version: 66.13
glider: 178
mission: 31
dive: 173
start: 11 12 119 22 15 47
data:
$ID,178
$MISSION,31
$DIVE,173
$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,56
$R_STBD_OVSHOOT,51
$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
$GPS1,121119,220330,1418.3995,14409.5342,31,0.8,31,0.3,1.0,225.4,11,4.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.39
$_SM_ANGLEo,-57.4
$GPS2,121119,221458,1418.3445,14409.4619,2,0.6,4,0.3,0.4,202.8,12,4.7
$SPEED_LIMITS,0.147,0.188
$TGT_NAME,N
$TGT_LATLONG,1421.000,14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,13.8,5012,-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,-97.3,157,2721,986,869,0.0,0.0,0,112,0.00,0.00,-88.85,0.005,16386,0.000,0.000,157,2724,3239,3265,3214,0,0,0,0,0,0,15.24,28.83,15.26
$GC,115,-0.81,-97.3,158,2721,3265,3214,4.6,-8.9,9,132,8.00,2.10,-2.17,0.053,18692,0.398,0.090,1845,3923,3365,3398,3333,0,0,0,0,0,0,14.79,14.35,14.99
$GC,281,-0.81,-97.3,1845,3924,3399,3332,75.2,-44.5,42,288,0.00,1.90,0.00,0.000,1030,0.000,0.031,1846,2729,3365,3398,3332,0,0,0,0,0,0,15.17,15.16,15.17
$GC,468,-0.81,-97.3,1845,2729,3398,3332,115.6,-18.4,61,476,0.00,2.05,0.00,0.000,260,0.000,0.074,1836,3929,3365,3398,3332,0,0,0,0,0,0,15.38,15.13,15.39
$GC,703,-0.81,-97.3,1836,3929,3398,3332,162.1,-16.3,107,709,0.00,1.83,0.00,0.000,1030,0.000,0.031,1836,2730,3365,3399,3332,0,0,0,0,0,0,15.30,15.26,15.30
$GC,899,-0.81,-97.3,1836,2729,3399,3332,187.7,-12.5,127,904,0.00,2.03,0.00,0.000,260,0.000,0.073,1828,3921,3365,3399,3332,0,0,0,0,0,0,15.40,15.19,15.43
$GC,1134,-0.81,-97.3,1828,3921,3399,3332,222.7,-13.6,173,1141,0.15,1.77,0.00,0.000,3078,0.275,0.032,1860,2774,3367,3399,3335,0,0,0,0,0,0,15.05,15.27,15.24
$GC,1331,-0.81,-97.3,1861,2774,3399,3332,246.6,-11.9,193,1337,0.00,1.95,0.00,0.000,260,0.000,0.075,1855,3924,3365,3399,3331,0,0,0,0,0,0,15.45,15.21,15.47
$GC,1563,-0.81,-97.3,1855,3922,3399,3330,277.0,-12.8,239,1569,0.00,1.83,0.00,0.000,1030,0.000,0.033,1855,2743,3365,3401,3330,0,0,0,0,0,0,15.38,15.32,15.36
$GC,1877,-0.81,-97.3,1855,2743,3399,3327,311.3,-11.5,251,1882,0.00,2.00,0.00,0.000,260,0.000,0.079,1855,3924,3363,3399,3327,0,0,0,0,0,0,15.48,15.23,15.50
$GC,2109,-0.81,-97.3,1855,3919,3399,3324,338.7,-10.7,297,2115,0.00,1.83,0.00,0.000,1030,0.000,0.034,1855,2745,3361,3398,3324,0,0,0,0,0,0,15.37,15.33,15.38
$GC,2423,-0.81,-97.3,1855,2745,3405,3320,366.3,-8.9,309,2431,0.00,2.22,0.00,0.000,516,0.000,0.041,1855,1368,3359,3399,3320,0,0,0,0,0,0,15.47,15.26,15.49
$GC,2657,-0.81,-97.3,1855,1368,3398,3316,386.8,-8.6,355,2664,0.00,2.30,0.00,0.000,1030,0.000,0.052,1855,2725,3357,3399,3316,0,0,0,0,0,0,15.34,15.25,15.36
$GC,2972,-0.81,-97.3,1855,2725,3398,3310,413.8,-8.7,367,2977,0.00,2.08,0.00,0.000,260,0.000,0.085,1855,3943,3354,3399,3310,0,0,0,0,0,0,15.48,15.23,15.51
$GC,3008,-0.81,-97.3,1855,3948,3399,3310,417.2,-9.0,374,3014,0.00,1.88,0.00,0.000,1030,0.000,0.037,1855,2761,3354,3399,3310,0,0,0,0,0,0,15.37,15.33,15.38
$GC,3337,-0.81,-97.3,1854,2762,3399,3305,446.7,-8.7,389,3344,0.00,2.28,0.00,0.000,516,0.000,0.042,1854,1365,3351,3399,3304,0,0,0,0,0,0,15.49,15.27,15.50
$GC,3499,-0.81,-97.3,1855,1365,3398,3303,461.9,-9.8,421,3506,0.00,2.35,0.00,0.000,1030,0.000,0.054,1855,2749,3349,3396,3302,0,0,0,0,0,0,15.31,15.22,15.34
$GC,3824,-0.81,-97.3,1854,2748,3392,3298,489.8,-8.2,435,3830,0.00,2.30,0.00,0.000,516,0.000,0.043,1855,1359,3347,3397,3297,0,0,0,0,0,0,15.49,15.26,15.50
$GC,3861,-0.81,-97.3,1855,1359,3396,3297,493.2,-8.6,442,3870,0.00,2.38,0.00,0.000,1030,0.000,0.056,1855,2751,3346,3396,3297,0,0,0,0,0,0,15.31,15.21,15.33
$GC,4188,-0.81,-97.3,1855,2751,3389,3292,522.0,-8.9,457,4196,0.00,2.05,0.00,0.000,260,0.000,0.090,1855,3943,3345,3393,3297,0,0,0,0,0,0,15.48,15.20,15.50
$GC,4302,-0.81,-97.3,1855,3943,3393,3294,533.0,-9.4,479,4308,0.00,1.92,0.00,0.000,1030,0.000,0.040,1855,2737,3343,3393,3293,0,0,0,0,0,0,15.35,15.31,15.36
$GC,4619,-0.81,-97.3,1855,2737,3391,3291,558.3,-7.9,491,4624,0.00,2.22,0.00,0.000,516,0.000,0.045,1855,1375,3341,3391,3291,0,0,0,0,0,0,15.48,15.24,15.48
$GC,4685,-0.81,-97.3,1854,1375,3389,3291,563.8,-7.5,504,4691,0.00,2.35,0.00,0.000,1030,0.000,0.058,1855,2750,3340,3390,3291,0,0,0,0,0,0,15.32,15.21,15.34
$GC,5009,-0.81,-97.3,1855,2750,3387,3288,585.9,-6.6,518,5013,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,2749,3337,3387,3288,0,0,0,0,0,0,15.46,15.48,15.47
$GC,5308,-0.81,-97.3,1853,2749,3385,3287,606.8,-7.3,528,5317,0.00,2.30,0.00,0.000,516,0.000,0.047,1855,1373,3335,3385,3286,0,0,0,0,0,0,15.46,15.24,15.47
$GC,5393,-0.81,-97.3,1855,1373,3384,3286,613.6,-7.9,545,5402,0.00,2.42,0.00,0.000,1030,0.000,0.061,1855,2752,3335,3384,3286,0,0,0,0,0,0,15.23,15.15,15.26
$GC,5700,-0.81,-97.3,1855,2753,3382,3285,637.2,-8.1,556,5703,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,2752,3333,3382,3285,0,0,0,0,0,0,15.46,15.47,15.47
$GC,6000,-0.81,-97.3,1855,2753,3381,3282,663.5,-8.8,566,6006,0.00,2.30,0.00,0.000,516,0.000,0.047,1855,1376,3331,3381,3282,0,0,0,0,0,0,15.46,15.22,15.48
$GC,6043,-0.81,-97.3,1855,1376,3380,3282,667.6,-9.3,574,6049,0.00,2.38,0.00,0.000,1030,0.000,0.062,1855,2753,3331,3381,3282,0,0,0,0,0,0,15.30,15.19,15.32
$GC,6366,-0.81,-97.3,1855,2753,3378,3280,697.1,-9.2,588,6370,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,2752,3329,3379,3280,0,0,0,0,0,0,15.46,15.47,15.47
$GC,6667,-0.81,-97.3,1855,2752,3377,3279,723.8,-8.8,598,6670,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,2752,3328,3377,3279,0,0,0,0,0,0,15.45,15.48,15.47
$GC,6967,-0.81,-97.3,1855,2752,3376,3277,749.4,-8.4,608,6973,0.00,2.33,0.00,0.000,516,0.000,0.048,1855,1377,3326,3376,3277,0,0,0,0,0,0,15.45,15.20,15.50
$GC,7039,-0.81,-97.3,1855,1377,3374,3277,756.1,-8.9,622,7047,0.00,2.38,0.00,0.000,1030,0.000,0.063,1853,2750,3326,3375,3277,0,0,0,0,0,0,15.26,15.15,15.28
$GC,7361,-0.81,-97.3,1855,2749,3374,3276,782.0,-7.8,636,7364,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,2749,3325,3374,3276,0,0,0,0,0,0,15.45,15.49,15.48
$GC,7661,-0.81,-97.3,1855,2749,3373,3276,806.0,-7.9,646,7665,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,2755,3324,3373,3276,0,0,0,0,0,0,15.45,15.47,15.46
$GC,7960,-0.81,-97.3,1855,2750,3372,3274,830.2,-7.9,656,7966,0.00,2.30,0.00,0.000,516,0.000,0.049,1855,1378,3323,3372,3274,0,0,0,0,0,0,15.44,15.19,15.46
$GC,8057,-0.81,-97.3,1855,1378,3371,3274,838.4,-7.6,675,8066,0.00,2.40,0.00,0.000,1030,0.000,0.063,1855,2757,3322,3371,3274,0,0,0,0,0,0,15.26,15.15,15.29
$GC,8384,-0.81,-97.3,1855,2757,3370,3273,861.0,-7.0,690,8388,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,2757,3321,3370,3273,0,0,0,0,0,0,15.43,15.45,15.45
$GC,8684,-0.81,-97.3,1855,2757,3370,3272,880.3,-6.1,700,8688,0.00,0.00,0.00,0.000,38,0.000,0.000,1855,2757,3321,3370,3272,0,0,0,0,0,0,15.43,15.45,15.45
$GC,8985,-0.81,-97.3,1855,2757,3368,3271,899.0,-6.1,710,8990,0.00,2.10,0.00,0.000,292,0.000,0.096,1855,3952,3319,3368,3271,0,0,0,0,0,0,15.43,15.10,15.45
$GC,9152,-0.81,-97.3,1855,3952,3367,3270,910.7,-6.4,743,9158,0.00,1.95,0.00,0.000,1062,0.000,0.047,1855,2768,3319,3368,3270,0,0,0,0,0,0,15.28,15.23,15.29
$GC,9471,-0.81,-97.3,1855,2770,3367,3270,928.2,-5.8,756,9481,0.00,2.38,0.00,0.000,548,0.000,0.050,1855,1351,3318,3367,3270,0,0,0,0,0,0,15.40,15.14,15.40
$GC,9543,-0.81,-97.3,1854,1351,3367,3269,933.6,-6.5,770,9551,0.00,2.45,0.00,0.000,1030,0.000,0.063,1855,2756,3317,3366,3269,0,0,0,0,0,0,15.23,15.11,15.26
$GC,9864,-0.81,-97.3,1857,2756,3366,3269,953.4,-6.5,784,9870,0.00,2.40,0.00,0.000,516,0.000,0.050,1854,1351,3317,3366,3269,0,0,0,0,0,0,15.40,15.15,15.41
$GC,9922,-0.81,-97.3,1855,1351,3362,3269,958.4,-7.1,795,9931,0.00,2.50,0.00,0.000,1030,0.000,0.063,1855,2753,3317,3366,3269,0,0,0,0,0,0,15.14,15.06,15.17
$GC,10229,-0.81,-97.3,1855,2753,3365,3268,979.5,-7.3,806,10232,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,2753,3317,3366,3268,0,0,0,0,0,0,15.39,15.41,15.41
$STATE,10376,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10376,begin apogee
$GC,10383,-0.21,0.0,1855,1710,3365,3268,990.4,-7.3,811,10474,0.70,0.00,85.70,2.084,10246,0.206,0.000,2051,1710,2968,3031,2905,0,0,0,0,0,0,14.94,14.58,13.83
$STATE,10483,end apogee,CONTROL_FINISHED_OK
$STATE,10483,begin climb
$GC,10486,0.81,97.3,2051,1710,3030,2903,993.5,0.0,814,10592,1.08,0.00,100.68,2.043,10758,0.112,0.000,2386,1710,2571,2630,2512,0,0,0,0,0,0,14.59,14.35,13.64
$GC,10888,0.81,97.3,2385,1710,2628,2501,959.0,10.4,833,10892,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1710,2564,2628,2501,0,0,0,0,0,0,15.11,15.14,15.14
$GC,11188,0.81,97.3,2386,1709,2628,2493,927.1,10.7,843,11192,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1710,2564,2630,2498,0,0,0,0,0,0,15.25,15.27,15.27
$GC,11488,0.81,97.3,2386,1710,2626,2496,896.2,10.0,853,11495,0.00,2.50,0.00,0.000,260,0.000,0.070,2386,3112,2562,2627,2497,0,0,0,0,0,0,15.30,15.04,15.33
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$STATE,21708,end climb,SURFACE_DEPTH_REACHED
$STATE,21708,begin surface coast
$STATE,21738,end surface coast,CONTROL_FINISHED_OK
$STATE,21738,begin surface
$SM_CCo,21759,195.30,0.691,1,0,928,500.41
$SM_GC,0.39,6.95,3.55,195.30,0.074,0.047,0.691,158,2713,928,-6.08,-1.72,500.41,0,0,0,0,1,0,15.16,15.13,14.42
$IRIDIUM_FIX,1415.80,14413.25,121119,155907
$TT8_MAMPS,0.020223,0.1498
$HUMID,43.69
$INTERNAL_PRESSURE,8.95542
$TCM_TEMP,25.90
$XPDR_PINGS,0
$SC_FREEKB,3791712
$PM_FREEKB_00,58040768
$PM_FREEKB_01,91006144
$PM_FREEKB_02,124821056
$PM_FREEKB_03,124821056
$PM_ACTIVECARD,1
$24V_AH,13.64,71.631
$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,17.350,171.025,334.650,195.300,0.000,0.000,0.000,448.025,0.000,0.000,15.906,1566.628,14532.264,653.211,5477.066,423.939,0.000,2801.943,0.000,4689.907,0.000,0.553,0.000
$DEVICE_MAMPS,397.800,96.390,2083.860,690.795,0.000,0.000,0.000,201.960,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21759.000,21756.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.409,7.400,0.000,0.000
$MEM,270868
$DATA_FILE_SIZE,66549,1912
$CAP_FILE_SIZE,198215,0
$CFSIZE,260034560,229535744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.039,325.41,1
$GPS,131119,042300,1420.700,14409.609,18,0.9,18,0.2,0.4,304.9,7,9.1