version: 66.12
glider: 178
mission: 18
dive: 26
start: 10 2 114 15 44 50
data:
$ID,178
$MISSION,18
$DIVE,26
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$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,330
$T_MISSION,370
$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,180
$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,0.00420903
$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,400
$N_FILEKB,4
$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,-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,38
$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,2150
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,55
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,3046
$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,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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,600
$ALTIM_PING_DELTA,20
$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,48
$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
$GPS1,021014,153921,1346.202,14451.081,11,2.3,32,1.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.29
$_SM_ANGLEo,-73.6
$GPS2,021014,154439,1346.195,14451.089,36,1.9,56,1.4
$SPEED_LIMITS,0.173,0.265
$TGT_NAME,S2
$TGT_LATLONG,1340.200,14501.500
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,123.3,21777,-17.8,-10.000,-20.71,2479
$D_GRID,610
$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,-0.78,-175.2,139,2141,1398,1420,0.0,0.0,0,89,0.00,0.00,-73.38,0.000,16386,0.000,0.000,140,2142,3336,3385,3287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.78,-175.2,140,2142,3387,3289,4.0,-15.7,13,115,10.80,2.22,-6.78,0.000,18692,0.256,0.060,2600,3556,3766,3826,3706,0,0,0,0,0,0,26.20,26.54,26.88
$GC,249,-0.78,-175.2,2600,3555,3835,3706,71.3,-36.9,38,256,0.00,2.12,0.00,0.000,1030,0.000,0.031,2600,2164,3769,3833,3705,0,0,0,0,0,0,28.83,26.72,28.83
$GC,554,-0.78,-175.2,2600,2161,3842,3706,151.1,-18.1,69,559,0.00,2.20,0.00,0.000,516,0.000,0.037,2600,740,3774,3842,3706,0,0,0,0,0,0,28.83,26.83,28.83
$GC,609,-0.78,-175.2,2601,740,3843,3709,160.2,-17.9,74,616,0.00,2.17,0.00,0.000,1030,0.000,0.035,2591,2143,3775,3842,3708,0,0,0,0,0,0,28.83,26.84,28.83
$GC,925,-0.78,-175.2,2591,2145,3848,3711,214.3,-14.8,100,925,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2144,3779,3848,3710,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1224,-0.78,-175.2,2591,2144,3851,3712,251.2,-11.7,110,1225,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2144,3781,3851,3712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1524,-0.78,-175.2,2590,2144,3852,3712,284.8,-10.8,120,1525,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2144,3781,3851,3712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1824,-0.78,-175.2,2590,2144,3850,3712,323.6,-14.0,130,1828,0.00,2.15,0.00,0.000,516,0.000,0.040,2591,753,3780,3848,3712,0,0,0,0,0,0,28.83,27.08,28.83
$GC,1859,-0.78,-175.2,2591,752,3850,3712,327.6,-13.9,131,1863,0.10,2.15,0.00,0.000,3078,0.151,0.036,2614,2144,3779,3848,3711,0,0,0,0,0,0,26.87,27.08,28.83
$GC,2184,-0.78,-175.2,2615,2145,3844,3713,361.0,-10.3,142,2188,0.00,2.22,0.00,0.000,260,0.000,0.051,2606,3560,3777,3843,3711,0,0,0,0,0,0,28.83,27.04,28.83
$GC,2279,-0.78,-175.2,2606,3560,3843,3711,371.2,-11.1,145,2284,0.00,2.12,0.00,0.000,1030,0.000,0.032,2606,2146,3777,3842,3712,0,0,0,0,0,0,28.83,27.15,28.83
$GC,2604,-0.78,-175.2,2607,2143,3840,3713,405.6,-10.1,156,2608,0.00,2.15,0.00,0.000,516,0.000,0.042,2606,752,3775,3839,3711,0,0,0,0,0,0,28.83,27.11,28.83
$GC,2639,-0.78,-175.2,2606,752,3840,3711,408.3,-9.8,157,2643,0.00,2.15,0.00,0.000,1030,0.000,0.036,2597,2144,3775,3838,3712,0,0,0,0,0,0,28.83,27.12,28.83
$GC,2964,-0.78,-175.2,2597,2145,3833,3713,437.0,-7.9,168,2965,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2144,3772,3832,3712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3264,-0.78,-175.2,2598,2145,3829,3711,464.8,-10.2,178,3268,0.00,2.22,0.00,0.000,260,0.000,0.055,2586,3555,3768,3827,3709,0,0,0,0,0,0,28.83,27.08,28.83
$GC,3339,-0.78,-175.2,2587,3556,3825,3711,471.6,-10.7,180,3344,0.08,2.12,0.00,0.000,3078,0.142,0.034,2610,2151,3768,3826,3710,0,0,0,0,0,0,26.94,27.19,28.83
$GC,3654,-0.78,-175.2,2611,2147,3824,3707,509.5,-11.3,191,3658,0.00,2.15,0.00,0.000,516,0.000,0.043,2611,758,3765,3822,3708,0,0,0,0,0,0,28.83,27.14,28.83
$GC,3709,-0.78,-175.2,2610,758,3823,3708,512.5,-10.8,192,3716,0.00,2.17,0.00,0.000,1030,0.000,0.039,2604,2154,3763,3821,3706,0,0,0,0,0,0,28.83,27.13,28.83
$GC,4014,-0.78,-175.2,2605,2153,3821,3704,548.2,-13.9,203,4018,0.00,2.22,0.00,0.000,260,0.000,0.056,2594,3554,3761,3819,3704,0,0,0,0,0,0,28.83,27.07,28.83
$GC,4134,-0.78,-175.2,2595,3555,3818,3705,566.1,-15.0,207,4138,0.00,2.12,0.00,0.000,1030,0.000,0.034,2594,2156,3760,3817,3704,0,0,0,0,0,0,28.83,27.19,28.83
$STATE,4435,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4435,begin apogee
$GC,4439,-0.13,0.0,2594,2260,3815,3703,601.2,-11.0,217,4587,0.73,0.00,141.85,1.001,10246,0.133,0.000,2822,2259,3045,3088,3003,0,0,0,0,0,0,26.90,28.83,24.70
$STATE,4587,end apogee,CONTROL_FINISHED_OK
$STATE,4587,begin climb
$GC,4589,0.78,175.2,2823,2260,3088,3004,607.9,0.0,222,4744,0.82,2.33,146.05,0.993,10756,0.048,0.040,3148,850,2329,2374,2284,0,0,0,0,0,0,25.56,25.27,24.53
$GC,4849,0.78,175.2,3149,850,2368,2274,585.5,15.6,230,4856,0.00,2.28,0.00,0.000,1030,0.000,0.037,3149,2251,2321,2367,2275,0,0,0,0,0,0,28.83,26.04,28.83
$GC,5154,0.78,175.2,3149,2251,2364,2273,531.2,17.9,241,5158,0.00,2.28,0.00,0.000,260,0.000,0.054,3148,3645,2318,2363,2273,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5194,0.78,175.2,3149,3646,2362,2274,526.1,17.3,242,5198,0.10,2.17,0.00,0.000,5126,0.180,0.032,3130,2249,2316,2360,2272,0,0,0,0,0,0,26.36,26.60,28.83
$GC,5514,0.78,175.2,3131,2246,2359,2271,466.4,20.3,253,5515,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2246,2314,2358,2271,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5815,0.78,175.2,3130,2247,2357,2271,410.9,17.5,263,5818,0.00,2.28,0.00,0.000,260,0.000,0.054,3130,3663,2313,2356,2270,0,0,0,0,0,0,28.83,26.80,28.83
$GC,5909,0.78,175.2,3131,3664,2357,2271,393.8,18.7,266,5914,0.00,2.17,0.00,0.000,1030,0.000,0.033,3139,2247,2312,2355,2270,0,0,0,0,0,0,28.83,26.91,28.83
$GC,6234,0.78,175.2,3139,2244,2353,2269,330.9,20.2,277,6235,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2244,2311,2352,2270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6534,0.78,175.2,3139,2244,2350,2268,275.0,17.1,287,6538,0.00,2.20,0.00,0.000,516,0.000,0.044,3150,842,2309,2350,2268,0,0,0,0,0,0,28.83,26.96,28.83
$GC,6649,0.78,175.2,3150,842,2350,2265,261.0,15.5,290,6656,0.00,2.20,0.00,0.000,1030,0.000,0.038,3150,2251,2307,2349,2265,0,0,0,0,0,0,28.83,26.98,28.83
$GC,6954,0.78,175.2,3151,2252,2348,2265,210.2,14.4,301,6958,0.00,2.22,0.00,0.000,260,0.000,0.054,3149,3650,2305,2347,2264,0,0,0,0,0,0,28.83,26.97,28.83
$GC,6979,0.78,175.2,3149,3651,2347,2265,210.2,14.4,301,6987,0.12,2.15,0.00,0.000,5126,0.176,0.032,3124,2241,2305,2346,2264,0,0,0,0,0,0,26.73,27.06,28.83
$GC,7284,0.87,221.5,3125,2239,2345,2264,175.3,8.1,328,7326,0.00,2.33,34.15,0.727,8452,0.000,0.052,3124,3660,2142,2178,2106,0,0,0,0,0,0,28.83,26.53,25.89
$GC,7411,0.87,221.5,3125,3659,2170,2106,163.2,11.5,340,7418,0.00,2.15,0.00,0.000,1030,0.000,0.031,3133,2250,2137,2168,2106,0,0,0,0,0,0,28.83,26.68,28.83
$GC,7715,0.87,221.5,3133,2247,2168,2102,128.4,11.3,371,7719,0.00,2.20,0.00,0.000,516,0.000,0.042,3144,848,2134,2167,2102,0,0,0,0,0,0,28.83,26.81,28.83
$GC,7875,0.87,221.5,3145,848,2168,2099,110.5,10.1,387,7879,0.00,2.20,0.00,0.000,1030,0.000,0.036,3144,2256,2132,2167,2098,0,0,0,0,0,0,28.83,26.86,28.83
$GC,8185,0.93,258.3,3144,2256,2169,2098,89.5,8.5,418,8220,0.00,2.28,29.88,0.640,8452,0.000,0.050,3144,3654,1991,2023,1959,0,0,0,0,0,0,28.83,26.53,25.91
$GC,8444,0.93,258.3,3144,3654,2017,1959,58.5,13.3,443,8451,0.00,2.15,0.00,0.000,1030,0.000,0.029,3154,2249,1986,2015,1958,0,0,0,0,0,0,28.83,26.79,28.83
$GC,8749,1.08,339.0,3155,2247,2018,1959,37.5,6.7,495,8820,0.17,2.33,66.15,0.602,10500,0.074,0.047,3231,3654,1661,1689,1634,0,0,0,0,0,0,26.93,26.11,25.54
$GC,8855,1.08,339.0,3232,3655,1684,1636,24.1,16.4,514,8861,0.00,2.15,0.00,0.000,1030,0.000,0.028,3242,2250,1659,1684,1634,0,0,0,0,0,0,28.83,26.30,28.83
$STATE,8984,end climb,SURFACE_DEPTH_REACHED
$STATE,8985,begin surface coast
$FINISH,-0.1,1.021651
$STATE,8999,end surface coast,CONTROL_FINISHED_OK
$STATE,8999,begin surface
$SM_CCo,9013,28.17,0.063,0,0,1414,400.08
$SM_GC,0.09,8.23,0.12,28.17,0.046,0.073,0.063,162,2127,1414,-8.43,1.30,400.08,0,0,0,0,0,0,26.48,26.61,26.48
$IRIDIUM_FIX,1343.07,14241.59,021014,122421
$TT8_MAMPS,0.053179,0.053179
$HUMID,50.82
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,25.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,601.2,12.3
$24V_AH,24.53,3.242
$10V_AH,10.34,1.654
$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,21.150,75.025,418.075,28.175,0.000,0.000,0.000,208.575,0.500,0.000,59.429,0.000,7005.823,543.251,1709.476,94.701,0.000,1389.740,0.000,1145.057,0.000,5.472,0.000
$DEVICE_MAMPS,255.510,83.385,1001.385,63.495,0.000,0.000,0.000,86.445,420.000,0.000,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,362.445,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,228632
$DATA_FILE_SIZE,23489,543
$CAP_FILE_SIZE,86710,0
$CFSIZE,260034560,255344640
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,11795.42,0x236bc6,7,5
$CURRENT,0.066,358.49,1
$GPS,021014,181656,1345.751,14452.099,44,1.1,65,1.4