version: 66.12
glider: 178
mission: 20
dive: 5
start: 3 2 115 5 13 35
data:
$ID,178
$MISSION,20
$DIVE,5
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,660
$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,220
$T_MISSION,250
$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,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,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,55
$R_STBD_OVSHOOT,45
$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
$GPS1,020315,050934,1311.9432,14433.7969,5,1.3,26,1.5,1.0,299.5,7,8.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-73.7
$GPS2,020315,051324,1311.9677,14433.7344,10,1.0,10,1.5,0.8,250.3,7,8.0
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,S1
$TGT_LATLONG,1312.720,14446.380
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,114.1,22842,-17.6,-10.000,-21.24,2209
$D_GRID,1525
$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,-0.73,-146.0,152,2147,911,893,0.0,0.0,0,108,0.00,0.00,-91.72,0.000,16386,0.000,0.000,145,2147,3125,3168,3083,0,0,0,0,0,0,27.30,28.83,27.37
$GC,110,-0.73,-146.0,144,2148,3169,3085,3.4,-9.1,16,134,10.38,0.00,-7.55,0.000,18438,0.249,0.000,2628,2143,3538,3626,3451,0,0,0,0,0,0,26.67,26.55,26.98
$GC,438,-0.73,-146.0,2628,2143,3629,3452,74.7,-18.9,68,442,0.00,2.17,0.00,0.000,260,0.000,0.047,2619,3543,3540,3629,3451,0,0,0,0,0,0,27.45,27.15,27.51
$GC,558,-0.73,-146.0,2619,3544,3629,3452,98.1,-18.5,80,562,0.00,2.05,0.00,0.000,1030,0.000,0.027,2618,2149,3540,3630,3451,0,0,0,0,0,0,27.29,27.27,27.32
$GC,868,-0.73,-146.0,2617,2147,3634,3452,149.9,-13.7,111,872,0.00,2.17,0.00,0.000,260,0.000,0.047,2608,3548,3541,3632,3451,0,0,0,0,0,0,27.53,27.23,27.59
$GC,938,-0.73,-146.0,2607,3549,3633,3452,158.5,-11.7,118,943,0.00,2.05,0.00,0.000,1030,0.000,0.027,2608,2147,3541,3632,3451,0,0,0,0,0,0,27.36,27.34,27.38
$GC,1248,-0.73,-146.0,2609,2144,3635,3452,192.9,-11.1,149,1252,0.00,2.17,0.00,0.000,260,0.000,0.046,2597,3549,3543,3635,3451,0,0,0,0,0,0,27.57,27.27,27.63
$GC,1308,-0.73,-146.0,2596,3550,3637,3452,199.6,-11.4,155,1313,0.10,2.05,0.00,0.000,3078,0.130,0.028,2632,2148,3543,3636,3451,0,0,0,0,0,0,27.15,27.37,27.24
$GC,1618,-0.73,-146.0,2633,2144,3638,3452,224.3,-6.7,166,1622,0.00,2.17,0.00,0.000,260,0.000,0.047,2624,3550,3544,3637,3451,0,0,0,0,0,0,27.59,27.29,27.65
$GC,1823,-0.73,-146.0,2623,3551,3639,3452,235.3,-6.1,172,1830,0.00,2.05,0.00,0.000,1030,0.000,0.028,2624,2157,3544,3638,3451,0,0,0,0,0,0,27.41,27.39,27.43
$GC,2128,-0.73,-146.0,2623,2156,3639,3452,256.4,-5.4,183,2133,0.00,2.15,0.00,0.000,260,0.000,0.050,2615,3540,3544,3638,3451,0,0,0,0,0,0,27.60,27.30,27.67
$GC,2218,-0.73,-146.0,2616,3541,3637,3452,260.3,-4.3,186,2222,0.00,2.05,0.00,0.000,1030,0.000,0.029,2615,2147,3544,3637,3451,0,0,0,0,0,0,27.43,27.40,27.44
$GC,2548,-0.73,-146.0,2614,2145,3636,3452,278.2,-7.3,197,2552,0.00,2.17,0.00,0.000,260,0.000,0.049,2606,3573,3542,3634,3451,0,0,0,0,0,0,27.61,27.29,27.67
$GC,2679,-0.73,-146.0,2607,3574,3633,3452,288.0,-8.2,201,2682,0.00,2.10,0.00,0.000,1030,0.000,0.031,2607,2144,3542,3633,3451,0,0,0,0,0,0,27.44,27.39,27.46
$GC,2998,-0.73,-146.0,2608,2142,3630,3451,311.8,-7.4,212,3002,0.00,2.20,0.00,0.000,260,0.000,0.051,2597,3548,3540,3630,3450,0,0,0,0,0,0,27.61,27.29,27.68
$GC,3088,-0.73,-146.0,2598,3548,3627,3452,319.0,-8.0,215,3093,0.10,2.08,0.00,0.000,3078,0.118,0.031,2635,2148,3540,3629,3451,0,0,0,0,0,0,27.21,27.39,27.29
$GC,3418,-0.73,-146.0,2634,2147,3626,3451,340.0,-6.9,226,3423,0.00,2.17,0.00,0.000,260,0.000,0.052,2626,3557,3537,3624,3451,0,0,0,0,0,0,27.61,27.29,27.68
$GC,3498,-0.73,-146.0,2627,3558,3622,3451,344.4,-7.2,228,3502,0.00,2.10,0.00,0.000,1030,0.000,0.032,2626,2151,3536,3622,3451,0,0,0,0,0,0,27.42,27.39,27.44
$GC,3808,-0.73,-146.0,2626,2152,3619,3450,364.8,-5.2,239,3813,0.00,2.20,0.00,0.000,260,0.000,0.054,2620,3542,3534,3619,3449,0,0,0,0,0,0,27.61,27.28,27.68
$GC,3883,-0.73,-146.0,2618,3543,3620,3449,367.5,-4.7,241,3887,0.00,2.08,0.00,0.000,1030,0.000,0.031,2620,2152,3533,3618,3448,0,0,0,0,0,0,27.41,27.39,27.45
$GC,4198,-0.73,-146.0,2619,2153,3618,3448,378.9,-3.7,252,4203,0.00,2.20,0.00,0.000,260,0.000,0.054,2613,3539,3530,3615,3446,0,0,0,0,0,0,27.61,27.28,27.68
$GC,4308,-0.73,-146.0,2612,3540,3615,3447,383.6,-5.0,255,4312,0.00,2.08,0.00,0.000,1030,0.000,0.033,2613,2154,3529,3613,3446,0,0,0,0,0,0,27.41,27.39,27.43
$GC,4618,-0.73,-146.0,2613,2154,3610,3444,401.3,-5.3,266,4622,0.00,2.20,0.00,0.000,260,0.000,0.054,2606,3539,3527,3611,3443,0,0,0,0,0,0,27.61,27.28,27.68
$GC,4708,-0.73,-146.0,2605,3539,3612,3443,404.9,-4.1,269,4713,0.00,2.08,0.00,0.000,1030,0.000,0.033,2606,2152,3527,3611,3443,0,0,0,0,0,0,27.41,27.38,27.43
$GC,5038,-0.73,-146.0,2605,2153,3610,3441,426.9,-5.8,280,5043,0.00,2.20,0.00,0.000,260,0.000,0.055,2599,3537,3524,3608,3441,0,0,0,0,0,0,27.61,27.27,27.68
$GC,5153,-0.73,-146.0,2600,3537,3606,3442,432.1,-5.6,283,5160,0.10,2.10,0.00,0.000,3078,0.112,0.034,2637,2146,3524,3607,3441,0,0,0,0,0,0,27.17,27.37,27.26
$GC,5458,-0.73,-146.0,2636,2144,3608,3439,450.1,-4.8,294,5462,0.00,2.12,0.00,0.000,516,0.000,0.044,2637,754,3522,3606,3438,0,0,0,0,0,0,27.60,27.32,27.68
$GC,5604,-0.73,-146.0,2636,755,3606,3439,455.9,-4.8,298,5610,0.00,2.10,0.00,0.000,1030,0.000,0.038,2637,2139,3521,3604,3438,0,0,0,0,0,0,27.39,27.31,27.41
$GC,5908,-0.73,-146.0,2636,2140,3604,3436,473.2,-5.7,309,5912,0.00,2.15,0.00,0.000,516,0.000,0.043,2637,747,3519,3602,3436,0,0,0,0,0,0,27.60,27.31,27.67
$GC,5938,-0.73,-146.0,2636,748,3604,3437,475.0,-5.9,310,5942,0.00,2.15,0.00,0.000,1030,0.000,0.038,2637,2145,3519,3602,3436,0,0,0,0,0,0,27.35,27.30,27.38
$GC,6268,-0.73,-146.0,2636,2146,3602,3435,494.0,-5.4,321,6272,0.00,2.20,0.00,0.000,260,0.000,0.057,2637,3554,3517,3600,3434,0,0,0,0,0,0,27.60,27.23,27.67
$GC,6313,-0.73,-146.0,2638,3554,3600,3434,495.3,-5.2,322,6317,0.00,2.12,0.00,0.000,1030,0.000,0.033,2637,2137,3516,3600,3433,0,0,0,0,0,0,27.41,27.37,27.42
$GC,6628,-0.73,-146.0,2638,2134,3598,3432,511.3,-5.0,333,6632,0.00,2.25,0.00,0.000,260,0.000,0.056,2637,3579,3515,3598,3432,0,0,0,0,0,0,27.60,27.22,27.67
$GC,6858,-0.73,-146.0,2636,3579,3598,3433,522.9,-5.9,340,6862,0.00,2.15,0.00,0.000,1030,0.000,0.033,2637,2147,3513,3596,3431,0,0,0,0,0,0,27.39,27.36,27.41
$GC,7168,-0.73,-146.0,2638,2144,3595,3431,543.9,-6.8,351,7172,0.00,2.20,0.00,0.000,260,0.000,0.056,2637,3555,3512,3595,3430,0,0,0,0,0,0,27.60,27.22,27.67
$GC,7398,-0.73,-146.0,2636,3556,3594,3430,559.4,-7.8,358,7402,0.00,2.12,0.00,0.000,1030,0.000,0.034,2637,2140,3511,3593,3430,0,0,0,0,0,0,27.39,27.36,27.41
$STATE,7526,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,7527,begin apogee
$GC,7530,-0.13,0.0,2638,2140,3591,3429,569.5,-6.5,363,7650,0.52,0.00,116.05,0.988,10246,0.065,0.000,2840,2138,2941,2991,2891,0,0,0,0,0,0,27.27,25.55,24.88
$STATE,7651,end apogee,CONTROL_FINISHED_OK
$STATE,7651,begin climb
$GC,7652,0.73,146.0,2842,2139,2990,2891,575.5,0.0,367,7784,0.70,2.28,124.45,0.965,10500,0.047,0.053,3111,3510,2345,2391,2299,0,0,0,0,0,0,25.79,25.43,24.77
$GC,8008,0.73,146.0,3112,3511,2378,2295,521.9,20.0,379,8012,0.00,2.17,0.00,0.000,1030,0.000,0.034,3123,2114,2335,2377,2294,0,0,0,0,0,0,26.69,26.65,26.70
$GC,8334,0.73,146.0,3122,2114,2378,2290,462.2,17.2,390,8334,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2113,2332,2376,2289,0,0,0,0,0,0,27.15,27.23,27.22
$GC,8633,0.73,146.0,3123,2114,2374,2289,407.7,17.5,400,8637,0.00,2.22,0.00,0.000,516,0.000,0.046,3133,698,2331,2374,2288,0,0,0,0,0,0,27.28,27.01,27.34
$GC,8693,0.73,146.0,3134,698,2373,2288,397.0,17.3,402,8697,0.00,2.20,0.00,0.000,1030,0.000,0.037,3134,2107,2330,2373,2288,0,0,0,0,0,0,27.08,27.04,27.10
$GC,9024,0.73,146.0,3133,2107,2373,2288,339.0,15.9,413,9025,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2106,2329,2371,2287,0,0,0,0,0,0,27.36,27.44,27.43
$GC,9324,0.73,146.0,3132,2107,2372,2286,296.4,13.5,423,9324,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2106,2328,2370,2286,0,0,0,0,0,0,27.41,27.49,27.48
$GC,9624,0.73,146.0,3133,2107,2371,2286,250.7,16.4,433,9627,0.00,2.20,0.00,0.000,516,0.000,0.047,3144,696,2327,2369,2285,0,0,0,0,0,0,27.44,27.16,27.52
$GC,9714,0.73,146.0,3144,696,2368,2285,235.5,17.0,436,9718,0.12,2.17,0.00,0.000,5126,0.174,0.038,3107,2097,2326,2368,2284,0,0,0,0,0,0,26.93,27.18,27.06
$GC,10023,0.73,146.0,3105,2098,2369,2285,191.9,12.6,449,10027,0.00,2.22,0.00,0.000,260,0.000,0.053,3107,3508,2325,2367,2284,0,0,0,0,0,0,27.47,27.17,27.55
$GC,10174,0.73,149.5,3107,3508,2367,2284,174.9,9.8,464,10178,0.00,2.15,0.00,0.000,1030,0.000,0.033,3116,2089,2325,2367,2283,0,0,0,0,0,0,27.29,27.26,27.32
$GC,10484,0.81,189.5,3116,2090,2367,2283,146.3,8.1,495,10525,0.00,2.33,32.88,0.695,8452,0.000,0.050,3116,3511,2166,2209,2124,0,0,0,0,0,0,27.50,26.63,26.04
$GC,10529,0.92,252.7,3116,3512,2208,2125,143.5,7.1,499,10587,0.08,2.17,51.85,0.689,11270,0.070,0.032,3171,2102,1910,1954,1866,0,0,0,0,0,0,26.77,26.79,25.48
$GC,10885,0.92,252.7,3171,2102,1949,1855,99.7,10.1,535,10885,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,2101,1900,1947,1854,0,0,0,0,0,0,27.02,27.10,27.10
$GC,11186,0.92,252.7,3172,2101,1947,1853,64.6,11.3,565,11189,0.00,2.20,0.00,0.000,260,0.000,0.050,3171,3513,1900,1947,1853,0,0,0,0,0,0,27.21,26.93,27.28
$GC,11384,0.92,252.7,3172,3514,1947,1853,34.4,13.9,595,11392,0.00,2.15,0.00,0.000,1030,0.000,0.031,3182,2096,1900,1947,1853,0,0,0,0,0,0,27.10,27.07,27.13
$STATE,11630,end climb,SURFACE_DEPTH_REACHED
$STATE,11630,begin surface coast
$FINISH,-0.3,1.022109
$STATE,11650,end surface coast,CONTROL_FINISHED_OK
$STATE,11650,begin surface
$SM_CCo,11664,98.80,0.063,0,0,901,500.17
$SM_GC,0.36,7.78,0.10,98.80,0.039,0.101,0.063,157,2156,901,-8.42,-0.82,500.17,0,0,0,0,0,0,27.07,27.19,26.94
$IRIDIUM_FIX,1305.38,14435.98,020315,050636
$TT8_MAMPS,0.050183,0.050183
$HUMID,50.86
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,24.77,1.026
$10V_AH,10.62,1.653
$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,19.875,99.200,325.225,98.800,0.000,0.000,0.000,0.000,0.000,0.000,12.841,0.000,9139.875,550.490,2003.264,117.228,0.000,1400.934,0.000,1603.168,0.000,0.552,0.000
$DEVICE_MAMPS,249.390,100.980,987.615,62.730,0.000,0.000,0.000,0.000,420.000,0.000,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,436.975,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,230064
$DATA_FILE_SIZE,26772,648
$CAP_FILE_SIZE,123500,0
$CFSIZE,260034560,256692224
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,7410.36,0x236db2,7,5
$INTR,1,7528.74,0x236db2,2,5
$CURRENT,0.325,307.31,1
$GPS,020315,083058,1311.866,14433.594,37,1.4,59,1.5,0.4,242.2,9,8.2