version: 66.12
glider: 178
mission: 20
dive: 200
start: 4 11 115 14 44 35
data:
$ID,178
$MISSION,20
$DIVE,200
$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,-1
$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,50
$R_STBD_OVSHOOT,38
$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
$GPS1,110415,143935,1301.9348,14416.3848,34,0.9,34,1.5,0.0,49.2,8,7.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.07
$_SM_ANGLEo,-71.6
$GPS2,110415,144424,1301.9310,14416.3447,11,1.1,11,1.5,0.3,153.9,7,7.4
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,RECOVERY
$TGT_LATLONG,1324.720,14434.020
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,58.4,52868,-16.5,-10.000,-23.13,2699
$D_GRID,2835
$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,-175.2,123,2461,1243,1224,0.0,0.0,0,96,0.00,0.00,-80.22,0.000,16386,0.000,0.000,123,2461,3263,3307,3219,0,0,0,0,0,0,26.94,28.83,27.00
$GC,99,-0.68,-175.2,122,2462,3308,3221,3.9,-13.8,14,128,10.65,2.10,-11.18,0.000,18692,0.243,0.060,2544,3763,3965,3997,3934,0,0,0,0,0,0,25.68,24.62,26.13
$GC,168,-0.68,-175.2,2543,3764,3998,3941,36.8,-37.1,27,174,0.00,2.00,0.00,0.000,1030,0.000,0.023,2547,2423,3967,3995,3940,0,0,0,0,0,0,26.74,26.72,26.76
$GC,474,-0.68,-175.2,2547,2421,3995,3943,130.5,-25.7,62,474,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2420,3968,3995,3942,0,0,0,0,0,0,27.18,27.24,27.24
$GC,775,-0.68,-175.2,2548,2421,3995,3947,192.2,-16.6,92,776,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2420,3971,3996,3947,0,0,0,0,0,0,27.26,27.33,27.32
$GC,1074,-0.68,-175.2,2546,2421,3997,3952,237.1,-13.9,106,1074,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2420,3973,3995,3951,0,0,0,0,0,0,27.30,27.37,27.36
$GC,1374,-0.68,-175.2,2548,2420,3995,3953,271.9,-11.0,116,1378,0.00,2.15,0.00,0.000,260,0.000,0.044,2540,3773,3974,3996,3953,0,0,0,0,0,0,27.33,26.71,27.39
$GC,1459,-0.68,-175.2,2540,3774,3995,3953,278.7,-11.3,118,1465,0.00,1.95,0.00,0.000,1030,0.000,0.024,2540,2445,3974,3996,3953,0,0,0,0,0,0,27.07,27.05,27.08
$GC,1764,-0.68,-175.2,2539,2443,3997,3954,317.4,-13.2,129,1768,0.00,2.10,0.00,0.000,260,0.000,0.045,2530,3779,3974,3996,3953,0,0,0,0,0,0,27.34,26.70,27.41
$GC,1799,-0.68,-175.2,2529,3780,3998,3954,321.3,-13.2,130,1803,0.00,1.95,0.00,0.000,1030,0.000,0.023,2530,2450,3974,3996,3953,0,0,0,0,0,0,27.08,27.06,27.10
$GC,2124,-0.68,-175.2,2529,2448,3997,3954,362.9,-13.2,141,2127,0.00,2.05,0.00,0.000,516,0.000,0.030,2530,1061,3974,3996,3952,0,0,0,0,0,0,27.35,26.87,27.41
$GC,2188,-0.68,-175.2,2529,1062,3997,3953,370.2,-12.5,143,2192,0.10,2.12,0.00,0.000,3078,0.119,0.031,2556,2445,3974,3996,3953,0,0,0,0,0,0,26.54,26.85,26.60
$GC,2514,-0.68,-175.2,2555,2446,3997,3949,397.6,-7.8,154,2517,0.00,2.08,0.00,0.000,516,0.000,0.030,2556,1071,3971,3996,3947,0,0,0,0,0,0,27.35,26.86,27.42
$GC,2569,-0.68,-175.2,2557,1072,3995,3947,400.2,-7.9,155,2575,0.00,2.15,0.00,0.000,1030,0.000,0.033,2556,2454,3971,3996,3946,0,0,0,0,0,0,26.86,26.82,26.90
$GC,2874,-0.68,-175.2,2557,2454,3995,3943,427.6,-8.4,166,2878,0.00,2.12,0.00,0.000,516,0.000,0.030,2556,1064,3968,3995,3942,0,0,0,0,0,0,27.36,26.85,27.42
$GC,2914,-0.68,-175.2,2554,1065,3997,3943,430.1,-8.4,167,2918,0.00,2.15,0.00,0.000,1030,0.000,0.031,2552,2450,3968,3995,3942,0,0,0,0,0,0,26.86,26.82,26.90
$GC,3234,-0.68,-175.2,2553,2451,3994,3938,459.2,-9.3,178,3237,0.00,2.10,0.00,0.000,260,0.000,0.050,2542,3768,3965,3994,3937,0,0,0,0,0,0,27.36,26.65,27.42
$GC,3269,-0.68,-175.2,2543,3768,3993,3937,461.9,-9.2,179,3272,0.00,1.95,0.00,0.000,1030,0.000,0.025,2542,2443,3965,3994,3937,0,0,0,0,0,0,27.08,27.05,27.10
$GC,3594,-0.68,-175.2,2543,2441,3993,3930,493.3,-10.0,190,3598,0.00,2.08,0.00,0.000,516,0.000,0.031,2542,1080,3962,3994,3930,0,0,0,0,0,0,27.36,26.84,27.42
$GC,3618,-0.68,-175.2,2541,1081,3995,3930,493.3,-10.0,190,3625,0.00,2.12,0.00,0.000,1030,0.000,0.032,2541,2445,3961,3994,3929,0,0,0,0,0,0,26.84,26.80,26.88
$GC,3924,-0.68,-175.2,2542,2445,3993,3926,526.2,-10.0,201,3928,0.00,2.08,0.00,0.000,516,0.000,0.031,2541,1078,3959,3994,3924,0,0,0,0,0,0,27.36,26.83,27.41
$GC,3959,-0.68,-175.2,2541,1079,3996,3925,529.3,-10.1,202,3962,0.00,2.12,0.00,0.000,1030,0.000,0.034,2541,2441,3959,3994,3924,0,0,0,0,0,0,26.80,26.78,26.85
$GC,4284,-0.68,-175.2,2541,2442,3996,3919,559.8,-8.8,213,4285,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2441,3956,3994,3918,0,0,0,0,0,0,27.35,27.43,27.42
$GC,4584,-0.68,-175.2,2541,2443,3996,3915,583.2,-7.4,223,4588,0.00,2.12,0.00,0.000,260,0.000,0.051,2532,3762,3954,3994,3914,0,0,0,0,0,0,27.36,26.58,27.42
$GC,4629,-0.68,-175.2,2533,3763,3993,3915,585.4,-7.3,224,4633,0.00,1.95,0.00,0.000,1030,0.000,0.025,2533,2453,3953,3993,3914,0,0,0,0,0,0,27.05,27.03,27.07
$GC,4944,-0.68,-175.2,2532,2451,3994,3912,612.2,-8.5,235,4947,0.00,2.10,0.00,0.000,516,0.000,0.030,2533,1069,3950,3991,3910,0,0,0,0,0,0,27.36,26.81,27.42
$GC,4964,-0.68,-175.2,2533,1069,3991,3911,612.2,-8.5,235,4967,0.00,2.15,0.00,0.000,1030,0.000,0.033,2530,2446,3950,3991,3910,0,0,0,0,0,0,26.81,26.77,26.85
$GC,5274,-0.68,-175.2,2531,2447,3989,3908,644.0,-9.6,246,5275,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2446,3949,3990,3908,0,0,0,0,0,0,27.36,27.43,27.42
$GC,5574,-0.68,-175.2,2531,2446,3987,3907,672.8,-9.6,256,5575,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2446,3946,3987,3906,0,0,0,0,0,0,27.35,27.43,27.42
$GC,5874,-0.68,-175.2,2529,2446,3988,3905,702.1,-9.8,266,5875,0.12,0.00,0.00,0.000,2054,0.167,0.000,2562,2446,3945,3986,3904,0,0,0,0,0,0,26.85,26.94,26.91
$GC,6174,-0.68,-175.2,2561,2447,3987,3903,726.7,-8.1,276,6175,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2446,3944,3985,3903,0,0,0,0,0,0,27.36,27.43,27.42
$GC,6474,-0.68,-175.2,2561,2447,3985,3902,750.5,-7.9,286,6475,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2446,3942,3983,3901,0,0,0,0,0,0,27.36,27.43,27.42
$GC,6774,-0.68,-175.2,2562,2447,3982,3900,772.4,-6.7,296,6778,0.00,2.08,0.00,0.000,516,0.000,0.031,2563,1071,3940,3982,3899,0,0,0,0,0,0,27.36,26.74,27.42
$GC,6819,-0.68,-175.2,2564,1072,3982,3899,774.3,-6.5,297,6822,0.00,2.15,0.00,0.000,1030,0.000,0.034,2560,2447,3940,3982,3899,0,0,0,0,0,0,26.75,26.72,26.79
$GC,7134,-0.68,-175.2,2561,2448,3980,3897,797.2,-7.2,308,7135,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2447,3939,3981,3897,0,0,0,0,0,0,27.36,27.43,27.42
$GC,7434,-0.68,-175.2,2559,2448,3981,3897,817.2,-6.4,318,7438,0.00,2.10,0.00,0.000,516,0.000,0.032,2560,1071,3938,3979,3897,0,0,0,0,0,0,27.36,26.72,27.42
$GC,7474,-0.68,-175.2,2559,1072,3981,3897,819.2,-6.4,319,7478,0.00,2.17,0.00,0.000,1030,0.000,0.034,2560,2453,3937,3979,3895,0,0,0,0,0,0,26.72,26.68,26.77
$GC,7794,-0.68,-175.2,2561,2453,3977,3896,838.2,-5.7,330,7795,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2453,3936,3978,3894,0,0,0,0,0,0,27.36,27.43,27.41
$GC,8095,-0.68,-175.2,2559,2454,3979,3894,857.5,-6.6,340,8095,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2453,3935,3977,3893,0,0,0,0,0,0,27.36,27.42,27.41
$GC,8394,-0.68,-175.2,2559,2454,3977,3893,880.5,-8.0,350,8397,0.00,2.12,0.00,0.000,516,0.000,0.031,2560,1076,3934,3976,3892,0,0,0,0,0,0,27.36,26.73,27.41
$GC,8424,-0.68,-175.2,2561,1077,3976,3893,883.0,-8.1,351,8428,0.00,2.15,0.00,0.000,1030,0.000,0.034,2560,2444,3934,3976,3892,0,0,0,0,0,0,26.71,26.66,26.74
$GC,8754,-0.68,-175.2,2561,2445,3975,3891,907.8,-7.2,362,8755,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2444,3932,3975,3890,0,0,0,0,0,0,27.36,27.43,27.41
$GC,9054,-0.68,-175.2,2559,2444,3976,3891,926.4,-5.8,372,9055,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2444,3932,3974,3890,0,0,0,0,0,0,27.35,27.43,27.41
$GC,9354,-0.68,-175.2,2559,2445,3974,3890,942.4,-5.1,382,9358,0.00,2.12,0.00,0.000,516,0.000,0.031,2560,1074,3931,3973,3889,0,0,0,0,0,0,27.36,26.69,27.42
$GC,9399,-0.68,-175.2,2560,1074,3973,3889,944.0,-5.2,383,9402,0.00,2.15,0.00,0.000,1030,0.000,0.033,2560,2456,3930,3973,3888,0,0,0,0,0,0,26.72,26.63,26.76
$GC,9714,-0.68,-175.2,2561,2457,3973,3889,961.2,-5.4,394,9717,0.00,2.15,0.00,0.000,516,0.000,0.032,2560,1071,3930,3973,3887,0,0,0,0,0,0,27.35,26.65,27.41
$GC,9744,-0.68,-175.2,2560,1072,3972,3889,963.1,-5.6,395,9749,0.00,2.17,0.00,0.000,1030,0.000,0.034,2560,2452,3930,3973,3888,0,0,0,0,0,0,26.65,26.61,26.70
$GC,10074,-0.68,-175.2,2561,2452,3972,3887,982.2,-5.9,406,10075,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2452,3929,3972,3887,0,0,0,0,0,0,27.35,27.42,27.41
$STATE,10222,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10222,begin apogee
$GC,10227,-0.11,0.0,2561,2077,3971,3887,991.0,-5.9,411,10375,0.57,0.00,142.15,1.307,10246,0.109,0.000,2746,2076,3278,3317,3240,0,0,0,0,0,0,26.03,24.27,23.50
$STATE,10376,end apogee,CONTROL_FINISHED_OK
$STATE,10376,begin climb
$GC,10378,0.68,175.2,2745,2077,3318,3239,997.6,0.0,416,10549,0.70,2.53,162.05,1.289,11012,0.049,0.041,3011,3506,2563,2610,2517,0,0,0,0,0,0,25.06,24.08,22.97
$GC,10685,0.68,175.2,3012,3506,2600,2514,980.8,13.6,426,10688,0.00,2.12,0.00,0.000,1030,0.000,0.023,3022,2121,2557,2600,2514,0,0,0,0,0,0,26.03,25.98,26.06
$GC,10999,0.68,175.2,3020,2123,2599,2510,937.4,13.0,437,11003,0.00,2.22,0.00,0.000,516,0.000,0.035,3032,707,2553,2597,2509,0,0,0,0,0,0,26.93,26.52,27.00
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$STATE,19149,end climb,SURFACE_DEPTH_REACHED
$STATE,19150,begin surface coast
$FINISH,0.4,1.022060
$STATE,19170,end surface coast,CONTROL_FINISHED_OK
$STATE,19170,begin surface
$SM_CCo,19186,54.10,0.064,0,0,1240,500.17
$SM_GC,0.08,7.90,2.70,54.10,0.044,0.027,0.064,156,2448,1240,-8.14,-1.27,500.17,0,0,0,0,0,0,26.63,26.71,26.41
$IRIDIUM_FIX,1254.31,14416.42,050208,225943
$TT8_MAMPS,0.051681,0.051681
$HUMID,46.02
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,24.50
$XPDR_PINGS,1
$24V_AH,22.97,69.808
$10V_AH,10.13,33.564
$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,20.525,142.225,478.500,54.100,0.000,0.000,0.000,210.625,0.250,0.000,13.924,0.000,16089.296,665.437,2551.887,208.355,0.000,1893.469,0.000,1830.271,0.000,0.551,0.000
$DEVICE_MAMPS,242.505,59.670,1306.620,64.260,0.000,0.000,0.000,91.800,420.000,0.000,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,581.143,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,264288
$DATA_FILE_SIZE,36769,852
$CAP_FILE_SIZE,155758,0
$CFSIZE,260034560,241651712
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,18445.34,0x236db2,7,5
$CURRENT,0.121,17.69,1
$GPS,110415,200634,1304.078,14418.686,28,1.3,57,1.5,0.5,141.8,10,6.7