version: 66.12
glider: 178
mission: 20
dive: 4
start: 3 2 115 3 10 4
data:
$ID,178
$MISSION,20
$DIVE,4
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,360
$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,120
$T_MISSION,135
$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,65
$R_STBD_OVSHOOT,51
$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
$GPS1,020315,030219,1311.8892,14434.2988,11,0.9,11,1.5,0.5,271.5,9,6.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-70.5
$GPS2,020315,030953,1311.9347,14434.1660,9,1.3,14,1.5,0.8,321.1,8,7.6
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,S1
$TGT_LATLONG,1312.720,14446.380
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,93.8,22070,-17.6,-10.000,-21.24,2209
$D_GRID,1488
$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,-0.75,-146.0,152,2156,913,892,0.0,0.0,0,108,0.00,0.00,-92.20,0.000,16386,0.000,0.000,145,2158,3124,3165,3083,0,0,0,0,0,0,27.40,28.83,27.47
$GC,110,-0.75,-146.0,146,2159,3165,3084,3.7,-8.9,16,134,10.27,0.00,-7.78,0.000,18950,0.247,0.000,2621,2157,3539,3627,3452,0,0,0,0,0,0,26.72,26.64,27.05
$GC,433,-0.75,-146.0,2620,2158,3629,3453,70.1,-17.8,69,437,0.00,2.12,0.00,0.000,260,0.000,0.046,2612,3538,3540,3629,3452,0,0,0,0,0,0,27.52,27.22,27.58
$GC,589,-0.75,-146.0,2611,3539,3630,3453,97.3,-17.5,84,595,0.00,2.00,0.00,0.000,1030,0.000,0.026,2612,2146,3540,3629,3452,0,0,0,0,0,0,27.39,27.34,27.40
$GC,894,-0.75,-146.0,2611,2144,3630,3453,145.6,-11.1,115,897,0.00,2.12,0.00,0.000,260,0.000,0.045,2601,3543,3540,3629,3452,0,0,0,0,0,0,27.59,27.29,27.65
$GC,928,-0.75,-146.0,2601,3542,3630,3453,150.3,-12.5,118,932,0.00,2.03,0.00,0.000,1030,0.000,0.026,2602,2151,3540,3629,3452,0,0,0,0,0,0,27.41,27.39,27.42
$GC,1238,-0.75,-146.0,2601,2149,3631,3453,187.5,-9.9,149,1242,0.00,2.12,0.00,0.000,260,0.000,0.045,2592,3534,3540,3629,3452,0,0,0,0,0,0,27.61,27.32,27.67
$GC,1273,-0.75,-146.0,2592,3535,3629,3453,190.1,-9.0,152,1280,0.10,2.03,0.00,0.000,3078,0.125,0.027,2627,2143,3541,3629,3453,0,0,0,0,0,0,27.18,27.40,27.27
$GC,1589,-0.75,-146.0,2626,2141,3630,3453,208.8,-5.8,174,1592,0.00,2.12,0.00,0.000,260,0.000,0.046,2618,3550,3541,3631,3452,0,0,0,0,0,0,27.62,27.32,27.69
$GC,1618,-0.75,-146.0,2617,3551,3632,3453,210.0,-5.6,175,1622,0.00,2.05,0.00,0.000,1030,0.000,0.028,2618,2148,3541,3630,3452,0,0,0,0,0,0,27.43,27.41,27.44
$GC,1943,-0.75,-146.0,2617,2146,3633,3453,238.3,-10.3,186,1947,0.00,2.15,0.00,0.000,260,0.000,0.047,2611,3537,3541,3631,3452,0,0,0,0,0,0,27.62,27.32,27.69
$GC,2173,-0.75,-146.0,2610,3537,3631,3453,252.3,-5.3,193,2177,0.00,2.03,0.00,0.000,1030,0.000,0.028,2611,2156,3541,3630,3452,0,0,0,0,0,0,27.43,27.42,27.46
$GC,2483,-0.75,-146.0,2611,2153,3627,3453,277.0,-8.8,204,2488,0.00,2.15,0.00,0.000,260,0.000,0.049,2602,3536,3540,3628,3452,0,0,0,0,0,0,27.62,27.32,27.70
$GC,2518,-0.75,-146.0,2602,3537,3628,3453,279.6,-8.7,205,2522,0.00,2.05,0.00,0.000,1030,0.000,0.029,2602,2143,3539,3627,3452,0,0,0,0,0,0,27.46,27.41,27.46
$GC,2843,-0.75,-146.0,2601,2142,3625,3453,300.6,-5.6,216,2847,0.00,2.17,0.00,0.000,260,0.000,0.050,2594,3535,3537,3623,3452,0,0,0,0,0,0,27.62,27.31,27.70
$GC,3038,-0.75,-146.0,2593,3536,3622,3453,315.5,-8.4,222,3042,0.08,2.05,0.00,0.000,3078,0.124,0.031,2623,2148,3536,3620,3452,0,0,0,0,0,0,27.20,27.41,27.29
$GC,3353,-0.75,-146.0,2624,2147,3617,3451,338.1,-7.3,233,3357,0.00,2.17,0.00,0.000,260,0.000,0.050,2615,3535,3534,3617,3451,0,0,0,0,0,0,27.62,27.30,27.70
$GC,3403,-0.75,-146.0,2616,3536,3616,3451,340.3,-7.3,234,3407,0.00,2.05,0.00,0.000,1030,0.000,0.031,2615,2152,3533,3617,3450,0,0,0,0,0,0,27.43,27.43,27.46
$GC,3713,-0.75,-146.0,2614,2153,3615,3448,358.7,-4.6,245,3718,0.00,2.17,0.00,0.000,260,0.000,0.052,2608,3535,3529,3612,3447,0,0,0,0,0,0,27.62,27.29,27.70
$STATE,3742,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3742,begin apogee
$GC,3747,-0.14,0.0,2608,2235,3614,3448,360.1,-4.6,246,3865,0.65,0.00,115.00,0.804,10246,0.105,0.000,2831,2230,2941,2993,2889,0,0,0,0,0,0,27.17,25.94,25.34
$STATE,3866,end apogee,CONTROL_FINISHED_OK
$STATE,3866,begin climb
$GC,3868,0.75,146.0,2830,2231,2994,2889,362.8,0.0,250,3994,0.73,2.17,120.00,0.793,10756,0.041,0.038,3135,852,2345,2392,2298,0,0,0,0,0,0,26.16,25.64,25.22
$GC,4218,0.75,146.0,3135,852,2386,2286,315.6,18.0,262,4223,0.00,2.15,0.00,0.000,1030,0.000,0.037,3135,2234,2335,2386,2285,0,0,0,0,0,0,26.91,26.87,26.94
$GC,4548,0.75,146.0,3134,2235,2381,2285,262.9,15.2,273,4553,0.00,2.12,0.00,0.000,516,0.000,0.041,3145,860,2332,2380,2285,0,0,0,0,0,0,27.34,27.12,27.41
$GC,4733,0.75,146.0,3144,861,2379,2283,233.9,17.3,279,4737,0.10,2.15,0.00,0.000,5126,0.169,0.037,3115,2260,2330,2378,2282,0,0,0,0,0,0,26.96,27.17,27.10
$GC,5039,0.75,146.0,3114,2261,2375,2281,192.9,10.4,292,5040,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2260,2326,2373,2280,0,0,0,0,0,0,27.48,27.56,27.55
$GC,5340,0.92,240.9,3113,2261,2371,2279,168.5,5.6,322,5421,0.12,2.25,73.50,0.689,11012,0.103,0.050,3177,3653,1957,2002,1912,0,0,0,0,0,0,27.31,26.25,25.70
$GC,5445,0.92,240.9,3176,3654,2001,1912,155.4,16.2,332,5452,0.00,2.15,0.00,0.000,1030,0.000,0.030,3188,2246,1954,1999,1909,0,0,0,0,0,0,26.60,26.58,26.63
$GC,5750,0.92,240.9,3189,2246,1992,1901,108.2,10.6,363,5755,0.00,2.12,0.00,0.000,516,0.000,0.039,3198,859,1947,1993,1901,0,0,0,0,0,0,27.25,27.03,27.32
$GC,5980,0.92,240.9,3199,859,1993,1898,75.9,15.9,386,5984,0.08,2.12,0.00,0.000,5126,0.174,0.035,3176,2252,1944,1992,1897,0,0,0,0,0,0,26.94,27.13,27.05
$GC,6285,0.92,240.9,3177,2252,1992,1898,35.5,12.1,428,6292,0.00,2.12,0.00,0.000,516,0.000,0.038,3183,860,1944,1991,1897,0,0,0,0,0,0,27.46,27.23,27.53
$GC,6516,0.92,240.9,3183,861,1994,1898,4.1,13.6,474,6523,0.00,2.10,0.00,0.000,1030,0.000,0.034,3184,2248,1944,1992,1897,0,0,0,0,0,0,27.29,27.24,27.32
$STATE,6525,end climb,SURFACE_DEPTH_REACHED
$STATE,6525,begin surface coast
$FINISH,0.2,1.022089
$STATE,6546,end surface coast,CONTROL_FINISHED_OK
$STATE,6546,begin surface
$SM_CCo,6560,104.78,0.060,0,0,902,500.17
$SM_GC,0.61,7.70,0.12,104.78,0.038,0.077,0.060,162,2147,902,-8.41,1.58,500.17,0,0,0,0,0,0,27.20,27.34,27.10
$IRIDIUM_FIX,1305.38,14437.26,020315,030453
$TT8_MAMPS,0.051681,0.051681
$HUMID,49.76
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,25.22,0.933
$10V_AH,10.61,1.598
$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,19.825,59.150,308.500,104.775,0.000,0.000,0.000,0.000,0.000,0.000,16.870,0.000,4771.546,512.591,1352.364,79.430,0.000,1091.257,0.000,1068.860,0.000,0.557,0.000
$DEVICE_MAMPS,247.095,77.265,804.015,59.670,0.000,0.000,0.000,0.000,420.000,0.000,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,320.271,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,230024
$DATA_FILE_SIZE,20113,480
$CAP_FILE_SIZE,90379,0
$CFSIZE,260034560,256782336
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,4785.33,0x236db2,7,5
$CURRENT,0.207,303.67,1
$GPS,020315,050142,1311.890,14433.928,8,1.2,13,1.5,0.6,296.9,7,9.0