version: 66.12
glider: 178
mission: 18
dive: 34
start: 10 3 114 7 18 38
data:
$ID,178
$MISSION,18
$DIVE,34
$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,63
$R_STBD_OVSHOOT,41
$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
$GPS1,031014,071409,1343.476,14455.646,30,99.0,50,1.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.29
$_SM_ANGLEo,-76.9
$GPS2,031014,071827,1343.437,14455.655,15,99.0,35,1.4
$SPEED_LIMITS,0.173,0.265
$TGT_NAME,S2
$TGT_LATLONG,1340.200,14501.500
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,114.8,12106,-17.8,-10.000,-20.71,2479
$D_GRID,479
$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,-175.2,154,2127,1604,1621,0.0,0.0,0,78,0.00,0.00,-62.85,0.000,16386,0.000,0.000,154,2125,3246,3293,3200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.78,-175.2,154,2128,3294,3202,3.8,-13.9,11,104,10.30,2.28,-8.62,0.000,18692,0.246,0.060,2600,3555,3765,3828,3702,0,0,0,0,0,0,26.42,26.77,27.13
$GC,268,-0.78,-175.2,2600,3556,3836,3704,77.4,-30.3,39,275,0.00,2.10,0.00,0.000,1030,0.000,0.028,2599,2159,3769,3835,3703,0,0,0,0,0,0,28.83,26.94,28.83
$GC,574,-0.78,-175.2,2600,2155,3844,3704,162.6,-24.2,70,574,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2155,3773,3842,3704,0,0,0,0,0,0,28.83,28.83,28.83
$GC,894,-0.78,-175.2,2600,2155,3848,3706,227.4,-17.6,92,895,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2155,3776,3846,3706,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1194,-0.78,-175.2,2600,2155,3853,3709,271.0,-15.1,102,1197,0.00,2.15,0.00,0.000,516,0.000,0.037,2599,743,3779,3850,3709,0,0,0,0,0,0,28.83,27.13,28.83
$GC,1268,-0.78,-175.2,2600,744,3851,3711,279.8,-14.9,104,1273,0.00,2.12,0.00,0.000,1030,0.000,0.032,2591,2139,3780,3851,3710,0,0,0,0,0,0,28.83,27.14,28.83
$GC,1584,-0.78,-175.2,2591,2140,3852,3711,324.4,-12.4,115,1587,0.00,2.20,0.00,0.000,260,0.000,0.047,2580,3557,3780,3851,3710,0,0,0,0,0,0,28.83,27.13,28.83
$GC,1684,-0.78,-175.2,2580,3558,3851,3712,335.8,-12.7,118,1688,0.10,2.10,0.00,0.000,3078,0.140,0.029,2613,2143,3780,3850,3710,0,0,0,0,0,0,26.95,27.22,28.83
$GC,2004,-0.78,-175.2,2613,2139,3850,3710,369.4,-9.9,129,2007,0.00,2.10,0.00,0.000,516,0.000,0.040,2613,754,3779,3848,3710,0,0,0,0,0,0,28.83,27.16,28.83
$GC,2078,-0.78,-175.2,2613,753,3847,3710,376.0,-10.4,131,2082,0.00,2.12,0.00,0.000,1030,0.000,0.035,2606,2143,3778,3847,3710,0,0,0,0,0,0,28.83,27.16,28.83
$GC,2394,-0.78,-175.2,2607,2145,3843,3712,416.4,-12.1,142,2397,0.00,2.20,0.00,0.000,260,0.000,0.050,2596,3548,3776,3842,3710,0,0,0,0,0,0,28.83,27.12,28.83
$GC,2433,-0.78,-175.2,2596,3548,3841,3710,420.1,-12.3,143,2437,0.00,2.10,0.00,0.000,1030,0.000,0.031,2596,2151,3775,3841,3710,0,0,0,0,0,0,28.83,27.23,28.83
$GC,2755,-0.78,-175.2,2597,2148,3835,3711,461.0,-12.4,154,2758,0.00,2.12,0.00,0.000,516,0.000,0.042,2596,753,3771,3833,3710,0,0,0,0,0,0,28.83,27.17,28.83
$STATE,2807,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2807,begin apogee
$GC,2813,-0.13,0.0,2586,2255,3833,3710,468.0,-12.7,156,2961,0.75,0.00,140.60,0.886,10246,0.128,0.000,2826,2255,3044,3090,2999,0,0,0,0,0,0,26.91,28.83,25.03
$STATE,2961,end apogee,CONTROL_FINISHED_OK
$STATE,2961,begin climb
$GC,2963,0.78,175.2,2828,2256,3090,3000,475.7,0.0,161,3115,0.77,2.38,143.02,0.876,10500,0.044,0.049,3137,3656,2329,2372,2287,0,0,0,0,0,0,25.84,25.56,24.90
$GC,3149,0.78,175.2,3137,3656,2367,2287,464.0,10.5,167,3153,0.00,2.22,0.00,0.000,1030,0.000,0.029,3147,2247,2326,2366,2287,0,0,0,0,0,0,28.83,26.01,28.83
$GC,3469,0.78,175.2,3148,2243,2360,2282,409.1,19.0,178,3470,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2243,2320,2358,2283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3769,0.78,175.2,3147,2243,2356,2280,354.3,18.1,188,3773,0.00,2.17,0.00,0.000,516,0.000,0.041,3158,846,2317,2355,2280,0,0,0,0,0,0,28.83,26.88,28.83
$GC,3834,0.78,175.2,3158,847,2355,2278,344.9,16.6,190,3839,0.10,2.17,0.00,0.000,5126,0.166,0.036,3128,2252,2315,2354,2277,0,0,0,0,0,0,26.67,26.89,28.83
$GC,4159,0.78,175.2,3128,2253,2351,2277,298.1,15.2,201,4163,0.00,2.22,0.00,0.000,260,0.000,0.051,3128,3652,2313,2351,2275,0,0,0,0,0,0,28.83,26.94,28.83
$GC,4314,0.78,175.2,3129,3653,2349,2277,273.3,16.2,206,4318,0.00,2.12,0.00,0.000,1030,0.000,0.031,3137,2246,2311,2348,2275,0,0,0,0,0,0,28.83,27.06,28.83
$GC,4639,0.78,175.2,3137,2245,2346,2275,225.1,14.9,217,4643,0.00,2.15,0.00,0.000,516,0.000,0.041,3148,855,2309,2345,2274,0,0,0,0,0,0,28.83,27.07,28.83
$GC,4869,0.78,175.2,3148,856,2344,2271,193.6,13.8,226,4873,0.00,2.15,0.00,0.000,1030,0.000,0.036,3148,2249,2306,2343,2270,0,0,0,0,0,0,28.83,27.08,28.83
$GC,5179,0.79,178.2,3149,2251,2340,2270,156.5,9.9,257,5183,0.00,2.20,0.00,0.000,260,0.000,0.050,3147,3650,2304,2339,2269,0,0,0,0,0,0,28.83,27.05,28.83
$GC,5410,0.89,235.0,3148,3651,2338,2270,135.4,7.6,280,5461,0.00,2.10,44.50,0.675,9222,0.000,0.030,3158,2233,2086,2116,2057,0,0,0,0,0,0,28.83,27.17,25.96
$GC,5759,0.89,235.0,3159,2232,2108,2049,99.8,10.4,315,5763,0.00,2.12,0.00,0.000,516,0.000,0.040,3169,863,2078,2108,2048,0,0,0,0,0,0,28.83,26.85,28.83
$GC,5874,0.95,267.3,3169,863,2109,2044,89.7,8.7,326,5904,0.00,2.15,26.25,0.633,9222,0.000,0.034,3169,2254,1955,1984,1926,0,0,0,0,0,0,28.83,26.89,25.96
$GC,6209,1.17,391.9,3169,2254,1980,1921,59.4,4.8,360,6319,0.22,2.28,100.70,0.606,11012,0.069,0.038,3278,860,1445,1461,1430,0,0,0,0,0,0,26.88,25.96,25.41
$GC,6368,1.17,391.9,3279,861,1462,1425,33.7,20.5,383,6376,0.10,2.20,0.00,0.000,5126,0.158,0.033,3250,2253,1442,1461,1424,0,0,0,0,0,0,26.12,26.27,28.83
$STATE,6524,end climb,SURFACE_DEPTH_REACHED
$STATE,6524,begin surface coast
$FINISH,0.1,1.021662
$STATE,6539,end surface coast,CONTROL_FINISHED_OK
$STATE,6539,begin surface
$SM_CCo,6613,0.00,0.000,0,0,1436,394.93
$SM_GC,-0.09,8.48,0.12,0.00,0.063,0.072,0.000,162,2146,1436,-8.42,1.64,394.93,0,0,0,0,0,0,26.58,26.70,28.83
$IRIDIUM_FIX,1336.41,14456.12,031014,054201
$TT8_MAMPS,0.051681,0.051681
$HUMID,54.44
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,24.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,453.4,32.0
$24V_AH,24.90,4.004
$10V_AH,10.52,1.935
$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,20.825,56.700,455.075,0.000,0.000,0.000,0.000,178.350,1.750,0.000,37.958,0.000,4890.785,497.702,1407.156,74.551,0.000,1216.923,0.000,948.340,0.000,15.680,0.000
$DEVICE_MAMPS,246.330,71.910,885.870,0.000,0.000,0.000,0.000,81.090,420.000,0.000,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,276.946,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,228572
$DATA_FILE_SIZE,16874,417
$CAP_FILE_SIZE,69558,0
$CFSIZE,260034560,255070208
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5597.36,0x236bc6,7,5
$CURRENT,0.018,35.68,1
$GPS,031014,090939,1343.115,14456.538,10,1.4,30,1.4