version: 66.12
glider: 178
mission: 20
dive: 219
start: 4 15 115 14 55 23
data:
$ID,178
$MISSION,20
$DIVE,219
$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,63
$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
$GPS1,150415,144636,1324.0482,14432.6572,31,1.0,31,1.4,0.3,295.8,7,8.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.44
$_SM_ANGLEo,-76.1
$GPS2,150415,145513,1324.1177,14432.6523,13,1.0,13,1.4,0.5,21.5,7,7.7
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,RECOVERY
$TGT_LATLONG,1324.720,14434.020
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,75.8,2703,-24.5,-10.000,-30.00,1474
$D_GRID,2157
$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,-95.8,129,2459,1239,1225,0.0,0.0,0,94,0.00,0.00,-77.93,0.000,16386,0.000,0.000,128,2458,3197,3235,3159,0,0,0,0,0,0,26.96,28.83,27.03
$GC,97,-0.72,-95.8,130,2459,3235,3160,3.7,-11.9,14,121,10.52,2.12,-8.10,0.000,18948,0.239,0.040,2548,1051,3669,3733,3606,0,0,0,0,0,0,25.63,26.04,26.08
$GC,155,-0.72,-95.8,2546,1051,3738,3608,29.3,-32.9,25,162,0.00,2.17,0.00,0.000,1030,0.000,0.031,2540,2444,3671,3736,3607,0,0,0,0,0,0,26.62,26.60,26.67
$GC,461,-0.72,-95.8,2539,2446,3740,3608,119.3,-26.5,63,465,0.00,2.08,0.00,0.000,260,0.000,0.041,2530,3774,3672,3738,3607,0,0,0,0,0,0,27.22,26.66,27.28
$GC,501,-0.72,-95.8,2530,3775,3737,3608,129.9,-26.4,67,505,0.00,1.98,0.00,0.000,1030,0.000,0.022,2530,2429,3673,3739,3607,0,0,0,0,0,0,26.96,26.94,26.97
$GC,811,-0.72,-95.8,2528,2426,3746,3608,192.7,-21.0,98,815,0.00,2.03,0.00,0.000,516,0.000,0.029,2533,1076,3675,3744,3607,0,0,0,0,0,0,27.30,26.86,27.36
$GC,866,-0.72,-95.8,2533,1076,3743,3610,200.3,-19.1,102,873,0.00,2.12,0.00,0.000,1030,0.000,0.031,2525,2453,3676,3744,3609,0,0,0,0,0,0,26.85,26.79,26.86
$GC,1171,-0.72,-95.8,2525,2454,3750,3610,246.5,-12.7,113,1175,0.00,2.05,0.00,0.000,260,0.000,0.044,2516,3767,3678,3748,3609,0,0,0,0,0,0,27.34,26.76,27.40
$GC,1202,-0.72,-95.8,2515,3769,3749,3610,250.8,-13.3,114,1205,0.12,1.88,0.00,0.000,3078,0.170,0.023,2545,2443,3678,3748,3609,0,0,0,0,0,0,26.65,27.06,26.76
$GC,1531,-0.72,-95.8,2546,2445,3749,3610,292.5,-12.6,125,1535,0.00,2.05,0.00,0.000,516,0.000,0.030,2547,1084,3679,3749,3610,0,0,0,0,0,0,27.36,26.89,27.41
$GC,1556,-0.72,-95.8,2547,1085,3749,3610,292.5,-12.6,125,1564,0.00,2.10,0.00,0.000,1030,0.000,0.031,2540,2454,3679,3749,3609,0,0,0,0,0,0,26.93,26.89,26.96
$GC,1862,-0.72,-95.8,2541,2455,3747,3609,331.3,-10.3,136,1865,0.00,2.10,0.00,0.000,516,0.000,0.030,2540,1072,3678,3747,3609,0,0,0,0,0,0,27.36,26.89,27.43
$GC,1896,-0.72,-95.8,2540,1073,3749,3610,334.6,-10.3,137,1900,0.00,2.12,0.00,0.000,1030,0.000,0.031,2530,2456,3678,3747,3609,0,0,0,0,0,0,26.93,26.89,26.96
$GC,2222,-0.72,-95.8,2531,2457,3741,3610,369.1,-10.8,148,2225,0.00,2.08,0.00,0.000,260,0.000,0.047,2520,3770,3675,3742,3609,0,0,0,0,0,0,27.36,26.72,27.43
$GC,2246,-0.72,-95.8,2521,3771,3741,3610,369.1,-10.8,148,2253,0.00,1.92,0.00,0.000,1030,0.000,0.024,2520,2450,3675,3742,3609,0,0,0,0,0,0,27.11,27.10,27.13
$GC,2551,-0.72,-95.8,2519,2450,3738,3610,408.8,-11.7,159,2555,0.00,2.05,0.00,0.000,516,0.000,0.030,2521,1091,3672,3736,3609,0,0,0,0,0,0,27.37,26.90,27.43
$GC,2621,-0.72,-95.8,2522,1091,3735,3610,415.4,-11.1,161,2626,0.10,2.10,0.00,0.000,3078,0.132,0.033,2542,2447,3671,3734,3609,0,0,0,0,0,0,26.52,26.86,26.59
$GC,2942,-0.79,-137.3,2542,2448,3732,3607,439.6,-7.1,172,2945,0.00,2.08,0.00,0.000,516,0.000,0.031,2543,1076,3668,3730,3606,0,0,0,0,0,0,27.36,26.87,27.43
$GC,3016,-0.85,-170.4,2544,1077,3730,3606,444.5,-7.7,174,3021,0.08,2.12,0.00,0.000,5126,0.064,0.033,2490,2446,3667,3730,3605,0,0,0,0,0,0,26.74,26.84,26.79
$GC,3332,-0.86,-175.2,2489,2447,3727,3603,477.2,-9.6,185,3333,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2446,3663,3725,3602,0,0,0,0,0,0,27.37,27.45,27.43
$GC,3631,-0.86,-175.2,2490,2447,3723,3600,509.7,-11.4,195,3635,0.00,2.08,0.00,0.000,516,0.000,0.031,2489,1089,3660,3722,3599,0,0,0,0,0,0,27.37,26.86,27.43
$GC,3676,-0.86,-175.2,2490,1089,3721,3600,513.2,-11.4,196,3680,0.00,2.12,0.00,0.000,1030,0.000,0.034,2480,2449,3660,3721,3599,0,0,0,0,0,0,26.86,26.82,26.91
$GC,3992,-0.86,-175.2,2479,2450,3720,3597,551.9,-12.0,207,3995,0.00,2.08,0.00,0.000,516,0.000,0.031,2480,1084,3656,3718,3595,0,0,0,0,0,0,27.37,26.84,27.43
$GC,4066,-0.86,-175.2,2480,1083,3717,3596,559.3,-12.3,209,4071,0.00,2.12,0.00,0.000,1030,0.000,0.035,2472,2447,3656,3717,3595,0,0,0,0,0,0,26.84,26.80,26.88
$GC,4382,-0.86,-175.2,2471,2448,3715,3593,606.5,-14.8,220,4386,0.12,2.10,0.00,0.000,2564,0.198,0.031,2498,1082,3653,3714,3592,0,0,0,0,0,0,26.75,26.84,26.84
$GC,4441,-0.86,-175.2,2499,1083,3714,3592,614.0,-13.6,222,4445,0.00,2.12,0.00,0.000,1030,0.000,0.035,2492,2445,3652,3713,3591,0,0,0,0,0,0,26.84,26.79,26.91
$GC,4771,-0.86,-175.2,2493,2446,3711,3591,651.1,-11.1,233,4772,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2446,3650,3711,3589,0,0,0,0,0,0,27.36,27.44,27.43
$GC,5072,-0.86,-175.2,2491,2446,3710,3589,680.3,-10.1,243,5075,0.00,2.08,0.00,0.000,516,0.000,0.031,2492,1079,3648,3708,3588,0,0,0,0,0,0,27.37,26.84,27.43
$GC,5096,-0.86,-175.2,2491,1079,3709,3589,682.8,-10.2,244,5101,0.00,2.15,0.00,0.000,1030,0.000,0.036,2483,2449,3647,3707,3588,0,0,0,0,0,0,26.79,26.77,26.85
$GC,5427,-0.86,-175.2,2482,2449,3706,3587,716.2,-10.3,255,5431,0.00,2.08,0.00,0.000,516,0.000,0.031,2482,1082,3645,3704,3586,0,0,0,0,0,0,27.36,26.81,27.43
$GC,5492,-0.86,-175.2,2482,1083,3706,3587,722.6,-10.6,257,5495,0.00,2.15,0.00,0.000,1030,0.000,0.035,2474,2453,3644,3703,3586,0,0,0,0,0,0,26.80,26.76,26.84
$GC,5816,-0.86,-175.2,2475,2454,3702,3585,759.7,-11.3,268,5817,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2453,3643,3702,3584,0,0,0,0,0,0,27.36,27.44,27.43
$GC,6116,-0.86,-175.2,2475,2454,3699,3583,793.5,-11.3,278,6120,0.00,2.10,0.00,0.000,516,0.000,0.031,2474,1089,3640,3699,3582,0,0,0,0,0,0,27.36,26.81,27.43
$GC,6182,-0.86,-175.2,2473,1090,3700,3583,800.6,-11.6,280,6185,0.08,2.12,0.00,0.000,3078,0.161,0.034,2500,2446,3640,3698,3582,0,0,0,0,0,0,26.24,26.74,26.41
$GC,6506,-0.86,-175.2,2500,2447,3697,3581,835.0,-10.4,291,6507,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2446,3638,3697,3580,0,0,0,0,0,0,27.36,27.44,27.43
$GC,6807,-0.86,-175.2,2500,2447,3698,3579,868.0,-11.2,301,6811,0.00,2.08,0.00,0.000,516,0.000,0.031,2501,1081,3637,3696,3578,0,0,0,0,0,0,27.36,26.78,27.43
$GC,6866,-0.86,-175.2,2501,1082,3695,3579,874.9,-11.3,303,6871,0.00,2.15,0.00,0.000,1030,0.000,0.035,2494,2449,3636,3695,3578,0,0,0,0,0,0,26.76,26.72,26.79
$GC,7197,-0.86,-175.2,2494,2450,3693,3578,912.9,-11.5,314,7201,0.00,2.08,0.00,0.000,516,0.000,0.031,2494,1084,3636,3694,3578,0,0,0,0,0,0,27.36,26.77,27.43
$GC,7232,-0.86,-175.2,2494,1085,3694,3578,916.4,-11.4,315,7235,0.00,2.15,0.00,0.000,1030,0.000,0.035,2485,2451,3635,3693,3577,0,0,0,0,0,0,26.74,26.70,26.78
$GC,7557,-0.86,-175.2,2484,2451,3693,3578,953.7,-11.2,326,7560,0.00,2.05,0.00,0.000,516,0.000,0.031,2485,1084,3633,3691,3576,0,0,0,0,0,0,27.36,26.77,27.43
$GC,7576,-0.86,-175.2,2484,1085,3692,3578,953.7,-11.2,326,7580,0.00,2.15,0.00,0.000,1030,0.000,0.035,2477,2455,3634,3691,3577,0,0,0,0,0,0,26.73,26.69,26.77
$GC,7887,-0.86,-175.2,2476,2456,3691,3578,987.8,-9.6,337,7890,0.00,2.08,0.00,0.000,516,0.000,0.031,2477,1085,3632,3689,3575,0,0,0,0,0,0,27.36,26.75,27.42
$GC,7906,-0.86,-175.2,2476,1086,3691,3576,987.8,-9.6,337,7910,0.10,2.15,0.00,0.000,3078,0.160,0.036,2497,2450,3632,3689,3576,0,0,0,0,0,0,26.23,26.67,26.30
$STATE,7915,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7915,begin apogee
$GC,7919,-0.11,0.0,2498,2112,3689,3575,990.6,-9.4,338,7999,0.80,0.00,78.10,1.285,10246,0.135,0.000,2740,2106,3279,3328,3231,0,0,0,0,0,0,25.79,25.14,23.91
$STATE,8000,end apogee,CONTROL_FINISHED_OK
$STATE,8000,begin climb
$GC,8002,0.86,175.2,2740,2107,3330,3231,990.6,0.0,340,8172,0.85,2.38,162.02,1.274,11012,0.048,0.042,3062,3506,2563,2608,2518,0,0,0,0,0,0,25.63,24.34,23.17
$GC,8396,0.86,175.2,3063,3506,2594,2515,951.9,16.7,354,8401,0.00,2.12,0.00,0.000,1030,0.000,0.023,3073,2119,2554,2594,2514,0,0,0,0,0,0,26.50,26.48,26.54
$GC,8722,0.86,175.2,3074,2119,2592,2510,903.4,14.7,365,8723,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2118,2550,2592,2509,0,0,0,0,0,0,27.08,27.15,27.15
$GC,9022,0.86,175.2,3072,2120,2592,2510,860.6,14.3,375,9025,0.00,2.17,0.00,0.000,516,0.000,0.035,3084,703,2549,2590,2509,0,0,0,0,0,0,27.19,26.71,27.25
$GC,9061,0.86,175.2,3084,703,2590,2507,856.1,14.5,376,9065,0.00,2.17,0.00,0.000,1030,0.000,0.026,3083,2112,2548,2590,2507,0,0,0,0,0,0,26.82,26.78,26.84
$GC,9382,0.86,175.2,3083,2113,2591,2507,803.3,15.7,387,9382,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2113,2548,2589,2507,0,0,0,0,0,0,27.24,27.32,27.32
$GC,9682,0.86,175.2,3083,2114,2590,2508,758.1,14.3,397,9683,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2113,2547,2588,2507,0,0,0,0,0,0,27.28,27.35,27.34
$GC,9982,0.86,175.2,3083,2114,2589,2507,715.9,13.7,407,9985,0.00,2.20,0.00,0.000,516,0.000,0.036,3094,708,2546,2587,2506,0,0,0,0,0,0,27.30,26.74,27.36
$GC,10042,0.86,175.2,3095,709,2586,2506,707.5,13.9,409,10045,0.10,2.15,0.00,0.000,5126,0.179,0.028,3066,2101,2545,2586,2505,0,0,0,0,0,0,26.30,26.81,26.39
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$STATE,16464,end climb,SURFACE_DEPTH_REACHED
$STATE,16464,begin surface coast
$FINISH,0.5,1.022105
$STATE,16484,end surface coast,CONTROL_FINISHED_OK
$STATE,16484,begin surface
$SM_CCo,16499,75.55,0.063,0,0,1239,500.17
$SM_GC,0.27,8.23,0.50,75.55,0.063,0.042,0.063,162,2457,1239,-8.14,-1.36,500.17,0,0,0,0,0,0,26.60,26.82,26.43
$IRIDIUM_FIX,1320.88,14433.41,100208,041424
$TT8_MAMPS,0.050932,0.050932
$HUMID,45.70
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,24.90
$XPDR_PINGS,2
$24V_AH,23.17,72.564
$10V_AH,10.14,34.718
$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,21.300,154.025,382.025,75.550,0.000,0.000,0.000,377.450,0.500,0.000,16.176,0.000,13536.037,590.908,2736.479,214.121,0.000,1994.026,0.000,1872.626,0.000,0.552,0.000
$DEVICE_MAMPS,238.680,47.430,1285.200,62.730,0.000,0.000,0.000,85.680,420.000,0.000,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,548.297,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,229908
$DATA_FILE_SIZE,36777,807
$CAP_FILE_SIZE,153111,0
$CFSIZE,260034560,240431104
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,17641.23,0x236db2,7,5
$CURRENT,0.088,15.79,1
$GPS,150415,193235,1325.378,14434.685,35,1.0,35,1.4,0.2,235.6,8,7.6