version: 66.13
glider: 178
mission: 31
dive: 285
start: 12 12 119 10 58 23
data:
$ID,178
$MISSION,31
$DIVE,285
$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,30
$R_STBD_OVSHOOT,26
$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
$GPS1,121219,104608,1417.5795,14409.1836,32,0.9,32,0.2,0.8,328.0,9,5.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.28
$_SM_ANGLEo,-52.8
$GPS2,121219,105734,1417.6477,14409.0420,3,0.7,5,0.2,1.2,13.5,12,3.0
$SPEED_LIMITS,0.147,0.188
$TGT_NAME,S
$TGT_LATLONG,1410.000,14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,157.4,14268,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,22,-0.81,-97.3,143,2736,989,865,0.0,0.0,0,114,0.00,0.00,-87.95,0.005,16386,0.000,0.000,141,2738,3224,3249,3200,0,0,0,0,0,0,15.21,28.83,15.23
$GC,117,-0.81,-97.3,141,2740,3249,3193,4.7,-8.8,9,136,8.10,2.35,-2.40,0.047,18948,0.387,0.061,1855,1331,3364,3400,3329,0,0,0,0,0,0,14.65,14.15,14.85
$GC,368,-0.81,-97.3,1855,1331,3401,3332,87.0,-26.1,58,374,0.00,2.45,0.00,0.000,1030,0.000,0.052,1848,2742,3366,3401,3331,0,0,0,0,0,0,15.02,14.96,15.07
$GC,554,-0.81,-97.3,1848,2742,3401,3331,127.9,-18.5,77,561,0.00,2.33,0.00,0.000,516,0.000,0.041,1849,1334,3366,3401,3331,0,0,0,0,0,0,15.35,15.07,15.37
$GC,593,-0.81,-97.3,1848,1333,3401,3330,134.4,-16.4,83,603,0.00,2.40,0.00,0.000,1030,0.000,0.050,1843,2751,3363,3401,3326,0,0,0,0,0,0,15.14,15.03,15.15
$GC,783,-0.81,-97.3,1843,2751,3400,3331,160.6,-13.4,103,790,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2751,3365,3401,3330,0,0,0,0,0,0,15.38,15.38,15.38
$GC,973,-0.81,-97.3,1843,2751,3401,3331,183.9,-13.3,122,980,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2751,3365,3401,3330,0,0,0,0,0,0,15.40,15.42,15.41
$GC,1163,-0.81,-97.3,1843,2751,3401,3331,206.9,-11.1,141,1170,0.00,2.35,0.00,0.000,516,0.000,0.041,1840,1335,3366,3401,3331,0,0,0,0,0,0,15.40,15.08,15.41
$GC,1245,-0.81,-97.3,1843,1335,3401,3331,216.2,-11.0,156,1252,0.00,2.45,0.00,0.000,1030,0.000,0.051,1843,2753,3366,3401,3331,0,0,0,0,0,0,15.11,15.04,15.16
$GC,1433,-0.81,-97.3,1844,2753,3401,3331,233.0,-10.0,175,1442,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2754,3365,3401,3329,0,0,0,0,0,0,15.40,15.42,15.42
$GC,1632,-0.81,-97.3,1843,2753,3401,3329,257.5,-11.8,191,1638,0.00,2.05,0.00,0.000,260,0.000,0.080,1843,3953,3362,3396,3329,0,0,0,0,0,0,15.40,15.07,15.42
$GC,1772,-0.81,-97.3,1843,3953,3402,3326,274.6,-12.6,218,1778,0.00,1.98,0.00,0.000,1030,0.000,0.030,1844,2696,3365,3402,3328,0,0,0,0,0,0,15.26,15.23,15.28
$GC,2091,-0.81,-97.3,1843,2689,3401,3326,310.1,-11.4,231,2100,0.00,2.22,0.00,0.000,516,0.000,0.044,1845,1335,3362,3401,3324,0,0,0,0,0,0,15.42,15.09,15.44
$GC,2266,-0.81,-97.3,1839,1331,3401,3323,331.1,-11.4,264,2275,0.00,2.42,0.00,0.000,1030,0.000,0.053,1844,2756,3361,3401,3322,0,0,0,0,0,0,15.20,15.09,15.22
$GC,2583,-0.81,-97.3,1843,2755,3401,3314,363.8,-10.4,277,2587,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,2756,3359,3401,3317,0,0,0,0,0,0,15.40,15.42,15.42
$GC,2883,-0.81,-97.3,1843,2756,3402,3311,395.0,-10.9,287,2887,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2756,3357,3402,3312,0,0,0,0,0,0,15.41,15.44,15.43
$GC,3184,-0.81,-97.3,1844,2756,3401,3308,425.1,-9.2,297,3190,0.00,2.08,0.00,0.000,260,0.000,0.085,1844,3946,3354,3401,3307,0,0,0,0,0,0,15.40,15.04,15.42
$GC,3318,-0.81,-97.3,1843,3946,3401,3305,438.4,-10.8,323,3324,0.00,2.00,0.00,0.000,1030,0.000,0.034,1844,2705,3353,3401,3305,0,0,0,0,0,0,15.25,15.21,15.26
$GC,3642,-0.81,-97.3,1840,2700,3399,3301,471.3,-10.1,337,3649,0.00,2.22,0.00,0.000,516,0.000,0.050,1843,1375,3350,3399,3301,0,0,0,0,0,0,15.42,15.09,15.44
$GC,3761,-0.81,-97.3,1843,1375,3397,3301,483.2,-9.9,360,3768,0.00,2.42,0.00,0.000,1030,0.000,0.061,1843,2741,3349,3397,3301,0,0,0,0,0,0,15.05,14.98,15.10
$GC,4067,-0.81,-97.3,1843,2741,3396,3296,510.3,-8.5,371,4073,0.00,2.33,0.00,0.000,516,0.000,0.050,1844,1380,3346,3396,3296,0,0,0,0,0,0,15.40,15.05,15.42
$GC,4165,-0.81,-97.3,1843,1380,3393,3296,518.7,-8.3,390,4176,0.00,2.40,0.00,0.000,1030,0.000,0.060,1844,2755,3344,3393,3296,0,0,0,0,0,0,15.13,15.00,15.18
$GC,4495,-0.81,-97.3,1843,2755,3392,3292,544.6,-8.0,405,4501,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,2755,3342,3392,3292,0,0,0,0,0,0,15.37,15.40,15.39
$GC,4795,-0.81,-97.3,1843,2755,3390,3291,571.4,-9.2,415,4803,0.00,2.35,0.00,0.000,516,0.000,0.046,1844,1373,3340,3390,3291,0,0,0,0,0,0,15.38,15.03,15.39
$GC,4846,-0.81,-97.3,1843,1373,3389,3291,576.4,-9.6,424,4856,0.00,2.40,0.00,0.000,1030,0.000,0.058,1842,2749,3340,3389,3291,0,0,0,0,0,0,15.16,15.04,15.19
$GC,5165,-0.81,-97.3,1843,2753,3387,3287,604.6,-8.7,437,5171,0.00,2.10,0.00,0.000,260,0.000,0.090,1843,3947,3337,3386,3288,0,0,0,0,0,0,15.39,14.99,15.41
$GC,5243,-0.81,-97.3,1844,3948,3386,3287,611.8,-9.1,452,5250,0.00,1.95,0.00,0.000,1030,0.000,0.040,1844,2765,3336,3386,3287,0,0,0,0,0,0,15.16,15.12,15.19
$GC,5564,-0.81,-97.3,1843,2765,3384,3286,637.5,-7.8,465,5567,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,2765,3335,3384,3286,0,0,0,0,0,0,15.39,15.41,15.41
$GC,5864,-0.81,-97.3,1843,2765,3383,3284,660.7,-7.9,475,5868,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,2767,3333,3383,3284,0,0,0,0,0,0,15.38,15.40,15.40
$GC,6165,-0.81,-97.3,1843,2765,3381,3282,685.5,-8.2,485,6171,0.00,2.15,0.00,0.000,260,0.000,0.089,1844,3950,3331,3381,3282,0,0,0,0,0,0,15.39,14.95,15.40
$GC,6269,-0.81,-97.3,1843,3949,3381,3281,694.8,-9.1,505,6275,0.00,2.00,0.00,0.000,1030,0.000,0.038,1843,2740,3331,3381,3281,0,0,0,0,0,0,15.19,15.14,15.21
$GC,6593,-0.81,-97.3,1843,2740,3379,3280,721.2,-7.8,519,6600,0.00,2.33,0.00,0.000,516,0.000,0.047,1844,1364,3329,3379,3280,0,0,0,0,0,0,15.35,14.96,15.37
$GC,6671,-0.81,-97.3,1843,1364,3378,3277,727.5,-8.1,533,6678,0.00,2.45,0.00,0.000,1030,0.000,0.060,1843,2759,3329,3378,3280,0,0,0,0,0,0,15.09,14.97,15.12
$GC,6996,-0.81,-97.3,1843,2760,3377,3279,752.3,-7.7,547,7002,0.00,2.10,0.00,0.000,260,0.000,0.091,1843,3943,3327,3377,3278,0,0,0,0,0,0,15.37,14.92,15.38
$GC,7054,-0.81,-97.3,1843,3943,3376,3278,757.2,-8.5,558,7061,0.00,2.03,0.00,0.000,1030,0.000,0.042,1843,2758,3327,3377,3278,0,0,0,0,0,0,15.07,15.04,15.07
$GC,7361,-0.81,-97.3,1843,2758,3375,3277,781.6,-8.1,569,7365,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2758,3327,3379,3275,0,0,0,0,0,0,15.37,15.39,15.39
$GC,7660,-0.81,-97.3,1839,2758,3374,3276,804.9,-7.7,579,7666,0.00,2.40,0.00,0.000,516,0.000,0.048,1843,1352,3325,3374,3276,0,0,0,0,0,0,15.37,14.99,15.39
$GC,7790,-0.81,-97.3,1843,1351,3373,3276,815.5,-8.2,604,7800,0.00,2.47,0.00,0.000,1030,0.000,0.060,1843,2757,3324,3373,3276,0,0,0,0,0,0,15.07,14.95,15.09
$GC,8118,-0.81,-97.3,1843,2757,3373,3274,838.6,-6.7,619,8129,0.00,2.42,0.00,0.000,516,0.000,0.048,1843,1347,3323,3372,3274,0,0,0,0,0,0,15.35,14.99,15.38
$GC,8170,-0.81,-97.3,1843,1348,3372,3274,842.3,-6.8,629,8176,0.00,2.47,0.00,0.000,1030,0.000,0.060,1843,2754,3323,3372,3274,0,0,0,0,0,0,15.08,14.95,15.12
$GC,8486,-0.81,-97.3,1843,2754,3372,3273,862.3,-6.2,641,8492,0.00,0.00,0.00,0.000,38,0.000,0.000,1843,2754,3322,3372,3273,0,0,0,0,0,0,15.33,15.35,15.34
$GC,8785,-0.81,-97.3,1843,2754,3371,3272,879.7,-5.8,651,8791,0.00,0.00,0.00,0.000,38,0.000,0.000,1843,2754,3320,3370,3271,0,0,0,0,0,0,15.32,15.35,15.34
$GC,9085,-0.81,-97.3,1843,2755,3369,3271,898.2,-6.3,661,9091,0.00,0.00,0.00,0.000,38,0.000,0.000,1843,2754,3321,3370,3272,0,0,0,0,0,0,15.32,15.35,15.35
$GC,9385,-0.81,-97.3,1843,2754,3370,3271,917.9,-6.6,671,9392,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2754,3319,3368,3271,0,0,0,0,0,0,15.33,15.33,15.33
$GC,9684,-0.81,-97.3,1842,2754,3367,3270,938.1,-6.7,681,9691,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2754,3318,3367,3270,0,0,0,0,0,0,15.32,15.34,15.33
$GC,9985,-0.81,-97.3,1843,2755,3367,3270,957.6,-6.4,691,9992,0.00,0.00,0.00,0.000,38,0.000,0.000,1843,2754,3318,3367,3270,0,0,0,0,0,0,15.31,15.33,15.33
$GC,10285,-0.81,-97.3,1843,2753,3366,3269,977.1,-6.8,701,10295,0.00,2.45,0.00,0.000,516,0.000,0.050,1843,1350,3317,3366,3269,0,0,0,0,0,0,15.30,14.88,15.32
$GC,10383,-0.81,-97.3,1843,1350,3366,3269,984.2,-7.1,719,10391,0.00,2.47,0.00,0.000,1030,0.000,0.060,1847,2750,3317,3366,3269,0,0,0,0,0,0,15.03,14.89,15.07
$STATE,10472,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10472,begin apogee
$GC,10481,-0.21,0.0,1843,1711,3366,3269,990.4,-6.8,727,10572,0.77,0.00,86.03,2.098,10246,0.205,0.000,2056,1711,2973,3039,2907,0,0,0,0,0,0,14.73,14.52,13.69
$STATE,10575,end apogee,CONTROL_FINISHED_OK
$STATE,10575,begin climb
$GC,10577,0.81,97.3,2056,1711,3033,2905,992.3,0.0,730,10690,1.05,2.03,100.93,2.043,10756,0.116,0.077,2384,638,2573,2631,2515,0,0,0,0,0,0,14.50,14.27,13.47
$GC,10782,0.81,97.3,2383,641,2624,2507,979.5,9.5,773,10791,0.00,1.88,0.00,0.000,1030,0.000,0.042,2384,1724,2566,2624,2508,0,0,0,0,0,0,14.69,14.62,14.71
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$STATE,21950,end climb,SURFACE_DEPTH_REACHED
$STATE,21950,begin surface coast
$STATE,21979,end surface coast,CONTROL_FINISHED_OK
$STATE,21979,begin surface
$SM_CCo,22002,194.25,0.682,1,0,928,500.17
$SM_GC,0.33,6.93,3.55,194.25,0.073,0.041,0.682,152,2727,928,-6.10,-1.58,500.17,0,0,0,0,1,0,15.05,15.04,14.35
$IRIDIUM_FIX,1417.71,14408.34,121219,042951
$TT8_MAMPS,0.019474,0.151298
$HUMID,45.39
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,25.90
$XPDR_PINGS,0
$SC_FREEKB,3745568
$PM_FREEKB_00,58040768
$PM_FREEKB_01,85563520
$PM_FREEKB_02,71277952
$PM_FREEKB_03,124821056
$PM_ACTIVECARD,2
$24V_AH,13.47,116.578
$10V_AH,12.90,0.000
$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,17.175,172.150,341.175,194.250,0.000,0.000,0.000,404.725,0.000,0.000,16.715,1513.900,14663.387,657.718,5521.596,531.214,0.000,2771.101,0.000,4737.265,0.000,0.553,0.000
$DEVICE_MAMPS,387.090,91.035,2098.395,682.380,0.000,0.000,0.000,195.840,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22010.000,22002.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.400,8.928,0.000,0.000
$MEM,270772
$DATA_FILE_SIZE,63244,1760
$CAP_FILE_SIZE,195396,0
$CFSIZE,260034560,213069824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.039,81.61,1
$GPS,121219,171009,1415.806,14410.589,45,1.0,46,0.3,0.3,106.5,8,4.6