version: 66.12
glider: 178
mission: 18
dive: 20
start: 10 1 114 18 16 50
data:
$ID,178
$MISSION,18
$DIVE,20
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$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,330
$T_MISSION,370
$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,180
$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,0.00420903
$HD_B,0.0099256597
$HD_C,8.8912799e-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,4
$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,-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,38
$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,2150
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,62
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,3046
$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,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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,600
$ALTIM_PING_DELTA,20
$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,48
$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
$GPS1,011014,181126,1342.533,14445.631,37,1.6,58,1.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.06
$_SM_ANGLEo,-74.2
$GPS2,011014,181639,1342.506,14445.605,17,0.8,37,1.4
$SPEED_LIMITS,0.173,0.265
$TGT_NAME,S1
$TGT_LATLONG,1347.000,14450.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,53.4,11479,-17.8,-10.000,-20.71,2479
$D_GRID,757
$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,13,-0.78,-175.2,142,2125,1404,1416,0.0,0.0,0,88,0.00,0.00,-73.15,0.000,16386,0.000,0.000,140,2125,3350,3399,3302,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.78,-175.2,141,2124,3401,3304,4.6,-17.3,13,114,10.77,2.25,-6.25,0.000,18692,0.255,0.058,2599,3545,3765,3824,3707,0,0,0,0,0,0,26.18,26.55,26.88
$GC,288,-0.78,-175.2,2600,3545,3834,3706,87.8,-34.1,41,295,0.00,2.10,0.00,0.000,1030,0.000,0.036,2599,2173,3770,3833,3707,0,0,0,0,0,0,28.83,26.74,28.83
$GC,593,-0.78,-175.2,2600,2168,3842,3707,167.7,-22.7,72,594,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2168,3774,3841,3707,0,0,0,0,0,0,28.83,28.83,28.83
$GC,904,-0.78,-175.2,2600,2169,3846,3710,219.0,-15.3,95,904,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2168,3777,3845,3709,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1204,-0.78,-175.2,2600,2168,3850,3710,261.4,-13.6,105,1207,0.00,2.17,0.00,0.000,516,0.000,0.044,2599,749,3779,3848,3710,0,0,0,0,0,0,28.83,27.00,28.83
$GC,1218,-0.78,-175.2,2600,750,3848,3713,261.4,-13.6,105,1223,0.00,2.15,0.00,0.000,1030,0.000,0.035,2592,2142,3779,3848,3711,0,0,0,0,0,0,28.83,27.00,28.83
$GC,1534,-0.78,-175.2,2592,2145,3849,3712,306.2,-14.5,116,1537,0.00,2.20,0.00,0.000,260,0.000,0.050,2581,3551,3779,3848,3711,0,0,0,0,0,0,28.83,26.99,28.83
$GC,1738,-0.78,-175.2,2581,3551,3846,3711,333.8,-14.7,122,1746,0.10,2.12,0.00,0.000,3078,0.145,0.034,2613,2140,3778,3846,3711,0,0,0,0,0,0,26.86,27.10,28.83
$GC,2044,-0.78,-175.2,2613,2136,3843,3711,372.2,-10.8,133,2044,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2136,3776,3842,3711,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2344,-0.78,-175.2,2613,2136,3840,3711,400.2,-8.7,143,2347,0.00,2.22,0.00,0.000,260,0.000,0.054,2604,3555,3774,3838,3711,0,0,0,0,0,0,28.83,27.04,28.83
$GC,2384,-0.78,-175.2,2604,3556,3838,3712,402.8,-8.6,144,2387,0.00,2.12,0.00,0.000,1030,0.000,0.032,2604,2147,3774,3837,3711,0,0,0,0,0,0,28.83,27.15,28.83
$GC,2704,-0.78,-175.2,2604,2144,3833,3710,432.3,-9.4,155,2707,0.00,2.15,0.00,0.000,516,0.000,0.044,2604,754,3771,3831,3711,0,0,0,0,0,0,28.83,27.11,28.83
$GC,2753,-0.78,-175.2,2604,753,3832,3711,435.4,-9.8,156,2757,0.00,2.15,0.00,0.000,1030,0.000,0.039,2595,2139,3770,3830,3711,0,0,0,0,0,0,28.83,27.10,28.83
$GC,3064,-0.78,-175.2,2595,2140,3826,3711,468.6,-9.9,167,3067,0.00,2.25,0.00,0.000,260,0.000,0.060,2584,3555,3767,3825,3710,0,0,0,0,0,0,28.83,27.06,28.83
$GC,3113,-0.78,-175.2,2585,3556,3825,3710,471.5,-10.0,168,3118,0.08,2.12,0.00,0.000,3078,0.145,0.034,2609,2150,3766,3824,3709,0,0,0,0,0,0,26.93,27.17,28.83
$GC,3424,-0.78,-175.2,2609,2145,3822,3706,501.8,-9.5,179,3427,0.00,2.25,0.00,0.000,260,0.000,0.060,2600,3552,3763,3820,3706,0,0,0,0,0,0,28.83,27.07,28.83
$GC,3458,-0.78,-175.2,2601,3553,3821,3707,505.1,-9.4,180,3463,0.00,2.12,0.00,0.000,1030,0.000,0.035,2600,2155,3763,3820,3706,0,0,0,0,0,0,28.83,27.17,28.83
$GC,3784,-0.78,-175.2,2601,2151,3817,3703,537.3,-9.6,191,3784,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2151,3759,3816,3703,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4084,-0.78,-175.2,2601,2152,3813,3703,562.8,-8.0,201,4085,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2151,3757,3812,3702,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4384,-0.78,-175.2,2601,2152,3810,3700,589.8,-9.0,211,4385,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2151,3753,3808,3699,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4684,-0.78,-175.2,2601,2151,3807,3696,618.3,-10.0,221,4687,0.00,2.17,0.00,0.000,516,0.000,0.047,2600,757,3751,3805,3697,0,0,0,0,0,0,28.83,27.13,28.83
$GC,4724,-0.78,-175.2,2601,757,3806,3698,621.6,-10.3,222,4727,0.00,2.17,0.00,0.000,1030,0.000,0.042,2592,2142,3751,3805,3697,0,0,0,0,0,0,28.83,27.13,28.83
$GC,5044,-0.78,-175.2,2593,2144,3804,3695,659.0,-12.1,233,5048,0.00,2.17,0.00,0.000,516,0.000,0.045,2592,755,3748,3803,3694,0,0,0,0,0,0,28.83,27.13,28.83
$GC,5108,-0.78,-175.2,2592,755,3804,3694,666.9,-12.8,235,5113,0.08,2.20,0.00,0.000,3078,0.164,0.042,2607,2154,3748,3803,3694,0,0,0,0,0,0,26.90,27.12,28.83
$GC,5435,-0.78,-175.2,2608,2153,3801,3692,701.2,-10.3,246,5438,0.00,2.20,0.00,0.000,260,0.000,0.059,2599,3555,3745,3800,3691,0,0,0,0,0,0,28.83,27.05,28.83
$GC,5534,-0.78,-175.2,2599,3556,3800,3692,710.1,-10.4,249,5537,0.00,2.15,0.00,0.000,1030,0.000,0.036,2600,2144,3745,3799,3692,0,0,0,0,0,0,28.83,27.20,28.83
$GC,5849,-0.78,-175.2,2600,2140,3800,3690,721.3,0.1,260,5853,0.00,2.28,0.00,0.000,260,0.000,0.060,2599,3556,3744,3798,3690,0,0,0,0,0,0,28.83,27.05,28.83
$STATE,5877,end dive,NO_VERTICAL_VELOCITY
$STATE,5877,begin apogee
$GC,5883,-0.13,0.0,2600,2230,3798,3691,721.3,0.0,261,6031,0.65,0.00,141.88,1.090,10246,0.070,0.000,2841,2227,3046,3088,3004,0,0,0,0,0,0,27.09,28.83,24.54
$STATE,6031,end apogee,CONTROL_FINISHED_OK
$STATE,6031,begin climb
$GC,6033,0.78,175.2,2842,2228,3088,3005,721.3,0.0,266,6190,0.77,2.45,150.12,1.076,10500,0.063,0.054,3123,3661,2329,2374,2285,0,0,0,0,0,0,25.44,25.12,24.36
$GC,6279,0.78,175.2,3124,3661,2362,2284,699.3,15.9,274,6283,0.00,2.25,0.00,0.000,1030,0.000,0.033,3134,2253,2322,2361,2284,0,0,0,0,0,0,28.83,25.93,28.83
$GC,6594,0.78,175.2,3135,2251,2359,2281,640.8,18.3,285,6598,0.00,2.33,0.00,0.000,260,0.000,0.055,3135,3663,2318,2358,2279,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6624,0.78,175.2,3135,3664,2358,2281,634.7,18.9,286,6628,0.00,2.20,0.00,0.000,1030,0.000,0.033,3145,2255,2318,2357,2279,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6954,0.78,175.2,3145,2254,2356,2280,572.7,18.6,297,6958,0.00,2.22,0.00,0.000,516,0.000,0.046,3156,849,2317,2355,2279,0,0,0,0,0,0,28.83,26.69,28.83
$GC,6984,0.78,175.2,3156,849,2357,2277,567.1,18.6,298,6989,0.10,2.22,0.00,0.000,5126,0.175,0.040,3127,2255,2316,2355,2277,0,0,0,0,0,0,26.47,26.70,28.83
$GC,7314,0.78,175.2,3128,2255,2354,2276,509.5,17.2,309,7315,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2255,2314,2353,2276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7614,0.78,175.2,3128,2256,2353,2276,460.4,15.1,319,7618,0.00,2.28,0.00,0.000,260,0.000,0.057,3128,3663,2313,2352,2275,0,0,0,0,0,0,28.83,26.83,28.83
$GC,7704,0.78,175.2,3128,3663,2352,2275,445.7,16.1,322,7708,0.00,2.17,0.00,0.000,1030,0.000,0.034,3137,2249,2313,2351,2275,0,0,0,0,0,0,28.83,26.94,28.83
$GC,8034,0.78,175.2,3137,2246,2350,2275,395.6,14.6,333,8038,0.00,2.20,0.00,0.000,516,0.000,0.045,3148,845,2312,2349,2275,0,0,0,0,0,0,28.83,26.95,28.83
$GC,8108,0.78,175.2,3148,846,2350,2275,386.9,14.3,335,8113,0.00,2.20,0.00,0.000,1030,0.000,0.039,3147,2252,2311,2349,2274,0,0,0,0,0,0,28.83,26.95,28.83
$GC,8424,0.78,175.2,3147,2252,2350,2274,336.5,15.4,346,8429,0.00,2.22,0.00,0.000,260,0.000,0.055,3147,3647,2311,2348,2274,0,0,0,0,0,0,28.83,26.93,28.83
$GC,8608,0.78,175.2,3148,3647,2348,2275,305.6,17.2,352,8613,0.10,2.15,0.00,0.000,5126,0.180,0.034,3129,2243,2310,2347,2274,0,0,0,0,0,0,26.71,27.04,28.83
$GC,8934,0.78,175.2,3129,2240,2347,2274,259.5,14.0,363,8935,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2240,2309,2345,2274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9234,0.78,175.2,3129,2240,2345,2274,222.2,11.9,373,9238,0.00,2.25,0.00,0.000,260,0.000,0.054,3129,3647,2309,2344,2274,0,0,0,0,0,0,28.83,26.98,28.83
$GC,9349,0.78,175.2,3130,3648,2344,2275,210.8,12.3,376,9356,0.00,2.12,0.00,0.000,1030,0.000,0.033,3138,2249,2308,2343,2274,0,0,0,0,0,0,28.83,27.08,28.83
$GC,9655,0.78,175.2,3138,2246,2343,2273,172.9,11.6,403,9656,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2246,2307,2342,2272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9955,1.03,310.2,3138,2246,2343,2271,146.3,4.4,433,10067,0.17,2.38,106.03,0.710,10500,0.085,0.050,3211,3649,1779,1809,1750,0,0,0,0,0,0,27.13,25.77,25.17
$GC,10267,1.03,310.2,3212,3649,1797,1749,92.1,18.5,464,10272,0.00,2.17,0.00,0.000,1030,0.000,0.032,3222,2256,1772,1795,1750,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10572,1.03,310.2,3223,2254,1795,1746,42.1,12.1,500,10579,0.00,2.22,0.00,0.000,516,0.000,0.042,3233,843,1769,1796,1742,0,0,0,0,0,0,28.83,26.64,28.83
$GC,10613,1.03,310.2,3233,844,1797,1742,36.3,14.4,508,10620,0.10,2.20,0.00,0.000,5126,0.145,0.035,3202,2252,1768,1796,1741,0,0,0,0,0,0,26.48,26.67,28.83
$STATE,10903,end climb,SURFACE_DEPTH_REACHED
$STATE,10903,begin surface coast
$FINISH,0.4,1.021555
$STATE,10928,end surface coast,CONTROL_FINISHED_OK
$STATE,10928,begin surface
$SM_CCo,10942,45.05,0.373,1,0,1414,400.08
$SM_GC,-0.43,8.38,0.15,45.05,0.070,0.070,0.373,162,2133,1414,-8.42,1.19,400.08,0,0,0,0,1,0,26.76,26.88,25.83
$IRIDIUM_FIX,1334.19,14446.84,011014,144032
$TT8_MAMPS,0.050183,0.050183
$HUMID,54.05
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,24.40
$XPDR_PINGS,7
$24V_AH,24.36,2.496
$10V_AH,10.42,1.355
$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,21.300,88.175,398.025,45.050,0.000,0.000,0.000,221.600,3.500,0.000,40.671,0.000,8775.537,545.141,1877.241,100.455,0.000,1473.392,0.000,1280.338,0.000,13.656,0.000
$DEVICE_MAMPS,254.745,69.615,1090.125,372.555,0.000,0.000,0.000,85.680,420.000,0.000,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,384.810,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,228600
$DATA_FILE_SIZE,23552,571
$CAP_FILE_SIZE,100518,0
$CFSIZE,260034560,255660032
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,12743.15,0x236bc6,7,5
$INTR,1,6120.58,0x233820,1,24
$CURRENT,0.063,5.32,1
$GPS,011014,212051,1343.729,14446.733,8,1.5,29,1.4