version: 66.12
glider: 178
mission: 18
dive: 30
start: 10 3 114 0 38 50
data:
$ID,178
$MISSION,18
$DIVE,30
$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,65
$R_STBD_OVSHOOT,40
$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
$GPS1,031014,003426,1344.712,14453.876,34,2.7,54,1.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-76.6
$GPS2,031014,003839,1344.723,14453.892,9,1.5,29,1.4
$SPEED_LIMITS,0.173,0.265
$TGT_NAME,S2
$TGT_LATLONG,1340.200,14501.500
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,129.2,16050,-17.8,-10.000,-20.71,2479
$D_GRID,426
$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,-175.2,156,2131,1396,1424,0.0,0.0,0,89,0.00,0.00,-73.30,0.000,16386,0.000,0.000,156,2131,3312,3357,3268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.78,-175.2,156,2132,3359,3270,3.9,-15.1,13,115,10.32,2.20,-7.30,0.000,18692,0.247,0.058,2599,3548,3765,3825,3706,0,0,0,0,0,0,26.35,26.70,27.03
$GC,324,-0.78,-175.2,2600,3549,3836,3707,91.5,-32.8,47,329,0.00,2.10,0.00,0.000,1030,0.000,0.031,2599,2169,3770,3835,3706,0,0,0,0,0,0,28.83,26.89,28.83
$GC,634,-0.78,-175.2,2600,2166,3843,3708,161.6,-19.0,78,638,0.00,2.20,0.00,0.000,516,0.000,0.039,2599,743,3774,3842,3706,0,0,0,0,0,0,28.83,26.97,28.83
$GC,724,-0.78,-175.2,2599,743,3843,3709,177.3,-16.8,87,728,0.00,2.15,0.00,0.000,1030,0.000,0.033,2589,2146,3776,3843,3709,0,0,0,0,0,0,28.83,27.03,28.83
$GC,1044,-0.78,-175.2,2589,2147,3849,3709,226.5,-13.9,107,1048,0.00,2.17,0.00,0.000,260,0.000,0.047,2579,3547,3779,3849,3709,0,0,0,0,0,0,28.83,27.03,28.83
$GC,1089,-0.78,-175.2,2579,3547,3850,3709,231.1,-14.0,108,1094,0.10,2.10,0.00,0.000,3078,0.150,0.029,2609,2141,3779,3849,3710,0,0,0,0,0,0,26.89,27.12,28.83
$GC,1404,-0.78,-175.2,2610,2138,3853,3712,276.7,-12.9,119,1408,0.00,2.12,0.00,0.000,516,0.000,0.038,2610,743,3780,3851,3710,0,0,0,0,0,0,28.83,27.11,28.83
$GC,1519,-0.78,-175.2,2610,744,3852,3712,289.5,-14.0,122,1527,0.00,2.15,0.00,0.000,1030,0.000,0.033,2603,2156,3781,3851,3711,0,0,0,0,0,0,28.83,27.14,28.83
$GC,1824,-0.78,-175.2,2604,2158,3851,3713,335.6,-13.1,133,1828,0.00,2.15,0.00,0.000,516,0.000,0.039,2604,755,3781,3851,3711,0,0,0,0,0,0,28.83,27.15,28.83
$GC,1849,-0.78,-175.2,2604,754,3852,3711,335.6,-13.1,133,1856,0.00,2.12,0.00,0.000,1030,0.000,0.034,2594,2142,3781,3852,3711,0,0,0,0,0,0,28.83,27.15,28.83
$GC,2155,-0.78,-175.2,2595,2145,3850,3713,372.4,-10.3,144,2158,0.00,2.15,0.00,0.000,260,0.000,0.049,2584,3554,3780,3849,3711,0,0,0,0,0,0,28.83,27.11,28.83
$GC,2264,-0.78,-175.2,2584,3555,3846,3711,382.3,-11.1,147,2271,0.10,2.10,0.00,0.000,3078,0.145,0.031,2615,2146,3778,3846,3711,0,0,0,0,0,0,26.95,27.21,28.83
$GC,2570,-0.78,-175.2,2615,2143,3844,3711,416.5,-9.8,158,2571,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2143,3777,3843,3711,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2688,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2688,begin apogee
$GC,2691,-0.13,0.0,2616,2261,3843,3710,426.8,-8.6,162,2835,0.65,0.00,141.10,0.857,10246,0.121,0.000,2829,2261,3045,3089,3002,0,0,0,0,0,0,26.97,28.83,25.03
$STATE,2835,end apogee,CONTROL_FINISHED_OK
$STATE,2835,begin climb
$GC,2836,0.78,175.2,2830,2262,3090,3003,429.3,0.0,166,2983,0.77,0.00,143.00,0.848,10758,0.044,0.000,3138,2261,2331,2375,2287,0,0,0,0,0,0,25.75,28.83,24.89
$GC,3259,0.78,175.2,3139,2262,2363,2279,381.0,11.7,181,3264,0.00,2.22,0.00,0.000,260,0.000,0.050,3138,3635,2320,2362,2278,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3319,0.78,175.2,3139,3636,2361,2280,370.5,14.3,183,3324,0.00,2.12,0.00,0.000,1030,0.000,0.030,3149,2242,2319,2360,2278,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3649,0.78,175.2,3150,2238,2357,2278,310.8,17.9,194,3654,0.00,2.25,0.00,0.000,260,0.000,0.050,3149,3645,2316,2356,2277,0,0,0,0,0,0,28.83,26.82,28.83
$GC,3704,0.78,175.2,3149,3644,2357,2277,304.4,18.4,195,3711,0.12,2.12,0.00,0.000,5126,0.168,0.031,3123,2251,2316,2355,2277,0,0,0,0,0,0,26.65,26.91,28.83
$GC,4009,0.78,175.2,3123,2248,2352,2274,257.3,13.4,206,4013,0.00,2.17,0.00,0.000,516,0.000,0.042,3132,855,2312,2351,2274,0,0,0,0,0,0,28.83,26.96,28.83
$GC,4054,0.78,175.2,3132,855,2351,2273,252.7,14.5,207,4058,0.00,2.15,0.00,0.000,1030,0.000,0.035,3131,2245,2310,2350,2271,0,0,0,0,0,0,28.83,26.98,28.83
$GC,4369,0.78,175.2,3132,2246,2347,2271,206.8,14.6,218,4374,0.00,2.17,0.00,0.000,516,0.000,0.042,3142,856,2308,2346,2270,0,0,0,0,0,0,28.83,27.03,28.83
$GC,4399,0.78,175.2,3143,856,2348,2268,203.0,13.9,219,4403,0.00,2.15,0.00,0.000,1030,0.000,0.036,3142,2251,2307,2346,2268,0,0,0,0,0,0,28.83,27.03,28.83
$GC,4709,0.78,175.2,3142,2250,2344,2268,164.8,12.2,248,4714,0.00,2.17,0.00,0.000,516,0.000,0.041,3152,856,2306,2344,2268,0,0,0,0,0,0,28.83,27.08,28.83
$GC,4749,0.78,175.2,3152,856,2345,2266,160.6,10.6,252,4754,0.00,2.12,0.00,0.000,1030,0.000,0.034,3152,2243,2305,2344,2266,0,0,0,0,0,0,28.83,27.08,28.83
$GC,5059,0.78,175.2,3153,2244,2341,2266,124.2,13.1,283,5064,0.00,2.20,0.00,0.000,260,0.000,0.050,3152,3644,2303,2341,2265,0,0,0,0,0,0,28.83,27.07,28.83
$GC,5195,0.78,175.2,3152,3643,2340,2265,107.3,10.9,296,5201,0.15,2.10,0.00,0.000,5126,0.184,0.029,3126,2241,2302,2339,2265,0,0,0,0,0,0,26.86,27.16,28.83
$GC,5499,0.96,275.3,3126,2238,2339,2265,92.4,5.9,327,5582,0.17,2.15,75.72,0.639,10756,0.080,0.037,3216,856,1921,1953,1890,0,0,0,0,0,0,27.20,26.27,25.67
$GC,5631,0.96,275.3,3217,856,1954,1881,77.2,14.6,340,5636,0.10,2.20,0.00,0.000,5126,0.152,0.034,3187,2254,1917,1953,1882,0,0,0,0,0,0,26.29,26.44,28.83
$GC,5936,1.09,345.6,3187,2255,1950,1881,44.1,7.1,378,6000,0.00,2.28,56.55,0.596,8452,0.000,0.048,3186,3648,1635,1663,1608,0,0,0,0,0,0,28.83,26.17,25.62
$GC,6029,1.09,345.6,3188,3648,1660,1608,34.3,12.5,395,6037,0.00,2.15,0.00,0.000,1030,0.000,0.028,3194,2254,1633,1659,1608,0,0,0,0,0,0,28.83,26.36,28.83
$STATE,6280,end climb,SURFACE_DEPTH_REACHED
$STATE,6280,begin surface coast
$FINISH,0.1,1.021531
$STATE,6300,end surface coast,CONTROL_FINISHED_OK
$STATE,6300,begin surface
$SM_CCo,6314,30.55,0.064,0,0,1415,400.08
$SM_GC,0.01,8.30,0.12,30.55,0.065,0.079,0.064,163,2139,1415,-8.41,1.44,400.08,0,0,0,0,0,0,26.70,26.79,26.66
$IRIDIUM_FIX,1338.63,14454.84,021014,223354
$TT8_MAMPS,0.053179,0.053179
$HUMID,53.15
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,25.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,411.0,64.6
$24V_AH,24.89,3.637
$10V_AH,10.42,1.809
$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,20.800,60.750,416.375,30.550,0.000,0.000,0.000,179.550,1.250,0.000,32.330,0.000,4640.432,540.388,1342.608,75.083,0.000,1224.004,0.000,887.751,0.000,11.705,0.000
$DEVICE_MAMPS,247.095,81.855,856.800,64.260,0.000,0.000,0.000,81.090,420.000,0.000,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,297.769,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,228580
$DATA_FILE_SIZE,20129,449
$CAP_FILE_SIZE,69723,0
$CFSIZE,260034560,255205376
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,6430.59,0x236bc6,7,5
$CURRENT,0.122,309.75,1
$GPS,031014,022524,1344.461,14454.222,10,1.5,30,1.4