version: 66.12
glider: 178
mission: 18
dive: 41
start: 10 4 114 5 0 2
data:
$ID,178
$MISSION,18
$DIVE,41
$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,67
$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
$GPS1,041014,045403,1339.530,14502.092,9,2.1,30,1.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.13
$_SM_ANGLEo,-72.4
$GPS2,041014,045951,1339.579,14502.032,13,0.9,33,1.5
$SPEED_LIMITS,0.173,0.265
$TGT_NAME,S3
$TGT_LATLONG,1336.000,14506.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,126.3,9744,-17.8,-10.000,-20.71,2479
$D_GRID,650
$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,-175.2,161,2127,421,459,0.0,0.0,0,128,0.00,0.00,-112.18,0.000,16386,0.000,0.000,160,2127,3422,3468,3377,0,0,0,0,0,0,28.83,28.83,28.83
$GC,130,-0.78,-175.2,160,2127,3469,3378,4.4,-17.0,20,154,10.45,2.28,-5.43,0.000,18692,0.248,0.057,2600,3557,3766,3825,3708,0,0,0,0,0,0,26.20,26.58,26.87
$GC,198,-0.78,-175.2,2601,3558,3837,3710,41.9,-41.7,33,205,0.00,2.10,0.00,0.000,1030,0.000,0.036,2600,2177,3773,3837,3709,0,0,0,0,0,0,28.83,26.66,28.83
$GC,509,-0.78,-175.2,2600,2174,3845,3709,143.8,-23.0,66,514,0.00,2.20,0.00,0.000,516,0.000,0.037,2600,746,3776,3844,3709,0,0,0,0,0,0,28.83,26.84,28.83
$GC,594,-0.78,-175.2,2600,746,3846,3712,159.4,-19.0,74,601,0.00,2.15,0.00,0.000,1030,0.000,0.031,2590,2148,3778,3844,3712,0,0,0,0,0,0,28.83,26.88,28.83
$GC,920,-0.78,-175.2,2590,2149,3853,3715,214.1,-15.0,101,924,0.00,2.15,0.00,0.000,260,0.000,0.047,2579,3560,3783,3852,3714,0,0,0,0,0,0,28.83,26.94,28.83
$GC,959,-0.78,-175.2,2580,3560,3852,3715,218.2,-14.5,102,964,0.10,2.12,0.00,0.000,3078,0.147,0.028,2610,2135,3783,3852,3715,0,0,0,0,0,0,26.78,27.03,28.83
$GC,1279,-0.78,-175.2,2611,2133,3856,3716,259.5,-13.4,113,1283,0.00,2.10,0.00,0.000,516,0.000,0.038,2610,757,3785,3855,3715,0,0,0,0,0,0,28.83,27.05,28.83
$GC,1324,-0.78,-175.2,2611,756,3856,3716,263.6,-13.6,114,1328,0.00,2.12,0.00,0.000,1030,0.000,0.033,2603,2150,3785,3855,3716,0,0,0,0,0,0,28.83,27.05,28.83
$GC,1639,-0.78,-175.2,2604,2151,3855,3717,314.1,-16.8,125,1644,0.00,2.17,0.00,0.000,260,0.000,0.048,2593,3549,3784,3853,3715,0,0,0,0,0,0,28.83,27.05,28.83
$GC,1684,-0.78,-175.2,2594,3551,3853,3717,318.8,-16.8,126,1688,0.00,2.10,0.00,0.000,1030,0.000,0.030,2593,2149,3784,3853,3716,0,0,0,0,0,0,28.83,27.13,28.83
$GC,1999,-0.78,-175.2,2593,2146,3851,3716,367.2,-12.9,137,2000,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2146,3782,3849,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2299,-0.78,-175.2,2594,2146,3845,3717,401.8,-11.8,147,2300,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2146,3779,3843,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2599,-0.78,-175.2,2593,2145,3840,3715,436.2,-11.9,157,2600,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2146,3777,3838,3716,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2900,-0.78,-175.2,2594,2146,3834,3714,473.6,-12.6,167,2906,0.00,2.10,0.00,0.000,516,0.000,0.042,2593,753,3773,3832,3714,0,0,0,0,0,0,28.83,27.14,28.83
$GC,3015,-0.78,-175.2,2594,754,3832,3714,485.5,-13.0,170,3022,0.10,2.15,0.00,0.000,3078,0.143,0.037,2617,2142,3771,3830,3713,0,0,0,0,0,0,26.94,27.14,28.83
$GC,3321,-0.78,-175.2,2617,2144,3828,3711,522.6,-11.1,181,3325,0.00,2.22,0.00,0.000,260,0.000,0.053,2608,3567,3768,3827,3709,0,0,0,0,0,0,28.83,27.09,28.83
$GC,3355,-0.78,-175.2,2609,3568,3827,3710,525.4,-10.9,182,3359,0.00,2.15,0.00,0.000,1030,0.000,0.032,2608,2141,3767,3826,3709,0,0,0,0,0,0,28.83,27.22,28.83
$GC,3675,-0.78,-175.2,2609,2138,3822,3707,565.1,-12.2,193,3679,0.00,2.12,0.00,0.000,516,0.000,0.042,2608,761,3764,3821,3707,0,0,0,0,0,0,28.83,27.15,28.83
$GC,3705,-0.78,-175.2,2609,762,3822,3708,568.8,-12.0,194,3709,0.00,2.17,0.00,0.000,1030,0.000,0.038,2599,2159,3763,3821,3705,0,0,0,0,0,0,28.83,27.14,28.83
$GC,4036,-0.78,-175.2,2599,2159,3818,3703,607.6,-11.5,205,4039,0.00,2.17,0.00,0.000,260,0.000,0.055,2590,3555,3760,3817,3703,0,0,0,0,0,0,28.83,27.08,28.83
$GC,4085,-0.78,-175.2,2590,3555,3817,3703,611.5,-12.1,206,4089,0.00,2.12,0.00,0.000,1030,0.000,0.033,2589,2152,3759,3816,3703,0,0,0,0,0,0,28.83,27.20,28.83
$STATE,4395,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4395,begin apogee
$GC,4400,-0.13,0.0,2590,2264,3813,3702,650.9,-11.7,217,4540,0.75,0.00,138.05,1.012,10246,0.132,0.000,2827,2262,3046,3089,3004,0,0,0,0,0,0,26.88,28.83,24.78
$STATE,4541,end apogee,CONTROL_FINISHED_OK
$STATE,4541,begin climb
$GC,4542,0.78,175.2,2828,2263,3090,3005,655.0,0.0,221,4698,0.80,0.00,149.38,1.008,10502,0.047,0.000,3137,2262,2329,2372,2287,0,0,0,0,0,0,25.58,28.83,24.62
$GC,4996,0.78,175.2,3137,2263,2363,2280,590.7,18.0,237,4997,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2262,2320,2362,2279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5296,0.78,175.2,3137,2262,2360,2277,538.5,16.8,247,5297,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2262,2318,2359,2277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5595,0.78,175.2,3137,2261,2357,2275,492.7,14.8,257,5596,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2262,2315,2356,2275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5895,0.78,175.2,3137,2262,2355,2275,452.7,13.0,267,5899,0.00,2.20,0.00,0.000,516,0.000,0.042,3147,856,2313,2353,2274,0,0,0,0,0,0,28.83,26.93,28.83
$GC,5950,0.78,175.2,3148,856,2354,2274,448.5,13.2,268,5958,0.00,2.17,0.00,0.000,1030,0.000,0.038,3147,2244,2313,2353,2274,0,0,0,0,0,0,28.83,26.93,28.83
$GC,6255,0.78,175.2,3148,2244,2352,2273,392.2,17.8,279,6259,0.00,2.25,0.00,0.000,260,0.000,0.054,3148,3649,2312,2351,2273,0,0,0,0,0,0,28.83,26.93,28.83
$GC,6360,0.78,175.2,3147,3650,2350,2275,375.8,17.9,282,6365,0.10,2.15,0.00,0.000,5126,0.178,0.031,3130,2242,2311,2349,2273,0,0,0,0,0,0,26.72,27.03,28.83
$GC,6675,0.78,175.2,3130,2241,2347,2275,324.3,14.9,293,6679,0.00,2.15,0.00,0.000,516,0.000,0.042,3138,856,2310,2347,2273,0,0,0,0,0,0,28.83,27.03,28.83
$GC,6860,0.78,175.2,3139,857,2347,2272,301.4,12.2,299,6864,0.00,2.15,0.00,0.000,1030,0.000,0.037,3138,2243,2309,2347,2271,0,0,0,0,0,0,28.83,27.04,28.83
$GC,7185,0.78,175.2,3138,2244,2346,2271,262.7,12.0,310,7189,0.00,2.25,0.00,0.000,260,0.000,0.053,3138,3656,2307,2345,2270,0,0,0,0,0,0,28.83,27.00,28.83
$GC,7240,0.78,175.2,3138,3657,2346,2271,258.7,12.2,311,7248,0.00,2.15,0.00,0.000,1030,0.000,0.031,3149,2240,2307,2345,2270,0,0,0,0,0,0,28.83,27.10,28.83
$GC,7546,0.78,175.2,3149,2238,2343,2270,210.0,13.5,322,7549,0.00,2.15,0.00,0.000,516,0.000,0.042,3159,855,2306,2342,2270,0,0,0,0,0,0,28.83,27.08,28.83
$GC,7620,0.78,175.2,3160,856,2343,2269,203.5,11.7,324,7624,0.10,2.17,0.00,0.000,5126,0.163,0.037,3129,2258,2305,2342,2268,0,0,0,0,0,0,26.80,27.08,28.83
$GC,7925,0.92,251.2,3129,2259,2341,2268,175.0,6.8,352,7988,0.12,2.30,57.65,0.720,10500,0.108,0.050,3182,3651,2020,2053,1987,0,0,0,0,0,0,27.15,26.30,25.70
$GC,8212,0.92,251.2,3183,3652,2040,1988,134.6,15.7,380,8219,0.00,2.15,0.00,0.000,1030,0.000,0.030,3193,2250,2013,2040,1987,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8517,0.92,251.2,3194,2249,2041,1983,92.3,12.4,411,8522,0.00,2.25,0.00,0.000,260,0.000,0.050,3194,3650,2011,2040,1982,0,0,0,0,0,0,28.83,26.77,28.83
$GC,8603,0.92,251.2,3194,3651,2041,1981,81.7,13.5,419,8610,0.12,2.12,0.00,0.000,5126,0.161,0.029,3167,2247,2010,2039,1982,0,0,0,0,0,0,26.60,26.89,28.83
$GC,8907,0.99,293.0,3167,2246,2041,1981,53.8,8.3,450,8949,0.00,2.22,33.17,0.604,8708,0.000,0.038,3175,846,1850,1884,1816,0,0,0,0,0,0,28.83,26.55,25.94
$GC,9034,0.99,293.0,3175,846,1886,1809,40.7,11.1,470,9040,0.00,2.17,0.00,0.000,1030,0.000,0.033,3175,2259,1846,1884,1809,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9340,1.03,312.9,3176,2260,1885,1810,9.5,9.2,531,9358,0.00,0.00,16.98,0.547,8198,0.000,0.000,3175,2259,1771,1809,1733,0,0,0,0,0,0,28.83,28.83,26.03
$STATE,9411,end climb,SURFACE_DEPTH_REACHED
$STATE,9411,begin surface coast
$FINISH,-0.2,1.021576
$STATE,9442,end surface coast,CONTROL_FINISHED_OK
$STATE,9442,begin surface
$SM_CCo,9456,22.65,0.067,0,0,1619,350.04
$SM_GC,1.28,8.25,0.15,22.65,0.064,0.064,0.067,151,2126,1619,-8.42,1.27,350.04,0,0,0,0,0,0,26.70,26.81,26.63
$IRIDIUM_FIX,1331.97,14459.21,041014,022911
$TT8_MAMPS,0.051681,0.051681
$HUMID,53.97
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,25.10
$XPDR_PINGS,2
$24V_AH,24.62,4.832
$10V_AH,10.34,2.263
$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,20.900,74.050,395.225,22.650,0.000,0.000,0.000,264.275,4.500,0.000,35.642,0.000,7423.429,578.388,1721.077,101.474,0.000,1453.289,0.000,1111.094,0.000,33.493,0.000
$DEVICE_MAMPS,247.860,82.620,1012.095,67.320,0.000,0.000,0.000,93.330,420.000,0.000,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,368.137,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,228560
$DATA_FILE_SIZE,23461,551
$CAP_FILE_SIZE,91762,0
$CFSIZE,260034560,254681088
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,8752.61,0x236bc6,7,5
$INTR,1,2900.69,0x233820,0,24
$CURRENT,0.139,336.69,1
$GPS,041014,073944,1339.535,14502.836,62,1.0,83,1.5