version: 66.12
glider: 178
mission: 20
dive: 264
start: 4 24 115 16 7 41
data:
$ID,178
$MISSION,20
$DIVE,264
$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,61
$R_STBD_OVSHOOT,47
$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
$GPS1,240415,160229,1324.5530,14434.5371,37,1.2,37,1.5,0.4,7.9,7,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-74.8
$GPS2,240415,160729,1324.5708,14434.5430,9,1.3,31,1.5,0.5,204.2,7,8.5
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,RECOVERY
$TGT_LATLONG,1324.720,14434.020
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,267.9,983,-24.5,-10.000,-30.00,1474
$D_GRID,1881
$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,-95.8,125,2461,1240,1227,0.0,0.0,0,96,0.00,0.00,-80.00,0.000,16386,0.000,0.000,124,2461,3250,3297,3203,0,0,0,0,0,0,27.04,28.83,27.11
$GC,98,-0.72,-95.8,126,2461,3297,3205,4.0,-14.7,14,122,10.62,2.03,-6.95,0.000,18692,0.239,0.057,2534,3767,3675,3738,3612,0,0,0,0,0,0,25.51,24.61,25.98
$GC,242,-0.72,-95.8,2534,3768,3742,3613,59.2,-31.1,40,245,0.00,2.00,0.00,0.000,1030,0.000,0.027,2537,2441,3678,3744,3613,0,0,0,0,0,0,26.81,26.78,26.83
$GC,552,-0.72,-95.8,2536,2439,3750,3613,136.4,-14.9,71,555,0.00,2.08,0.00,0.000,516,0.000,0.028,2541,1062,3680,3748,3613,0,0,0,0,0,0,27.27,26.82,27.33
$GC,602,-0.72,-95.8,2540,1063,3749,3613,143.5,-14.3,76,606,0.00,2.10,0.00,0.000,1030,0.000,0.028,2533,2461,3681,3749,3613,0,0,0,0,0,0,26.89,26.82,26.93
$GC,912,-0.72,-95.8,2532,2462,3757,3615,192.0,-13.5,107,916,0.00,2.05,0.00,0.000,260,0.000,0.043,2522,3765,3684,3755,3614,0,0,0,0,0,0,27.32,26.72,27.39
$GC,937,-0.72,-95.8,2523,3765,3754,3614,194.7,-13.6,109,943,0.00,1.95,0.00,0.000,1030,0.000,0.022,2523,2424,3684,3755,3614,0,0,0,0,0,0,27.04,27.03,27.06
$GC,1252,-0.72,-95.8,2524,2421,3757,3616,242.4,-15.6,123,1255,0.00,2.12,0.00,0.000,260,0.000,0.043,2513,3766,3686,3757,3615,0,0,0,0,0,0,27.35,26.74,27.41
$GC,1277,-0.72,-95.8,2514,3767,3757,3616,242.4,-15.6,123,1284,0.10,1.92,0.00,0.000,3078,0.131,0.022,2545,2442,3687,3758,3616,0,0,0,0,0,0,26.63,27.05,26.69
$GC,1582,-0.72,-95.8,2544,2444,3760,3616,284.5,-12.4,134,1583,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2442,3686,3758,3615,0,0,0,0,0,0,27.36,27.43,27.42
$GC,1882,-0.72,-95.8,2546,2444,3757,3616,320.2,-11.3,144,1885,0.00,2.05,0.00,0.000,516,0.000,0.030,2546,1084,3687,3758,3616,0,0,0,0,0,0,27.36,26.89,27.42
$GC,1962,-0.72,-95.8,2545,1085,3759,3616,327.0,-11.3,146,1965,0.00,2.08,0.00,0.000,1030,0.000,0.029,2541,2444,3686,3757,3615,0,0,0,0,0,0,26.93,26.89,26.96
$GC,2272,-0.72,-95.8,2541,2445,3753,3616,363.2,-10.9,157,2273,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2444,3684,3754,3615,0,0,0,0,0,0,27.36,27.44,27.43
$GC,2572,-0.72,-95.8,2540,2445,3751,3616,397.7,-11.2,167,2573,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2444,3682,3749,3616,0,0,0,0,0,0,27.36,27.44,27.43
$GC,2872,-0.74,-108.8,2541,2445,3745,3616,425.1,-9.1,177,2873,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2444,3680,3745,3615,0,0,0,0,0,0,27.37,27.44,27.43
$GC,3172,-0.75,-113.0,2541,2445,3742,3613,453.6,-9.7,187,3176,0.00,2.05,0.00,0.000,516,0.000,0.031,2541,1086,3676,3741,3612,0,0,0,0,0,0,27.36,26.86,27.43
$GC,3217,-0.76,-117.1,2541,1086,3741,3612,456.1,-9.7,188,3221,0.00,2.12,0.00,0.000,1030,0.000,0.032,2531,2455,3676,3741,3612,0,0,0,0,0,0,26.89,26.85,26.92
$GC,3527,-0.76,-121.8,2531,2455,3740,3610,489.1,-9.7,199,3531,0.00,2.08,0.00,0.000,516,0.000,0.030,2532,1085,3673,3738,3609,0,0,0,0,0,0,27.36,26.86,27.43
$GC,3597,-0.79,-135.7,2532,1085,3737,3608,494.4,-9.0,201,3600,0.00,2.12,0.00,0.000,1030,0.000,0.032,2525,2456,3672,3737,3608,0,0,0,0,0,0,26.95,26.83,26.98
$GC,3917,-0.81,-146.6,2525,2457,3734,3605,523.4,-9.2,212,3921,0.00,2.10,0.00,0.000,260,0.000,0.047,2514,3775,3669,3734,3605,0,0,0,0,0,0,27.36,26.67,27.43
$GC,3972,-0.82,-155.2,2516,3775,3733,3606,526.4,-9.4,213,3978,0.00,1.95,0.00,0.000,1030,0.000,0.025,2515,2469,3669,3733,3606,0,0,0,0,0,0,27.10,27.05,27.09
$GC,4277,-0.82,-155.2,2515,2466,3729,3605,561.7,-11.2,224,4281,0.00,2.12,0.00,0.000,516,0.000,0.031,2515,1070,3667,3730,3604,0,0,0,0,0,0,27.36,26.85,27.43
$GC,4321,-0.82,-155.2,2514,1071,3731,3605,565.1,-11.2,225,4326,0.00,2.15,0.00,0.000,1030,0.000,0.031,2506,2457,3666,3729,3603,0,0,0,0,0,0,26.86,26.82,26.90
$GC,4637,-0.82,-155.2,2507,2458,3727,3601,600.9,-10.8,236,4641,0.00,2.12,0.00,0.000,516,0.000,0.031,2506,1068,3663,3727,3600,0,0,0,0,0,0,27.36,26.84,27.42
$GC,4667,-0.82,-155.2,2506,1069,3727,3601,604.3,-11.0,237,4670,0.00,2.15,0.00,0.000,1030,0.000,0.032,2497,2452,3663,3726,3600,0,0,0,0,0,0,26.85,26.82,26.88
$GC,4997,-0.82,-155.2,2498,2452,3725,3599,642.5,-11.8,248,4998,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2452,3661,3724,3598,0,0,0,0,0,0,27.36,27.43,27.43
$GC,5297,-0.82,-155.2,2498,2452,3721,3597,679.4,-12.7,258,5298,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2452,3659,3722,3596,0,0,0,0,0,0,27.36,27.43,27.42
$GC,5597,-0.82,-155.2,2498,2453,3720,3595,718.8,-12.9,268,5600,0.00,2.15,0.00,0.000,516,0.000,0.031,2497,1059,3657,3720,3595,0,0,0,0,0,0,27.36,26.80,27.43
$GC,5672,-0.82,-155.2,2498,1060,3718,3595,726.4,-12.8,270,5676,0.00,2.17,0.00,0.000,1030,0.000,0.033,2489,2451,3656,3718,3594,0,0,0,0,0,0,26.82,26.78,26.86
$GC,5987,-0.82,-155.2,2488,2452,3719,3592,765.5,-10.9,281,5991,0.00,2.15,0.00,0.000,516,0.000,0.031,2489,1059,3654,3717,3592,0,0,0,0,0,0,27.36,26.80,27.42
$GC,6021,-0.82,-155.2,2488,1060,3718,3592,768.9,-10.9,282,6025,0.10,2.17,0.00,0.000,3078,0.145,0.033,2509,2450,3654,3716,3592,0,0,0,0,0,0,26.36,26.77,26.44
$GC,6347,-0.86,-175.2,2509,2450,3717,3592,796.8,-8.1,293,6348,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2450,3652,3715,3590,0,0,0,0,0,0,27.36,27.43,27.42
$GC,6647,-0.86,-175.2,2510,2450,3713,3590,820.1,-7.9,303,6651,0.00,2.12,0.00,0.000,516,0.000,0.031,2510,1058,3651,3713,3590,0,0,0,0,0,0,27.36,26.77,27.42
$GC,6722,-0.86,-175.2,2509,1059,3714,3590,824.7,-8.0,305,6725,0.00,2.12,0.00,0.000,1030,0.000,0.033,2503,2450,3650,3712,3589,0,0,0,0,0,0,26.82,26.74,26.86
$GC,7033,-0.86,-175.2,2503,2450,3713,3589,852.6,-8.5,316,7036,0.00,2.12,0.00,0.000,516,0.000,0.031,2503,1057,3649,3711,3588,0,0,0,0,0,0,27.36,26.77,27.42
$GC,7062,-0.86,-175.2,2502,1057,3712,3589,854.7,-8.5,317,7066,0.00,2.17,0.00,0.000,1030,0.000,0.034,2493,2447,3649,3710,3588,0,0,0,0,0,0,26.78,26.74,26.82
$GC,7387,-0.86,-175.2,2493,2447,3710,3588,884.5,-9.0,328,7388,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2447,3647,3708,3587,0,0,0,0,0,0,27.36,27.43,27.42
$GC,7687,-0.86,-175.2,2493,2448,3709,3588,908.9,-7.7,338,7691,0.00,2.10,0.00,0.000,516,0.000,0.031,2494,1065,3647,3707,3587,0,0,0,0,0,0,27.36,26.76,27.42
$GC,7742,-0.86,-175.2,2494,1066,3706,3587,911.2,-7.8,339,7748,0.00,2.17,0.00,0.000,1030,0.000,0.033,2485,2453,3646,3706,3586,0,0,0,0,0,0,26.77,26.73,26.80
$GC,8047,-0.86,-175.2,2484,2454,3707,3586,940.1,-9.4,350,8051,0.00,2.15,0.00,0.000,516,0.000,0.030,2485,1061,3645,3705,3586,0,0,0,0,0,0,27.36,26.76,27.41
$GC,8092,-0.86,-175.2,2484,1062,3706,3586,943.1,-9.6,351,8095,0.00,2.17,0.00,0.000,1030,0.000,0.033,2476,2450,3645,3705,3586,0,0,0,0,0,0,26.75,26.72,26.79
$GC,8407,-0.86,-175.2,2477,2450,3704,3585,977.8,-10.6,362,8411,0.00,2.15,0.00,0.000,516,0.000,0.031,2476,1058,3644,3704,3585,0,0,0,0,0,0,27.35,26.74,27.41
$GC,8432,-0.86,-175.2,2475,1059,3705,3586,977.8,-10.6,362,8438,0.10,2.17,0.00,0.000,3078,0.150,0.033,2496,2450,3644,3704,3585,0,0,0,0,0,0,26.28,26.70,26.35
$STATE,8525,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8525,begin apogee
$GC,8530,-0.11,0.0,2498,2079,3704,3585,990.3,-10.4,366,8618,0.80,0.00,81.62,1.296,10246,0.129,0.000,2742,2077,3278,3328,3228,0,0,0,0,0,0,25.83,24.96,23.63
$STATE,8619,end apogee,CONTROL_FINISHED_OK
$STATE,8619,begin climb
$GC,8621,0.86,175.2,2742,2078,3329,3228,993.7,0.0,369,8792,0.85,2.28,163.60,1.291,10756,0.045,0.034,3077,730,2563,2609,2517,0,0,0,0,0,0,25.65,24.20,22.94
$GC,9017,0.86,175.2,3076,730,2600,2508,967.9,14.1,382,9021,0.00,2.15,0.00,0.000,1030,0.000,0.025,3077,2101,2552,2598,2507,0,0,0,0,0,0,26.46,26.41,26.48
$GC,9338,0.86,175.2,3079,2102,2595,2506,919.8,14.6,393,9341,0.00,2.12,0.00,0.000,516,0.000,0.032,3088,733,2550,2595,2505,0,0,0,0,0,0,27.08,26.65,27.15
$GC,9492,0.86,175.2,3087,734,2594,2504,898.7,14.5,398,9496,0.10,2.12,0.00,0.000,5126,0.177,0.025,3061,2111,2548,2594,2503,0,0,0,0,0,0,26.27,26.74,26.36
$GC,9812,0.86,175.2,3061,2111,2593,2502,854.4,13.4,409,9813,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2111,2548,2594,2502,0,0,0,0,0,0,27.22,27.30,27.29
$GC,10112,0.86,175.2,3061,2111,2592,2503,814.2,13.2,419,10116,0.00,2.20,0.00,0.000,260,0.000,0.040,3060,3501,2547,2592,2502,0,0,0,0,0,0,27.26,26.65,27.33
$GC,10142,0.86,175.2,3061,3501,2592,2503,810.0,13.2,420,10146,0.00,2.08,0.00,0.000,1030,0.000,0.021,3069,2116,2547,2592,2502,0,0,0,0,0,0,26.97,26.94,26.98
$GC,10473,0.86,175.2,3068,2117,2593,2502,766.0,13.0,431,10476,0.00,2.15,0.00,0.000,516,0.000,0.033,3080,712,2545,2590,2501,0,0,0,0,0,0,27.29,26.76,27.36
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$STATE,17316,end climb,SURFACE_DEPTH_REACHED
$STATE,17316,begin surface coast
$FINISH,0.6,1.022082
$STATE,17337,end surface coast,CONTROL_FINISHED_OK
$STATE,17337,begin surface
$SM_CCo,17352,65.38,0.061,0,0,1240,500.17
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$IRIDIUM_FIX,1320.88,14431.60,190208,005000
$TT8_MAMPS,0.047187,0.047187
$HUMID,46.77
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,25.00
$XPDR_PINGS,3
$24V_AH,22.94,78.386
$10V_AH,10.13,37.455
$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
$DEVICE_SECS,21.250,158.525,404.100,65.375,0.000,0.000,0.000,202.750,0.750,0.000,34.387,0.000,14191.757,607.591,2685.952,222.662,0.000,1883.567,0.000,1949.099,0.000,0.551,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,570.307,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,229940
$DATA_FILE_SIZE,36810,839
$CAP_FILE_SIZE,157401,0
$CFSIZE,260034560,237543424
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,16828.45,0x236db2,7,5
$CURRENT,0.079,324.77,1
$GPS,240415,205922,1325.081,14432.232,38,1.2,60,1.4,0.5,238.2,9,7.4