version: 66.12
glider: 178
mission: 18
dive: 33
start: 10 3 114 5 45 20
data:
$ID,178
$MISSION,18
$DIVE,33
$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,350
$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,69
$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
$GPS1,031014,053757,1343.823,14455.113,9,1.0,29,1.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.21
$_SM_ANGLEo,-75.9
$GPS2,031014,054509,1343.757,14455.123,13,1.0,33,1.4
$SPEED_LIMITS,0.173,0.265
$TGT_NAME,S2
$TGT_LATLONG,1340.200,14501.500
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,116.0,13231,-17.8,-10.000,-20.71,2479
$D_GRID,388
$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,-175.2,142,2121,1606,1615,0.0,0.0,0,80,0.00,0.00,-64.32,0.000,16386,0.000,0.000,141,2121,3313,3357,3270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.78,-175.2,142,2122,3360,3272,4.0,-14.2,11,106,10.43,2.20,-7.40,0.000,18692,0.248,0.056,2603,3550,3765,3826,3704,0,0,0,0,0,0,26.40,26.78,27.12
$GC,259,-0.78,-175.2,2604,3550,3835,3705,74.7,-28.8,38,267,0.00,2.08,0.00,0.000,1030,0.000,0.029,2603,2176,3769,3834,3705,0,0,0,0,0,0,28.83,26.93,28.83
$GC,565,-0.78,-175.2,2603,2174,3842,3707,163.1,-23.4,69,565,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2173,3774,3842,3706,0,0,0,0,0,0,28.83,28.83,28.83
$GC,875,-0.78,-175.2,2604,2173,3847,3707,222.4,-17.4,92,878,0.00,2.17,0.00,0.000,516,0.000,0.037,2603,745,3776,3846,3706,0,0,0,0,0,0,28.83,27.08,28.83
$GC,954,-0.78,-175.2,2604,745,3847,3709,231.5,-16.5,94,959,0.00,2.12,0.00,0.000,1030,0.000,0.032,2594,2140,3777,3846,3709,0,0,0,0,0,0,28.83,27.10,28.83
$GC,1265,-0.78,-175.2,2595,2142,3851,3708,272.8,-12.7,105,1266,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2142,3779,3849,3709,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1565,-0.78,-175.2,2594,2142,3851,3709,311.6,-12.5,115,1568,0.00,2.12,0.00,0.000,516,0.000,0.038,2594,750,3779,3849,3709,0,0,0,0,0,0,28.83,27.15,28.83
$GC,1614,-0.78,-175.2,2594,750,3851,3709,315.5,-12.7,116,1619,0.08,2.15,0.00,0.000,3078,0.149,0.033,2610,2158,3779,3849,3709,0,0,0,0,0,0,26.98,27.16,28.83
$GC,1925,-0.78,-175.2,2611,2159,3850,3709,355.0,-12.4,127,1928,0.00,2.15,0.00,0.000,260,0.000,0.049,2602,3547,3778,3848,3709,0,0,0,0,0,0,28.83,27.14,28.83
$GC,1974,-0.78,-175.2,2602,3547,3848,3709,358.8,-12.4,128,1979,0.00,2.10,0.00,0.000,1030,0.000,0.029,2602,2140,3778,3847,3709,0,0,0,0,0,0,28.83,27.24,28.83
$STATE,2134,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2134,begin apogee
$GC,2138,-0.13,0.0,2602,2266,3847,3710,380.1,-11.6,134,2279,0.70,0.00,139.60,0.818,10246,0.125,0.000,2828,2265,3045,3089,3001,0,0,0,0,0,0,26.94,28.83,25.13
$STATE,2280,end apogee,CONTROL_FINISHED_OK
$STATE,2280,begin climb
$GC,2282,0.78,175.2,2829,2267,3090,3001,384.0,0.0,138,2430,0.77,2.30,140.48,0.812,10500,0.044,0.048,3133,3644,2329,2371,2288,0,0,0,0,0,0,25.83,25.62,25.00
$GC,2594,0.78,175.2,3133,3643,2360,2287,346.5,19.5,149,2599,0.00,2.15,0.00,0.000,1030,0.000,0.028,3144,2247,2323,2359,2288,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2915,0.78,175.2,3144,2245,2356,2284,289.0,16.6,160,2918,0.00,2.22,0.00,0.000,260,0.000,0.047,3143,3639,2319,2355,2284,0,0,0,0,0,0,28.83,26.78,28.83
$GC,2950,0.78,175.2,3144,3639,2355,2284,283.4,16.7,161,2954,0.10,2.12,0.00,0.000,5126,0.168,0.028,3124,2243,2318,2354,2283,0,0,0,0,0,0,26.61,26.86,28.83
$GC,3275,0.78,175.2,3126,2239,2351,2278,232.7,15.5,172,3278,0.00,2.15,0.00,0.000,516,0.000,0.041,3134,855,2313,2349,2278,0,0,0,0,0,0,28.83,26.96,28.83
$GC,3464,0.78,175.2,3134,856,2348,2275,208.1,12.8,178,3469,0.00,2.15,0.00,0.000,1030,0.000,0.034,3134,2249,2310,2348,2273,0,0,0,0,0,0,28.83,27.01,28.83
$GC,3775,0.82,194.2,3134,2249,2344,2271,170.9,9.2,204,3791,0.00,2.15,12.18,0.643,8708,0.000,0.038,3144,842,2255,2290,2220,0,0,0,0,0,0,28.83,26.92,26.25
$GC,3840,0.85,213.1,3144,843,2290,2217,165.0,9.2,210,3863,0.00,2.17,17.23,0.656,9222,0.000,0.034,3145,2251,2177,2211,2143,0,0,0,0,0,0,28.83,26.95,26.08
$GC,4160,0.85,213.1,3144,2250,2203,2136,130.8,11.3,242,4164,0.00,2.22,0.00,0.000,260,0.000,0.049,3144,3658,2169,2202,2136,0,0,0,0,0,0,28.83,26.88,28.83
$GC,4340,0.85,213.1,3145,3658,2199,2136,103.2,14.7,260,4344,0.00,2.12,0.00,0.000,1030,0.000,0.029,3155,2249,2166,2198,2135,0,0,0,0,0,0,28.83,27.03,28.83
$GC,4650,1.02,306.4,3155,2248,2197,2137,83.5,6.1,291,4732,0.12,2.28,74.38,0.620,10500,0.094,0.046,3217,3648,1795,1823,1767,0,0,0,0,0,0,27.13,26.25,25.70
$GC,4766,1.02,306.4,3218,3648,1819,1768,69.8,16.0,302,4773,0.00,2.15,0.00,0.000,1030,0.000,0.027,3227,2249,1792,1818,1767,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5072,1.02,306.4,3228,2248,1817,1763,20.1,14.9,353,5078,0.00,2.10,0.00,0.000,516,0.000,0.037,3238,849,1788,1815,1761,0,0,0,0,0,0,28.83,26.81,28.83
$GC,5172,1.02,306.4,3238,849,1818,1758,5.7,14.1,373,5179,0.12,2.15,0.00,0.000,5126,0.142,0.032,3199,2256,1787,1816,1759,0,0,0,0,0,0,26.68,26.87,28.83
$STATE,5197,end climb,SURFACE_DEPTH_REACHED
$STATE,5197,begin surface coast
$FINISH,-0.2,1.021594
$STATE,5222,end surface coast,CONTROL_FINISHED_OK
$STATE,5222,begin surface
$SM_CCo,5235,22.73,0.065,0,0,1618,350.04
$SM_GC,0.72,8.07,0.15,22.73,0.054,0.065,0.065,159,2126,1618,-8.41,1.22,350.04,0,0,0,0,0,0,26.86,26.97,26.80
$IRIDIUM_FIX,1336.41,14453.02,031014,053900
$TT8_MAMPS,0.051681,0.051681
$HUMID,53.85
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,25.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,372.8,26.2
$24V_AH,25.00,3.899
$10V_AH,10.53,1.901
$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,20.400,47.875,383.850,22.725,0.000,0.000,0.000,293.025,0.750,0.000,36.084,0.000,3807.503,462.946,1354.039,67.200,0.000,1217.456,0.000,812.472,0.000,7.543,0.000
$DEVICE_MAMPS,247.860,74.205,817.785,65.025,0.000,0.000,0.000,80.325,420.000,0.000,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,254.051,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,228576
$DATA_FILE_SIZE,16797,383
$CAP_FILE_SIZE,61994,0
$CFSIZE,260034560,255107072
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,5855.25,0x236bc6,7,5
$CURRENT,0.024,256.09,1
$GPS,031014,071409,1343.476,14455.646,30,99.0,50,1.4