version: 66.13
glider: 178
mission: 28
dive: 12
start: 3 18 117 11 51 5
data:
$ID,178
$MISSION,28
$DIVE,12
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,360
$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,100
$T_MISSION,130
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51842
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$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,450
$N_FILEKB,8
$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,100740
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,165
$PITCH_MAX,3954
$C_PITCH,2040
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,27
$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,2500
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,78
$R_STBD_OVSHOOT,57
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,3197
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00038000001
$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,148
$AH0_10V,95
$MINV_24V,22
$MINV_10V,9.5
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-43.355331
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$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,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,51
$LOGGERDEVICE2,85
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043966938
$SEABIRD_T_H,0.00063700025
$SEABIRD_T_I,2.5067597e-05
$SEABIRD_T_J,2.9826379e-06
$SEABIRD_C_G,-9.7293062
$SEABIRD_C_H,1.1206031
$SEABIRD_C_I,0.00047059715
$SEABIRD_C_J,5.505409e-05
$SC_RECORDABOVE,2000.0
$SC_PROFILE,7.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,7.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,1.0
$PM_SENDDEPTH,0.0
$GPS1,180317,114202,2909.2603,-7608.0073,41,1.4,45,-9.0,0.8,359.7,8,5.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-59.6
$GPS2,180317,115045,2909.3506,-7607.8242,14,1.8,30,-9.0,1.1,25.0,7,5.4
$SPEED_LIMITS,0.208,0.347
$TGT_NAME,WS
$TGT_LATLONG,2906.500,-7615.500
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,270.2,13496,-16.4,-12.000,-19.05,3103
$D_GRID,5002
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.70,-243.3,141,2512,1423,1291,0.0,0.0,0,86,0.00,0.00,-69.55,0.000,16386,0.000,0.000,140,2511,2941,2990,2892,0,0,0,0,0,0,27.17,28.83,27.24
$GC,89,-0.70,-243.3,141,2512,2983,2893,3.0,-1.5,12,132,7.03,2.22,-30.40,0.000,18980,0.252,1.255,1803,1117,3962,4027,3898,0,0,0,0,0,0,26.67,25.86,26.87
$GC,193,-0.70,-243.3,1803,1118,4028,3899,14.9,-12.1,31,201,0.00,2.05,0.00,0.000,1030,0.000,0.029,1796,2490,3963,4027,3900,0,0,0,0,0,0,27.04,26.98,27.07
$GC,380,-0.70,-243.3,1801,2490,4028,3901,46.5,-17.3,68,387,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,2490,3963,4027,3900,0,0,0,0,0,0,27.34,27.41,27.41
$GC,572,-0.70,-243.3,1796,2494,4028,3899,79.6,-17.1,89,575,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,2494,3963,4027,3900,0,0,0,0,0,0,27.43,27.50,27.48
$GC,873,-0.70,-243.3,1796,2491,4027,3900,128.6,-16.3,119,880,0.00,2.00,0.00,0.000,516,0.000,0.024,1795,1115,3963,4027,3900,0,0,0,0,0,0,27.51,27.30,27.57
$GC,904,-0.70,-243.3,1796,1115,4034,3901,133.5,-14.9,125,912,0.00,2.05,0.00,0.000,1030,0.000,0.028,1787,2508,3963,4027,3900,0,0,0,0,0,0,27.34,27.28,27.37
$GC,1217,-0.70,-243.3,1786,2511,4024,3900,178.9,-14.1,157,1224,0.00,2.03,0.00,0.000,516,0.000,0.024,1787,1118,3963,4027,3900,0,0,0,0,0,0,27.57,27.34,27.62
$GC,1269,-0.70,-243.3,1787,1119,4027,3901,186.2,-14.6,167,1276,0.15,2.05,0.00,0.000,3078,0.148,0.028,1818,2510,3963,4026,3900,0,0,0,0,0,0,27.20,27.34,27.35
$GC,1581,-0.70,-243.3,1818,2510,4027,3899,220.4,-10.6,187,1588,0.00,1.90,0.00,0.000,292,0.000,0.047,1811,3770,3963,4026,3900,0,0,0,0,0,0,27.60,27.33,27.65
$GC,1608,-0.70,-243.3,1812,3770,4028,3902,223.1,-10.1,192,1616,0.00,1.77,0.00,0.000,1062,0.000,0.023,1812,2470,3963,4027,3900,0,0,0,0,0,0,27.49,27.46,27.49
$GC,1913,-0.70,-243.3,1812,2471,4025,3900,255.1,-10.6,203,1919,0.00,1.88,0.00,0.000,548,0.000,0.023,1813,1151,3963,4027,3900,0,0,0,0,0,0,27.62,27.42,27.67
$GC,1949,-0.70,-243.3,1811,1147,4027,3901,259.2,-10.8,210,1956,0.00,1.98,0.00,0.000,1062,0.000,0.028,1804,2499,3963,4027,3900,0,0,0,0,0,0,27.45,27.39,27.47
$GC,2275,-0.70,-243.3,1805,2500,4028,3899,296.5,-11.5,225,2278,0.00,0.00,0.00,0.000,38,0.000,0.000,1803,2499,3963,4027,3900,0,0,0,0,0,0,27.64,27.70,27.70
$GC,2576,-0.70,-243.3,1803,2501,4023,3900,330.5,-11.8,235,2578,0.00,0.00,0.00,0.000,38,0.000,0.000,1804,2499,3963,4027,3900,0,0,0,0,0,0,27.65,27.72,27.70
$STATE,2844,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2844,begin apogee
$GC,2848,-0.19,0.0,1804,2094,4026,3900,361.8,-11.1,244,3001,0.52,0.00,148.25,0.787,10246,0.109,0.000,1979,2085,3194,3254,3135,0,0,0,0,0,0,27.30,25.88,25.32
$STATE,3004,end apogee,CONTROL_FINISHED_OK
$STATE,3004,begin climb
$GC,3005,0.70,243.3,1980,2085,3260,3135,370.5,0.0,249,3223,0.77,2.03,201.50,0.791,11012,0.034,0.028,2312,764,2206,2282,2130,0,0,0,0,0,0,26.17,25.75,25.19
$GC,3447,0.70,243.3,2312,765,2279,2129,341.4,13.9,329,3455,0.17,2.00,0.00,0.000,5126,0.153,0.019,2266,2122,2203,2277,2129,0,0,0,0,0,0,26.69,26.84,26.80
$GC,3779,0.71,279.2,2267,2124,2278,2128,304.8,10.8,345,3817,0.00,2.08,30.85,0.727,8740,0.000,0.025,2274,757,2057,2138,1976,0,0,0,0,0,0,27.32,26.38,25.98
$GC,3967,0.72,301.5,2274,757,2137,1978,283.7,11.3,382,3995,0.00,1.95,19.40,0.701,9254,0.000,0.019,2273,2100,1967,2049,1886,0,0,0,0,0,0,26.99,26.95,26.00
$GC,4292,0.72,309.8,2273,2100,2049,1885,245.4,11.7,397,4309,0.00,2.15,8.05,0.605,8484,0.000,0.038,2274,3478,1934,2018,1851,0,0,0,0,0,0,27.27,26.86,26.27
$GC,4328,0.72,309.8,2274,3480,2019,1850,240.9,12.4,404,4335,0.00,1.92,0.00,0.000,1030,0.000,0.018,2283,2117,1934,2018,1851,0,0,0,0,0,0,27.07,27.04,27.11
$GC,4655,0.73,319.7,2284,2115,2019,1851,202.8,11.7,419,4671,0.00,2.03,9.93,0.612,8740,0.000,0.026,2292,739,1892,1978,1807,0,0,0,0,0,0,27.39,26.76,26.35
$GC,4711,0.73,319.7,2292,740,1979,1807,196.0,12.4,430,4719,0.00,1.98,0.00,0.000,1030,0.000,0.020,2292,2101,1892,1977,1807,0,0,0,0,0,0,27.14,27.09,27.17
$GC,5016,0.73,319.7,2293,2101,1978,1808,158.3,12.1,461,5022,0.00,2.03,0.00,0.000,516,0.000,0.028,2302,729,1892,1977,1807,0,0,0,0,0,0,27.43,27.20,27.49
$GC,5072,0.73,319.7,2302,732,1977,1806,151.3,12.7,472,5080,0.00,1.98,0.00,0.000,1030,0.000,0.020,2302,2097,1891,1976,1807,0,0,0,0,0,0,27.29,27.24,27.32
$GC,5377,0.73,324.9,2301,2099,1978,1805,113.3,11.8,503,5390,0.00,2.15,5.55,0.495,8484,0.000,0.037,2302,3489,1871,1956,1787,0,0,0,0,0,0,27.52,27.13,26.57
$GC,5455,0.73,324.9,2301,3489,1952,1789,103.4,12.4,518,5464,0.15,1.95,0.00,0.000,5126,0.155,0.018,2278,2092,1871,1956,1786,0,0,0,0,0,0,27.10,27.32,27.24
$GC,5760,0.75,375.4,2272,2091,1958,1788,72.3,10.3,549,5808,0.00,2.08,41.85,0.603,8740,0.000,0.028,2280,741,1666,1754,1578,0,0,0,0,0,0,27.55,26.72,26.20
$GC,5869,0.78,463.3,2280,740,1753,1580,62.0,9.1,570,5949,0.00,2.00,70.97,0.593,9254,0.000,0.020,2280,2112,1308,1401,1216,0,0,0,0,0,0,27.01,26.94,25.74
$GC,6243,0.79,484.4,2280,2112,1404,1213,20.2,11.3,640,6256,0.00,0.00,10.35,0.473,8230,0.000,0.000,2278,2112,1224,1323,1125,0,0,0,0,0,0,27.22,26.78,26.34
$STATE,6404,end climb,SURFACE_DEPTH_REACHED
$STATE,6404,begin surface coast
$FINISH,1.7,1.025717
$STATE,6429,end surface coast,CONTROL_FINISHED_OK
$STATE,6429,begin surface
$SM_CCo,6510,0.00,0.000,0,0,1218,485.69
$SM_GC,2.46,5.38,0.55,0.00,0.028,0.035,0.000,139,2511,1218,-5.84,-1.64,485.69,0,0,0,0,0,0,27.08,27.09,27.13
$IRIDIUM_FIX,2855.60,-7608.00,180317,080057
$TT8_MAMPS,0.050932,0.313831
$HUMID,36.29
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,24.10
$XPDR_PINGS,0
$SC_FREEKB,7893312
$PM_FREEKB,62012032
$24V_AH,25.19,11.231
$10V_AH,10.35,7.113
$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,14.175,49.275,546.700,0.000,0.000,0.000,0.000,353.075,0.000,0.000,33.393,0.000,4518.162,590.161,1761.659,156.293,0.000,1589.148,0.000,974.694,0.000,0.553,0.000
$DEVICE_MAMPS,252.450,1254.600,791.010,0.000,0.000,0.000,0.000,97.155,420.000,0.000,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6423.000,6433.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.744,14.521,0.000,0.000
$MEM,152956
$DATA_FILE_SIZE,23389,677
$CAP_FILE_SIZE,77197,0
$CFSIZE,260034560,255057920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.419,76.06,1
$GPS,180317,134033,2909.610,-7607.333,14,1.2,30,-9.0,0.5,87.3,8,4.2