version: 66.12
glider: 178
mission: 20
dive: 15
start: 3 3 115 16 5 15
data:
$ID,178
$MISSION,20
$DIVE,15
$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,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00420903
$HD_B,0.0099256597
$HD_C,8.8912799e-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,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,62
$R_STBD_OVSHOOT,36
$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
$GPS1,030315,155941,1308.0004,14442.3818,26,1.4,31,1.6,0.8,270.5,7,8.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-68.4
$GPS2,030315,160504,1307.9773,14442.2930,24,1.4,45,1.6,1.2,233.1,9,7.5
$SPEED_LIMITS,0.191,0.314
$TGT_NAME,S1
$TGT_LATLONG,1309.000,14448.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,78.0,10466,-16.3,-11.000,-19.31,3089
$D_GRID,844
$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,-0.80,-243.3,126,2521,903,890,0.0,0.0,0,104,0.00,0.00,-88.85,0.000,16386,0.000,0.000,124,2522,3095,3147,3044,0,0,0,0,0,0,26.86,28.83,26.93
$GC,106,-0.80,-243.3,125,2523,3147,3046,3.6,-9.4,15,135,10.15,0.00,-15.00,0.000,18950,0.252,0.000,2514,2522,3935,4002,3869,0,0,0,0,0,0,26.44,25.83,26.67
$GC,440,-0.80,-243.3,2513,2523,4005,3873,140.8,-38.9,59,443,0.00,2.05,0.00,0.000,516,0.000,0.030,2514,1154,3938,4004,3872,0,0,0,0,0,0,27.13,26.94,27.20
$GC,460,-0.80,-243.3,2513,1155,4007,3874,148.1,-39.0,61,463,0.00,2.20,0.00,0.000,1030,0.000,0.043,2506,2549,3938,4004,3873,0,0,0,0,0,0,26.95,26.91,26.98
$GC,771,-0.80,-243.3,2507,2549,4008,3878,215.2,-16.1,86,774,0.00,1.92,0.00,0.000,260,0.000,0.052,2496,3784,3942,4008,3877,0,0,0,0,0,0,27.26,27.00,27.32
$GC,800,-0.80,-243.3,2497,3785,4008,3878,219.9,-15.7,87,803,0.00,1.85,0.00,0.000,1030,0.000,0.029,2495,2537,3943,4008,3878,0,0,0,0,0,0,27.12,27.09,27.14
$GC,1130,-0.80,-243.3,2495,2537,4010,3882,277.4,-17.9,98,1133,0.00,2.08,0.00,0.000,516,0.000,0.034,2496,1160,3944,4008,3881,0,0,0,0,0,0,27.34,27.13,27.40
$GC,1180,-0.80,-243.3,2496,1161,4010,3882,282.4,-17.6,99,1184,0.10,2.15,0.00,0.000,3078,0.153,0.041,2518,2548,3945,4008,3882,0,0,0,0,0,0,26.99,27.10,27.08
$GC,1490,-0.80,-243.3,2519,2548,4009,3882,334.1,-15.6,110,1494,0.00,2.10,0.00,0.000,516,0.000,0.034,2519,1165,3945,4009,3882,0,0,0,0,0,0,27.39,27.18,27.46
$GC,1515,-0.80,-243.3,2520,1166,4008,3882,334.1,-15.6,110,1521,0.00,2.15,0.00,0.000,1030,0.000,0.042,2515,2549,3944,4008,3881,0,0,0,0,0,0,27.19,27.17,27.23
$GC,1820,-0.80,-243.3,2514,2550,4009,3882,381.1,-13.6,121,1824,0.00,2.10,0.00,0.000,516,0.000,0.035,2515,1168,3944,4007,3881,0,0,0,0,0,0,27.42,27.22,27.48
$GC,1850,-0.80,-243.3,2515,1168,4007,3882,384.8,-13.0,122,1853,0.00,2.15,0.00,0.000,1030,0.000,0.043,2507,2551,3944,4007,3881,0,0,0,0,0,0,27.24,27.20,27.27
$GC,2180,-0.80,-243.3,2508,2551,4004,3879,427.1,-13.4,133,2181,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2551,3941,4004,3879,0,0,0,0,0,0,27.45,27.53,27.51
$GC,2480,-0.80,-243.3,2508,2551,4002,3875,463.4,-11.7,143,2481,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2551,3938,4002,3875,0,0,0,0,0,0,27.47,27.55,27.53
$GC,2780,-0.80,-243.3,2506,2551,4001,3873,499.3,-11.6,153,2781,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2551,3936,4000,3872,0,0,0,0,0,0,27.49,27.56,27.55
$GC,3080,-0.80,-243.3,2508,2552,3997,3869,536.8,-12.5,163,3081,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2551,3933,3997,3869,0,0,0,0,0,0,27.50,27.58,27.56
$GC,3380,-0.80,-243.3,2506,2552,3995,3867,574.8,-12.7,173,3383,0.00,2.12,0.00,0.000,516,0.000,0.040,2507,1165,3929,3993,3866,0,0,0,0,0,0,27.51,27.30,27.58
$GC,3425,-0.80,-243.3,2508,1165,3992,3867,578.4,-12.5,174,3428,0.00,2.17,0.00,0.000,1030,0.000,0.046,2498,2546,3929,3992,3866,0,0,0,0,0,0,27.32,27.28,27.37
$GC,3740,-0.80,-243.3,2498,2547,3991,3863,620.5,-12.4,185,3744,0.00,1.98,0.00,0.000,260,0.000,0.060,2489,3782,3926,3989,3863,0,0,0,0,0,0,27.51,27.27,27.58
$GC,3770,-0.80,-243.3,2488,3782,3990,3864,624.0,-12.1,186,3774,0.08,1.83,0.00,0.000,3078,0.156,0.035,2513,2562,3925,3988,3862,0,0,0,0,0,0,27.17,27.35,27.26
$GC,4100,-0.80,-243.3,2514,2563,3985,3862,656.0,-9.0,197,4101,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2562,3922,3985,3860,0,0,0,0,0,0,27.52,27.60,27.58
$GC,4400,-0.80,-243.3,2514,2563,3982,3859,684.1,-9.2,207,4401,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2562,3920,3983,3858,0,0,0,0,0,0,27.53,27.60,27.60
$GC,4700,-0.80,-243.3,2514,2562,3980,3856,713.2,-10.3,217,4703,0.00,2.12,0.00,0.000,516,0.000,0.037,2513,1165,3917,3980,3855,0,0,0,0,0,0,27.53,27.34,27.60
$GC,4761,-0.80,-243.3,2512,1166,3981,3856,718.2,-9.5,219,4764,0.00,2.15,0.00,0.000,1030,0.000,0.045,2507,2557,3917,3979,3855,0,0,0,0,0,0,27.37,27.30,27.40
$GC,5085,-0.80,-243.3,2508,2557,3977,3854,752.9,-11.4,230,5086,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2556,3914,3976,3853,0,0,0,0,0,0,27.53,27.61,27.60
$GC,5385,-0.80,-243.3,2506,2558,3976,3851,784.2,-10.5,240,5386,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2557,3912,3974,3850,0,0,0,0,0,0,27.54,27.62,27.60
$STATE,5623,end dive,NO_VERTICAL_VELOCITY
$STATE,5623,begin apogee
$GC,5628,-0.11,0.0,2506,2108,3976,3850,785.3,0.0,248,5829,0.73,0.00,198.77,1.151,10246,0.129,0.000,2739,2105,2941,2990,2892,0,0,0,0,0,0,27.20,25.15,24.44
$STATE,5829,end apogee,CONTROL_FINISHED_OK
$STATE,5830,begin climb
$GC,5831,0.80,243.3,2738,2107,2990,2892,785.0,0.0,254,6048,0.85,2.33,207.18,1.131,10756,0.067,0.043,3051,709,1948,2000,1896,0,0,0,0,0,0,25.33,24.86,24.34
$GC,6083,0.80,243.3,3050,710,1999,1891,753.8,17.0,263,6087,0.00,2.30,0.00,0.000,1030,0.000,0.035,3051,2101,1943,1997,1890,0,0,0,0,0,0,25.72,25.68,25.74
$GC,6408,0.80,243.3,3050,2102,1993,1887,694.6,17.8,274,6408,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2101,1939,1991,1887,0,0,0,0,0,0,26.74,26.82,26.82
$GC,6708,0.80,243.3,3051,2102,1988,1887,651.8,15.1,284,6711,0.00,2.28,0.00,0.000,260,0.000,0.056,3051,3497,1937,1988,1887,0,0,0,0,0,0,26.99,26.74,27.06
$GC,6738,0.80,243.3,3050,3498,1990,1887,647.4,14.9,285,6741,0.00,2.17,0.00,0.000,1030,0.000,0.033,3061,2101,1937,1988,1887,0,0,0,0,0,0,26.84,26.82,26.86
$GC,7068,0.80,243.3,3061,2099,1988,1887,598.8,13.3,296,7071,0.00,2.28,0.00,0.000,260,0.000,0.054,3062,3502,1936,1987,1886,0,0,0,0,0,0,27.14,26.89,27.21
$GC,7098,0.80,243.3,3061,3502,1989,1887,594.1,13.6,297,7102,0.10,2.17,0.00,0.000,5126,0.174,0.034,3043,2102,1936,1986,1886,0,0,0,0,0,0,26.79,26.96,26.89
$GC,7428,0.80,243.3,3044,2101,1985,1886,541.9,16.6,308,7429,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2100,1935,1985,1886,0,0,0,0,0,0,27.23,27.31,27.30
$GC,7728,0.80,243.3,3044,2101,1984,1885,493.0,16.2,318,7731,0.00,2.28,0.00,0.000,260,0.000,0.057,3043,3506,1934,1984,1885,0,0,0,0,0,0,27.29,27.03,27.35
$GC,7763,0.80,243.3,3043,3507,1985,1885,487.7,16.6,319,7766,0.00,2.17,0.00,0.000,1030,0.000,0.034,3051,2102,1934,1984,1885,0,0,0,0,0,0,27.15,27.08,27.15
$GC,8088,0.80,243.3,3052,2103,1982,1885,432.8,15.4,330,8091,0.00,2.20,0.00,0.000,516,0.000,0.046,3062,685,1933,1982,1884,0,0,0,0,0,0,27.33,27.09,27.40
$GC,8132,0.80,243.3,3063,685,1982,1884,428.5,15.1,331,8136,0.00,2.22,0.00,0.000,1030,0.000,0.037,3062,2108,1932,1982,1883,0,0,0,0,0,0,27.15,27.15,27.18
$GC,8448,0.80,243.3,3063,2109,1981,1884,374.1,17.2,342,8449,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2108,1931,1980,1883,0,0,0,0,0,0,27.36,27.44,27.43
$GC,8748,0.80,243.3,3061,2110,1982,1882,321.4,17.8,352,8752,0.00,2.22,0.00,0.000,260,0.000,0.055,3063,3500,1931,1980,1882,0,0,0,0,0,0,27.39,27.14,27.46
$GC,8808,0.80,243.3,3061,3501,1981,1883,311.1,17.3,354,8812,0.10,2.15,0.00,0.000,5126,0.168,0.034,3042,2097,1931,1980,1882,0,0,0,0,0,0,27.01,27.20,27.13
$GC,9138,0.80,243.3,3042,2098,1981,1883,266.3,12.6,365,9141,0.00,2.17,0.00,0.000,516,0.000,0.046,3051,692,1930,1979,1882,0,0,0,0,0,0,27.41,27.17,27.48
$GC,9232,0.80,243.3,3050,692,1981,1881,255.5,12.0,368,9237,0.00,2.20,0.00,0.000,1030,0.000,0.036,3051,2107,1930,1979,1881,0,0,0,0,0,0,27.24,27.20,27.27
$GC,9558,0.80,243.3,3052,2109,1979,1882,206.7,15.9,379,9561,0.00,2.22,0.00,0.000,260,0.000,0.054,3051,3507,1930,1979,1881,0,0,0,0,0,0,27.43,27.17,27.50
$GC,9608,0.80,243.3,3050,3508,1981,1882,201.6,16.3,380,9611,0.00,2.15,0.00,0.000,1030,0.000,0.032,3062,2095,1929,1978,1881,0,0,0,0,0,0,27.26,27.24,27.29
$GC,9918,0.80,243.3,3063,2096,1978,1882,155.9,12.4,411,9921,0.00,2.25,0.00,0.000,260,0.000,0.053,3062,3500,1929,1978,1881,0,0,0,0,0,0,27.45,27.19,27.51
$GC,10093,0.80,243.3,3062,3501,1977,1882,138.3,11.1,428,10100,0.10,2.12,0.00,0.000,5126,0.158,0.031,3040,2100,1929,1977,1881,0,0,0,0,0,0,27.11,27.26,27.19
$GC,10398,0.80,243.3,3041,2100,1977,1881,107.9,13.1,459,10402,0.00,2.22,0.00,0.000,260,0.000,0.050,3041,3502,1928,1977,1880,0,0,0,0,0,0,27.46,27.22,27.54
$GC,10583,1.13,426.3,3040,3502,1980,1881,99.5,4.9,477,10733,0.22,2.12,143.23,0.675,11270,0.044,0.030,3158,2084,1203,1247,1159,0,0,0,0,0,0,27.26,27.28,25.13
$GC,11028,1.13,426.3,3157,2085,1245,1155,19.3,20.5,537,11033,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,2084,1199,1243,1155,0,0,0,0,0,0,26.82,26.89,26.88
$STATE,11116,end climb,SURFACE_DEPTH_REACHED
$STATE,11116,begin surface coast
$FINISH,-0.4,1.022098
$STATE,11131,end surface coast,CONTROL_FINISHED_OK
$STATE,11132,begin surface
$SM_CCo,11146,30.35,0.063,0,0,901,500.17
$SM_GC,0.43,7.95,0.75,30.35,0.046,0.048,0.063,155,2557,901,-8.15,-0.90,500.17,0,0,0,0,0,0,26.67,26.71,26.65
$IRIDIUM_FIX,1300.95,14440.35,030315,125543
$TT8_MAMPS,0.049434,0.049434
$HUMID,45.86
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,24.34,2.613
$10V_AH,10.43,2.138
$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,20.375,78.800,549.175,30.350,0.000,0.000,0.000,224.325,0.000,0.000,47.920,0.000,8992.003,634.051,1737.725,130.015,0.000,1543.121,0.000,1165.422,0.000,0.550,0.000
$DEVICE_MAMPS,251.685,60.435,1150.560,63.495,0.000,0.000,0.000,83.385,420.000,0.000,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,376.049,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,23513,558
$CAP_FILE_SIZE,94568,0
$CFSIZE,260034560,256172032
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,11163.39,0x236db2,7,5
$CURRENT,0.223,269.24,1
$GPS,030315,191228,1308.440,14442.896,9,1.5,36,1.6,1.0,321.9,8,7.8