version: 66.12
glider: 178
mission: 20
dive: 193
start: 4 10 115 1 18 40
data:
$ID,178
$MISSION,20
$DIVE,193
$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,0.00228724
$HD_B,0.0153901
$HD_C,8.9420502e-07
$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,2450
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$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,3279
$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,1.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,100415,011336,1246.5350,14408.3613,63,0.9,63,1.5,0.3,152.4,7,7.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-73.3
$GPS2,100415,011829,1246.5269,14408.3506,10,1.2,14,1.5,0.0,244.7,7,7.6
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,RECOVERY
$TGT_LATLONG,1324.720,14434.020
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,30.6,84508,-16.5,-10.000,-23.13,2699
$D_GRID,1020
$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,-0.68,-175.2,123,2471,1243,1222,0.0,0.0,0,97,0.00,0.00,-81.30,0.000,16386,0.000,0.000,122,2471,3306,3355,3258,0,0,0,0,0,0,26.90,28.83,26.97
$GC,100,-0.68,-175.2,122,2472,3357,3260,4.2,-15.8,14,129,10.73,2.08,-10.35,0.000,18692,0.246,0.058,2546,3760,3966,3996,3937,0,0,0,0,0,0,25.72,24.65,26.16
$GC,189,-0.68,-175.2,2546,3761,3997,3942,43.8,-32.2,31,195,0.00,2.00,0.00,0.000,1030,0.000,0.025,2549,2436,3968,3995,3942,0,0,0,0,0,0,26.71,26.69,26.74
$GC,494,-0.68,-175.2,2550,2433,3994,3944,121.9,-23.3,64,495,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2433,3969,3995,3944,0,0,0,0,0,0,27.17,27.24,27.23
$GC,796,-0.68,-175.2,2549,2433,3997,3950,176.7,-13.9,94,799,0.00,2.08,0.00,0.000,516,0.000,0.031,2551,1054,3971,3995,3948,0,0,0,0,0,0,27.25,26.78,27.32
$GC,914,-0.68,-175.2,2550,1054,3997,3951,190.5,-10.5,105,921,0.00,2.12,0.00,0.000,1030,0.000,0.029,2544,2441,3973,3995,3951,0,0,0,0,0,0,26.84,26.81,26.88
$GC,1240,-0.68,-175.2,2543,2443,3997,3954,236.3,-15.1,122,1241,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2442,3973,3995,3952,0,0,0,0,0,0,27.31,27.38,27.37
$GC,1539,-0.68,-175.2,2543,2443,3998,3953,276.3,-13.4,132,1540,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2442,3974,3996,3953,0,0,0,0,0,0,27.33,27.41,27.39
$GC,1839,-0.68,-175.2,2543,2442,3997,3953,312.6,-11.2,142,1843,0.00,2.12,0.00,0.000,516,0.000,0.031,2544,1052,3974,3996,3952,0,0,0,0,0,0,27.34,26.84,27.41
$GC,1900,-0.68,-175.2,2544,1053,3996,3953,319.1,-10.8,144,1903,0.00,2.15,0.00,0.000,1030,0.000,0.032,2537,2460,3974,3996,3952,0,0,0,0,0,0,26.91,26.84,26.95
$GC,2229,-0.68,-175.2,2536,2460,3997,3952,361.1,-12.8,155,2233,0.00,2.15,0.00,0.000,516,0.000,0.031,2537,1055,3973,3995,3951,0,0,0,0,0,0,27.35,26.84,27.41
$GC,2269,-0.68,-175.2,2537,1056,3997,3952,364.9,-12.7,156,2273,0.00,2.15,0.00,0.000,1030,0.000,0.031,2529,2451,3972,3995,3950,0,0,0,0,0,0,26.88,26.84,26.91
$GC,2590,-0.68,-175.2,2528,2453,3997,3947,402.8,-11.3,167,2594,0.12,2.05,0.00,0.000,2308,0.164,0.047,2553,3767,3970,3995,3946,0,0,0,0,0,0,26.87,26.67,26.93
$GC,2639,-0.68,-175.2,2552,3768,3997,3946,405.5,-10.7,168,2643,0.00,2.00,0.00,0.000,1030,0.000,0.025,2553,2421,3970,3995,3946,0,0,0,0,0,0,27.07,27.05,27.08
$GC,2950,-0.68,-175.2,2552,2419,3997,3942,432.1,-8.8,179,2951,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2418,3968,3995,3941,0,0,0,0,0,0,27.36,27.43,27.42
$GC,3250,-0.68,-175.2,2552,2420,3996,3938,460.0,-9.2,189,3254,0.00,2.05,0.00,0.000,516,0.000,0.033,2553,1076,3965,3994,3937,0,0,0,0,0,0,27.36,26.81,27.42
$GC,3280,-0.68,-175.2,2552,1077,3995,3938,462.8,-9.2,190,3283,0.00,2.12,0.00,0.000,1030,0.000,0.032,2546,2461,3965,3994,3937,0,0,0,0,0,0,26.89,26.82,26.94
$GC,3610,-0.68,-175.2,2546,2462,3995,3930,491.7,-8.5,201,3613,0.00,2.05,0.00,0.000,260,0.000,0.049,2537,3771,3961,3994,3929,0,0,0,0,0,0,27.36,26.61,27.42
$GC,3634,-0.68,-175.2,2538,3773,3992,3930,491.7,-8.5,201,3641,0.00,1.98,0.00,0.000,1030,0.000,0.025,2537,2442,3961,3994,3929,0,0,0,0,0,0,27.06,27.04,27.08
$GC,3939,-0.68,-175.2,2537,2443,3996,3926,524.5,-10.4,212,3943,0.00,2.08,0.00,0.000,516,0.000,0.031,2537,1078,3959,3994,3924,0,0,0,0,0,0,27.36,26.82,27.42
$GC,3975,-0.68,-175.2,2537,1079,3993,3925,527.5,-10.4,213,3978,0.00,2.12,0.00,0.000,1030,0.000,0.032,2531,2448,3959,3995,3924,0,0,0,0,0,0,26.87,26.81,26.89
$GC,4300,-0.68,-175.2,2530,2449,3995,3919,560.2,-9.3,224,4300,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2448,3956,3994,3918,0,0,0,0,0,0,27.36,27.43,27.42
$GC,4600,-0.68,-175.2,2532,2448,3993,3914,588.5,-9.4,234,4603,0.00,2.12,0.00,0.000,516,0.000,0.032,2531,1076,3953,3993,3914,0,0,0,0,0,0,27.36,26.78,27.43
$GC,4630,-0.68,-175.2,2530,1077,3995,3914,591.3,-9.3,235,4634,0.12,2.12,0.00,0.000,3078,0.157,0.035,2555,2450,3953,3993,3914,0,0,0,0,0,0,26.48,26.74,26.60
$GC,4960,-0.68,-175.2,2557,2451,3990,3910,615.2,-7.1,246,4960,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2450,3951,3992,3910,0,0,0,0,0,0,27.36,27.43,27.42
$GC,5260,-0.68,-175.2,2555,2451,3991,3908,636.6,-7.4,256,5263,0.00,2.08,0.00,0.000,516,0.000,0.031,2556,1073,3948,3990,3907,0,0,0,0,0,0,27.36,26.77,27.42
$GC,5285,-0.68,-175.2,2555,1074,3991,3908,636.6,-7.4,256,5291,0.00,2.15,0.00,0.000,1030,0.000,0.034,2552,2445,3948,3989,3907,0,0,0,0,0,0,26.79,26.74,26.82
$GC,5590,-0.68,-175.2,2553,2446,3987,3906,665.2,-9.1,267,5590,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2445,3946,3987,3905,0,0,0,0,0,0,27.36,27.43,27.42
$GC,5890,-0.68,-175.2,2551,2446,3988,3904,692.4,-9.1,277,5894,0.00,2.08,0.00,0.000,516,0.000,0.032,2553,1074,3945,3986,3904,0,0,0,0,0,0,27.36,26.74,27.42
$GC,5930,-0.68,-175.2,2553,1075,3985,3904,694.9,-9.0,278,5934,0.00,2.15,0.00,0.000,1030,0.000,0.034,2547,2458,3944,3985,3904,0,0,0,0,0,0,26.80,26.72,26.84
$GC,6250,-0.68,-175.2,2546,2459,3985,3903,725.7,-9.2,289,6253,0.00,2.15,0.00,0.000,516,0.000,0.032,2547,1072,3942,3983,3902,0,0,0,0,0,0,27.35,26.73,27.41
$GC,6295,-0.68,-175.2,2547,1072,3982,3902,728.5,-9.3,290,6298,0.00,2.15,0.00,0.000,1030,0.000,0.034,2546,2441,3941,3982,3901,0,0,0,0,0,0,26.84,26.70,26.87
$GC,6610,-0.68,-175.2,2547,2442,3982,3900,758.9,-9.1,301,6614,0.00,2.08,0.00,0.000,516,0.000,0.032,2547,1074,3940,3982,3899,0,0,0,0,0,0,27.36,26.72,27.42
$GC,6640,-0.68,-175.2,2545,1075,3984,3900,761.6,-9.0,302,6643,0.00,2.12,0.00,0.000,1030,0.000,0.035,2546,2454,3940,3982,3899,0,0,0,0,0,0,26.77,26.68,26.81
$GC,6970,-0.68,-175.2,2545,2454,3982,3898,789.0,-8.1,313,6973,0.00,2.10,0.00,0.000,516,0.000,0.032,2546,1073,3938,3980,3897,0,0,0,0,0,0,27.36,26.71,27.42
$GC,6989,-0.68,-175.2,2545,1073,3982,3898,789.0,-8.1,313,6993,0.00,2.17,0.00,0.000,1030,0.000,0.034,2546,2453,3938,3980,3896,0,0,0,0,0,0,26.72,26.68,26.74
$GC,7300,-0.68,-175.2,2547,2454,3979,3897,811.9,-6.3,324,7300,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2454,3937,3979,3896,0,0,0,0,0,0,27.35,27.43,27.41
$GC,7600,-0.68,-175.2,2547,2454,3977,3896,830.8,-6.5,334,7604,0.00,2.10,0.00,0.000,516,0.000,0.031,2546,1067,3936,3978,3895,0,0,0,0,0,0,27.36,26.71,27.41
$GC,7620,-0.68,-175.2,2545,1068,3979,3895,830.8,-6.5,334,7624,0.00,2.17,0.00,0.000,1030,0.000,0.034,2546,2450,3936,3977,3895,0,0,0,0,0,0,26.70,26.66,26.74
$GC,7930,-0.68,-175.2,2545,2450,3978,3894,852.8,-6.5,345,7931,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2449,3935,3977,3894,0,0,0,0,0,0,27.35,27.43,27.41
$GC,8230,-0.68,-175.2,2546,2450,3976,3893,871.7,-6.3,355,8231,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2449,3933,3975,3892,0,0,0,0,0,0,27.35,27.43,27.41
$GC,8530,-0.68,-175.2,2545,2450,3976,3892,889.7,-5.8,365,8530,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2449,3933,3975,3891,0,0,0,0,0,0,27.35,27.43,27.41
$GC,8831,-0.68,-175.2,2545,2450,3975,3891,907.1,-5.8,375,8831,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2449,3932,3974,3890,0,0,0,0,0,0,27.35,27.43,27.41
$GC,9130,-0.68,-175.2,2545,2450,3975,3890,926.0,-6.5,385,9131,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2449,3931,3973,3889,0,0,0,0,0,0,27.35,27.43,27.41
$GC,9430,-0.68,-175.2,2544,2450,3975,3889,946.1,-6.7,395,9433,0.00,2.15,0.00,0.000,516,0.000,0.032,2546,1065,3930,3973,3888,0,0,0,0,0,0,27.35,26.64,27.41
$GC,9490,-0.68,-175.2,2545,1066,3974,3889,950.4,-6.9,397,9493,0.00,2.20,0.00,0.000,1030,0.000,0.035,2546,2453,3930,3972,3888,0,0,0,0,0,0,26.63,26.60,26.68
$GC,9820,-0.68,-175.2,2546,2455,3973,3888,971.5,-6.1,408,9823,0.00,2.10,0.00,0.000,516,0.000,0.031,2546,1072,3929,3971,3887,0,0,0,0,0,0,27.35,26.65,27.41
$GC,9845,-0.68,-175.2,2547,1073,3971,3888,973.0,-6.1,409,9848,0.00,2.17,0.00,0.000,1030,0.000,0.036,2546,2451,3929,3971,3887,0,0,0,0,0,0,26.63,26.58,26.65
$STATE,10113,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10113,begin apogee
$GC,10117,-0.11,0.0,2546,2097,3971,3887,990.8,-6.8,418,10266,0.62,0.00,141.27,1.299,10246,0.112,0.000,2745,2092,3278,3317,3240,0,0,0,0,0,0,25.95,24.67,23.60
$STATE,10266,end apogee,CONTROL_FINISHED_OK
$STATE,10266,begin climb
$GC,10268,0.68,175.2,2744,2093,3319,3239,997.5,0.0,423,10437,0.70,2.45,161.38,1.283,11012,0.044,0.041,3010,3505,2563,2610,2517,0,0,0,0,0,0,25.09,23.78,23.06
$GC,10576,0.68,175.2,3009,3505,2602,2513,982.4,13.0,433,10580,0.00,2.17,0.00,0.000,1030,0.000,0.024,3020,2126,2556,2599,2513,0,0,0,0,0,0,26.01,25.98,26.03
$GC,10891,0.68,175.2,3019,2127,2599,2510,942.3,11.9,444,10895,0.00,2.25,0.00,0.000,516,0.000,0.037,3031,705,2553,2597,2509,0,0,0,0,0,0,26.92,26.50,26.98
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$STATE,19439,end climb,SURFACE_DEPTH_REACHED
$STATE,19439,begin surface coast
$FINISH,-0.2,1.022041
$STATE,19464,end surface coast,CONTROL_FINISHED_OK
$STATE,19464,begin surface
$SM_CCo,19478,61.72,0.062,0,0,1238,500.17
$SM_GC,0.10,7.70,0.50,61.72,0.036,0.042,0.062,158,2455,1238,-8.13,-1.36,500.17,0,0,0,0,0,0,26.62,26.86,26.48
$IRIDIUM_FIX,1238.83,14404.86,040208,090646
$TT8_MAMPS,0.050932,0.050932
$HUMID,43.81
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,23.06,68.690
$10V_AH,10.13,33.117
$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
$DEVICE_SECS,20.750,155.425,471.875,61.725,0.000,0.000,0.000,209.500,0.000,0.000,17.405,0.000,16206.964,682.008,2709.151,219.358,0.000,1968.862,0.000,1955.937,0.000,0.550,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,619.797,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,229884
$DATA_FILE_SIZE,40112,910
$CAP_FILE_SIZE,164800,0
$CFSIZE,260034560,242114560
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,20081.37,0x236db2,7,5
$CURRENT,0.095,352.20,1
$GPS,100415,064523,1249.231,14409.314,23,0.9,41,1.5,0.7,261.3,8,7.7