version: 66.12
glider: 178
mission: 20
dive: 35
start: 3 7 115 8 6 29
data:
$ID,178
$MISSION,20
$DIVE,35
$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,52
$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
$GPS1,070315,080059,1330.4414,14500.0068,51,0.9,51,1.5,0.7,315.3,8,6.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-68.1
$GPS2,070315,080617,1330.4755,14459.9639,10,1.2,50,1.5,1.1,271.6,7,10.7
$SPEED_LIMITS,0.173,0.265
$TGT_NAME,S2
$TGT_LATLONG,1336.000,14506.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,52.4,14924,-17.8,-10.000,-20.71,2479
$D_GRID,856
$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,-175.2,124,2464,901,890,0.0,0.0,0,105,0.00,0.00,-89.43,0.000,16386,0.000,0.000,122,2464,3109,3163,3055,0,0,0,0,0,0,26.98,28.83,27.05
$GC,107,-0.71,-175.2,123,2465,3162,3058,3.0,-9.1,16,132,10.20,2.10,-9.93,0.000,18692,0.251,0.062,2537,3772,3660,3732,3588,0,0,0,0,0,0,26.53,25.82,26.77
$GC,207,-0.71,-175.2,2536,3773,3735,3592,40.9,-32.7,35,213,0.00,1.98,0.00,0.000,1030,0.000,0.026,2538,2419,3662,3734,3591,0,0,0,0,0,0,26.92,26.89,26.93
$GC,517,-0.71,-175.2,2537,2416,3737,3592,139.5,-23.3,69,521,0.00,2.12,0.00,0.000,260,0.000,0.047,2530,3760,3663,3736,3591,0,0,0,0,0,0,27.20,26.96,27.27
$GC,602,-0.71,-175.2,2531,3761,3735,3592,155.9,-20.7,77,609,0.00,1.92,0.00,0.000,1030,0.000,0.025,2530,2446,3664,3737,3591,0,0,0,0,0,0,27.08,27.05,27.09
$GC,917,-0.71,-175.2,2529,2444,3743,3594,216.7,-17.2,103,921,0.00,2.08,0.00,0.000,516,0.000,0.033,2533,1063,3667,3741,3594,0,0,0,0,0,0,27.30,27.10,27.36
$GC,942,-0.71,-175.2,2533,1065,3743,3595,216.7,-17.2,103,949,0.00,2.10,0.00,0.000,1030,0.000,0.031,2526,2442,3667,3741,3594,0,0,0,0,0,0,27.13,27.10,27.15
$GC,1247,-0.71,-175.2,2525,2442,3745,3595,268.9,-14.9,114,1248,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2441,3669,3744,3595,0,0,0,0,0,0,27.36,27.43,27.42
$GC,1547,-0.71,-175.2,2526,2441,3744,3596,308.4,-12.0,124,1552,0.00,2.08,0.00,0.000,516,0.000,0.033,2526,1065,3669,3744,3595,0,0,0,0,0,0,27.40,27.20,27.46
$GC,1612,-0.71,-175.2,2525,1066,3745,3596,315.2,-11.6,126,1616,0.10,2.12,0.00,0.000,3078,0.142,0.034,2548,2446,3669,3744,3595,0,0,0,0,0,0,27.08,27.19,27.15
$GC,1937,-0.71,-175.2,2549,2446,3742,3596,347.5,-9.9,137,1942,0.00,2.08,0.00,0.000,516,0.000,0.033,2550,1070,3668,3742,3595,0,0,0,0,0,0,27.43,27.23,27.50
$GC,1982,-0.71,-175.2,2550,1071,3742,3596,350.4,-9.8,138,1986,0.00,2.12,0.00,0.000,1030,0.000,0.036,2543,2448,3668,3742,3595,0,0,0,0,0,0,27.26,27.22,27.28
$GC,2298,-0.71,-175.2,2543,2448,3738,3596,378.6,-8.1,149,2301,0.00,2.08,0.00,0.000,516,0.000,0.033,2543,1051,3666,3738,3595,0,0,0,0,0,0,27.46,27.25,27.52
$GC,2337,-0.71,-175.2,2542,1051,3739,3596,381.1,-8.1,150,2341,0.00,2.17,0.00,0.000,1030,0.000,0.037,2533,2457,3666,3737,3595,0,0,0,0,0,0,27.28,27.24,27.30
$GC,2657,-0.71,-175.2,2532,2457,3734,3596,411.5,-9.6,161,2662,0.00,2.08,0.00,0.000,260,0.000,0.053,2523,3773,3664,3733,3595,0,0,0,0,0,0,27.48,27.24,27.54
$GC,2737,-0.71,-175.2,2524,3774,3730,3595,417.3,-9.5,163,2741,0.00,1.95,0.00,0.000,1030,0.000,0.028,2523,2450,3662,3730,3595,0,0,0,0,0,0,27.34,27.32,27.35
$GC,3047,-0.71,-175.2,2524,2450,3729,3592,450.4,-10.3,174,3052,0.00,2.08,0.00,0.000,516,0.000,0.033,2523,1063,3660,3729,3591,0,0,0,0,0,0,27.48,27.29,27.55
$GC,3097,-0.71,-175.2,2524,1064,3727,3592,454.0,-10.6,175,3101,0.10,2.12,0.00,0.000,3078,0.146,0.036,2545,2444,3659,3727,3591,0,0,0,0,0,0,27.15,27.27,27.24
$GC,3407,-0.71,-175.2,2543,2445,3727,3590,484.6,-9.3,186,3411,0.00,2.08,0.00,0.000,516,0.000,0.034,2547,1074,3657,3725,3589,0,0,0,0,0,0,27.50,27.30,27.56
$GC,3432,-0.71,-175.2,2547,1075,3724,3590,484.6,-9.3,186,3439,0.00,2.12,0.00,0.000,1030,0.000,0.037,2541,2450,3657,3725,3589,0,0,0,0,0,0,27.32,27.29,27.35
$GC,3737,-0.71,-175.2,2540,2450,3723,3587,515.8,-9.6,197,3738,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2450,3654,3722,3586,0,0,0,0,0,0,27.51,27.58,27.58
$GC,4038,-0.71,-175.2,2540,2451,3721,3585,542.3,-8.6,207,4042,0.00,2.05,0.00,0.000,516,0.000,0.034,2541,1068,3651,3719,3583,0,0,0,0,0,0,27.51,27.31,27.58
$GC,4072,-0.71,-175.2,2539,1068,3721,3584,544.9,-8.6,208,4076,0.00,2.15,0.00,0.000,1030,0.000,0.037,2531,2455,3650,3718,3583,0,0,0,0,0,0,27.34,27.30,27.36
$GC,4397,-0.71,-175.2,2531,2456,3715,3581,575.4,-9.5,219,4401,0.00,2.08,0.00,0.000,260,0.000,0.054,2520,3775,3647,3715,3580,0,0,0,0,0,0,27.52,27.27,27.58
$GC,4432,-0.71,-175.2,2519,3775,3717,3581,578.3,-9.5,220,4436,0.00,1.95,0.00,0.000,1030,0.000,0.029,2521,2452,3647,3714,3580,0,0,0,0,0,0,27.38,27.36,27.40
$GC,4757,-0.71,-175.2,2522,2453,3711,3579,612.1,-10.4,231,4758,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2452,3645,3711,3579,0,0,0,0,0,0,27.53,27.60,27.59
$GC,5057,-0.71,-175.2,2520,2453,3709,3578,642.8,-10.1,241,5061,0.12,2.08,0.00,0.000,2564,0.181,0.035,2551,1042,3643,3709,3577,0,0,0,0,0,0,27.20,27.32,27.33
$GC,5163,-0.71,-175.2,2550,1042,3709,3577,650.4,-8.7,244,5166,0.00,2.17,0.00,0.000,1030,0.000,0.037,2543,2461,3641,3707,3576,0,0,0,0,0,0,27.37,27.31,27.39
$GC,5473,-0.71,-175.2,2544,2461,3705,3575,673.1,-6.8,255,5476,0.00,2.08,0.00,0.000,516,0.000,0.034,2543,1068,3639,3705,3574,0,0,0,0,0,0,27.53,27.32,27.60
$GC,5507,-0.71,-175.2,2543,1068,3703,3575,675.1,-6.8,256,5511,0.00,2.15,0.00,0.000,1030,0.000,0.038,2536,2452,3639,3705,3574,0,0,0,0,0,0,27.34,27.31,27.38
$GC,5832,-0.71,-175.2,2535,2453,3705,3573,702.1,-8.7,267,5836,0.00,2.10,0.00,0.000,516,0.000,0.034,2536,1073,3637,3703,3572,0,0,0,0,0,0,27.53,27.32,27.60
$GC,5912,-0.71,-175.2,2535,1074,3704,3573,707.0,-8.4,269,5916,0.00,2.15,0.00,0.000,1030,0.000,0.038,2527,2455,3637,3702,3572,0,0,0,0,0,0,27.35,27.31,27.37
$GC,6222,-0.71,-175.2,2526,2455,3702,3570,732.9,-7.5,280,6223,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2455,3634,3700,3569,0,0,0,0,0,0,27.53,27.60,27.60
$GC,6523,-0.71,-175.2,2526,2456,3701,3569,754.4,-7.2,290,6523,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2455,3633,3699,3568,0,0,0,0,0,0,27.53,27.60,27.60
$GC,6822,-0.71,-175.2,2526,2456,3699,3568,777.3,-7.6,300,6826,0.00,2.10,0.00,0.000,516,0.000,0.035,2526,1074,3631,3696,3567,0,0,0,0,0,0,27.53,27.35,27.60
$GC,6857,-0.71,-175.2,2527,1075,3696,3567,779.7,-7.8,301,6862,0.08,2.12,0.00,0.000,3078,0.148,0.038,2542,2445,3632,3697,3567,0,0,0,0,0,0,27.19,27.32,27.28
$GC,7183,-0.71,-175.2,2543,2446,3695,3566,803.3,-7.4,312,7183,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2445,3630,3695,3565,0,0,0,0,0,0,27.53,27.61,27.60
$GC,7483,-0.71,-175.2,2543,2446,3693,3565,825.2,-7.0,322,7486,0.00,2.05,0.00,0.000,516,0.000,0.036,2542,1070,3629,3694,3564,0,0,0,0,0,0,27.53,27.33,27.60
$GC,7537,-0.71,-175.2,2543,1070,3693,3565,827.4,-7.1,323,7545,0.00,2.15,0.00,0.000,1030,0.000,0.039,2541,2452,3628,3693,3564,0,0,0,0,0,0,27.35,27.31,27.38
$GC,7843,-0.71,-175.2,2540,2452,3694,3563,852.5,-7.8,334,7843,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2452,3627,3693,3562,0,0,0,0,0,0,27.53,27.61,27.60
$STATE,7901,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7901,begin apogee
$GC,7905,-0.11,0.0,2541,2106,3693,3563,857.3,-8.1,336,8054,0.62,0.00,143.62,1.222,10246,0.134,0.000,2738,2105,2940,2987,2893,0,0,0,0,0,0,27.18,25.06,24.51
$STATE,8055,end apogee,CONTROL_FINISHED_OK
$STATE,8055,begin climb
$GC,8057,0.71,175.2,2740,2105,2987,2892,860.9,0.0,341,8216,0.77,2.35,151.93,1.206,10756,0.060,0.039,3024,727,2224,2275,2174,0,0,0,0,0,0,25.47,25.03,24.31
$GC,8227,0.74,194.0,3024,727,2273,2173,849.7,9.2,346,8248,0.00,2.28,17.33,1.099,9222,0.000,0.030,3023,2098,2150,2202,2099,0,0,0,0,0,0,25.46,25.40,24.46
$GC,8558,0.74,194.0,3022,2100,2194,2090,792.2,16.4,358,8558,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2099,2140,2192,2089,0,0,0,0,0,0,26.66,26.72,26.72
$GC,8858,0.74,194.0,3024,2099,2189,2088,742.4,16.4,368,8862,0.00,2.25,0.00,0.000,260,0.000,0.049,3023,3500,2139,2190,2088,0,0,0,0,0,0,26.94,26.71,27.01
$GC,8887,0.74,194.0,3024,3500,2189,2088,737.2,16.5,369,8891,0.00,2.12,0.00,0.000,1030,0.000,0.027,3033,2115,2137,2188,2087,0,0,0,0,0,0,26.80,26.78,26.82
$GC,9218,0.74,194.0,3033,2116,2189,2088,684.6,15.6,380,9221,0.00,2.20,0.00,0.000,516,0.000,0.039,3044,708,2137,2187,2087,0,0,0,0,0,0,27.10,26.89,27.17
$GC,9237,0.74,194.0,3044,709,2190,2088,684.6,15.6,380,9241,0.00,2.17,0.00,0.000,1030,0.000,0.031,3044,2102,2136,2187,2086,0,0,0,0,0,0,26.94,26.91,26.97
$GC,9548,0.74,194.0,3045,2103,2186,2086,630.9,16.8,391,9551,0.00,2.22,0.00,0.000,260,0.000,0.049,3044,3500,2135,2186,2085,0,0,0,0,0,0,27.19,26.96,27.27
$GC,9572,0.74,194.0,3043,3500,2189,2086,630.9,16.8,391,9579,0.10,2.15,0.00,0.000,5126,0.173,0.028,3026,2093,2135,2186,2085,0,0,0,0,0,0,26.84,27.01,26.94
$GC,9878,0.74,194.0,3026,2094,2185,2085,578.0,16.4,402,9881,0.00,2.17,0.00,0.000,516,0.000,0.040,3034,692,2135,2185,2085,0,0,0,0,0,0,27.25,27.03,27.32
$GC,9947,0.74,194.0,3033,693,2187,2085,567.7,16.7,404,9952,0.00,2.17,0.00,0.000,1030,0.000,0.031,3034,2098,2134,2185,2084,0,0,0,0,0,0,27.09,27.05,27.13
$GC,10268,0.74,194.0,3034,2099,2185,2085,510.5,17.0,415,10271,0.00,2.20,0.00,0.000,260,0.000,0.050,3034,3513,2134,2185,2084,0,0,0,0,0,0,27.30,27.06,27.38
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$STATE,14469,end climb,SURFACE_DEPTH_REACHED
$STATE,14469,begin surface coast
$FINISH,-0.1,1.022100
$STATE,14485,end surface coast,CONTROL_FINISHED_OK
$STATE,14485,begin surface
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$IRIDIUM_FIX,1323.10,14500.48,010108,164652
$TT8_MAMPS,0.051681,0.051681
$HUMID,41.88
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,24.31,5.432
$10V_AH,10.40,3.260
$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
$DEVICE_SECS,20.450,133.275,455.125,55.100,0.000,0.000,0.000,206.425,0.000,0.000,52.826,0.000,11803.275,655.921,2240.776,160.874,0.000,1735.016,0.000,1558.968,0.000,0.550,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,492.085,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,229956
$DATA_FILE_SIZE,30095,728
$CAP_FILE_SIZE,133111,0
$CFSIZE,260034560,254926848
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,16941.31,0x236db2,7,5
$CURRENT,0.078,223.17,1
$GPS,070315,121023,1331.397,14501.117,41,1.0,57,1.5,0.5,189.7,9,8.0