version: 66.12
glider: 178
mission: 20
dive: 268
start: 4 25 115 12 33 31
data:
$ID,178
$MISSION,20
$DIVE,268
$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,54
$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
$GPS1,250415,122836,1325.0968,14435.1826,30,0.9,30,1.5,0.4,343.3,8,7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.20
$_SM_ANGLEo,-74.7
$GPS2,250415,123319,1325.1359,14435.1592,13,0.9,13,1.4,0.6,346.9,8,7.1
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,RECOVERY
$TGT_LATLONG,1324.720,14434.020
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,225.7,2193,-24.5,-10.000,-30.00,1474
$D_GRID,1586
$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,-95.8,134,2482,1243,1226,0.0,0.0,0,95,0.00,0.00,-79.12,0.000,16386,0.000,0.000,132,2481,3187,3228,3147,0,0,0,0,0,0,27.02,28.83,27.09
$GC,97,-0.72,-95.8,134,2481,3228,3148,3.3,-10.8,14,121,10.57,2.17,-8.30,0.000,18948,0.238,0.041,2547,1051,3671,3736,3607,0,0,0,0,0,0,25.51,26.06,25.97
$GC,261,-0.72,-95.8,2548,1051,3741,3610,58.1,-27.6,44,265,0.00,2.15,0.00,0.000,1030,0.000,0.033,2539,2461,3675,3741,3609,0,0,0,0,0,0,26.73,26.65,26.76
$GC,571,-0.72,-95.8,2538,2461,3747,3610,140.5,-21.7,75,575,0.00,2.05,0.00,0.000,260,0.000,0.044,2530,3766,3677,3745,3609,0,0,0,0,0,0,27.27,26.65,27.33
$GC,596,-0.72,-95.8,2528,3767,3746,3610,144.6,-20.5,77,602,0.00,1.95,0.00,0.000,1030,0.000,0.021,2530,2428,3678,3746,3610,0,0,0,0,0,0,26.98,26.97,27.01
$GC,901,-0.72,-95.8,2530,2425,3750,3612,197.7,-15.1,108,904,0.00,2.03,0.00,0.000,516,0.000,0.029,2533,1084,3680,3750,3611,0,0,0,0,0,0,27.32,26.86,27.39
$GC,966,-0.72,-95.8,2533,1085,3752,3613,206.0,-13.7,112,969,0.00,2.10,0.00,0.000,1030,0.000,0.029,2526,2460,3681,3751,3612,0,0,0,0,0,0,26.89,26.86,26.93
$GC,1291,-0.72,-95.8,2525,2461,3756,3613,245.0,-10.2,123,1292,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2460,3683,3754,3613,0,0,0,0,0,0,27.35,27.41,27.41
$GC,1591,-0.72,-95.8,2527,2461,3754,3614,281.4,-11.6,133,1595,0.00,2.05,0.00,0.000,260,0.000,0.045,2517,3766,3683,3754,3613,0,0,0,0,0,0,27.36,26.73,27.42
$GC,1617,-0.72,-95.8,2515,3767,3755,3614,281.4,-11.6,133,1623,0.12,1.90,0.00,0.000,3078,0.162,0.023,2547,2448,3683,3754,3613,0,0,0,0,0,0,26.68,27.08,26.79
$GC,1921,-0.74,-108.2,2547,2449,3755,3614,312.9,-9.1,144,1925,0.00,2.05,0.00,0.000,516,0.000,0.030,2548,1071,3683,3754,3613,0,0,0,0,0,0,27.36,26.89,27.42
$GC,1951,-0.76,-118.2,2547,1072,3755,3614,315.8,-9.3,145,1954,0.00,2.12,0.00,0.000,1030,0.000,0.030,2541,2454,3683,3753,3613,0,0,0,0,0,0,26.92,26.89,26.96
$GC,2282,-0.77,-122.5,2541,2454,3749,3614,347.7,-9.7,156,2285,0.00,2.08,0.00,0.000,260,0.000,0.047,2531,3779,3681,3749,3613,0,0,0,0,0,0,27.36,26.71,27.43
$GC,2316,-0.77,-124.5,2530,3780,3750,3614,350.2,-9.9,157,2320,0.00,1.95,0.00,0.000,1030,0.000,0.023,2531,2454,3681,3749,3613,0,0,0,0,0,0,27.09,27.07,27.10
$GC,2637,-0.77,-124.5,2531,2451,3744,3613,388.6,-10.4,168,2640,0.00,2.05,0.00,0.000,516,0.000,0.031,2531,1067,3678,3744,3612,0,0,0,0,0,0,27.36,26.87,27.43
$GC,2726,-0.79,-137.2,2531,1067,3743,3613,396.2,-9.1,171,2730,0.00,2.12,0.00,0.000,1030,0.000,0.031,2524,2442,3678,3744,3612,0,0,0,0,0,0,26.89,26.86,26.94
$GC,3051,-0.79,-137.2,2523,2443,3741,3612,427.3,-10.0,182,3055,0.00,2.08,0.00,0.000,260,0.000,0.047,2513,3769,3674,3738,3611,0,0,0,0,0,0,27.36,26.70,27.43
$GC,3071,-0.79,-137.2,2513,3770,3740,3612,427.3,-10.0,182,3075,0.00,1.98,0.00,0.000,1030,0.000,0.024,2514,2444,3675,3739,3611,0,0,0,0,0,0,27.06,27.05,27.08
$GC,3381,-0.79,-137.2,2514,2442,3736,3609,460.8,-10.6,193,3385,0.00,2.10,0.00,0.000,516,0.000,0.031,2514,1065,3672,3736,3608,0,0,0,0,0,0,27.36,26.85,27.42
$GC,3421,-0.79,-137.2,2514,1066,3735,3608,464.3,-11.0,194,3425,0.00,2.15,0.00,0.000,1030,0.000,0.032,2505,2449,3671,3735,3608,0,0,0,0,0,0,26.88,26.84,26.91
$GC,3741,-0.79,-137.2,2505,2450,3732,3605,500.4,-10.2,205,3744,0.00,2.10,0.00,0.000,516,0.000,0.031,2504,1063,3668,3732,3605,0,0,0,0,0,0,27.36,26.85,27.43
$GC,3781,-0.79,-137.2,2503,1062,3733,3606,503.8,-10.4,206,3784,0.00,2.17,0.00,0.000,1030,0.000,0.033,2495,2457,3668,3731,3605,0,0,0,0,0,0,26.86,26.82,26.89
$GC,4101,-0.79,-137.2,2494,2458,3730,3603,541.6,-12.2,217,4102,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2458,3666,3729,3603,0,0,0,0,0,0,27.36,27.43,27.43
$GC,4401,-0.79,-137.2,2494,2458,3728,3601,578.1,-11.8,227,4405,0.12,2.12,0.00,0.000,2564,0.178,0.031,2523,1061,3662,3725,3600,0,0,0,0,0,0,26.82,26.83,26.89
$GC,4426,-0.79,-137.2,2524,1061,3725,3600,580.9,-11.5,228,4429,0.00,2.15,0.00,0.000,1030,0.000,0.033,2517,2456,3662,3725,3600,0,0,0,0,0,0,26.89,26.81,26.92
$GC,4756,-0.79,-137.2,2516,2456,3724,3598,615.0,-10.1,239,4759,0.00,2.12,0.00,0.000,516,0.000,0.031,2517,1073,3660,3723,3598,0,0,0,0,0,0,27.36,26.83,27.42
$GC,4781,-0.79,-137.2,2517,1074,3722,3599,615.0,-10.1,239,4788,0.00,2.12,0.00,0.000,1030,0.000,0.033,2508,2453,3659,3722,3597,0,0,0,0,0,0,26.89,26.80,26.92
$GC,5086,-0.80,-140.8,2507,2453,3722,3595,647.3,-9.7,250,5087,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2453,3657,3720,3595,0,0,0,0,0,0,27.36,27.43,27.42
$GC,5386,-0.81,-147.7,2507,2454,3720,3593,677.4,-9.5,260,5389,0.00,2.12,0.00,0.000,516,0.000,0.031,2508,1060,3655,3718,3593,0,0,0,0,0,0,27.36,26.81,27.42
$GC,5447,-0.83,-156.8,2508,1060,3717,3593,683.0,-9.4,262,5450,0.00,2.15,0.00,0.000,1030,0.000,0.034,2498,2455,3654,3717,3592,0,0,0,0,0,0,26.86,26.78,26.90
$GC,5771,-0.84,-163.0,2499,2456,3714,3591,713.8,-9.6,273,5776,0.00,2.08,0.00,0.000,260,0.000,0.047,2489,3763,3652,3714,3591,0,0,0,0,0,0,27.36,26.62,27.42
$GC,5806,-0.85,-167.9,2489,3764,3714,3590,716.8,-9.7,274,5809,0.00,1.98,0.00,0.000,1030,0.000,0.025,2489,2444,3652,3714,3591,0,0,0,0,0,0,27.05,27.03,27.07
$GC,6131,-0.85,-167.9,2489,2442,3711,3591,751.6,-10.9,285,6135,0.00,2.10,0.00,0.000,516,0.000,0.031,2489,1065,3651,3712,3590,0,0,0,0,0,0,27.36,26.81,27.42
$GC,6156,-0.85,-167.9,2488,1066,3713,3591,751.6,-10.9,285,6162,0.00,2.15,0.00,0.000,1030,0.000,0.032,2479,2447,3651,3712,3590,0,0,0,0,0,0,26.82,26.77,26.85
$GC,6462,-0.85,-167.9,2480,2448,3709,3589,789.0,-11.1,296,6463,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2448,3649,3710,3588,0,0,0,0,0,0,27.36,27.43,27.42
$GC,6761,-0.85,-167.9,2479,2448,3708,3587,819.7,-10.0,306,6762,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2448,3647,3708,3587,0,0,0,0,0,0,27.36,27.43,27.41
$GC,7061,-0.85,-167.9,2480,2448,3706,3586,850.1,-10.6,316,7064,0.00,2.12,0.00,0.000,516,0.000,0.031,2479,1071,3646,3706,3586,0,0,0,0,0,0,27.36,26.78,27.42
$GC,7101,-0.85,-167.9,2480,1071,3705,3586,853.6,-10.9,317,7105,0.10,2.17,0.00,0.000,3078,0.151,0.035,2501,2451,3645,3705,3586,0,0,0,0,0,0,26.30,26.71,26.38
$GC,7421,-0.85,-167.9,2500,2452,3706,3586,888.6,-10.9,328,7425,0.00,2.12,0.00,0.000,260,0.000,0.050,2493,3770,3644,3704,3585,0,0,0,0,0,0,27.36,26.53,27.42
$GC,7446,-0.85,-167.9,2494,3771,3704,3586,888.6,-10.9,328,7452,0.00,1.98,0.00,0.000,1030,0.000,0.025,2493,2446,3644,3704,3585,0,0,0,0,0,0,27.03,27.02,27.05
$GC,7751,-0.85,-167.9,2494,2447,3703,3585,928.7,-12.1,339,7752,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2446,3643,3703,3584,0,0,0,0,0,0,27.36,27.43,27.41
$GC,8051,-0.85,-167.9,2494,2447,3701,3583,961.2,-10.3,349,8054,0.00,2.10,0.00,0.000,516,0.000,0.031,2493,1071,3641,3701,3582,0,0,0,0,0,0,27.36,26.75,27.42
$GC,8101,-0.85,-167.9,2492,1072,3702,3583,964.4,-10.4,350,8105,0.00,2.15,0.00,0.000,1030,0.000,0.033,2485,2445,3641,3701,3582,0,0,0,0,0,0,26.75,26.72,26.79
$STATE,8349,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8349,begin apogee
$GC,8354,-0.11,0.0,2485,2090,3701,3582,992.9,-10.5,359,8437,0.85,0.00,80.57,1.292,10246,0.132,0.000,2742,2084,3279,3329,3230,0,0,0,0,0,0,25.82,24.97,23.65
$STATE,8438,end apogee,CONTROL_FINISHED_OK
$STATE,8438,begin climb
$GC,8439,0.85,167.9,2742,2085,3330,3231,994.2,0.0,361,8604,0.85,2.45,156.40,1.286,11012,0.047,0.038,3064,3506,2593,2637,2550,0,0,0,0,0,0,25.58,23.80,22.99
$GC,8798,0.85,167.9,3063,3507,2627,2547,971.0,13.9,374,8802,0.00,2.12,0.00,0.000,1030,0.000,0.023,3074,2123,2585,2625,2546,0,0,0,0,0,0,26.47,26.44,26.48
$GC,9129,0.85,167.9,3075,2124,2623,2542,929.6,12.3,385,9132,0.00,2.17,0.00,0.000,516,0.000,0.033,3085,699,2581,2622,2541,0,0,0,0,0,0,27.08,26.64,27.15
$GC,9218,0.85,167.9,3084,700,2623,2539,919.3,12.2,388,9222,0.10,2.17,0.00,0.000,5126,0.177,0.024,3058,2109,2580,2622,2538,0,0,0,0,0,0,26.26,26.73,26.36
$GC,9543,0.85,167.9,3059,2110,2621,2539,881.9,11.4,399,9547,0.00,2.20,0.00,0.000,260,0.000,0.041,3058,3495,2579,2621,2538,0,0,0,0,0,0,27.22,26.64,27.28
$GC,9638,0.85,167.9,3057,3496,2622,2539,871.4,11.6,402,9642,0.00,2.12,0.00,0.000,1030,0.000,0.023,3066,2092,2579,2621,2538,0,0,0,0,0,0,26.91,26.89,26.93
$GC,9963,0.85,167.9,3065,2092,2620,2539,837.2,10.2,413,9967,0.00,2.15,0.00,0.000,516,0.000,0.034,3077,703,2578,2618,2538,0,0,0,0,0,0,27.27,26.74,27.34
$GC,10034,0.85,167.9,3077,703,2617,2536,830.6,10.6,415,10037,0.00,2.10,0.00,0.000,1030,0.000,0.024,3077,2101,2577,2618,2536,0,0,0,0,0,0,26.89,26.83,26.94
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$STATE,17853,end climb,SURFACE_DEPTH_REACHED
$STATE,17853,begin surface coast
$FINISH,0.5,1.022069
$STATE,17878,end surface coast,CONTROL_FINISHED_OK
$STATE,17878,begin surface
$SM_CCo,17893,80.72,0.063,0,0,1239,500.17
$SM_GC,0.25,8.45,0.50,80.72,0.073,0.042,0.063,158,2460,1239,-8.14,-1.27,500.17,0,0,0,0,0,0,26.58,26.88,26.40
$IRIDIUM_FIX,1316.45,14434.70,190208,212220
$TT8_MAMPS,0.05243,0.05243
$HUMID,46.29
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,22.99,78.942
$10V_AH,10.12,37.707
$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
$DEVICE_SECS,21.800,158.100,382.025,80.725,0.000,0.000,0.000,202.300,0.000,0.000,16.127,0.000,14776.941,618.854,2625.294,223.521,0.000,1861.133,0.000,1903.750,0.000,0.550,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,581.118,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,229864
$DATA_FILE_SIZE,36768,854
$CAP_FILE_SIZE,158422,0
$CFSIZE,260034560,237273088
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,16423.46,0x236db2,7,5
$CURRENT,0.056,325.38,1
$GPS,250415,173406,1324.316,14433.518,39,0.8,39,1.4,0.3,91.2,9,6.4