5,379,9131,0.00,2.28,0.00,0.000,1030,0.000,0.036,3032,2104,2219,2268,2170,0,0,0,0,0,0,25.91,25.88,25.94
$GC,9437,0.71,175.2,3033,2105,2265,2165,914.0,17.0,390,9442,0.00,2.30,0.00,0.000,260,0.000,0.052,3032,3509,2214,2265,2164,0,0,0,0,0,0,26.71,26.48,26.77
$GC,9472,0.71,175.2,3031,3509,2265,2164,908.2,17.9,391,9476,0.10,2.17,0.00,0.000,5126,0.172,0.032,3015,2123,2213,2263,2163,0,0,0,0,0,0,26.39,26.55,26.50
$GC,9797,0.71,175.2,3012,2124,2265,2163,859.0,14.5,402,9798,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2123,2212,2262,2162,0,0,0,0,0,0,26.97,27.05,27.04
$GC,10097,0.71,175.2,3014,2124,2264,2162,820.5,13.2,412,10102,0.00,2.28,0.00,0.000,516,0.000,0.046,3023,693,2211,2262,2161,0,0,0,0,0,0,27.10,26.87,27.17
$GC,10127,0.71,175.2,3023,694,2260,2162,816.4,13.5,413,10131,0.00,2.22,0.00,0.000,1030,0.000,0.037,3023,2105,2211,2261,2161,0,0,0,0,0,0,26.93,26.89,26.96
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$STATE,16613,end climb,SURFACE_DEPTH_REACHED
$STATE,16613,begin surface coast
$FINISH,-0.3,1.004621
$STATE,16638,end surface coast,CONTROL_FINISHED_OK
$STATE,16638,begin surface
$SM_CCo,16652,73.35,0.061,0,0,902,500.17
$SM_GC,0.55,7.57,0.73,73.35,0.037,0.049,0.061,162,2557,902,-8.14,-0.90,500.17,0,0,0,0,0,0,26.90,26.94,26.82
$IRIDIUM_FIX,1307.59,14448.86,301207,145846
$TT8_MAMPS,0.050932,0.050932
$HUMID,41.88
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,25.00
$XPDR_PINGS,1
$24V_AH,24.15,3.881
$10V_AH,10.46,2.648
$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,20.275,155.950,414.175,73.350,0.000,0.000,0.000,201.525,0.250,0.000,38.596,0.000,13637.597,656.314,2548.076,170.925,0.000,1860.853,0.000,1833.116,0.000,0.551,0.000
$DEVICE_MAMPS,256.275,54.315,1303.560,61.200,0.000,0.000,0.000,86.445,420.000,0.000,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,538.720,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33473,793
$CAP_FILE_SIZE,147998,0
$CFSIZE,260034560,255569920
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,16730.28,0x236db2,7,5
$CURRENT,0.143,241.76,1
$GPS,050315,105434,1316.719,14450.372,36,1.9,41,1.5,0.0,5.7,8,9.3