version: 66.12
glider: 178
mission: 20
dive: 272
start: 4 26 115 8 42 34
data:
$ID,178
$MISSION,20
$DIVE,272
$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,98
$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
$GPS1,260415,083453,1324.8271,14435.6855,39,1.1,39,1.5,0.5,51.3,8,8.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.31
$_SM_ANGLEo,-75.1
$GPS2,260415,084222,1324.8281,14435.6943,9,1.4,42,1.5,0.4,29.9,10,7.6
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,RECOVERY
$TGT_LATLONG,1324.720,14434.020
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,250.6,3025,-21.0,-10.000,-26.91,1891
$D_GRID,1179
$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,-0.69,-122.9,128,2405,1244,1224,0.0,0.0,0,94,0.00,0.00,-78.20,0.000,16386,0.000,0.000,126,2402,3164,3205,3124,0,0,0,0,0,0,27.03,28.83,27.10
$GC,97,-0.69,-122.9,128,2403,3205,3126,3.2,-10.5,14,126,10.77,2.03,-10.55,0.000,18948,0.242,0.044,2551,1088,3785,3853,3717,0,0,0,0,0,0,25.54,24.63,25.99
$GC,245,-0.69,-122.9,2551,1090,3856,3720,54.5,-28.9,41,252,0.00,2.10,0.00,0.000,1030,0.000,0.034,2544,2437,3788,3857,3719,0,0,0,0,0,0,26.68,26.64,26.72
$GC,550,-0.69,-122.9,2544,2438,3859,3720,135.9,-17.4,72,554,0.00,2.10,0.00,0.000,260,0.000,0.043,2533,3771,3790,3860,3720,0,0,0,0,0,0,27.27,26.66,27.33
$GC,590,-0.69,-122.9,2533,3772,3862,3721,143.7,-19.5,76,594,0.00,1.90,0.00,0.000,1030,0.000,0.022,2535,2463,3790,3861,3720,0,0,0,0,0,0,27.02,26.97,27.01
$GC,901,-0.69,-122.9,2534,2461,3868,3722,194.8,-13.8,107,904,0.00,2.05,0.00,0.000,516,0.000,0.029,2538,1073,3794,3867,3721,0,0,0,0,0,0,27.32,26.85,27.39
$GC,995,-0.69,-122.9,2537,1073,3869,3724,205.4,-11.6,114,999,0.00,2.12,0.00,0.000,1030,0.000,0.030,2530,2450,3794,3866,3723,0,0,0,0,0,0,26.87,26.86,26.91
$GC,1320,-0.69,-122.9,2531,2450,3867,3724,251.5,-13.1,125,1325,0.00,2.08,0.00,0.000,260,0.000,0.044,2521,3772,3795,3867,3723,0,0,0,0,0,0,27.35,26.73,27.41
$GC,1360,-0.69,-122.9,2520,3773,3869,3723,255.7,-13.5,126,1365,0.10,1.92,0.00,0.000,3078,0.129,0.022,2553,2454,3795,3867,3723,0,0,0,0,0,0,26.64,27.10,26.71
$GC,1680,-0.69,-122.9,2552,2454,3869,3723,297.1,-11.3,137,1681,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2453,3795,3867,3723,0,0,0,0,0,0,27.36,27.43,27.42
$GC,1981,-0.69,-122.9,2553,2454,3864,3722,328.5,-10.0,147,1981,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2454,3793,3864,3723,0,0,0,0,0,0,27.36,27.43,27.42
$GC,2281,-0.76,-165.4,2552,2455,3862,3723,353.1,-7.7,157,2284,0.00,2.05,0.00,0.000,516,0.000,0.030,2554,1078,3791,3860,3723,0,0,0,0,0,0,27.36,26.88,27.43
$GC,2315,-0.78,-175.2,2553,1080,3862,3724,355.5,-7.9,158,2319,0.00,2.12,0.00,0.000,1030,0.000,0.030,2549,2459,3791,3860,3723,0,0,0,0,0,0,26.91,26.89,26.94
$GC,2640,-0.78,-175.2,2549,2459,3854,3724,387.9,-10.9,169,2641,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2459,3788,3855,3722,0,0,0,0,0,0,27.36,27.43,27.43
$GC,2941,-0.78,-175.2,2548,2459,3853,3720,419.1,-10.1,179,2944,0.00,2.10,0.00,0.000,516,0.000,0.030,2549,1066,3786,3852,3720,0,0,0,0,0,0,27.36,26.88,27.42
$GC,2985,-0.78,-175.2,2547,1067,3853,3720,422.2,-10.1,180,2989,0.00,2.12,0.00,0.000,1030,0.000,0.031,2542,2440,3785,3851,3719,0,0,0,0,0,0,26.89,26.85,26.93
$GC,3301,-0.78,-175.2,2542,2440,3849,3718,454.7,-9.2,191,3301,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2440,3781,3846,3716,0,0,0,0,0,0,27.36,27.43,27.43
$GC,3601,-0.78,-175.2,2543,2440,3844,3715,482.0,-9.1,201,3604,0.00,2.08,0.00,0.000,516,0.000,0.031,2542,1069,3779,3844,3714,0,0,0,0,0,0,27.36,26.86,27.43
$GC,3675,-0.78,-175.2,2541,1069,3845,3715,487.6,-9.2,203,3679,0.00,2.15,0.00,0.000,1030,0.000,0.033,2541,2454,3778,3842,3714,0,0,0,0,0,0,26.86,26.82,26.89
$GC,3991,-0.78,-175.2,2542,2454,3842,3711,521.7,-10.5,214,3994,0.00,2.08,0.00,0.000,516,0.000,0.030,2541,1079,3776,3842,3711,0,0,0,0,0,0,27.36,26.85,27.43
$GC,4015,-0.78,-175.2,2541,1080,3844,3712,521.7,-10.5,214,4022,0.00,2.15,0.00,0.000,1030,0.000,0.033,2541,2457,3776,3842,3711,0,0,0,0,0,0,26.86,26.82,26.89
$GC,4320,-0.78,-175.2,2542,2458,3838,3709,557.1,-10.8,225,4324,0.00,2.12,0.00,0.000,516,0.000,0.030,2541,1073,3773,3838,3708,0,0,0,0,0,0,27.36,26.84,27.42
$GC,4345,-0.78,-175.2,2542,1073,3837,3709,557.1,-10.8,225,4352,0.00,2.15,0.00,0.000,1030,0.000,0.033,2541,2450,3772,3837,3708,0,0,0,0,0,0,26.84,26.81,26.88
$GC,4651,-0.78,-175.2,2541,2451,3836,3706,588.8,-8.8,236,4654,0.00,2.08,0.00,0.000,516,0.000,0.031,2541,1068,3769,3834,3705,0,0,0,0,0,0,27.36,26.84,27.42
$GC,4676,-0.78,-175.2,2540,1069,3836,3707,591.2,-8.8,237,4679,0.00,2.15,0.00,0.000,1030,0.000,0.034,2541,2443,3769,3834,3705,0,0,0,0,0,0,26.83,26.79,26.86
$GC,5006,-0.78,-175.2,2541,2443,3833,3704,620.0,-8.3,248,5007,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2442,3766,3830,3702,0,0,0,0,0,0,27.36,27.43,27.42
$GC,5306,-0.78,-175.2,2542,2443,3829,3703,641.1,-6.4,258,5309,0.00,2.08,0.00,0.000,516,0.000,0.031,2541,1080,3765,3829,3702,0,0,0,0,0,0,27.36,26.82,27.42
$GC,5330,-0.78,-175.2,2540,1075,3830,3702,641.1,-6.4,258,5337,0.00,2.15,0.00,0.000,1030,0.000,0.034,2541,2445,3765,3829,3701,0,0,0,0,0,0,26.81,26.77,26.84
$GC,5636,-0.78,-175.2,2542,2446,3826,3700,663.9,-7.3,269,5637,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2446,3762,3826,3699,0,0,0,0,0,0,27.36,27.43,27.42
$GC,5936,-0.78,-175.2,2541,2446,3826,3699,685.4,-6.8,279,5939,0.00,2.10,0.00,0.000,516,0.000,0.030,2541,1080,3761,3824,3698,0,0,0,0,0,0,27.36,26.81,27.42
$GC,5966,-0.78,-175.2,2540,1081,3825,3699,687.5,-6.8,280,5969,0.00,2.15,0.00,0.000,1030,0.000,0.034,2541,2450,3760,3823,3698,0,0,0,0,0,0,26.79,26.75,26.82
$GC,6296,-0.78,-175.2,2540,2451,3823,3697,709.7,-7.0,291,6297,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2450,3759,3822,3696,0,0,0,0,0,0,27.36,27.43,27.42
$GC,6596,-0.78,-175.2,2540,2451,3822,3696,735.5,-9.0,301,6599,0.00,2.10,0.00,0.000,516,0.000,0.031,2541,1085,3757,3820,3695,0,0,0,0,0,0,27.36,26.79,27.42
$GC,6635,-0.78,-175.2,2539,1086,3821,3696,737.7,-8.8,302,6639,0.00,2.12,0.00,0.000,1030,0.000,0.033,2541,2448,3757,3820,3695,0,0,0,0,0,0,26.80,26.75,26.84
$GC,6956,-0.78,-175.2,2542,2449,3817,3694,762.8,-7.5,313,6959,0.00,2.10,0.00,0.000,260,0.000,0.049,2532,3772,3755,3817,3694,0,0,0,0,0,0,27.36,26.55,27.41
$GC,6990,-0.78,-175.2,2532,3772,3819,3694,764.7,-7.6,314,6995,0.00,1.98,0.00,0.000,1030,0.000,0.025,2533,2445,3755,3817,3694,0,0,0,0,0,0,27.03,27.01,27.05
$GC,7311,-0.78,-175.2,2532,2445,3819,3694,796.1,-9.9,325,7314,0.00,2.08,0.00,0.000,516,0.000,0.031,2533,1085,3754,3816,3693,0,0,0,0,0,0,27.36,26.77,27.41
$GC,7341,-0.78,-175.2,2533,1086,3815,3693,799.2,-10.0,326,7345,0.00,2.12,0.00,0.000,1030,0.000,0.034,2533,2458,3753,3815,3692,0,0,0,0,0,0,26.80,26.72,26.84
$GC,7671,-0.78,-175.2,2532,2459,3817,3692,829.8,-8.6,337,7675,0.00,2.12,0.00,0.000,516,0.000,0.031,2533,1078,3753,3815,3691,0,0,0,0,0,0,27.35,26.77,27.41
$GC,7701,-0.78,-175.2,2534,1079,3815,3692,832.5,-8.6,338,7704,0.00,2.15,0.00,0.000,1030,0.000,0.035,2533,2447,3753,3815,3691,0,0,0,0,0,0,26.75,26.71,26.79
$GC,8031,-0.78,-175.2,2534,2448,3813,3690,859.1,-7.9,349,8032,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2447,3751,3813,3690,0,0,0,0,0,0,27.35,27.43,27.41
$GC,8331,-0.78,-175.2,2534,2448,3812,3690,881.7,-7.9,359,8331,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2447,3750,3812,3689,0,0,0,0,0,0,27.35,27.42,27.41
$GC,8631,-0.78,-175.2,2532,2448,3811,3690,907.0,-8.7,369,8634,0.00,2.10,0.00,0.000,516,0.000,0.031,2533,1070,3749,3810,3689,0,0,0,0,0,0,27.35,26.74,27.41
$GC,8680,-0.78,-175.2,2534,1070,3810,3689,909.8,-8.9,370,8685,0.00,2.17,0.00,0.000,1030,0.000,0.034,2533,2449,3749,3810,3689,0,0,0,0,0,0,26.72,26.68,26.76
$GC,8991,-0.78,-175.2,2532,2450,3812,3688,938.6,-8.5,381,8995,0.00,2.12,0.00,0.000,516,0.000,0.031,2533,1077,3748,3810,3687,0,0,0,0,0,0,27.35,26.74,27.41
$GC,9041,-0.78,-175.2,2532,1078,3811,3688,941.1,-8.5,382,9044,0.00,2.17,0.00,0.000,1030,0.000,0.035,2532,2458,3747,3808,3687,0,0,0,0,0,0,26.72,26.67,26.75
$GC,9351,-0.78,-175.2,2534,2458,3808,3687,969.7,-8.4,393,9354,0.00,2.12,0.00,0.000,516,0.000,0.031,2533,1081,3747,3808,3686,0,0,0,0,0,0,27.35,26.74,27.41
$GC,9406,-0.78,-175.2,2534,1082,3807,3686,972.4,-8.6,394,9412,0.00,2.15,0.00,0.000,1030,0.000,0.035,2533,2458,3746,3807,3686,0,0,0,0,0,0,26.74,26.65,26.79
$STATE,9589,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9589,begin apogee
$GC,9593,-0.11,0.0,2533,2101,3809,3686,990.8,-8.6,401,9700,0.68,0.00,103.97,1.292,10246,0.117,0.000,2745,2098,3279,3326,3232,0,0,0,0,0,0,25.98,24.79,23.48
$STATE,9700,end apogee,CONTROL_FINISHED_OK
$STATE,9700,begin climb
$GC,9702,0.78,175.2,2744,2099,3327,3233,994.3,0.0,404,9876,0.82,2.50,164.07,1.279,10500,0.053,0.041,3044,3506,2563,2609,2517,0,0,0,0,0,0,25.38,24.10,22.83
$GC,10100,0.78,175.2,3043,3506,2597,2515,965.8,14.2,418,10104,0.00,2.12,0.00,0.000,1030,0.000,0.022,3054,2122,2554,2595,2514,0,0,0,0,0,0,26.52,26.49,26.53
$GC,10431,0.78,175.2,3056,2123,2594,2509,921.3,13.6,429,10434,0.00,2.17,0.00,0.000,516,0.000,0.033,3065,711,2551,2594,2509,0,0,0,0,0,0,27.08,26.64,27.15
$GC,10525,0.78,175.2,3064,712,2596,2509,909.5,13.7,432,10530,0.10,2.17,0.00,0.000,5126,0.169,0.025,3037,2118,2550,2594,2507,0,0,0,0,0,0,26.27,26.72,26.36
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$STATE,18553,end climb,SURFACE_DEPTH_REACHED
$STATE,18553,begin surface coast
$FINISH,0.3,1.022008
$STATE,18569,end surface coast,CONTROL_FINISHED_OK
$STATE,18569,begin surface
$SM_CCo,18583,45.10,0.064,0,0,1239,500.17
$SM_GC,0.15,7.97,0.50,45.10,0.039,0.044,0.064,163,2449,1239,-8.14,-1.47,500.17,0,0,0,0,0,0,26.55,26.78,26.39
$IRIDIUM_FIX,1318.67,14431.60,200208,220239
$TT8_MAMPS,0.050183,0.050183
$HUMID,49.21
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,24.60
$XPDR_PINGS,2
$24V_AH,22.83,79.492
$10V_AH,10.13,37.961
$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,20.875,141.450,462.050,45.100,0.000,0.000,0.000,278.600,0.500,0.000,44.798,0.000,15588.021,640.289,2620.102,215.238,0.000,1921.861,0.000,1809.415,0.000,0.551,0.000
$DEVICE_MAMPS,241.740,48.960,1292.085,64.260,0.000,0.000,0.000,91.035,420.000,0.000,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,576.366,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,229952
$DATA_FILE_SIZE,36754,847
$CAP_FILE_SIZE,154126,0
$CFSIZE,260034560,237010944
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,17270.61,0x236db2,7,5
$CURRENT,0.064,319.97,1
$GPS,260415,135405,1324.642,14433.287,37,0.8,40,1.4,0.5,54.2,9,7.8