version: 66.13
glider: 178
mission: 31
dive: 159
start: 11 9 119 6 47 11
data:
$ID,178
$MISSION,31
$DIVE,159
$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,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
$GPS1,091119,063300,1419.6188,14409.7158,18,1.2,18,0.2,0.3,13.1,7,10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.38
$_SM_ANGLEo,-57.5
$GPS2,091119,064621,1419.7109,14409.6914,2,0.8,4,0.2,0.1,0.0,12,6.8
$SPEED_LIMITS,0.147,0.188
$TGT_NAME,S
$TGT_LATLONG,1410.000,14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,175.7,17993,-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,-97.3,160,2721,990,870,0.0,0.0,0,110,0.00,0.00,-89.05,0.005,16386,0.000,0.000,161,2722,3260,3288,3233,0,0,0,0,0,0,15.25,28.83,15.27
$GC,112,-0.81,-97.3,160,2722,3288,3233,5.0,-9.7,9,130,8.00,2.33,-1.83,0.063,18948,0.401,0.058,1851,1337,3367,3398,3336,0,0,0,0,0,0,14.81,14.38,15.01
$GC,238,-0.81,-97.3,1851,1337,3398,3335,53.2,-32.4,34,245,0.00,2.42,0.00,0.000,1030,0.000,0.055,1844,2738,3369,3398,3340,0,0,0,0,0,0,15.12,15.08,15.16
$GC,425,-0.81,-97.3,1843,2738,3398,3334,106.8,-22.6,53,432,0.00,2.33,0.00,0.000,516,0.000,0.044,1843,1334,3366,3398,3334,0,0,0,0,0,0,15.40,15.15,15.39
$GC,460,-0.81,-97.3,1842,1335,3399,3334,113.3,-18.0,59,466,0.00,2.40,0.00,0.000,1030,0.000,0.054,1835,2753,3366,3399,3333,0,0,0,0,0,0,15.24,15.16,15.26
$GC,656,-0.81,-97.3,1834,2749,3399,3333,148.8,-19.0,79,661,0.00,2.00,0.00,0.000,260,0.000,0.079,1826,3946,3365,3398,3333,0,0,0,0,0,0,15.40,15.18,15.42
$GC,891,-0.81,-97.3,1825,3946,3399,3333,187.1,-13.8,125,899,0.17,1.92,0.00,0.000,3078,0.285,0.030,1863,2705,3366,3399,3333,0,0,0,0,0,0,15.06,15.26,15.25
$GC,1088,-0.81,-97.3,1864,2702,3399,3329,212.1,-13.6,145,1094,0.00,2.15,0.00,0.000,260,0.000,0.080,1859,3944,3366,3399,3333,0,0,0,0,0,0,15.45,15.21,15.46
$GC,1283,-0.81,-97.3,1859,3944,3399,3333,240.7,-14.2,183,1289,0.00,1.85,0.00,0.000,1030,0.000,0.031,1859,2750,3366,3400,3333,0,0,0,0,0,0,15.35,15.31,15.36
$GC,1487,-0.81,-97.3,1859,2744,3400,3332,264.7,-11.2,196,1493,0.00,2.20,0.00,0.000,516,0.000,0.045,1859,1384,3365,3400,3331,0,0,0,0,0,0,15.47,15.24,15.50
$GC,1595,-0.81,-97.3,1859,1384,3400,3331,276.4,-11.1,217,1601,0.00,2.30,0.00,0.000,1030,0.000,0.053,1858,2766,3364,3399,3330,0,0,0,0,0,0,15.34,15.26,15.36
$GC,1916,-0.81,-97.3,1857,2760,3399,3328,305.4,-8.1,230,1922,0.00,2.25,0.00,0.000,516,0.000,0.044,1857,1384,3363,3399,3327,0,0,0,0,0,0,15.46,15.28,15.50
$GC,2028,-0.81,-97.3,1857,1384,3399,3326,314.4,-8.5,252,2034,0.00,2.28,0.00,0.000,1030,0.000,0.053,1858,2745,3362,3399,3326,0,0,0,0,0,0,15.33,15.26,15.35
$GC,2342,-0.81,-97.3,1857,2744,3399,3321,344.6,-10.2,264,2347,0.00,2.03,0.00,0.000,260,0.000,0.083,1858,3943,3360,3399,3321,0,0,0,0,0,0,15.50,15.25,15.52
$GC,2574,-0.81,-97.3,1857,3943,3401,3317,372.5,-12.0,310,2579,0.00,1.88,0.00,0.000,1030,0.000,0.034,1858,2741,3358,3399,3317,0,0,0,0,0,0,15.38,15.35,15.38
$GC,2888,-0.81,-97.3,1857,2741,3399,3312,402.2,-9.0,322,2893,0.00,2.08,0.00,0.000,260,0.000,0.084,1858,3940,3355,3399,3311,0,0,0,0,0,0,15.50,15.25,15.52
$GC,2970,-0.81,-97.3,1857,3940,3399,3308,410.3,-9.9,338,2976,0.00,1.85,0.00,0.000,1030,0.000,0.037,1858,2761,3357,3405,3310,0,0,0,0,0,0,15.38,15.35,15.40
$GC,3284,-0.81,-97.3,1857,2763,3399,3303,442.1,-10.1,350,3288,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,2761,3352,3399,3306,0,0,0,0,0,0,15.50,15.52,15.52
$GC,3583,-0.81,-97.3,1859,2762,3399,3300,469.4,-8.7,360,3587,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,2761,3349,3398,3300,0,0,0,0,0,0,15.50,15.52,15.52
$GC,3885,-0.81,-97.3,1856,2762,3396,3297,497.6,-9.9,370,3892,0.00,2.28,0.00,0.000,516,0.000,0.046,1858,1374,3347,3396,3298,0,0,0,0,0,0,15.50,15.28,15.52
$GC,3950,-0.81,-97.3,1855,1374,3395,3296,504.7,-10.8,382,3957,0.00,2.35,0.00,0.000,1030,0.000,0.054,1858,2754,3346,3395,3297,0,0,0,0,0,0,15.35,15.23,15.37
$GC,4286,-0.81,-97.3,1858,2754,3392,3294,535.5,-8.7,398,4291,0.00,2.30,0.00,0.000,516,0.000,0.046,1857,1369,3343,3392,3294,0,0,0,0,0,0,15.48,15.27,15.50
$GC,4429,-0.81,-97.3,1857,1368,3391,3293,547.9,-8.7,426,4437,0.00,2.35,0.00,0.000,1030,0.000,0.056,1858,2747,3342,3390,3294,0,0,0,0,0,0,15.33,15.24,15.36
$GC,4746,-0.81,-97.3,1857,2747,3389,3291,575.0,-9.2,438,4751,0.00,2.08,0.00,0.000,260,0.000,0.090,1858,3952,3340,3389,3291,0,0,0,0,0,0,15.49,15.22,15.50
$GC,4833,-0.81,-97.3,1857,3952,3388,3289,584.0,-10.2,455,4840,0.00,1.95,0.00,0.000,1030,0.000,0.040,1857,2763,3339,3389,3289,0,0,0,0,0,0,15.32,15.29,15.33
$GC,5139,-0.81,-97.3,1857,2763,3386,3287,613.5,-9.5,466,5145,0.00,2.30,0.00,0.000,516,0.000,0.047,1857,1365,3337,3386,3288,0,0,0,0,0,0,15.48,15.26,15.50
$GC,5221,-0.81,-97.3,1857,1365,3385,3287,621.2,-9.6,482,5227,0.00,2.38,0.00,0.000,1030,0.000,0.058,1858,2749,3335,3384,3286,0,0,0,0,0,0,15.33,15.23,15.35
$GC,5536,-0.81,-97.3,1857,2751,3391,3285,646.1,-7.3,494,5541,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,2750,3334,3383,3285,0,0,0,0,0,0,15.47,15.50,15.50
$GC,5835,-0.81,-97.3,1857,2749,3382,3283,665.9,-6.5,504,5842,0.00,2.33,0.00,0.000,516,0.000,0.047,1858,1359,3333,3382,3284,0,0,0,0,0,0,15.47,15.25,15.50
$GC,5899,-0.81,-97.3,1857,1358,3381,3283,670.8,-7.6,516,5910,0.00,2.40,0.00,0.000,1030,0.000,0.059,1856,2754,3332,3381,3283,0,0,0,0,0,0,15.32,15.21,15.34
$GC,6236,-0.81,-97.3,1857,2754,3380,3281,695.6,-7.5,532,6242,0.00,2.33,0.00,0.000,516,0.000,0.048,1858,1366,3327,3374,3281,0,0,0,0,0,0,15.45,15.23,15.47
$GC,6270,-0.81,-97.3,1857,1369,3379,3281,698.4,-8.0,538,6277,0.00,2.38,0.00,0.000,1030,0.000,0.060,1857,2750,3330,3379,3281,0,0,0,0,0,0,15.31,15.21,15.33
$GC,6601,-0.81,-97.3,1857,2750,3377,3285,721.5,-7.0,554,6605,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,2750,3327,3377,3278,0,0,0,0,0,0,15.46,15.48,15.48
$GC,6900,-0.81,-97.3,1857,2750,3376,3277,742.9,-7.6,564,6906,0.00,2.33,0.00,0.000,516,0.000,0.048,1861,1364,3326,3376,3277,0,0,0,0,0,0,15.46,15.23,15.47
$GC,6981,-0.81,-97.3,1858,1364,3376,3277,749.8,-8.3,580,6987,0.00,2.40,0.00,0.000,1030,0.000,0.060,1858,2752,3326,3375,3277,0,0,0,0,0,0,15.30,15.19,15.32
$GC,7289,-0.81,-97.3,1857,2752,3374,3272,774.5,-8.2,591,7292,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,2753,3324,3373,3276,0,0,0,0,0,0,15.45,15.47,15.47
$GC,7588,-0.81,-97.3,1857,2753,3373,3275,799.4,-8.4,601,7592,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,2752,3324,3373,3275,0,0,0,0,0,0,15.45,15.47,15.47
$GC,7888,-0.81,-97.3,1857,2753,3371,3274,825.1,-8.4,611,7894,0.00,2.35,0.00,0.000,516,0.000,0.049,1858,1363,3322,3371,3273,0,0,0,0,0,0,15.45,15.21,15.45
$GC,7935,-0.81,-97.3,1857,1363,3372,3274,829.8,-8.7,620,7943,0.00,2.42,0.00,0.000,1030,0.000,0.061,1858,2753,3322,3371,3273,0,0,0,0,0,0,15.29,15.19,15.31
$GC,8256,-0.81,-97.3,1857,2753,3371,3272,853.7,-7.3,633,8262,0.00,2.33,0.00,0.000,516,0.000,0.047,1858,1363,3318,3365,3272,0,0,0,0,0,0,15.44,15.21,15.44
$GC,8386,-0.81,-97.3,1858,1363,3370,3273,862.1,-6.3,658,8394,0.00,2.40,0.00,0.000,1062,0.000,0.060,1858,2755,3321,3370,3273,0,0,0,0,0,0,15.25,15.17,15.30
$GC,8712,-0.81,-97.3,1857,2751,3369,3271,881.2,-6.3,673,8719,0.00,2.10,0.00,0.000,292,0.000,0.096,1858,3943,3320,3369,3271,0,0,0,0,0,0,15.43,15.14,15.45
$GC,8945,-0.81,-97.3,1857,3943,3369,3270,900.5,-7.8,719,8951,0.00,1.95,0.00,0.000,1030,0.000,0.045,1857,2756,3319,3369,3270,0,0,0,0,0,0,15.30,15.25,15.31
$GC,9259,-0.81,-97.3,1857,2757,3367,3270,921.2,-6.6,731,9266,0.00,2.12,0.00,0.000,260,0.000,0.095,1857,3941,3319,3367,3271,0,0,0,0,0,0,15.42,15.11,15.43
$GC,9494,-0.81,-97.3,1857,3944,3367,3269,939.0,-7.5,777,9500,0.00,1.98,0.00,0.000,1030,0.000,0.045,1858,2744,3318,3367,3269,0,0,0,0,0,0,15.29,15.24,15.30
$GC,9808,-0.81,-97.3,1857,2744,3366,3269,959.3,-6.7,789,9814,0.00,2.12,0.00,0.000,260,0.000,0.094,1857,3940,3317,3366,3269,0,0,0,0,0,0,15.42,15.12,15.43
$GC,10040,-0.81,-97.3,1857,3940,3366,3268,977.8,-7.6,835,10047,0.00,1.98,0.00,0.000,1030,0.000,0.044,1854,2748,3317,3366,3268,0,0,0,0,0,0,15.26,15.21,15.27
$STATE,10233,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10233,begin apogee
$GC,10239,-0.21,0.0,1858,1710,3366,3268,991.3,-7.4,843,10330,0.70,0.00,85.32,2.079,10246,0.208,0.000,2054,1710,2969,3031,2908,0,0,0,0,0,0,15.00,14.58,13.85
$STATE,10333,end apogee,CONTROL_FINISHED_OK
$STATE,10333,begin climb
$GC,10336,0.81,97.3,2054,1710,3030,2904,994.6,0.0,846,10445,1.08,2.00,100.18,2.022,10756,0.116,0.079,2389,648,2572,2631,2513,0,0,0,0,0,0,14.58,14.33,13.67
$GC,10515,0.81,97.3,2389,648,2625,2512,984.1,8.9,869,10523,0.00,1.85,0.00,0.000,1030,0.000,0.042,2389,1725,2568,2625,2511,0,0,0,0,0,0,14.71,14.66,14.73
$GC,10841,0.81,97.3,2389,1727,2626,2505,953.3,9.6,883,10848,0.00,2.40,0.00,0.000,260,0.000,0.068,2389,3099,2565,2625,2505,0,0,0,0,0,0,15.18,14.93,15.19
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$STATE,21581,end climb,SURFACE_DEPTH_REACHED
$STATE,21581,begin surface coast
$STATE,21601,end surface coast,CONTROL_FINISHED_OK
$STATE,21601,begin surface
$SM_CCo,21619,181.45,0.667,1,0,928,500.17
$SM_GC,0.35,7.10,0.57,181.45,0.099,0.043,0.667,153,2724,928,-6.10,1.24,500.17,0,0,0,0,1,0,15.16,15.24,14.45
$IRIDIUM_FIX,1415.92,14410.14,091119,063654
$TT8_MAMPS,0.019474,0.155792
$HUMID,43.97
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,25.90
$XPDR_PINGS,0
$SC_FREEKB,3799296
$PM_FREEKB_00,58040768
$PM_FREEKB_01,98699264
$PM_FREEKB_02,124821056
$PM_FREEKB_03,124821056
$PM_ACTIVECARD,1
$24V_AH,13.67,65.867
$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,17.450,189.375,347.750,181.450,0.000,0.000,0.000,507.400,0.000,0.000,17.169,1686.953,14304.437,657.779,5561.498,403.145,0.000,2920.879,0.000,4710.382,0.000,0.553,0.000
$DEVICE_MAMPS,400.860,95.625,2079.270,667.080,0.000,0.000,0.000,204.255,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21616.000,21610.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.478,7.079,0.000,0.000
$MEM,270864
$DATA_FILE_SIZE,69984,1980
$CAP_FILE_SIZE,205781,0
$CFSIZE,260034560,231796736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.087,138.06,1
$GPS,091119,125200,1417.176,14410.459,28,0.9,28,0.3,0.9,196.2,9,4.0