version: 66.13
glider: 178
mission: 31
dive: 281
start: 12 11 119 9 3 58
data:
$ID,178
$MISSION,31
$DIVE,281
$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,36
$R_STBD_OVSHOOT,30
$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
$GPS1,111219,085130,1411.0093,14410.1455,30,0.9,30,0.3,0.3,331.5,9,5.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.32
$_SM_ANGLEo,-56.0
$GPS2,111219,090308,1411.1089,14410.0410,2,0.6,4,0.3,0.6,315.7,12,4.3
$SPEED_LIMITS,0.147,0.188
$TGT_NAME,N
$TGT_LATLONG,1421.000,14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,4.8,18318,-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,24,-0.81,-97.3,159,2722,989,866,0.0,0.0,0,116,0.00,0.00,-88.03,0.005,16386,0.000,0.000,159,2722,3228,3254,3202,0,0,0,0,0,0,15.19,28.83,15.22
$GC,119,-0.81,-97.3,159,2722,3255,3203,5.0,-10.3,9,138,7.95,2.12,-2.22,0.051,18692,0.383,0.086,1847,3949,3364,3398,3331,0,0,0,0,0,0,14.64,14.14,14.87
$GC,370,-0.81,-97.3,1847,3949,3398,3330,96.8,-30.0,58,377,0.00,2.03,0.00,0.000,1030,0.000,0.030,1847,2724,3364,3398,3331,0,0,0,0,0,0,15.08,15.06,15.10
$GC,557,-0.81,-97.3,1847,2717,3398,3330,134.8,-18.0,77,563,0.00,2.12,0.00,0.000,260,0.000,0.073,1838,3946,3362,3397,3327,0,0,0,0,0,0,15.35,15.02,15.36
$GC,710,-0.81,-97.3,1838,3946,3397,3331,160.3,-14.0,106,717,0.00,1.98,0.00,0.000,1030,0.000,0.030,1838,2713,3367,3398,3337,0,0,0,0,0,0,15.14,15.11,15.14
$GC,895,-0.81,-97.3,1838,2713,3398,3331,186.3,-13.8,125,902,0.00,2.12,0.00,0.000,260,0.000,0.070,1829,3950,3363,3399,3328,0,0,0,0,0,0,15.38,15.02,15.39
$GC,1136,-0.81,-97.3,1828,3950,3399,3330,220.9,-13.5,171,1146,0.15,1.88,0.00,0.000,3078,0.265,0.029,1861,2743,3364,3399,3330,0,0,0,0,0,0,14.83,15.17,15.08
$GC,1337,-0.81,-97.3,1862,2743,3399,3330,242.4,-9.0,191,1343,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,2743,3364,3399,3330,0,0,0,0,0,0,15.40,15.42,15.40
$GC,1544,-0.81,-97.3,1861,2743,3406,3329,260.1,-7.9,204,1549,0.00,2.08,0.00,0.000,260,0.000,0.076,1858,3944,3364,3399,3329,0,0,0,0,0,0,15.41,15.08,15.42
$GC,1777,-0.81,-97.3,1858,3944,3398,3328,282.5,-11.1,250,1783,0.00,1.85,0.00,0.000,1030,0.000,0.032,1857,2769,3363,3399,3327,0,0,0,0,0,0,15.26,15.21,15.26
$GC,2091,-0.81,-97.3,1858,2767,3398,3324,316.6,-11.3,262,2095,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,2767,3361,3399,3323,0,0,0,0,0,0,15.43,15.45,15.45
$GC,2391,-0.81,-97.3,1858,2767,3399,3320,348.9,-10.8,272,2396,0.00,2.05,0.00,0.000,260,0.000,0.076,1857,3945,3359,3400,3319,0,0,0,0,0,0,15.43,15.07,15.45
$GC,2448,-0.81,-97.3,1853,3945,3398,3318,355.8,-11.4,283,2455,0.00,1.95,0.00,0.000,1030,0.000,0.033,1854,2745,3358,3399,3318,0,0,0,0,0,0,15.21,15.15,15.20
$GC,2755,-0.81,-97.3,1853,2741,3398,3313,385.6,-9.2,294,2761,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,2746,3355,3398,3313,0,0,0,0,0,0,15.42,15.45,15.45
$GC,3055,-0.81,-97.3,1853,2744,3399,3306,412.7,-8.7,304,3062,0.00,2.10,0.00,0.000,260,0.000,0.080,1854,3938,3353,3398,3308,0,0,0,0,0,0,15.42,15.02,15.44
$GC,3134,-0.81,-97.3,1854,3938,3398,3307,419.5,-8.1,318,3140,0.00,1.90,0.00,0.000,1030,0.000,0.036,1854,2760,3353,3399,3307,0,0,0,0,0,0,15.26,15.21,15.27
$GC,3458,-0.81,-97.3,1854,2761,3398,3301,445.3,-8.8,332,3462,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,2761,3349,3398,3301,0,0,0,0,0,0,15.41,15.42,15.42
$GC,3759,-0.81,-97.3,1853,2761,3396,3298,468.5,-7.2,342,3764,0.00,2.10,0.00,0.000,260,0.000,0.083,1854,3940,3347,3396,3298,0,0,0,0,0,0,15.40,15.02,15.42
$GC,3991,-0.81,-97.3,1854,3940,3395,3294,487.3,-8.0,388,3996,0.00,1.95,0.00,0.000,1030,0.000,0.036,1854,2743,3345,3395,3295,0,0,0,0,0,0,15.23,15.19,15.23
$GC,4306,-0.81,-97.3,1853,2743,3392,3293,512.6,-8.5,400,4311,0.00,2.12,0.00,0.000,260,0.000,0.087,1856,3936,3340,3387,3293,0,0,0,0,0,0,15.40,15.01,15.42
$GC,4514,-0.81,-97.3,1852,3936,3391,3291,532.9,-9.7,441,4521,0.00,1.98,0.00,0.000,1030,0.000,0.037,1853,2757,3341,3391,3291,0,0,0,0,0,0,15.12,15.10,15.14
$GC,4820,-0.81,-97.3,1851,2758,3388,3290,558.7,-8.0,452,4826,0.00,2.35,0.00,0.000,516,0.000,0.048,1853,1363,3338,3388,3289,0,0,0,0,0,0,15.40,15.05,15.42
$GC,4894,-0.81,-97.3,1854,1362,3388,3289,564.8,-8.3,466,4902,0.00,2.40,0.00,0.000,1030,0.000,0.054,1853,2744,3338,3387,3289,0,0,0,0,0,0,15.12,15.03,15.15
$GC,5215,-0.81,-97.3,1853,2744,3381,3287,590.6,-8.2,480,5221,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,2744,3337,3385,3289,0,0,0,0,0,0,15.40,15.42,15.41
$GC,5516,-0.81,-97.3,1853,2744,3385,3286,616.7,-8.8,490,5525,0.00,2.38,0.00,0.000,516,0.000,0.047,1854,1361,3334,3383,3286,0,0,0,0,0,0,15.37,15.00,15.38
$GC,5586,-0.81,-97.3,1853,1360,3383,3286,622.9,-9.0,502,5593,0.00,2.42,0.00,0.000,1030,0.000,0.055,1854,2768,3333,3382,3285,0,0,0,0,0,0,15.05,15.00,15.09
$GC,5917,-0.81,-97.3,1853,2767,3382,3283,650.9,-8.3,518,5925,0.00,2.40,0.00,0.000,516,0.000,0.047,1854,1363,3332,3381,3283,0,0,0,0,0,0,15.38,15.04,15.40
$GC,5958,-0.81,-97.3,1853,1364,3381,3283,654.5,-8.6,526,5966,0.00,2.42,0.00,0.000,1030,0.000,0.056,1854,2760,3332,3381,3283,0,0,0,0,0,0,15.04,14.99,15.08
$GC,6279,-0.81,-97.3,1853,2761,3375,3282,680.7,-8.3,540,6285,0.00,2.10,0.00,0.000,260,0.000,0.090,1854,3945,3330,3379,3282,0,0,0,0,0,0,15.38,14.95,15.40
$GC,6383,-0.81,-97.3,1853,3945,3379,3280,690.2,-9.3,560,6392,0.00,1.98,0.00,0.000,1030,0.000,0.042,1854,2755,3329,3379,3280,0,0,0,0,0,0,15.12,15.07,15.14
$GC,6710,-0.81,-97.3,1853,2755,3378,3279,719.9,-9.2,574,6714,0.00,0.00,0.00,0.000,6,0.000,0.000,1853,2755,3328,3378,3279,0,0,0,0,0,0,15.38,15.40,15.39
$GC,7010,-0.81,-97.3,1853,2755,3376,3278,747.6,-9.1,584,7014,0.00,0.00,0.00,0.000,6,0.000,0.000,1852,2754,3327,3376,3278,0,0,0,0,0,0,15.38,15.40,15.40
$GC,7311,-0.81,-97.3,1853,2755,3375,3276,773.1,-8.2,594,7315,0.00,0.00,0.00,0.000,6,0.000,0.000,1853,2755,3325,3375,3276,0,0,0,0,0,0,15.38,15.40,15.40
$GC,7610,-0.81,-97.3,1853,2755,3374,3276,796.4,-7.8,604,7613,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,2755,3325,3374,3276,0,0,0,0,0,0,15.40,15.40,15.40
$GC,7910,-0.81,-97.3,1853,2755,3372,3275,819.3,-7.6,614,7917,0.00,2.38,0.00,0.000,516,0.000,0.049,1853,1357,3323,3372,3275,0,0,0,0,0,0,15.38,14.99,15.39
$GC,8005,-0.81,-97.3,1850,1357,3371,3274,826.7,-7.8,632,8012,0.00,2.45,0.00,0.000,1030,0.000,0.057,1853,2750,3322,3371,3274,0,0,0,0,0,0,15.04,14.93,15.08
$GC,8345,-0.81,-97.3,1853,2750,3371,3273,850.6,-6.9,648,8354,0.00,2.40,0.00,0.000,516,0.000,0.048,1852,1358,3321,3370,3273,0,0,0,0,0,0,15.33,14.97,15.35
$GC,8390,-0.81,-97.3,1852,1358,3370,3274,854.3,-7.3,657,8396,0.00,2.45,0.00,0.000,1030,0.000,0.057,1853,2753,3321,3370,3273,0,0,0,0,0,0,15.08,14.95,15.11
$GC,8711,-0.81,-97.3,1853,2754,3370,3273,876.7,-7.0,670,8717,0.00,2.40,0.00,0.000,516,0.000,0.048,1853,1363,3321,3370,3272,0,0,0,0,0,0,15.34,14.97,15.38
$GC,8758,-0.81,-97.3,1854,1363,3369,3272,880.5,-7.5,679,8766,0.00,2.45,0.00,0.000,1030,0.000,0.057,1853,2749,3323,3370,3277,0,0,0,0,0,0,15.08,14.95,15.11
$GC,9080,-0.81,-97.3,1853,2749,3369,3271,904.7,-7.6,692,9085,0.00,2.12,0.00,0.000,260,0.000,0.091,1851,3943,3320,3369,3271,0,0,0,0,0,0,15.35,14.88,15.37
$GC,9197,-0.81,-97.3,1853,3944,3369,3270,914.2,-8.3,715,9204,0.00,2.05,0.00,0.000,1030,0.000,0.044,1853,2754,3319,3369,3270,0,0,0,0,0,0,15.01,14.97,15.03
$GC,9504,-0.81,-97.3,1853,2754,3367,3270,936.1,-7.0,726,9512,0.00,2.17,0.00,0.000,260,0.000,0.092,1853,3949,3319,3368,3270,0,0,0,0,0,0,15.30,14.82,15.34
$GC,9628,-0.81,-97.3,1853,3949,3367,3270,945.5,-7.4,749,9638,0.00,2.08,0.00,0.000,1030,0.000,0.044,1853,2750,3316,3362,3270,0,0,0,0,0,0,14.95,14.92,14.98
$GC,9937,-0.81,-97.3,1853,2750,3366,3270,964.5,-5.9,760,9941,0.00,0.00,0.00,0.000,38,0.000,0.000,1853,2753,3317,3366,3269,0,0,0,0,0,0,15.30,15.33,15.32
$GC,10235,-0.81,-97.3,1853,2750,3366,3269,981.5,-5.7,770,10241,0.00,2.38,0.00,0.000,548,0.000,0.050,1853,1360,3317,3366,3269,0,0,0,0,0,0,15.31,14.93,15.32
$GC,10363,-0.81,-97.3,1855,1357,3365,3269,988.9,-6.1,794,10369,0.00,2.47,0.00,0.000,1062,0.000,0.059,1853,2751,3317,3366,3269,0,0,0,0,0,0,15.04,14.90,15.08
$STATE,10377,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10377,begin apogee
$GC,10385,-0.21,0.0,1853,1713,3366,3269,990.2,-5.9,797,10477,0.73,0.00,86.40,2.093,10246,0.203,0.000,2053,1713,2968,3031,2905,0,0,0,0,0,0,14.74,14.52,13.68
$STATE,10487,end apogee,CONTROL_FINISHED_OK
$STATE,10487,begin climb
$GC,10490,0.81,97.3,2053,1713,3030,2902,991.2,0.0,800,10603,1.05,2.03,100.53,2.031,10756,0.117,0.077,2379,645,2570,2629,2511,0,0,0,0,0,0,14.50,14.30,13.52
$GC,10831,0.81,97.3,2379,645,2623,2506,964.5,9.0,871,10838,0.00,1.88,0.00,0.000,1030,0.000,0.044,2379,1720,2564,2623,2506,0,0,0,0,0,0,14.82,14.76,14.81
$GC,11138,0.81,97.3,2379,1721,2623,2502,938.4,8.3,882,11144,0.00,1.95,0.00,0.000,516,0.000,0.076,2379,633,2562,2624,2501,0,0,0,0,0,0,15.20,14.83,15.21
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$STATE,22054,end climb,SURFACE_DEPTH_REACHED
$STATE,22054,begin surface coast
$STATE,22084,end surface coast,CONTROL_FINISHED_OK
$STATE,22084,begin surface
$SM_CCo,22105,178.48,0.674,1,0,928,500.17
$SM_GC,0.36,6.93,1.73,178.48,0.075,0.050,0.674,155,2712,928,-6.10,-1.92,500.17,0,0,0,0,1,0,15.00,15.02,14.37
$IRIDIUM_FIX,1410.97,14409.64,111219,020748
$TT8_MAMPS,0.017227,0.155792
$HUMID,45.35
$INTERNAL_PRESSURE,8.94566
$TCM_TEMP,26.40
$XPDR_PINGS,0
$SC_FREEKB,3747104
$PM_FREEKB_00,58040768
$PM_FREEKB_01,85563520
$PM_FREEKB_02,73557120
$PM_FREEKB_03,124821056
$PM_ACTIVECARD,2
$24V_AH,13.52,114.901
$10V_AH,12.94,0.000
$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,17.175,175.175,358.700,178.475,0.000,0.000,0.000,413.475,0.000,0.000,16.109,1621.794,14489.605,603.144,5726.404,544.395,0.000,2851.232,0.000,4925.006,0.000,0.553,0.000
$DEVICE_MAMPS,382.500,91.800,2093.040,673.965,0.000,0.000,0.000,201.960,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22112.000,22108.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.399,8.663,0.000,0.000
$MEM,270864
$DATA_FILE_SIZE,69793,1987
$CAP_FILE_SIZE,204455,0
$CFSIZE,260034560,213651456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.073,29.87,1
$GPS,111219,151700,1413.959,14410.938,34,0.7,34,0.3,0.1,0.0,11,3.7