version: 66.12
glider: 178
mission: 18
dive: 6
start: 9 29 114 10 54 37
data:
$ID,178
$MISSION,18
$DIVE,6
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,360
$D_ABORT,1020
$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,120
$T_MISSION,150
$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,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51648
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0025937001
$HD_B,0.01134
$HD_C,1.234e-05
$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,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,-20
$T_GPS_ALMANAC,0
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3954
$C_PITCH,2870
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,35
$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,2250
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$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,3325
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0014
$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,145.11
$AH0_10V,98.019997
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-46.80373
$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,10
$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,20480.0
$PA_MAXOPTIONALUPLOADSIZE,20480.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,0.0
$GPS1,290914,105025,1330.858,14433.367,99,1.0,119,1.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-76.6
$GPS2,290914,105427,1330.877,14433.317,9,1.1,29,1.4
$SPEED_LIMITS,0.173,0.242
$TGT_NAME,T2
$TGT_LATLONG,1331.000,14432.000
$TGT_RADIUS,1500.000
$MHEAD_RNG_PITCHd_Wd,277.2,2382,-17.8,-10.000,-22.42,2207
$D_GRID,2495
$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,-0.71,-146.0,147,2270,1681,1638,0.0,0.0,0,78,0.00,0.00,-62.45,0.000,16386,0.000,0.000,146,2268,3297,3341,3253,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.71,-146.0,147,2270,3342,3256,4.2,-8.7,6,108,10.77,2.17,-9.27,0.000,18692,0.258,0.063,2626,3645,3926,3981,3871,0,0,0,0,0,0,26.37,26.79,27.13
$GC,183,-0.71,-146.0,2627,3646,3987,3872,51.2,-34.1,16,190,0.00,2.12,0.00,0.000,1030,0.000,0.031,2626,2238,3928,3986,3871,0,0,0,0,0,0,28.83,26.89,28.83
$GC,368,-0.71,-146.0,2626,2235,3990,3871,106.0,-28.2,35,372,0.00,2.15,0.00,0.000,516,0.000,0.040,2626,843,3930,3990,3871,0,0,0,0,0,0,28.83,26.95,28.83
$GC,458,-0.71,-146.0,2627,844,3991,3873,126.1,-18.9,44,461,0.00,2.15,0.00,0.000,1030,0.000,0.037,2616,2241,3931,3991,3871,0,0,0,0,0,0,28.83,26.96,28.83
$GC,648,-0.71,-146.0,2617,2242,3996,3873,160.9,-20.9,63,651,0.00,2.15,0.00,0.000,516,0.000,0.037,2616,842,3933,3995,3871,0,0,0,0,0,0,28.83,27.05,28.83
$GC,677,-0.71,-146.0,2617,843,3996,3873,167.1,-21.0,66,682,0.10,2.15,0.00,0.000,3078,0.147,0.037,2639,2244,3933,3995,3872,0,0,0,0,0,0,26.82,27.03,28.83
$GC,868,-0.71,-146.0,2639,2246,4000,3873,198.0,-14.5,85,871,0.00,2.20,0.00,0.000,260,0.000,0.051,2630,3646,3936,3999,3873,0,0,0,0,0,0,28.83,27.04,28.83
$GC,893,-0.71,-146.0,2630,3645,4000,3872,200.9,-14.1,87,900,0.00,2.10,0.00,0.000,1030,0.000,0.030,2631,2236,3935,3999,3872,0,0,0,0,0,0,28.83,27.14,28.83
$GC,1078,-0.71,-146.0,2631,2235,4002,3874,225.4,-11.7,106,1078,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2234,3936,4001,3872,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1258,-0.71,-146.0,2631,2233,4003,3873,244.4,-10.5,124,1261,0.00,2.10,0.00,0.000,516,0.000,0.037,2631,848,3937,4002,3873,0,0,0,0,0,0,28.83,27.14,28.83
$GC,1323,-0.71,-146.0,2631,849,4003,3875,250.9,-10.7,130,1326,0.00,2.15,0.00,0.000,1030,0.000,0.037,2624,2251,3937,4001,3874,0,0,0,0,0,0,28.83,27.10,28.83
$GC,1648,-0.71,-146.0,2624,2253,4003,3876,289.6,-11.8,141,1651,0.00,2.17,0.00,0.000,260,0.000,0.053,2613,3645,3938,4002,3874,0,0,0,0,0,0,28.83,27.10,28.83
$GC,1667,-0.71,-146.0,2614,3646,4002,3875,289.6,-11.8,141,1672,0.00,2.08,0.00,0.000,1030,0.000,0.031,2613,2253,3938,4002,3874,0,0,0,0,0,0,28.83,27.21,28.83
$GC,1978,-0.71,-146.0,2614,2251,4000,3876,322.1,-8.7,152,1982,0.00,2.12,0.00,0.000,516,0.000,0.040,2613,854,3937,4000,3874,0,0,0,0,0,0,28.83,27.17,28.83
$GC,2033,-0.71,-146.0,2614,854,4000,3874,324.9,-8.8,153,2041,0.08,2.15,0.00,0.000,3078,0.145,0.040,2633,2249,3936,3999,3874,0,0,0,0,0,0,26.95,27.14,28.83
$GC,2338,-0.71,-146.0,2633,2249,3996,3874,353.1,-8.5,164,2341,0.00,2.20,0.00,0.000,260,0.000,0.056,2625,3660,3934,3995,3874,0,0,0,0,0,0,28.83,27.10,28.83
$GC,2383,-0.71,-146.0,2625,3661,3995,3873,355.8,-8.6,165,2387,0.00,2.10,0.00,0.000,1030,0.000,0.033,2625,2257,3934,3994,3874,0,0,0,0,0,0,28.83,27.23,28.83
$STATE,2426,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2426,begin apogee
$GC,2430,-0.14,0.0,2625,1896,3994,3874,361.1,-8.7,167,2550,0.60,0.00,115.43,0.797,10246,0.112,0.000,2824,1893,3324,3368,3281,0,0,0,0,0,0,26.96,28.83,25.16
$STATE,2550,end apogee,CONTROL_FINISHED_OK
$STATE,2551,begin climb
$GC,2552,0.71,146.0,2825,1894,3369,3282,367.1,0.0,171,2676,0.75,2.33,117.25,0.782,10500,0.035,0.045,3130,3308,2728,2768,2688,0,0,0,0,0,0,25.96,25.65,24.99
$GC,2902,0.71,146.0,3131,3309,2754,2689,355.8,10.4,182,2911,0.12,2.15,0.00,0.000,5126,0.180,0.032,3105,1921,2720,2753,2688,0,0,0,0,0,0,26.36,26.60,28.83
$GC,3208,0.77,186.8,3106,1922,2750,2685,327.4,8.1,193,3246,0.00,2.20,32.72,0.758,8452,0.000,0.047,3105,3303,2562,2596,2529,0,0,0,0,0,0,28.83,26.33,25.65
$GC,3457,0.77,186.8,3106,3303,2587,2529,300.3,11.6,201,3461,0.00,2.17,0.00,0.000,1030,0.000,0.033,3114,1903,2557,2586,2529,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3778,0.78,193.1,3114,1902,2586,2522,266.1,9.7,212,3788,0.00,2.22,5.40,0.565,8452,0.000,0.050,3114,3305,2537,2569,2506,0,0,0,0,0,0,28.83,26.82,26.06
$GC,3922,0.78,193.1,3114,3306,2566,2507,252.9,11.0,216,3930,0.00,2.17,0.00,0.000,1030,0.000,0.033,3124,1895,2535,2565,2506,0,0,0,0,0,0,28.83,26.94,28.83
$GC,4228,0.87,257.8,3124,1895,2563,2501,227.4,7.0,247,4291,0.00,2.33,53.17,0.731,8964,0.000,0.050,3125,3300,2271,2304,2238,0,0,0,0,0,0,28.83,26.24,25.60
$GC,4444,0.87,257.8,3125,3299,2294,2237,203.1,11.1,268,4452,0.00,2.17,0.00,0.000,1030,0.000,0.033,3135,1906,2264,2293,2236,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4630,0.93,297.0,3136,1902,2293,2230,186.3,8.2,287,4665,0.00,2.28,31.62,0.690,8452,0.000,0.050,3135,3308,2113,2146,2080,0,0,0,0,0,0,28.83,26.33,25.70
$GC,4790,0.93,297.0,3135,3308,2137,2080,167.6,12.9,303,4794,0.00,2.20,0.00,0.000,1030,0.000,0.034,3146,1895,2107,2135,2080,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4980,0.93,297.0,3147,1896,2136,2074,142.5,14.0,322,4984,0.00,2.22,0.00,0.000,516,0.000,0.047,3156,497,2104,2135,2073,0,0,0,0,0,0,28.83,26.75,28.83
$GC,5030,0.93,297.0,3157,497,2137,2071,135.7,13.7,327,5034,0.00,2.17,0.00,0.000,1030,0.000,0.034,3156,1893,2103,2135,2071,0,0,0,0,0,0,28.83,26.82,28.83
$GC,5220,0.93,297.0,3157,1894,2136,2070,113.1,11.4,346,5224,0.00,2.22,0.00,0.000,260,0.000,0.047,3157,3309,2102,2135,2070,0,0,0,0,0,0,28.83,26.85,28.83
$GC,5355,0.94,308.3,3157,3310,2134,2071,99.8,9.5,359,5372,0.00,2.12,9.15,0.565,9222,0.000,0.032,3167,1895,2066,2097,2035,0,0,0,0,0,0,28.83,26.95,26.15
$GC,5551,0.97,327.4,3168,1895,2096,2032,82.6,9.1,379,5573,0.00,2.28,16.55,0.588,8452,0.000,0.047,3167,3308,1989,2021,1958,0,0,0,0,0,0,28.83,26.70,26.08
$GC,5797,0.97,327.4,3168,3308,2016,1957,54.8,10.0,403,5804,0.00,2.15,0.00,0.000,1030,0.000,0.031,3178,1902,1986,2015,1957,0,0,0,0,0,0,28.83,26.91,28.83
$GC,5983,0.99,339.8,3178,1903,2016,1957,36.9,9.4,422,5998,0.00,2.17,11.57,0.531,8708,0.000,0.043,3188,489,1938,1970,1906,0,0,0,0,0,0,28.83,26.80,26.19
$GC,6012,1.03,369.4,3188,488,1970,1902,34.8,8.6,424,6043,0.00,2.17,25.25,0.558,9222,0.000,0.031,3188,1905,1818,1854,1782,0,0,0,0,0,0,28.83,26.86,25.97
$GC,6227,1.05,384.8,3189,1905,1852,1776,13.4,9.3,446,6249,0.00,2.25,13.48,0.516,8452,0.000,0.046,3188,3309,1755,1792,1718,0,0,0,0,0,0,28.83,26.61,26.04
$STATE,6317,end climb,SURFACE_DEPTH_REACHED
$STATE,6317,begin surface coast
$FINISH,-0.0,1.021420
$STATE,6337,end surface coast,CONTROL_FINISHED_OK
$STATE,6337,begin surface
$SM_CCo,6352,7.30,0.067,0,0,1693,400.08
$SM_GC,2.45,8.23,1.65,7.30,0.061,0.029,0.067,163,2226,1693,-8.41,0.85,400.08,0,0,0,0,0,0,26.71,26.79,26.67
$IRIDIUM_FIX,1327.53,14435.22,290914,090227
$TT8_MAMPS,0.051681,0.051681
$HUMID,56.77
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,25.10
$XPDR_PINGS,1
$24V_AH,24.99,0.713
$10V_AH,10.38,0.542
$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,20.650,78.425,431.600,7.300,0.000,0.000,0.000,167.450,0.250,0.000,31.934,0.000,4440.759,540.463,1540.856,77.016,0.000,1307.773,0.000,1068.294,0.000,0.552,0.000
$DEVICE_MAMPS,257.805,62.730,797.130,66.555,0.000,0.000,0.000,84.915,420.000,0.000,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,304.741,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,228340
$DATA_FILE_SIZE,20245,457
$CAP_FILE_SIZE,81391,0
$CFSIZE,260034560,256507904
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,6539.32,0x236bc6,7,5
$CURRENT,0.044,304.37,1
$GPS,290914,124215,1330.923,14432.443,59,1.4,79,1.4