version: 66.13
glider: 178
mission: 31
dive: 144
start: 11 5 119 16 21 12
data:
$ID,178
$MISSION,31
$DIVE,144
$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,100
$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,35
$R_STBD_OVSHOOT,32
$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
$GPS1,051119,161030,1416.5221,14410.2666,29,0.6,29,0.3,0.1,160.2,12,3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.32
$_SM_ANGLEo,-56.9
$GPS2,051119,162024,1416.5425,14410.2363,2,0.6,3,0.3,0.5,344.8,12,9.0
$SPEED_LIMITS,0.147,0.188
$TGT_NAME,S
$TGT_LATLONG,1410.000,14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,180.3,12124,-18.6,-8.462,-24.20,1753
$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,-0.81,-97.3,158,2750,985,866,0.0,0.0,0,109,0.00,0.00,-88.20,0.005,16386,0.000,0.000,158,2750,3194,3219,3169,0,0,0,0,0,0,15.26,28.83,15.28
$GC,112,-0.81,-97.3,158,2749,3219,3169,4.5,-8.9,9,129,7.90,2.03,-2.97,0.040,18692,0.397,0.093,1845,3942,3365,3399,3332,0,0,0,0,0,0,14.84,14.41,15.03
$GC,358,-0.81,-97.3,1845,3942,3398,3338,96.6,-33.8,58,364,0.00,1.98,0.00,0.000,1030,0.000,0.031,1845,2693,3365,3399,3332,0,0,0,0,0,0,15.22,15.20,15.23
$GC,545,-0.81,-97.3,1844,2694,3397,3332,134.9,-18.2,77,551,0.00,2.12,0.00,0.000,260,0.000,0.078,1835,3945,3365,3398,3332,0,0,0,0,0,0,15.40,15.17,15.42
$GC,780,-0.81,-97.3,1835,3945,3399,3332,178.5,-19.0,123,785,0.00,1.92,0.00,0.000,1030,0.000,0.031,1836,2718,3365,3399,3332,0,0,0,0,0,0,15.33,15.28,15.33
$GC,973,-0.81,-97.3,1835,2712,3399,3332,207.0,-11.7,143,979,0.00,2.10,0.00,0.000,260,0.000,0.078,1831,3941,3365,3399,3332,0,0,0,0,0,0,15.45,15.21,15.47
$GC,1206,-0.81,-97.3,1830,3942,3405,3332,237.7,-13.0,189,1214,0.12,1.90,0.00,0.000,3078,0.282,0.031,1856,2728,3365,3398,3332,0,0,0,0,0,0,15.12,15.33,15.30
$GC,1422,-0.81,-97.3,1856,2728,3404,3331,260.0,-10.3,205,1425,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,2728,3365,3399,3331,0,0,0,0,0,0,15.46,15.50,15.50
$GC,1721,-0.81,-97.3,1856,2728,3399,3328,294.0,-10.7,215,1725,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,2728,3363,3399,3328,0,0,0,0,0,0,15.50,15.52,15.51
$GC,2021,-0.81,-97.3,1856,2728,3399,3325,322.9,-10.2,225,2025,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,2728,3362,3399,3325,0,0,0,0,0,0,15.50,15.51,15.52
$GC,2322,-0.81,-97.3,1856,2728,3399,3320,354.5,-9.4,235,2327,0.00,2.17,0.00,0.000,516,0.000,0.043,1857,1381,3359,3399,3320,0,0,0,0,0,0,15.50,15.30,15.52
$GC,2385,-0.81,-97.3,1856,1381,3399,3317,359.2,-7.1,247,2392,0.00,2.28,0.00,0.000,1030,0.000,0.052,1856,2745,3359,3399,3320,0,0,0,0,0,0,15.38,15.32,15.39
$GC,2719,-0.81,-97.3,1856,2745,3399,3314,387.3,-10.2,263,2727,0.00,2.03,0.00,0.000,260,0.000,0.085,1858,3944,3356,3399,3313,0,0,0,0,0,0,15.49,15.26,15.51
$GC,2953,-0.81,-97.3,1856,3944,3399,3309,413.6,-9.9,309,2959,0.00,1.88,0.00,0.000,1030,0.000,0.035,1853,2741,3354,3399,3309,0,0,0,0,0,0,15.39,15.36,15.40
$GC,3268,-0.81,-97.3,1856,2741,3399,3305,443.7,-9.9,321,3274,0.00,2.08,0.00,0.000,260,0.000,0.088,1856,3944,3354,3399,3309,0,0,0,0,0,0,15.50,15.26,15.52
$GC,3406,-0.81,-97.3,1856,3944,3399,3302,458.6,-10.5,348,3413,0.00,1.88,0.00,0.000,1030,0.000,0.037,1856,2767,3347,3394,3301,0,0,0,0,0,0,15.39,15.35,15.40
$GC,3725,-0.81,-97.3,1856,2768,3398,3298,486.4,-8.0,361,3732,0.00,2.28,0.00,0.000,516,0.000,0.044,1856,1370,3347,3398,3297,0,0,0,0,0,0,15.50,15.29,15.52
$GC,3783,-0.81,-97.3,1856,1370,3396,3297,491.1,-7.9,372,3789,0.00,2.38,0.00,0.000,1030,0.000,0.057,1856,2745,3350,3403,3297,0,0,0,0,0,0,15.30,15.24,15.33
$GC,4090,-0.81,-97.3,1856,2745,3394,3294,514.8,-7.7,383,4093,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,2745,3344,3395,3294,0,0,0,0,0,0,15.50,15.52,15.52
$GC,4390,-0.81,-97.3,1856,2745,3392,3292,536.1,-6.8,393,4396,0.00,2.05,0.00,0.000,260,0.000,0.090,1857,3946,3342,3392,3292,0,0,0,0,0,0,15.50,15.25,15.52
$GC,4472,-0.81,-97.3,1856,3946,3391,3287,542.1,-7.3,409,4479,0.00,1.92,0.00,0.000,1030,0.000,0.040,1857,2746,3341,3391,3291,0,0,0,0,0,0,15.38,15.35,15.39
$GC,4787,-0.81,-97.3,1856,2741,3389,3288,565.2,-7.6,421,4791,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,2741,3339,3389,3289,0,0,0,0,0,0,15.49,15.52,15.51
$GC,5087,-0.81,-97.3,1856,2741,3387,3286,590.5,-8.7,431,5091,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,2741,3337,3387,3287,0,0,0,0,0,0,15.50,15.51,15.51
$GC,5386,-0.81,-97.3,1856,2741,3385,3285,616.8,-8.6,441,5391,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,2741,3333,3385,3282,0,0,0,0,0,0,15.50,15.51,15.50
$GC,5686,-0.81,-97.3,1856,2741,3382,3284,642.6,-8.7,451,5693,0.00,2.28,0.00,0.000,516,0.000,0.050,1856,1360,3333,3383,3283,0,0,0,0,0,0,15.49,15.26,15.52
$GC,5773,-0.81,-97.3,1856,1360,3382,3283,650.5,-8.7,468,5780,0.00,2.42,0.00,0.000,1030,0.000,0.060,1856,2749,3332,3381,3283,0,0,0,0,0,0,15.30,15.22,15.31
$GC,6080,-0.81,-97.3,1856,2749,3381,3281,675.6,-7.8,479,6087,0.00,2.08,0.00,0.000,260,0.000,0.091,1857,3948,3331,3381,3281,0,0,0,0,0,0,15.47,15.21,15.49
$GC,6228,-0.81,-97.3,1856,3948,3381,3280,687.8,-7.7,508,6235,0.00,1.98,0.00,0.000,1030,0.000,0.044,1857,2760,3330,3381,3280,0,0,0,0,0,0,15.29,15.27,15.31
$GC,6535,-0.81,-97.3,1856,2760,3379,3279,710.1,-7.3,519,6541,0.00,2.33,0.00,0.000,516,0.000,0.050,1855,1351,3329,3379,3279,0,0,0,0,0,0,15.47,15.25,15.48
$GC,6647,-0.81,-97.3,1856,1351,3377,3278,719.1,-7.7,541,6654,0.00,2.40,0.00,0.000,1030,0.000,0.060,1856,2749,3328,3378,3279,0,0,0,0,0,0,15.30,15.21,15.33
$GC,6962,-0.81,-97.3,1856,2750,3376,3277,742.2,-7.4,553,6966,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,2750,3326,3376,3277,0,0,0,0,0,0,15.47,15.50,15.49
$GC,7261,-0.81,-97.3,1856,2748,3375,3276,765.7,-8.1,563,7265,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,2751,3325,3375,3276,0,0,0,0,0,0,15.47,15.49,15.48
$GC,7561,-0.81,-97.3,1856,2751,3374,3275,792.8,-9.6,573,7568,0.00,2.08,0.00,0.000,260,0.000,0.093,1856,3952,3324,3374,3275,0,0,0,0,0,0,15.47,15.20,15.48
$GC,7656,-0.81,-97.3,1856,3952,3374,3274,802.2,-10.5,591,7662,0.00,1.98,0.00,0.000,1030,0.000,0.045,1856,2742,3321,3374,3269,0,0,0,0,0,0,15.34,15.29,15.35
$GC,7989,-0.81,-97.3,1856,2742,3372,3274,834.5,-9.4,607,7995,0.00,2.30,0.00,0.000,516,0.000,0.050,1856,1352,3323,3372,3274,0,0,0,0,0,0,15.46,15.23,15.47
$GC,8071,-0.81,-97.3,1856,1352,3372,3274,842.6,-9.1,623,8077,0.00,2.45,0.00,0.000,1030,0.000,0.063,1852,2761,3322,3371,3274,0,0,0,0,0,0,15.31,15.20,15.34
$GC,8384,-0.81,-97.3,1857,2761,3371,3273,868.3,-8.2,635,8388,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,2761,3321,3371,3272,0,0,0,0,0,0,15.45,15.47,15.47
$GC,8684,-0.81,-97.3,1856,2761,3370,3271,891.6,-7.6,645,8688,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,2759,3320,3370,3271,0,0,0,0,0,0,15.45,15.47,15.47
$GC,8984,-0.81,-97.3,1856,2761,3369,3267,914.0,-7.4,655,8988,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,2761,3320,3370,3271,0,0,0,0,0,0,15.45,15.47,15.47
$GC,9285,-0.81,-97.3,1856,2761,3368,3270,934.0,-6.1,665,9293,0.00,2.08,0.00,0.000,292,0.000,0.094,1855,3952,3319,3368,3270,0,0,0,0,0,0,15.45,15.16,15.47
$GC,9351,-0.81,-97.3,1856,3950,3371,3269,938.9,-6.3,677,9357,0.00,1.98,0.00,0.000,1062,0.000,0.047,1856,2754,3316,3363,3270,0,0,0,0,0,0,15.29,15.24,15.30
$GC,9686,-0.81,-97.3,1856,2754,3368,3270,956.5,-5.5,693,9692,0.00,2.35,0.00,0.000,548,0.000,0.052,1856,1344,3318,3367,3270,0,0,0,0,0,0,15.43,15.21,15.45
$GC,9743,-0.81,-97.3,1856,1341,3368,3267,960.4,-5.5,704,9750,0.00,2.47,0.00,0.000,1062,0.000,0.064,1856,2746,3318,3367,3269,0,0,0,0,0,0,15.21,15.15,15.24
$GC,10050,-0.81,-97.3,1856,2746,3367,3268,974.0,-4.5,715,10056,0.00,2.38,0.00,0.000,548,0.000,0.051,1856,1344,3315,3362,3268,0,0,0,0,0,0,15.43,15.20,15.45
$GC,10117,-0.81,-97.3,1856,1340,3361,3268,978.1,-4.9,728,10127,0.00,2.45,0.00,0.000,1062,0.000,0.063,1858,2757,3315,3363,3268,0,0,0,0,0,0,15.28,15.17,15.30
$STATE,10382,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10382,begin apogee
$GC,10389,-0.21,0.0,1856,1707,3366,3268,991.6,-5.7,741,10479,0.70,0.00,84.97,2.083,10246,0.208,0.000,2054,1707,2968,3031,2906,0,0,0,0,0,0,15.05,14.59,13.88
$STATE,10488,end apogee,CONTROL_FINISHED_OK
$STATE,10488,begin climb
$GC,10491,0.81,97.3,2054,1707,3030,2903,993.5,0.0,744,10599,1.05,1.95,98.97,2.036,10756,0.114,0.078,2384,643,2571,2631,2512,0,0,0,0,0,0,14.60,14.33,13.68
$GC,10646,0.81,97.3,2384,643,2625,2512,982.7,9.7,773,10652,0.00,1.85,0.00,0.000,1030,0.000,0.044,2389,1722,2567,2625,2510,0,0,0,0,0,0,14.67,14.61,14.69
$GC,10960,0.81,97.3,2384,1722,2620,2504,951.7,10.0,785,10967,0.00,1.90,0.00,0.000,516,0.000,0.076,2386,644,2564,2626,2503,0,0,0,0,0,0,15.17,14.93,15.19
$GC,11068,0.81,97.3,2386,645,2623,2503,941.6,9.6,806,11074,0.00,1.77,0.00,0.000,1030,0.000,0.044,2386,1709,2563,2623,2503,0,0,0,0,0,0,15.10,15.03,15.11
$GC,11387,0.81,97.3,2386,1709,2623,2502,912.9,8.7,819,11390,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1709,2562,2623,2501,0,0,0,0,0,0,15.28,15.30,15.30
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$STATE,22004,end climb,SURFACE_DEPTH_REACHED
$STATE,22004,begin surface coast
$STATE,22024,end surface coast,CONTROL_FINISHED_OK
$STATE,22024,begin surface
$SM_CCo,22042,144.45,0.659,1,0,929,500.17
$SM_GC,0.38,6.75,0.60,144.45,0.065,0.040,0.659,154,2705,929,-6.10,1.05,500.17,0,0,0,0,1,0,15.16,15.23,14.48
$IRIDIUM_FIX,1417.71,14408.34,051119,095039
$TT8_MAMPS,0.019474,0.154294
$HUMID,44.44
$INTERNAL_PRESSURE,8.95542
$TCM_TEMP,26.50
$XPDR_PINGS,0
$SC_FREEKB,3808768
$PM_FREEKB_00,58040768
$PM_FREEKB_01,106207296
$PM_FREEKB_02,124821056
$PM_FREEKB_03,124821056
$PM_ACTIVECARD,1
$24V_AH,13.68,60.001
$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,16.850,163.875,384.875,144.450,0.000,0.000,0.000,382.275,0.000,0.000,14.748,1590.808,14963.595,619.877,5252.098,369.880,0.000,2687.750,0.000,4542.378,0.000,0.552,0.000
$DEVICE_MAMPS,397.035,94.095,2083.095,659.430,0.000,0.000,0.000,197.370,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22036.000,22039.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.185,6.449,0.000,0.000
$MEM,270864
$DATA_FILE_SIZE,66458,1875
$CAP_FILE_SIZE,197244,0
$CFSIZE,260034560,234418176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.084,170.29,1
$GPS,051119,223230,1413.867,14410.395,29,0.8,29,0.3,0.3,174.6,11,4.7