version: 66.12
glider: 178
mission: 20
dive: 274
start: 4 26 115 18 53 37
data:
$ID,178
$MISSION,20
$DIVE,274
$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,67
$R_STBD_OVSHOOT,53
$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
$GPS1,260415,184836,1324.4906,14435.4893,40,0.9,40,1.5,0.2,266.5,9,7.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.27
$_SM_ANGLEo,-75.8
$GPS2,260415,185325,1324.4803,14435.4883,12,1.1,12,1.5,0.0,186.4,7,8.4
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,RECOVERY
$TGT_LATLONG,1324.720,14434.020
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,264.8,2684,-24.5,-10.000,-30.00,1474
$D_GRID,1405
$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,-95.8,145,2471,1240,1227,0.0,0.0,0,94,0.00,0.00,-78.25,0.000,16386,0.000,0.000,142,2471,3151,3191,3111,0,0,0,0,0,0,27.01,28.83,27.08
$GC,96,-0.72,-95.8,143,2471,3191,3113,3.1,-10.5,14,121,10.57,2.08,-9.00,0.000,18692,0.239,0.058,2534,3757,3673,3738,3608,0,0,0,0,0,0,25.48,24.59,25.94
$GC,285,-0.72,-95.8,2534,3758,3743,3611,73.5,-33.4,43,292,0.00,1.95,0.00,0.000,1030,0.000,0.023,2538,2438,3676,3743,3610,0,0,0,0,0,0,26.87,26.85,26.89
$GC,591,-0.72,-95.8,2538,2436,3749,3610,145.9,-19.1,74,594,0.00,2.05,0.00,0.000,516,0.000,0.029,2540,1065,3679,3749,3610,0,0,0,0,0,0,27.27,26.79,27.33
$GC,630,-0.72,-95.8,2540,1065,3749,3612,152.4,-16.1,78,634,0.00,2.10,0.00,0.000,1030,0.000,0.031,2532,2432,3680,3749,3611,0,0,0,0,0,0,26.82,26.79,26.86
$GC,940,-0.72,-95.8,2533,2432,3754,3613,200.1,-12.0,109,944,0.00,2.10,0.00,0.000,260,0.000,0.044,2522,3772,3683,3754,3612,0,0,0,0,0,0,27.32,26.70,27.37
$GC,971,-0.72,-95.8,2524,3772,3754,3613,204.0,-12.3,110,975,0.00,1.95,0.00,0.000,1030,0.000,0.022,2522,2435,3683,3754,3612,0,0,0,0,0,0,27.09,27.02,27.10
$GC,1300,-0.72,-95.8,2523,2433,3755,3614,250.8,-13.5,121,1305,0.00,2.03,0.00,0.000,516,0.000,0.029,2522,1080,3684,3755,3613,0,0,0,0,0,0,27.35,26.88,27.41
$GC,1345,-0.72,-95.8,2521,1081,3758,3615,254.6,-13.0,122,1349,0.10,2.10,0.00,0.000,3078,0.131,0.030,2546,2454,3684,3755,3614,0,0,0,0,0,0,26.53,26.87,26.60
$GC,1661,-0.72,-95.8,2545,2455,3757,3615,292.7,-12.1,133,1664,0.00,2.05,0.00,0.000,260,0.000,0.045,2539,3763,3684,3755,3614,0,0,0,0,0,0,27.36,26.72,27.41
$GC,1710,-0.72,-95.8,2538,3764,3756,3615,296.6,-12.1,134,1715,0.00,1.92,0.00,0.000,1030,0.000,0.024,2539,2459,3684,3755,3614,0,0,0,0,0,0,27.10,27.08,27.10
$GC,2021,-0.79,-135.8,2539,2458,3754,3614,327.2,-7.2,145,2025,0.00,2.08,0.00,0.000,516,0.000,0.030,2539,1060,3684,3754,3614,0,0,0,0,0,0,27.36,26.87,27.42
$GC,2060,-0.86,-175.2,2538,1060,3755,3615,329.3,-7.1,146,2065,0.00,2.12,0.00,0.000,1030,0.000,0.030,2529,2446,3683,3753,3614,0,0,0,0,0,0,26.91,26.87,26.94
$GC,2381,-0.86,-175.2,2530,2447,3748,3614,355.9,-8.4,157,2381,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2446,3681,3749,3614,0,0,0,0,0,0,27.36,27.43,27.42
$GC,2681,-0.86,-175.2,2530,2447,3744,3613,384.9,-10.6,167,2685,0.00,2.08,0.00,0.000,516,0.000,0.030,2529,1070,3678,3744,3613,0,0,0,0,0,0,27.36,26.87,27.42
$GC,2725,-0.86,-175.2,2530,1070,3744,3614,388.5,-11.0,168,2729,0.00,2.15,0.00,0.000,1030,0.000,0.033,2521,2453,3678,3744,3613,0,0,0,0,0,0,26.87,26.83,26.90
$GC,3040,-0.86,-175.2,2520,2454,3742,3611,425.4,-10.3,179,3044,0.00,2.12,0.00,0.000,516,0.000,0.030,2521,1065,3675,3740,3611,0,0,0,0,0,0,27.36,26.86,27.43
$GC,3066,-0.86,-175.2,2520,1066,3742,3611,425.4,-10.3,179,3072,0.00,2.15,0.00,0.000,1030,0.000,0.033,2514,2445,3675,3740,3611,0,0,0,0,0,0,26.86,26.82,26.90
$GC,3370,-0.86,-175.2,2513,2446,3738,3608,458.5,-10.3,190,3371,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2445,3672,3737,3607,0,0,0,0,0,0,27.36,27.43,27.42
$GC,3670,-0.86,-175.2,2514,2446,3735,3606,490.8,-10.4,200,3675,0.00,2.12,0.00,0.000,516,0.000,0.031,2514,1064,3669,3734,3605,0,0,0,0,0,0,27.36,26.85,27.42
$GC,3696,-0.86,-175.2,2512,1065,3735,3606,490.8,-10.4,200,3702,0.00,2.15,0.00,0.000,1030,0.000,0.034,2504,2461,3669,3734,3605,0,0,0,0,0,0,26.89,26.80,26.92
$GC,4001,-0.86,-175.2,2504,2462,3732,3604,524.2,-10.1,211,4001,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2461,3666,3730,3603,0,0,0,0,0,0,27.36,27.43,27.43
$GC,4301,-0.86,-175.2,2504,2462,3729,3601,554.3,-9.9,221,4304,0.00,2.12,0.00,0.000,516,0.000,0.031,2505,1061,3664,3727,3601,0,0,0,0,0,0,27.36,26.82,27.42
$GC,4341,-0.86,-175.2,2504,1062,3729,3602,557.4,-10.0,222,4344,0.00,2.17,0.00,0.000,1030,0.000,0.034,2496,2455,3663,3727,3600,0,0,0,0,0,0,26.84,26.79,26.86
$GC,4660,-0.86,-175.2,2496,2456,3724,3599,593.1,-10.9,233,4661,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2455,3661,3724,3598,0,0,0,0,0,0,27.36,27.43,27.42
$GC,4960,-0.86,-175.2,2496,2456,3722,3596,625.2,-10.7,243,4961,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2455,3659,3722,3596,0,0,0,0,0,0,27.36,27.43,27.42
$GC,5261,-0.86,-175.2,2495,2456,3722,3595,660.1,-11.7,253,5262,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2455,3657,3720,3594,0,0,0,0,0,0,27.36,27.43,27.42
$GC,5560,-0.86,-175.2,2495,2456,3720,3592,693.8,-11.4,263,5561,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2456,3655,3718,3592,0,0,0,0,0,0,27.36,27.43,27.42
$GC,5861,-0.86,-175.2,2496,2456,3715,3591,727.8,-11.3,273,5862,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2455,3653,3716,3591,0,0,0,0,0,0,27.36,27.43,27.42
$GC,6160,-0.86,-175.2,2495,2455,3716,3591,762.0,-11.6,283,6164,0.00,2.12,0.00,0.000,516,0.000,0.031,2495,1075,3651,3713,3590,0,0,0,0,0,0,27.36,26.78,27.41
$GC,6196,-0.86,-175.2,2495,1076,3715,3591,765.8,-11.8,284,6199,0.00,2.15,0.00,0.000,1030,0.000,0.035,2488,2459,3651,3713,3589,0,0,0,0,0,0,26.82,26.72,26.84
$GC,6520,-0.86,-175.2,2490,2460,3711,3590,804.4,-11.3,295,6525,0.00,2.15,0.00,0.000,516,0.000,0.031,2489,1068,3650,3711,3589,0,0,0,0,0,0,27.35,26.77,27.42
$GC,6550,-0.86,-175.2,2488,1069,3712,3590,807.8,-11.3,296,6554,0.00,2.17,0.00,0.000,1030,0.000,0.034,2479,2455,3650,3711,3589,0,0,0,0,0,0,26.77,26.72,26.81
$GC,6881,-0.86,-175.2,2478,2455,3711,3588,845.0,-10.6,307,6884,0.00,2.12,0.00,0.000,516,0.000,0.031,2479,1064,3648,3709,3587,0,0,0,0,0,0,27.36,26.77,27.41
$GC,6905,-0.86,-175.2,2480,1064,3708,3588,847.6,-10.4,308,6909,0.08,2.17,0.00,0.000,3078,0.157,0.035,2495,2445,3647,3708,3587,0,0,0,0,0,0,26.35,26.70,26.43
$GC,7236,-0.86,-175.2,2494,2445,3709,3587,879.1,-9.4,319,7237,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2444,3646,3707,3586,0,0,0,0,0,0,27.35,27.43,27.41
$GC,7536,-0.86,-175.2,2493,2445,3707,3586,907.1,-9.5,329,7539,0.00,2.08,0.00,0.000,516,0.000,0.031,2494,1066,3645,3705,3586,0,0,0,0,0,0,27.35,26.75,27.41
$GC,7566,-0.86,-175.2,2495,1067,3705,3586,910.3,-9.8,330,7569,0.00,2.15,0.00,0.000,1030,0.000,0.036,2490,2451,3645,3705,3585,0,0,0,0,0,0,26.76,26.67,26.80
$GC,7896,-0.86,-175.2,2489,2452,3706,3586,944.0,-10.5,341,7899,0.00,2.12,0.00,0.000,516,0.000,0.031,2489,1063,3644,3704,3585,0,0,0,0,0,0,27.35,26.74,27.41
$GC,7950,-0.86,-175.2,2488,1062,3707,3586,947.3,-10.6,342,7957,0.00,2.20,0.00,0.000,1030,0.000,0.034,2480,2457,3644,3704,3585,0,0,0,0,0,0,26.72,26.69,26.77
$GC,8255,-0.86,-175.2,2481,2457,3702,3584,984.2,-11.1,353,8259,0.00,2.15,0.00,0.000,516,0.000,0.031,2481,1068,3642,3702,3583,0,0,0,0,0,0,27.35,26.74,27.41
$GC,8291,-0.86,-175.2,2479,1069,3704,3583,987.3,-10.7,354,8295,0.12,2.12,0.00,0.000,3078,0.176,0.035,2500,2448,3642,3702,3583,0,0,0,0,0,0,26.32,26.67,26.45
$STATE,8314,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8314,begin apogee
$GC,8318,-0.11,0.0,2499,2103,3704,3584,990.4,-10.5,355,8406,0.77,0.00,81.22,1.287,10246,0.128,0.000,2740,2097,3278,3328,3229,0,0,0,0,0,0,25.87,24.94,23.62
$STATE,8407,end apogee,CONTROL_FINISHED_OK
$STATE,8407,begin climb
$GC,8409,0.86,175.2,2740,2098,3330,3229,992.8,0.0,358,8579,0.85,2.47,164.27,1.279,11012,0.047,0.040,3065,3508,2562,2608,2517,0,0,0,0,0,0,25.65,24.22,22.94
$GC,8646,0.86,177.0,3064,3508,2601,2516,987.2,9.9,366,8650,0.00,2.20,0.00,0.000,1030,0.000,0.022,3076,2113,2557,2600,2515,0,0,0,0,0,0,25.75,25.75,25.78
$GC,8976,0.86,177.0,3075,2113,2598,2510,939.4,14.3,377,8980,0.00,2.15,0.00,0.000,516,0.000,0.032,3086,707,2552,2595,2509,0,0,0,0,0,0,27.00,26.58,27.05
$GC,9065,0.86,177.0,3086,708,2596,2508,925.6,15.2,380,9069,0.08,2.17,0.00,0.000,5126,0.182,0.024,3066,2117,2550,2594,2507,0,0,0,0,0,0,26.29,26.68,26.37
$GC,9396,0.86,177.0,3067,2118,2593,2507,879.9,13.4,391,9399,0.00,2.20,0.00,0.000,516,0.000,0.033,3074,710,2550,2593,2507,0,0,0,0,0,0,27.19,26.72,27.25
$GC,9426,0.86,177.0,3075,710,2591,2506,876.0,13.1,392,9430,0.00,2.12,0.00,0.000,1030,0.000,0.025,3074,2105,2549,2592,2506,0,0,0,0,0,0,26.84,26.77,26.88
$GC,9756,0.86,177.0,3073,2106,2593,2506,832.4,13.6,403,9760,0.00,2.20,0.00,0.000,260,0.000,0.042,3074,3491,2549,2592,2506,0,0,0,0,0,0,27.24,26.64,27.32
$GC,9795,0.86,177.0,3073,3492,2593,2506,828.2,13.6,404,9800,0.00,2.10,0.00,0.000,1030,0.000,0.023,3085,2097,2548,2591,2505,0,0,0,0,0,0,26.92,26.89,26.94
$GC,10116,0.86,177.0,3083,2098,2591,2506,783.2,13.6,415,10117,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2097,2547,2589,2506,0,0,0,0,0,0,27.28,27.35,27.34
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$STATE,16836,end climb,SURFACE_DEPTH_REACHED
$STATE,16836,begin surface coast
$FINISH,-0.0,1.021991
$STATE,16861,end surface coast,CONTROL_FINISHED_OK
$STATE,16861,begin surface
$SM_CCo,16876,78.40,0.063,0,0,1239,500.17
$SM_GC,0.36,7.88,0.55,78.40,0.041,0.036,0.063,159,2472,1239,-8.15,-1.16,500.17,0,0,0,0,0,0,26.67,26.95,26.40
$IRIDIUM_FIX,1338.63,14432.64,210208,032204
$TT8_MAMPS,0.050183,0.050183
$HUMID,46.69
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,24.90
$XPDR_PINGS,25
$24V_AH,22.94,79.744
$10V_AH,10.19,38.082
$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,21.075,146.175,380.100,78.400,0.000,0.000,0.000,207.650,6.250,0.000,15.177,0.000,13900.272,608.194,2508.524,213.084,0.000,1803.155,0.000,1807.988,0.000,0.551,0.000
$DEVICE_MAMPS,238.680,58.140,1287.495,63.495,0.000,0.000,0.000,88.740,420.000,0.000,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,549.918,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,36714,808
$CAP_FILE_SIZE,148896,0
$CFSIZE,260034560,236883968
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,17647.47,0x236db2,7,5
$CURRENT,0.079,332.76,1
$GPS,260415,233706,1325.033,14433.249,32,0.9,32,1.4,0.7,341.5,8,7.2