version: 66.12
glider: 178
mission: 20
dive: 259
start: 4 23 115 15 47 15
data:
$ID,178
$MISSION,20
$DIVE,259
$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,59
$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
$GPS1,230415,154135,1324.1405,14433.2305,28,1.1,28,1.4,0.4,68.7,7,8.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.16
$_SM_ANGLEo,-74.2
$GPS2,230415,154704,1324.1512,14433.2344,13,1.3,46,1.4,0.3,301.9,10,6.8
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,RECOVERY
$TGT_LATLONG,1324.720,14434.020
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,76.5,1763,-24.5,-10.000,-30.00,1474
$D_GRID,2033
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.72,-95.8,125,2473,1240,1225,0.0,0.0,0,97,0.00,0.00,-80.40,0.000,16386,0.000,0.000,124,2472,3250,3297,3203,0,0,0,0,0,0,27.03,28.83,27.10
$GC,99,-0.72,-95.8,124,2472,3299,3205,3.8,-13.8,14,123,10.60,2.15,-7.00,0.000,18948,0.239,0.043,2551,1054,3674,3738,3610,0,0,0,0,0,0,25.56,24.64,26.01
$GC,158,-0.72,-95.8,2552,1054,3742,3611,32.3,-35.5,25,165,0.00,2.15,0.00,0.000,1030,0.000,0.032,2543,2451,3676,3742,3610,0,0,0,0,0,0,26.69,26.61,26.72
$GC,464,-0.72,-95.8,2544,2451,3745,3611,126.5,-29.8,61,468,0.00,2.08,0.00,0.000,260,0.000,0.044,2533,3768,3679,3747,3611,0,0,0,0,0,0,27.24,26.64,27.30
$GC,479,-0.72,-95.8,2534,3768,3746,3611,128.5,-26.7,62,486,0.00,1.95,0.00,0.000,1030,0.000,0.022,2534,2433,3679,3747,3611,0,0,0,0,0,0,26.98,26.96,27.00
$GC,784,-0.72,-95.8,2533,2431,3754,3612,178.0,-15.6,93,785,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2430,3682,3753,3611,0,0,0,0,0,0,27.31,27.38,27.37
$GC,1104,-0.72,-95.8,2533,2431,3757,3613,218.7,-12.4,115,1107,0.00,2.03,0.00,0.000,516,0.000,0.034,2537,1073,3684,3756,3613,0,0,0,0,0,0,27.34,26.05,27.40
$GC,1219,-0.72,-95.8,2535,1074,3758,3615,229.0,-11.6,118,1226,0.00,2.10,0.00,0.000,1030,0.000,0.029,2529,2445,3685,3756,3614,0,0,0,0,0,0,26.91,26.88,26.94
$GC,1524,-0.72,-95.8,2529,2446,3757,3615,270.8,-13.7,129,1525,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2446,3685,3756,3614,0,0,0,0,0,0,27.36,27.43,27.42
$GC,1824,-0.75,-113.8,2529,2446,3755,3614,300.7,-8.7,139,1828,0.00,2.08,0.00,0.000,516,0.000,0.030,2529,1080,3684,3755,3613,0,0,0,0,0,0,27.36,26.89,27.43
$GC,1859,-0.78,-130.2,2530,1081,3754,3614,303.5,-8.9,140,1863,0.00,2.10,0.00,0.000,1030,0.000,0.032,2521,2441,3684,3754,3614,0,0,0,0,0,0,26.90,26.86,26.94
$GC,2184,-0.78,-130.2,2521,2442,3754,3614,341.2,-12.2,151,2188,0.00,2.10,0.00,0.000,260,0.000,0.047,2511,3766,3683,3752,3614,0,0,0,0,0,0,27.36,26.70,27.43
$GC,2209,-0.78,-130.2,2512,3767,3751,3613,341.2,-12.2,151,2216,0.00,1.95,0.00,0.000,1030,0.000,0.024,2511,2450,3682,3751,3614,0,0,0,0,0,0,27.10,27.08,27.11
$GC,2514,-0.78,-130.2,2510,2449,3749,3614,380.7,-12.1,162,2515,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2448,3680,3747,3613,0,0,0,0,0,0,27.36,27.44,27.43
$GC,2814,-0.78,-130.2,2512,2448,3742,3614,419.4,-13.2,172,2817,0.00,2.08,0.00,0.000,516,0.000,0.031,2511,1058,3678,3742,3614,0,0,0,0,0,0,27.37,26.88,27.43
$GC,2859,-0.78,-130.2,2512,1059,3741,3613,423.5,-13.1,173,2863,0.00,2.12,0.00,0.000,1030,0.000,0.032,2502,2451,3677,3741,3613,0,0,0,0,0,0,26.92,26.84,26.96
$GC,3174,-0.78,-130.2,2503,2452,3738,3610,463.5,-11.4,184,3177,0.00,2.12,0.00,0.000,516,0.000,0.030,2502,1063,3674,3738,3610,0,0,0,0,0,0,27.36,26.87,27.43
$GC,3204,-0.78,-130.2,2501,1064,3740,3611,467.0,-11.4,185,3208,0.10,2.15,0.00,0.000,3078,0.137,0.032,2524,2452,3674,3738,3610,0,0,0,0,0,0,26.48,26.84,26.56
$GC,3535,-0.82,-153.2,2524,2452,3734,3606,496.9,-8.4,196,3538,0.00,2.08,0.00,0.000,516,0.000,0.031,2524,1068,3670,3734,3606,0,0,0,0,0,0,27.36,26.85,27.43
$GC,3559,-0.86,-175.2,2523,1069,3737,3607,499.3,-8.4,197,3562,0.00,2.15,0.00,0.000,1030,0.000,0.034,2518,2448,3670,3734,3606,0,0,0,0,0,0,26.86,26.82,26.90
$GC,3890,-0.86,-175.2,2519,2449,3730,3605,530.9,-9.8,208,3891,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2448,3667,3730,3604,0,0,0,0,0,0,27.36,27.44,27.43
$GC,4189,-0.86,-175.2,2518,2448,3728,3600,563.6,-10.9,218,4193,0.00,2.12,0.00,0.000,516,0.000,0.031,2518,1068,3664,3728,3601,0,0,0,0,0,0,27.36,26.83,27.43
$GC,4249,-0.86,-175.2,2516,1068,3729,3601,569.6,-10.4,220,4253,0.00,2.15,0.00,0.000,1030,0.000,0.034,2508,2449,3663,3727,3600,0,0,0,0,0,0,26.84,26.80,26.88
$GC,4579,-0.86,-175.2,2510,2449,3724,3598,603.8,-10.3,231,4580,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2449,3661,3725,3598,0,0,0,0,0,0,27.37,27.43,27.43
$GC,4879,-0.86,-175.2,2510,2449,3723,3596,636.0,-10.9,241,4883,0.00,2.12,0.00,0.000,516,0.000,0.031,2509,1069,3658,3722,3595,0,0,0,0,0,0,27.36,26.82,27.43
$GC,4899,-0.86,-175.2,2510,1069,3721,3596,636.0,-10.9,241,4902,0.00,2.15,0.00,0.000,1030,0.000,0.034,2500,2442,3658,3721,3595,0,0,0,0,0,0,26.82,26.77,26.86
$GC,5209,-0.86,-175.2,2500,2443,3721,3594,675.1,-11.9,252,5212,0.00,2.10,0.00,0.000,260,0.000,0.050,2491,3778,3656,3719,3593,0,0,0,0,0,0,27.36,26.58,27.43
$GC,5244,-0.86,-175.2,2490,3778,3720,3594,678.8,-11.9,253,5247,0.00,1.98,0.00,0.000,1030,0.000,0.024,2491,2449,3656,3719,3593,0,0,0,0,0,0,27.06,27.05,27.08
$GC,5569,-0.86,-175.2,2491,2446,3716,3592,717.8,-11.7,264,5573,0.00,2.10,0.00,0.000,516,0.000,0.031,2491,1065,3653,3715,3591,0,0,0,0,0,0,27.36,26.82,27.42
$GC,5614,-0.86,-175.2,2489,1066,3717,3592,721.2,-11.6,265,5618,0.00,2.15,0.00,0.000,1030,0.000,0.033,2481,2474,3653,3715,3591,0,0,0,0,0,0,26.85,26.77,26.89
$GC,5929,-0.86,-175.2,2482,2474,3713,3590,758.6,-10.8,276,5932,0.00,2.17,0.00,0.000,516,0.000,0.031,2481,1061,3651,3713,3590,0,0,0,0,0,0,27.36,26.80,27.42
$GC,5979,-0.86,-175.2,2482,1062,3712,3591,762.0,-10.8,277,5983,0.08,2.15,0.00,0.000,3078,0.156,0.034,2495,2438,3651,3713,3590,0,0,0,0,0,0,26.41,26.76,26.48
$GC,6290,-0.86,-175.2,2496,2439,3711,3590,790.6,-8.4,288,6290,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2439,3650,3711,3589,0,0,0,0,0,0,27.36,27.43,27.42
$GC,6589,-0.86,-175.2,2495,2440,3711,3588,818.2,-9.3,298,6592,0.00,2.12,0.00,0.000,516,0.000,0.031,2495,1062,3648,3709,3587,0,0,0,0,0,0,27.36,26.79,27.42
$GC,6614,-0.86,-175.2,2496,1062,3709,3588,818.2,-9.3,298,6620,0.00,2.17,0.00,0.000,1030,0.000,0.034,2490,2452,3648,3709,3587,0,0,0,0,0,0,26.81,26.74,26.82
$GC,6919,-0.86,-175.2,2490,2453,3707,3587,857.4,-13.4,309,6922,0.00,2.10,0.00,0.000,516,0.000,0.030,2489,1065,3646,3707,3586,0,0,0,0,0,0,27.36,26.79,27.42
$GC,6954,-0.86,-175.2,2488,1066,3709,3587,861.8,-13.8,310,6957,0.00,2.17,0.00,0.000,1030,0.000,0.034,2479,2451,3646,3707,3586,0,0,0,0,0,0,26.77,26.73,26.82
$GC,7279,-0.86,-175.2,2481,2452,3704,3586,908.8,-14.1,321,7280,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2450,3645,3705,3586,0,0,0,0,0,0,27.35,27.43,27.42
$GC,7580,-0.86,-175.2,2480,2452,3704,3586,952.4,-15.1,331,7583,0.00,2.10,0.00,0.000,516,0.000,0.030,2480,1067,3644,3704,3585,0,0,0,0,0,0,27.36,26.77,27.42
$GC,7629,-0.86,-175.2,2479,1067,3706,3586,956.2,-15.2,332,7636,0.08,2.17,0.00,0.000,3078,0.159,0.034,2494,2451,3644,3703,3585,0,0,0,0,0,0,26.34,26.70,26.41
$STATE,7872,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7872,begin apogee
$GC,7877,-0.11,0.0,2493,2079,3705,3584,992.1,-12.5,341,7960,0.80,0.00,80.78,1.295,10246,0.131,0.000,2739,2074,3279,3329,3229,0,0,0,0,0,0,25.86,25.01,23.69
$STATE,7961,end apogee,CONTROL_FINISHED_OK
$STATE,7961,begin climb
$GC,7963,0.86,175.2,2738,2075,3330,3229,994.5,0.0,343,8135,0.88,2.47,163.05,1.292,10500,0.045,0.039,3073,3505,2563,2608,2518,0,0,0,0,0,0,25.62,24.24,22.97
$GC,8359,0.86,175.2,3073,3506,2596,2515,966.8,15.6,357,8363,0.00,2.12,0.00,0.000,1030,0.000,0.022,3084,2120,2555,2595,2515,0,0,0,0,0,0,26.53,26.51,26.55
$GC,8684,0.86,175.2,3084,2120,2593,2511,915.6,15.3,368,8685,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2120,2551,2593,2510,0,0,0,0,0,0,27.10,27.16,27.16
$GC,8985,0.86,175.2,3083,2120,2593,2510,875.2,13.6,378,8986,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2120,2550,2591,2509,0,0,0,0,0,0,27.20,27.27,27.27
$GC,9284,0.86,175.2,3083,2121,2592,2509,834.7,14.1,388,9288,0.00,2.17,0.00,0.000,516,0.000,0.034,3095,713,2549,2590,2508,0,0,0,0,0,0,27.24,26.76,27.32
$GC,9339,0.86,175.2,3096,713,2589,2507,830.0,14.5,389,9347,0.12,2.15,0.00,0.000,5126,0.173,0.024,3060,2114,2548,2590,2506,0,0,0,0,0,0,26.27,26.83,26.36
$GC,9645,0.86,175.2,3058,2115,2591,2507,781.6,14.5,400,9645,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2113,2547,2589,2506,0,0,0,0,0,0,27.28,27.35,27.35
$GC,9944,0.86,175.2,3060,2114,2588,2507,741.7,11.9,410,9948,0.00,2.20,0.00,0.000,516,0.000,0.034,3068,703,2547,2588,2506,0,0,0,0,0,0,27.30,26.77,27.36
$GC,9984,0.86,175.2,3066,704,2588,2506,738.2,11.7,411,9988,0.00,2.15,0.00,0.000,1030,0.000,0.025,3068,2101,2546,2588,2505,0,0,0,0,0,0,26.88,26.84,26.91
$GC,10305,0.86,175.4,3066,2103,2589,2506,702.9,10.0,422,10308,0.00,2.20,0.00,0.000,260,0.000,0.041,3068,3508,2546,2588,2505,0,0,0,0,0,0,27.32,26.65,27.38
$GC,10379,0.86,175.4,3069,3508,2588,2505,697.1,10.4,424,10383,0.00,2.12,0.00,0.000,1030,0.000,0.022,3078,2097,2546,2588,2505,0,0,0,0,0,0,26.97,26.94,26.99
$GC,10689,0.86,175.4,3077,2098,2588,2506,661.0,11.0,435,10693,0.00,2.15,0.00,0.000,516,0.000,0.034,3089,709,2545,2586,2504,0,0,0,0,0,0,27.32,26.75,27.39
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$STATE,16770,end climb,SURFACE_DEPTH_REACHED
$STATE,16771,begin surface coast
$FINISH,0.3,1.022091
$STATE,16790,end surface coast,CONTROL_FINISHED_OK
$STATE,16790,begin surface
$SM_CCo,16805,65.60,0.061,0,0,1240,500.17
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$IRIDIUM_FIX,1318.67,14431.60,180208,002404
$TT8_MAMPS,0.051681,0.051681
$HUMID,46.18
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,25.10
$XPDR_PINGS,1
$24V_AH,22.97,77.749
$10V_AH,10.20,37.146
$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
$DEVICE_SECS,20.700,137.775,400.325,65.600,0.000,0.000,0.000,213.900,0.250,0.000,49.017,0.000,13819.868,605.912,2540.725,218.960,0.000,1813.857,0.000,1809.869,0.000,0.551,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,562.795,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,229840
$DATA_FILE_SIZE,36727,829
$CAP_FILE_SIZE,146123,0
$CFSIZE,260034560,237887488
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,17152.20,0x236db2,7,5
$CURRENT,0.077,10.07,1
$GPS,230415,202928,1325.280,14435.229,36,1.3,40,1.4,0.3,185.9,8,7.7