version: 66.12
glider: 178
mission: 18
dive: 28
start: 10 2 114 20 46 9
data:
$ID,178
$MISSION,18
$DIVE,28
$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,60
$R_STBD_OVSHOOT,38
$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,350
$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
$GPS1,021014,203603,1345.217,14452.978,11,0.9,32,1.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.24
$_SM_ANGLEo,-75.5
$GPS2,021014,204557,1345.222,14452.958,13,0.7,33,1.4
$SPEED_LIMITS,0.173,0.265
$TGT_NAME,S2
$TGT_LATLONG,1340.200,14501.500
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,130.7,17966,-17.8,-10.000,-20.71,2479
$D_GRID,468
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.78,-175.2,143,2130,1398,1422,0.0,0.0,0,91,0.00,0.00,-76.03,0.000,16386,0.000,0.000,142,2131,3418,3466,3371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,93,-0.78,-175.2,141,2131,3467,3372,4.6,-15.6,13,117,10.45,2.25,-5.43,0.000,18692,0.246,0.057,2599,3551,3765,3824,3706,0,0,0,0,0,0,26.29,26.65,26.98
$GC,246,-0.78,-175.2,2600,3552,3832,3707,72.1,-33.0,37,251,0.00,2.10,0.00,0.000,1030,0.000,0.030,2599,2171,3768,3831,3706,0,0,0,0,0,0,28.83,26.80,28.83
$GC,556,-0.78,-175.2,2600,2168,3838,3707,162.3,-21.1,68,561,0.00,2.17,0.00,0.000,516,0.000,0.035,2598,748,3771,3837,3706,0,0,0,0,0,0,28.83,26.93,28.83
$GC,636,-0.78,-175.2,2600,749,3840,3707,178.8,-19.6,76,641,0.00,2.15,0.00,0.000,1030,0.000,0.034,2589,2144,3772,3839,3706,0,0,0,0,0,0,28.83,26.94,28.83
$GC,967,-0.78,-175.2,2590,2146,3845,3708,231.4,-14.0,95,971,0.00,2.20,0.00,0.000,260,0.000,0.048,2578,3555,3775,3844,3706,0,0,0,0,0,0,28.83,26.98,28.83
$GC,1001,-0.78,-175.2,2578,3555,3846,3706,235.8,-14.2,96,1006,0.10,2.12,0.00,0.000,3078,0.146,0.028,2610,2132,3776,3845,3707,0,0,0,0,0,0,26.83,27.08,28.83
$GC,1327,-0.78,-175.2,2610,2128,3849,3708,274.4,-12.0,107,1328,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2128,3778,3848,3708,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1627,-0.78,-175.2,2610,2128,3849,3708,305.8,-11.1,117,1631,0.00,2.22,0.00,0.000,260,0.000,0.049,2601,3552,3777,3847,3708,0,0,0,0,0,0,28.83,27.06,28.83
$GC,1676,-0.78,-175.2,2601,3552,3847,3707,309.5,-11.7,118,1680,0.00,2.10,0.00,0.000,1030,0.000,0.031,2601,2153,3777,3846,3708,0,0,0,0,0,0,28.83,27.15,28.83
$GC,1988,-0.78,-175.2,2601,2150,3843,3709,351.9,-12.0,129,1989,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2149,3775,3843,3708,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2286,-0.78,-175.2,2601,2149,3840,3708,385.9,-12.2,139,2291,0.00,2.20,0.00,0.000,260,0.000,0.051,2592,3549,3773,3838,3708,0,0,0,0,0,0,28.83,27.10,28.83
$GC,2306,-0.78,-175.2,2592,3549,3838,3708,385.9,-12.2,139,2311,0.00,2.10,0.00,0.000,1030,0.000,0.031,2591,2152,3772,3837,3708,0,0,0,0,0,0,28.83,27.20,28.83
$GC,2617,-0.78,-175.2,2592,2147,3832,3707,416.8,-0.1,150,2621,0.00,2.22,0.00,0.000,260,0.000,0.055,2590,3561,3769,3831,3707,0,0,0,0,0,0,28.83,27.08,28.83
$STATE,2705,end dive,NO_VERTICAL_VELOCITY
$STATE,2705,begin apogee
$GC,2711,-0.13,0.0,2591,2231,3830,3708,416.7,0.0,153,2852,0.62,0.00,138.70,0.864,10246,0.041,0.000,2855,2228,3045,3092,2999,0,0,0,0,0,0,27.22,28.83,24.97
$STATE,2852,end apogee,CONTROL_FINISHED_OK
$STATE,2852,begin climb
$GC,2854,0.78,175.2,2855,2229,3093,3001,416.5,0.0,157,2999,0.70,0.00,141.57,0.851,10758,0.039,0.000,3140,2228,2331,2378,2285,0,0,0,0,0,0,25.70,28.83,24.82
$GC,3277,0.78,175.2,3141,2228,2366,2276,373.1,15.2,172,3277,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2228,2320,2364,2276,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3577,0.78,175.2,3141,2228,2361,2275,322.1,16.5,182,3580,0.00,2.30,0.00,0.000,260,0.000,0.051,3140,3654,2317,2360,2274,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3646,0.78,175.2,3140,3654,2359,2274,312.7,15.2,184,3650,0.00,2.12,0.00,0.000,1030,0.000,0.031,3151,2266,2316,2358,2274,0,0,0,0,0,0,28.83,26.83,28.83
$GC,3967,0.78,175.2,3152,2262,2354,2273,259.2,17.9,195,3970,0.00,2.20,0.00,0.000,516,0.000,0.041,3162,852,2313,2353,2273,0,0,0,0,0,0,28.83,26.95,28.83
$GC,4027,0.78,175.2,3162,851,2354,2270,249.3,17.1,197,4031,0.12,2.17,0.00,0.000,5126,0.165,0.037,3124,2252,2311,2353,2270,0,0,0,0,0,0,26.70,26.93,28.83
$GC,4357,0.80,186.2,3125,2253,2350,2269,210.5,9.5,208,4367,0.00,2.20,6.28,0.603,8452,0.000,0.050,3124,3649,2287,2327,2247,0,0,0,0,0,0,28.83,26.90,26.17
$GC,4501,0.80,186.2,3124,3649,2322,2246,193.0,12.7,216,4509,0.00,2.12,0.00,0.000,1030,0.000,0.031,3133,2248,2284,2322,2246,0,0,0,0,0,0,28.83,27.01,28.83
$GC,4807,0.80,186.2,3133,2245,2318,2244,165.1,10.9,247,4810,0.00,2.22,0.00,0.000,260,0.000,0.050,3133,3648,2280,2316,2244,0,0,0,0,0,0,28.83,26.98,28.83
$GC,5036,0.80,186.2,3133,3648,2315,2244,137.4,11.1,270,5040,0.00,2.12,0.00,0.000,1030,0.000,0.031,3144,2243,2278,2313,2244,0,0,0,0,0,0,28.83,27.09,28.83
$GC,5347,0.95,270.6,3144,2241,2312,2243,112.9,6.5,301,5419,0.00,2.25,67.55,0.656,8708,0.000,0.040,3154,845,1941,1973,1909,0,0,0,0,0,0,28.83,26.26,25.67
$GC,5469,0.95,270.6,3155,846,1974,1899,101.4,11.1,313,5473,0.00,2.20,0.00,0.000,1030,0.000,0.034,3154,2255,1936,1973,1900,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5773,0.95,270.6,3155,2255,1969,1898,64.0,13.2,343,5778,0.00,2.22,0.00,0.000,260,0.000,0.050,3154,3654,1933,1968,1898,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6003,1.05,323.7,3156,3655,1966,1899,35.8,7.8,379,6051,0.10,2.12,42.60,0.588,11270,0.054,0.029,3223,2243,1726,1756,1696,0,0,0,0,0,0,26.86,26.91,25.79
$STATE,6264,end climb,SURFACE_DEPTH_REACHED
$STATE,6264,begin surface coast
$FINISH,0.3,1.021688
$STATE,6281,end surface coast,CONTROL_FINISHED_OK
$STATE,6281,begin surface
$SM_CCo,6295,39.38,0.063,0,0,1414,400.08
$SM_GC,0.23,8.30,0.10,39.38,0.060,0.085,0.063,163,2150,1414,-8.41,1.64,400.08,0,0,0,0,0,0,26.67,26.81,26.64
$IRIDIUM_FIX,1336.41,14454.84,021014,203715
$TT8_MAMPS,0.053179,0.053179
$HUMID,52.71
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,24.82,3.441
$10V_AH,10.40,1.728
$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,20.400,52.225,396.700,39.375,0.000,0.000,0.000,451.850,1.000,0.000,36.111,0.000,4754.770,494.401,1594.032,83.764,0.000,1444.961,0.000,877.663,0.000,9.148,0.000
$DEVICE_MAMPS,246.330,84.915,864.450,63.495,0.000,0.000,0.000,84.915,420.000,0.000,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,288.237,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,228628
$DATA_FILE_SIZE,20174,433
$CAP_FILE_SIZE,69036,0
$CFSIZE,260034560,255279104
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,8656.99,0x236bc6,7,5
$INTR,1,2871.23,0x233820,1,24
$CURRENT,0.074,339.22,1
$GPS,021014,223251,1344.963,14453.506,28,1.2,48,1.4