version: 66.13
glider: 178
mission: 31
dive: 59
start: 10 14 119 23 58 48
data:
$ID,178
$MISSION,31
$DIVE,59
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$D_NO_BLEED,200
$D_BOOST,2
$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,390
$T_MISSION,450
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53923
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00223872
$HD_B,0.011885
$HD_C,5.7000002e-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,500
$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,5
$N_GPS,100740
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,165
$PITCH_MAX,3805
$C_PITCH,2125
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,24
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,625
$ROLL_MAX,3950
$ROLL_DEG,40
$C_ROLL_DIVE,2750
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2968
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00038000001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,3
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-157.45766
$PRESSURE_SLOPE,0.0001061024
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,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,7
$LOGGERDEVICE1,53
$LOGGERDEVICE2,83
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,147
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,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,1.0
$GPS1,141019,234549,1417.7545,14409.6592,21,0.9,32,0.3,0.8,241.3,9,3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.49
$_SM_ANGLEo,-58.5
$GPS2,141019,235800,1417.7017,14409.4521,3,0.6,4,0.3,0.5,269.4,12,6.7
$SPEED_LIMITS,0.147,0.205
$TGT_NAME,N
$TGT_LATLONG,1421.000,14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,14.2,6187,-16.5,-8.462,-22.45,2099
$D_GRID,1000
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.73,-116.8,156,2724,991,862,0.0,0.0,0,110,0.00,0.00,-89.10,0.005,16386,0.000,0.000,157,2721,3274,3315,3234,0,0,0,0,0,0,15.23,28.83,15.26
$GC,112,-0.73,-116.8,156,2724,3316,3233,5.1,-9.9,9,130,8.18,2.05,-2.88,0.042,18692,0.412,0.091,1871,3950,3448,3511,3385,0,0,0,0,0,0,14.92,14.59,15.09
$GC,359,-0.73,-116.8,1870,3949,3510,3385,95.4,-22.7,58,365,0.00,1.98,0.00,0.000,1030,0.000,0.035,1871,2717,3446,3509,3384,0,0,0,0,0,0,15.26,15.23,15.27
$GC,546,-0.73,-116.8,1870,2717,3511,3384,136.8,-21.7,77,552,0.00,2.05,0.00,0.000,260,0.000,0.073,1862,3943,3447,3511,3384,0,0,0,0,0,0,15.42,15.23,15.44
$GC,713,-0.73,-116.8,1862,3943,3513,3384,169.0,-18.9,110,720,0.00,1.90,0.00,0.000,1030,0.000,0.033,1862,2740,3447,3510,3384,0,0,0,0,0,0,15.33,15.30,15.33
$GC,900,-0.73,-116.8,1862,2741,3510,3384,199.7,-13.1,129,903,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,2741,3447,3511,3384,0,0,0,0,0,0,15.47,15.50,15.49
$GC,1081,-0.73,-116.8,1862,2740,3511,3384,224.0,-12.2,147,1086,0.00,2.03,0.00,0.000,260,0.000,0.076,1855,3949,3447,3510,3384,0,0,0,0,0,0,15.45,15.29,15.50
$GC,1314,-0.73,-116.8,1854,3949,3511,3384,255.4,-13.6,193,1320,0.15,1.85,0.00,0.000,3078,0.270,0.034,1888,2755,3447,3511,3383,0,0,0,0,0,0,15.23,15.37,15.37
$GC,1628,-0.73,-116.8,1888,2755,3511,3381,289.1,-10.6,205,1634,0.00,2.00,0.00,0.000,260,0.000,0.078,1886,3946,3446,3511,3381,0,0,0,0,0,0,15.53,15.33,15.54
$GC,1860,-0.73,-116.8,1886,3944,3511,3380,313.8,-11.0,251,1866,0.00,1.85,0.00,0.000,1030,0.000,0.036,1886,2749,3445,3511,3379,0,0,0,0,0,0,15.42,15.39,15.44
$GC,2173,-0.73,-116.8,1885,2749,3510,3376,342.5,-9.3,263,2177,0.00,0.00,0.00,0.000,6,0.000,0.000,1886,2749,3443,3511,3376,0,0,0,0,0,0,15.51,15.56,15.55
$GC,2473,-0.73,-116.8,1885,2749,3509,3373,372.0,-9.6,273,2479,0.00,2.22,0.00,0.000,516,0.000,0.045,1885,1360,3440,3509,3372,0,0,0,0,0,0,15.50,15.37,15.57
$GC,2530,-0.73,-116.8,1885,1360,3508,3371,378.0,-10.2,284,2537,0.00,2.35,0.00,0.000,1030,0.000,0.054,1885,2745,3442,3507,3377,0,0,0,0,0,0,15.39,15.35,15.41
$GC,2837,-0.73,-116.8,1885,2746,3506,3369,404.8,-8.5,295,2841,0.00,0.00,0.00,0.000,6,0.000,0.000,1885,2745,3437,3506,3369,0,0,0,0,0,0,15.54,15.57,15.57
$GC,3137,-0.73,-116.8,1885,2745,3504,3366,430.0,-8.6,305,3143,0.00,0.00,0.00,0.000,6,0.000,0.000,1885,2746,3435,3504,3366,0,0,0,0,0,0,15.54,15.57,15.57
$GC,3437,-0.73,-116.8,1885,2745,3500,3363,452.4,-7.3,315,3441,0.00,0.00,0.00,0.000,6,0.000,0.000,1885,2745,3431,3500,3363,0,0,0,0,0,0,15.54,15.57,15.57
$GC,3737,-0.73,-116.8,1886,2745,3497,3361,477.0,-8.7,325,3744,0.00,2.28,0.00,0.000,516,0.000,0.048,1885,1363,3429,3497,3361,0,0,0,0,0,0,15.55,15.36,15.57
$GC,3835,-0.73,-116.8,1887,1363,3495,3360,485.6,-8.2,344,3840,0.00,2.33,0.00,0.000,1030,0.000,0.057,1885,2748,3427,3494,3361,0,0,0,0,0,0,15.43,15.36,15.45
$GC,4166,-0.73,-116.8,1885,2749,3492,3358,512.4,-8.2,359,4172,0.00,2.03,0.00,0.000,260,0.000,0.089,1885,3948,3423,3488,3358,0,0,0,0,0,0,15.53,15.33,15.55
$GC,4290,-0.73,-116.8,1885,3948,3491,3357,523.8,-9.3,383,4295,0.00,1.90,0.00,0.000,1030,0.000,0.044,1885,2761,3424,3491,3357,0,0,0,0,0,0,15.44,15.39,15.45
$GC,4623,-0.73,-116.8,1885,2760,3487,3355,553.0,-8.6,399,4628,0.00,2.28,0.00,0.000,516,0.000,0.050,1885,1355,3420,3486,3355,0,0,0,0,0,0,15.53,15.35,15.55
$GC,4806,-0.73,-116.8,1885,1355,3485,3354,569.2,-8.8,435,4814,0.00,2.35,0.00,0.000,1030,0.000,0.060,1886,2750,3420,3485,3355,0,0,0,0,0,0,15.42,15.34,15.44
$GC,5136,-0.73,-116.8,1888,2750,3482,3352,597.3,-8.7,451,5140,0.00,0.00,0.00,0.000,6,0.000,0.000,1885,2751,3418,3484,3352,0,0,0,0,0,0,15.54,15.56,15.55
$GC,5436,-0.73,-116.8,1885,2750,3481,3350,622.0,-7.9,461,5443,0.00,2.30,0.00,0.000,516,0.000,0.050,1886,1355,3416,3481,3351,0,0,0,0,0,0,15.54,15.35,15.55
$GC,5524,-0.73,-116.8,1885,1355,3480,3351,628.9,-7.7,478,5531,0.00,2.40,0.00,0.000,1030,0.000,0.060,1885,2747,3415,3480,3351,0,0,0,0,0,0,15.38,15.34,15.40
$GC,5830,-0.73,-116.8,1885,2746,3479,3349,651.7,-7.5,489,5837,0.00,2.05,0.00,0.000,260,0.000,0.093,1886,3945,3414,3480,3349,0,0,0,0,0,0,15.56,15.35,15.54
$GC,5879,-0.73,-116.8,1885,3946,3478,3348,655.4,-7.7,498,5885,0.00,1.92,0.00,0.000,1030,0.000,0.047,1886,2753,3411,3474,3348,0,0,0,0,0,0,15.43,15.38,15.44
$GC,6198,-0.73,-116.8,1885,2754,3476,3347,678.3,-7.3,511,6204,0.00,2.30,0.00,0.000,516,0.000,0.053,1885,1348,3412,3476,3348,0,0,0,0,0,0,15.52,15.33,15.53
$GC,6309,-0.73,-116.8,1885,1348,3475,3347,686.7,-7.5,533,6316,0.00,2.40,0.00,0.000,1030,0.000,0.061,1885,2756,3410,3474,3346,0,0,0,0,0,0,15.40,15.32,15.42
$GC,6626,-0.73,-116.8,1885,2756,3473,3345,709.3,-7.1,545,6632,0.00,2.35,0.00,0.000,516,0.000,0.051,1885,1346,3409,3473,3345,0,0,0,0,0,0,15.50,15.33,15.53
$GC,6668,-0.73,-116.8,1885,1346,3473,3345,712.8,-7.3,553,6675,0.00,2.40,0.00,0.000,1030,0.000,0.063,1885,2757,3409,3473,3345,0,0,0,0,0,0,15.40,15.31,15.41
$GC,6992,-0.73,-116.8,1885,2758,3472,3344,735.1,-7.3,567,6996,0.00,0.00,0.00,0.000,6,0.000,0.000,1885,2756,3408,3472,3344,0,0,0,0,0,0,15.51,15.53,15.52
$GC,7293,-0.73,-116.8,1885,2758,3470,3343,758.1,-7.9,577,7299,0.00,2.35,0.00,0.000,516,0.000,0.053,1885,1342,3406,3470,3343,0,0,0,0,0,0,15.51,15.33,15.53
$GC,7387,-0.73,-116.8,1885,1342,3470,3343,766.1,-9.1,595,7395,0.00,2.40,0.00,0.000,1030,0.000,0.063,1885,2752,3406,3470,3343,0,0,0,0,0,0,15.39,15.30,15.40
$GC,7717,-0.73,-116.8,1885,2752,3468,3342,792.0,-7.6,611,7723,0.00,2.35,0.00,0.000,516,0.000,0.052,1885,1344,3405,3468,3342,0,0,0,0,0,0,15.50,15.30,15.52
$GC,7774,-0.73,-116.8,1885,1345,3467,3342,796.0,-8.3,622,7781,0.00,2.42,0.00,0.000,1030,0.000,0.063,1885,2742,3404,3468,3341,0,0,0,0,0,0,15.34,15.29,15.37
$GC,8081,-0.73,-116.8,1885,2742,3467,3341,816.3,-6.3,633,8084,0.00,0.00,0.00,0.000,38,0.000,0.000,1886,2742,3403,3466,3341,0,0,0,0,0,0,15.50,15.52,15.52
$GC,8381,-0.73,-116.8,1885,2742,3462,3340,834.5,-5.8,643,8384,0.00,0.00,0.00,0.000,38,0.000,0.000,1885,2742,3403,3466,3340,0,0,0,0,0,0,15.51,15.53,15.52
$GC,8681,-0.73,-116.8,1885,2743,3465,3339,851.4,-5.6,653,8685,0.00,0.00,0.00,0.000,38,0.000,0.000,1886,2743,3402,3465,3340,0,0,0,0,0,0,15.50,15.52,15.55
$GC,8981,-0.73,-116.8,1885,2743,3468,3338,868.2,-5.5,663,8984,0.00,0.00,0.00,0.000,38,0.000,0.000,1886,2743,3402,3465,3339,0,0,0,0,0,0,15.50,15.52,15.53
$GC,9281,-0.73,-116.8,1885,2743,3463,3338,885.0,-5.6,673,9288,0.00,2.35,0.00,0.000,548,0.000,0.054,1885,1345,3400,3463,3338,0,0,0,0,0,0,15.50,15.31,15.52
$GC,9400,-0.73,-116.8,1885,1344,3463,3338,892.1,-5.9,696,9407,0.00,2.45,0.00,0.000,1062,0.000,0.064,1885,2750,3400,3462,3338,0,0,0,0,0,0,15.34,15.28,15.36
$GC,9706,-0.73,-116.8,1885,2750,3462,3337,908.8,-5.4,707,9709,0.00,0.00,0.00,0.000,38,0.000,0.000,1885,2750,3399,3462,3337,0,0,0,0,0,0,15.50,15.52,15.54
$GC,10006,-0.73,-116.8,1884,2750,3461,3339,925.3,-5.5,717,10013,0.00,2.35,0.00,0.000,548,0.000,0.054,1885,1343,3399,3463,3336,0,0,0,0,0,0,15.50,15.30,15.52
$GC,10064,-0.73,-116.8,1885,1345,3460,3336,928.9,-4.6,728,10073,0.00,2.45,0.00,0.000,1062,0.000,0.064,1884,2748,3398,3460,3336,0,0,0,0,0,0,15.33,15.31,15.35
$GC,10371,-0.73,-116.8,1885,2748,3460,3333,947.2,-5.8,739,10375,0.00,0.00,0.00,0.000,38,0.000,0.000,1885,2747,3397,3459,3336,0,0,0,0,0,0,15.47,15.50,15.50
$GC,10671,-0.73,-116.8,1885,2748,3458,3336,966.9,-6.9,749,10679,0.00,2.35,0.00,0.000,516,0.000,0.054,1885,1350,3396,3458,3335,0,0,0,0,0,0,15.47,15.30,15.49
$GC,10736,-0.73,-116.8,1886,1350,3458,3335,970.7,-8.6,761,10743,0.00,2.40,0.00,0.000,1030,0.000,0.064,1886,2749,3396,3458,3335,0,0,0,0,0,0,15.37,15.28,15.38
$STATE,11008,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11008,begin apogee
$GC,11015,-0.21,0.0,1885,1710,3458,3334,990.9,-7.3,775,11124,0.60,0.00,103.50,2.097,10246,0.204,0.000,2057,1706,2970,3040,2900,0,0,0,0,0,0,15.21,14.51,13.80
$STATE,11127,end apogee,CONTROL_FINISHED_OK
$STATE,11127,begin climb
$GC,11129,0.73,116.8,2057,1710,3040,2898,993.6,0.0,778,11254,0.95,0.00,120.20,2.036,10246,0.125,0.000,2354,1709,2489,2553,2426,0,0,0,0,0,0,14.50,14.30,13.64
$GC,11551,0.73,116.8,2354,1710,2553,2413,963.6,9.0,793,11555,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,1710,2483,2553,2413,0,0,0,0,0,0,15.11,15.14,15.14
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$STATE,22484,end climb,SURFACE_DEPTH_REACHED
$STATE,22485,begin surface coast
$STATE,22514,end surface coast,CONTROL_FINISHED_OK
$STATE,22514,begin surface
$SM_CCo,22533,106.75,0.649,1,0,929,500.17
$SM_GC,0.53,6.78,1.75,106.75,0.084,0.047,0.649,155,2730,929,-6.10,-1.55,500.17,0,0,0,0,1,0,15.19,15.21,14.62
$IRIDIUM_FIX,1413.50,14408.34,141019,172114
$TT8_MAMPS,0.019474,0.164031
$HUMID,43.77
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,27.10
$XPDR_PINGS,0
$SC_FREEKB,3851872
$PM_FREEKB_00,96437824
$PM_FREEKB_01,124821056
$PM_FREEKB_02,124821056
$PM_FREEKB_03,124821056
$PM_ACTIVECARD,0
$24V_AH,13.64,24.400
$10V_AH,13.45,0.000
$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,16.975,166.725,448.950,106.750,0.000,0.000,0.000,504.525,0.000,0.000,16.021,1518.255,15420.328,669.441,5413.379,358.359,0.000,2840.496,0.000,4580.630,0.000,0.553,0.000
$DEVICE_MAMPS,411.570,92.565,2096.865,649.485,0.000,0.000,0.000,205.785,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22542.000,22536.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.807,7.137,0.000,0.000
$MEM,270908
$DATA_FILE_SIZE,63240,1825
$CAP_FILE_SIZE,195602,0
$CFSIZE,260034560,249167872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.035,263.20,1
$GPS,151019,061739,1419.883,14409.334,22,0.8,31,0.2,0.5,314.3,10,8.8