version: 66.13
glider: 178
mission: 31
dive: 168
start: 11 11 119 14 57 50
data:
$ID,178
$MISSION,31
$DIVE,168
$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,37
$R_STBD_OVSHOOT,30
$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
$GPS1,111119,144419,1414.2511,14410.8320,30,0.9,41,0.3,0.2,203.6,8,4.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.33
$_SM_ANGLEo,-54.0
$GPS2,111119,145700,1414.2002,14410.8779,3,0.8,4,0.3,0.5,104.9,12,5.3
$SPEED_LIMITS,0.147,0.188
$TGT_NAME,S
$TGT_LATLONG,1410.000,14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,207.0,7937,-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,-97.3,152,2743,989,866,0.0,0.0,0,110,0.00,0.00,-89.00,0.005,16386,0.000,0.000,152,2743,3253,3279,3227,0,0,0,0,0,0,15.26,28.83,15.27
$GC,113,-0.81,-97.3,151,2743,3279,3227,5.1,-10.5,9,131,7.82,2.38,-1.92,0.060,18948,0.389,0.067,1847,1334,3366,3399,3334,0,0,0,0,0,0,14.81,14.03,15.02
$GC,227,-0.81,-97.3,1847,1334,3400,3335,50.4,-33.0,31,236,0.00,2.40,0.00,0.000,1030,0.000,0.061,1839,2741,3367,3400,3335,0,0,0,0,0,0,15.19,15.07,15.19
$GC,416,-0.81,-97.3,1839,2746,3399,3334,102.3,-16.6,51,422,0.00,2.05,0.00,0.000,260,0.000,0.081,1831,3949,3367,3400,3334,0,0,0,0,0,0,15.37,15.13,15.38
$GC,510,-0.81,-97.3,1831,3949,3399,3333,119.2,-19.1,69,517,0.15,1.95,0.00,0.000,3078,0.295,0.031,1862,2686,3367,3400,3334,0,0,0,0,0,0,15.01,15.25,15.21
$GC,705,-0.81,-97.3,1861,2682,3400,3334,155.8,-15.9,89,714,0.00,2.17,0.00,0.000,260,0.000,0.079,1854,3947,3366,3399,3334,0,0,0,0,0,0,15.42,15.18,15.44
$GC,946,-0.81,-97.3,1854,3948,3400,3334,192.5,-13.1,135,954,0.00,1.92,0.00,0.000,1030,0.000,0.030,1854,2713,3367,3401,3333,0,0,0,0,0,0,15.33,15.29,15.34
$GC,1141,-0.81,-97.3,1854,2707,3400,3333,215.3,-12.1,155,1147,0.00,2.15,0.00,0.000,260,0.000,0.080,1849,3949,3367,3401,3333,0,0,0,0,0,0,15.45,15.21,15.47
$GC,1259,-0.81,-97.3,1849,3949,3400,3333,231.1,-13.4,178,1266,0.00,1.92,0.00,0.000,1030,0.000,0.031,1849,2743,3366,3400,3333,0,0,0,0,0,0,15.30,15.29,15.32
$GC,1456,-0.81,-97.3,1849,2737,3400,3332,254.3,-11.7,196,1464,0.00,2.20,0.00,0.000,516,0.000,0.044,1849,1370,3366,3401,3332,0,0,0,0,0,0,15.47,15.26,15.48
$GC,1515,-0.81,-97.3,1851,1370,3400,3332,262.1,-12.9,207,1524,0.00,2.38,0.00,0.000,1030,0.000,0.055,1848,2755,3366,3401,3331,0,0,0,0,0,0,15.28,15.22,15.30
$GC,1822,-0.81,-97.3,1848,2755,3400,3328,297.3,-11.7,218,1828,0.00,2.00,0.00,0.000,260,0.000,0.081,1849,3946,3364,3400,3329,0,0,0,0,0,0,15.47,15.23,15.50
$GC,2021,-0.81,-97.3,1848,3946,3397,3327,321.9,-12.6,257,2028,0.00,1.88,0.00,0.000,1030,0.000,0.032,1848,2727,3365,3400,3330,0,0,0,0,0,0,15.38,15.35,15.39
$GC,2341,-0.81,-97.3,1848,2726,3400,3322,360.5,-12.5,270,2346,0.00,2.10,0.00,0.000,260,0.000,0.086,1848,3944,3361,3400,3323,0,0,0,0,0,0,15.50,15.23,15.52
$GC,2573,-0.81,-97.3,1848,3943,3400,3319,385.5,-10.6,316,2579,0.00,1.85,0.00,0.000,1030,0.000,0.034,1849,2759,3359,3400,3319,0,0,0,0,0,0,15.38,15.35,15.39
$GC,2886,-0.81,-97.3,1848,2754,3400,3314,414.3,-9.6,328,2892,0.00,2.22,0.00,0.000,516,0.000,0.046,1848,1380,3356,3400,3313,0,0,0,0,0,0,15.50,15.28,15.52
$GC,2988,-0.81,-97.3,1848,1381,3403,3311,424.5,-9.9,348,2994,0.00,2.33,0.00,0.000,1030,0.000,0.054,1848,2760,3356,3400,3312,0,0,0,0,0,0,15.34,15.24,15.36
$GC,3313,-0.81,-97.3,1848,2760,3400,3307,453.8,-9.4,362,3318,0.00,2.28,0.00,0.000,516,0.000,0.046,1848,1379,3353,3400,3307,0,0,0,0,0,0,15.50,15.28,15.52
$GC,3430,-0.81,-97.3,1848,1379,3399,3305,465.7,-10.2,385,3437,0.00,2.35,0.00,0.000,1030,0.000,0.055,1848,2742,3352,3399,3305,0,0,0,0,0,0,15.29,15.23,15.32
$GC,3736,-0.81,-97.3,1848,2741,3398,3300,496.6,-9.5,396,3744,0.00,2.05,0.00,0.000,260,0.000,0.086,1848,3944,3349,3399,3300,0,0,0,0,0,0,15.50,15.23,15.52
$GC,3814,-0.81,-97.3,1848,3943,3398,3299,504.4,-10.0,411,3820,0.00,1.88,0.00,0.000,1030,0.000,0.038,1848,2763,3350,3402,3298,0,0,0,0,0,0,15.38,15.33,15.39
$GC,4133,-0.81,-97.3,1848,2763,3396,3296,533.1,-8.3,424,4139,0.00,2.28,0.00,0.000,516,0.000,0.044,1848,1368,3345,3395,3296,0,0,0,0,0,0,15.47,15.27,15.49
$GC,4257,-0.81,-97.3,1848,1368,3393,3295,542.7,-7.7,448,4263,0.00,2.35,0.00,0.000,1030,0.000,0.056,1848,2753,3344,3393,3295,0,0,0,0,0,0,15.34,15.25,15.36
$GC,4591,-0.81,-97.3,1852,2752,3391,3292,568.1,-8.0,464,4595,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,2753,3341,3391,3292,0,0,0,0,0,0,15.49,15.51,15.50
$GC,4891,-0.81,-97.3,1848,2753,3389,3290,591.6,-7.9,474,4895,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,2753,3337,3389,3286,0,0,0,0,0,0,15.49,15.51,15.50
$GC,5191,-0.81,-97.3,1848,2753,3387,3288,613.7,-7.5,484,5196,0.00,2.33,0.00,0.000,516,0.000,0.046,1849,1360,3337,3387,3287,0,0,0,0,0,0,15.48,15.26,15.50
$GC,5273,-0.81,-97.3,1844,1360,3381,3288,620.8,-8.9,500,5283,0.00,2.40,0.00,0.000,1030,0.000,0.058,1848,2761,3336,3385,3288,0,0,0,0,0,0,15.32,15.23,15.35
$GC,5584,-0.81,-97.3,1848,2762,3384,3286,650.0,-9.7,512,5590,0.00,2.05,0.00,0.000,260,0.000,0.090,1848,3950,3335,3384,3286,0,0,0,0,0,0,15.48,15.19,15.50
$GC,5666,-0.81,-97.3,1848,3954,3384,3286,658.6,-10.1,528,5672,0.00,1.92,0.00,0.000,1030,0.000,0.041,1848,2759,3334,3384,3285,0,0,0,0,0,0,15.35,15.30,15.36
$GC,5980,-0.81,-97.3,1850,2762,3381,3283,685.7,-8.2,540,5986,0.00,2.30,0.00,0.000,516,0.000,0.047,1848,1360,3332,3382,3283,0,0,0,0,0,0,15.47,15.23,15.49
$GC,6092,-0.81,-97.3,1847,1360,3381,3283,694.6,-7.5,562,6098,0.00,2.38,0.00,0.000,1030,0.000,0.059,1848,2751,3332,3381,3283,0,0,0,0,0,0,15.31,15.21,15.33
$GC,6407,-0.81,-97.3,1848,2751,3379,3287,716.1,-6.8,574,6414,0.00,2.35,0.00,0.000,516,0.000,0.047,1848,1354,3330,3379,3281,0,0,0,0,0,0,15.47,15.21,15.48
$GC,6474,-0.81,-97.3,1848,1354,3378,3281,721.2,-7.2,587,6480,0.00,2.40,0.00,0.000,1030,0.000,0.060,1847,2752,3329,3378,3281,0,0,0,0,0,0,15.30,15.20,15.33
$GC,6798,-0.81,-97.3,1848,2752,3377,3280,743.0,-6.9,601,6804,0.00,2.33,0.00,0.000,516,0.000,0.047,1848,1360,3328,3378,3279,0,0,0,0,0,0,15.46,15.20,15.48
$GC,6850,-0.81,-97.3,1848,1358,3377,3278,747.0,-7.3,611,6860,0.00,2.40,0.00,0.000,1030,0.000,0.060,1848,2757,3328,3377,3279,0,0,0,0,0,0,15.30,15.19,15.32
$GC,7162,-0.81,-97.3,1849,2761,3376,3277,771.4,-8.4,623,7167,0.00,2.08,0.00,0.000,260,0.000,0.093,1848,3948,3326,3376,3277,0,0,0,0,0,0,15.45,15.14,15.46
$GC,7324,-0.81,-97.3,1848,3947,3375,3276,787.0,-9.7,655,7330,0.00,1.95,0.00,0.000,1030,0.000,0.041,1848,2731,3325,3375,3276,0,0,0,0,0,0,15.32,15.28,15.33
$GC,7647,-0.81,-97.3,1848,2731,3374,3274,815.2,-8.7,669,7654,0.00,2.15,0.00,0.000,260,0.000,0.095,1848,3942,3324,3374,3275,0,0,0,0,0,0,15.43,15.15,15.45
$GC,7704,-0.81,-97.3,1848,3941,3374,3275,821.1,-9.7,680,7711,0.00,1.95,0.00,0.000,1030,0.000,0.042,1848,2771,3324,3374,3275,0,0,0,0,0,0,15.25,15.22,15.27
$GC,8012,-0.81,-97.3,1849,2772,3371,3274,846.8,-8.4,691,8016,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,2772,3323,3372,3274,0,0,0,0,0,0,15.44,15.46,15.46
$GC,8311,-0.81,-97.3,1847,2772,3371,3273,871.0,-8.0,701,8315,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,2771,3322,3371,3273,0,0,0,0,0,0,15.44,15.46,15.46
$GC,8611,-0.81,-97.3,1848,2772,3370,3273,893.9,-7.5,711,8617,0.00,2.38,0.00,0.000,516,0.000,0.050,1848,1358,3318,3365,3272,0,0,0,0,0,0,15.44,15.19,15.45
$GC,8689,-0.81,-97.3,1848,1359,3369,3272,900.6,-8.0,726,8698,0.00,2.42,0.00,0.000,1030,0.000,0.063,1849,2754,3320,3369,3272,0,0,0,0,0,0,15.23,15.14,15.27
$GC,9006,-0.81,-97.3,1848,2754,3369,3271,922.8,-7.2,739,9010,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,2754,3320,3369,3271,0,0,0,0,0,0,15.43,15.46,15.45
$GC,9306,-0.81,-97.3,1848,2754,3367,3271,943.7,-7.0,749,9310,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,2754,3321,3373,3270,0,0,0,0,0,0,15.43,15.45,15.45
$GC,9606,-0.81,-97.3,1848,2758,3367,3270,965.8,-7.5,759,9612,0.00,2.38,0.00,0.000,516,0.000,0.050,1849,1353,3318,3367,3270,0,0,0,0,0,0,15.42,15.18,15.45
$GC,9670,-0.81,-97.3,1848,1350,3366,3270,971.6,-8.1,771,9678,0.00,2.42,0.00,0.000,1030,0.000,0.063,1848,2751,3317,3365,3270,0,0,0,0,0,0,15.25,15.14,15.27
$STATE,9909,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9909,begin apogee
$GC,9916,-0.21,0.0,1848,1716,3366,3269,990.2,-8.1,784,10007,0.73,0.00,85.38,2.079,10246,0.210,0.000,2051,1716,2968,3031,2905,0,0,0,0,0,0,15.00,14.59,13.85
$STATE,10016,end apogee,CONTROL_FINISHED_OK
$STATE,10016,begin climb
$GC,10019,0.81,97.3,2051,1716,3030,2902,993.7,0.0,787,10129,1.08,2.03,99.80,2.037,10756,0.116,0.076,2385,641,2570,2629,2512,0,0,0,0,0,0,14.61,14.35,13.66
$GC,10184,0.81,97.3,2385,641,2625,2510,984.9,8.6,813,10190,0.00,1.88,0.00,0.000,1030,0.000,0.044,2385,1721,2566,2625,2508,0,0,0,0,0,0,14.71,14.64,14.72
$GC,10518,0.81,97.3,2385,1722,2624,2502,956.1,8.7,829,10523,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1721,2563,2625,2501,0,0,0,0,0,0,15.19,15.21,15.21
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$STATE,21694,end climb,SURFACE_DEPTH_REACHED
$STATE,21694,begin surface coast
$STATE,21713,end surface coast,CONTROL_FINISHED_OK
$STATE,21713,begin surface
$SM_CCo,21734,145.93,0.665,1,0,928,500.17
$SM_GC,0.39,6.97,3.53,145.93,0.083,0.044,0.665,161,2716,928,-6.08,-1.84,500.17,0,0,0,0,1,0,15.12,15.13,14.46
$IRIDIUM_FIX,1417.59,14411.44,111119,084022
$TT8_MAMPS,0.020223,0.155792
$HUMID,44.44
$INTERNAL_PRESSURE,8.95542
$TCM_TEMP,25.70
$XPDR_PINGS,0
$SC_FREEKB,3794432
$PM_FREEKB_00,58040768
$PM_FREEKB_01,93757504
$PM_FREEKB_02,124821056
$PM_FREEKB_03,124821056
$PM_ACTIVECARD,1
$24V_AH,13.66,69.562
$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,17.175,168.225,384.475,145.925,0.000,0.000,0.000,510.625,0.000,0.000,16.202,1589.313,14611.514,638.156,5411.716,405.737,0.000,2824.542,0.000,4557.257,0.000,0.553,0.000
$DEVICE_MAMPS,389.385,94.860,2078.505,664.785,0.000,0.000,0.000,206.550,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21749.000,21731.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.387,7.184,0.000,0.000
$MEM,270864
$DATA_FILE_SIZE,63185,1846
$CAP_FILE_SIZE,195701,0
$CFSIZE,260034560,230363136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0
$CURRENT,0.075,209.48,1
$GPS,111119,210400,1411.735,14409.453,27,0.6,27,0.3,0.5,333.4,12,3.1