version: 66.12
glider: 178
mission: 20
dive: 14
start: 3 3 115 12 59 10
data:
$ID,178
$MISSION,20
$DIVE,14
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$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,300
$T_MISSION,330
$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,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51652
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00420903
$HD_B,0.0099256597
$HD_C,8.8912799e-05
$HEADING,110
$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,2780
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,45
$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,2550
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,40
$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
$GPS1,030315,125423,1308.8688,14440.9199,15,1.3,43,1.5,0.6,33.1,7,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-69.9
$GPS2,030315,125859,1308.8702,14440.8438,10,2.0,32,1.5,1.5,267.5,7,8.7
$SPEED_LIMITS,0.191,0.314
$TGT_NAME,HEADING
$TGT_LATLONG,1305.177,14451.263
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,108.5,20000,-16.3,-11.000,-19.31,3089
$D_GRID,817
$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,-0.80,-243.3,149,2561,905,888,0.0,0.0,0,110,0.00,0.00,-93.50,0.000,16386,0.000,0.000,144,2561,3214,3262,3167,0,0,0,0,0,0,26.96,28.83,27.03
$GC,112,-0.80,-243.3,146,2561,3262,3169,3.9,-12.0,17,140,10.12,1.92,-12.18,0.000,18692,0.256,0.071,2508,3777,3935,4000,3871,0,0,0,0,0,0,26.51,26.31,26.74
$GC,175,-0.80,-243.3,2507,3777,4003,3875,34.3,-44.0,29,181,0.00,1.88,0.00,0.000,1030,0.000,0.030,2514,2527,3937,4001,3874,0,0,0,0,0,0,26.87,26.85,26.89
$GC,485,-0.80,-243.3,2512,2526,4006,3875,139.4,-22.0,64,486,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2525,3938,4003,3874,0,0,0,0,0,0,27.19,27.26,27.24
$GC,806,-0.80,-243.3,2512,2526,4009,3877,207.2,-17.7,94,810,0.00,2.05,0.00,0.000,516,0.000,0.038,2514,1146,3941,4007,3876,0,0,0,0,0,0,27.29,27.07,27.35
$GC,861,-0.80,-243.3,2515,1146,4007,3877,217.8,-18.8,96,864,0.00,2.17,0.00,0.000,1030,0.000,0.041,2506,2548,3942,4008,3877,0,0,0,0,0,0,27.10,27.06,27.13
$GC,1191,-0.80,-243.3,2507,2549,4008,3881,278.8,-17.1,107,1194,0.00,1.92,0.00,0.000,260,0.000,0.054,2497,3772,3945,4009,3881,0,0,0,0,0,0,27.36,27.12,27.42
$GC,1215,-0.80,-243.3,2496,3773,4009,3881,278.8,-17.1,107,1222,0.00,1.80,0.00,0.000,1030,0.000,0.030,2497,2546,3944,4008,3881,0,0,0,0,0,0,27.22,27.20,27.23
$GC,1521,-0.80,-243.3,2496,2547,4010,3882,323.3,-12.9,118,1524,0.00,2.08,0.00,0.000,516,0.000,0.035,2498,1169,3944,4008,3881,0,0,0,0,0,0,27.41,27.20,27.46
$GC,1595,-0.80,-243.3,2496,1170,4010,3882,330.1,-11.7,120,1600,0.10,2.15,0.00,0.000,3078,0.151,0.042,2520,2548,3944,4007,3881,0,0,0,0,0,0,27.07,27.18,27.15
$GC,1911,-0.80,-243.3,2521,2549,4007,3882,370.0,-12.7,131,1914,0.00,1.92,0.00,0.000,260,0.000,0.057,2514,3767,3944,4007,3881,0,0,0,0,0,0,27.43,27.20,27.50
$GC,1930,-0.80,-243.3,2512,3768,4008,3882,370.0,-12.7,131,1934,0.00,1.80,0.00,0.000,1030,0.000,0.031,2513,2555,3944,4007,3881,0,0,0,0,0,0,27.29,27.27,27.31
$GC,2241,-0.80,-243.3,2513,2555,4006,3880,417.8,-14.6,142,2244,0.00,2.10,0.00,0.000,516,0.000,0.037,2514,1165,3942,4004,3880,0,0,0,0,0,0,27.46,27.27,27.53
$GC,2290,-0.80,-243.3,2512,1166,4005,3881,422.1,-14.5,143,2294,0.00,2.15,0.00,0.000,1030,0.000,0.043,2504,2545,3941,4004,3879,0,0,0,0,0,0,27.27,27.23,27.30
$GC,2601,-0.80,-243.3,2503,2546,4004,3875,466.4,-12.5,154,2601,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2545,3938,4002,3875,0,0,0,0,0,0,27.48,27.55,27.54
$GC,2901,-0.80,-243.3,2504,2545,3999,3872,502.2,-12.0,164,2904,0.00,2.10,0.00,0.000,516,0.000,0.039,2504,1172,3935,3999,3871,0,0,0,0,0,0,27.49,27.29,27.55
$GC,2935,-0.80,-243.3,2504,1172,3998,3872,506.1,-12.4,165,2939,0.00,2.15,0.00,0.000,1030,0.000,0.045,2495,2543,3934,3998,3871,0,0,0,0,0,0,27.31,27.26,27.34
$GC,3261,-0.80,-243.3,2495,2544,3997,3869,555.5,-16.1,176,3264,0.00,2.10,0.00,0.000,516,0.000,0.040,2495,1171,3931,3995,3868,0,0,0,0,0,0,27.51,27.29,27.57
$GC,3306,-0.80,-243.3,2493,1171,3996,3869,560.2,-16.2,177,3309,0.10,2.15,0.00,0.000,3078,0.156,0.045,2519,2544,3931,3994,3868,0,0,0,0,0,0,27.16,27.29,27.25
$GC,3621,-0.80,-243.3,2519,2546,3992,3866,602.1,-12.8,188,3621,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2545,3928,3991,3865,0,0,0,0,0,0,27.51,27.59,27.58
$GC,3921,-0.80,-243.3,2518,2546,3989,3861,638.0,-11.4,198,3921,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2545,3924,3988,3861,0,0,0,0,0,0,27.52,27.60,27.59
$GC,4221,-0.80,-243.3,2520,2545,3984,3861,673.4,-11.6,208,4221,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2545,3922,3984,3860,0,0,0,0,0,0,27.53,27.60,27.59
$GC,4521,-0.80,-243.3,2518,2546,3983,3858,704.8,-11.2,218,4524,0.00,2.12,0.00,0.000,516,0.000,0.041,2520,1159,3919,3983,3856,0,0,0,0,0,0,27.53,27.32,27.60
$GC,4600,-0.80,-243.3,2518,1160,3982,3857,712.7,-12.6,220,4604,0.00,2.20,0.00,0.000,1030,0.000,0.046,2515,2559,3918,3981,3856,0,0,0,0,0,0,27.34,27.31,27.37
$GC,4911,-0.80,-243.3,2516,2560,3979,3854,759.7,-14.5,231,4914,0.00,2.15,0.00,0.000,516,0.000,0.040,2515,1162,3916,3978,3854,0,0,0,0,0,0,27.53,27.32,27.60
$GC,4931,-0.80,-243.3,2514,1162,3980,3855,759.7,-14.5,231,4934,0.00,2.17,0.00,0.000,1030,0.000,0.047,2507,2548,3916,3979,3854,0,0,0,0,0,0,27.34,27.31,27.38
$GC,5241,-0.80,-243.3,2507,2550,3975,3852,789.4,-2.4,242,5244,0.00,2.10,0.00,0.000,516,0.000,0.041,2507,1169,3914,3976,3852,0,0,0,0,0,0,27.54,27.32,27.60
$STATE,5390,end dive,NO_VERTICAL_VELOCITY
$STATE,5390,begin apogee
$GC,5395,-0.11,0.0,2507,2108,3977,3850,789.3,0.0,247,5596,0.68,0.00,198.12,1.161,10246,0.089,0.000,2746,2107,2941,2991,2892,0,0,0,0,0,0,27.26,25.15,24.46
$STATE,5597,end apogee,CONTROL_FINISHED_OK
$STATE,5597,begin climb
$GC,5598,0.80,243.3,2747,2108,2990,2891,789.2,0.0,253,5813,0.80,2.40,207.20,1.139,11012,0.052,0.045,3055,728,1949,2001,1897,0,0,0,0,0,0,25.36,25.05,24.35
$GC,5827,0.80,243.3,3055,729,1999,1894,768.1,13.5,261,5831,0.00,2.28,0.00,0.000,1030,0.000,0.034,3054,2093,1945,1999,1892,0,0,0,0,0,0,25.53,25.48,25.55
$GC,6143,0.80,243.3,3054,2094,1991,1888,707.7,17.2,272,6146,0.00,2.30,0.00,0.000,260,0.000,0.054,3055,3510,1939,1991,1887,0,0,0,0,0,0,26.72,26.48,26.79
$GC,6192,0.80,243.3,3055,3511,1988,1888,702.3,17.3,273,6196,0.00,2.17,0.00,0.000,1030,0.000,0.033,3065,2125,1937,1989,1886,0,0,0,0,0,0,26.63,26.60,26.65
$GC,6503,0.80,243.3,3064,2127,1988,1888,641.5,18.0,284,6503,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2126,1937,1987,1887,0,0,0,0,0,0,27.01,27.09,27.08
$GC,6803,0.80,243.3,3066,2126,1986,1888,585.2,19.3,294,6803,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2126,1936,1986,1887,0,0,0,0,0,0,27.14,27.22,27.22
$GC,7103,0.80,243.3,3066,2125,1984,1887,529.8,18.0,304,7106,0.00,2.25,0.00,0.000,516,0.000,0.046,3076,699,1935,1984,1887,0,0,0,0,0,0,27.22,27.00,27.29
$GC,7137,0.80,243.3,3077,699,1984,1886,524.3,18.1,305,7142,0.10,2.20,0.00,0.000,5126,0.164,0.037,3045,2100,1935,1984,1886,0,0,0,0,0,0,26.87,27.01,26.96
$GC,7463,0.80,243.3,3046,2100,1983,1886,471.7,15.3,316,7466,0.00,2.25,0.00,0.000,260,0.000,0.054,3045,3532,1934,1984,1885,0,0,0,0,0,0,27.29,27.04,27.36
$GC,7532,0.80,243.3,3044,3533,1984,1885,461.4,16.3,318,7536,0.00,2.20,0.00,0.000,1030,0.000,0.034,3054,2101,1934,1983,1885,0,0,0,0,0,0,27.13,27.10,27.16
$GC,7853,0.80,243.3,3053,2102,1982,1885,412.8,15.6,329,7856,0.00,2.25,0.00,0.000,260,0.000,0.054,3054,3512,1932,1981,1884,0,0,0,0,0,0,27.34,27.08,27.41
$GC,7898,0.80,243.3,3055,3514,1980,1885,407.6,16.2,330,7901,0.00,2.17,0.00,0.000,1030,0.000,0.034,3065,2100,1932,1980,1884,0,0,0,0,0,0,27.17,27.15,27.20
$GC,8213,0.80,243.3,3065,2100,1980,1886,347.7,19.0,341,8213,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2099,1932,1980,1884,0,0,0,0,0,0,27.37,27.44,27.44
$GC,8513,0.80,243.3,3065,2100,1979,1885,299.4,15.1,351,8516,0.00,2.20,0.00,0.000,516,0.000,0.046,3076,690,1931,1979,1884,0,0,0,0,0,0,27.39,27.17,27.46
$GC,8538,0.80,243.3,3075,691,1981,1884,299.4,15.1,351,8544,0.10,2.20,0.00,0.000,5126,0.158,0.036,3044,2106,1931,1980,1883,0,0,0,0,0,0,27.03,27.18,27.13
$GC,8843,0.80,243.3,3043,2106,1981,1883,250.3,14.5,362,8843,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2106,1930,1979,1882,0,0,0,0,0,0,27.41,27.49,27.48
$GC,9143,0.80,243.3,3042,2106,1979,1883,208.0,13.6,372,9146,0.00,2.20,0.00,0.000,260,0.000,0.054,3044,3507,1930,1978,1882,0,0,0,0,0,0,27.43,27.17,27.50
$GC,9197,0.80,243.3,3043,3507,1980,1882,204.0,13.2,373,9204,0.00,2.15,0.00,0.000,1030,0.000,0.033,3053,2098,1930,1978,1882,0,0,0,0,0,0,27.27,27.23,27.29
$GC,9503,0.97,339.6,3052,2099,1978,1883,164.1,7.8,404,9585,0.12,2.22,76.15,0.741,10756,0.099,0.042,3118,698,1555,1600,1510,0,0,0,0,0,0,27.26,25.84,25.45
$GC,9619,0.97,339.6,3117,698,1600,1506,147.0,18.0,415,9626,0.00,2.25,0.00,0.000,1030,0.000,0.034,3118,2101,1551,1598,1505,0,0,0,0,0,0,26.32,26.27,26.33
$GC,9924,0.97,339.6,3117,2102,1595,1503,99.9,13.7,446,9928,0.00,2.25,0.00,0.000,260,0.000,0.050,3118,3504,1547,1593,1502,0,0,0,0,0,0,26.94,26.72,27.00
$GC,10005,0.97,339.6,3117,3504,1594,1503,88.8,13.3,454,10008,0.10,2.17,0.00,0.000,5126,0.138,0.031,3095,2092,1547,1593,1502,0,0,0,0,0,0,26.65,26.79,26.74
$GC,10315,0.97,339.6,3095,2092,1595,1503,54.6,13.0,485,10318,0.00,2.17,0.00,0.000,516,0.000,0.041,3104,691,1546,1592,1501,0,0,0,0,0,0,27.14,26.91,27.21
$GC,10344,0.97,339.6,3103,691,1595,1503,50.2,14.1,488,10348,0.00,2.17,0.00,0.000,1030,0.000,0.034,3104,2098,1547,1593,1502,0,0,0,0,0,0,26.98,26.94,27.00
$GC,10650,1.09,402.6,3104,2099,1592,1502,8.7,8.9,548,10705,0.00,2.30,49.83,0.601,8452,0.000,0.048,3104,3503,1298,1345,1252,0,0,0,0,0,0,27.24,26.32,25.82
$STATE,10708,end climb,SURFACE_DEPTH_REACHED
$STATE,10708,begin surface coast
$FINISH,-0.1,1.022159
$STATE,10724,end surface coast,CONTROL_FINISHED_OK
$STATE,10724,begin surface
$SM_CCo,10739,39.53,0.063,0,0,901,500.17
$SM_GC,0.44,7.72,1.50,39.53,0.035,0.029,0.063,160,2529,901,-8.13,1.27,500.17,0,0,0,0,0,0,26.46,26.52,26.46
$IRIDIUM_FIX,1303.16,14447.05,030315,100418
$TT8_MAMPS,0.051681,0.051681
$HUMID,44.84
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,24.70
$XPDR_PINGS,3
$24V_AH,24.35,2.450
$10V_AH,10.45,2.094
$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,19.950,92.950,531.300,39.525,0.000,0.000,0.000,192.350,0.750,0.000,34.956,0.000,8607.009,651.529,1675.008,117.852,0.000,1516.749,0.000,1145.014,0.000,0.551,0.000
$DEVICE_MAMPS,255.510,71.145,1161.270,62.730,0.000,0.000,0.000,84.150,420.000,0.000,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,377.509,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,230496
$DATA_FILE_SIZE,23416,562
$CAP_FILE_SIZE,95805,0
$CFSIZE,260034560,256221184
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,10294.32,0x236db2,7,5
$GPS,030315,155941,1308.000,14442.382,26,1.4,31,1.6,0.8,270.5,7,8.6