version: 66.12
glider: 178
mission: 18
dive: 7
start: 9 29 114 12 46 37
data:
$ID,178
$MISSION,18
$DIVE,7
$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,50
$R_STBD_OVSHOOT,35
$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
$GPS1,290914,124215,1330.923,14432.443,59,1.4,79,1.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-77.2
$GPS2,290914,124627,1330.917,14432.409,11,1.4,31,1.4
$SPEED_LIMITS,0.173,0.242
$TGT_NAME,T1
$TGT_LATLONG,1331.000,14436.000
$TGT_RADIUS,1500.000
$MHEAD_RNG_PITCHd_Wd,93.4,6469,-17.8,-10.000,-22.42,2207
$D_GRID,2510
$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,-146.0,161,2219,1692,1687,0.0,0.0,0,78,0.00,0.00,-62.40,0.000,16386,0.000,0.000,158,2220,3367,3412,3322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.71,-146.0,159,2220,3414,3323,4.9,-10.6,6,108,10.55,2.28,-8.02,0.000,18692,0.252,0.058,2623,3656,3925,3980,3871,0,0,0,0,0,0,26.33,26.74,27.08
$GC,122,-0.71,-146.0,2623,3657,3984,3873,29.6,-58.4,10,130,0.00,2.12,0.00,0.000,1030,0.000,0.031,2622,2257,3927,3983,3871,0,0,0,0,0,0,28.83,26.79,28.83
$GC,307,-0.71,-146.0,2623,2256,3988,3873,93.0,-30.5,29,311,0.00,2.17,0.00,0.000,516,0.000,0.038,2622,845,3929,3987,3871,0,0,0,0,0,0,28.83,26.89,28.83
$GC,362,-0.71,-146.0,2623,846,3990,3873,106.2,-25.1,34,369,0.00,2.17,0.00,0.000,1030,0.000,0.037,2612,2251,3930,3989,3871,0,0,0,0,0,0,28.83,26.90,28.83
$GC,547,-0.71,-146.0,2612,2251,3994,3871,149.1,-22.8,53,551,0.00,2.15,0.00,0.000,516,0.000,0.037,2612,852,3931,3992,3871,0,0,0,0,0,0,28.83,26.99,28.83
$GC,662,-0.71,-146.0,2613,853,3994,3874,169.3,-16.3,64,670,0.10,2.15,0.00,0.000,3078,0.147,0.037,2635,2254,3933,3994,3872,0,0,0,0,0,0,26.79,26.99,28.83
$GC,847,-0.71,-146.0,2635,2254,3998,3872,196.9,-14.3,83,851,0.00,2.15,0.00,0.000,516,0.000,0.037,2635,849,3934,3997,3872,0,0,0,0,0,0,28.83,27.06,28.83
$GC,862,-0.71,-146.0,2636,850,3998,3874,198.3,-14.0,84,869,0.00,2.15,0.00,0.000,1030,0.000,0.036,2630,2253,3934,3997,3872,0,0,0,0,0,0,28.83,27.03,28.83
$GC,1047,-0.71,-146.0,2631,2254,4000,3873,223.6,-13.6,103,1048,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2253,3935,3999,3872,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1227,-0.71,-146.0,2631,2254,4002,3874,246.6,-10.8,121,1231,0.00,2.15,0.00,0.000,516,0.000,0.037,2630,839,3936,4001,3872,0,0,0,0,0,0,28.83,27.11,28.83
$GC,1282,-0.71,-146.0,2630,839,4003,3874,250.7,-10.2,125,1289,0.00,2.15,0.00,0.000,1030,0.000,0.037,2625,2244,3937,4001,3874,0,0,0,0,0,0,28.83,27.09,28.83
$GC,1587,-0.71,-146.0,2625,2246,4003,3874,280.6,-8.8,136,1588,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2244,3938,4003,3874,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1887,-0.71,-146.0,2625,2244,4003,3874,309.3,-9.9,146,1891,0.00,2.20,0.00,0.000,260,0.000,0.054,2616,3648,3937,4001,3874,0,0,0,0,0,0,28.83,27.10,28.83
$GC,1922,-0.71,-146.0,2616,3649,4002,3875,312.2,-9.9,147,1926,0.00,2.10,0.00,0.000,1030,0.000,0.032,2616,2246,3937,4001,3874,0,0,0,0,0,0,28.83,27.22,28.83
$GC,2247,-0.71,-146.0,2617,2244,3998,3875,349.9,-11.6,158,2251,0.00,2.12,0.00,0.000,516,0.000,0.040,2616,852,3935,3996,3874,0,0,0,0,0,0,28.83,27.17,28.83
$GC,2277,-0.71,-146.0,2617,853,3996,3875,353.4,-11.6,159,2281,0.00,2.15,0.00,0.000,1030,0.000,0.040,2609,2246,3935,3996,3874,0,0,0,0,0,0,28.83,27.15,28.83
$STATE,2336,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2336,begin apogee
$GC,2339,-0.14,0.0,2610,1893,3996,3875,360.5,-11.7,161,2459,0.65,0.00,115.78,0.801,10246,0.119,0.000,2822,1889,3325,3369,3281,0,0,0,0,0,0,26.95,28.83,25.12
$STATE,2460,end apogee,CONTROL_FINISHED_OK
$STATE,2460,begin climb
$GC,2461,0.71,146.0,2822,1890,3367,3281,367.4,0.0,165,2586,0.77,2.38,117.53,0.786,10500,0.044,0.046,3124,3301,2728,2769,2688,0,0,0,0,0,0,25.89,25.61,24.94
$GC,2742,0.75,173.9,3124,3300,2758,2687,364.4,8.7,174,2771,0.00,2.15,23.33,0.750,9222,0.000,0.031,3134,1924,2615,2649,2582,0,0,0,0,0,0,28.83,26.45,25.44
$GC,3087,0.75,173.9,3135,1923,2642,2575,319.9,13.1,186,3091,0.00,2.25,0.00,0.000,516,0.000,0.045,3146,500,2607,2641,2574,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3122,0.75,173.9,3146,500,2641,2571,315.8,13.2,187,3127,0.10,2.17,0.00,0.000,5126,0.168,0.034,3117,1893,2606,2640,2572,0,0,0,0,0,0,26.52,26.75,28.83
$GC,3447,0.75,174.6,3117,1894,2637,2571,278.5,10.0,198,3451,0.00,2.22,0.00,0.000,260,0.000,0.047,3117,3306,2603,2637,2570,0,0,0,0,0,0,28.83,26.86,28.83
$GC,3677,0.80,206.9,3117,3307,2636,2571,259.7,8.5,205,3707,0.00,2.15,26.42,0.731,9222,0.000,0.032,3125,1901,2481,2516,2446,0,0,0,0,0,0,28.83,27.00,25.88
$GC,4012,0.80,206.9,3125,1900,2509,2435,226.2,12.3,233,4016,0.00,2.25,0.00,0.000,260,0.000,0.049,3125,3309,2472,2508,2436,0,0,0,0,0,0,28.83,26.81,28.83
$GC,4097,0.80,206.9,3125,3309,2508,2436,216.6,11.0,241,4104,0.00,2.17,0.00,0.000,1030,0.000,0.034,3136,1900,2471,2507,2436,0,0,0,0,0,0,28.83,26.89,28.83
$GC,4282,0.90,282.3,3136,1899,2505,2434,203.9,6.5,260,4347,0.00,2.28,60.35,0.716,8452,0.000,0.049,3136,3310,2173,2207,2140,0,0,0,0,0,0,28.83,26.13,25.50
$GC,4572,0.90,282.3,3136,3312,2192,2140,168.5,13.3,288,4580,0.00,2.20,0.00,0.000,1030,0.000,0.034,3146,1892,2164,2192,2137,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4757,0.90,282.3,3147,1891,2191,2131,149.7,10.8,307,4758,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1892,2161,2190,2132,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4937,0.90,282.3,3147,1892,2189,2129,128.6,11.1,325,4941,0.00,2.20,0.00,0.000,516,0.000,0.047,3157,500,2158,2188,2129,0,0,0,0,0,0,28.83,26.84,28.83
$GC,5027,0.93,299.8,3158,501,2189,2128,119.9,9.2,334,5049,0.00,2.17,13.43,0.610,9222,0.000,0.033,3157,1908,2101,2132,2070,0,0,0,0,0,0,28.83,26.92,26.05
$GC,5228,0.98,335.9,3158,1908,2130,2066,100.7,8.3,354,5262,0.00,2.20,30.35,0.623,8452,0.000,0.046,3157,3313,1955,1987,1923,0,0,0,0,0,0,28.83,26.45,25.84
$GC,5417,0.98,335.9,3157,3313,1979,1922,80.5,12.3,372,5424,0.00,2.17,0.00,0.000,1030,0.000,0.031,3168,1900,1950,1979,1922,0,0,0,0,0,0,28.83,26.71,28.83
$GC,5602,0.98,335.9,3169,1899,1979,1920,57.3,12.0,391,5606,0.00,2.20,0.00,0.000,516,0.000,0.044,3179,496,1949,1979,1919,0,0,0,0,0,0,28.83,26.81,28.83
$GC,5677,0.98,335.9,3178,496,1979,1917,49.6,10.5,398,5684,0.00,2.17,0.00,0.000,1030,0.000,0.031,3179,1906,1948,1979,1918,0,0,0,0,0,0,28.83,26.86,28.83
$GC,5862,1.06,394.7,3180,1907,1980,1918,32.1,7.3,417,5915,0.00,2.28,47.67,0.570,8452,0.000,0.046,3179,3312,1715,1748,1682,0,0,0,0,0,0,28.83,26.37,25.81
$GC,6014,1.06,394.7,3179,3313,1742,1683,17.4,11.2,432,6018,0.00,2.17,0.00,0.000,1030,0.000,0.031,3189,1904,1711,1742,1681,0,0,0,0,0,0,28.83,26.63,28.83
$STATE,6163,end climb,SURFACE_DEPTH_REACHED
$STATE,6163,begin surface coast
$FINISH,-0.2,1.021432
$STATE,6183,end surface coast,CONTROL_FINISHED_OK
$STATE,6184,begin surface
$SM_CCo,6197,1.42,0.072,0,0,1693,400.08
$SM_GC,1.31,8.00,0.55,1.42,0.047,0.044,0.072,162,2271,1693,-8.43,-0.82,400.08,0,0,0,0,0,0,26.74,26.80,26.72
$IRIDIUM_FIX,1327.53,14432.12,290914,105137
$TT8_MAMPS,0.050183,0.050183
$HUMID,55.47
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,24.94,0.807
$10V_AH,10.39,0.577
$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,20.175,71.075,434.850,1.425,0.000,0.000,0.000,174.575,0.000,0.000,33.846,0.000,4383.604,520.472,1468.633,74.952,0.000,1264.345,0.000,1000.681,0.000,0.552,0.000
$DEVICE_MAMPS,252.450,58.140,800.955,71.910,0.000,0.000,0.000,83.385,420.000,0.000,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,299.296,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,228332
$DATA_FILE_SIZE,20119,449
$CAP_FILE_SIZE,76334,0
$CFSIZE,260034560,256471040
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,6719.34,0x236bc6,7,5
$CURRENT,0.060,329.60,1
$GPS,290914,143220,1331.171,14433.104,105,1.0,125,1.4