version: 66.13
glider: 178
mission: 31
dive: 279
start: 12 10 119 19 44 27
data:
$ID,178
$MISSION,31
$DIVE,279
$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,32
$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
$GPS1,101219,193201,1414.4973,14410.0752,23,0.6,45,0.3,0.4,11.1,12,2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.32
$_SM_ANGLEo,-56.8
$GPS2,101219,194338,1414.5155,14410.0732,2,0.6,4,0.3,0.4,34.1,12,5.0
$SPEED_LIMITS,0.147,0.188
$TGT_NAME,S
$TGT_LATLONG,1410.000,14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,181.0,8364,-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,-97.3,139,2740,988,871,0.0,0.0,0,115,0.00,0.00,-87.62,0.005,16386,0.000,0.000,139,2740,3217,3243,3192,0,0,0,0,0,0,15.21,28.83,15.23
$GC,118,-0.81,-97.3,139,2739,3240,3193,4.8,-9.7,9,137,7.85,2.35,-2.45,0.047,18948,0.373,0.063,1853,1336,3368,3401,3335,0,0,0,0,0,0,14.67,14.16,14.89
$GC,358,-0.81,-97.3,1854,1336,3401,3332,85.0,-27.1,56,366,0.00,2.45,0.00,0.000,1030,0.000,0.054,1846,2738,3366,3401,3332,0,0,0,0,0,0,15.03,14.96,15.07
$GC,546,-0.81,-97.3,1845,2738,3401,3332,131.0,-21.4,75,552,0.00,2.08,0.00,0.000,260,0.000,0.076,1836,3952,3366,3401,3332,0,0,0,0,0,0,15.34,15.03,15.35
$GC,565,-0.81,-97.3,1836,3952,3398,3332,134.6,-18.5,78,573,0.00,2.03,0.00,0.000,1030,0.000,0.031,1836,2719,3366,3401,3332,0,0,0,0,0,0,15.10,15.08,15.09
$GC,754,-0.81,-97.3,1836,2717,3401,3332,165.0,-16.3,97,761,0.00,0.00,0.00,0.000,6,0.000,0.000,1835,2716,3366,3401,3332,0,0,0,0,0,0,15.37,15.38,15.38
$GC,942,-0.81,-97.3,1836,2712,3401,3332,191.3,-13.7,116,947,0.00,2.20,0.00,0.000,516,0.000,0.043,1836,1362,3367,3402,3332,0,0,0,0,0,0,15.39,15.11,15.40
$GC,1049,-0.81,-97.3,1836,1362,3402,3332,205.0,-13.4,137,1058,0.10,2.40,0.00,0.000,3078,0.237,0.050,1856,2753,3367,3402,3332,0,0,0,0,0,0,14.87,15.05,15.00
$GC,1236,-0.81,-97.3,1856,2753,3401,3332,224.6,-10.7,156,1244,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,2753,3367,3402,3332,0,0,0,0,0,0,15.40,15.42,15.42
$GC,1427,-0.81,-97.3,1856,2753,3402,3331,244.8,-10.4,175,1433,0.00,2.03,0.00,0.000,260,0.000,0.080,1856,3942,3366,3402,3331,0,0,0,0,0,0,15.41,15.07,15.42
$GC,1662,-0.81,-97.3,1855,3940,3397,3329,269.9,-10.4,221,1669,0.00,1.90,0.00,0.000,1030,0.000,0.031,1856,2723,3365,3401,3329,0,0,0,0,0,0,15.27,15.23,15.28
$GC,1977,-0.81,-97.3,1856,2717,3402,3327,296.4,-7.8,233,1983,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,2718,3364,3402,3327,0,0,0,0,0,0,15.40,15.42,15.42
$GC,2277,-0.81,-97.3,1856,2718,3401,3323,324.7,-10.2,243,2283,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,2718,3362,3401,3323,0,0,0,0,0,0,15.40,15.42,15.42
$GC,2578,-0.81,-97.3,1856,2717,3402,3319,355.0,-10.1,253,2586,0.00,2.20,0.00,0.000,516,0.000,0.044,1856,1394,3359,3401,3318,0,0,0,0,0,0,15.41,15.10,15.42
$GC,2622,-0.81,-97.3,1859,1394,3402,3318,359.7,-10.1,261,2629,0.00,2.33,0.00,0.000,1030,0.000,0.054,1856,2752,3359,3402,3317,0,0,0,0,0,0,15.23,15.12,15.26
$GC,2947,-0.81,-97.3,1856,2752,3402,3311,393.1,-10.6,275,2953,0.00,2.08,0.00,0.000,260,0.000,0.086,1856,3946,3356,3402,3311,0,0,0,0,0,0,15.43,15.06,15.45
$GC,3180,-0.81,-97.3,1857,3946,3401,3308,415.5,-8.1,321,3186,0.00,1.90,0.00,0.000,1030,0.000,0.034,1856,2744,3354,3401,3308,0,0,0,0,0,0,15.25,15.21,15.27
$GC,3494,-0.81,-97.3,1856,2744,3402,3302,438.9,-8.1,333,3501,0.00,2.12,0.00,0.000,260,0.000,0.086,1856,3945,3353,3405,3302,0,0,0,0,0,0,15.43,15.05,15.45
$GC,3564,-0.81,-97.3,1856,3945,3401,3301,445.7,-10.3,346,3571,0.00,1.90,0.00,0.000,1030,0.000,0.035,1856,2754,3351,3401,3302,0,0,0,0,0,0,15.21,15.16,15.22
$GC,3894,-0.81,-97.3,1856,2753,3397,3299,478.5,-9.9,361,3901,0.00,2.30,0.00,0.000,516,0.000,0.049,1857,1387,3348,3398,3299,0,0,0,0,0,0,15.42,15.05,15.47
$GC,4132,-0.81,-97.3,1856,1388,3394,3298,500.7,-8.9,407,4143,0.00,2.35,0.00,0.000,1030,0.000,0.057,1856,2749,3347,3394,3300,0,0,0,0,0,0,15.18,15.07,15.21
$GC,4444,-0.81,-97.3,1856,2748,3393,3294,526.5,-8.2,419,4449,0.00,2.30,0.00,0.000,516,0.000,0.045,1856,1390,3343,3393,3294,0,0,0,0,0,0,15.40,15.08,15.41
$GC,4516,-0.81,-97.3,1856,1387,3392,3294,532.7,-8.3,433,4523,0.00,2.35,0.00,0.000,1030,0.000,0.054,1856,2747,3342,3391,3294,0,0,0,0,0,0,15.18,15.07,15.21
$GC,4841,-0.81,-97.3,1856,2747,3391,3292,556.6,-7.2,447,4845,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,2747,3341,3391,3291,0,0,0,0,0,0,15.41,15.43,15.42
$GC,5141,-0.81,-97.3,1856,2747,3388,3286,579.6,-8.1,457,5145,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,2748,3339,3389,3289,0,0,0,0,0,0,15.41,15.43,15.42
$GC,5442,-0.81,-97.3,1856,2747,3387,3288,604.7,-8.5,467,5448,0.00,2.12,0.00,0.000,260,0.000,0.086,1856,3955,3336,3386,3287,0,0,0,0,0,0,15.40,15.00,15.42
$GC,5566,-0.81,-97.3,1856,3958,3386,3286,615.6,-8.9,491,5572,0.00,1.95,0.00,0.000,1030,0.000,0.038,1856,2760,3335,3384,3286,0,0,0,0,0,0,15.21,15.16,15.22
$GC,5902,-0.81,-97.3,1856,2764,3383,3285,643.3,-8.1,507,5905,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,2759,3334,3383,3285,0,0,0,0,0,0,15.38,15.42,15.41
$GC,6201,-0.81,-97.3,1856,2759,3382,3284,666.5,-7.7,517,6211,0.00,2.35,0.00,0.000,516,0.000,0.046,1856,1366,3332,3382,3283,0,0,0,0,0,0,15.40,15.04,15.41
$GC,6313,-0.81,-97.3,1856,1366,3381,3283,675.5,-7.4,538,6321,0.00,2.42,0.00,0.000,1030,0.000,0.055,1856,2760,3335,3381,3289,0,0,0,0,0,0,15.13,15.02,15.16
$GC,6635,-0.81,-97.3,1856,2760,3380,3281,695.9,-6.3,551,6639,0.00,0.00,0.00,0.000,38,0.000,0.000,1856,2760,3330,3379,3281,0,0,0,0,0,0,15.34,15.37,15.35
$GC,6934,-0.81,-97.3,1856,2760,3378,3279,715.9,-6.9,561,6941,0.00,2.40,0.00,0.000,516,0.000,0.047,1857,1373,3328,3378,3279,0,0,0,0,0,0,15.33,14.98,15.35
$GC,6987,-0.81,-97.3,1855,1373,3378,3280,720.2,-7.4,571,6998,0.00,2.42,0.00,0.000,1030,0.000,0.057,1857,2756,3328,3377,3280,0,0,0,0,0,0,15.11,14.98,15.14
$GC,7300,-0.81,-97.3,1860,2755,3377,3278,744.2,-8.1,583,7303,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,2756,3327,3376,3278,0,0,0,0,0,0,15.34,15.37,15.36
$GC,7599,-0.81,-97.3,1856,2756,3375,3277,768.9,-8.2,593,7606,0.00,2.40,0.00,0.000,516,0.000,0.046,1856,1366,3326,3375,3277,0,0,0,0,0,0,15.37,14.99,15.36
$GC,7664,-0.81,-97.3,1856,1366,3375,3277,774.4,-8.5,605,7670,0.00,2.42,0.00,0.000,1030,0.000,0.057,1856,2750,3326,3375,3277,0,0,0,0,0,0,15.07,14.97,15.11
$GC,8000,-0.81,-97.3,1857,2750,3373,3276,801.1,-7.6,621,8003,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,2751,3325,3374,3276,0,0,0,0,0,0,15.36,15.38,15.38
$GC,8299,-0.81,-97.3,1856,2750,3373,3274,823.4,-7.4,631,8307,0.00,2.38,0.00,0.000,516,0.000,0.047,1857,1367,3323,3373,3274,0,0,0,0,0,0,15.35,14.99,15.38
$GC,8339,-0.81,-97.3,1856,1368,3374,3274,826.6,-7.4,639,8347,0.00,2.42,0.00,0.000,1030,0.000,0.057,1857,2749,3323,3373,3274,0,0,0,0,0,0,15.09,14.96,15.12
$GC,8662,-0.81,-97.3,1856,2749,3372,3273,848.5,-6.7,653,8665,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,2749,3322,3372,3273,0,0,0,0,0,0,15.35,15.38,15.38
$GC,8961,-0.81,-97.3,1856,2749,3371,3273,867.4,-6.2,663,8970,0.00,2.15,0.00,0.000,292,0.000,0.090,1856,3950,3322,3371,3273,0,0,0,0,0,0,15.36,14.89,15.40
$GC,9052,-0.81,-97.3,1856,3950,3371,3272,873.8,-6.8,680,9064,0.00,2.03,0.00,0.000,1030,0.000,0.041,1856,2769,3321,3371,3271,0,0,0,0,0,0,15.02,15.00,15.04
$GC,9358,-0.81,-97.3,1858,2768,3370,3272,893.7,-6.8,691,9367,0.00,2.42,0.00,0.000,516,0.000,0.047,1856,1350,3321,3370,3272,0,0,0,0,0,0,15.34,14.92,15.35
$GC,9494,-0.81,-97.3,1856,1350,3369,3272,903.9,-7.6,717,9500,0.00,2.47,0.00,0.000,1030,0.000,0.058,1856,2756,3319,3368,3271,0,0,0,0,0,0,15.07,14.95,15.11
$GC,9819,-0.81,-97.3,1856,2755,3369,3271,929.2,-8.1,731,9825,0.00,2.12,0.00,0.000,260,0.000,0.092,1857,3943,3319,3367,3271,0,0,0,0,0,0,15.33,14.87,15.35
$GC,9876,-0.81,-97.3,1856,3943,3369,3271,934.4,-9.0,742,9883,0.00,2.05,0.00,0.000,1030,0.000,0.044,1852,2759,3320,3369,3271,0,0,0,0,0,0,15.02,14.98,15.04
$GC,10183,-0.81,-97.3,1861,2759,3367,3270,960.7,-8.7,753,10190,0.00,2.42,0.00,0.000,516,0.000,0.050,1856,1344,3318,3367,3270,0,0,0,0,0,0,15.33,14.96,15.35
$GC,10261,-0.81,-97.3,1856,1344,3367,3270,968.0,-9.1,768,10270,0.00,2.47,0.00,0.000,1030,0.000,0.060,1856,2746,3318,3367,3270,0,0,0,0,0,0,15.04,14.92,15.09
$STATE,10546,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10546,begin apogee
$GC,10554,-0.21,0.0,1856,1708,3366,3270,992.2,-8.3,780,10646,0.70,0.00,86.57,2.109,10246,0.203,0.000,2051,1708,2968,3031,2905,0,0,0,0,0,0,14.72,14.52,13.69
$STATE,10650,end apogee,CONTROL_FINISHED_OK
$STATE,10651,begin climb
$GC,10654,0.81,97.3,2051,1708,3030,2903,995.5,0.0,783,10767,1.08,1.95,100.30,2.062,10756,0.119,0.073,2389,641,2571,2632,2511,0,0,0,0,0,0,14.50,14.18,13.50
$GC,10860,0.81,97.3,2389,641,2623,2510,984.4,9.2,827,10865,0.00,1.88,0.00,0.000,1030,0.000,0.042,2386,1724,2565,2623,2507,0,0,0,0,0,0,14.71,14.64,14.73
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$STATE,22380,end climb,SURFACE_DEPTH_REACHED
$STATE,22380,begin surface coast
$STATE,22413,end surface coast,CONTROL_FINISHED_OK
$STATE,22413,begin surface
$SM_CCo,22435,197.20,0.679,1,0,927,500.17
$SM_GC,0.31,7.03,3.55,197.20,0.074,0.040,0.679,160,2715,927,-6.09,-1.95,500.17,0,0,0,0,1,0,15.00,15.02,14.35
$IRIDIUM_FIX,1419.93,14405.23,101219,130502
$TT8_MAMPS,0.020223,0.155792
$HUMID,44.95
$INTERNAL_PRESSURE,8.95542
$TCM_TEMP,26.80
$XPDR_PINGS,0
$SC_FREEKB,3747872
$PM_FREEKB_00,58040768
$PM_FREEKB_01,85563520
$PM_FREEKB_02,74722432
$PM_FREEKB_03,124821056
$PM_ACTIVECARD,2
$24V_AH,13.50,114.055
$10V_AH,13.09,0.000
$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,17.200,166.475,334.950,197.200,0.000,0.000,0.000,416.350,0.000,0.000,16.391,1639.200,14805.187,640.688,5700.686,549.777,0.000,2839.694,0.000,4908.845,0.000,0.553,0.000
$DEVICE_MAMPS,372.555,91.800,2109.105,679.320,0.000,0.000,0.000,198.135,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22440.000,22436.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.374,8.682,0.000,0.000
$MEM,270772
$DATA_FILE_SIZE,66482,1953
$CAP_FILE_SIZE,202367,0
$CFSIZE,260034560,213962752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0
$CURRENT,0.050,274.28,1
$GPS,111219,020309,1412.526,14409.288,16,0.7,25,0.3,0.6,269.6,12,3.7