version: 66.13
glider: 178
mission: 28
dive: 13
start: 3 18 117 13 46 48
data:
$ID,178
$MISSION,28
$DIVE,13
$N_DIVES,0
$STOP_T,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,100
$T_MISSION,160
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,1800
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51842
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$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,450
$N_FILEKB,8
$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,100740
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,165
$PITCH_MAX,3954
$C_PITCH,2040
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,27
$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,2500
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,94
$R_STBD_OVSHOOT,64
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,3197
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00038000001
$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,148
$AH0_10V,95
$MINV_24V,22
$MINV_10V,9.5
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-43.355331
$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,0
$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,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,51
$LOGGERDEVICE2,85
$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,0.0043966938
$SEABIRD_T_H,0.00063700025
$SEABIRD_T_I,2.5067597e-05
$SEABIRD_T_J,2.9826379e-06
$SEABIRD_C_G,-9.7293062
$SEABIRD_C_H,1.1206031
$SEABIRD_C_I,0.00047059715
$SEABIRD_C_J,5.505409e-05
$SC_RECORDABOVE,2000.0
$SC_PROFILE,7.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,7.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,1.0
$PM_SENDDEPTH,0.0
$GPS1,180317,134033,2909.6099,-7607.3330,14,1.2,30,-9.0,0.5,87.3,8,4.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.36
$_SM_ANGLEo,-60.3
$GPS2,180317,134629,2909.6689,-7607.2129,15,1.1,15,-9.0,0.7,54.7,7,8.7
$SPEED_LIMITS,0.208,0.347
$TGT_NAME,WS
$TGT_LATLONG,2906.500,-7615.500
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,267.1,14637,-16.4,-12.000,-19.05,3103
$D_GRID,5008
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,13,-0.70,-243.3,139,2516,1296,1146,0.0,0.0,0,91,0.00,0.00,-74.53,0.000,16386,0.000,0.000,137,2512,2932,2980,2885,0,0,0,0,0,0,27.20,28.83,27.27
$GC,94,-0.70,-243.3,139,2509,2981,2887,3.0,-0.9,13,138,6.88,2.12,-29.83,0.000,18980,0.243,1.248,1808,1138,3962,4027,3897,0,0,0,0,0,0,26.73,25.91,26.98
$GC,228,-0.70,-243.3,1809,1137,4027,3898,19.5,-13.9,38,235,0.00,2.00,0.00,0.000,1030,0.000,0.028,1802,2480,3961,4026,3897,0,0,0,0,0,0,27.08,27.03,27.09
$GC,414,-0.70,-243.3,1802,2480,4027,3898,49.0,-17.6,75,423,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,2480,3961,4026,3897,0,0,0,0,0,0,27.37,27.44,27.43
$GC,607,-0.70,-243.3,1802,2481,4027,3897,80.7,-16.7,95,614,0.00,2.08,-0.03,0.000,16900,0.000,1.255,1803,1133,3966,4026,3906,0,0,0,0,0,0,27.45,26.04,27.09
$GC,644,-0.70,-243.3,1807,1134,4026,3907,86.9,-16.6,102,651,0.00,2.03,0.00,0.000,1030,0.000,0.028,1792,2500,3968,4025,3912,0,0,0,0,0,0,27.19,27.12,27.21
$GC,949,-0.70,-243.3,1792,2501,4028,3905,134.4,-15.3,133,956,0.00,1.92,0.00,0.000,260,0.000,0.045,1784,3773,3968,4030,3906,0,0,0,0,0,0,27.48,27.22,27.54
$GC,981,-0.70,-243.3,1782,3774,4025,3906,139.2,-15.4,139,987,0.12,1.77,0.00,0.000,3078,0.147,0.021,1814,2475,3965,4025,3906,0,0,0,0,0,0,27.15,27.37,27.27
$GC,1292,-0.70,-243.3,1816,2475,4026,3907,176.5,-12.6,171,1299,0.00,1.92,0.00,0.000,516,0.000,0.024,1815,1138,3967,4025,3909,0,0,0,0,0,0,27.55,27.34,27.61
$GC,1374,-0.70,-243.3,1816,1139,4026,3908,186.4,-10.8,187,1380,0.00,2.00,0.00,0.000,1062,0.000,0.028,1809,2501,3965,4025,3906,0,0,0,0,0,0,27.39,27.33,27.42
$GC,1705,-0.70,-243.3,1809,2503,4026,3906,225.0,-11.7,207,1708,0.00,0.00,0.00,0.000,38,0.000,0.000,1808,2502,3965,4025,3906,0,0,0,0,0,0,27.59,27.67,27.66
$GC,2005,-0.70,-243.3,1808,2502,4025,3908,259.4,-11.3,217,2009,0.00,0.00,0.00,0.000,38,0.000,0.000,1809,2502,3966,4025,3908,0,0,0,0,0,0,27.62,27.69,27.67
$GC,2305,-0.70,-243.3,1809,2503,4027,3906,293.5,-11.3,227,2311,0.00,1.95,0.00,0.000,548,0.000,0.022,1809,1146,3965,4025,3906,0,0,0,0,0,0,27.64,27.43,27.70
$GC,2335,-0.70,-243.3,1809,1151,4025,3906,297.0,-10.4,233,2344,0.00,2.00,0.00,0.000,1062,0.000,0.027,1801,2513,3965,4025,3906,0,0,0,0,0,0,27.46,27.41,27.48
$GC,2668,-0.70,-243.3,1801,2512,4026,3907,335.1,-12.0,249,2671,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,2511,3966,4025,3907,0,0,0,0,0,0,27.65,27.72,27.74
$STATE,2877,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2877,begin apogee
$GC,2881,-0.19,0.0,1801,2086,4025,3906,360.1,-11.9,256,3035,0.55,0.00,149.45,0.786,10246,0.109,0.000,1985,2080,3193,3257,3130,0,0,0,0,0,0,27.30,25.90,25.35
$STATE,3038,end apogee,CONTROL_FINISHED_OK
$STATE,3038,begin loiter
$GC,3328,-0.12,182.6,1985,2080,3257,3134,388.8,-6.0,271,3485,0.00,0.00,152.05,0.801,8230,0.000,0.000,1985,2080,2451,2528,2375,0,0,0,0,0,0,27.15,25.77,25.24
$GC,3778,-0.12,182.6,1985,2077,2527,2370,374.8,5.1,286,3781,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,2080,2448,2528,2369,0,0,0,0,0,0,27.15,27.22,27.20
$GC,4079,-0.12,182.6,1985,2080,2530,2369,360.8,4.5,296,4081,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,2080,2447,2521,2373,0,0,0,0,0,0,27.36,27.43,27.41
$GC,4378,-0.12,182.6,1990,2081,2527,2367,347.3,4.6,306,4382,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,2080,2447,2526,2368,0,0,0,0,0,0,27.46,27.53,27.52
$GC,4678,-0.12,182.6,1985,2081,2527,2366,333.1,4.8,316,4682,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,2080,2450,2529,2372,0,0,0,0,0,0,27.53,27.60,27.58
$STATE,4827,end loiter,LOITER_COMPLETE
$STATE,4827,begin climb
$GC,4828,0.70,243.3,1985,2081,2527,2366,325.8,0.0,321,4887,0.75,2.05,49.83,0.757,10756,0.063,0.028,2279,767,2205,2285,2126,0,0,0,0,0,0,27.29,26.49,25.90
$GC,5001,0.72,294.0,2283,765,2293,2128,311.0,10.3,355,5053,0.00,1.98,42.97,0.742,9254,0.000,0.020,2283,2119,1999,2080,1918,0,0,0,0,0,0,26.98,26.91,25.70
$GC,5373,0.73,315.4,2282,2119,2078,1913,268.9,11.3,379,5395,0.00,0.00,18.83,0.692,8230,0.000,0.000,2283,2118,1911,1995,1827,0,0,0,0,0,0,27.25,26.63,26.09
$GC,5673,0.73,324.6,2283,2118,1996,1825,233.5,11.7,389,5689,0.00,0.00,8.57,0.559,8486,0.000,0.000,2282,2122,1873,1958,1788,0,0,0,0,0,0,27.30,26.85,26.26
$GC,5994,0.73,328.2,2282,2119,1966,1787,195.5,11.9,406,6006,0.00,0.00,4.55,0.483,8230,0.000,0.000,2283,2118,1859,1944,1774,0,0,0,0,0,0,27.40,26.99,26.39
$GC,6304,0.74,341.3,2281,2120,1945,1773,159.0,11.6,437,6322,0.00,2.08,12.25,0.611,8740,0.000,0.027,2293,770,1805,1890,1720,0,0,0,0,0,0,27.47,26.99,26.41
$GC,6387,0.74,352.9,2293,769,1890,1721,149.4,11.6,453,6405,0.00,1.92,10.75,0.595,9254,0.000,0.020,2292,2104,1759,1844,1675,0,0,0,0,0,0,27.20,27.15,26.33
$GC,6709,0.74,352.9,2293,2104,1842,1676,109.6,12.4,487,6716,0.00,2.08,0.00,0.000,260,0.000,0.037,2292,3493,1758,1842,1674,0,0,0,0,0,0,27.42,27.16,27.48
$GC,6786,0.74,352.9,2293,3493,1844,1676,99.5,13.5,502,6793,0.00,1.90,0.00,0.000,1030,0.000,0.018,2303,2118,1758,1842,1674,0,0,0,0,0,0,27.32,27.29,27.37
$GC,7091,0.74,354.1,2304,2117,1842,1676,60.3,12.0,533,7098,0.00,2.00,0.00,0.000,548,0.000,0.028,2313,744,1758,1843,1674,0,0,0,0,0,0,27.52,27.29,27.58
$GC,7177,0.75,368.7,2313,743,1838,1676,49.5,11.5,550,7198,0.12,1.95,14.12,0.558,13350,0.153,0.020,2280,2108,1694,1779,1609,0,0,0,0,0,0,27.16,27.32,26.50
$GC,7378,0.75,378.2,2278,2108,1780,1611,27.4,11.7,589,7392,0.00,0.00,5.35,0.438,8230,0.000,0.000,2283,2110,1653,1741,1566,0,0,0,0,0,0,27.46,27.05,26.54
$GC,7571,0.77,420.7,2280,2108,1742,1567,7.2,10.6,627,7597,0.00,0.00,20.08,0.447,8230,0.000,0.000,2280,2108,1479,1574,1384,0,0,0,0,0,0,27.48,26.96,26.54
$STATE,7614,end climb,SURFACE_DEPTH_REACHED
$STATE,7614,begin surface coast
$FINISH,1.6,1.010395
$STATE,7645,end surface coast,CONTROL_FINISHED_OK
$STATE,7645,begin surface
$SM_CCo,7666,13.07,0.046,0,0,1360,450.13
$SM_GC,2.04,5.40,0.55,13.07,0.032,0.034,0.046,141,2508,1360,-5.83,-1.67,450.13,0,0,0,0,0,0,27.12,27.14,27.08
$IRIDIUM_FIX,2855.60,-7608.00,180317,114425
$TT8_MAMPS,0.049434,0.307839
$HUMID,36.37
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,24.00
$XPDR_PINGS,0
$SC_FREEKB,7892288
$PM_FREEKB,61970752
$24V_AH,25.24,11.340
$10V_AH,10.36,7.196
$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,13.825,36.800,488.800,13.075,0.000,0.000,0.000,219.725,0.000,0.000,16.518,0.000,5710.113,601.174,1572.326,154.581,0.000,1410.841,0.000,924.430,0.000,0.553,0.000
$DEVICE_MAMPS,242.505,1254.600,800.955,45.900,0.000,0.000,0.000,95.625,420.000,0.000,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7640.000,7643.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.483,14.493,0.000,0.000
$MEM,152968
$DATA_FILE_SIZE,23370,641
$CAP_FILE_SIZE,76522,0
$CFSIZE,260034560,254992384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.464,65.60,1
$GPS,180317,155557,2909.881,-7606.579,12,1.1,40,-9.0,0.6,74.7,8,4.4