version: 66.12
glider: 178
mission: 18
dive: 40
start: 10 4 114 2 34 9
data:
$ID,178
$MISSION,18
$DIVE,40
$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,642.93127
$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,62
$R_STBD_OVSHOOT,37
$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
$GPS1,041014,021756,1339.529,14501.910,49,0.9,69,1.5
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-75.2
$GPS2,041014,023357,1339.601,14501.876,13,1.0,33,1.5
$SPEED_LIMITS,0.173,0.265
$TGT_NAME,S3
$TGT_LATLONG,1336.000,14506.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,125.5,9980,-17.8,-10.000,-20.71,2479
$D_GRID,554
$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,-175.2,151,2139,1613,1620,0.0,0.0,0,83,0.00,0.00,-67.45,0.000,16386,0.000,0.000,150,2140,3435,3486,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.78,-175.2,150,2141,3487,3387,4.3,-16.6,12,109,10.45,2.22,-5.18,0.000,18692,0.247,0.057,2599,3550,3767,3827,3707,0,0,0,0,0,0,26.27,26.64,26.97
$GC,183,-0.78,-175.2,2599,3550,3834,3706,51.4,-33.9,31,190,0.00,2.08,0.00,0.000,1030,0.000,0.031,2599,2168,3769,3833,3706,0,0,0,0,0,0,28.83,26.74,28.83
$GC,488,-0.78,-175.2,2599,2165,3842,3707,138.0,-22.6,62,492,0.00,2.17,0.00,0.000,516,0.000,0.038,2599,740,3774,3841,3707,0,0,0,0,0,0,28.83,26.86,28.83
$GC,552,-0.78,-175.2,2599,742,3843,3708,147.6,-15.5,68,560,0.00,2.15,0.00,0.000,1030,0.000,0.032,2589,2143,3774,3841,3707,0,0,0,0,0,0,28.83,26.90,28.83
$GC,878,-0.78,-175.2,2589,2143,3847,3707,205.2,-16.0,99,881,0.00,2.15,0.00,0.000,516,0.000,0.037,2589,742,3776,3846,3707,0,0,0,0,0,0,28.83,26.98,28.83
$GC,927,-0.78,-175.2,2589,742,3848,3709,210.3,-16.6,100,932,0.10,2.15,0.00,0.000,3078,0.158,0.034,2612,2145,3777,3846,3708,0,0,0,0,0,0,26.76,26.98,28.83
$GC,1238,-0.78,-175.2,2613,2145,3848,3708,252.7,-12.2,111,1241,0.00,2.15,0.00,0.000,516,0.000,0.037,2612,742,3778,3847,3709,0,0,0,0,0,0,28.83,27.03,28.83
$GC,1277,-0.78,-175.2,2613,741,3848,3709,256.6,-12.6,112,1282,0.00,2.17,0.00,0.000,1030,0.000,0.033,2606,2161,3778,3847,3709,0,0,0,0,0,0,28.83,27.05,28.83
$GC,1598,-0.78,-175.2,2606,2161,3847,3708,300.3,-13.1,123,1601,0.00,2.17,0.00,0.000,260,0.000,0.048,2595,3557,3777,3845,3709,0,0,0,0,0,0,28.83,27.03,28.83
$GC,1712,-0.78,-175.2,2596,3557,3845,3709,312.0,-13.1,126,1720,0.00,2.12,0.00,0.000,1030,0.000,0.031,2595,2143,3776,3844,3709,0,0,0,0,0,0,28.83,27.13,28.83
$GC,2019,-0.78,-175.2,2596,2142,3842,3710,352.1,-11.7,137,2022,0.00,2.20,0.00,0.000,260,0.000,0.049,2585,3563,3775,3841,3709,0,0,0,0,0,0,28.83,27.05,28.83
$GC,2058,-0.78,-175.2,2585,3562,3842,3709,355.0,-11.5,138,2062,0.08,2.12,0.00,0.000,3078,0.145,0.031,2609,2150,3774,3840,3709,0,0,0,0,0,0,26.91,27.15,28.83
$GC,2375,-0.78,-175.2,2609,2147,3834,3710,390.4,-10.5,149,2378,0.00,2.10,0.00,0.000,516,0.000,0.041,2609,747,3771,3833,3709,0,0,0,0,0,0,28.83,27.11,28.83
$GC,2478,-0.78,-175.2,2609,748,3831,3710,400.0,-11.1,152,2482,0.00,2.15,0.00,0.000,1030,0.000,0.036,2602,2145,3770,3831,3709,0,0,0,0,0,0,28.83,27.12,28.83
$GC,2788,-0.78,-175.2,2603,2145,3826,3707,435.6,-11.6,163,2791,0.00,2.22,0.00,0.000,260,0.000,0.052,2592,3556,3766,3825,3707,0,0,0,0,0,0,28.83,27.05,28.83
$GC,2843,-0.78,-175.2,2592,3557,3825,3707,439.4,-11.9,164,2849,0.00,2.12,0.00,0.000,1030,0.000,0.031,2592,2149,3765,3824,3707,0,0,0,0,0,0,28.83,27.17,28.83
$GC,3148,-0.78,-175.2,2593,2148,3822,3706,480.7,-12.7,175,3151,0.00,2.15,0.00,0.000,516,0.000,0.042,2592,756,3762,3820,3704,0,0,0,0,0,0,28.83,27.13,28.83
$GC,3182,-0.78,-175.2,2592,756,3821,3704,484.6,-12.9,176,3188,0.10,2.15,0.00,0.000,3078,0.151,0.037,2615,2145,3761,3819,3704,0,0,0,0,0,0,26.89,27.16,28.83
$GC,3508,-0.78,-175.2,2615,2146,3816,3701,523.6,-11.8,187,3512,0.00,2.20,0.00,0.000,260,0.000,0.054,2607,3555,3758,3815,3701,0,0,0,0,0,0,28.83,27.06,28.83
$GC,3547,-0.78,-175.2,2607,3556,3815,3703,527.1,-11.4,188,3551,0.00,2.12,0.00,0.000,1030,0.000,0.031,2607,2149,3757,3814,3701,0,0,0,0,0,0,28.83,27.20,28.83
$STATE,3776,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3776,begin apogee
$GC,3780,-0.13,0.0,2607,2277,3812,3700,556.2,-12.4,196,3922,0.68,0.00,139.62,0.969,10246,0.125,0.000,2824,2275,3046,3090,3003,0,0,0,0,0,0,26.89,28.83,24.82
$STATE,3923,end apogee,CONTROL_FINISHED_OK
$STATE,3923,begin climb
$GC,3924,0.78,175.2,2824,2276,3090,3003,561.4,0.0,200,4082,0.80,2.35,144.93,0.954,10500,0.047,0.050,3133,3641,2328,2370,2287,0,0,0,0,0,0,25.59,25.34,24.67
$GC,4111,0.78,175.2,3134,3642,2367,2288,546.8,13.6,207,4115,0.00,2.22,0.00,0.000,1030,0.000,0.030,3144,2247,2326,2366,2287,0,0,0,0,0,0,28.83,25.82,28.83
$GC,4441,0.78,175.2,3145,2244,2359,2281,487.7,18.7,218,4442,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2244,2320,2359,2281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4741,0.78,175.2,3145,2244,2356,2279,431.5,18.9,228,4742,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2244,2317,2355,2279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5041,0.78,175.2,3145,2245,2353,2278,383.0,15.6,238,5045,0.00,2.25,0.00,0.000,260,0.000,0.051,3144,3643,2314,2352,2277,0,0,0,0,0,0,28.83,26.83,28.83
$GC,5061,0.78,175.2,3145,3644,2352,2278,383.0,15.6,238,5065,0.10,2.12,0.00,0.000,5126,0.176,0.031,3126,2252,2314,2351,2277,0,0,0,0,0,0,26.60,26.91,28.83
$GC,5371,0.78,175.2,3127,2251,2349,2276,334.6,14.9,249,5375,0.00,2.22,0.00,0.000,260,0.000,0.052,3126,3638,2311,2348,2275,0,0,0,0,0,0,28.83,26.89,28.83
$GC,5401,0.78,175.2,3127,3639,2349,2276,329.7,15.4,250,5405,0.00,2.12,0.00,0.000,1030,0.000,0.031,3135,2247,2311,2348,2275,0,0,0,0,0,0,28.83,26.96,28.83
$GC,5731,0.78,175.2,3135,2244,2347,2274,278.3,14.7,261,5732,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2244,2309,2345,2274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6032,0.78,175.2,3135,2245,2344,2275,237.0,13.2,271,6035,0.00,2.20,0.00,0.000,260,0.000,0.050,3135,3654,2308,2343,2274,0,0,0,0,0,0,28.83,26.98,28.83
$GC,6066,0.78,175.2,3135,3654,2344,2273,232.5,13.5,272,6070,0.00,2.15,0.00,0.000,1030,0.000,0.031,3146,2242,2308,2343,2273,0,0,0,0,0,0,28.83,27.06,28.83
$GC,6371,0.78,175.2,3146,2242,2341,2272,189.2,13.0,287,6375,0.00,2.15,0.00,0.000,516,0.000,0.042,3156,857,2306,2340,2272,0,0,0,0,0,0,28.83,27.05,28.83
$GC,6531,0.78,175.2,3156,858,2341,2268,170.4,11.8,303,6535,0.10,2.15,0.00,0.000,5126,0.164,0.037,3126,2249,2303,2339,2268,0,0,0,0,0,0,26.79,27.05,28.83
$GC,6841,0.83,203.8,3126,2248,2338,2267,139.9,8.8,334,6865,0.00,2.28,19.58,0.676,8452,0.000,0.050,3126,3660,2214,2247,2182,0,0,0,0,0,0,28.83,26.82,26.18
$GC,7089,0.89,235.2,3127,3660,2238,2183,113.8,8.7,358,7119,0.00,2.15,26.42,0.657,9222,0.000,0.030,3135,2243,2087,2115,2059,0,0,0,0,0,0,28.83,26.96,25.94
$GC,7419,0.97,278.1,3135,2245,2109,2053,86.8,8.2,391,7461,0.15,2.25,35.83,0.633,10500,0.083,0.047,3206,3654,1911,1938,1885,0,0,0,0,0,0,26.85,26.34,25.75
$GC,7590,0.97,278.1,3206,3655,1930,1885,63.5,14.0,408,7595,0.10,2.15,0.00,0.000,5126,0.164,0.028,3188,2244,1907,1929,1885,0,0,0,0,0,0,26.39,26.62,28.83
$GC,7896,0.97,280.4,3187,2242,1929,1883,28.9,9.9,458,7902,0.00,2.15,0.00,0.000,516,0.000,0.038,3195,853,1904,1929,1880,0,0,0,0,0,0,28.83,26.79,28.83
$GC,8017,0.99,287.9,3196,854,1930,1879,16.5,9.7,482,8030,0.00,2.15,8.57,0.511,9222,0.000,0.032,3195,2264,1871,1898,1845,0,0,0,0,0,0,28.83,26.86,26.10
$STATE,8144,end climb,SURFACE_DEPTH_REACHED
$STATE,8144,begin surface coast
$FINISH,0.3,1.021528
$STATE,8168,end surface coast,CONTROL_FINISHED_OK
$STATE,8168,begin surface
$SM_CCo,8182,156.02,0.503,1,0,424,642.93
$SM_GC,-0.41,8.30,0.15,156.02,0.067,0.066,0.503,163,2131,424,-8.41,1.47,642.93,0,0,0,0,1,0,26.79,26.92,25.29
$IRIDIUM_FIX,1334.19,14346.44,041014,022133
$TT8_MAMPS,0.05243,0.05243
$HUMID,49.44
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,25.10
$XPDR_PINGS,2
$24V_AH,24.67,4.722
$10V_AH,10.36,2.222
$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,20.950,78.500,374.950,156.025,0.000,0.000,0.000,624.950,3.250,0.000,36.150,0.000,6554.542,620.126,2023.058,102.817,0.000,1845.118,0.000,1065.531,0.000,23.349,0.000
$DEVICE_MAMPS,247.095,71.910,969.255,503.370,0.000,0.000,0.000,73.440,420.000,0.000,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,342.677,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,228488
$DATA_FILE_SIZE,23458,512
$CAP_FILE_SIZE,91911,0
$CFSIZE,260034560,254705664
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,11610.90,0x236bc6,7,5
$CURRENT,0.178,305.23,1
$GPS,041014,045403,1339.530,14502.092,9,2.1,30,1.5