version: 66.12
glider: 178
mission: 20
dive: 216
start: 4 14 115 23 40 11
data:
$ID,178
$MISSION,20
$DIVE,216
$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,52
$R_STBD_OVSHOOT,43
$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
$GPS1,140415,233428,1324.1215,14434.0029,39,1.4,44,1.5,0.0,14.0,8,7.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.17
$_SM_ANGLEo,-73.7
$GPS2,140415,233959,1324.1179,14434.0029,11,1.2,33,1.5,0.0,314.1,7,8.7
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,RECOVERY
$TGT_LATLONG,1324.720,14434.020
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,3.0,1115,-24.5,-10.000,-30.00,1474
$D_GRID,1893
$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,-0.72,-95.8,126,2469,1242,1227,0.0,0.0,0,94,0.00,0.00,-78.40,0.000,16386,0.000,0.000,124,2465,3190,3232,3149,0,0,0,0,0,0,26.98,28.83,27.05
$GC,96,-0.72,-95.8,125,2466,3232,3151,3.2,-10.8,14,121,10.70,2.05,-8.23,0.000,18692,0.244,0.057,2533,3768,3672,3736,3608,0,0,0,0,0,0,25.63,26.03,26.08
$GC,275,-0.72,-95.8,2534,3769,3740,3610,67.7,-32.9,43,282,0.00,2.00,0.00,0.000,1030,0.000,0.023,2534,2424,3675,3740,3611,0,0,0,0,0,0,26.83,26.81,26.85
$GC,580,-0.72,-95.8,2533,2421,3746,3612,150.9,-19.8,74,581,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2421,3677,3744,3611,0,0,0,0,0,0,27.24,27.32,27.30
$GC,901,-0.72,-95.8,2533,2422,3752,3614,205.8,-15.9,104,904,0.00,2.03,0.00,0.000,516,0.000,0.029,2538,1056,3681,3750,3613,0,0,0,0,0,0,27.30,26.84,27.36
$GC,995,-0.72,-95.8,2539,1056,3750,3615,216.9,-14.2,107,999,0.00,2.12,0.00,0.000,1030,0.000,0.030,2531,2445,3682,3750,3615,0,0,0,0,0,0,26.88,26.84,26.90
$GC,1315,-0.72,-95.8,2530,2446,3755,3616,255.1,-13.0,118,1319,0.00,2.08,0.00,0.000,516,0.000,0.030,2531,1063,3684,3753,3615,0,0,0,0,0,0,27.34,26.86,27.40
$GC,1370,-0.72,-95.8,2529,1064,3754,3617,259.3,-13.4,119,1377,0.00,2.12,0.00,0.000,1030,0.000,0.031,2523,2450,3685,3754,3616,0,0,0,0,0,0,26.89,26.85,26.93
$GC,1675,-0.72,-95.8,2524,2451,3753,3617,304.3,-12.8,130,1679,0.00,2.05,0.00,0.000,260,0.000,0.046,2513,3769,3684,3753,3616,0,0,0,0,0,0,27.35,26.71,27.41
$GC,1715,-0.72,-95.8,2513,3769,3753,3616,308.0,-12.6,131,1719,0.10,1.95,0.00,0.000,3078,0.134,0.024,2545,2433,3684,3753,3616,0,0,0,0,0,0,26.63,27.07,26.68
$GC,2035,-0.72,-95.8,2545,2433,3749,3617,343.8,-10.5,142,2036,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2433,3683,3750,3616,0,0,0,0,0,0,27.36,27.43,27.42
$GC,2336,-0.73,-101.7,2545,2433,3746,3616,373.3,-9.6,152,2341,0.00,2.00,0.00,0.000,516,0.000,0.032,2546,1085,3681,3746,3616,0,0,0,0,0,0,27.36,26.84,27.43
$GC,2421,-0.74,-110.4,2546,1085,3744,3617,379.0,-9.4,154,2427,0.00,2.10,0.00,0.000,1030,0.000,0.032,2540,2445,3680,3744,3616,0,0,0,0,0,0,26.89,26.85,26.93
$GC,2726,-0.75,-114.2,2540,2447,3742,3615,409.9,-9.7,165,2727,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2445,3677,3740,3614,0,0,0,0,0,0,27.36,27.43,27.43
$GC,3026,-0.76,-121.6,2540,2446,3739,3612,439.0,-9.5,175,3027,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2445,3674,3737,3611,0,0,0,0,0,0,27.37,27.44,27.43
$GC,3326,-0.76,-122.2,2540,2446,3736,3610,468.1,-10.0,185,3329,0.00,2.05,0.00,0.000,516,0.000,0.032,2541,1080,3671,3734,3608,0,0,0,0,0,0,27.37,26.83,27.43
$GC,3360,-0.76,-122.2,2541,1081,3734,3609,471.2,-10.1,186,3365,0.00,2.12,0.00,0.000,1030,0.000,0.033,2532,2450,3670,3733,3608,0,0,0,0,0,0,26.86,26.83,26.90
$GC,3686,-0.76,-122.2,2532,2450,3731,3606,508.6,-11.3,197,3689,0.00,2.05,0.00,0.000,260,0.000,0.050,2522,3768,3668,3730,3606,0,0,0,0,0,0,27.36,26.63,27.43
$GC,3710,-0.76,-122.2,2521,3769,3731,3607,508.6,-11.3,197,3718,0.00,1.95,0.00,0.000,1030,0.000,0.025,2522,2445,3667,3729,3605,0,0,0,0,0,0,27.07,27.05,27.08
$GC,4016,-0.76,-122.2,2521,2446,3729,3604,544.7,-10.4,208,4019,0.00,2.08,0.00,0.000,516,0.000,0.031,2522,1086,3665,3727,3603,0,0,0,0,0,0,27.36,26.82,27.43
$GC,4056,-0.76,-122.2,2522,1087,3726,3603,547.9,-10.2,209,4059,0.00,2.12,0.00,0.000,1030,0.000,0.033,2517,2453,3664,3726,3603,0,0,0,0,0,0,26.84,26.79,26.86
$GC,4377,-0.76,-122.2,2516,2454,3725,3602,581.1,-10.6,220,4380,0.00,2.08,0.00,0.000,516,0.000,0.031,2517,1070,3661,3723,3600,0,0,0,0,0,0,27.36,26.82,27.43
$GC,4426,-0.76,-122.2,2516,1071,3725,3601,583.7,-10.6,221,4432,0.00,2.15,0.00,0.000,1030,0.000,0.034,2508,2450,3661,3723,3600,0,0,0,0,0,0,26.84,26.79,26.87
$GC,4731,-0.76,-122.2,2506,2451,3722,3598,623.8,-12.6,232,4734,0.00,2.10,0.00,0.000,260,0.000,0.050,2498,3762,3658,3720,3597,0,0,0,0,0,0,27.36,26.58,27.43
$GC,4751,-0.76,-122.2,2499,3762,3720,3598,623.8,-12.6,232,4755,0.10,1.95,0.00,0.000,3078,0.146,0.025,2528,2441,3658,3720,3597,0,0,0,0,0,0,26.52,27.03,26.58
$GC,5062,-0.77,-127.3,2528,2442,3718,3596,658.5,-9.7,243,5065,0.00,2.05,0.00,0.000,516,0.000,0.031,2528,1069,3657,3718,3596,0,0,0,0,0,0,27.36,26.79,27.43
$GC,5126,-0.79,-137.0,2529,1070,3717,3596,663.6,-9.3,245,5129,0.00,2.15,0.00,0.000,1030,0.000,0.032,2521,2450,3655,3716,3595,0,0,0,0,0,0,26.82,26.79,26.84
$GC,5446,-0.81,-148.6,2522,2451,3715,3594,694.3,-9.2,256,5447,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2450,3654,3715,3593,0,0,0,0,0,0,27.36,27.43,27.43
$GC,5746,-0.83,-157.7,2520,2451,3715,3592,724.5,-9.4,266,5749,0.00,2.08,0.00,0.000,516,0.000,0.031,2521,1074,3652,3713,3591,0,0,0,0,0,0,27.36,26.78,27.43
$GC,5781,-0.85,-166.9,2520,1073,3714,3593,727.4,-9.4,267,5785,0.00,2.15,0.00,0.000,1030,0.000,0.034,2513,2448,3651,3712,3591,0,0,0,0,0,0,26.78,26.73,26.82
$GC,6106,-0.85,-171.8,2512,2449,3711,3592,759.6,-9.7,278,6109,0.00,2.10,0.00,0.000,516,0.000,0.031,2513,1075,3650,3710,3591,0,0,0,0,0,0,27.36,26.77,27.43
$GC,6171,-0.86,-173.9,2514,1075,3710,3591,765.7,-9.9,280,6174,0.00,2.15,0.00,0.000,1030,0.000,0.034,2505,2475,3650,3710,3590,0,0,0,0,0,0,26.80,26.72,26.84
$GC,6496,-0.86,-175.2,2504,2476,3710,3590,797.8,-9.8,291,6497,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2476,3648,3708,3589,0,0,0,0,0,0,27.36,27.43,27.43
$GC,6796,-0.86,-175.2,2504,2477,3708,3589,827.2,-9.7,301,6799,0.00,2.12,0.00,0.000,516,0.000,0.031,2505,1082,3647,3706,3588,0,0,0,0,0,0,27.36,26.74,27.42
$GC,6856,-0.86,-175.2,2504,1083,3707,3589,833.4,-10.1,303,6859,0.00,2.15,0.00,0.000,1030,0.000,0.035,2495,2450,3646,3705,3587,0,0,0,0,0,0,26.74,26.70,26.78
$GC,7186,-0.86,-175.2,2496,2451,3703,3587,867.8,-10.3,314,7189,0.00,2.10,0.00,0.000,516,0.000,0.031,2495,1086,3644,3703,3586,0,0,0,0,0,0,27.36,26.74,27.42
$GC,7211,-0.86,-175.2,2494,1087,3705,3587,867.8,-10.3,314,7218,0.00,2.12,0.00,0.000,1030,0.000,0.035,2487,2444,3645,3704,3586,0,0,0,0,0,0,26.74,26.69,26.77
$GC,7516,-0.86,-175.2,2488,2445,3701,3586,900.1,-9.3,325,7519,0.00,2.10,0.00,0.000,516,0.000,0.031,2487,1078,3644,3702,3586,0,0,0,0,0,0,27.36,26.75,27.42
$GC,7561,-0.86,-175.2,2486,1078,3704,3586,902.9,-9.2,326,7565,0.00,2.15,0.00,0.000,1030,0.000,0.035,2478,2443,3644,3702,3586,0,0,0,0,0,0,26.72,26.67,26.75
$GC,7876,-0.86,-175.2,2477,2445,3703,3586,932.2,-8.9,337,7880,0.00,2.08,0.00,0.000,516,0.000,0.031,2478,1070,3642,3700,3585,0,0,0,0,0,0,27.36,26.72,27.42
$GC,7896,-0.86,-175.2,2477,1071,3701,3586,932.2,-8.9,337,7903,0.08,2.17,0.00,0.000,3078,0.169,0.035,2492,2448,3642,3700,3585,0,0,0,0,0,0,26.27,26.65,26.33
$GC,8201,-0.86,-175.2,2491,2449,3701,3584,962.5,-9.8,348,8205,0.00,2.12,0.00,0.000,260,0.000,0.052,2484,3764,3641,3699,3583,0,0,0,0,0,0,27.36,26.42,27.42
$GC,8231,-0.86,-175.2,2484,3765,3700,3584,965.8,-10.0,349,8234,0.00,1.95,0.00,0.000,1030,0.000,0.026,2485,2454,3640,3698,3583,0,0,0,0,0,0,27.01,26.98,27.01
$STATE,8469,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8469,begin apogee
$GC,8473,-0.11,0.0,2484,2093,3700,3583,991.8,-10.9,357,8556,0.85,0.00,80.00,1.297,10246,0.138,0.000,2737,2088,3279,3328,3231,0,0,0,0,0,0,25.65,25.08,23.83
$STATE,8556,end apogee,CONTROL_FINISHED_OK
$STATE,8556,begin climb
$GC,8558,0.86,175.2,2736,2089,3329,3231,993.2,0.0,359,8729,0.88,2.47,162.68,1.291,11012,0.048,0.041,3069,3510,2563,2608,2519,0,0,0,0,0,0,25.57,23.80,23.01
$GC,8908,0.86,175.2,3070,3510,2595,2516,972.8,14.8,371,8912,0.00,2.15,0.00,0.000,1030,0.000,0.023,3080,2120,2555,2595,2515,0,0,0,0,0,0,26.33,26.29,26.34
$GC,9218,0.86,175.2,3079,2122,2596,2512,928.4,13.4,382,9222,0.00,2.22,0.00,0.000,260,0.000,0.042,3080,3503,2552,2594,2510,0,0,0,0,0,0,27.01,26.50,27.08
$GC,9288,0.86,175.2,3081,3503,2593,2511,919.3,14.3,384,9292,0.00,2.15,0.00,0.000,1030,0.000,0.024,3091,2096,2551,2593,2510,0,0,0,0,0,0,26.76,26.73,26.79
$GC,9608,0.86,175.2,3090,2096,2593,2510,872.5,13.8,395,9612,0.15,2.12,0.00,0.000,4612,0.210,0.035,3066,708,2550,2591,2509,0,0,0,0,0,0,26.41,26.67,26.58
$GC,9708,0.86,175.2,3067,707,2590,2507,861.0,13.1,398,9712,0.00,2.17,0.00,0.000,1030,0.000,0.026,3066,2113,2548,2590,2507,0,0,0,0,0,0,26.79,26.76,26.83
$GC,10029,0.86,175.2,3067,2114,2590,2507,819.1,13.0,409,10032,0.00,2.17,0.00,0.000,516,0.000,0.034,3076,702,2548,2590,2507,0,0,0,0,0,0,27.24,26.72,27.31
$GC,10078,0.86,175.2,3077,701,2587,2507,815.1,13.0,410,10082,0.00,2.15,0.00,0.000,1030,0.000,0.026,3076,2094,2547,2589,2506,0,0,0,0,0,0,26.82,26.79,26.86
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$STATE,17124,end climb,SURFACE_DEPTH_REACHED
$STATE,17124,begin surface coast
$FINISH,0.1,1.021985
$STATE,17144,end surface coast,CONTROL_FINISHED_OK
$STATE,17144,begin surface
$SM_CCo,17159,68.10,0.063,0,0,1239,500.17
$SM_GC,0.11,7.85,0.52,68.10,0.035,0.046,0.063,163,2455,1239,-8.14,-1.22,500.17,0,0,0,0,0,0,26.55,26.81,26.42
$IRIDIUM_FIX,1320.88,14250.50,090208,074825
$TT8_MAMPS,0.051681,0.051681
$HUMID,45.86
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,24.90
$XPDR_PINGS,1
$24V_AH,23.01,72.158
$10V_AH,10.21,34.533
$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,21.150,149.600,389.650,68.100,0.000,0.000,0.000,231.050,0.250,0.000,36.057,0.000,14155.270,602.411,2586.104,200.972,0.000,1844.870,0.000,1839.488,0.000,0.551,0.000
$DEVICE_MAMPS,244.035,56.610,1297.440,63.495,0.000,0.000,0.000,87.210,420.000,0.000,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,546.755,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,229912
$DATA_FILE_SIZE,36740,804
$CAP_FILE_SIZE,150894,0
$CFSIZE,260034560,240631808
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,18868.66,0x236db2,7,5
$INTR,1,2338.18,0x233784,0,24
$CURRENT,0.066,350.78,1
$GPS,150415,042822,1326.513,14433.949,26,1.2,42,1.4,0.4,8.5,7,9.0