version: 66.12
glider: 178
mission: 20
dive: 30
start: 3 6 115 8 4 35
data:
$ID,178
$MISSION,20
$DIVE,30
$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,330
$T_MISSION,360
$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,180
$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,2450
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$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
$GPS1,060315,075936,1322.9742,14454.5869,34,1.2,34,1.5,0.3,69.5,7,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.45
$_SM_ANGLEo,-71.1
$GPS2,060315,080423,1322.9679,14454.5352,18,1.6,28,1.5,0.5,258.7,7,9.7
$SPEED_LIMITS,0.173,0.265
$TGT_NAME,S2
$TGT_LATLONG,1336.000,14506.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,43.9,31756,-17.8,-10.000,-20.71,2479
$D_GRID,1003
$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,-0.71,-175.2,123,2463,902,888,0.0,0.0,0,106,0.00,0.00,-90.50,0.000,16386,0.000,0.000,123,2463,3201,3250,3153,0,0,0,0,0,0,26.90,28.83,26.97
$GC,108,-0.71,-175.2,122,2463,3252,3154,4.1,-12.2,16,132,10.10,2.12,-7.90,0.000,19204,0.247,0.065,2533,3770,3659,3729,3590,0,0,0,0,0,0,26.46,25.77,26.70
$GC,157,-0.71,-175.2,2533,3771,3730,3592,26.5,-38.4,25,163,0.00,2.00,0.00,0.000,1030,0.000,0.027,2538,2433,3660,3730,3591,0,0,0,0,0,0,26.80,26.79,26.83
$GC,468,-0.71,-175.2,2537,2431,3736,3592,126.4,-23.3,63,468,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2430,3662,3734,3591,0,0,0,0,0,0,27.14,27.21,27.20
$GC,769,-0.71,-175.2,2537,2431,3741,3592,186.5,-17.7,93,772,0.00,2.10,0.00,0.000,260,0.000,0.050,2530,3775,3664,3737,3592,0,0,0,0,0,0,27.24,26.99,27.31
$GC,823,-0.71,-175.2,2529,3775,3740,3593,196.5,-18.5,98,827,0.00,1.95,0.00,0.000,1030,0.000,0.027,2530,2450,3665,3739,3592,0,0,0,0,0,0,27.10,27.08,27.13
$GC,1143,-0.71,-175.2,2530,2449,3745,3595,250.6,-17.5,110,1147,0.00,2.08,0.00,0.000,516,0.000,0.034,2531,1065,3668,3743,3593,0,0,0,0,0,0,27.33,27.13,27.39
$GC,1173,-0.71,-175.2,2531,1066,3743,3595,255.2,-16.9,111,1177,0.00,2.12,0.00,0.000,1030,0.000,0.036,2524,2443,3668,3743,3594,0,0,0,0,0,0,27.15,27.11,27.17
$GC,1503,-0.71,-175.2,2524,2443,3744,3596,298.4,-11.7,122,1507,0.00,2.10,0.00,0.000,516,0.000,0.034,2523,1062,3670,3745,3595,0,0,0,0,0,0,27.38,27.17,27.44
$GC,1522,-0.71,-175.2,2522,1063,3746,3597,298.4,-11.7,122,1527,0.10,2.15,0.00,0.000,3078,0.141,0.037,2545,2451,3670,3745,3595,0,0,0,0,0,0,27.04,27.15,27.13
$GC,1833,-0.71,-175.2,2544,2452,3746,3596,329.9,-9.3,133,1837,0.00,2.08,0.00,0.000,260,0.000,0.054,2538,3786,3669,3744,3595,0,0,0,0,0,0,27.41,27.17,27.48
$GC,1938,-0.71,-175.2,2537,3787,3744,3596,338.3,-9.2,136,1941,0.00,1.98,0.00,0.000,1030,0.000,0.035,2538,2459,3668,3742,3595,0,0,0,0,0,0,27.27,27.24,27.29
$GC,2253,-0.71,-175.2,2537,2456,3740,3596,374.7,-12.0,147,2256,0.00,2.12,0.00,0.000,516,0.000,0.038,2538,1061,3665,3736,3595,0,0,0,0,0,0,27.44,27.23,27.51
$GC,2322,-0.71,-175.2,2537,1061,3739,3596,382.1,-12.3,149,2327,0.00,2.15,0.00,0.000,1030,0.000,0.039,2530,2444,3665,3736,3595,0,0,0,0,0,0,27.27,27.23,27.29
$GC,2643,-0.71,-175.2,2531,2444,3731,3595,426.8,-13.5,160,2646,0.00,2.12,0.00,0.000,516,0.000,0.037,2530,1053,3662,3731,3594,0,0,0,0,0,0,27.46,27.25,27.53
$GC,2668,-0.71,-175.2,2529,1054,3732,3594,426.8,-13.5,160,2674,0.08,2.17,0.00,0.000,3078,0.146,0.041,2544,2455,3662,3730,3594,0,0,0,0,0,0,27.13,27.24,27.22
$GC,2973,-0.71,-175.2,2545,2456,3729,3591,460.9,-9.4,171,2976,0.00,2.12,0.00,0.000,516,0.000,0.037,2546,1063,3660,3729,3591,0,0,0,0,0,0,27.48,27.27,27.54
$GC,2998,-0.71,-175.2,2545,1064,3730,3592,460.9,-9.4,171,3004,0.00,2.15,0.00,0.000,1030,0.000,0.040,2540,2447,3659,3728,3591,0,0,0,0,0,0,27.30,27.26,27.32
$GC,3303,-0.71,-175.2,2540,2447,3726,3590,488.6,-8.4,182,3306,0.00,2.08,0.00,0.000,260,0.000,0.056,2530,3772,3657,3725,3589,0,0,0,0,0,0,27.49,27.24,27.55
$GC,3323,-0.71,-175.2,2531,3772,3724,3589,488.6,-8.4,182,3326,0.00,1.98,0.00,0.000,1030,0.000,0.032,2530,2448,3656,3724,3588,0,0,0,0,0,0,27.34,27.32,27.36
$GC,3633,-0.71,-175.2,2529,2448,3723,3587,520.2,-9.5,193,3634,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2447,3653,3721,3586,0,0,0,0,0,0,27.50,27.58,27.56
$GC,3933,-0.71,-175.2,2529,2448,3721,3584,546.7,-8.1,203,3937,0.00,2.10,0.00,0.000,516,0.000,0.039,2530,1055,3650,3718,3583,0,0,0,0,0,0,27.51,27.29,27.57
$GC,3968,-0.71,-175.2,2529,1055,3719,3583,549.1,-7.9,204,3971,0.00,2.17,0.00,0.000,1030,0.000,0.041,2524,2452,3649,3717,3582,0,0,0,0,0,0,27.32,27.28,27.35
$GC,4293,-0.71,-175.2,2522,2453,3716,3581,573.9,-7.1,215,4296,0.00,2.10,0.00,0.000,260,0.000,0.057,2514,3775,3647,3714,3580,0,0,0,0,0,0,27.51,27.27,27.58
$GC,4318,-0.71,-175.2,2513,3775,3715,3581,573.9,-7.1,215,4325,0.10,1.98,0.00,0.000,3078,0.147,0.033,2545,2451,3646,3713,3580,0,0,0,0,0,0,27.17,27.35,27.25
$GC,4623,-0.71,-175.2,2544,2452,3713,3579,592.4,-5.0,226,4627,0.00,2.12,0.00,0.000,516,0.000,0.040,2546,1063,3644,3710,3578,0,0,0,0,0,0,27.51,27.30,27.58
$GC,4688,-0.71,-175.2,2545,1064,3712,3579,595.7,-5.2,228,4691,0.00,2.17,0.00,0.000,1030,0.000,0.041,2541,2455,3643,3710,3577,0,0,0,0,0,0,27.34,27.29,27.36
$GC,5013,-0.71,-175.2,2541,2455,3707,3577,617.1,-7.0,239,5016,0.00,2.10,0.00,0.000,260,0.000,0.057,2530,3779,3641,3706,3576,0,0,0,0,0,0,27.52,27.27,27.58
$GC,5038,-0.71,-175.2,2529,3780,3708,3577,617.1,-7.0,239,5044,0.00,2.00,0.00,0.000,1030,0.000,0.033,2530,2441,3642,3707,3577,0,0,0,0,0,0,27.38,27.35,27.38
$GC,5343,-0.71,-175.2,2530,2441,3704,3575,644.0,-8.4,250,5346,0.00,2.08,0.00,0.000,516,0.000,0.040,2530,1064,3638,3704,3573,0,0,0,0,0,0,27.52,27.31,27.59
$GC,5378,-0.71,-175.2,2531,1064,3703,3575,646.9,-8.7,251,5382,0.00,2.17,0.00,0.000,1030,0.000,0.041,2524,2455,3639,3704,3575,0,0,0,0,0,0,27.34,27.30,27.36
$GC,5703,-0.71,-175.2,2523,2456,3704,3573,681.0,-10.3,262,5704,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2455,3638,3703,3573,0,0,0,0,0,0,27.53,27.60,27.59
$GC,6003,-0.71,-175.2,2524,2456,3701,3571,710.9,-9.7,272,6006,0.00,2.10,0.00,0.000,516,0.000,0.039,2524,1057,3635,3700,3570,0,0,0,0,0,0,27.53,27.32,27.59
$GC,6028,-0.71,-175.2,2524,1057,3699,3571,710.9,-9.7,272,6034,0.10,2.17,0.00,0.000,3078,0.148,0.042,2546,2447,3635,3700,3570,0,0,0,0,0,0,27.17,27.31,27.27
$GC,6333,-0.71,-175.2,2547,2448,3698,3568,737.4,-7.6,283,6334,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2447,3633,3699,3568,0,0,0,0,0,0,27.53,27.61,27.59
$GC,6633,-0.71,-175.2,2546,2448,3698,3568,762.0,-8.6,293,6637,0.00,2.12,0.00,0.000,516,0.000,0.041,2547,1068,3632,3697,3567,0,0,0,0,0,0,27.53,27.32,27.60
$GC,6663,-0.71,-175.2,2546,1068,3699,3568,764.6,-8.7,294,6666,0.00,2.15,0.00,0.000,1030,0.000,0.043,2542,2447,3632,3697,3567,0,0,0,0,0,0,27.34,27.30,27.38
$GC,6993,-0.71,-175.2,2542,2447,3694,3566,796.5,-9.7,305,6994,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2447,3630,3695,3565,0,0,0,0,0,0,27.53,27.61,27.60
$GC,7293,-0.71,-175.2,2542,2447,3693,3565,827.0,-10.0,315,7293,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2447,3629,3694,3564,0,0,0,0,0,0,27.53,27.61,27.60
$GC,7593,-0.71,-175.2,2542,2448,3692,3562,857.9,-10.2,325,7596,0.00,2.12,0.00,0.000,516,0.000,0.040,2541,1066,3627,3691,3563,0,0,0,0,0,0,27.54,27.32,27.60
$GC,7633,-0.71,-175.2,2542,1067,3691,3563,861.1,-10.3,326,7636,0.00,2.17,0.00,0.000,1030,0.000,0.043,2541,2452,3627,3691,3563,0,0,0,0,0,0,27.35,27.30,27.37
$GC,7953,-0.71,-175.2,2540,2453,3692,3563,892.6,-9.6,337,7954,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2452,3626,3690,3562,0,0,0,0,0,0,27.53,27.61,27.60
$GC,8253,-0.71,-175.2,2540,2453,3690,3563,919.9,-8.9,347,8254,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2453,3625,3689,3562,0,0,0,0,0,0,27.54,27.61,27.60
$GC,8553,-0.71,-175.2,2540,2453,3689,3562,944.7,-8.0,357,8557,0.00,2.10,0.00,0.000,516,0.000,0.040,2541,1061,3624,3688,3561,0,0,0,0,0,0,27.54,27.32,27.60
$GC,8588,-0.71,-175.2,2540,1062,3688,3562,947.1,-7.8,358,8591,0.00,2.17,0.00,0.000,1030,0.000,0.043,2541,2452,3624,3687,3561,0,0,0,0,0,0,27.34,27.31,27.37
$GC,8913,-0.71,-175.2,2542,2452,3686,3561,973.6,-8.0,369,8916,0.00,2.15,0.00,0.000,516,0.000,0.041,2541,1059,3623,3686,3560,0,0,0,0,0,0,27.53,27.32,27.60
$GC,8938,-0.71,-175.2,2540,1060,3688,3561,973.6,-8.0,369,8944,0.00,2.17,0.00,0.000,1030,0.000,0.043,2541,2459,3623,3686,3560,0,0,0,0,0,0,27.37,27.30,27.40
$STATE,9121,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9121,begin apogee
$GC,9125,-0.11,0.0,2542,2089,3686,3560,990.7,-8.1,376,9275,0.62,0.00,145.95,1.307,10246,0.132,0.000,2741,2087,2941,2987,2895,0,0,0,0,0,0,27.19,25.13,24.37
$STATE,9275,end apogee,CONTROL_FINISHED_OK
$STATE,9276,begin climb
$GC,9277,0.71,175.2,2739,2088,2988,2894,994.8,0.0,381,9440,0.75,2.30,155.20,1.290,10756,0.053,0.043,3031,720,2225,2275,2175,0,0,0,0,0,0,25.36,24.71,24.17
$GC,9499,0.71,175.2,3030,721,2270,2172,973.7,14.0,388,9503,0.00,2.28,0.00,0.000,1030,0.000,0.034,3031,2098,2219,2268,2170,0,0,0,0,0,0,25.77,25.75,25.80
$GC,9810,0.71,175.2,3032,2099,2264,2164,923.3,15.1,399,9813,0.00,2.25,0.00,0.000,260,0.000,0.051,3031,3506,2213,2264,2163,0,0,0,0,0,0,26.68,26.45,26.75
$GC,9839,0.71,175.2,3032,3506,2263,2163,918.6,15.2,400,9844,0.10,2.17,0.00,0.000,5126,0.177,0.031,3014,2117,2213,2263,2163,0,0,0,0,0,0,26.37,26.53,26.48
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$STATE,16844,end climb,SURFACE_DEPTH_REACHED
$STATE,16844,begin surface coast
$FINISH,-0.3,1.006287
$STATE,16859,end surface coast,CONTROL_FINISHED_OK
$STATE,16859,begin surface
$SM_CCo,16873,39.75,0.060,0,0,901,500.17
$SM_GC,0.48,8.05,0.55,39.75,0.038,0.039,0.060,162,2460,901,-8.15,-1.22,500.17,0,0,0,0,0,0,26.07,26.10,26.19
$IRIDIUM_FIX,1316.45,14450.67,311207,164917
$TT8_MAMPS,0.05243,0.05243
$HUMID,41.69
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,25.10
$XPDR_PINGS,1
$24V_AH,24.17,4.723
$10V_AH,10.48,2.975
$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
$DEVICE_SECS,20.675,146.925,485.650,39.750,0.000,0.000,0.000,198.325,0.250,0.000,31.492,0.000,13966.275,663.014,2387.239,172.541,0.000,1817.959,0.000,1687.232,0.000,0.551,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,552.731,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,229988
$DATA_FILE_SIZE,36734,816
$CAP_FILE_SIZE,146047,0
$CFSIZE,260034560,255213568
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,16672.34,0x236db2,7,5
$CURRENT,0.076,246.67,1
$GPS,060315,124754,1324.574,14455.632,65,0.8,65,1.5,0.4,214.7,10,6.2