version: 66.13
glider: 178
mission: 31
dive: 82
start: 10 21 119 3 5 55
data:
$ID,178
$MISSION,31
$DIVE,82
$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,31
$R_STBD_OVSHOOT,31
$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
$GPS1,211019,025330,1418.8177,14409.2832,21,0.8,21,0.3,0.6,258.9,9,7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.47
$_SM_ANGLEo,-58.4
$GPS2,211019,030506,1418.8158,14409.1006,3,0.6,4,0.3,0.6,269.6,12,7.3
$SPEED_LIMITS,0.147,0.205
$TGT_NAME,N
$TGT_LATLONG,1421.000,14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,29.8,4356,-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,-116.8,147,2749,991,863,0.0,0.0,0,110,0.00,0.00,-89.20,0.005,16386,0.000,0.000,147,2749,3273,3312,3234,0,0,0,0,0,0,15.26,28.83,15.28
$GC,113,-0.73,-116.8,147,2749,3317,3235,4.9,-9.4,9,131,8.10,2.03,-2.83,0.042,18692,0.403,0.100,1868,3941,3443,3506,3380,0,0,0,0,0,0,14.91,14.54,15.08
$GC,306,-0.73,-116.8,1868,3941,3505,3381,73.4,-31.6,47,312,0.00,1.92,0.00,0.000,1030,0.000,0.034,1869,2714,3443,3506,3381,0,0,0,0,0,0,15.26,15.20,15.27
$GC,499,-0.73,-116.8,1868,2708,3506,3380,118.6,-19.3,67,508,0.00,0.00,0.00,0.000,6,0.000,0.000,1868,2708,3442,3504,3380,0,0,0,0,0,0,15.40,15.45,15.44
$GC,690,-0.73,-116.8,1868,2708,3506,3376,154.4,-17.6,86,696,0.00,2.10,0.00,0.000,260,0.000,0.080,1859,3945,3443,3506,3380,0,0,0,0,0,0,15.45,15.22,15.47
$GC,929,-0.73,-116.8,1859,3945,3506,3380,192.9,-16.5,132,935,0.00,1.85,0.00,0.000,1030,0.000,0.031,1859,2737,3442,3506,3379,0,0,0,0,0,0,15.40,15.34,15.38
$GC,1122,-0.73,-116.8,1859,2730,3506,3380,221.1,-12.9,152,1128,0.00,2.05,0.00,0.000,260,0.000,0.080,1854,3943,3444,3508,3380,0,0,0,0,0,0,15.50,15.28,15.51
$GC,1358,-0.73,-116.8,1853,3943,3507,3380,253.6,-12.7,198,1364,0.15,1.85,0.00,0.000,3078,0.262,0.032,1888,2730,3443,3506,3380,0,0,0,0,0,0,15.21,15.36,15.36
$GC,1672,-0.73,-116.8,1887,2730,3506,3378,288.6,-12.2,210,1679,0.00,2.08,0.00,0.000,260,0.000,0.083,1881,3949,3441,3506,3377,0,0,0,0,0,0,15.51,15.30,15.52
$GC,1905,-0.73,-116.8,1881,3946,3512,3374,318.1,-11.8,256,1912,0.00,1.83,0.00,0.000,1030,0.000,0.032,1882,2752,3440,3506,3374,0,0,0,0,0,0,15.42,15.39,15.43
$GC,2219,-0.73,-116.8,1881,2751,3506,3366,348.4,-8.9,268,2225,0.00,2.03,0.00,0.000,260,0.000,0.083,1881,3939,3438,3506,3370,0,0,0,0,0,0,15.52,15.33,15.55
$GC,2396,-0.73,-116.8,1881,3939,3506,3365,365.5,-9.3,303,2404,0.00,1.88,0.00,0.000,1030,0.000,0.034,1881,2750,3437,3506,3369,0,0,0,0,0,0,15.40,15.39,15.42
$GC,2703,-0.73,-116.8,1881,2749,3504,3365,393.0,-9.2,314,2707,0.00,0.00,0.00,0.000,6,0.000,0.000,1881,2750,3434,3504,3365,0,0,0,0,0,0,15.54,15.57,15.56
$GC,3003,-0.73,-116.8,1881,2749,3499,3363,421.9,-9.8,324,3009,0.00,2.05,0.00,0.000,260,0.000,0.087,1878,3937,3431,3500,3362,0,0,0,0,0,0,15.54,15.33,15.56
$GC,3186,-0.73,-116.8,1881,3937,3498,3361,440.6,-10.1,360,3192,0.00,1.83,0.00,0.000,1030,0.000,0.037,1881,2782,3429,3497,3361,0,0,0,0,0,0,15.44,15.39,15.45
$GC,3520,-0.73,-116.8,1881,2782,3495,3358,472.6,-9.2,376,3529,0.00,2.33,0.00,0.000,516,0.000,0.049,1881,1354,3426,3494,3358,0,0,0,0,0,0,15.54,15.35,15.55
$GC,3620,-0.73,-116.8,1882,1360,3492,3358,481.7,-8.7,396,3632,0.00,2.35,0.00,0.000,1030,0.000,0.058,1881,2748,3425,3492,3359,0,0,0,0,0,0,15.41,15.33,15.43
$GC,3945,-0.73,-116.8,1880,2748,3489,3354,507.6,-7.6,410,3952,0.00,2.30,0.00,0.000,516,0.000,0.047,1881,1350,3421,3488,3354,0,0,0,0,0,0,15.54,15.34,15.55
$GC,4057,-0.73,-116.8,1881,1350,3486,3354,516.4,-7.4,432,4064,0.00,2.38,0.00,0.000,1030,0.000,0.060,1881,2756,3420,3486,3354,0,0,0,0,0,0,15.42,15.33,15.45
$GC,4364,-0.73,-116.8,1881,2756,3481,3352,539.1,-7.7,443,4370,0.00,2.03,0.00,0.000,260,0.000,0.088,1880,3952,3418,3485,3352,0,0,0,0,0,0,15.53,15.32,15.55
$GC,4507,-0.73,-116.8,1881,3952,3484,3351,551.4,-9.1,471,4512,0.00,1.92,0.00,0.000,1030,0.000,0.041,1881,2749,3417,3484,3351,0,0,0,0,0,0,15.42,15.38,15.44
$GC,4820,-0.73,-116.8,1881,2750,3481,3349,577.9,-8.4,483,4829,0.00,2.30,0.00,0.000,516,0.000,0.050,1881,1348,3414,3479,3349,0,0,0,0,0,0,15.51,15.37,15.52
$GC,4900,-0.73,-116.8,1881,1346,3480,3348,585.3,-9.2,498,4908,0.00,2.38,0.00,0.000,1030,0.000,0.059,1881,2753,3413,3480,3347,0,0,0,0,0,0,15.40,15.32,15.42
$GC,5217,-0.73,-116.8,1881,2752,3477,3346,612.2,-8.3,511,5221,0.00,0.00,0.00,0.000,6,0.000,0.000,1882,2752,3413,3476,3351,0,0,0,0,0,0,15.51,15.53,15.53
$GC,5517,-0.73,-116.8,1881,2752,3475,3344,635.4,-7.6,521,5521,0.00,0.00,0.00,0.000,6,0.000,0.000,1881,2752,3409,3475,3344,0,0,0,0,0,0,15.50,15.52,15.52
$GC,5817,-0.73,-116.8,1881,2752,3472,3343,658.3,-7.8,531,5821,0.00,0.00,0.00,0.000,6,0.000,0.000,1881,2752,3409,3474,3345,0,0,0,0,0,0,15.51,15.53,15.52
$GC,6117,-0.73,-116.8,1881,2752,3471,3342,680.9,-7.6,541,6121,0.00,0.00,0.00,0.000,6,0.000,0.000,1881,2752,3406,3471,3341,0,0,0,0,0,0,15.50,15.52,15.52
$GC,6417,-0.73,-116.8,1881,2752,3469,3341,701.9,-6.7,551,6423,0.00,2.35,0.00,0.000,516,0.000,0.050,1881,1347,3405,3469,3341,0,0,0,0,0,0,15.50,15.32,15.52
$GC,6541,-0.73,-116.8,1881,1348,3467,3340,710.0,-7.0,575,6548,0.00,2.38,0.00,0.000,1030,0.000,0.060,1881,2748,3403,3467,3340,0,0,0,0,0,0,15.38,15.30,15.40
$GC,6871,-0.73,-116.8,1881,2748,3467,3339,731.9,-6.8,591,6876,0.00,2.05,0.00,0.000,260,0.000,0.093,1881,3946,3402,3466,3339,0,0,0,0,0,0,15.50,15.28,15.52
$GC,6928,-0.73,-116.8,1881,3946,3461,3337,736.1,-7.3,602,6934,0.00,1.98,0.00,0.000,1030,0.000,0.046,1881,2761,3401,3465,3338,0,0,0,0,0,0,15.36,15.33,15.38
$GC,7234,-0.73,-116.8,1881,2761,3464,3337,757.8,-7.2,613,7238,0.00,0.00,0.00,0.000,6,0.000,0.000,1881,2761,3400,3464,3337,0,0,0,0,0,0,15.50,15.52,15.52
$GC,7534,-0.73,-116.8,1881,2761,3463,3336,781.1,-8.0,623,7538,0.00,0.00,0.00,0.000,6,0.000,0.000,1881,2761,3397,3463,3332,0,0,0,0,0,0,15.50,15.52,15.52
$GC,7834,-0.73,-116.8,1881,2761,3462,3335,805.2,-8.3,633,7838,0.00,0.00,0.00,0.000,6,0.000,0.000,1881,2761,3399,3462,3336,0,0,0,0,0,0,15.50,15.52,15.52
$GC,8134,-0.73,-116.8,1881,2761,3461,3334,829.7,-7.9,643,8140,0.00,2.33,0.00,0.000,516,0.000,0.053,1880,1348,3397,3460,3335,0,0,0,0,0,0,15.50,15.30,15.52
$GC,8198,-0.73,-116.8,1881,1348,3460,3335,834.8,-8.0,655,8205,0.00,2.40,0.00,0.000,1030,0.000,0.063,1881,2753,3396,3459,3334,0,0,0,0,0,0,15.38,15.28,15.40
$GC,8528,-0.73,-116.8,1881,2753,3458,3334,859.4,-7.3,671,8533,0.00,2.35,0.00,0.000,516,0.000,0.052,1881,1343,3395,3458,3333,0,0,0,0,0,0,15.49,15.30,15.51
$GC,8639,-0.73,-116.8,1880,1342,3457,3333,867.8,-7.3,693,8646,0.00,2.42,0.00,0.000,1030,0.000,0.063,1881,2758,3394,3455,3333,0,0,0,0,0,0,15.36,15.28,15.38
$GC,8954,-0.73,-116.8,1881,2758,3458,3332,889.9,-7.1,705,8960,0.00,2.05,0.00,0.000,260,0.000,0.094,1881,3944,3394,3456,3332,0,0,0,0,0,0,15.52,15.26,15.50
$GC,9078,-0.73,-116.8,1881,3945,3457,3332,899.5,-7.8,729,9085,0.00,1.95,0.00,0.000,1030,0.000,0.048,1881,2751,3394,3457,3332,0,0,0,0,0,0,15.36,15.30,15.37
$GC,9412,-0.73,-116.8,1881,2750,3456,3331,923.5,-7.1,745,9419,0.00,2.33,0.00,0.000,516,0.000,0.053,1881,1343,3393,3456,3331,0,0,0,0,0,0,15.46,15.28,15.48
$GC,9461,-0.73,-116.8,1877,1343,3455,3331,927.2,-6.9,754,9469,0.00,2.42,0.00,0.000,1030,0.000,0.064,1885,2754,3395,3453,3338,0,0,0,0,0,0,15.35,15.26,15.36
$GC,9777,-0.73,-116.8,1880,2754,3455,3330,949.4,-7.0,767,9781,0.00,0.00,0.00,0.000,6,0.000,0.000,1881,2751,3393,3456,3330,0,0,0,0,0,0,15.46,15.48,15.47
$GC,10077,-0.73,-116.8,1881,2754,3454,3330,969.7,-6.8,777,10082,0.00,0.00,0.00,0.000,6,0.000,0.000,1881,2754,3392,3454,3330,0,0,0,0,0,0,15.46,15.47,15.47
$GC,10377,-0.73,-116.8,1881,2754,3449,3329,990.0,-6.8,787,10383,0.00,2.38,0.00,0.000,516,0.000,0.054,1881,1346,3391,3453,3330,0,0,0,0,0,0,15.44,15.27,15.46
$STATE,10386,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10386,begin apogee
$GC,10392,-0.21,0.0,1881,1726,3453,3330,990.9,-6.7,789,10499,0.60,0.00,102.38,2.090,10246,0.210,0.000,2052,1722,2969,3040,2899,0,0,0,0,0,0,15.19,14.52,13.81
$STATE,10502,end apogee,CONTROL_FINISHED_OK
$STATE,10502,begin climb
$GC,10504,0.73,116.8,2052,1726,3036,2898,994.0,0.0,792,10635,0.98,2.00,119.28,2.020,10756,0.127,0.073,2359,648,2490,2555,2426,0,0,0,0,0,0,14.51,14.23,13.64
$GC,10754,0.73,116.8,2358,649,2548,2419,977.0,11.4,836,10760,0.00,1.77,0.00,0.000,1030,0.000,0.045,2359,1696,2481,2544,2419,0,0,0,0,0,0,14.83,14.78,14.85
$GC,11088,0.73,116.8,2358,1696,2548,2413,944.9,9.5,852,11097,0.00,2.42,0.00,0.000,260,0.000,0.069,2358,3102,2479,2547,2412,0,0,0,0,0,0,15.21,15.00,15.23
$GC,11214,0.73,116.8,2358,3102,2551,2411,932.3,10.5,877,11221,0.00,2.38,0.00,0.000,1030,0.000,0.049,2358,1710,2479,2548,2411,0,0,0,0,0,0,15.14,15.07,15.16
$GC,11544,0.73,116.8,2358,1710,2548,2409,901.1,9.4,892,11548,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,1710,2478,2548,2408,0,0,0,0,0,0,15.31,15.34,15.33
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$STATE,21967,end climb,SURFACE_DEPTH_REACHED
$STATE,21967,begin surface coast
$STATE,21998,end surface coast,CONTROL_FINISHED_OK
$STATE,21998,begin surface
$SM_CCo,22017,162.05,0.663,1,0,928,500.17
$SM_GC,0.54,6.75,1.75,162.05,0.079,0.049,0.663,161,2721,928,-6.08,-1.78,500.17,0,0,0,0,1,0,15.23,15.25,14.53
$IRIDIUM_FIX,1420.01,14413.25,201019,202545
$TT8_MAMPS,0.019474,0.163282
$HUMID,43.10
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,27.30
$XPDR_PINGS,0
$SC_FREEKB,3841504
$PM_FREEKB_00,82005696
$PM_FREEKB_01,124821056
$PM_FREEKB_02,124821056
$PM_FREEKB_03,124821056
$PM_ACTIVECARD,0
$24V_AH,13.64,34.180
$10V_AH,13.46,0.000
$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,16.950,157.400,389.725,162.050,0.000,0.000,0.000,470.625,0.000,0.000,16.686,1554.669,14838.026,650.564,5482.973,362.158,0.000,2825.208,0.000,4672.647,0.000,0.553,0.000
$DEVICE_MAMPS,403.155,100.215,2089.980,663.255,0.000,0.000,0.000,208.845,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22028.000,22019.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.833,7.928,0.000,0.000
$MEM,270860
$DATA_FILE_SIZE,66425,1914
$CAP_FILE_SIZE,195637,0
$CFSIZE,260034560,245276672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.116,241.45,1
$GPS,211019,091700,1420.091,14408.848,26,0.8,26,0.2,0.2,0.0,10,5.1