version: 66.13
glider: 178
mission: 31
dive: 201
start: 11 20 119 5 57 1
data:
$ID,178
$MISSION,31
$DIVE,201
$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,31
$R_STBD_OVSHOOT,28
$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
$GPS1,201119,054549,1416.1805,14410.1045,21,0.7,32,0.3,0.7,280.4,12,3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.39
$_SM_ANGLEo,-56.9
$GPS2,201119,055613,1416.2366,14409.9990,2,0.6,3,0.3,0.9,292.8,12,9.9
$SPEED_LIMITS,0.147,0.188
$TGT_NAME,S
$TGT_LATLONG,1410.000,14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,174.8,11550,-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,-97.3,154,2732,993,867,0.0,0.0,0,110,0.00,0.00,-88.50,0.005,16386,0.000,0.000,154,2733,3262,3288,3237,0,0,0,0,0,0,15.24,28.83,15.26
$GC,113,-0.81,-97.3,154,2733,3288,3237,5.2,-10.3,9,130,7.90,2.35,-1.77,0.063,18948,0.389,0.062,1850,1329,3364,3392,3337,0,0,0,0,0,0,14.74,13.97,14.97
$GC,357,-0.81,-97.3,1850,1329,3400,3336,92.6,-24.1,58,364,0.00,2.42,0.00,0.000,1030,0.000,0.053,1842,2735,3367,3400,3335,0,0,0,0,0,0,15.14,15.07,15.16
$GC,544,-0.81,-97.3,1842,2739,3400,3335,132.2,-16.0,77,550,0.00,2.33,0.00,0.000,516,0.000,0.043,1842,1329,3367,3401,3334,0,0,0,0,0,0,15.40,15.16,15.42
$GC,612,-0.81,-97.3,1841,1329,3401,3337,142.5,-15.2,90,619,0.00,2.45,0.00,0.000,1030,0.000,0.053,1833,2755,3368,3401,3335,0,0,0,0,0,0,15.17,15.12,15.21
$GC,798,-0.81,-97.3,1833,2754,3402,3335,171.9,-15.5,109,805,0.12,2.03,0.00,0.000,2308,0.291,0.076,1857,3949,3368,3401,3335,0,0,0,0,0,0,15.00,15.14,15.14
$GC,1034,-0.81,-97.3,1857,3949,3401,3335,207.3,-16.7,155,1040,0.00,1.95,0.00,0.000,1030,0.000,0.031,1857,2699,3368,3401,3335,0,0,0,0,0,0,15.32,15.28,15.33
$GC,1228,-0.81,-97.3,1854,2693,3401,3335,232.0,-11.4,175,1234,0.00,2.22,0.00,0.000,516,0.000,0.045,1857,1334,3368,3401,3335,0,0,0,0,0,0,15.45,15.21,15.47
$GC,1266,-0.81,-97.3,1857,1331,3401,3334,236.1,-10.3,182,1273,0.00,2.42,0.00,0.000,1030,0.000,0.053,1853,2745,3367,3401,3334,0,0,0,0,0,0,15.22,15.16,15.26
$GC,1462,-0.81,-97.3,1852,2745,3401,3334,258.1,-12.4,198,1468,0.00,2.03,0.00,0.000,260,0.000,0.083,1851,3945,3367,3401,3333,0,0,0,0,0,0,15.45,15.19,15.47
$GC,1695,-0.81,-97.3,1851,3945,3401,3332,291.8,-14.5,244,1700,0.00,1.95,0.00,0.000,1030,0.000,0.031,1851,2694,3366,3401,3331,0,0,0,0,0,0,15.34,15.31,15.36
$GC,2008,-0.81,-97.3,1850,2689,3401,3328,327.1,-10.3,256,2014,0.00,2.17,0.00,0.000,260,0.000,0.084,1849,3943,3364,3401,3327,0,0,0,0,0,0,15.48,15.20,15.50
$GC,2147,-0.81,-97.3,1848,3944,3401,3326,342.8,-11.8,283,2152,0.00,1.95,0.00,0.000,1030,0.000,0.031,1849,2714,3363,3400,3326,0,0,0,0,0,0,15.35,15.32,15.37
$GC,2465,-0.81,-97.3,1849,2708,3399,3322,373.6,-9.0,296,2471,0.00,2.17,0.00,0.000,516,0.000,0.045,1849,1366,3359,3397,3322,0,0,0,0,0,0,15.49,15.28,15.51
$GC,2547,-0.81,-97.3,1849,1366,3401,3321,381.4,-9.8,312,2553,0.00,2.35,0.00,0.000,1030,0.000,0.055,1849,2754,3359,3401,3318,0,0,0,0,0,0,15.33,15.23,15.35
$GC,2861,-0.81,-97.3,1848,2754,3401,3315,410.7,-9.7,324,2867,0.00,2.03,0.00,0.000,260,0.000,0.084,1847,3943,3358,3401,3315,0,0,0,0,0,0,15.50,15.20,15.51
$GC,3015,-0.81,-97.3,1849,3943,3401,3312,430.2,-13.3,354,3021,0.00,1.90,0.00,0.000,1030,0.000,0.034,1849,2737,3356,3400,3312,0,0,0,0,0,0,15.35,15.32,15.37
$GC,3350,-0.81,-97.3,1848,2731,3401,3307,466.8,-9.4,370,3357,0.00,2.20,0.00,0.000,516,0.000,0.044,1849,1373,3356,3406,3307,0,0,0,0,0,0,15.49,15.21,15.52
$GC,3513,-0.81,-97.3,1855,1377,3398,3305,482.0,-9.1,402,3521,0.00,2.35,0.00,0.000,1030,0.000,0.056,1849,2754,3352,3399,3305,0,0,0,0,0,0,15.32,15.21,15.35
$GC,3836,-0.81,-97.3,1849,2754,3398,3300,511.6,-9.3,416,3841,0.00,2.05,0.00,0.000,260,0.000,0.087,1849,3946,3349,3398,3300,0,0,0,0,0,0,15.47,15.19,15.50
$GC,3912,-0.81,-97.3,1851,3946,3398,3299,519.6,-10.2,431,3918,0.00,1.90,0.00,0.000,1030,0.000,0.037,1849,2742,3348,3397,3299,0,0,0,0,0,0,15.35,15.31,15.36
$GC,4231,-0.81,-97.3,1849,2742,3395,3296,548.9,-8.8,444,4237,0.00,2.10,0.00,0.000,260,0.000,0.087,1849,3943,3345,3395,3296,0,0,0,0,0,0,15.48,15.18,15.50
$GC,4308,-0.81,-97.3,1847,3943,3395,3295,555.3,-7.9,459,4314,0.00,1.90,0.00,0.000,1030,0.000,0.039,1849,2760,3343,3392,3295,0,0,0,0,0,0,15.33,15.28,15.33
$GC,4627,-0.81,-97.3,1848,2763,3392,3293,576.9,-6.4,472,4630,0.00,0.00,0.00,0.000,38,0.000,0.000,1848,2760,3342,3392,3293,0,0,0,0,0,0,15.48,15.50,15.50
$GC,4928,-0.81,-97.3,1848,2760,3390,3291,597.2,-7.1,482,4933,0.00,2.30,0.00,0.000,516,0.000,0.047,1849,1365,3341,3392,3291,0,0,0,0,0,0,15.48,15.21,15.50
$GC,5014,-0.81,-97.3,1848,1365,3388,3291,604.3,-7.9,499,5021,0.00,2.42,0.00,0.000,1030,0.000,0.057,1849,2746,3339,3388,3291,0,0,0,0,0,0,15.21,15.14,15.26
$GC,5322,-0.81,-97.3,1848,2746,3387,3285,630.1,-8.6,510,5326,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2746,3336,3386,3287,0,0,0,0,0,0,15.47,15.50,15.50
$GC,5621,-0.81,-97.3,1848,2746,3385,3286,656.7,-9.1,520,5627,0.00,2.33,0.00,0.000,516,0.000,0.047,1850,1363,3335,3384,3286,0,0,0,0,0,0,15.47,15.20,15.49
$GC,5694,-0.81,-97.3,1848,1363,3380,3287,663.6,-9.2,534,5702,0.00,2.40,0.00,0.000,1030,0.000,0.057,1854,2759,3335,3384,3286,0,0,0,0,0,0,15.28,15.18,15.31
$GC,6016,-0.81,-97.3,1848,2759,3382,3285,691.3,-8.5,548,6020,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,2759,3333,3382,3285,0,0,0,0,0,0,15.45,15.48,15.47
$GC,6315,-0.81,-97.3,1848,2759,3381,3283,716.1,-8.2,558,6321,0.00,2.35,0.00,0.000,516,0.000,0.047,1849,1363,3331,3381,3282,0,0,0,0,0,0,15.45,15.18,15.47
$GC,6362,-0.81,-97.3,1848,1361,3380,3282,720.3,-8.6,567,6368,0.00,2.40,0.00,0.000,1030,0.000,0.058,1849,2753,3331,3380,3282,0,0,0,0,0,0,15.26,15.15,15.29
$GC,6676,-0.81,-97.3,1848,2753,3378,3281,745.5,-8.2,579,6680,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2753,3330,3379,3281,0,0,0,0,0,0,15.45,15.48,15.47
$GC,6976,-0.81,-97.3,1848,2753,3377,3280,769.2,-7.8,589,6979,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2753,3328,3378,3279,0,0,0,0,0,0,15.46,15.48,15.47
$GC,7276,-0.81,-97.3,1851,2758,3377,3278,792.3,-7.7,599,7282,0.00,2.35,0.00,0.000,516,0.000,0.048,1848,1368,3327,3376,3278,0,0,0,0,0,0,15.45,15.16,15.47
$GC,7354,-0.81,-97.3,1848,1368,3375,3278,798.7,-8.2,614,7362,0.00,2.40,0.00,0.000,1030,0.000,0.059,1848,2755,3326,3375,3278,0,0,0,0,0,0,15.26,15.14,15.28
$GC,7670,-0.81,-97.3,1849,2755,3374,3277,822.0,-7.3,627,7674,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2755,3324,3374,3275,0,0,0,0,0,0,15.44,15.46,15.45
$GC,7970,-0.81,-97.3,1848,2755,3373,3276,845.2,-7.8,637,7974,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,2755,3324,3373,3276,0,0,0,0,0,0,15.42,15.46,15.47
$GC,8270,-0.81,-97.3,1848,2755,3372,3274,868.1,-7.7,647,8276,0.00,2.35,0.00,0.000,516,0.000,0.049,1848,1370,3323,3372,3274,0,0,0,0,0,0,15.42,15.16,15.45
$GC,8334,-0.81,-97.3,1848,1368,3374,3274,874.0,-8.4,659,8339,0.00,2.42,0.00,0.000,1030,0.000,0.060,1849,2759,3323,3372,3274,0,0,0,0,0,0,15.23,15.11,15.26
$GC,8667,-0.81,-97.3,1848,2758,3371,3273,900.5,-8.3,675,8673,0.00,2.08,0.00,0.000,260,0.000,0.093,1849,3945,3322,3371,3273,0,0,0,0,0,0,15.40,15.07,15.43
$GC,8740,-0.81,-97.3,1848,3946,3371,3273,907.8,-9.0,689,8746,0.00,1.95,0.00,0.000,1030,0.000,0.044,1848,2759,3322,3371,3273,0,0,0,0,0,0,15.27,15.21,15.28
$GC,9064,-0.81,-97.3,1848,2760,3370,3272,934.9,-8.9,703,9067,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2759,3321,3370,3272,0,0,0,0,0,0,15.40,15.43,15.42
$GC,9364,-0.81,-97.3,1848,2760,3368,3271,961.5,-8.6,713,9370,0.00,2.35,0.00,0.000,516,0.000,0.050,1848,1360,3320,3369,3271,0,0,0,0,0,0,15.42,15.13,15.43
$GC,9482,-0.81,-97.3,1848,1361,3368,3272,972.3,-8.2,736,9489,0.00,2.47,0.00,0.000,1030,0.000,0.060,1848,2751,3319,3368,3271,0,0,0,0,0,0,15.11,15.03,15.15
$STATE,9726,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9726,begin apogee
$GC,9733,-0.21,0.0,1846,1716,3368,3271,990.1,-7.3,745,9824,0.73,0.00,85.62,2.067,10246,0.207,0.000,2051,1716,2972,3032,2912,0,0,0,0,0,0,14.93,14.59,13.82
$STATE,9827,end apogee,CONTROL_FINISHED_OK
$STATE,9827,begin climb
$GC,9829,0.81,97.3,2051,1716,3031,2904,992.8,0.0,748,9939,1.05,2.00,99.20,2.022,10756,0.115,0.075,2385,644,2571,2631,2511,0,0,0,0,0,0,14.58,14.34,13.65
$GC,10076,0.81,97.3,2384,644,2623,2507,971.6,11.3,799,10082,0.00,1.85,0.00,0.000,1030,0.000,0.042,2383,1732,2566,2623,2509,0,0,0,0,0,0,14.85,14.79,14.88
$GC,10395,0.81,97.3,2384,1732,2623,2501,936.1,11.2,812,10401,0.00,1.95,0.00,0.000,516,0.000,0.075,2385,636,2562,2623,2501,0,0,0,0,0,0,15.21,14.95,15.25
$GC,10476,0.81,97.3,2385,637,2623,2501,927.2,11.4,828,10482,0.00,1.77,0.00,0.000,1030,0.000,0.042,2386,1701,2562,2623,2501,0,0,0,0,0,0,15.08,15.01,15.09
$GC,10791,0.81,97.3,2385,1702,2622,2500,891.6,11.2,840,10795,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1701,2560,2622,2498,0,0,0,0,0,0,15.30,15.33,15.33
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$STATE,20936,end climb,SURFACE_DEPTH_REACHED
$STATE,20936,begin surface coast
$STATE,20956,end surface coast,CONTROL_FINISHED_OK
$STATE,20956,begin surface
$SM_CCo,20975,135.20,0.679,1,0,929,500.17
$SM_GC,0.38,6.97,1.77,135.20,0.076,0.048,0.679,155,2738,929,-6.10,-1.44,500.17,0,0,0,0,1,0,15.08,15.10,14.43
$IRIDIUM_FIX,1417.59,14411.44,191119,232927
$TT8_MAMPS,0.018725,0.158039
$HUMID,45.78
$INTERNAL_PRESSURE,8.95542
$TCM_TEMP,26.30
$XPDR_PINGS,1
$SC_FREEKB,3777856
$PM_FREEKB_00,58040768
$PM_FREEKB_01,85563520
$PM_FREEKB_02,120984512
$PM_FREEKB_03,124821056
$PM_ACTIVECARD,2
$24V_AH,13.65,82.644
$10V_AH,13.05,0.000
$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,17.175,165.625,396.025,135.200,0.000,0.000,0.000,386.150,0.250,0.000,15.137,1567.270,14030.995,601.139,5122.939,422.383,0.000,2666.728,0.000,4436.055,0.000,0.552,0.000
$DEVICE_MAMPS,388.620,92.565,2067.030,678.555,0.000,0.000,0.000,198.900,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20977.000,20977.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.325,5.793,0.000,0.000
$MEM,270820
$DATA_FILE_SIZE,66610,1864
$CAP_FILE_SIZE,192998,0
$CFSIZE,260034560,225456128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.027,240.50,1
$GPS,201119,115031,1414.123,14410.068,30,0.8,36,0.3,0.2,310.1,11,2.4