version: 66.13
glider: 178
mission: 31
dive: 154
start: 11 7 119 23 37 21
data:
$ID,178
$MISSION,31
$DIVE,154
$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,64
$R_STBD_OVSHOOT,61
$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
$GPS1,071119,232500,1411.2987,14410.0967,34,0.8,34,0.3,0.4,214.6,11,5.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.35
$_SM_ANGLEo,-59.4
$GPS2,071119,233631,1411.2983,14410.0928,2,0.6,4,0.3,0.1,0.0,12,6.3
$SPEED_LIMITS,0.147,0.188
$TGT_NAME,N
$TGT_LATLONG,1421.000,14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,357.6,17968,-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,-97.3,152,2717,988,874,0.0,0.0,0,110,0.00,0.00,-88.68,0.005,16386,0.000,0.000,152,2718,3221,3246,3196,0,0,0,0,0,0,15.26,28.83,15.27
$GC,112,-0.81,-97.3,152,2718,3244,3196,4.6,-8.9,9,129,8.05,0.00,-2.55,0.036,18438,0.399,0.000,1854,2718,3365,3398,3332,0,0,0,0,0,0,14.83,14.37,15.11
$GC,311,-0.81,-97.3,1854,2718,3399,3331,76.8,-32.3,29,317,0.00,2.05,0.00,0.000,260,0.000,0.077,1847,3916,3364,3398,3331,0,0,0,0,0,0,15.35,15.12,15.37
$GC,395,-0.81,-97.3,1847,3917,3398,3331,103.2,-28.0,45,402,0.00,1.85,0.00,0.000,1030,0.000,0.031,1847,2750,3364,3398,3331,0,0,0,0,0,0,15.26,15.22,15.27
$GC,590,-0.81,-97.3,1847,2744,3399,3331,138.5,-17.8,65,597,0.00,2.00,0.00,0.000,260,0.000,0.080,1839,3915,3364,3398,3331,0,0,0,0,0,0,15.40,15.16,15.41
$GC,825,-0.81,-97.3,1838,3916,3398,3331,180.1,-15.5,111,832,0.00,1.85,0.00,0.000,1030,0.000,0.031,1835,2735,3365,3399,3331,0,0,0,0,0,0,15.32,15.29,15.33
$GC,1020,-0.81,-97.3,1838,2729,3399,3331,205.0,-13.8,131,1027,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2729,3365,3399,3331,0,0,0,0,0,0,15.45,15.47,15.47
$GC,1210,-0.81,-97.3,1838,2729,3399,3331,226.3,-9.3,150,1216,0.00,2.20,0.00,0.000,516,0.000,0.045,1839,1367,3364,3398,3331,0,0,0,0,0,0,15.46,15.25,15.48
$GC,1256,-0.81,-97.3,1838,1367,3399,3331,231.4,-12.3,158,1266,0.12,2.25,0.00,0.000,3078,0.285,0.053,1857,2713,3365,3399,3331,0,0,0,0,0,0,15.11,15.24,15.30
$GC,1456,-0.81,-97.3,1856,2713,3399,3330,254.6,-12.2,177,1464,0.00,2.08,0.00,0.000,260,0.000,0.083,1849,3944,3364,3399,3330,0,0,0,0,0,0,15.47,15.22,15.49
$GC,1691,-0.81,-97.3,1854,3944,3399,3328,285.9,-12.3,223,1697,0.00,1.88,0.00,0.000,1030,0.000,0.033,1848,2741,3363,3399,3327,0,0,0,0,0,0,15.38,15.33,15.38
$GC,2006,-0.81,-97.3,1847,2735,3398,3325,314.5,-8.5,235,2012,0.00,2.20,0.00,0.000,516,0.000,0.047,1849,1376,3362,3399,3325,0,0,0,0,0,0,15.48,15.29,15.50
$GC,2160,-0.81,-97.3,1849,1376,3399,3323,330.3,-10.3,265,2166,0.00,2.33,0.00,0.000,1030,0.000,0.056,1844,2756,3361,3399,3323,0,0,0,0,0,0,15.36,15.27,15.37
$GC,2494,-0.81,-97.3,1844,2755,3399,3319,363.8,-10.7,281,2501,0.00,2.03,0.00,0.000,260,0.000,0.089,1844,3945,3359,3399,3319,0,0,0,0,0,0,15.50,15.26,15.52
$GC,2612,-0.81,-97.3,1844,3946,3399,3316,378.7,-12.2,304,2619,0.00,1.92,0.00,0.000,1030,0.000,0.035,1844,2744,3357,3399,3316,0,0,0,0,0,0,15.35,15.32,15.36
$GC,2918,-0.81,-97.3,1845,2744,3399,3311,413.9,-10.9,315,2924,0.00,2.22,0.00,0.000,516,0.000,0.050,1845,1383,3355,3399,3311,0,0,0,0,0,0,15.50,15.28,15.52
$GC,2960,-0.81,-97.3,1844,1383,3399,3311,418.5,-10.6,323,2966,0.00,2.33,0.00,0.000,1030,0.000,0.060,1844,2748,3354,3399,3310,0,0,0,0,0,0,15.35,15.26,15.36
$GC,3285,-0.81,-97.3,1844,2748,3399,3306,452.0,-10.6,337,3288,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,2749,3352,3399,3306,0,0,0,0,0,0,15.50,15.52,15.52
$GC,3584,-0.81,-97.3,1844,2748,3399,3301,480.5,-9.0,347,3590,0.00,2.05,0.00,0.000,260,0.000,0.088,1844,3945,3349,3398,3301,0,0,0,0,0,0,15.50,15.25,15.52
$GC,3665,-0.81,-97.3,1844,3945,3399,3300,488.8,-10.3,363,3671,0.00,1.88,0.00,0.000,1030,0.000,0.038,1844,2755,3349,3399,3300,0,0,0,0,0,0,15.39,15.35,15.40
$GC,3980,-0.81,-97.3,1844,2755,3394,3296,514.5,-8.1,375,3986,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,2754,3346,3397,3296,0,0,0,0,0,0,15.48,15.50,15.50
$GC,4279,-0.81,-97.3,1844,2754,3394,3293,537.2,-7.8,385,4285,0.00,2.10,0.00,0.000,260,0.000,0.093,1844,3950,3344,3395,3294,0,0,0,0,0,0,15.50,15.22,15.51
$GC,4381,-0.81,-97.3,1849,3950,3393,3293,546.9,-9.5,405,4387,0.00,1.90,0.00,0.000,1030,0.000,0.041,1844,2769,3342,3393,3292,0,0,0,0,0,0,15.38,15.33,15.39
$GC,4706,-0.81,-97.3,1845,2769,3390,3291,576.9,-9.8,419,4710,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,2769,3343,3396,3291,0,0,0,0,0,0,15.47,15.50,15.50
$GC,5006,-0.81,-97.3,1844,2769,3388,3288,605.0,-9.1,429,5009,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,2769,3339,3390,3288,0,0,0,0,0,0,15.47,15.50,15.49
$GC,5306,-0.81,-97.3,1844,2769,3386,3287,631.6,-8.9,439,5310,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,2769,3336,3386,3286,0,0,0,0,0,0,15.46,15.49,15.48
$GC,5606,-0.81,-97.3,1844,2769,3384,3285,657.7,-8.8,449,5610,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2769,3334,3384,3285,0,0,0,0,0,0,15.47,15.49,15.49
$GC,5906,-0.81,-97.3,1844,2768,3382,3283,684.0,-9.2,459,5911,0.00,2.08,0.00,0.000,260,0.000,0.093,1844,3947,3330,3382,3279,0,0,0,0,0,0,15.47,15.23,15.48
$GC,5959,-0.81,-97.3,1844,3947,3382,3283,689.6,-10.8,469,5965,0.00,1.95,0.00,0.000,1030,0.000,0.044,1844,2753,3332,3382,3282,0,0,0,0,0,0,15.33,15.28,15.35
$GC,6273,-0.81,-97.3,1844,2753,3381,3281,721.1,-10.1,481,6280,0.00,2.33,0.00,0.000,516,0.000,0.050,1844,1350,3330,3380,3281,0,0,0,0,0,0,15.47,15.25,15.50
$GC,6330,-0.81,-97.3,1844,1349,3382,3280,727.3,-10.4,492,6337,0.00,2.45,0.00,0.000,1030,0.000,0.061,1844,2745,3330,3380,3281,0,0,0,0,0,0,15.26,15.19,15.28
$GC,6637,-0.81,-97.3,1844,2746,3378,3279,756.8,-9.3,503,6641,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,2746,3328,3378,3279,0,0,0,0,0,0,15.47,15.50,15.49
$GC,6938,-0.81,-97.3,1844,2746,3377,3278,781.5,-7.8,513,6945,0.00,2.33,0.00,0.000,516,0.000,0.048,1844,1358,3327,3377,3277,0,0,0,0,0,0,15.47,15.24,15.49
$GC,7086,-0.81,-97.3,1844,1359,3375,3277,793.1,-7.6,542,7093,0.00,2.45,0.00,0.000,1030,0.000,0.061,1844,2754,3326,3375,3277,0,0,0,0,0,0,15.24,15.17,15.28
$GC,7393,-0.81,-97.3,1844,2754,3375,3276,815.8,-7.8,553,7399,0.00,2.08,0.00,0.000,260,0.000,0.095,1846,3948,3325,3375,3276,0,0,0,0,0,0,15.45,15.17,15.47
$GC,7475,-0.81,-97.3,1844,3949,3375,3275,823.3,-8.3,569,7481,0.00,1.98,0.00,0.000,1030,0.000,0.046,1844,2752,3325,3375,3275,0,0,0,0,0,0,15.33,15.28,15.34
$GC,7789,-0.81,-97.3,1839,2751,3373,3274,849.0,-8.4,581,7795,0.00,2.33,0.00,0.000,516,0.000,0.050,1844,1355,3323,3373,3274,0,0,0,0,0,0,15.45,15.23,15.47
$GC,7832,-0.81,-97.3,1844,1356,3373,3274,853.4,-8.7,589,7838,0.00,2.42,0.00,0.000,1030,0.000,0.063,1844,2755,3323,3373,3274,0,0,0,0,0,0,15.30,15.19,15.33
$GC,8156,-0.81,-97.3,1844,2755,3371,3273,879.2,-8.0,603,8164,0.00,2.38,0.00,0.000,516,0.000,0.050,1844,1345,3325,3378,3273,0,0,0,0,0,0,15.43,15.21,15.45
$GC,8210,-0.81,-97.3,1844,1345,3371,3273,884.3,-8.2,614,8218,0.00,2.47,0.00,0.000,1030,0.000,0.063,1844,2744,3322,3371,3273,0,0,0,0,0,0,15.21,15.15,15.24
$GC,8517,-0.81,-97.3,1844,2744,3370,3272,905.7,-6.8,625,8524,0.00,2.12,0.00,0.000,260,0.000,0.096,1844,3950,3321,3371,3272,0,0,0,0,0,0,15.44,15.16,15.45
$GC,8565,-0.81,-97.3,1844,3950,3370,3271,909.9,-7.5,634,8572,0.00,1.98,0.00,0.000,1030,0.000,0.046,1844,2749,3320,3370,3270,0,0,0,0,0,0,15.30,15.26,15.33
$GC,8885,-0.81,-97.3,1844,2749,3370,3271,930.0,-6.3,647,8891,0.00,2.33,0.00,0.000,548,0.000,0.050,1844,1353,3320,3370,3271,0,0,0,0,0,0,15.44,15.21,15.45
$GC,8967,-0.81,-97.3,1849,1353,3369,3270,936.2,-6.4,663,8977,0.00,2.42,0.00,0.000,1062,0.000,0.063,1844,2750,3320,3371,3270,0,0,0,0,0,0,15.28,15.17,15.30
$GC,9279,-0.81,-97.3,1843,2750,3367,3272,956.0,-6.8,675,9284,0.00,2.10,0.00,0.000,260,0.000,0.097,1844,3946,3318,3367,3270,0,0,0,0,0,0,15.44,15.14,15.45
$GC,9386,-0.81,-97.3,1843,3946,3367,3269,964.7,-7.5,696,9391,0.00,1.98,0.00,0.000,1030,0.000,0.046,1844,2746,3319,3368,3270,0,0,0,0,0,0,15.29,15.25,15.31
$GC,9704,-0.81,-97.3,1843,2746,3367,3269,986.8,-7.3,709,9710,0.00,2.12,0.00,0.000,260,0.000,0.096,1844,3941,3318,3367,3269,0,0,0,0,0,0,15.43,15.12,15.45
$STATE,9736,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9736,begin apogee
$GC,9745,-0.21,0.0,1846,1707,3367,3269,990.2,-8.4,715,9835,0.73,0.00,84.62,2.072,10246,0.213,0.000,2050,1707,2970,3033,2907,0,0,0,0,0,0,15.02,14.59,13.90
$STATE,9843,end apogee,CONTROL_FINISHED_OK
$STATE,9843,begin climb
$GC,9846,0.81,97.3,2050,1707,3032,2905,992.7,0.0,718,9955,1.05,2.03,98.95,2.020,10756,0.118,0.079,2380,633,2571,2631,2512,0,0,0,0,0,0,14.60,14.35,13.70
$GC,10021,0.81,97.3,2380,633,2624,2506,981.7,9.3,756,10027,0.00,1.88,0.00,0.000,1030,0.000,0.043,2380,1725,2567,2625,2510,0,0,0,0,0,0,14.73,14.67,14.75
$GC,10339,0.81,97.3,2382,1726,2625,2503,952.9,9.2,769,10346,0.00,2.38,0.00,0.000,260,0.000,0.069,2381,3088,2564,2625,2503,0,0,0,0,0,0,15.19,14.95,15.20
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$STATE,21409,end climb,SURFACE_DEPTH_REACHED
$STATE,21409,begin surface coast
$STATE,21429,end surface coast,CONTROL_FINISHED_OK
$STATE,21429,begin surface
$SM_CCo,21447,147.70,0.654,1,0,928,500.17
$SM_GC,0.49,7.07,0.55,147.70,0.109,0.040,0.654,159,2694,928,-6.09,0.99,500.17,0,0,1,0,1,0,15.14,15.23,14.47
$IRIDIUM_FIX,1413.50,14408.34,071119,171947
$TT8_MAMPS,0.019474,0.155792
$HUMID,44.72
$INTERNAL_PRESSURE,8.95542
$TCM_TEMP,25.90
$XPDR_PINGS,0
$SC_FREEKB,3801856
$PM_FREEKB_00,58040768
$PM_FREEKB_01,101446656
$PM_FREEKB_02,124821056
$PM_FREEKB_03,124821056
$PM_ACTIVECARD,1
$24V_AH,13.70,63.827
$10V_AH,13.12,0.000
$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,17.375,155.800,383.775,147.700,0.000,0.000,0.000,455.825,0.000,0.000,15.536,1476.945,14582.431,623.894,5233.402,381.088,0.000,2698.710,0.000,4450.170,0.000,0.554,0.000
$DEVICE_MAMPS,398.565,97.155,2071.620,654.075,0.000,0.000,0.000,205.785,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21459.000,21450.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.480,6.814,0.000,0.000
$MEM,270820
$DATA_FILE_SIZE,59927,1760
$CAP_FILE_SIZE,190689,0
$CFSIZE,260034560,232615936
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,1,0,0
$INTR,0,2009.37,0x2147a0,0,24
$CURRENT,0.039,250.35,1
$GPS,081119,053901,1413.320,14409.598,36,0.9,43,0.3,0.2,0.0,9,5.8