version: 66.12
glider: 178
mission: 20
dive: 217
start: 4 15 115 4 33 17
data:
$ID,178
$MISSION,20
$DIVE,217
$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,57
$R_STBD_OVSHOOT,45
$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
$GPS1,150415,042822,1326.5129,14433.9492,26,1.2,42,1.4,0.4,8.5,7,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.18
$_SM_ANGLEo,-73.8
$GPS2,150415,043306,1326.5393,14433.9199,9,1.1,14,1.4,0.5,357.3,7,9.6
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,RECOVERY
$TGT_LATLONG,1324.720,14434.020
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,173.8,3374,-16.5,-10.000,-23.13,2699
$D_GRID,1800
$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,-175.2,126,2466,1240,1226,0.0,0.0,0,96,0.00,0.00,-79.75,0.000,16386,0.000,0.000,125,2466,3250,3298,3203,0,0,0,0,0,0,27.00,28.83,27.07
$GC,98,-0.68,-175.2,124,2467,3300,3205,3.9,-14.0,14,128,10.65,2.17,-11.65,0.000,18948,0.242,0.045,2551,1055,3966,3997,3935,0,0,0,0,0,0,25.62,24.62,26.07
$GC,247,-0.68,-175.2,2551,1056,3994,3941,51.9,-25.2,42,254,0.00,2.15,0.00,0.000,1030,0.000,0.031,2544,2441,3967,3994,3940,0,0,0,0,0,0,26.69,26.67,26.72
$GC,552,-0.68,-175.2,2544,2442,3994,3943,141.9,-23.4,73,556,0.00,2.10,0.00,0.000,260,0.000,0.046,2533,3772,3968,3994,3942,0,0,0,0,0,0,27.24,26.63,27.31
$GC,592,-0.68,-175.2,2534,3772,3994,3943,151.6,-24.0,77,596,0.00,1.98,0.00,0.000,1030,0.000,0.023,2534,2424,3969,3995,3943,0,0,0,0,0,0,26.96,26.94,26.98
$GC,923,-0.68,-175.2,2534,2422,3996,3949,211.5,-16.3,106,927,0.00,2.00,0.00,0.000,516,0.000,0.030,2537,1075,3971,3994,3948,0,0,0,0,0,0,27.32,26.84,27.37
$GC,952,-0.68,-175.2,2537,1076,3995,3949,217.1,-17.1,107,956,0.00,2.10,0.00,0.000,1030,0.000,0.031,2529,2462,3971,3994,3949,0,0,0,0,0,0,26.90,26.82,26.94
$GC,1282,-0.68,-175.2,2529,2464,3997,3953,266.6,-11.9,118,1283,0.12,0.00,0.00,0.000,2054,0.174,0.000,2559,2463,3973,3995,3952,0,0,0,0,0,0,26.84,26.95,26.91
$GC,1582,-0.68,-175.2,2559,2464,3997,3954,300.4,-11.2,128,1583,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2463,3974,3995,3953,0,0,0,0,0,0,27.36,27.43,27.42
$GC,1883,-0.68,-175.2,2559,2464,3997,3953,329.4,-8.7,138,1886,0.00,2.08,0.00,0.000,516,0.000,0.031,2562,1071,3973,3995,3952,0,0,0,0,0,0,27.36,26.87,27.42
$GC,1937,-0.68,-175.2,2562,1071,3995,3952,333.4,-7.9,140,1941,0.00,2.12,0.00,0.000,1030,0.000,0.032,2556,2453,3973,3995,3952,0,0,0,0,0,0,26.91,26.86,26.94
$GC,2267,-0.68,-175.2,2557,2454,3994,3951,362.0,-9.6,151,2271,0.00,2.10,0.00,0.000,516,0.000,0.031,2557,1081,3972,3995,3950,0,0,0,0,0,0,27.36,26.87,27.43
$GC,2307,-0.68,-175.2,2557,1082,3995,3950,364.9,-9.6,152,2311,0.00,2.12,0.00,0.000,1030,0.000,0.032,2549,2457,3972,3995,3950,0,0,0,0,0,0,26.89,26.85,27.00
$GC,2627,-0.68,-175.2,2549,2458,3997,3945,395.9,-9.1,163,2628,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2457,3969,3995,3944,0,0,0,0,0,0,27.37,27.44,27.43
$GC,2928,-0.68,-175.2,2549,2458,3994,3940,425.7,-9.9,173,2931,0.00,2.08,0.00,0.000,516,0.000,0.031,2549,1075,3966,3994,3939,0,0,0,0,0,0,27.37,26.84,27.43
$GC,2957,-0.68,-175.2,2550,1076,3993,3940,428.3,-9.9,174,2961,0.00,2.12,0.00,0.000,1030,0.000,0.033,2543,2443,3966,3994,3939,0,0,0,0,0,0,26.88,26.83,26.91
$GC,3282,-0.68,-175.2,2543,2445,3992,3933,463.6,-10.9,185,3286,0.00,2.08,0.00,0.000,516,0.000,0.031,2543,1078,3963,3994,3933,0,0,0,0,0,0,27.37,26.84,27.43
$GC,3322,-0.68,-175.2,2542,1079,3995,3933,466.9,-10.8,186,3326,0.00,2.10,0.00,0.000,1030,0.000,0.034,2541,2460,3962,3993,3932,0,0,0,0,0,0,26.90,26.82,26.94
$GC,3642,-0.68,-175.2,2542,2461,3993,3927,498.0,-8.5,197,3643,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2460,3959,3993,3926,0,0,0,0,0,0,27.37,27.44,27.43
$GC,3942,-0.68,-175.2,2541,2461,3995,3921,521.9,-8.5,207,3943,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2460,3957,3994,3920,0,0,0,0,0,0,27.36,27.44,27.43
$GC,4243,-0.68,-175.2,2542,2461,3993,3915,552.1,-9.9,217,4246,0.00,2.08,0.00,0.000,516,0.000,0.031,2541,1077,3954,3994,3915,0,0,0,0,0,0,27.37,26.82,27.43
$GC,4267,-0.68,-175.2,2541,1078,3995,3915,552.1,-9.9,217,4274,0.00,2.15,0.00,0.000,1030,0.000,0.034,2542,2455,3953,3993,3914,0,0,0,0,0,0,26.82,26.79,26.86
$GC,4572,-0.68,-175.2,2542,2456,3993,3910,580.9,-8.5,228,4573,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2456,3951,3993,3910,0,0,0,0,0,0,27.36,27.44,27.43
$GC,4873,-0.68,-175.2,2542,2457,3990,3908,609.2,-9.4,238,4876,0.00,2.10,0.00,0.000,516,0.000,0.031,2541,1078,3948,3990,3907,0,0,0,0,0,0,27.37,26.80,27.43
$GC,4917,-0.68,-175.2,2542,1076,3990,3907,612.4,-9.5,239,4921,0.00,2.15,0.00,0.000,1030,0.000,0.034,2542,2450,3948,3990,3907,0,0,0,0,0,0,26.80,26.76,26.84
$GC,5232,-0.68,-175.2,2541,2451,3990,3905,643.8,-9.2,250,5233,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2450,3946,3988,3905,0,0,0,0,0,0,27.36,27.44,27.43
$GC,5533,-0.68,-175.2,2542,2450,3986,3903,672.7,-9.7,260,5536,0.00,2.08,0.00,0.000,516,0.000,0.031,2542,1074,3944,3986,3903,0,0,0,0,0,0,27.36,26.79,27.43
$GC,5572,-0.68,-175.2,2541,1075,3988,3904,675.3,-9.7,261,5576,0.00,2.15,0.00,0.000,1030,0.000,0.034,2541,2450,3944,3986,3903,0,0,0,0,0,0,26.78,26.74,26.91
$GC,5887,-0.68,-175.2,2541,2451,3986,3901,704.9,-8.6,272,5888,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2451,3942,3984,3900,0,0,0,0,0,0,27.36,27.43,27.43
$GC,6188,-0.68,-175.2,2542,2451,3982,3899,728.5,-7.7,282,6188,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2451,3940,3982,3899,0,0,0,0,0,0,27.36,27.44,27.43
$GC,6487,-0.68,-175.2,2541,2452,3983,3897,753.1,-8.2,292,6491,0.00,2.10,0.00,0.000,516,0.000,0.031,2541,1085,3938,3980,3896,0,0,0,0,0,0,27.36,26.77,27.43
$GC,6532,-0.68,-175.2,2540,1086,3982,3897,755.4,-8.1,293,6536,0.00,2.15,0.00,0.000,1030,0.000,0.034,2541,2454,3938,3981,3896,0,0,0,0,0,0,26.77,26.73,26.79
$GC,6848,-0.68,-175.2,2542,2454,3979,3896,783.3,-8.4,304,6851,0.00,2.08,0.00,0.000,516,0.000,0.031,2541,1077,3937,3979,3895,0,0,0,0,0,0,27.36,26.77,27.43
$GC,6877,-0.68,-175.2,2542,1077,3979,3895,785.4,-8.4,305,6881,0.00,2.15,0.00,0.000,1030,0.000,0.034,2542,2452,3937,3979,3895,0,0,0,0,0,0,26.75,26.71,26.79
$GC,7203,-0.68,-175.2,2541,2453,3979,3894,811.1,-7.6,316,7203,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2452,3935,3978,3893,0,0,0,0,0,0,27.36,27.43,27.42
$GC,7502,-0.68,-175.2,2542,2452,3977,3892,832.4,-7.0,326,7506,0.00,2.12,0.00,0.000,516,0.000,0.031,2541,1076,3934,3977,3891,0,0,0,0,0,0,27.36,26.74,27.43
$GC,7542,-0.68,-175.2,2542,1076,3976,3892,834.4,-6.9,327,7546,0.00,2.15,0.00,0.000,1030,0.000,0.034,2541,2444,3934,3977,3891,0,0,0,0,0,0,26.82,26.68,26.85
$GC,7863,-0.68,-175.2,2541,2445,3977,3890,856.6,-7.2,338,7863,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2444,3932,3975,3890,0,0,0,0,0,0,27.36,27.43,27.42
$GC,8162,-0.68,-175.2,2540,2446,3975,3889,877.7,-6.9,348,8163,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2444,3931,3974,3888,0,0,0,0,0,0,27.36,27.43,27.43
$GC,8462,-0.68,-175.2,2542,2445,3973,3888,898.1,-6.6,358,8463,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2444,3930,3973,3887,0,0,0,0,0,0,27.36,27.43,27.42
$GC,8763,-0.68,-175.2,2540,2445,3974,3888,917.8,-6.6,368,8766,0.00,2.10,0.00,0.000,516,0.000,0.031,2541,1070,3930,3973,3887,0,0,0,0,0,0,27.36,26.71,27.42
$GC,8802,-0.68,-175.2,2541,1071,3974,3888,919.7,-6.5,369,8806,0.00,2.17,0.00,0.000,1030,0.000,0.034,2541,2450,3929,3972,3887,0,0,0,0,0,0,26.68,26.65,26.72
$GC,9122,-0.68,-175.2,2540,2450,3973,3887,940.1,-6.7,380,9126,0.00,2.12,0.00,0.000,516,0.000,0.032,2540,1078,3928,3970,3886,0,0,0,0,0,0,27.36,26.70,27.42
$GC,9153,-0.68,-175.2,2542,1079,3971,3886,942.2,-7.0,381,9157,0.00,2.12,0.00,0.000,1030,0.000,0.035,2542,2454,3928,3971,3886,0,0,0,0,0,0,26.71,26.63,26.75
$GC,9482,-0.68,-175.2,2542,2454,3970,3885,967.0,-8.1,392,9483,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2454,3927,3970,3884,0,0,0,0,0,0,27.36,27.43,27.42
$STATE,9781,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9781,begin apogee
$GC,9785,-0.11,0.0,2542,2100,3969,3884,990.0,-7.7,402,9934,0.65,0.00,142.62,1.307,10246,0.116,0.000,2747,2095,3278,3317,3239,0,0,0,0,0,0,25.94,24.18,23.39
$STATE,9934,end apogee,CONTROL_FINISHED_OK
$STATE,9934,begin climb
$GC,9936,0.68,175.2,2746,2095,3319,3239,997.7,0.0,407,10107,0.70,2.50,162.27,1.292,11012,0.046,0.043,3013,3497,2563,2610,2517,0,0,0,0,0,0,25.10,24.06,22.87
$GC,10257,0.68,175.2,3013,3497,2599,2514,983.9,12.8,417,10264,0.00,2.15,0.00,0.000,1030,0.000,0.023,3023,2123,2555,2599,2512,0,0,0,0,0,0,26.15,26.12,26.17
$GC,10562,0.68,175.2,3022,2124,2599,2510,941.3,13.0,428,10563,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2124,2553,2597,2509,0,0,0,0,0,0,26.97,27.05,27.04
$GC,10863,0.68,175.2,3024,2124,2595,2509,903.1,12.7,438,10866,0.00,2.22,0.00,0.000,516,0.000,0.037,3034,694,2552,2595,2509,0,0,0,0,0,0,27.13,26.65,27.19
$GC,10897,0.68,175.2,3035,694,2595,2508,899.9,12.5,439,10901,0.10,2.17,0.00,0.000,5126,0.160,0.026,3005,2101,2551,2595,2507,0,0,0,0,0,0,26.30,26.72,26.39
$GC,11218,0.68,175.2,3006,2102,2594,2508,864.6,10.3,450,11219,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2101,2551,2595,2507,0,0,0,0,0,0,27.21,27.28,27.27
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$STATE,19216,end climb,SURFACE_DEPTH_REACHED
$STATE,19216,begin surface coast
$FINISH,-0.4,1.022062
$STATE,19236,end surface coast,CONTROL_FINISHED_OK
$STATE,19236,begin surface
$SM_CCo,19253,52.80,0.062,0,0,1239,500.17
$SM_GC,-0.04,7.75,2.70,52.80,0.037,0.028,0.062,163,2447,1239,-8.14,-1.27,500.17,0,0,0,0,0,0,26.49,26.66,26.41
$IRIDIUM_FIX,1318.67,14431.60,090208,130221
$TT8_MAMPS,0.05243,0.05243
$HUMID,45.98
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,22.87,72.313
$10V_AH,10.14,34.595
$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
$DEVICE_SECS,20.400,146.850,481.475,52.800,0.000,0.000,0.000,202.875,0.000,0.000,17.111,0.000,16167.788,671.715,2530.517,206.385,0.000,1877.972,0.000,1801.740,0.000,0.550,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,603.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40061,886
$CAP_FILE_SIZE,157799,0
$CFSIZE,260034560,240553984
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,17585.93,0x236db2,7,5
$CURRENT,0.051,18.11,1
$GPS,150415,095605,1324.835,14434.415,35,1.4,40,1.4,0.0,211.9,8,9.1