version: 66.12
glider: 178
mission: 20
dive: 3
start: 3 2 115 1 50 18
data:
$ID,178
$MISSION,20
$DIVE,3
$N_DIVES,4
$D_SURF,3
$D_FLARE,3
$D_TGT,180
$D_ABORT,1030
$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,60
$T_MISSION,75
$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,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51652
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-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,500
$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
$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,36
$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,81
$R_STBD_OVSHOOT,56
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,2941
$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,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,-46.597843
$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
$DEVICE1,2
$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,49
$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,125000.0
$PA_MAXOPTIONALUPLOADSIZE,20480.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,020315,014559,1311.7831,14434.9453,11,1.6,27,1.5,0.8,286.1,8,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-69.5
$GPS2,020315,015007,1311.7894,14434.8848,14,1.6,14,1.5,0.1,264.2,8,7.3
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,S1
$TGT_LATLONG,1312.720,14446.380
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,60.1,20797,-17.6,-10.000,-21.24,2209
$D_GRID,1402
$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,-0.75,-146.0,151,2233,464,455,0.0,0.0,0,125,0.00,0.00,-109.47,0.000,16386,0.000,0.000,143,2233,3104,3145,3064,0,0,0,0,0,0,27.38,28.83,27.45
$GC,127,-0.75,-146.0,143,2234,3147,3065,3.1,-6.5,19,151,10.12,0.00,-8.52,0.000,18950,0.242,0.000,2623,2233,3538,3627,3449,0,0,0,0,0,0,26.74,26.65,27.06
$GC,450,-0.75,-146.0,2622,2234,3628,3450,68.1,-17.2,73,455,0.00,2.00,0.00,0.000,260,0.000,0.045,2615,3536,3538,3628,3449,0,0,0,0,0,0,27.52,27.23,27.58
$GC,630,-0.75,-146.0,2614,3537,3629,3450,101.1,-17.1,91,635,0.00,2.00,0.00,0.000,1030,0.000,0.025,2614,2162,3538,3628,3449,0,0,0,0,0,0,27.37,27.35,27.40
$GC,940,-0.75,-146.0,2615,2159,3628,3450,143.6,-13.0,122,945,0.00,2.12,0.00,0.000,260,0.000,0.045,2606,3540,3538,3628,3449,0,0,0,0,0,0,27.59,27.29,27.65
$GC,990,-0.75,-146.0,2605,3541,3629,3450,150.6,-13.9,127,994,0.00,2.03,0.00,0.000,1030,0.000,0.026,2606,2146,3538,3627,3449,0,0,0,0,0,0,27.41,27.38,27.43
$STATE,1229,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1229,begin apogee
$GC,1234,-0.14,0.0,2605,2249,3630,3450,180.9,-10.0,151,1352,0.65,0.00,111.12,0.650,10246,0.120,0.000,2821,2249,2940,2992,2889,0,0,0,0,0,0,27.17,26.17,25.64
$STATE,1353,end apogee,CONTROL_FINISHED_OK
$STATE,1353,begin climb
$GC,1354,0.75,146.0,2822,2249,2991,2889,183.1,0.0,163,1476,0.75,2.17,115.68,0.646,10756,0.038,0.033,3153,856,2344,2391,2298,0,0,0,0,0,0,26.43,26.03,25.49
$GC,1702,0.75,146.0,3154,856,2386,2290,161.0,11.7,198,1706,0.12,2.10,0.00,0.000,5126,0.151,0.030,3114,2253,2338,2387,2290,0,0,0,0,0,0,26.81,26.99,26.91
$GC,2012,0.79,164.9,3114,2254,2384,2289,130.2,9.1,229,2034,0.00,2.12,15.30,0.568,8452,0.000,0.044,3114,3651,2268,2315,2221,0,0,0,0,0,0,27.43,26.86,26.32
$GC,2153,0.87,209.4,3113,3652,2314,2220,116.9,7.9,243,2195,0.00,2.05,35.85,0.593,9222,0.000,0.025,3123,2244,2086,2135,2038,0,0,0,0,0,0,27.21,27.18,26.05
$GC,2493,0.92,240.7,3123,2245,2129,2030,92.0,8.5,277,2525,0.12,2.08,25.08,0.569,10756,0.093,0.035,3200,857,1957,2006,1909,0,0,0,0,0,0,27.20,26.72,26.19
$GC,2729,0.92,240.7,3200,858,2008,1901,61.2,14.4,300,2737,0.10,2.10,0.00,0.000,5126,0.156,0.031,3171,2254,1952,2005,1900,0,0,0,0,0,0,26.94,27.13,27.04
$GC,3035,0.92,240.7,3170,2255,2005,1900,19.5,13.6,353,3041,0.00,2.12,0.00,0.000,260,0.000,0.044,3171,3641,1951,2003,1900,0,0,0,0,0,0,27.50,27.24,27.56
$GC,3090,0.92,240.7,3172,3641,2003,1900,11.2,15.1,364,3098,0.00,2.03,0.00,0.000,1030,0.000,0.025,3179,2248,1951,2003,1899,0,0,0,0,0,0,27.34,27.32,27.36
$STATE,3146,end climb,SURFACE_DEPTH_REACHED
$STATE,3146,begin surface coast
$FINISH,0.4,1.009582
$STATE,3166,end surface coast,CONTROL_FINISHED_OK
$STATE,3166,begin surface
$SM_CCo,3180,99.03,0.054,0,0,901,500.17
$SM_GC,0.96,7.65,0.08,99.03,0.036,0.104,0.054,154,2158,901,-8.44,2.23,500.17,0,0,0,0,0,0,27.25,27.41,27.15
$IRIDIUM_FIX,1305.38,14434.17,020315,014258
$TT8_MAMPS,0.051681,0.051681
$HUMID,44.52
$INTERNAL_PRESSURE,9.74647
$TCM_TEMP,25.70
$XPDR_PINGS,1
$24V_AH,25.49,0.848
$10V_AH,10.82,1.549
$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,19.525,25.125,303.025,99.025,0.000,0.000,0.000,0.000,0.250,0.000,16.965,0.000,1909.567,482.089,890.697,48.016,0.000,879.207,0.000,692.848,0.000,0.557,0.000
$DEVICE_MAMPS,241.740,104.040,650.250,53.550,0.000,0.000,0.000,0.000,420.000,0.000,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,247.971,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,230040
$DATA_FILE_SIZE,16834,379
$CAP_FILE_SIZE,57020,0
$CFSIZE,260034560,256856064
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2298.68,0x236db2,7,5
$CURRENT,0.285,274.41,1
$GPS,020315,024553,1311.812,14434.593,13,1.1,35,1.5,0.8,291.8,7,9.0