version: 66.13
glider: 178
mission: 28
dive: 14
start: 3 18 117 16 3 39
data:
$ID,178
$MISSION,28
$DIVE,14
$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,160
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,1800
$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,105
$R_STBD_OVSHOOT,62
$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
$GPS1,180317,155557,2909.8811,-7606.5791,12,1.1,40,-9.0,0.6,74.7,8,4.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-60.5
$GPS2,180317,160320,2909.9602,-7606.4346,12,1.3,39,-9.0,0.7,57.3,7,4.5
$SPEED_LIMITS,0.208,0.347
$TGT_NAME,WS
$TGT_LATLONG,2906.500,-7615.500
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,254.3,16007,-16.4,-12.000,-19.05,3103
$D_GRID,5022
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,13,-0.70,-243.3,141,2513,1425,1286,0.0,0.0,0,92,0.00,0.00,-75.60,0.000,16386,0.000,0.000,140,2512,3093,3144,3043,0,0,0,0,0,0,27.23,28.83,27.30
$GC,94,-0.70,-243.3,141,2510,3145,3043,3.3,-1.7,13,133,6.90,2.12,-22.55,0.000,18980,0.245,1.250,1807,1138,3964,4030,3899,0,0,0,0,0,0,26.74,25.90,27.00
$GC,214,-0.70,-243.3,1807,1139,4028,3899,20.1,-14.4,35,221,0.00,2.00,0.00,0.000,1030,0.000,0.028,1800,2483,3962,4026,3899,0,0,0,0,0,0,27.07,27.01,27.09
$GC,401,-0.70,-243.3,1800,2483,4028,3906,50.2,-16.1,72,404,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,2483,3963,4027,3899,0,0,0,0,0,0,27.37,27.43,27.43
$GC,702,-0.70,-243.3,1800,2484,4027,3899,100.1,-15.8,102,709,0.00,1.98,0.00,0.000,516,0.000,0.023,1800,1129,3966,4033,3899,0,0,0,0,0,0,27.49,27.28,27.57
$GC,754,-0.70,-243.3,1800,1130,4028,3904,108.6,-16.1,112,760,0.00,2.03,0.00,0.000,1030,0.000,0.028,1790,2503,3961,4023,3900,0,0,0,0,0,0,27.32,27.27,27.36
$GC,1065,-0.70,-243.3,1791,2505,4028,3899,159.0,-15.0,144,1071,0.00,1.92,0.00,0.000,260,0.000,0.047,1781,3774,3963,4026,3900,0,0,0,0,0,0,27.56,27.29,27.62
$GC,1111,-0.70,-243.3,1781,3774,4028,3901,165.8,-14.4,153,1120,0.12,1.75,0.00,0.000,3078,0.151,0.021,1814,2489,3962,4026,3899,0,0,0,0,0,0,27.20,27.43,27.35
$GC,1426,-0.70,-243.3,1812,2490,4028,3900,203.6,-11.8,183,1433,0.00,1.90,0.00,0.000,548,0.000,0.023,1814,1149,3963,4027,3900,0,0,0,0,0,0,27.60,27.39,27.66
$GC,1472,-0.70,-243.3,1814,1150,4028,3899,209.3,-11.1,192,1479,0.00,1.98,0.00,0.000,1062,0.000,0.026,1806,2506,3963,4027,3900,0,0,0,0,0,0,27.43,27.38,27.46
$GC,1789,-0.70,-243.3,1807,2507,4027,3900,248.8,-12.1,205,1792,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2506,3962,4027,3898,0,0,0,0,0,0,27.62,27.70,27.68
$GC,2089,-0.70,-243.3,1805,2506,4027,3901,283.5,-11.6,215,2096,0.00,1.95,0.00,0.000,548,0.000,0.022,1809,1144,3963,4027,3899,0,0,0,0,0,0,27.64,27.46,27.70
$GC,2115,-0.70,-243.3,1807,1145,4028,3900,286.5,-12.0,220,2123,0.00,2.00,0.00,0.000,1030,0.000,0.027,1799,2504,3963,4026,3900,0,0,0,0,0,0,27.48,27.41,27.49
$GC,2421,-0.70,-243.3,1799,2505,4029,3900,321.4,-10.9,231,2424,0.00,0.00,0.00,0.000,38,0.000,0.000,1799,2504,3963,4027,3900,0,0,0,0,0,0,27.67,27.72,27.71
$GC,2721,-0.70,-243.3,1799,2504,4027,3901,354.6,-10.8,241,2728,0.00,1.95,0.00,0.000,548,0.000,0.023,1802,1142,3963,4026,3900,0,0,0,0,0,0,27.65,27.46,27.72
$GC,2758,-0.70,-243.3,1797,1143,4027,3901,358.6,-10.7,248,2764,0.00,2.00,0.00,0.000,1062,0.000,0.028,1790,2505,3962,4026,3899,0,0,0,0,0,0,27.48,27.41,27.51
$STATE,2772,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2772,begin apogee
$GC,2776,-0.19,0.0,1789,2098,4026,3900,360.3,-10.0,251,2930,0.57,0.00,149.23,0.783,10246,0.109,0.000,1982,2093,3197,3260,3135,0,0,0,0,0,0,27.29,25.90,25.38
$STATE,2933,end apogee,CONTROL_FINISHED_OK
$STATE,2933,begin loiter
$GC,3224,-0.10,215.2,1983,2093,3259,3135,388.2,-7.1,266,3407,0.00,0.00,180.10,0.803,8230,0.000,0.000,1983,2093,2319,2397,2242,0,0,0,0,0,0,27.17,25.78,25.25
$GC,3704,-0.10,215.2,1982,2094,2394,2235,375.8,5.2,282,3706,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,2093,2314,2394,2235,0,0,0,0,0,0,27.16,27.23,27.24
$GC,4004,-0.10,215.2,1983,2094,2394,2234,357.3,6.4,292,4007,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,2093,2314,2394,2235,0,0,0,0,0,0,27.37,27.43,27.43
$GC,4303,-0.10,215.2,1983,2093,2393,2235,338.3,6.3,302,4307,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,2093,2314,2394,2235,0,0,0,0,0,0,27.48,27.54,27.54
$GC,4603,-0.10,215.2,1983,2093,2394,2235,321.9,5.3,312,4607,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,2098,2313,2394,2233,0,0,0,0,0,0,27.53,27.60,27.60
$STATE,4722,end loiter,LOITER_COMPLETE
$STATE,4722,begin climb
$GC,4724,0.70,243.3,1988,2094,2394,2234,315.8,0.0,316,4757,0.73,2.00,23.98,0.737,10756,0.061,0.028,2275,746,2204,2283,2125,0,0,0,0,0,0,27.29,26.66,26.25
$GC,4797,0.74,345.0,2276,747,2283,2125,310.6,8.6,330,4892,0.00,2.00,85.45,0.752,9254,0.000,0.020,2275,2119,1789,1874,1705,0,0,0,0,0,0,27.07,27.03,25.49
$GC,5207,0.74,345.0,2275,2119,1876,1702,261.3,12.3,362,5210,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2120,1787,1873,1701,0,0,0,0,0,0,27.22,27.29,27.28
$GC,5507,0.74,345.0,2275,2122,1873,1702,223.9,12.3,372,5513,0.00,2.05,0.00,0.000,260,0.000,0.037,2279,3492,1786,1872,1700,0,0,0,0,0,0,27.40,27.15,27.46
$GC,5533,0.74,345.0,2274,3492,1872,1701,220.4,12.8,377,5540,0.00,1.92,0.00,0.000,1030,0.000,0.018,2285,2113,1786,1872,1700,0,0,0,0,0,0,27.28,27.26,27.30
$GC,5838,0.74,362.6,2285,2113,1874,1697,182.5,11.4,396,5862,0.00,2.03,14.77,0.598,8740,0.000,0.028,2295,741,1719,1803,1635,0,0,0,0,0,0,27.50,26.99,26.40
$GC,5911,0.74,362.6,2296,741,1810,1636,173.6,12.8,410,5919,0.00,1.98,0.00,0.000,1030,0.000,0.020,2298,2102,1719,1804,1635,0,0,0,0,0,0,27.21,27.17,27.20
$GC,6224,0.74,362.6,2295,2108,1805,1634,131.2,13.8,442,6231,0.00,2.08,0.00,0.000,260,0.000,0.037,2295,3497,1716,1801,1631,0,0,0,0,0,0,27.48,27.22,27.54
$GC,6251,0.74,362.6,2294,3503,1805,1630,127.3,15.0,447,6260,0.00,1.95,0.00,0.000,1030,0.000,0.018,2305,2107,1719,1803,1635,0,0,0,0,0,0,27.35,27.34,27.36
$GC,6556,0.74,362.6,2306,2104,1805,1634,87.8,12.5,478,6563,0.00,2.08,0.00,0.000,260,0.000,0.037,2306,3489,1718,1803,1634,0,0,0,0,0,0,27.55,27.29,27.61
$GC,6588,0.74,362.6,2306,3489,1804,1635,83.5,13.2,484,6595,0.15,1.95,0.00,0.000,5126,0.155,0.017,2275,2089,1718,1803,1633,0,0,0,0,0,0,27.18,27.40,27.32
$GC,6899,0.76,399.8,2275,2087,1806,1633,49.3,10.8,516,6937,0.00,2.08,31.10,0.581,8740,0.000,0.027,2283,730,1567,1658,1477,0,0,0,0,0,0,27.59,26.90,26.37
$GC,6992,0.78,444.9,2283,730,1658,1479,39.2,10.5,533,7037,0.00,2.00,37.30,0.575,9254,0.000,0.020,2283,2109,1383,1477,1289,0,0,0,0,0,0,27.12,27.08,26.08
$GC,7217,0.78,449.3,2283,2113,1484,1287,13.2,11.9,576,7225,0.00,0.00,1.88,0.083,8230,0.000,0.000,2283,2112,1364,1459,1270,0,0,0,0,0,0,27.22,27.01,26.91
$STATE,7308,end climb,SURFACE_DEPTH_REACHED
$STATE,7308,begin surface coast
$FINISH,1.5,1.012556
$STATE,7335,end surface coast,CONTROL_FINISHED_OK
$STATE,7335,begin surface
$SM_CCo,7355,0.45,0.075,0,0,1360,450.13
$SM_GC,2.73,5.35,0.55,0.45,0.026,0.031,0.075,140,2516,1360,-5.82,-1.50,450.13,0,0,0,0,0,0,27.12,27.13,27.03
$IRIDIUM_FIX,2855.60,-7608.00,180317,134238
$TT8_MAMPS,0.050932,0.317576
$HUMID,37.08
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,24.00
$XPDR_PINGS,0
$SC_FREEKB,7891328
$PM_FREEKB,61937088
$24V_AH,25.25,11.457
$10V_AH,10.35,7.277
$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,13.825,48.725,523.800,0.450,0.000,0.000,0.000,277.550,0.000,0.000,41.642,0.000,5435.537,618.229,1585.765,161.654,0.000,1473.535,0.000,864.873,0.000,0.553,0.000
$DEVICE_MAMPS,244.800,1250.010,803.250,74.970,0.000,0.000,0.000,91.035,420.000,0.000,30.710,0.000,2.190,16.160,46.120,54.360,0.000,15.300,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7330.000,7334.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.417,14.510,0.000,0.000
$MEM,153000
$DATA_FILE_SIZE,20100,599
$CAP_FILE_SIZE,76108,0
$CFSIZE,260034560,254922752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.477,80.45,1
$GPS,180317,180726,2910.037,-7605.737,8,1.2,41,-9.0,0.9,52.3,9,4.1