version: 66.12
glider: 178
mission: 18
dive: 31
start: 10 3 114 2 30 21
data:
$ID,178
$MISSION,18
$DIVE,31
$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,350
$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,58
$R_STBD_OVSHOOT,39
$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,350
$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
$GPS1,031014,022524,1344.461,14454.222,10,1.5,30,1.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.07
$_SM_ANGLEo,-74.2
$GPS2,031014,023009,1344.474,14454.282,12,1.2,32,1.4
$SPEED_LIMITS,0.173,0.265
$TGT_NAME,S2
$TGT_LATLONG,1340.200,14501.500
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,123.8,15209,-17.8,-10.000,-20.71,2479
$D_GRID,414
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.78,-175.2,152,2134,1398,1419,0.0,0.0,0,89,0.00,0.00,-73.45,0.000,16386,0.000,0.000,150,2135,3327,3373,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.78,-175.2,149,2137,3374,3283,4.3,-15.9,13,115,10.20,2.22,-7.07,0.000,18692,0.241,0.060,2604,3558,3766,3826,3706,0,0,0,0,0,0,26.34,26.70,27.03
$GC,264,-0.78,-175.2,2605,3559,3836,3706,73.7,-28.3,39,268,0.00,2.10,0.00,0.000,1030,0.000,0.029,2604,2165,3769,3833,3706,0,0,0,0,0,0,28.83,26.87,28.83
$GC,574,-0.78,-175.2,2604,2162,3842,3706,154.3,-22.3,70,574,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2162,3774,3842,3706,0,0,0,0,0,0,28.83,28.83,28.83
$GC,884,-0.78,-175.2,2605,2163,3847,3709,205.1,-13.6,99,887,0.00,2.15,0.00,0.000,516,0.000,0.038,2604,755,3777,3846,3708,0,0,0,0,0,0,28.83,27.03,28.83
$GC,998,-0.78,-175.2,2604,754,3848,3710,221.1,-16.8,102,1006,0.00,2.12,0.00,0.000,1030,0.000,0.032,2595,2151,3778,3846,3710,0,0,0,0,0,0,28.83,27.08,28.83
$GC,1304,-0.78,-175.2,2595,2153,3850,3712,275.3,-13.7,113,1308,0.00,2.15,0.00,0.000,516,0.000,0.037,2595,745,3779,3849,3710,0,0,0,0,0,0,28.83,27.11,28.83
$GC,1339,-0.78,-175.2,2595,746,3850,3713,279.9,-13.9,114,1343,0.10,2.15,0.00,0.000,3078,0.142,0.034,2618,2149,3780,3849,3711,0,0,0,0,0,0,26.91,27.10,28.83
$GC,1664,-0.78,-175.2,2618,2151,3849,3713,317.0,-12.5,125,1668,0.00,2.20,0.00,0.000,260,0.000,0.049,2609,3561,3780,3849,3711,0,0,0,0,0,0,28.83,27.10,28.83
$GC,1744,-0.78,-175.2,2609,3561,3850,3711,326.7,-16.5,127,1748,0.00,2.12,0.00,0.000,1030,0.000,0.034,2609,2142,3780,3849,3711,0,0,0,0,0,0,28.83,27.19,28.83
$GC,2054,-0.78,-175.2,2609,2140,3846,3713,366.7,-2.8,138,2058,0.00,2.12,0.00,0.000,516,0.000,0.040,2609,751,3778,3845,3711,0,0,0,0,0,0,28.83,27.15,28.83
$GC,2114,-0.78,-175.2,2609,752,3845,3711,375.3,-9.9,140,2118,0.00,2.15,0.00,0.000,1030,0.000,0.037,2599,2161,3777,3844,3711,0,0,0,0,0,0,28.83,27.15,28.83
$STATE,2382,end dive,NO_VERTICAL_VELOCITY
$STATE,2383,begin apogee
$GC,2386,-0.13,0.0,2599,2265,3843,3711,380.3,0.0,149,2527,0.65,0.00,138.93,0.831,10246,0.088,0.000,2829,2265,3046,3089,3003,0,0,0,0,0,0,27.05,28.83,25.08
$STATE,2528,end apogee,CONTROL_FINISHED_OK
$STATE,2528,begin climb
$GC,2529,0.78,175.2,2829,2265,3090,3003,380.4,0.0,153,2679,0.85,2.30,140.57,0.816,10500,0.084,0.047,3123,3634,2329,2374,2285,0,0,0,0,0,0,25.71,25.57,24.94
$GC,2868,0.78,175.2,3123,3635,2363,2284,334.3,24.0,165,2873,0.00,2.15,0.00,0.000,1030,0.000,0.030,3134,2248,2322,2361,2283,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3194,0.78,175.2,3135,2243,2359,2277,268.0,13.5,176,3198,0.00,2.25,0.00,0.000,260,0.000,0.050,3135,3645,2317,2357,2277,0,0,0,0,0,0,28.83,26.76,28.83
$GC,3224,0.78,175.2,3136,3646,2358,2278,262.5,15.2,177,3228,0.00,2.12,0.00,0.000,1030,0.000,0.029,3146,2245,2317,2357,2278,0,0,0,0,0,0,28.83,26.85,28.83
$GC,3554,0.78,175.2,3146,2243,2353,2276,211.1,15.2,188,3558,0.00,2.17,0.00,0.000,516,0.000,0.041,3156,844,2313,2351,2275,0,0,0,0,0,0,28.83,26.94,28.83
$GC,3574,0.78,175.2,3157,844,2352,2275,211.1,15.2,188,3578,0.10,2.17,0.00,0.000,5126,0.163,0.036,3126,2250,2312,2351,2273,0,0,0,0,0,0,26.72,26.94,28.83
$GC,3884,0.78,175.2,3127,2250,2348,2270,176.1,12.9,213,3885,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2250,2308,2347,2270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4185,0.78,175.2,3127,2252,2345,2270,140.3,11.0,243,4188,0.00,2.12,0.00,0.000,516,0.000,0.041,3135,852,2306,2344,2269,0,0,0,0,0,0,28.83,27.06,28.83
$GC,4259,0.78,175.2,3135,850,2345,2266,132.6,11.0,250,4263,0.00,2.15,0.00,0.000,1030,0.000,0.034,3135,2252,2304,2343,2265,0,0,0,0,0,0,28.83,27.07,28.83
$GC,4569,0.91,247.1,3135,2252,2342,2265,106.0,7.0,281,4631,0.00,2.25,53.80,0.643,8452,0.000,0.049,3134,3644,2036,2069,2004,0,0,0,0,0,0,28.83,26.43,25.86
$GC,4681,0.91,247.1,3136,3643,2064,2004,94.1,13.5,292,4685,0.00,2.12,0.00,0.000,1030,0.000,0.029,3146,2252,2033,2063,2004,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4990,1.06,328.4,3146,2252,2059,2000,69.0,6.6,323,5062,0.17,2.28,65.18,0.605,10500,0.074,0.048,3224,3650,1705,1733,1678,0,0,0,0,0,0,26.89,26.14,25.59
$GC,5122,1.06,328.4,3225,3649,1729,1677,52.9,14.2,336,5126,0.00,2.15,0.00,0.000,1030,0.000,0.028,3235,2254,1702,1727,1677,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5427,1.06,328.4,3235,2251,1726,1676,7.5,14.9,395,5427,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,2250,1700,1725,1675,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5460,end climb,SURFACE_DEPTH_REACHED
$STATE,5460,begin surface coast
$FINISH,-0.2,1.021515
$STATE,5481,end surface coast,CONTROL_FINISHED_OK
$STATE,5481,begin surface
$SM_CCo,5494,9.12,0.063,0,0,1619,350.04
$SM_GC,1.85,8.05,0.12,9.12,0.043,0.083,0.063,163,2151,1619,-8.41,1.41,350.04,0,0,0,0,0,0,26.78,26.88,26.74
$IRIDIUM_FIX,1336.41,14453.02,031014,003530
$TT8_MAMPS,0.050183,0.050183
$HUMID,54.29
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,25.00
$XPDR_PINGS,1
$24V_AH,24.94,3.727
$10V_AH,10.59,1.840
$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,20.125,48.000,398.475,9.125,0.000,0.000,0.000,206.450,1.000,0.000,34.871,0.000,3959.165,448.226,1310.065,71.206,0.000,1143.618,0.000,846.361,0.000,7.917,0.000
$DEVICE_MAMPS,240.975,91.800,830.790,63.495,0.000,0.000,0.000,82.620,420.000,0.000,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,269.826,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,228624
$DATA_FILE_SIZE,16860,406
$CAP_FILE_SIZE,62760,0
$CFSIZE,260034560,255172608
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,6689.91,0x236bc6,7,5
$CURRENT,0.068,316.77,1
$GPS,031014,040321,1344.268,14454.729,37,99.0,57,1.4