version: 66.13
glider: 178
mission: 31
dive: 269
start: 12 8 119 3 31 26
data:
$ID,178
$MISSION,31
$DIVE,269
$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,37
$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
$GPS1,081219,031900,1416.6714,14408.6963,28,0.8,28,0.3,0.3,311.7,9,6.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.27
$_SM_ANGLEo,-55.7
$GPS2,081219,033037,1416.6509,14408.4678,2,0.6,3,0.3,0.6,245.6,12,10.0
$SPEED_LIMITS,0.147,0.188
$TGT_NAME,N
$TGT_LATLONG,1421.000,14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,47.1,8511,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.81,-97.3,151,2742,985,868,0.0,0.0,0,115,0.00,0.00,-87.82,0.005,16386,0.000,0.000,151,2742,3187,3213,3161,0,0,0,0,0,0,15.21,28.83,15.23
$GC,118,-0.81,-97.3,151,2742,3213,3161,4.3,-8.4,9,135,8.05,0.00,-3.12,0.031,18438,0.386,0.000,1854,2743,3366,3401,3332,0,0,0,0,0,0,14.66,13.83,15.02
$GC,316,-0.81,-97.3,1853,2743,3402,3331,72.4,-28.8,29,323,0.00,2.05,0.00,0.000,260,0.000,0.074,1847,3937,3366,3402,3331,0,0,0,0,0,0,15.30,15.00,15.32
$GC,353,-0.81,-97.3,1847,3943,3402,3331,81.4,-23.3,35,361,0.00,1.95,0.00,0.000,1030,0.000,0.032,1847,2694,3366,3402,3330,0,0,0,0,0,0,15.13,15.09,15.14
$GC,549,-0.81,-97.3,1846,2695,3401,3331,118.5,-19.0,55,554,0.00,2.15,0.00,0.000,260,0.000,0.075,1838,3939,3369,3402,3337,0,0,0,0,0,0,15.35,15.04,15.36
$GC,753,-0.81,-97.3,1837,3939,3402,3331,150.0,-13.8,95,759,0.00,1.95,0.00,0.000,1030,0.000,0.031,1837,2696,3366,3402,3330,0,0,0,0,0,0,15.23,15.19,15.24
$GC,947,-0.81,-97.3,1837,2690,3402,3331,181.0,-15.9,115,954,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2690,3366,3402,3331,0,0,0,0,0,0,15.40,15.42,15.41
$GC,1138,-0.81,-97.3,1837,2690,3402,3331,209.2,-14.3,134,1145,0.00,2.20,0.00,0.000,516,0.000,0.039,1837,1335,3368,3402,3335,0,0,0,0,0,0,15.38,15.10,15.40
$GC,1245,-0.81,-97.3,1837,1336,3402,3331,222.3,-10.7,154,1255,0.15,2.35,0.00,0.000,3078,0.264,0.045,1865,2742,3366,3402,3331,0,0,0,0,0,0,14.90,15.14,15.09
$GC,1437,-0.81,-97.3,1864,2742,3402,3330,242.0,-10.7,174,1444,0.00,2.05,0.00,0.000,260,0.000,0.073,1858,3951,3366,3402,3330,0,0,0,0,0,0,15.36,15.06,15.40
$GC,1672,-0.81,-97.3,1858,3951,3402,3329,271.7,-13.8,220,1681,0.00,1.98,0.00,0.000,1030,0.000,0.031,1858,2693,3365,3402,3328,0,0,0,0,0,0,15.27,15.23,15.28
$GC,1989,-0.81,-97.3,1858,2688,3402,3326,307.4,-10.0,232,1995,0.00,2.20,0.00,0.000,516,0.000,0.039,1858,1334,3363,3402,3325,0,0,0,0,0,0,15.43,15.16,15.45
$GC,2053,-0.81,-97.3,1858,1334,3402,3325,313.7,-9.4,244,2062,0.00,2.40,0.00,0.000,1030,0.000,0.048,1858,2757,3363,3402,3324,0,0,0,0,0,0,15.23,15.14,15.26
$GC,2386,-0.81,-97.3,1858,2757,3402,3321,341.0,-7.7,260,2390,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,2757,3361,3402,3321,0,0,0,0,0,0,15.43,15.45,15.45
$GC,2686,-0.81,-97.3,1857,2757,3402,3316,363.0,-7.0,270,2691,0.00,2.05,0.00,0.000,260,0.000,0.081,1857,3949,3359,3402,3316,0,0,0,0,0,0,15.45,15.09,15.46
$GC,2918,-0.81,-97.3,1857,3949,3402,3311,385.5,-10.8,316,2924,0.00,1.98,0.00,0.000,1030,0.000,0.034,1858,2717,3356,3401,3311,0,0,0,0,0,0,15.28,15.23,15.29
$GC,3232,-0.81,-97.3,1857,2717,3402,3307,416.3,-9.4,328,3237,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,2717,3355,3402,3308,0,0,0,0,0,0,15.44,15.45,15.45
$GC,3533,-0.81,-97.3,1859,2717,3402,3302,444.8,-9.7,338,3541,0.00,2.15,0.00,0.000,260,0.000,0.083,1857,3938,3351,3402,3301,0,0,0,0,0,0,15.44,15.02,15.45
$GC,3671,-0.81,-97.3,1857,3937,3401,3300,459.1,-10.8,364,3677,0.00,1.92,0.00,0.000,1030,0.000,0.037,1857,2747,3350,3401,3300,0,0,0,0,0,0,15.25,15.21,15.26
$GC,3995,-0.81,-97.3,1855,2748,3398,3298,492.5,-10.1,378,4001,0.00,2.30,0.00,0.000,516,0.000,0.043,1857,1367,3347,3397,3297,0,0,0,0,0,0,15.40,15.11,15.42
$GC,4228,-0.81,-97.3,1857,1367,3394,3300,514.0,-8.2,424,4239,0.00,2.40,0.00,0.000,1030,0.000,0.053,1857,2753,3345,3394,3297,0,0,0,0,0,0,15.18,15.09,15.21
$GC,4540,-0.81,-97.3,1857,2754,3393,3293,536.1,-6.9,436,4548,0.00,2.33,0.00,0.000,516,0.000,0.043,1856,1369,3343,3393,3293,0,0,0,0,0,0,15.41,15.10,15.43
$GC,4615,-0.81,-97.3,1857,1369,3391,3294,541.7,-7.0,451,4626,0.00,2.40,0.00,0.000,1030,0.000,0.054,1858,2755,3342,3391,3293,0,0,0,0,0,0,15.14,15.04,15.18
$GC,4934,-0.81,-97.3,1857,2754,3390,3291,565.3,-7.2,464,4940,0.00,2.10,0.00,0.000,260,0.000,0.087,1857,3951,3341,3391,3291,0,0,0,0,0,0,15.41,15.01,15.43
$GC,5167,-0.81,-97.3,1854,3951,3389,3288,582.9,-7.6,510,5173,0.00,1.95,0.00,0.000,1030,0.000,0.040,1857,2759,3339,3390,3288,0,0,0,0,0,0,15.21,15.16,15.23
$GC,5482,-0.81,-97.3,1857,2759,3387,3287,605.4,-7.5,522,5485,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,2759,3335,3387,3283,0,0,0,0,0,0,15.40,15.42,15.42
$GC,5782,-0.81,-97.3,1857,2759,3385,3286,629.2,-8.1,532,5785,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,2759,3335,3385,3285,0,0,0,0,0,0,15.40,15.42,15.42
$GC,6081,-0.81,-97.3,1856,2758,3383,3285,654.5,-8.5,542,6085,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,2759,3334,3383,3286,0,0,0,0,0,0,15.40,15.42,15.42
$GC,6381,-0.81,-97.3,1857,2759,3382,3282,680.0,-8.6,552,6388,0.00,2.38,0.00,0.000,516,0.000,0.047,1857,1355,3331,3381,3282,0,0,0,0,0,0,15.40,15.06,15.42
$GC,6455,-0.81,-97.3,1857,1355,3381,3282,686.5,-8.6,566,6463,0.00,2.42,0.00,0.000,1030,0.000,0.056,1857,2749,3331,3381,3282,0,0,0,0,0,0,15.14,15.02,15.17
$GC,6776,-0.81,-97.3,1857,2751,3380,3280,712.2,-7.8,580,6783,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,2749,3330,3380,3281,0,0,0,0,0,0,15.35,15.38,15.38
$GC,7077,-0.81,-97.3,1857,2749,3378,3279,735.0,-7.5,590,7087,0.00,2.38,0.00,0.000,516,0.000,0.046,1857,1360,3328,3379,3278,0,0,0,0,0,0,15.36,14.97,15.38
$GC,7177,-0.81,-97.3,1857,1360,3378,3279,743.1,-7.9,609,7184,0.00,2.42,0.00,0.000,1030,0.000,0.057,1857,2750,3328,3377,3279,0,0,0,0,0,0,15.13,15.01,15.16
$GC,7507,-0.81,-97.3,1857,2751,3376,3277,769.6,-8.2,624,7516,0.00,2.38,0.00,0.000,516,0.000,0.046,1853,1358,3326,3376,3277,0,0,0,0,0,0,15.35,15.03,15.38
$GC,7582,-0.81,-97.3,1857,1358,3376,3278,776.5,-8.9,639,7591,0.00,2.45,0.00,0.000,1030,0.000,0.057,1857,2759,3325,3375,3276,0,0,0,0,0,0,15.14,14.97,15.12
$GC,7900,-0.81,-97.3,1857,2758,3375,3276,803.4,-8.7,652,7903,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,2758,3325,3375,3276,0,0,0,0,0,0,15.36,15.38,15.38
$GC,8199,-0.81,-97.3,1857,2757,3374,3275,828.8,-8.2,662,8205,0.00,2.40,0.00,0.000,516,0.000,0.047,1857,1359,3324,3374,3275,0,0,0,0,0,0,15.35,15.00,15.37
$GC,8317,-0.81,-97.3,1857,1365,3373,3274,839.1,-8.4,685,8325,0.00,2.47,0.00,0.000,1030,0.000,0.057,1857,2745,3323,3373,3274,0,0,0,0,0,0,14.97,14.90,15.02
$GC,8623,-0.81,-97.3,1857,2746,3373,3273,860.9,-7.2,696,8627,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,2746,3323,3374,3273,0,0,0,0,0,0,15.36,15.38,15.38
$GC,8924,-0.81,-97.3,1856,2745,3372,3273,882.3,-7.2,706,8930,0.00,2.15,0.00,0.000,260,0.000,0.093,1857,3948,3322,3372,3273,0,0,0,0,0,0,15.36,14.90,15.38
$GC,9028,-0.81,-97.3,1859,3947,3371,3272,890.8,-7.6,726,9035,0.00,2.00,0.00,0.000,1030,0.000,0.044,1857,2757,3322,3372,3272,0,0,0,0,0,0,15.10,15.04,15.12
$GC,9353,-0.81,-97.3,1857,2763,3370,3271,912.5,-6.7,740,9359,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,2758,3321,3371,3272,0,0,0,0,0,0,15.35,15.38,15.37
$GC,9653,-0.81,-97.3,1857,2759,3369,3271,932.5,-6.6,750,9660,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,2758,3320,3370,3271,0,0,0,0,0,0,15.35,15.38,15.37
$GC,9953,-0.81,-97.3,1857,2758,3369,3271,953.3,-7.1,760,9961,0.00,2.40,0.00,0.000,516,0.000,0.048,1857,1356,3319,3369,3270,0,0,0,0,0,0,15.35,14.96,15.36
$GC,10032,-0.81,-97.3,1857,1356,3368,3271,960.1,-7.5,775,10040,0.00,2.47,0.00,0.000,1030,0.000,0.060,1857,2760,3319,3368,3271,0,0,0,0,0,0,15.08,14.95,15.11
$GC,10349,-0.81,-97.3,1857,2761,3368,3268,981.9,-7.3,788,10353,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,2761,3319,3368,3270,0,0,0,0,0,0,15.29,15.31,15.31
$STATE,10467,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10467,begin apogee
$GC,10475,-0.21,0.0,1857,1704,3368,3269,990.8,-7.4,792,10567,0.70,0.00,87.12,2.108,10246,0.203,0.000,2051,1702,2967,3031,2904,0,0,0,0,0,0,14.77,14.52,13.69
$STATE,10576,end apogee,CONTROL_FINISHED_OK
$STATE,10576,begin climb
$GC,10579,0.81,97.3,2050,1703,3025,2902,994.3,0.0,795,10690,1.05,1.95,100.07,2.059,10756,0.118,0.073,2382,634,2573,2633,2513,0,0,0,0,0,0,14.52,14.18,13.52
$GC,10821,0.81,97.3,2382,633,2625,2509,978.8,9.1,847,10827,0.00,1.88,0.00,0.000,1030,0.000,0.042,2382,1727,2567,2625,2509,0,0,0,0,0,0,14.76,14.71,14.80
$GC,11136,0.81,97.3,2382,1729,2625,2504,950.9,8.9,859,11142,0.00,2.40,0.00,0.000,260,0.000,0.066,2384,3093,2564,2625,2503,0,0,0,0,0,0,15.16,14.85,15.19
$GC,11239,0.81,97.3,2381,3092,2625,2502,941.8,9.5,879,11247,0.00,2.42,0.00,0.000,1030,0.000,0.047,2384,1698,2564,2626,2502,0,0,0,0,0,0,15.01,14.92,15.02
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$STATE,22039,end climb,SURFACE_DEPTH_REACHED
$STATE,22039,begin surface coast
$STATE,22059,end surface coast,CONTROL_FINISHED_OK
$STATE,22059,begin surface
$SM_CCo,22079,156.02,0.680,1,0,928,500.17
$SM_GC,0.35,7.03,0.57,156.02,0.076,0.040,0.680,155,2724,928,-6.10,1.22,500.17,0,0,0,0,1,0,15.01,15.12,14.39
$IRIDIUM_FIX,1413.19,14406.54,071219,205550
$TT8_MAMPS,0.020223,0.154294
$HUMID,46.33
$INTERNAL_PRESSURE,8.95542
$TCM_TEMP,26.70
$XPDR_PINGS,1
$SC_FREEKB,3751712
$PM_FREEKB_00,58040768
$PM_FREEKB_01,85563520
$PM_FREEKB_02,80391744
$PM_FREEKB_03,124821056
$PM_ACTIVECARD,2
$24V_AH,13.52,109.889
$10V_AH,12.95,0.000
$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,17.375,159.050,384.575,156.025,0.000,0.000,0.000,428.250,0.250,0.000,14.721,1607.453,14671.123,611.455,5528.627,523.924,0.000,2839.043,0.000,4731.701,0.000,0.553,0.000
$DEVICE_MAMPS,386.325,93.330,2108.340,680.085,0.000,0.000,0.000,195.075,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22084.000,22083.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.349,8.457,0.000,0.000
$MEM,270864
$DATA_FILE_SIZE,69854,1987
$CAP_FILE_SIZE,198592,0
$CFSIZE,260034560,215441408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.096,321.49,1
$GPS,081219,094339,1419.043,14409.131,33,1.0,33,0.2,0.6,314.6,7,6.4