version: 66.12
glider: 178
mission: 18
dive: 27
start: 10 2 114 18 21 51
data:
$ID,178
$MISSION,18
$DIVE,27
$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,64
$R_STBD_OVSHOOT,34
$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
$GPS1,021014,181656,1345.751,14452.099,44,1.1,65,1.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.04
$_SM_ANGLEo,-74.3
$GPS2,021014,182139,1345.757,14452.090,9,3.5,29,1.4
$SPEED_LIMITS,0.173,0.265
$TGT_NAME,S2
$TGT_LATLONG,1340.200,14501.500
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,132.0,19816,-17.8,-10.000,-20.71,2479
$D_GRID,527
$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,-0.78,-175.2,154,2128,1398,1419,0.0,0.0,0,90,0.00,0.00,-74.88,0.000,16386,0.000,0.000,149,2129,3371,3419,3324,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.78,-175.2,149,2128,3421,3326,4.3,-16.1,13,116,10.65,2.22,-6.12,0.000,18692,0.252,0.056,2602,3555,3764,3822,3706,0,0,0,0,0,0,26.24,26.58,26.91
$GC,125,-0.78,-175.2,2601,3556,3826,3707,25.9,-61.1,19,132,0.00,2.12,0.00,0.000,1030,0.000,0.029,2605,2159,3766,3827,3706,0,0,0,0,0,0,28.83,26.65,28.83
$GC,436,-0.78,-175.2,2605,2156,3835,3707,134.1,-27.9,55,440,0.00,2.17,0.00,0.000,516,0.000,0.037,2605,750,3770,3834,3706,0,0,0,0,0,0,28.83,26.82,28.83
$GC,451,-0.78,-175.2,2605,751,3835,3707,136.7,-27.7,56,458,0.00,2.15,0.00,0.000,1030,0.000,0.035,2597,2141,3770,3834,3706,0,0,0,0,0,0,28.83,26.82,28.83
$GC,757,-0.78,-175.2,2597,2142,3843,3705,205.8,-18.9,85,760,0.00,2.12,0.00,0.000,516,0.000,0.037,2596,753,3774,3842,3706,0,0,0,0,0,0,28.83,26.94,28.83
$GC,791,-0.78,-175.2,2598,753,3843,3708,210.6,-17.6,86,795,0.08,2.15,0.00,0.000,3078,0.151,0.034,2610,2149,3775,3842,3708,0,0,0,0,0,0,26.75,26.97,28.83
$GC,1116,-0.78,-175.2,2611,2149,3850,3708,255.5,-12.3,97,1117,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2149,3778,3848,3708,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1416,-0.78,-175.2,2611,2150,3850,3710,289.0,-11.0,107,1420,0.00,2.15,0.00,0.000,516,0.000,0.038,2610,753,3779,3849,3709,0,0,0,0,0,0,28.83,27.07,28.83
$GC,1461,-0.78,-175.2,2610,753,3850,3709,292.3,-10.8,108,1466,0.00,2.15,0.00,0.000,1030,0.000,0.034,2603,2151,3779,3849,3709,0,0,0,0,0,0,28.83,27.06,28.83
$GC,1777,-0.78,-175.2,2604,2151,3847,3709,327.9,-9.8,119,1780,0.00,2.20,0.00,0.000,260,0.000,0.050,2593,3559,3777,3846,3709,0,0,0,0,0,0,28.83,27.03,28.83
$GC,1816,-0.78,-175.2,2593,3560,3846,3709,331.2,-10.0,120,1820,0.00,2.12,0.00,0.000,1030,0.000,0.031,2593,2146,3777,3845,3710,0,0,0,0,0,0,28.83,27.15,28.83
$GC,2136,-0.78,-175.2,2593,2141,3843,3709,372.3,-12.8,131,2137,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2142,3775,3842,3709,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2437,-0.78,-175.2,2593,2143,3839,3710,409.4,-11.9,141,2437,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2142,3773,3838,3709,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2736,-0.78,-175.2,2593,2144,3832,3711,443.5,-12.1,151,2740,0.00,2.25,0.00,0.000,260,0.000,0.052,2583,3561,3769,3830,3709,0,0,0,0,0,0,28.83,27.08,28.83
$GC,2836,-0.78,-175.2,2583,3562,3829,3710,454.0,-11.8,154,2840,0.10,2.12,0.00,0.000,3078,0.142,0.033,2615,2155,3768,3829,3708,0,0,0,0,0,0,26.95,27.20,28.83
$GC,3156,-0.78,-175.2,2616,2153,3824,3709,485.3,-9.1,165,3160,0.00,2.15,0.00,0.000,516,0.000,0.042,2615,756,3765,3823,3707,0,0,0,0,0,0,28.83,27.15,28.83
$GC,3201,-0.78,-175.2,2616,757,3824,3708,488.1,-9.1,166,3205,0.00,2.17,0.00,0.000,1030,0.000,0.038,2609,2155,3765,3823,3707,0,0,0,0,0,0,28.83,27.15,28.83
$GC,3517,-0.78,-175.2,2610,2157,3823,3702,512.7,-4.4,177,3520,0.00,2.22,0.00,0.000,260,0.000,0.056,2610,3557,3762,3822,3702,0,0,0,0,0,0,28.83,27.09,28.83
$STATE,3695,end dive,NO_VERTICAL_VELOCITY
$STATE,3695,begin apogee
$GC,3700,-0.13,0.0,2610,2241,3818,3703,512.5,0.0,183,3842,0.62,0.00,139.75,0.943,10246,0.083,0.000,2834,2239,3046,3091,3002,0,0,0,0,0,0,27.08,28.83,24.82
$STATE,3843,end apogee,CONTROL_FINISHED_OK
$STATE,3843,begin climb
$GC,3844,0.78,175.2,2834,2238,3090,3001,512.4,0.0,187,3992,0.77,0.00,144.38,0.929,11014,0.048,0.000,3135,2238,2331,2377,2286,0,0,0,0,0,0,25.59,28.83,24.67
$GC,4267,0.78,175.2,3135,2239,2366,2276,453.8,17.3,202,4272,0.00,2.20,0.00,0.000,516,0.000,0.041,3145,859,2320,2366,2275,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4307,0.78,175.2,3145,859,2366,2274,448.3,17.5,203,4312,0.00,2.22,0.00,0.000,1030,0.000,0.037,3145,2254,2319,2364,2274,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4628,0.78,175.2,3145,2254,2360,2273,393.8,15.4,214,4631,0.00,2.25,0.00,0.000,260,0.000,0.054,3145,3660,2316,2360,2273,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4677,0.78,175.2,3145,3660,2359,2272,388.6,15.7,215,4682,0.10,2.15,0.00,0.000,5126,0.176,0.031,3127,2260,2315,2358,2273,0,0,0,0,0,0,26.53,26.79,28.83
$GC,4987,0.78,175.2,3128,2257,2356,2272,340.8,13.9,226,4992,0.00,2.25,0.00,0.000,260,0.000,0.053,3127,3652,2313,2354,2272,0,0,0,0,0,0,28.83,26.83,28.83
$GC,5112,0.78,175.2,3128,3654,2353,2274,321.5,16.1,230,5116,0.00,2.15,0.00,0.000,1030,0.000,0.032,3137,2250,2312,2352,2272,0,0,0,0,0,0,28.83,26.94,28.83
$GC,5437,0.78,175.2,3136,2247,2350,2270,273.2,15.5,241,5438,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2247,2309,2349,2270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5737,0.78,175.2,3137,2248,2347,2270,237.9,10.4,251,5738,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2247,2307,2346,2269,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6037,0.78,175.2,3137,2247,2346,2267,199.8,15.4,261,6042,0.00,2.17,0.00,0.000,516,0.000,0.044,3147,852,2305,2344,2267,0,0,0,0,0,0,28.83,27.04,28.83
$GC,6117,0.78,175.2,3148,852,2345,2263,189.1,12.1,269,6122,0.00,2.17,0.00,0.000,1030,0.000,0.037,3147,2256,2303,2344,2263,0,0,0,0,0,0,28.83,27.05,28.83
$GC,6427,0.79,178.3,3148,2257,2342,2264,158.1,9.9,300,6432,0.00,2.20,0.00,0.000,516,0.000,0.041,3158,849,2301,2341,2262,0,0,0,0,0,0,28.83,27.07,28.83
$GC,6657,0.92,253.2,3158,850,2342,2262,140.9,6.9,323,6722,0.00,2.17,58.75,0.690,9222,0.000,0.035,3157,2257,2012,2046,1978,0,0,0,0,0,0,28.83,27.08,25.67
$GC,7027,0.92,253.2,3158,2258,2038,1973,94.8,10.8,360,7031,0.00,2.22,0.00,0.000,260,0.000,0.050,3158,3649,2004,2038,1971,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7147,0.92,253.2,3158,3650,2037,1973,81.5,11.2,372,7151,0.00,2.15,0.00,0.000,1030,0.000,0.030,3168,2244,2003,2035,1972,0,0,0,0,0,0,28.83,26.81,28.83
$GC,7457,1.03,311.3,3169,2241,2037,1972,50.8,7.6,403,7512,0.00,2.22,47.12,0.608,8708,0.000,0.040,3179,845,1774,1806,1742,0,0,0,0,0,0,28.83,26.34,25.72
$GC,7646,1.03,311.3,3179,845,1807,1733,30.3,12.1,438,7653,0.00,2.17,0.00,0.000,1030,0.000,0.033,3179,2243,1769,1806,1733,0,0,0,0,0,0,28.83,26.58,28.83
$STATE,7916,end climb,SURFACE_DEPTH_REACHED
$STATE,7916,begin surface coast
$FINISH,-0.2,1.021655
$STATE,7941,end surface coast,CONTROL_FINISHED_OK
$STATE,7941,begin surface
$SM_CCo,7955,44.53,0.064,0,0,1415,400.08
$SM_GC,-0.03,8.15,0.12,44.53,0.059,0.073,0.064,162,2131,1415,-8.41,1.27,400.08,0,0,0,0,0,0,26.76,26.89,26.70
$IRIDIUM_FIX,1338.63,14454.84,021014,154036
$TT8_MAMPS,0.051681,0.051681
$HUMID,51.37
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,24.67,3.343
$10V_AH,10.55,1.691
$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,20.475,65.350,390.000,44.525,0.000,0.000,0.000,204.075,0.000,0.000,32.984,0.000,6160.961,519.551,1516.472,83.697,0.000,1287.267,0.000,1013.481,0.000,1.024,0.000
$DEVICE_MAMPS,252.450,72.675,943.245,64.260,0.000,0.000,0.000,86.445,420.000,0.000,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,332.185,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,228540
$DATA_FILE_SIZE,20185,497
$CAP_FILE_SIZE,77511,0
$CFSIZE,260034560,255311872
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,9420.17,0x236bc6,7,5
$CURRENT,0.050,26.80,1
$GPS,021014,203603,1345.217,14452.978,11,0.9,32,1.4