version: 66.13
glider: 178
mission: 31
dive: 172
start: 11 12 119 16 8 26
data:
$ID,178
$MISSION,31
$DIVE,172
$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,38
$R_STBD_OVSHOOT,26
$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
$GPS1,121119,155500,1417.4600,14410.4766,35,0.7,35,0.3,0.5,357.7,12,3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.37
$_SM_ANGLEo,-57.1
$GPS2,121119,160736,1417.4404,14410.5205,2,0.6,4,0.3,0.8,151.9,12,3.1
$SPEED_LIMITS,0.147,0.188
$TGT_NAME,N
$TGT_LATLONG,1421.000,14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,341.1,6658,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.81,-97.3,154,2717,985,869,0.0,0.0,0,112,0.00,0.00,-88.43,0.005,16386,0.000,0.000,154,2717,3225,3249,3201,0,0,0,0,0,0,15.24,28.83,15.27
$GC,115,-0.81,-97.3,154,2717,3250,3200,4.5,-8.5,9,136,7.90,2.10,-2.42,0.047,19204,0.394,0.092,1848,3951,3366,3399,3334,0,0,0,0,0,0,14.80,14.35,14.99
$GC,362,-0.81,-97.3,1853,3952,3399,3333,97.4,-25.8,58,369,0.00,2.00,0.00,0.000,1030,0.000,0.030,1848,2713,3366,3399,3333,0,0,0,0,0,0,15.19,15.19,15.21
$GC,549,-0.81,-97.3,1847,2707,3399,3332,130.9,-17.2,77,556,0.00,2.12,0.00,0.000,260,0.000,0.080,1839,3947,3366,3399,3333,0,0,0,0,0,0,15.40,15.15,15.41
$GC,744,-0.81,-97.3,1838,3947,3398,3332,163.8,-17.9,115,751,0.00,1.88,0.00,0.000,1030,0.000,0.031,1838,2732,3366,3399,3333,0,0,0,0,0,0,15.29,15.26,15.30
$GC,939,-0.81,-97.3,1838,2725,3400,3333,191.9,-14.3,135,944,0.00,2.15,0.00,0.000,516,0.000,0.044,1839,1388,3366,3399,3333,0,0,0,0,0,0,15.43,15.21,15.45
$GC,1173,-0.81,-97.3,1844,1388,3400,3332,221.3,-10.8,181,1179,0.00,2.30,0.00,0.000,1030,0.000,0.054,1835,2759,3366,3400,3332,0,0,0,0,0,0,15.30,15.22,15.33
$GC,1367,-0.81,-97.3,1835,2759,3399,3331,243.8,-12.0,201,1375,0.00,2.25,0.00,0.000,516,0.000,0.044,1835,1387,3365,3400,3331,0,0,0,0,0,0,15.45,15.24,15.47
$GC,1601,-0.81,-97.3,1835,1387,3404,3330,275.5,-13.0,247,1607,0.00,2.30,0.00,0.000,1030,0.000,0.055,1835,2756,3364,3400,3329,0,0,0,0,0,0,15.33,15.24,15.35
$GC,1915,-0.81,-97.3,1835,2756,3399,3327,312.2,-10.5,259,1920,0.00,2.22,0.00,0.000,516,0.000,0.043,1832,1389,3363,3400,3326,0,0,0,0,0,0,15.47,15.26,15.49
$GC,2039,-0.81,-97.3,1835,1389,3400,3325,324.1,-8.9,283,2045,0.00,2.30,0.00,0.000,1030,0.000,0.053,1835,2759,3361,3397,3325,0,0,0,0,0,0,15.34,15.26,15.36
$GC,2373,-0.81,-97.3,1835,2759,3399,3321,357.0,-9.7,299,2379,0.00,2.00,0.00,0.000,260,0.000,0.086,1835,3942,3359,3399,3320,0,0,0,0,0,0,15.49,15.23,15.51
$GC,2605,-0.81,-97.3,1833,3945,3399,3317,382.4,-12.3,345,2611,0.00,1.85,0.00,0.000,1030,0.000,0.033,1835,2762,3358,3399,3317,0,0,0,0,0,0,15.35,15.32,15.37
$GC,2919,-0.81,-97.3,1834,2755,3399,3311,412.0,-9.1,357,2925,0.00,2.08,0.00,0.000,260,0.000,0.088,1835,3946,3358,3399,3317,0,0,0,0,0,0,15.50,15.23,15.51
$GC,3111,-0.81,-97.3,1835,3950,3399,3308,430.9,-9.4,395,3117,0.00,1.90,0.00,0.000,1030,0.000,0.035,1835,2744,3353,3398,3308,0,0,0,0,0,0,15.35,15.32,15.36
$GC,3435,-0.81,-97.3,1835,2738,3399,3308,460.6,-9.3,409,3441,0.00,2.22,0.00,0.000,516,0.000,0.048,1835,1378,3350,3399,3302,0,0,0,0,0,0,15.50,15.26,15.51
$GC,3487,-0.81,-97.3,1835,1378,3398,3302,465.7,-9.3,419,3493,0.00,2.33,0.00,0.000,1030,0.000,0.055,1835,2748,3350,3398,3302,0,0,0,0,0,0,15.35,15.25,15.37
$GC,3801,-0.81,-97.3,1835,2748,3397,3298,495.3,-9.9,431,3806,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,2748,3347,3396,3299,0,0,0,0,0,0,15.49,15.54,15.53
$GC,4101,-0.81,-97.3,1834,2748,3394,3292,523.8,-9.3,441,4106,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,2748,3344,3393,3295,0,0,0,0,0,0,15.49,15.51,15.50
$GC,4401,-0.81,-97.3,1834,2748,3392,3293,551.0,-9.3,451,4407,0.00,2.08,0.00,0.000,260,0.000,0.090,1835,3943,3342,3392,3293,0,0,0,0,0,0,15.48,15.19,15.50
$GC,4453,-0.81,-97.3,1835,3941,3391,3292,556.4,-10.3,461,4460,0.00,1.90,0.00,0.000,1030,0.000,0.040,1835,2759,3341,3391,3292,0,0,0,0,0,0,15.37,15.32,15.38
$GC,4769,-0.81,-97.3,1835,2759,3389,3291,585.6,-9.3,473,4773,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,2759,3340,3389,3291,0,0,0,0,0,0,15.47,15.49,15.49
$GC,5070,-0.81,-97.3,1835,2759,3387,3287,611.7,-8.5,483,5076,0.00,2.33,0.00,0.000,516,0.000,0.047,1835,1359,3337,3387,3287,0,0,0,0,0,0,15.45,15.26,15.47
$GC,5164,-0.81,-97.3,1835,1359,3385,3285,620.2,-9.0,501,5170,0.00,2.38,0.00,0.000,1030,0.000,0.058,1835,2749,3337,3386,3288,0,0,0,0,0,0,15.32,15.21,15.34
$GC,5498,-0.81,-97.3,1834,2749,3384,3286,646.7,-7.3,517,5502,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,2749,3335,3384,3286,0,0,0,0,0,0,15.47,15.50,15.49
$GC,5798,-0.81,-97.3,1834,2748,3389,3284,669.0,-7.7,527,5804,0.00,2.08,0.00,0.000,260,0.000,0.093,1835,3943,3333,3382,3284,0,0,0,0,0,0,15.47,15.17,15.49
$GC,5900,-0.81,-97.3,1835,3943,3382,3282,678.2,-9.1,547,5907,0.00,1.95,0.00,0.000,1030,0.000,0.040,1835,2726,3332,3382,3282,0,0,0,0,0,0,15.31,15.27,15.33
$GC,6225,-0.81,-97.3,1834,2726,3380,3281,705.8,-8.4,561,6229,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,2726,3328,3376,3281,0,0,0,0,0,0,15.47,15.49,15.48
$GC,6525,-0.81,-97.3,1834,2725,3379,3275,728.7,-7.2,571,6529,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,2726,3324,3375,3274,0,0,0,0,0,0,15.46,15.48,15.47
$GC,6825,-0.81,-97.3,1835,2726,3376,3278,749.3,-6.7,581,6831,0.00,2.22,0.00,0.000,516,0.000,0.048,1835,1377,3328,3376,3280,0,0,0,0,0,0,15.46,15.21,15.47
$GC,6919,-0.81,-97.3,1835,1378,3376,3278,756.5,-7.7,599,6927,0.00,2.38,0.00,0.000,1030,0.000,0.060,1835,2752,3327,3376,3278,0,0,0,0,0,0,15.26,15.15,15.29
$GC,7250,-0.81,-97.3,1831,2753,3375,3277,782.4,-8.2,615,7256,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,2752,3325,3375,3276,0,0,0,0,0,0,15.45,15.47,15.47
$GC,7550,-0.81,-97.3,1834,2752,3373,3276,806.1,-8.0,625,7556,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,2752,3324,3373,3275,0,0,0,0,0,0,15.45,15.47,15.47
$GC,7851,-0.81,-97.3,1835,2752,3372,3274,831.5,-8.2,635,7856,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,2752,3323,3372,3274,0,0,0,0,0,0,15.44,15.46,15.45
$GC,8150,-0.81,-97.3,1835,2753,3367,3274,856.9,-8.6,645,8157,0.00,2.35,0.00,0.000,516,0.000,0.047,1835,1369,3322,3371,3273,0,0,0,0,0,0,15.44,15.16,15.46
$GC,8203,-0.81,-97.3,1835,1370,3371,3273,862.3,-8.7,655,8210,0.00,2.38,0.00,0.000,1030,0.000,0.062,1835,2745,3322,3371,3273,0,0,0,0,0,0,15.19,15.12,15.23
$GC,8520,-0.81,-97.3,1834,2745,3369,3272,887.6,-8.2,667,8525,0.00,2.10,0.00,0.000,260,0.000,0.096,1835,3947,3321,3370,3272,0,0,0,0,0,0,15.42,15.11,15.44
$GC,8751,-0.81,-97.3,1832,3946,3370,3274,907.9,-8.2,713,8757,0.00,1.92,0.00,0.000,1030,0.000,0.044,1835,2768,3320,3370,3271,0,0,0,0,0,0,15.26,15.21,15.28
$GC,9066,-0.81,-97.3,1835,2769,3368,3270,931.2,-7.7,725,9073,0.00,2.38,0.00,0.000,516,0.000,0.049,1835,1361,3319,3368,3271,0,0,0,0,0,0,15.42,15.17,15.44
$GC,9210,-0.81,-97.3,1834,1360,3367,3270,944.4,-8.8,753,9216,0.00,2.42,0.00,0.000,1030,0.000,0.062,1835,2754,3318,3367,3270,0,0,0,0,0,0,15.24,15.13,15.27
$GC,9525,-0.81,-97.3,1835,2754,3367,3270,969.6,-8.1,765,9529,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,2754,3318,3367,3270,0,0,0,0,0,0,15.42,15.43,15.43
$STATE,9793,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9793,begin apogee
$GC,9800,-0.21,0.0,1835,1710,3366,3269,990.3,-7.6,774,9891,0.77,0.00,85.75,2.071,10246,0.213,0.000,2051,1710,2968,3031,2905,0,0,0,0,0,0,14.97,14.59,13.85
$STATE,9900,end apogee,CONTROL_FINISHED_OK
$STATE,9900,begin climb
$GC,9902,0.81,97.3,2051,1710,3030,2902,992.8,0.0,777,10015,1.08,2.03,99.47,2.036,10756,0.115,0.076,2388,636,2572,2631,2514,0,0,0,0,0,0,14.60,14.35,13.66
$GC,10061,0.81,97.3,2388,636,2626,2512,981.3,10.4,807,10068,0.00,1.92,0.00,0.000,1030,0.000,0.044,2388,1722,2568,2626,2511,0,0,0,0,0,0,14.64,14.62,14.66
$GC,10367,0.81,97.3,2388,1726,2626,2505,949.8,9.8,818,10374,0.00,2.40,0.00,0.000,260,0.000,0.069,2388,3106,2565,2626,2504,0,0,0,0,0,0,15.18,14.93,15.19
$GC,10425,0.81,97.3,2388,3107,2626,2503,944.7,10.1,829,10432,0.00,2.47,0.00,0.000,1030,0.000,0.047,2392,1701,2564,2625,2503,0,0,0,0,0,0,15.01,14.96,15.04
$GC,10732,0.81,97.3,2392,1701,2626,2501,915.3,9.3,840,10738,0.00,1.88,0.00,0.000,516,0.000,0.078,2392,625,2563,2626,2501,0,0,0,0,0,0,15.29,15.03,15.30
$GC,10871,0.81,97.3,2391,625,2624,2501,901.8,10.0,867,10877,0.00,1.80,0.00,0.000,1030,0.000,0.044,2393,1711,2562,2623,2501,0,0,0,0,0,0,15.17,15.10,15.19
$GC,11190,0.81,97.3,2392,1711,2625,2500,871.3,9.7,880,11200,0.00,2.40,0.00,0.000,260,0.000,0.070,2392,3093,2562,2624,2500,0,0,0,0,0,0,15.32,15.07,15.33
$GC,11430,0.81,97.3,2392,3093,2625,2497,845.5,11.0,927,11438,0.00,2.45,0.00,0.000,1030,0.000,0.048,2392,1695,2561,2625,2498,0,0,0,0,0,0,15.13,15.07,15.16
$GC,11736,0.81,97.3,2392,1696,2625,2497,814.5,10.0,938,11739,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,1696,2560,2625,2496,0,0,0,0,0,0,15.35,15.37,15.37
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$STATE,21009,end climb,SURFACE_DEPTH_REACHED
$STATE,21009,begin surface coast
$STATE,21029,end surface coast,CONTROL_FINISHED_OK
$STATE,21029,begin surface
$SM_CCo,21049,163.02,0.669,1,0,929,500.17
$SM_GC,0.52,7.18,0.60,163.02,0.106,0.044,0.669,159,2722,929,-6.08,0.90,500.17,0,0,0,0,1,0,15.14,15.21,14.45
$IRIDIUM_FIX,1418.06,14918.97,121119,094408
$TT8_MAMPS,0.020223,0.154294
$HUMID,44.60
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,26.90
$XPDR_PINGS,0
$SC_FREEKB,3792256
$PM_FREEKB_00,58040768
$PM_FREEKB_01,91562688
$PM_FREEKB_02,124821056
$PM_FREEKB_03,124821056
$PM_ACTIVECARD,1
$24V_AH,13.66,71.220
$10V_AH,13.47,0.000
$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,17.325,173.775,369.500,163.025,0.000,0.000,0.000,509.150,0.000,0.000,17.757,1602.079,13869.267,617.288,5478.677,414.514,0.000,2853.407,0.000,4616.574,0.000,0.552,0.000
$DEVICE_MAMPS,393.975,95.625,2070.855,669.375,0.000,0.000,0.000,200.430,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21061.000,21049.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.436,7.402,0.000,0.000
$MEM,270820
$DATA_FILE_SIZE,66459,1913
$CAP_FILE_SIZE,197231,0
$CFSIZE,260034560,229699584
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,116.70,0x235770,0,24
$CURRENT,0.043,204.13,1
$GPS,121119,220330,1418.400,14409.534,31,0.8,31,0.3,1.0,225.4,11,4.1