version: 66.12
glider: 178
mission: 18
dive: 39
start: 10 3 114 23 20 37
data:
$ID,178
$MISSION,18
$DIVE,39
$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,56
$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,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
$GPS1,031014,231525,1340.527,14501.322,61,1.5,81,1.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.23
$_SM_ANGLEo,-76.5
$GPS2,031014,232026,1340.566,14501.299,12,0.9,32,1.5
$SPEED_LIMITS,0.173,0.265
$TGT_NAME,S3
$TGT_LATLONG,1336.000,14506.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,140.3,11963,-17.8,-10.000,-20.71,2479
$D_GRID,708
$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,-0.78,-175.2,157,2139,1605,1621,0.0,0.0,0,80,0.00,0.00,-63.80,0.000,16386,0.000,0.000,156,2138,3287,3336,3239,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.78,-175.2,157,2139,3337,3242,3.3,-13.5,11,106,10.60,2.30,-7.72,0.000,18692,0.250,0.060,2599,3561,3766,3827,3705,0,0,0,0,0,0,26.14,26.49,26.84
$GC,115,-0.78,-175.2,2599,3562,3832,3704,22.7,-53.2,17,122,0.00,2.15,0.00,0.000,1030,0.000,0.031,2599,2173,3768,3832,3705,0,0,0,0,0,0,28.83,26.55,28.83
$GC,421,-0.78,-175.2,2600,2170,3841,3706,122.3,-28.4,55,422,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2168,3772,3840,3704,0,0,0,0,0,0,28.83,28.83,28.83
$GC,722,-0.78,-175.2,2599,2169,3847,3706,184.1,-18.2,85,725,0.00,2.20,0.00,0.000,516,0.000,0.038,2599,736,3775,3845,3706,0,0,0,0,0,0,28.83,26.80,28.83
$GC,801,-0.78,-175.2,2600,737,3845,3710,198.7,-18.5,93,805,0.00,2.17,0.00,0.000,1030,0.000,0.034,2589,2149,3777,3845,3709,0,0,0,0,0,0,28.83,26.89,28.83
$GC,1111,-0.78,-175.2,2590,2150,3851,3710,251.0,-14.9,104,1115,0.00,2.15,0.00,0.000,260,0.000,0.048,2579,3555,3779,3850,3709,0,0,0,0,0,0,28.83,26.91,28.83
$GC,1146,-0.78,-175.2,2579,3555,3851,3709,255.7,-15.0,105,1150,0.10,2.12,0.00,0.000,3078,0.145,0.034,2610,2139,3780,3851,3709,0,0,0,0,0,0,26.77,27.01,28.83
$GC,1471,-0.78,-175.2,2610,2136,3852,3710,296.8,-11.4,116,1475,0.00,2.22,0.00,0.000,260,0.000,0.048,2601,3554,3780,3851,3710,0,0,0,0,0,0,28.83,26.97,28.83
$GC,1571,-0.78,-175.2,2602,3555,3852,3711,306.8,-10.9,119,1575,0.00,2.10,0.00,0.000,1030,0.000,0.030,2602,2154,3781,3852,3710,0,0,0,0,0,0,28.83,27.08,28.83
$GC,1891,-0.78,-175.2,2602,2151,3852,3710,345.9,-11.6,130,1895,0.00,2.15,0.00,0.000,516,0.000,0.039,2601,752,3780,3851,3710,0,0,0,0,0,0,28.83,27.05,28.83
$GC,1976,-0.78,-175.2,2601,750,3851,3710,353.0,-11.6,132,1984,0.00,2.17,0.00,0.000,1030,0.000,0.035,2592,2162,3780,3850,3710,0,0,0,0,0,0,28.83,27.07,28.83
$GC,2281,-0.78,-175.2,2593,2164,3844,3711,394.6,-13.1,143,2285,0.00,2.17,0.00,0.000,516,0.000,0.040,2592,755,3777,3844,3710,0,0,0,0,0,0,28.83,27.08,28.83
$GC,2356,-0.78,-175.2,2593,756,3844,3711,402.2,-13.0,145,2360,0.10,2.15,0.00,0.000,3078,0.146,0.035,2616,2149,3776,3843,3710,0,0,0,0,0,0,26.87,27.08,28.83
$GC,2672,-0.78,-175.2,2617,2149,3842,3709,438.1,-10.2,156,2675,0.00,2.17,0.00,0.000,260,0.000,0.053,2608,3557,3774,3840,3709,0,0,0,0,0,0,28.83,27.03,28.83
$GC,2706,-0.78,-175.2,2608,3558,3839,3711,441.1,-10.2,157,2710,0.00,2.12,0.00,0.000,1030,0.000,0.031,2608,2147,3773,3838,3709,0,0,0,0,0,0,28.83,27.16,28.83
$GC,3032,-0.78,-175.2,2609,2144,3833,3711,475.7,-10.6,168,3035,0.00,2.12,0.00,0.000,516,0.000,0.041,2608,753,3770,3831,3709,0,0,0,0,0,0,28.83,27.10,28.83
$GC,3061,-0.78,-175.2,2608,753,3832,3709,479.0,-10.8,169,3065,0.00,2.17,0.00,0.000,1030,0.000,0.037,2599,2155,3769,3830,3709,0,0,0,0,0,0,28.83,27.14,28.83
$GC,3392,-0.78,-175.2,2600,2156,3827,3709,513.3,-10.1,180,3395,0.00,2.17,0.00,0.000,260,0.000,0.053,2589,3560,3767,3826,3708,0,0,0,0,0,0,28.83,27.05,28.83
$GC,3436,-0.78,-175.2,2589,3560,3826,3708,516.6,-10.3,181,3441,0.00,2.12,0.00,0.000,1030,0.000,0.032,2589,2158,3766,3825,3707,0,0,0,0,0,0,28.83,27.17,28.83
$GC,3751,-0.78,-175.2,2589,2155,3822,3706,554.8,-11.7,192,3755,0.00,2.17,0.00,0.000,516,0.000,0.043,2589,753,3763,3821,3706,0,0,0,0,0,0,28.83,27.11,28.83
$GC,3796,-0.78,-175.2,2589,754,3821,3707,558.4,-11.7,193,3800,0.10,2.17,0.00,0.000,3078,0.153,0.038,2614,2147,3763,3821,3706,0,0,0,0,0,0,26.86,27.11,28.83
$GC,4112,-0.78,-175.2,2614,2148,3819,3703,590.0,-9.3,204,4115,0.00,2.20,0.00,0.000,260,0.000,0.055,2605,3556,3760,3818,3702,0,0,0,0,0,0,28.83,27.05,28.83
$GC,4212,-0.78,-175.2,2605,3556,3815,3703,598.3,-9.2,207,4215,0.00,2.10,0.00,0.000,1030,0.000,0.033,2605,2149,3758,3815,3702,0,0,0,0,0,0,28.83,27.18,28.83
$GC,4531,-0.78,-175.2,2606,2146,3814,3701,630.0,-10.0,218,4535,0.00,2.25,0.00,0.000,260,0.000,0.055,2596,3554,3756,3813,3700,0,0,0,0,0,0,28.83,27.03,28.83
$GC,4556,-0.78,-175.2,2595,3554,3813,3700,630.0,-10.0,218,4564,0.00,2.12,0.00,0.000,1030,0.000,0.033,2596,2153,3756,3812,3700,0,0,0,0,0,0,28.83,27.17,28.83
$GC,4861,-0.78,-175.2,2596,2151,3811,3698,663.3,-10.0,229,4862,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2150,3753,3809,3698,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5162,-0.78,-175.2,2596,2149,3808,3696,691.5,-8.9,239,5163,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2149,3751,3807,3696,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5340,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5340,begin apogee
$GC,5344,-0.13,0.0,2595,2260,3806,3694,708.4,-10.8,245,5493,0.73,0.00,142.65,1.081,10246,0.132,0.000,2824,2259,3045,3088,3002,0,0,0,0,0,0,26.83,28.83,24.62
$STATE,5494,end apogee,CONTROL_FINISHED_OK
$STATE,5494,begin climb
$GC,5495,0.78,175.2,2825,2261,3088,3003,711.5,0.0,250,5652,0.80,2.40,148.27,1.066,10500,0.047,0.051,3131,3647,2330,2372,2288,0,0,0,0,0,0,25.52,25.17,24.42
$GC,5701,0.78,175.2,3132,3647,2364,2287,686.6,18.4,257,5705,0.00,2.25,0.00,0.000,1030,0.000,0.032,3142,2253,2325,2363,2287,0,0,0,0,0,0,28.83,25.76,28.83
$GC,6032,0.78,175.2,3143,2248,2359,2282,630.6,18.0,268,6035,0.00,2.30,0.00,0.000,260,0.000,0.054,3142,3646,2320,2358,2282,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6081,0.78,175.2,3143,3647,2357,2284,624.8,18.1,269,6085,0.00,2.17,0.00,0.000,1030,0.000,0.031,3153,2247,2319,2357,2282,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6391,0.78,175.2,3153,2245,2354,2283,562.8,19.1,280,6395,0.00,2.28,0.00,0.000,260,0.000,0.053,3153,3642,2317,2353,2282,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6441,0.78,175.2,3153,3644,2354,2283,556.7,19.4,281,6445,0.12,2.17,0.00,0.000,5126,0.178,0.031,3128,2237,2317,2353,2281,0,0,0,0,0,0,26.46,26.76,28.83
$GC,6751,0.78,175.2,3129,2234,2352,2280,500.0,17.0,292,6755,0.00,2.20,0.00,0.000,516,0.000,0.044,3137,843,2315,2351,2279,0,0,0,0,0,0,28.83,26.82,28.83
$GC,6796,0.78,175.2,3137,845,2352,2278,495.0,17.1,293,6801,0.00,2.20,0.00,0.000,1030,0.000,0.037,3137,2241,2314,2351,2277,0,0,0,0,0,0,28.83,26.83,28.83
$GC,7112,0.78,175.2,3138,2242,2351,2278,439.9,16.4,304,7115,0.00,2.28,0.00,0.000,260,0.000,0.054,3137,3659,2313,2350,2277,0,0,0,0,0,0,28.83,26.84,28.83
$GC,7136,0.78,175.2,3137,3658,2351,2276,439.9,16.4,304,7143,0.00,2.17,0.00,0.000,1030,0.000,0.031,3146,2242,2312,2349,2276,0,0,0,0,0,0,28.83,26.94,28.83
$GC,7441,0.78,175.2,3146,2240,2348,2276,383.0,17.4,315,7442,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2240,2312,2347,2277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7741,0.78,175.2,3146,2241,2346,2278,331.7,17.6,325,7745,0.00,2.17,0.00,0.000,516,0.000,0.044,3156,853,2311,2345,2277,0,0,0,0,0,0,28.83,26.97,28.83
$GC,7906,0.78,175.2,3157,854,2347,2275,306.1,16.9,330,7911,0.10,2.20,0.00,0.000,5126,0.171,0.038,3127,2257,2310,2346,2274,0,0,0,0,0,0,26.71,26.99,28.83
$GC,8221,0.78,175.2,3128,2259,2346,2275,257.4,13.9,341,8225,0.00,2.22,0.00,0.000,260,0.000,0.054,3127,3649,2309,2345,2274,0,0,0,0,0,0,28.83,26.95,28.83
$GC,8331,0.78,175.2,3128,3649,2345,2274,245.4,13.3,344,8335,0.00,2.15,0.00,0.000,1030,0.000,0.031,3136,2239,2309,2344,2274,0,0,0,0,0,0,28.83,27.06,28.83
$GC,8641,0.78,175.2,3137,2239,2342,2275,202.5,11.9,355,8645,0.00,2.15,0.00,0.000,516,0.000,0.042,3146,856,2307,2341,2274,0,0,0,0,0,0,28.83,27.04,28.83
$GC,8731,0.78,175.2,3147,857,2342,2272,192.1,11.4,362,8735,0.00,2.17,0.00,0.000,1030,0.000,0.037,3146,2258,2306,2341,2271,0,0,0,0,0,0,28.83,27.04,28.83
$GC,9041,0.78,175.2,3147,2259,2342,2270,153.4,12.4,393,9045,0.00,2.20,0.00,0.000,260,0.000,0.051,3146,3645,2306,2341,2271,0,0,0,0,0,0,28.83,27.01,28.83
$GC,9201,0.78,175.2,3147,3646,2341,2272,130.3,12.6,409,9205,0.10,2.10,0.00,0.000,5126,0.170,0.031,3127,2250,2305,2339,2271,0,0,0,0,0,0,26.78,27.12,28.83
$GC,9512,0.95,267.6,3127,2247,2341,2270,105.4,6.2,440,9588,0.15,2.20,71.90,0.674,10756,0.093,0.038,3204,847,1952,1980,1925,0,0,0,0,0,0,27.15,26.19,25.60
$GC,9607,0.95,267.6,3204,849,1981,1920,95.2,12.2,449,9611,0.00,2.22,0.00,0.000,1030,0.000,0.034,3203,2244,1949,1980,1918,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9917,0.95,267.6,3204,2246,1976,1916,53.4,10.2,480,9921,0.00,2.28,0.00,0.000,260,0.000,0.050,3203,3660,1944,1975,1914,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9987,0.95,270.1,3204,3661,1974,1914,46.2,9.9,490,9994,0.10,2.15,0.00,0.000,5126,0.161,0.029,3185,2250,1944,1973,1916,0,0,0,0,0,0,26.46,26.72,28.83
$GC,10294,1.00,294.5,3185,2250,1973,1917,21.2,9.0,551,10323,0.00,2.17,21.98,0.579,8708,0.000,0.039,3193,850,1844,1874,1814,0,0,0,0,0,0,28.83,26.58,25.93
$GC,10447,1.00,294.5,3193,850,1874,1806,5.7,10.6,581,10454,0.00,2.17,0.00,0.000,1030,0.000,0.032,3193,2257,1840,1874,1806,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,10472,end climb,SURFACE_DEPTH_REACHED
$STATE,10472,begin surface coast
$FINISH,-0.2,1.021623
$STATE,10498,end surface coast,CONTROL_FINISHED_OK
$STATE,10498,begin surface
$SM_CCo,10512,33.08,0.292,1,0,1618,350.04
$SM_GC,-0.72,8.35,0.12,33.08,0.066,0.072,0.292,162,2142,1618,-8.43,1.70,350.04,0,0,0,0,1,0,26.66,26.81,25.89
$IRIDIUM_FIX,1334.19,14501.02,031014,192710
$TT8_MAMPS,0.051681,0.051681
$HUMID,52.63
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,24.90
$XPDR_PINGS,2
$24V_AH,24.42,4.595
$10V_AH,10.43,2.175
$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,21.350,105.275,384.800,33.075,0.000,0.000,0.000,212.900,5.000,0.000,35.896,0.000,8316.803,537.085,1878.957,109.460,0.000,1454.398,0.000,1269.541,0.000,37.540,0.000
$DEVICE_MAMPS,250.155,84.150,1080.945,292.230,0.000,0.000,0.000,86.445,420.000,0.000,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,397.384,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,228536
$DATA_FILE_SIZE,26730,591
$CAP_FILE_SIZE,107589,0
$CFSIZE,260034560,254754816
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,13768.51,0x236bc6,7,5
$CURRENT,0.056,287.71,1
$GPS,041014,021756,1339.529,14501.910,49,0.9,69,1.5