version: 66.12
glider: 178
mission: 20
dive: 231
start: 4 18 115 1 7 42
data:
$ID,178
$MISSION,20
$DIVE,231
$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,56
$R_STBD_OVSHOOT,42
$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
$GPS1,180415,010036,1323.8988,14434.7754,29,0.9,29,1.5,0.5,153.7,9,7.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.29
$_SM_ANGLEo,-75.3
$GPS2,180415,010731,1323.7944,14434.7764,10,1.2,10,1.5,0.4,193.5,7,9.2
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,RECOVERY
$TGT_LATLONG,1324.720,14434.020
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,313.7,2191,-24.5,-10.000,-30.00,1474
$D_GRID,1767
$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,-95.8,128,2458,1240,1225,0.0,0.0,0,94,0.00,0.00,-78.40,0.000,16386,0.000,0.000,126,2458,3181,3224,3139,0,0,0,0,0,0,26.98,28.83,27.04
$GC,96,-0.72,-95.8,127,2459,3224,3141,3.2,-10.8,14,121,10.70,2.10,-8.50,0.000,18692,0.243,0.058,2536,3768,3673,3738,3609,0,0,0,0,0,0,25.62,24.61,26.07
$GC,225,-0.72,-95.8,2535,3769,3744,3612,52.0,-32.7,38,232,0.00,2.00,0.00,0.000,1030,0.000,0.024,2538,2431,3676,3742,3610,0,0,0,0,0,0,26.82,26.79,26.82
$GC,530,-0.72,-95.8,2539,2429,3746,3611,136.7,-24.8,69,533,0.00,2.05,0.00,0.000,516,0.000,0.028,2542,1067,3678,3746,3610,0,0,0,0,0,0,27.24,26.81,27.31
$GC,555,-0.72,-95.8,2542,1067,3746,3611,141.1,-23.2,71,562,0.00,2.12,0.00,0.000,1030,0.000,0.031,2534,2447,3678,3747,3610,0,0,0,0,0,0,26.81,26.76,26.84
$GC,860,-0.72,-95.8,2533,2448,3753,3612,195.5,-13.5,102,863,0.00,2.10,0.00,0.000,260,0.000,0.046,2524,3775,3681,3751,3611,0,0,0,0,0,0,27.31,26.68,27.37
$GC,935,-0.72,-95.8,2523,3775,3753,3613,203.5,-13.6,107,939,0.00,1.95,0.00,0.000,1030,0.000,0.022,2524,2443,3682,3752,3612,0,0,0,0,0,0,27.05,27.04,27.07
$GC,1250,-0.72,-95.8,2525,2439,3754,3614,241.2,-11.0,118,1251,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2439,3684,3755,3613,0,0,0,0,0,0,27.34,27.41,27.41
$GC,1550,-0.72,-95.8,2523,2439,3757,3614,278.0,-12.7,128,1553,0.00,2.08,0.00,0.000,516,0.000,0.030,2524,1067,3683,3754,3613,0,0,0,0,0,0,27.36,26.87,27.42
$GC,1645,-0.72,-95.8,2523,1067,3757,3613,289.5,-12.9,131,1649,0.10,2.12,0.00,0.000,3078,0.135,0.031,2548,2455,3683,3754,3613,0,0,0,0,0,0,26.53,26.88,26.60
$GC,1970,-0.72,-95.8,2548,2455,3752,3613,325.8,-11.8,142,1971,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2454,3682,3752,3613,0,0,0,0,0,0,27.36,27.43,27.43
$GC,2270,-0.72,-95.8,2547,2456,3750,3614,358.5,-10.8,152,2273,0.00,2.08,0.00,0.000,516,0.000,0.031,2550,1075,3680,3748,3613,0,0,0,0,0,0,27.37,26.87,27.43
$GC,2300,-0.72,-95.8,2551,1076,3746,3614,361.5,-10.5,153,2303,0.00,2.10,0.00,0.000,1030,0.000,0.031,2544,2441,3680,3747,3613,0,0,0,0,0,0,26.90,26.86,26.94
$GC,2630,-0.73,-103.7,2544,2441,3741,3613,394.0,-9.4,164,2633,0.00,2.10,0.00,0.000,516,0.000,0.031,2544,1071,3677,3741,3613,0,0,0,0,0,0,27.37,26.86,27.43
$GC,2655,-0.75,-111.6,2544,1071,3743,3613,394.0,-9.4,164,2662,0.00,2.12,0.00,0.000,1030,0.000,0.034,2537,2454,3677,3741,3613,0,0,0,0,0,0,26.91,26.83,26.95
$GC,2960,-0.76,-120.0,2538,2455,3738,3610,426.0,-9.4,175,2964,0.00,2.10,0.00,0.000,516,0.000,0.031,2537,1066,3674,3738,3610,0,0,0,0,0,0,27.37,26.85,27.43
$GC,2995,-0.77,-128.0,2536,1067,3740,3610,428.9,-9.4,176,3000,0.00,2.15,0.00,0.000,1030,0.000,0.033,2530,2455,3673,3737,3610,0,0,0,0,0,0,26.87,26.83,26.91
$GC,3321,-0.81,-145.8,2529,2456,3736,3607,458.8,-8.8,187,3324,0.00,2.05,0.00,0.000,260,0.000,0.049,2520,3772,3670,3734,3606,0,0,0,0,0,0,27.37,26.66,27.43
$GC,3340,-0.84,-163.6,2519,3772,3735,3607,458.8,-8.8,187,3347,0.00,1.95,0.00,0.000,1030,0.000,0.024,2519,2454,3670,3734,3606,0,0,0,0,0,0,27.08,27.07,27.10
$GC,3645,-0.84,-163.6,2519,2452,3732,3604,492.7,-11.2,198,3649,0.00,2.08,0.00,0.000,516,0.000,0.029,2520,1076,3667,3731,3604,0,0,0,0,0,0,27.37,26.88,27.43
$GC,3695,-0.84,-163.6,2519,1077,3730,3604,496.3,-11.4,199,3699,0.00,2.12,0.00,0.000,1030,0.000,0.033,2511,2449,3666,3729,3604,0,0,0,0,0,0,26.86,26.82,26.88
$GC,4005,-0.84,-163.6,2512,2450,3727,3601,537.5,-12.4,210,4009,0.00,2.10,0.00,0.000,260,0.000,0.049,2501,3763,3663,3727,3600,0,0,0,0,0,0,27.37,26.65,27.43
$GC,4045,-0.84,-163.6,2502,3764,3726,3601,541.4,-12.4,211,4049,0.00,1.95,0.00,0.000,1030,0.000,0.024,2501,2452,3663,3726,3600,0,0,0,0,0,0,27.08,27.06,27.10
$GC,4365,-0.84,-164.3,2500,2450,3725,3599,576.6,-9.9,222,4368,0.00,2.10,0.00,0.000,260,0.000,0.047,2491,3775,3660,3723,3597,0,0,0,0,0,0,27.36,26.63,27.43
$GC,4385,-0.84,-165.1,2492,3775,3722,3598,576.6,-9.9,222,4389,0.00,1.98,0.00,0.000,1030,0.000,0.024,2491,2450,3660,3723,3598,0,0,0,0,0,0,27.07,27.05,27.10
$GC,4695,-0.84,-165.1,2491,2448,3722,3596,611.4,-10.4,233,4698,0.00,2.08,0.00,0.000,516,0.000,0.030,2492,1053,3657,3720,3595,0,0,0,0,0,0,27.36,26.83,27.43
$GC,4750,-0.84,-165.1,2492,1054,3720,3596,614.4,-10.3,234,4756,0.00,2.17,0.00,0.000,1030,0.000,0.033,2482,2454,3657,3720,3595,0,0,0,0,0,0,26.83,26.79,26.87
$GC,5055,-0.84,-165.1,2481,2455,3719,3593,650.4,-11.3,245,5059,0.00,2.12,0.00,0.000,516,0.000,0.031,2482,1067,3654,3717,3592,0,0,0,0,0,0,27.36,26.82,27.43
$GC,5085,-0.84,-165.1,2481,1069,3719,3593,653.7,-11.3,246,5089,0.10,2.15,0.00,0.000,3078,0.158,0.034,2504,2442,3654,3716,3592,0,0,0,0,0,0,26.34,26.77,26.42
$GC,5416,-0.85,-170.9,2503,2443,3716,3592,685.5,-9.6,257,5419,0.00,2.10,0.00,0.000,516,0.000,0.031,2504,1062,3653,3715,3591,0,0,0,0,0,0,27.36,26.80,27.43
$GC,5445,-0.86,-175.2,2503,1063,3716,3591,688.4,-9.6,258,5450,0.00,2.17,0.00,0.000,1030,0.000,0.034,2496,2453,3652,3714,3591,0,0,0,0,0,0,26.81,26.77,26.84
$GC,5775,-0.86,-175.2,2495,2454,3714,3590,722.9,-10.6,269,5779,0.00,2.08,0.00,0.000,260,0.000,0.048,2487,3779,3650,3712,3589,0,0,0,0,0,0,27.36,26.58,27.42
$GC,5820,-0.86,-175.2,2486,3780,3713,3590,726.4,-11.0,270,5824,0.00,2.00,0.00,0.000,1030,0.000,0.025,2487,2438,3650,3711,3589,0,0,0,0,0,0,27.08,27.02,27.07
$GC,6135,-0.86,-175.2,2488,2435,3709,3588,765.8,-11.8,281,6139,0.00,2.08,0.00,0.000,516,0.000,0.031,2487,1077,3648,3709,3587,0,0,0,0,0,0,27.36,26.79,27.43
$GC,6210,-0.86,-175.2,2487,1078,3710,3588,773.3,-12.2,283,6213,0.00,2.15,0.00,0.000,1030,0.000,0.034,2479,2449,3647,3708,3587,0,0,0,0,0,0,26.78,26.74,26.82
$GC,6525,-0.86,-175.2,2478,2450,3709,3587,817.0,-13.2,294,6528,0.00,2.12,0.00,0.000,516,0.000,0.031,2479,1071,3645,3707,3584,0,0,0,0,0,0,27.36,26.79,27.43
$GC,6545,-0.86,-175.2,2477,1071,3708,3587,817.0,-13.2,294,6549,0.10,2.17,0.00,0.000,3078,0.154,0.035,2500,2451,3646,3707,3586,0,0,0,0,0,0,26.28,26.70,26.36
$GC,6855,-0.86,-175.2,2499,2451,3706,3586,856.7,-11.2,305,6859,0.00,2.10,0.00,0.000,516,0.000,0.031,2500,1066,3644,3704,3585,0,0,0,0,0,0,27.36,26.77,27.42
$GC,6885,-0.86,-175.2,2499,1067,3706,3586,860.0,-11.1,306,6890,0.00,2.17,0.00,0.000,1030,0.000,0.034,2493,2456,3644,3704,3585,0,0,0,0,0,0,26.76,26.71,26.80
$GC,7216,-0.86,-175.2,2492,2457,3702,3584,894.0,-9.8,317,7219,0.00,2.10,0.00,0.000,260,0.000,0.050,2483,3775,3643,3703,3584,0,0,0,0,0,0,27.36,26.51,27.43
$GC,7240,-0.86,-175.2,2482,3776,3703,3585,894.0,-9.8,317,7247,0.00,1.98,0.00,0.000,1030,0.000,0.026,2483,2458,3643,3702,3584,0,0,0,0,0,0,27.01,26.99,27.02
$GC,7545,-0.86,-175.2,2482,2458,3703,3583,930.1,-11.5,328,7550,0.00,2.12,0.00,0.000,516,0.000,0.031,2483,1068,3641,3701,3582,0,0,0,0,0,0,27.36,26.75,27.42
$GC,7620,-0.86,-175.2,2482,1069,3701,3583,937.4,-12.0,330,7624,0.00,2.17,0.00,0.000,1030,0.000,0.034,2476,2454,3641,3700,3582,0,0,0,0,0,0,26.72,26.69,26.78
$GC,7935,-0.86,-175.2,2475,2454,3701,3582,979.0,-13.5,341,7939,0.00,2.10,0.00,0.000,260,0.000,0.048,2466,3769,3640,3699,3581,0,0,0,0,0,0,27.36,26.51,27.42
$GC,7970,-0.86,-175.2,2466,3770,3698,3581,983.1,-13.6,342,7974,0.10,1.98,0.00,0.000,3078,0.154,0.026,2495,2448,3639,3699,3580,0,0,0,0,0,0,26.44,26.98,26.48
$STATE,8023,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8023,begin apogee
$GC,8028,-0.11,0.0,2494,2086,3699,3581,990.6,-13.1,344,8110,0.80,0.00,80.03,1.290,10246,0.132,0.000,2740,2081,3279,3329,3230,0,0,0,0,0,0,25.79,25.06,23.78
$STATE,8111,end apogee,CONTROL_FINISHED_OK
$STATE,8111,begin climb
$GC,8113,0.86,175.2,2739,2082,3330,3230,993.0,0.0,346,8284,0.88,2.53,163.15,1.287,10500,0.045,0.041,3073,3504,2562,2607,2518,0,0,0,0,0,0,25.59,24.24,23.02
$GC,8510,0.86,175.2,3074,3505,2594,2514,967.1,14.2,360,8514,0.00,2.12,0.00,0.000,1030,0.000,0.023,3083,2126,2554,2594,2514,0,0,0,0,0,0,26.49,26.46,26.52
$GC,8835,0.86,175.2,3084,2127,2592,2510,921.5,13.8,371,8836,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2126,2551,2592,2510,0,0,0,0,0,0,27.08,27.15,27.14
$GC,9135,0.86,175.2,3083,2127,2592,2510,875.4,16.0,381,9136,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2126,2550,2591,2509,0,0,0,0,0,0,27.18,27.26,27.25
$GC,9435,0.86,175.2,3083,2127,2592,2509,826.4,16.5,391,9439,0.00,2.17,0.00,0.000,516,0.000,0.035,3095,704,2549,2590,2508,0,0,0,0,0,0,27.24,26.73,27.31
$GC,9460,0.86,175.2,3094,704,2591,2507,826.4,16.5,391,9467,0.10,2.15,0.00,0.000,5126,0.177,0.025,3066,2104,2547,2589,2506,0,0,0,0,0,0,26.30,26.79,26.39
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$STATE,16686,end climb,SURFACE_DEPTH_REACHED
$STATE,16686,begin surface coast
$FINISH,-0.4,1.022042
$STATE,16712,end surface coast,CONTROL_FINISHED_OK
$STATE,16712,begin surface
$SM_CCo,16726,73.55,0.063,0,0,1239,500.17
$SM_GC,0.18,7.78,0.52,73.55,0.031,0.046,0.063,155,2456,1239,-8.14,-1.07,500.17,0,0,0,0,0,0,26.63,26.82,26.46
$IRIDIUM_FIX,1316.45,14439.59,120208,142827
$TT8_MAMPS,0.050183,0.050183
$HUMID,45.47
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,25.00
$XPDR_PINGS,2
$24V_AH,23.02,74.120
$10V_AH,10.15,35.445
$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
$DEVICE_SECS,21.075,162.275,385.800,73.550,0.000,0.000,0.000,276.125,0.500,0.000,13.254,0.000,13674.344,640.005,2684.732,200.895,0.000,1954.966,0.000,1909.023,0.000,0.551,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,545.580,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,229976
$DATA_FILE_SIZE,36820,803
$CAP_FILE_SIZE,156047,0
$CFSIZE,260034560,239665152
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,17985.02,0x236db2,7,5
$CURRENT,0.024,225.95,1
$GPS,180415,054904,1324.856,14433.271,32,1.0,60,1.4,0.7,201.8,8,7.9