version: 66.12
glider: 178
mission: 20
dive: 211
start: 4 13 115 22 50 35
data:
$ID,178
$MISSION,20
$DIVE,211
$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,60
$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
$GPS1,130415,224335,1324.6074,14434.4414,30,0.8,30,1.4,0.3,59.8,9,6.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.26
$_SM_ANGLEo,-74.8
$GPS2,130415,225025,1324.6042,14434.5039,11,0.9,11,1.4,0.3,77.6,8,7.0
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,RECOVERY
$TGT_LATLONG,1324.720,14434.020
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,237.6,898,-24.5,-10.000,-30.00,1474
$D_GRID,1881
$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,13,begin dive
$GC,14,-0.72,-95.8,161,2461,1238,1226,0.0,0.0,0,98,0.00,0.00,-81.00,0.000,16386,0.000,0.000,160,2461,3309,3354,3265,0,0,0,0,0,0,26.96,28.83,27.03
$GC,100,-0.72,-95.8,160,2461,3355,3266,3.9,-13.8,14,123,10.52,2.05,-5.93,0.000,18692,0.244,0.054,2536,3769,3674,3732,3616,0,0,0,0,0,0,25.68,26.03,26.13
$GC,313,-0.72,-95.8,2536,3769,3740,3618,83.1,-31.6,46,316,0.00,1.98,0.00,0.000,1030,0.000,0.023,2537,2428,3677,3738,3616,0,0,0,0,0,0,26.86,26.84,26.86
$GC,623,-0.72,-95.8,2537,2426,3745,3616,156.9,-18.6,77,624,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2425,3679,3742,3616,0,0,0,0,0,0,27.26,27.33,27.32
$GC,933,-0.72,-95.8,2536,2426,3750,3617,208.7,-13.3,104,936,0.00,2.03,0.00,0.000,516,0.000,0.028,2539,1074,3682,3749,3616,0,0,0,0,0,0,27.32,26.85,27.37
$GC,1013,-0.72,-95.8,2539,1074,3749,3618,216.1,-12.8,106,1016,0.00,2.10,0.00,0.000,1030,0.000,0.031,2531,2445,3683,3749,3617,0,0,0,0,0,0,26.87,26.84,26.91
$GC,1323,-0.72,-95.8,2532,2446,3750,3618,257.2,-13.0,117,1326,0.00,2.08,0.00,0.000,516,0.000,0.030,2531,1072,3684,3752,3617,0,0,0,0,0,0,27.34,26.87,27.41
$GC,1343,-0.72,-95.8,2532,1073,3752,3618,257.2,-13.0,117,1346,0.00,2.12,0.00,0.000,1030,0.000,0.033,2524,2454,3684,3752,3617,0,0,0,0,0,0,26.88,26.84,26.91
$GC,1653,-0.72,-95.8,2524,2455,3751,3617,298.6,-13.6,128,1656,0.00,2.08,0.00,0.000,516,0.000,0.029,2523,1070,3684,3751,3617,0,0,0,0,0,0,27.36,26.89,27.41
$GC,1728,-0.72,-95.8,2523,1070,3752,3618,306.6,-13.7,130,1732,0.10,2.12,0.00,0.000,3078,0.133,0.034,2546,2442,3683,3750,3617,0,0,0,0,0,0,26.50,26.84,26.58
$GC,2043,-0.72,-95.8,2547,2444,3747,3618,342.7,-10.1,141,2044,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2443,3683,3748,3618,0,0,0,0,0,0,27.36,27.43,27.43
$GC,2343,-0.72,-95.8,2547,2444,3743,3617,372.8,-10.2,151,2344,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2443,3680,3743,3617,0,0,0,0,0,0,27.36,27.44,27.43
$GC,2643,-0.73,-104.3,2545,2444,3740,3618,401.4,-9.4,161,2644,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2443,3677,3738,3617,0,0,0,0,0,0,27.36,27.44,27.43
$GC,2943,-0.76,-121.9,2545,2444,3737,3615,427.9,-8.8,171,2947,0.00,2.08,0.00,0.000,516,0.000,0.032,2548,1075,3675,3736,3614,0,0,0,0,0,0,27.37,26.84,27.43
$GC,2973,-0.79,-136.8,2548,1075,3735,3615,430.6,-9.0,172,2977,0.00,2.15,0.00,0.000,1030,0.000,0.036,2542,2451,3674,3735,3614,0,0,0,0,0,0,26.86,26.81,26.89
$GC,3303,-0.79,-136.8,2542,2452,3733,3612,463.5,-10.6,183,3306,0.00,2.10,0.00,0.000,516,0.000,0.032,2542,1081,3670,3731,3610,0,0,0,0,0,0,27.37,26.84,27.43
$GC,3333,-0.79,-136.8,2541,1081,3732,3612,466.9,-10.9,184,3338,0.00,2.15,0.00,0.000,1030,0.000,0.036,2541,2456,3670,3730,3611,0,0,0,0,0,0,26.84,26.79,26.88
$GC,3663,-0.79,-136.8,2541,2458,3729,3608,501.8,-10.3,195,3667,0.00,2.10,0.00,0.000,516,0.000,0.031,2541,1071,3667,3727,3608,0,0,0,0,0,0,27.37,26.84,27.43
$GC,3693,-0.79,-136.8,2542,1072,3727,3608,505.1,-10.4,196,3697,0.00,2.17,0.00,0.000,1030,0.000,0.037,2541,2454,3667,3727,3607,0,0,0,0,0,0,26.82,26.77,26.86
$GC,4023,-0.82,-154.0,2541,2454,3726,3606,536.3,-8.8,207,4024,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2454,3664,3724,3605,0,0,0,0,0,0,27.36,27.44,27.43
$GC,4323,-0.82,-154.0,2542,2453,3721,3603,565.1,-10.1,217,4328,0.00,2.10,0.00,0.000,260,0.000,0.050,2531,3769,3661,3721,3602,0,0,0,0,0,0,27.36,26.63,27.43
$GC,4368,-0.82,-154.0,2530,3769,3722,3603,568.3,-10.3,218,4372,0.00,1.98,0.00,0.000,1030,0.000,0.025,2531,2441,3661,3720,3602,0,0,0,0,0,0,27.07,27.05,27.08
$GC,4683,-0.82,-154.0,2532,2439,3717,3601,602.3,-10.1,229,4687,0.00,2.08,0.00,0.000,516,0.000,0.032,2532,1076,3659,3718,3600,0,0,0,0,0,0,27.36,26.82,27.43
$GC,4743,-0.83,-157.0,2530,1077,3719,3601,608.3,-9.8,231,4746,0.00,2.12,0.00,0.000,1030,0.000,0.034,2524,2447,3658,3717,3600,0,0,0,0,0,0,26.82,26.79,26.86
$GC,5073,-0.86,-175.2,2524,2448,3714,3599,638.8,-8.6,242,5074,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2447,3656,3715,3598,0,0,0,0,0,0,27.36,27.44,27.42
$GC,5373,-0.86,-175.2,2522,2448,3714,3596,662.7,-7.8,252,5374,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2447,3654,3712,3596,0,0,0,0,0,0,27.36,27.44,27.43
$GC,5673,-0.86,-175.2,2525,2448,3710,3595,688.0,-8.6,262,5676,0.00,2.12,0.00,0.000,516,0.000,0.031,2523,1071,3652,3710,3594,0,0,0,0,0,0,27.36,26.79,27.43
$GC,5723,-0.86,-175.2,2522,1071,3711,3595,690.7,-8.6,263,5727,0.00,2.15,0.00,0.000,1030,0.000,0.035,2515,2444,3651,3709,3594,0,0,0,0,0,0,26.81,26.73,26.85
$GC,6033,-0.86,-175.2,2515,2445,3707,3593,720.9,-9.2,274,6034,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2444,3649,3707,3592,0,0,0,0,0,0,27.36,27.43,27.43
$GC,6333,-0.86,-175.2,2516,2444,3706,3592,749.5,-9.7,284,6336,0.00,2.10,0.00,0.000,516,0.000,0.031,2515,1080,3648,3705,3591,0,0,0,0,0,0,27.36,26.78,27.43
$GC,6373,-0.86,-175.2,2516,1081,3705,3592,752.5,-9.8,285,6376,0.00,2.15,0.00,0.000,1030,0.000,0.035,2506,2449,3648,3705,3591,0,0,0,0,0,0,26.77,26.73,26.81
$GC,6694,-0.86,-175.2,2505,2450,3706,3591,788.7,-11.3,296,6697,0.00,2.08,0.00,0.000,516,0.000,0.031,2506,1072,3646,3703,3589,0,0,0,0,0,0,27.36,26.77,27.43
$GC,6713,-0.86,-175.2,2505,1073,3705,3591,788.7,-11.3,296,6717,0.00,2.17,0.00,0.000,1030,0.000,0.036,2497,2453,3646,3703,3590,0,0,0,0,0,0,26.74,26.70,26.79
$GC,7023,-0.86,-175.2,2496,2454,3703,3590,828.0,-12.0,307,7027,0.00,2.12,0.00,0.000,516,0.000,0.031,2496,1076,3645,3701,3589,0,0,0,0,0,0,27.36,26.76,27.42
$GC,7043,-0.86,-175.2,2497,1077,3701,3591,828.0,-12.0,307,7047,0.00,2.15,0.00,0.000,1030,0.000,0.036,2488,2444,3645,3701,3589,0,0,0,0,0,0,26.73,26.70,26.78
$GC,7353,-0.86,-175.2,2488,2445,3701,3589,865.7,-11.1,318,7354,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2444,3643,3699,3588,0,0,0,0,0,0,27.36,27.43,27.42
$GC,7653,-0.86,-175.2,2489,2445,3698,3588,897.7,-10.5,328,7654,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2444,3643,3699,3587,0,0,0,0,0,0,27.36,27.43,27.42
$GC,7953,-0.86,-175.2,2487,2445,3699,3587,929.2,-10.4,338,7957,0.00,2.10,0.00,0.000,516,0.000,0.031,2488,1066,3641,3697,3586,0,0,0,0,0,0,27.36,26.73,27.42
$GC,8013,-0.86,-175.2,2488,1067,3699,3587,935.6,-10.6,340,8017,0.00,2.17,0.00,0.000,1030,0.000,0.036,2479,2449,3641,3697,3586,0,0,0,0,0,0,26.70,26.67,26.75
$GC,8343,-0.86,-175.2,2480,2449,3696,3586,971.8,-11.1,351,8347,0.00,2.10,0.00,0.000,516,0.000,0.031,2479,1071,3640,3696,3585,0,0,0,0,0,0,27.36,26.72,27.42
$GC,8388,-0.86,-175.2,2478,1071,3697,3586,975.1,-11.1,352,8392,0.12,2.17,0.00,0.000,3078,0.187,0.037,2498,2457,3639,3695,3584,0,0,0,0,0,0,26.25,26.63,26.39
$STATE,8546,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8546,begin apogee
$GC,8550,-0.11,0.0,2499,2088,3695,3585,992.6,-9.7,358,8632,0.80,0.00,79.72,1.287,10246,0.136,0.000,2740,2086,3278,3325,3232,0,0,0,0,0,0,25.72,25.14,23.94
$STATE,8633,end apogee,CONTROL_FINISHED_OK
$STATE,8633,begin climb
$GC,8635,0.86,175.2,2742,2087,3325,3232,993.7,0.0,360,8807,0.88,2.50,162.80,1.275,10500,0.048,0.041,3074,3506,2562,2607,2517,0,0,0,0,0,0,25.59,24.27,23.13
$GC,9033,0.86,175.2,3074,3507,2594,2514,963.3,14.9,374,9037,0.00,2.12,0.00,0.000,1030,0.000,0.024,3085,2128,2553,2594,2513,0,0,0,0,0,0,26.47,26.44,26.49
$GC,9358,0.86,175.2,3085,2129,2591,2510,921.7,12.3,385,9359,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2128,2551,2592,2510,0,0,0,0,0,0,27.05,27.13,27.13
$GC,9658,0.86,175.2,3085,2129,2590,2509,886.2,12.1,395,9661,0.00,2.20,0.00,0.000,516,0.000,0.034,3095,714,2549,2590,2509,0,0,0,0,0,0,27.17,26.70,27.24
$GC,9723,0.86,175.2,3096,714,2589,2507,878.4,12.7,397,9727,0.15,2.15,0.00,0.000,5126,0.191,0.027,3062,2121,2548,2590,2507,0,0,0,0,0,0,26.26,26.76,26.47
$GC,10048,0.86,175.2,3061,2122,2592,2507,839.6,12.3,408,10051,0.00,2.20,0.00,0.000,260,0.000,0.043,3062,3507,2548,2590,2506,0,0,0,0,0,0,27.24,26.64,27.31
$GC,10088,0.86,175.2,3061,3508,2592,2507,835.4,12.7,409,10091,0.00,2.12,0.00,0.000,1030,0.000,0.024,3070,2102,2548,2590,2506,0,0,0,0,0,0,26.92,26.90,26.95
$GC,10408,0.86,175.2,3069,2103,2590,2507,791.6,13.4,420,10409,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2102,2547,2588,2506,0,0,0,0,0,0,27.27,27.34,27.34
$GC,10708,0.86,175.2,3071,2103,2587,2507,751.1,13.2,430,10712,0.00,2.17,0.00,0.000,516,0.000,0.037,3080,710,2546,2587,2506,0,0,0,0,0,0,27.29,26.73,27.36
$GC,10768,0.86,175.2,3081,711,2586,2505,743.0,13.2,432,10772,0.00,2.12,0.00,0.000,1030,0.000,0.026,3080,2111,2545,2586,2504,0,0,0,0,0,0,26.89,26.83,26.94
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$STATE,17449,end climb,SURFACE_DEPTH_REACHED
$STATE,17449,begin surface coast
$FINISH,-0.2,1.022019
$STATE,17475,end surface coast,CONTROL_FINISHED_OK
$STATE,17475,begin surface
$SM_CCo,17489,73.53,0.063,0,0,1239,500.17
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$IRIDIUM_FIX,1316.45,14437.79,080208,121133
$TT8_MAMPS,0.050183,0.050183
$HUMID,44.68
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,25.00
$XPDR_PINGS,1
$24V_AH,23.13,71.492
$10V_AH,10.17,34.231
$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
$DEVICE_SECS,20.600,137.800,386.550,73.525,0.000,0.000,0.000,271.500,0.250,0.000,14.073,0.000,14570.859,597.739,2586.531,201.544,0.000,1863.907,0.000,1822.671,0.000,0.551,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,561.895,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,229964
$DATA_FILE_SIZE,36791,825
$CAP_FILE_SIZE,149578,0
$CFSIZE,260034560,240943104
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,19083.37,0x236db2,7,5
$CURRENT,0.064,314.80,1
$GPS,140415,034406,1324.106,14432.658,26,1.1,26,1.4,0.4,5.2,7,8.8