version: 66.13
glider: 178
mission: 31
dive: 287
start: 12 12 119 23 49 59
data:
$ID,178
$MISSION,31
$DIVE,287
$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,29
$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
$GPS1,121219,233730,1413.6522,14410.2041,24,0.9,24,0.3,1.0,17.8,9,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.32
$_SM_ANGLEo,-51.0
$GPS2,121219,234910,1413.6566,14410.1670,2,0.6,3,0.3,0.3,0.0,12,10.0
$SPEED_LIMITS,0.147,0.188
$TGT_NAME,S
$TGT_LATLONG,1410.000,14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,183.8,6779,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.81,-97.3,130,2744,989,864,0.0,0.0,0,118,0.00,0.00,-88.47,0.005,16386,0.000,0.000,126,2743,3205,3239,3172,0,0,0,0,0,0,15.21,28.83,15.23
$GC,121,-0.81,-97.3,126,2743,3238,3177,4.3,-7.9,9,140,8.10,2.35,-2.72,0.042,18948,0.383,0.063,1855,1336,3365,3399,3331,0,0,0,0,0,0,14.64,14.15,14.88
$GC,352,-0.81,-97.3,1860,1336,3400,3330,78.0,-26.8,54,358,0.00,2.45,0.00,0.000,1030,0.000,0.049,1846,2752,3364,3399,3330,0,0,0,0,0,0,15.02,14.97,15.06
$GC,538,-0.81,-97.3,1846,2752,3400,3330,118.7,-18.4,73,547,0.00,2.03,0.00,0.000,260,0.000,0.073,1840,3945,3365,3401,3330,0,0,0,0,0,0,15.32,14.99,15.33
$GC,739,-0.81,-97.3,1839,3945,3399,3330,160.3,-20.1,111,744,0.00,1.95,0.00,0.000,1030,0.000,0.031,1840,2700,3364,3399,3329,0,0,0,0,0,0,15.22,15.19,15.23
$GC,937,-0.81,-97.3,1840,2701,3400,3330,186.9,-12.6,131,943,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,2700,3365,3400,3330,0,0,0,0,0,0,15.37,15.39,15.38
$GC,1124,-0.81,-97.3,1840,2700,3400,3330,212.1,-12.0,150,1130,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,2701,3365,3401,3330,0,0,0,0,0,0,15.40,15.41,15.41
$GC,1313,-0.81,-97.3,1840,2701,3401,3330,236.8,-12.7,169,1320,0.00,2.15,0.00,0.000,516,0.000,0.043,1840,1383,3365,3400,3330,0,0,0,0,0,0,15.40,15.11,15.42
$GC,1379,-0.81,-97.3,1839,1383,3400,3330,244.2,-10.7,181,1389,0.00,2.30,0.00,0.000,1030,0.000,0.047,1839,2752,3365,3400,3330,0,0,0,0,0,0,15.18,15.08,15.21
$GC,1587,-0.81,-97.3,1839,2754,3400,3329,265.4,-9.9,192,1594,0.00,2.03,0.00,0.000,260,0.000,0.076,1839,3943,3364,3400,3328,0,0,0,0,0,0,15.41,15.04,15.42
$GC,1627,-0.81,-97.3,1839,3943,3401,3328,269.4,-12.3,198,1633,0.00,1.88,0.00,0.000,1030,0.000,0.031,1838,2743,3363,3400,3327,0,0,0,0,0,0,15.26,15.23,15.28
$GC,1962,-0.81,-97.3,1839,2741,3400,3325,305.1,-9.7,214,1968,0.00,2.20,0.00,0.000,516,0.000,0.038,1839,1387,3362,3400,3325,0,0,0,0,0,0,15.42,15.14,15.44
$GC,2045,-0.81,-97.3,1839,1385,3401,3324,313.8,-10.3,230,2051,0.00,2.30,0.00,0.000,1030,0.000,0.047,1839,2752,3362,3400,3324,0,0,0,0,0,0,15.21,15.11,15.24
$GC,2360,-0.81,-97.3,1839,2752,3399,3319,345.7,-10.3,242,2366,0.00,2.08,0.00,0.000,260,0.000,0.079,1840,3947,3360,3400,3320,0,0,0,0,0,0,15.43,15.07,15.45
$GC,2593,-0.81,-97.3,1839,3948,3400,3315,368.8,-9.7,288,2598,0.00,1.90,0.00,0.000,1030,0.000,0.033,1840,2759,3357,3400,3315,0,0,0,0,0,0,15.26,15.21,15.28
$GC,2907,-0.81,-97.3,1837,2759,3400,3310,397.9,-10.1,300,2913,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2759,3355,3401,3309,0,0,0,0,0,0,15.43,15.42,15.42
$GC,3207,-0.81,-97.3,1839,2759,3400,3304,431.5,-11.2,310,3214,0.00,2.12,0.00,0.000,260,0.000,0.081,1839,3946,3351,3400,3303,0,0,0,0,0,0,15.40,14.99,15.42
$GC,3295,-0.81,-97.3,1839,3947,3400,3302,441.9,-11.4,326,3304,0.00,1.95,0.00,0.000,1030,0.000,0.034,1839,2741,3351,3400,3302,0,0,0,0,0,0,15.21,15.17,15.23
$GC,3613,-0.81,-97.3,1839,2735,3398,3297,470.0,-7.6,338,3619,0.00,2.25,0.00,0.000,516,0.000,0.042,1839,1378,3347,3397,3298,0,0,0,0,0,0,15.42,15.11,15.44
$GC,3787,-0.81,-97.3,1839,1378,3394,3298,482.7,-7.3,372,3793,0.00,2.35,0.00,0.000,1030,0.000,0.052,1839,2746,3346,3394,3298,0,0,0,0,0,0,15.19,15.07,15.21
$GC,4102,-0.81,-97.3,1840,2746,3393,3294,510.1,-9.8,384,4107,0.00,2.30,0.00,0.000,516,0.000,0.042,1839,1378,3343,3393,3294,0,0,0,0,0,0,15.40,15.07,15.42
$GC,4300,-0.81,-97.3,1839,1378,3390,3294,532.0,-11.0,423,4308,0.00,2.38,0.00,0.000,1030,0.000,0.053,1839,2755,3342,3391,3294,0,0,0,0,0,0,15.16,15.06,15.20
$GC,4617,-0.81,-97.3,1839,2755,3387,3291,563.2,-9.4,436,4624,0.00,2.10,0.00,0.000,260,0.000,0.087,1838,3945,3339,3387,3291,0,0,0,0,0,0,15.37,14.94,15.38
$GC,4719,-0.81,-97.3,1844,3945,3388,3289,573.5,-10.1,455,4725,0.00,1.95,0.00,0.000,1030,0.000,0.037,1839,2746,3339,3389,3289,0,0,0,0,0,0,15.22,15.19,15.23
$GC,5049,-0.81,-97.3,1839,2746,3386,3287,602.2,-8.5,470,5054,0.00,2.15,0.00,0.000,260,0.000,0.089,1839,3943,3336,3386,3287,0,0,0,0,0,0,15.39,14.98,15.41
$GC,5216,-0.81,-97.3,1839,3944,3386,3286,618.0,-9.7,503,5224,0.00,1.95,0.00,0.000,1030,0.000,0.039,1839,2768,3335,3384,3286,0,0,0,0,0,0,15.15,15.10,15.17
$GC,5538,-0.81,-97.3,1839,2768,3383,3285,648.4,-9.6,516,5541,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,2768,3334,3383,3285,0,0,0,0,0,0,15.38,15.40,15.39
$GC,5837,-0.81,-97.3,1839,2768,3387,3278,677.8,-9.9,526,5841,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2768,3330,3380,3281,0,0,0,0,0,0,15.39,15.41,15.41
$GC,6137,-0.81,-97.3,1834,2768,3380,3281,705.9,-9.1,536,6141,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,2768,3330,3380,3281,0,0,0,0,0,0,15.37,15.39,15.38
$GC,6438,-0.81,-97.3,1839,2768,3373,3279,729.9,-7.5,546,6442,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2768,3328,3378,3279,0,0,0,0,0,0,15.38,15.40,15.40
$GC,6737,-0.81,-97.3,1839,2768,3372,3279,750.5,-6.6,556,6740,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,2768,3328,3378,3278,0,0,0,0,0,0,15.38,15.40,15.40
$GC,7037,-0.81,-97.3,1839,2768,3375,3277,770.7,-6.8,566,7041,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2768,3326,3375,3277,0,0,0,0,0,0,15.38,15.40,15.38
$GC,7337,-0.81,-97.3,1839,2767,3373,3274,790.8,-6.6,576,7341,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2767,3325,3374,3276,0,0,0,0,0,0,15.36,15.42,15.38
$GC,7637,-0.81,-97.3,1839,2767,3373,3274,810.9,-6.6,586,7643,0.00,2.40,0.00,0.000,516,0.000,0.045,1839,1360,3323,3373,3274,0,0,0,0,0,0,15.37,15.00,15.39
$GC,7731,-0.81,-97.3,1839,1360,3374,3270,817.4,-7.0,604,7744,0.00,2.42,0.00,0.000,1030,0.000,0.055,1839,2749,3323,3372,3274,0,0,0,0,0,0,15.08,14.96,15.12
$GC,8068,-0.81,-97.3,1839,2749,3371,3273,840.5,-7.0,620,8076,0.00,2.15,0.00,0.000,260,0.000,0.089,1839,3950,3322,3371,3273,0,0,0,0,0,0,15.31,14.85,15.33
$GC,8175,-0.81,-97.3,1839,3950,3370,3272,849.1,-8.1,640,8180,0.00,2.00,0.00,0.000,1030,0.000,0.042,1839,2754,3322,3371,3273,0,0,0,0,0,0,15.13,15.07,15.15
$GC,8499,-0.81,-97.3,1839,2755,3371,3271,873.3,-7.5,654,8506,0.00,2.35,0.00,0.000,516,0.000,0.045,1839,1360,3320,3370,3271,0,0,0,0,0,0,15.33,14.92,15.35
$GC,8635,-0.81,-97.3,1839,1360,3369,3271,884.0,-7.8,680,8644,0.00,2.45,0.00,0.000,1030,0.000,0.056,1839,2753,3320,3369,3271,0,0,0,0,0,0,15.02,14.88,15.03
$GC,8958,-0.81,-97.3,1839,2753,3369,3266,908.5,-7.6,694,8962,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2752,3318,3368,3269,0,0,0,0,0,0,15.35,15.37,15.37
$GC,9258,-0.81,-97.3,1839,2753,3367,3270,930.5,-7.2,704,9267,0.00,2.42,0.00,0.000,516,0.000,0.046,1839,1349,3318,3367,3270,0,0,0,0,0,0,15.32,14.94,15.33
$GC,9363,-0.81,-97.3,1839,1349,3367,3270,938.3,-7.1,725,9370,0.00,2.47,0.00,0.000,1030,0.000,0.057,1839,2754,3320,3370,3270,0,0,0,0,0,0,15.05,14.92,15.09
$GC,9685,-0.81,-97.3,1839,2754,3367,3269,957.3,-5.7,738,9693,0.00,2.42,0.00,0.000,548,0.000,0.047,1844,1352,3315,3362,3269,0,0,0,0,0,0,15.35,14.90,15.35
$GC,9730,-0.81,-97.3,1839,1353,3366,3269,960.2,-6.0,747,9738,0.00,2.47,0.00,0.000,1062,0.000,0.058,1839,2756,3317,3366,3269,0,0,0,0,0,0,15.05,14.92,15.09
$GC,10047,-0.81,-97.3,1839,2756,3366,3268,977.6,-5.3,760,10054,0.00,2.15,0.00,0.000,292,0.000,0.092,1839,3946,3315,3362,3268,0,0,0,0,0,0,15.32,14.81,15.34
$GC,10096,-0.81,-97.3,1839,3947,3366,3268,980.6,-6.2,768,10101,0.00,2.03,0.00,0.000,1062,0.000,0.044,1839,2748,3317,3366,3268,0,0,0,0,0,0,15.10,15.04,15.13
$STATE,10267,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10267,begin apogee
$GC,10275,-0.21,0.0,1839,1709,3365,3267,990.9,-5.9,777,10366,0.77,0.00,85.32,2.103,10246,0.207,0.000,2054,1708,2970,3033,2908,0,0,0,0,0,0,14.73,14.52,13.69
$STATE,10375,end apogee,CONTROL_FINISHED_OK
$STATE,10375,begin climb
$GC,10378,0.81,97.3,2052,1708,3033,2906,992.0,0.0,780,10491,1.05,1.95,100.40,2.049,10756,0.118,0.073,2379,647,2570,2630,2511,0,0,0,0,0,0,14.51,14.29,13.53
$GC,10630,0.81,97.3,2378,646,2624,2507,973.7,10.0,833,10638,0.00,1.90,0.00,0.000,1030,0.000,0.043,2379,1726,2565,2624,2507,0,0,0,0,0,0,14.71,14.67,14.73
$GC,10934,0.81,97.3,2378,1726,2623,2502,945.8,8.8,844,10938,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1727,2562,2623,2501,0,0,0,0,0,0,15.18,15.21,15.21
$GC,11235,0.81,97.3,2379,1727,2623,2499,920.6,8.4,854,11239,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1727,2561,2623,2499,0,0,0,0,0,0,15.24,15.27,15.27
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$STATE,21883,end climb,SURFACE_DEPTH_REACHED
$STATE,21883,begin surface coast
$STATE,21915,end surface coast,CONTROL_FINISHED_OK
$STATE,21915,begin surface
$SM_CCo,21937,153.50,0.662,1,0,928,500.41
$SM_GC,0.35,7.05,1.77,153.50,0.087,0.045,0.662,159,2725,928,-6.10,-1.50,500.41,0,0,0,0,1,0,14.96,15.00,14.40
$IRIDIUM_FIX,1415.80,14413.25,121219,171446
$TT8_MAMPS,0.018725,0.153545
$HUMID,46.57
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,26.80
$XPDR_PINGS,1
$SC_FREEKB,3744800
$PM_FREEKB_00,58040768
$PM_FREEKB_01,85563520
$PM_FREEKB_02,70149376
$PM_FREEKB_03,124821056
$PM_ACTIVECARD,2
$24V_AH,13.53,117.407
$10V_AH,12.92,0.000
$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,17.350,154.400,385.175,153.500,0.000,0.000,0.000,420.575,0.250,0.000,15.023,1602.355,14368.013,604.139,5672.956,553.170,0.000,2787.471,0.000,4878.135,0.000,0.553,0.000
$DEVICE_MAMPS,382.500,91.800,2102.985,662.490,0.000,0.000,0.000,196.605,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21943.000,21937.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.374,8.976,0.000,0.000
$MEM,270672
$DATA_FILE_SIZE,66533,1905
$CAP_FILE_SIZE,198240,0
$CFSIZE,260034560,212783104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.036,293.67,1
$GPS,131219,060001,1411.768,14409.614,22,0.8,45,0.3,0.5,346.3,12,3.2