version: 66.12
glider: 178
mission: 18
dive: 4
start: 9 29 114 7 8 13
data:
$ID,178
$MISSION,18
$DIVE,4
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,360
$D_ABORT,1020
$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,120
$T_MISSION,150
$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,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51648
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0025937001
$HD_B,0.01134
$HD_C,1.234e-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,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,-20
$T_GPS_ALMANAC,0
$T_RSLEEP,2
$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,35
$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,2250
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,57
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,3325
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0014
$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,145.11
$AH0_10V,98.019997
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-46.80373
$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,10
$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,20480.0
$PA_MAXOPTIONALUPLOADSIZE,20480.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,0.0
$GPS1,290914,070407,1331.459,14435.174,11,1.5,11,1.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.59
$_SM_ANGLEo,-71.2
$GPS2,290914,070803,1331.490,14435.161,10,1.7,30,1.4
$SPEED_LIMITS,0.173,0.242
$TGT_NAME,T2
$TGT_LATLONG,1331.000,14432.000
$TGT_RADIUS,1500.000
$MHEAD_RNG_PITCHd_Wd,241.1,5763,-17.8,-10.000,-22.42,2207
$D_GRID,2073
$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,-0.71,-146.0,152,2279,436,483,0.0,0.0,0,128,0.00,0.00,-112.20,0.000,16386,0.000,0.000,147,2278,3378,3419,3337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,130,-0.71,-146.0,148,2278,3420,3338,5.2,-10.1,11,157,10.52,2.15,-7.97,0.000,18948,0.252,0.047,2638,833,3923,3976,3870,0,0,0,0,0,0,26.59,27.08,27.41
$GC,301,-0.71,-146.0,2639,833,3981,3870,58.9,-21.7,28,309,0.00,2.12,0.00,0.000,1030,0.000,0.037,2631,2222,3925,3980,3871,0,0,0,0,0,0,28.83,27.12,28.83
$GC,486,-0.71,-146.0,2631,2224,3982,3871,107.7,-26.7,47,487,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2223,3925,3981,3870,0,0,0,0,0,0,28.83,28.83,28.83
$GC,666,-0.71,-146.0,2630,2222,3984,3870,144.6,-18.1,65,667,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2222,3926,3982,3870,0,0,0,0,0,0,28.83,28.83,28.83
$GC,846,-0.71,-146.0,2630,2224,3985,3872,177.9,-19.4,83,850,0.00,2.10,0.00,0.000,516,0.000,0.036,2631,829,3927,3983,3871,0,0,0,0,0,0,28.83,27.20,28.83
$GC,891,-0.71,-146.0,2631,830,3985,3870,184.7,-17.2,87,899,0.00,2.17,0.00,0.000,1030,0.000,0.037,2622,2265,3927,3984,3871,0,0,0,0,0,0,28.83,27.18,28.83
$GC,1076,-0.71,-146.0,2623,2266,3987,3871,215.4,-14.6,106,1080,0.00,2.12,0.00,0.000,260,0.000,0.049,2612,3645,3928,3985,3871,0,0,0,0,0,0,28.83,27.15,28.83
$GC,1116,-0.71,-146.0,2612,3646,3985,3872,220.3,-12.3,110,1120,0.00,2.10,0.00,0.000,1030,0.000,0.030,2612,2223,3928,3986,3871,0,0,0,0,0,0,28.83,27.28,28.83
$GC,1306,-0.71,-146.0,2612,2220,3989,3871,244.0,-13.2,129,1310,0.00,2.05,0.00,0.000,516,0.000,0.037,2612,851,3929,3987,3871,0,0,0,0,0,0,28.83,27.22,28.83
$GC,1336,-0.71,-146.0,2613,852,3988,3871,248.0,-13.5,132,1340,0.10,2.12,0.00,0.000,3078,0.138,0.037,2638,2250,3929,3987,3871,0,0,0,0,0,0,26.93,27.18,28.83
$GC,1536,-0.71,-146.0,2638,2251,3989,3871,267.4,-9.0,140,1537,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2251,3929,3987,3871,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1836,-0.71,-146.0,2639,2252,3988,3872,295.2,-9.2,150,1840,0.00,2.17,0.00,0.000,260,0.000,0.053,2632,3644,3928,3987,3870,0,0,0,0,0,0,28.83,27.12,28.83
$GC,1896,-0.71,-146.0,2632,3645,3987,3872,300.6,-8.9,152,1901,0.00,2.08,0.00,0.000,1030,0.000,0.032,2632,2247,3928,3986,3870,0,0,0,0,0,0,28.83,27.28,28.83
$GC,2226,-0.71,-146.0,2633,2245,3983,3872,333.3,-10.5,163,2231,0.00,2.10,0.00,0.000,516,0.000,0.039,2632,858,3926,3982,3870,0,0,0,0,0,0,28.83,27.19,28.83
$GC,2281,-0.71,-146.0,2633,857,3983,3871,336.3,-10.5,164,2288,0.00,2.15,0.00,0.000,1030,0.000,0.040,2626,2257,3926,3982,3870,0,0,0,0,0,0,28.83,27.14,28.83
$STATE,2525,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2525,begin apogee
$GC,2528,-0.14,0.0,2627,1890,3977,3872,361.8,-9.6,173,2648,0.60,0.00,113.10,0.783,10246,0.110,0.000,2827,1886,3324,3369,3280,0,0,0,0,0,0,26.91,28.83,25.35
$STATE,2649,end apogee,CONTROL_FINISHED_OK
$STATE,2649,begin climb
$GC,2650,0.71,146.0,2827,1887,3369,3281,368.4,0.0,177,2773,0.75,2.28,116.82,0.770,10500,0.043,0.044,3124,3305,2728,2766,2691,0,0,0,0,0,0,26.18,25.89,25.22
$GC,2933,0.78,192.7,3124,3306,2754,2692,366.9,7.8,186,2975,0.00,2.12,38.60,0.755,9222,0.000,0.031,3134,1916,2539,2573,2506,0,0,0,0,0,0,28.83,26.70,25.53
$GC,3273,0.78,192.7,3135,1916,2564,2495,322.3,13.6,198,3277,0.00,2.20,0.00,0.000,260,0.000,0.050,3135,3297,2529,2564,2495,0,0,0,0,0,0,28.83,26.83,28.83
$GC,3502,0.78,192.7,3136,3298,2561,2496,293.1,13.6,205,3507,0.00,2.12,0.00,0.000,1030,0.000,0.033,3146,1902,2527,2560,2495,0,0,0,0,0,0,28.83,27.04,28.83
$GC,3813,0.78,192.7,3146,1902,2558,2491,251.2,12.9,216,3817,0.00,2.20,0.00,0.000,516,0.000,0.046,3157,493,2524,2557,2491,0,0,0,0,0,0,28.83,27.03,28.83
$GC,3853,0.78,192.7,3157,493,2557,2490,246.6,12.1,218,3857,0.10,2.15,0.00,0.000,5126,0.167,0.034,3127,1892,2522,2556,2488,0,0,0,0,0,0,26.80,27.09,28.83
$GC,4044,0.82,222.8,3127,1892,2556,2487,230.3,8.6,237,4075,0.00,2.25,22.98,0.705,8452,0.000,0.050,3127,3303,2414,2450,2379,0,0,0,0,0,0,28.83,26.78,26.15
$GC,4299,0.82,222.8,3127,3303,2441,2379,202.3,10.1,262,4306,0.00,2.15,0.00,0.000,1030,0.000,0.033,3136,1897,2408,2440,2377,0,0,0,0,0,0,28.83,27.01,28.83
$GC,4484,0.86,252.5,3137,1895,2441,2375,186.1,8.6,281,4510,0.00,0.00,24.35,0.680,8198,0.000,0.000,3136,1895,2295,2327,2263,0,0,0,0,0,0,28.83,28.83,26.09
$GC,4684,0.86,252.5,3136,1895,2321,2255,166.2,12.1,301,4688,0.00,2.25,0.00,0.000,260,0.000,0.049,3136,3309,2287,2320,2255,0,0,0,0,0,0,28.83,26.88,28.83
$GC,4784,0.86,252.5,3136,3309,2318,2254,154.3,10.5,311,4789,0.00,2.15,0.00,0.000,1030,0.000,0.034,3147,1904,2285,2317,2254,0,0,0,0,0,0,28.83,26.98,28.83
$GC,4974,0.92,292.0,3148,1905,2317,2254,138.6,8.2,330,5009,0.00,2.22,31.42,0.647,8452,0.000,0.048,3147,3305,2134,2167,2101,0,0,0,0,0,0,28.83,26.63,26.03
$GC,5234,0.92,292.0,3147,3306,2156,2100,110.9,13.2,355,5242,0.00,2.15,0.00,0.000,1030,0.000,0.032,3158,1904,2127,2155,2100,0,0,0,0,0,0,28.83,26.93,28.83
$GC,5419,0.92,292.0,3158,1904,2155,2096,90.9,10.1,374,5423,0.00,2.20,0.00,0.000,516,0.000,0.045,3169,493,2125,2155,2096,0,0,0,0,0,0,28.83,26.96,28.83
$GC,5484,0.92,292.0,3169,494,2157,2094,84.9,10.4,380,5492,0.00,2.17,0.00,0.000,1030,0.000,0.032,3169,1906,2124,2156,2093,0,0,0,0,0,0,28.83,27.03,28.83
$GC,5669,0.96,322.1,3169,1907,2158,2093,67.1,8.6,399,5702,0.00,2.20,24.12,0.578,8452,0.000,0.048,3169,3301,2010,2044,1976,0,0,0,0,0,0,28.83,26.79,26.21
$GC,5926,0.96,322.1,3169,3303,2038,1977,44.1,10.5,424,5933,0.00,2.15,0.00,0.000,1030,0.000,0.031,3179,1887,2006,2037,1976,0,0,0,0,0,0,28.83,27.00,28.83
$GC,6111,1.08,406.5,3180,1888,2037,1975,31.6,6.1,443,6184,0.12,2.33,66.90,0.555,10500,0.093,0.045,3238,3316,1666,1705,1627,0,0,0,0,0,0,27.13,26.38,25.85
$GC,6268,1.08,406.5,3239,3317,1699,1628,12.6,15.8,458,6276,0.10,2.17,0.00,0.000,5126,0.151,0.030,3219,1900,1662,1698,1627,0,0,0,0,0,0,26.50,26.67,28.83
$STATE,6342,end climb,SURFACE_DEPTH_REACHED
$STATE,6342,begin surface coast
$FINISH,-0.5,1.021397
$STATE,6362,end surface coast,CONTROL_FINISHED_OK
$STATE,6362,begin surface
$SM_CCo,6436,0.00,0.000,0,0,1654,409.90
$SM_GC,0.30,7.88,0.55,0.00,0.035,0.046,0.000,163,2267,1654,-8.41,-0.93,409.90,0,0,0,0,0,0,26.76,26.81,28.83
$IRIDIUM_FIX,1323.10,14427.22,290914,070029
$TT8_MAMPS,0.051681,0.051681
$HUMID,56.49
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,25.10
$XPDR_PINGS,1
$24V_AH,25.22,0.522
$10V_AH,10.55,0.468
$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,20.175,66.000,438.300,0.000,0.000,0.000,0.000,0.000,0.250,0.000,33.177,0.000,4512.406,573.188,1349.948,64.679,0.000,1160.364,0.000,1049.089,0.000,0.556,0.000
$DEVICE_MAMPS,251.685,52.785,783.360,0.000,0.000,0.000,0.000,0.000,420.000,0.000,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,311.244,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,228396
$DATA_FILE_SIZE,20125,468
$CAP_FILE_SIZE,84631,0
$CFSIZE,260034560,256589824
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,3869.43,0x236bc6,7,5
$CURRENT,0.069,284.52,1
$GPS,290914,085639,1331.045,14434.343,32,99.0,52,1.4