version: 66.12
glider: 178
mission: 18
dive: 35
start: 10 3 114 9 16 31
data:
$ID,178
$MISSION,18
$DIVE,35
$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,58
$R_STBD_OVSHOOT,36
$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
$GPS1,031014,090939,1343.115,14456.538,10,1.4,30,1.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.04
$_SM_ANGLEo,-75.4
$GPS2,031014,091620,1343.109,14456.516,8,1.4,28,1.4
$SPEED_LIMITS,0.173,0.265
$TGT_NAME,S2
$TGT_LATLONG,1340.200,14501.500
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,123.5,10462,-17.8,-10.000,-20.71,2479
$D_GRID,646
$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,-175.2,159,2145,1443,1425,0.0,0.0,0,89,0.00,0.00,-73.32,0.000,16386,0.000,0.000,157,2145,3324,3370,3278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.78,-175.2,158,2146,3372,3280,3.7,-14.0,13,115,10.35,2.20,-7.22,0.000,18692,0.246,0.056,2602,3565,3763,3823,3703,0,0,0,0,0,0,26.35,26.70,27.05
$GC,185,-0.78,-175.2,2603,3567,3831,3704,46.8,-35.3,31,191,0.00,2.12,0.00,0.000,1030,0.000,0.031,2602,2149,3766,3830,3703,0,0,0,0,0,0,28.83,26.81,28.83
$GC,495,-0.78,-175.2,2603,2144,3837,3703,142.0,-23.9,63,499,0.00,2.15,0.00,0.000,516,0.000,0.037,2602,749,3769,3836,3703,0,0,0,0,0,0,28.83,26.94,28.83
$GC,510,-0.78,-175.2,2603,750,3837,3705,144.1,-23.0,64,517,0.00,2.15,0.00,0.000,1030,0.000,0.034,2592,2148,3769,3835,3703,0,0,0,0,0,0,28.83,26.95,28.83
$GC,815,-0.78,-175.2,2593,2148,3844,3703,198.8,-13.3,95,819,0.00,2.20,0.00,0.000,260,0.000,0.047,2582,3557,3772,3843,3702,0,0,0,0,0,0,28.83,26.98,28.83
$GC,950,-0.78,-175.2,2583,3558,3844,3706,216.8,-14.8,100,955,0.10,2.10,0.00,0.000,3078,0.151,0.029,2613,2141,3774,3844,3705,0,0,0,0,0,0,26.85,27.10,28.83
$GC,1265,-0.78,-175.2,2614,2138,3849,3707,257.9,-12.2,111,1269,0.00,2.10,0.00,0.000,516,0.000,0.038,2613,759,3776,3848,3705,0,0,0,0,0,0,28.83,27.11,28.83
$GC,1380,-0.78,-175.2,2613,759,3848,3706,270.3,-13.6,114,1388,0.00,2.12,0.00,0.000,1030,0.000,0.034,2607,2148,3777,3848,3706,0,0,0,0,0,0,28.83,27.13,28.83
$GC,1685,-0.78,-175.2,2607,2148,3848,3706,310.3,-10.8,125,1689,0.00,2.17,0.00,0.000,260,0.000,0.049,2597,3545,3776,3846,3706,0,0,0,0,0,0,28.83,27.10,28.83
$GC,1740,-0.78,-175.2,2597,3545,3846,3706,313.9,-11.1,126,1747,0.00,2.08,0.00,0.000,1030,0.000,0.029,2596,2154,3775,3845,3706,0,0,0,0,0,0,28.83,27.21,28.83
$GC,2045,-0.78,-175.2,2597,2149,3843,3706,349.4,-10.2,137,2049,0.00,2.15,0.00,0.000,516,0.000,0.041,2597,752,3774,3842,3706,0,0,0,0,0,0,28.83,27.15,28.83
$GC,2080,-0.78,-175.2,2597,751,3843,3706,353.1,-10.5,138,2085,0.00,2.15,0.00,0.000,1030,0.000,0.034,2588,2154,3774,3842,3706,0,0,0,0,0,0,28.83,27.15,28.83
$GC,2407,-0.78,-175.2,2589,2155,3838,3707,392.5,-11.6,149,2410,0.00,2.12,0.00,0.000,516,0.000,0.041,2588,754,3771,3837,3706,0,0,0,0,0,0,28.83,27.16,28.83
$GC,2460,-0.78,-175.2,2588,755,3837,3707,399.5,-12.3,151,2464,0.10,2.15,0.00,0.000,3078,0.150,0.041,2615,2143,3771,3836,3706,0,0,0,0,0,0,26.94,27.15,28.83
$GC,2790,-0.78,-175.2,2615,2144,3831,3706,436.1,-11.0,162,2791,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2143,3768,3830,3706,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3090,-0.78,-175.2,2616,2143,3824,3705,463.9,-8.9,172,3094,0.00,2.22,0.00,0.000,260,0.000,0.054,2606,3556,3764,3823,3705,0,0,0,0,0,0,28.83,27.11,28.83
$GC,3205,-0.78,-175.2,2607,3558,3822,3706,472.1,-9.1,175,3212,0.00,2.12,0.00,0.000,1030,0.000,0.032,2606,2149,3763,3821,3705,0,0,0,0,0,0,28.83,27.22,28.83
$GC,3510,-0.78,-175.2,2607,2147,3819,3703,502.9,-9.4,186,3511,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2147,3760,3818,3702,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3811,-0.78,-175.2,2607,2147,3816,3701,532.1,-10.8,196,3815,0.00,2.12,0.00,0.000,516,0.000,0.041,2606,752,3757,3814,3700,0,0,0,0,0,0,28.83,27.16,28.83
$GC,3840,-0.78,-175.2,2607,753,3815,3701,535.0,-11.1,197,3844,0.00,2.17,0.00,0.000,1030,0.000,0.039,2597,2155,3756,3814,3699,0,0,0,0,0,0,28.83,27.15,28.83
$GC,4172,-0.78,-175.2,2598,2155,3812,3697,570.5,-10.4,208,4175,0.00,2.20,0.00,0.000,260,0.000,0.055,2586,3565,3753,3810,3697,0,0,0,0,0,0,28.83,27.07,28.83
$GC,4215,-0.78,-175.2,2587,3565,3810,3697,572.9,-10.5,209,4219,0.08,2.12,0.00,0.000,3078,0.143,0.034,2610,2158,3753,3809,3697,0,0,0,0,0,0,26.95,27.22,28.83
$GC,4525,-0.78,-175.2,2611,2157,3808,3696,605.5,-10.1,220,4529,0.00,2.22,0.00,0.000,260,0.000,0.055,2602,3555,3751,3807,3695,0,0,0,0,0,0,28.83,27.06,28.83
$GC,4595,-0.78,-175.2,2602,3556,3807,3695,611.7,-10.2,222,4599,0.00,2.12,0.00,0.000,1030,0.000,0.034,2602,2152,3750,3805,3695,0,0,0,0,0,0,28.83,27.22,28.83
$GC,4915,-0.78,-175.2,2603,2151,3804,3694,644.8,-10.1,233,4916,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2149,3748,3803,3693,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4944,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4944,begin apogee
$GC,4947,-0.13,0.0,2602,2261,3804,3694,647.7,-10.1,234,5091,0.70,0.00,141.15,1.024,10246,0.125,0.000,2827,2260,3045,3088,3003,0,0,0,0,0,0,26.86,28.83,24.80
$STATE,5091,end apogee,CONTROL_FINISHED_OK
$STATE,5091,begin climb
$GC,5093,0.78,175.2,2827,2261,3087,3005,652.6,0.0,238,5249,0.80,2.33,146.65,1.007,10756,0.046,0.040,3148,845,2330,2375,2286,0,0,0,0,0,0,25.61,25.40,24.67
$GC,5288,0.78,175.2,3149,846,2371,2283,637.7,13.0,245,5293,0.00,2.28,0.00,0.000,1030,0.000,0.037,3148,2240,2325,2370,2281,0,0,0,0,0,0,28.83,25.89,28.83
$GC,5609,0.78,175.2,3148,2240,2366,2275,577.5,18.2,256,5612,0.00,2.30,0.00,0.000,260,0.000,0.054,3148,3654,2320,2365,2275,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5679,0.78,175.2,3149,3655,2363,2275,565.8,18.7,258,5683,0.10,2.17,0.00,0.000,5126,0.177,0.032,3130,2249,2319,2363,2275,0,0,0,0,0,0,26.41,26.69,28.83
$GC,5999,0.78,175.2,3130,2247,2360,2276,509.8,16.4,269,6002,0.00,2.20,0.00,0.000,516,0.000,0.042,3138,845,2316,2359,2274,0,0,0,0,0,0,28.83,26.82,28.83
$GC,6059,0.78,175.2,3139,845,2359,2274,499.9,15.8,271,6063,0.00,2.20,0.00,0.000,1030,0.000,0.037,3138,2247,2315,2358,2273,0,0,0,0,0,0,28.83,26.84,28.83
$GC,6389,0.78,175.2,3139,2248,2357,2274,444.9,16.7,282,6392,0.00,2.25,0.00,0.000,260,0.000,0.054,3138,3651,2314,2357,2272,0,0,0,0,0,0,28.83,26.88,28.83
$GC,6444,0.78,175.2,3139,3650,2357,2271,439.7,16.9,283,6450,0.00,2.15,0.00,0.000,1030,0.000,0.032,3149,2248,2314,2356,2272,0,0,0,0,0,0,28.83,26.98,28.83
$GC,6749,0.78,175.2,3149,2245,2354,2271,385.7,15.2,294,6753,0.00,2.17,0.00,0.000,516,0.000,0.041,3160,850,2312,2353,2271,0,0,0,0,0,0,28.83,26.99,28.83
$GC,6793,0.78,175.2,3161,851,2354,2272,380.5,15.4,295,6798,0.10,2.17,0.00,0.000,5126,0.172,0.036,3130,2250,2311,2353,2270,0,0,0,0,0,0,26.71,26.98,28.83
$GC,7109,0.78,175.2,3131,2253,2353,2271,337.5,16.3,306,7112,0.00,2.20,0.00,0.000,260,0.000,0.053,3130,3654,2311,2352,2270,0,0,0,0,0,0,28.83,26.97,28.83
$GC,7229,0.78,175.2,3131,3654,2352,2270,317.8,16.5,310,7233,0.00,2.15,0.00,0.000,1030,0.000,0.032,3139,2246,2310,2351,2270,0,0,0,0,0,0,28.83,27.08,28.83
$GC,7559,0.78,175.2,3139,2242,2351,2270,270.0,15.9,321,7560,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2243,2309,2349,2270,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7859,0.78,175.2,3140,2243,2348,2271,227.2,13.6,331,7862,0.00,2.17,0.00,0.000,516,0.000,0.043,3150,848,2308,2347,2270,0,0,0,0,0,0,28.83,27.07,28.83
$GC,8089,0.78,175.2,3151,849,2347,2268,201.8,12.4,338,8093,0.00,2.17,0.00,0.000,1030,0.000,0.037,3149,2254,2307,2347,2267,0,0,0,0,0,0,28.83,27.08,28.83
$GC,8399,0.78,175.2,3152,2256,2347,2266,160.3,11.8,369,8402,0.00,2.22,0.00,0.000,260,0.000,0.052,3150,3658,2305,2345,2265,0,0,0,0,0,0,28.83,27.03,28.83
$GC,8419,0.78,175.2,3150,3658,2346,2265,157.8,11.9,371,8423,0.10,2.15,0.00,0.000,5126,0.177,0.031,3131,2238,2305,2345,2265,0,0,0,0,0,0,26.77,27.14,28.83
$GC,8729,0.86,218.0,3131,2234,2344,2266,130.9,8.2,402,8765,0.00,2.30,31.33,0.680,8452,0.000,0.050,3130,3655,2156,2191,2122,0,0,0,0,0,0,28.83,26.70,26.11
$GC,8953,0.86,218.0,3131,3656,2183,2123,105.5,13.8,424,8961,0.00,2.15,0.00,0.000,1030,0.000,0.030,3139,2247,2152,2182,2122,0,0,0,0,0,0,28.83,26.88,28.83
$GC,9259,0.98,284.6,3140,2247,2182,2121,77.9,7.2,455,9321,0.15,2.20,54.90,0.630,10756,0.087,0.041,3218,850,1883,1913,1853,0,0,0,0,0,0,26.99,26.30,25.72
$GC,9470,0.98,284.6,3219,850,1914,1842,50.6,14.2,476,9474,0.10,2.20,0.00,0.000,5126,0.152,0.034,3189,2259,1877,1912,1842,0,0,0,0,0,0,26.39,26.58,28.83
$GC,9775,0.98,284.6,3189,2259,1912,1841,15.3,10.6,536,9776,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2259,1876,1911,1841,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9899,end climb,SURFACE_DEPTH_REACHED
$STATE,9899,begin surface coast
$FINISH,-0.1,1.021605
$STATE,9929,end surface coast,CONTROL_FINISHED_OK
$STATE,9929,begin surface
$SM_CCo,9943,32.95,0.066,0,0,1618,350.04
$SM_GC,-0.76,8.27,0.15,32.95,0.067,0.067,0.066,163,2130,1618,-8.41,1.27,350.04,0,0,0,0,0,0,26.81,26.95,26.77
$IRIDIUM_FIX,1338.63,14457.93,031014,091045
$TT8_MAMPS,0.05243,0.05243
$HUMID,56.26
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,24.70
$XPDR_PINGS,1
$24V_AH,24.67,4.109
$10V_AH,10.35,1.979
$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,20.950,91.750,374.025,32.950,0.000,0.000,0.000,265.800,4.000,0.000,30.801,0.000,7830.438,507.769,1932.826,105.489,0.000,1485.441,0.000,1290.395,0.000,32.243,0.000
$DEVICE_MAMPS,246.330,83.385,1023.570,65.790,0.000,0.000,0.000,81.090,420.000,0.000,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,380.960,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,228512
$DATA_FILE_SIZE,23514,567
$CAP_FILE_SIZE,102329,0
$CFSIZE,260034560,254988288
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,7072.38,0x236bc6,7,5
$CURRENT,0.036,322.50,1
$GPS,031014,120419,1342.408,14457.452,51,0.7,72,1.4