version: 66.13
glider: 178
mission: 31
dive: 289
start: 12 13 119 12 54 4
data:
$ID,178
$MISSION,31
$DIVE,289
$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,23
$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
$GPS1,131219,124139,1410.7585,14410.9893,26,1.1,26,0.3,0.6,99.8,7,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.35
$_SM_ANGLEo,-54.9
$GPS2,131219,125315,1410.8008,14411.0654,2,1.1,4,0.3,0.7,5.6,7,9.8
$SPEED_LIMITS,0.147,0.188
$TGT_NAME,HOLD
$TGT_LATLONG,1345.000,14430.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,151.8,58681,-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,-97.3,108,2740,986,868,0.0,0.0,0,116,0.00,0.00,-88.38,0.005,16386,0.000,0.000,104,2732,3249,3276,3223,0,0,0,0,0,0,15.21,28.83,15.23
$GC,119,-0.81,-97.3,104,2732,3276,3223,5.0,-9.9,9,138,8.20,2.35,-1.95,0.057,18948,0.383,0.062,1852,1328,3367,3399,3336,0,0,0,0,0,0,14.62,14.16,14.85
$GC,319,-0.81,-97.3,1852,1328,3399,3335,73.1,-28.1,48,326,0.00,2.47,0.00,0.000,1030,0.000,0.054,1844,2746,3367,3400,3334,0,0,0,0,0,0,15.00,14.95,15.04
$GC,507,-0.81,-97.3,1844,2746,3399,3334,118.6,-18.2,67,516,0.00,2.05,0.00,0.000,260,0.000,0.079,1835,3946,3367,3401,3334,0,0,0,0,0,0,15.30,14.97,15.32
$GC,746,-0.81,-97.3,1834,3946,3400,3333,163.3,-20.6,113,756,0.00,1.98,0.00,0.000,1030,0.000,0.030,1835,2718,3367,3400,3334,0,0,0,0,0,0,15.18,15.14,15.19
$GC,944,-0.81,-97.3,1835,2712,3401,3334,191.3,-10.3,133,952,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2712,3367,3401,3334,0,0,0,0,0,0,15.38,15.39,15.39
$GC,1135,-0.81,-97.3,1835,2712,3404,3333,214.7,-14.4,152,1142,0.00,2.15,0.00,0.000,260,0.000,0.076,1828,3952,3367,3401,3334,0,0,0,0,0,0,15.38,15.00,15.39
$GC,1380,-0.81,-97.3,1827,3951,3406,3333,248.8,-14.4,198,1387,0.15,1.95,0.00,0.000,3078,0.265,0.031,1860,2722,3367,3401,3333,0,0,0,0,0,0,14.85,15.17,15.10
$GC,1576,-0.81,-97.3,1860,2715,3401,3332,269.2,-9.7,206,1579,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,2715,3366,3401,3332,0,0,0,0,0,0,15.41,15.43,15.45
$GC,1875,-0.81,-97.3,1860,2715,3401,3329,294.9,-9.0,216,1879,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,2715,3365,3401,3329,0,0,0,0,0,0,15.40,15.42,15.42
$GC,2176,-0.81,-97.3,1860,2715,3396,3326,325.9,-10.6,226,2182,0.00,2.15,0.00,0.000,260,0.000,0.080,1859,3945,3363,3401,3325,0,0,0,0,0,0,15.42,15.07,15.44
$GC,2391,-0.81,-97.3,1858,3946,3400,3326,346.3,-8.8,268,2396,0.00,1.90,0.00,0.000,1030,0.000,0.032,1859,2749,3361,3401,3322,0,0,0,0,0,0,15.26,15.22,15.27
$GC,2725,-0.81,-97.3,1858,2744,3400,3317,374.4,-9.1,284,2732,0.00,2.25,0.00,0.000,516,0.000,0.043,1858,1379,3358,3401,3316,0,0,0,0,0,0,15.41,15.07,15.43
$GC,2964,-0.81,-97.3,1858,1379,3401,3311,397.2,-8.5,330,2974,0.00,2.35,0.00,0.000,1030,0.000,0.052,1858,2753,3356,3400,3312,0,0,0,0,0,0,15.15,15.02,15.17
$GC,3276,-0.81,-97.3,1858,2751,3400,3307,426.3,-10.1,342,3280,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,2751,3353,3400,3307,0,0,0,0,0,0,15.40,15.42,15.42
$GC,3575,-0.81,-97.3,1858,2751,3400,3302,456.3,-9.9,352,3581,0.00,2.30,0.00,0.000,516,0.000,0.042,1858,1379,3350,3400,3300,0,0,0,0,0,0,15.40,15.10,15.41
$GC,3730,-0.81,-97.3,1858,1380,3398,3302,472.3,-9.9,382,3736,0.00,2.35,0.00,0.000,1030,0.000,0.054,1859,2747,3349,3397,3301,0,0,0,0,0,0,15.16,15.04,15.20
$GC,4065,-0.81,-97.3,1858,2747,3396,3300,505.3,-9.9,398,4070,0.00,2.12,0.00,0.000,260,0.000,0.087,1858,3948,3346,3395,3298,0,0,0,0,0,0,15.42,15.01,15.44
$GC,4177,-0.81,-97.3,1858,3948,3395,3296,517.4,-10.2,420,4183,0.00,1.92,0.00,0.000,1030,0.000,0.037,1858,2750,3345,3395,3296,0,0,0,0,0,0,15.23,15.19,15.26
$GC,4491,-0.81,-97.3,1859,2753,3392,3294,544.6,-8.1,432,4495,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,2748,3342,3392,3293,0,0,0,0,0,0,15.41,15.43,15.42
$GC,4792,-0.81,-97.3,1858,2748,3391,3292,566.7,-7.1,442,4800,0.00,2.30,0.00,0.000,516,0.000,0.048,1858,1383,3343,3394,3292,0,0,0,0,0,0,15.41,15.05,15.42
$GC,4939,-0.81,-97.3,1858,1383,3388,3292,577.9,-7.6,470,4945,0.00,2.38,0.00,0.000,1030,0.000,0.055,1859,2751,3340,3388,3292,0,0,0,0,0,0,15.14,15.02,15.18
$GC,5256,-0.81,-97.3,1858,2751,3387,3289,602.3,-8.2,482,5259,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,2750,3338,3387,3289,0,0,0,0,0,0,15.38,15.40,15.40
$GC,5555,-0.81,-97.3,1857,2749,3385,3287,624.5,-6.8,492,5559,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,2751,3336,3385,3287,0,0,0,0,0,0,15.37,15.40,15.39
$GC,5855,-0.81,-97.3,1858,2750,3383,3286,644.6,-6.6,502,5860,0.00,2.33,0.00,0.000,516,0.000,0.045,1859,1384,3334,3383,3286,0,0,0,0,0,0,15.38,15.03,15.38
$GC,5921,-0.81,-97.3,1858,1382,3382,3286,649.6,-7.4,515,5927,0.00,2.38,0.00,0.000,1030,0.000,0.056,1859,2750,3334,3383,3286,0,0,0,0,0,0,15.11,15.00,15.15
$GC,6246,-0.81,-97.3,1859,2750,3381,3284,674.4,-8.2,529,6252,0.00,2.12,0.00,0.000,260,0.000,0.087,1859,3952,3332,3381,3284,0,0,0,0,0,0,15.35,14.93,15.36
$GC,6335,-0.81,-97.3,1858,3952,3381,3283,682.2,-8.5,546,6342,0.00,2.00,0.00,0.000,1030,0.000,0.042,1859,2780,3332,3381,3283,0,0,0,0,0,0,15.06,15.03,15.07
$GC,6642,-0.81,-97.3,1858,2780,3380,3287,707.1,-8.0,557,6645,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,2780,3331,3380,3282,0,0,0,0,0,0,15.38,15.40,15.40
$GC,6942,-0.81,-97.3,1858,2780,3378,3280,731.6,-8.1,567,6950,0.00,2.40,0.00,0.000,516,0.000,0.047,1858,1360,3329,3378,3280,0,0,0,0,0,0,15.38,15.01,15.39
$GC,6987,-0.81,-97.3,1858,1360,3377,3280,735.4,-8.1,576,6999,0.00,2.45,0.00,0.000,1030,0.000,0.057,1858,2757,3328,3377,3280,0,0,0,0,0,0,15.06,14.93,15.09
$GC,7307,-0.81,-97.3,1858,2756,3376,3279,760.9,-8.1,589,7311,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,2757,3327,3376,3279,0,0,0,0,0,0,15.39,15.40,15.39
$GC,7608,-0.81,-97.3,1858,2757,3374,3278,784.8,-8.0,599,7616,0.00,2.40,0.00,0.000,516,0.000,0.047,1858,1356,3326,3375,3278,0,0,0,0,0,0,15.37,14.99,15.39
$GC,7652,-0.81,-97.3,1858,1359,3375,3278,788.7,-8.3,608,7661,0.00,2.45,0.00,0.000,1030,0.000,0.057,1859,2757,3325,3374,3276,0,0,0,0,0,0,15.09,14.96,15.13
$GC,7969,-0.81,-97.3,1858,2757,3374,3276,815.0,-8.4,621,7973,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,2757,3325,3373,3277,0,0,0,0,0,0,15.35,15.37,15.36
$GC,8270,-0.81,-97.3,1858,2757,3371,3276,840.5,-8.4,631,8276,0.00,2.12,0.00,0.000,260,0.000,0.090,1858,3942,3324,3373,3276,0,0,0,0,0,0,15.35,14.89,15.37
$GC,8399,-0.81,-97.3,1858,3942,3372,3275,851.5,-8.5,656,8406,0.00,2.00,0.00,0.000,1030,0.000,0.044,1858,2752,3323,3372,3275,0,0,0,0,0,0,15.08,15.03,15.11
$GC,8730,-0.81,-97.3,1858,2752,3372,3274,874.2,-6.2,671,8734,0.00,0.00,0.00,0.000,38,0.000,0.000,1858,2752,3322,3371,3274,0,0,0,0,0,0,15.30,15.32,15.32
$GC,9029,-0.81,-97.3,1858,2752,3370,3273,889.6,-4.7,681,9038,0.00,2.17,0.00,0.000,292,0.000,0.089,1858,3947,3321,3370,3273,0,0,0,0,0,0,15.30,14.83,15.32
$GC,9105,-0.81,-97.3,1858,3947,3370,3269,893.4,-5.0,695,9110,0.00,2.03,0.00,0.000,1062,0.000,0.044,1858,2747,3321,3370,3273,0,0,0,0,0,0,15.11,15.04,15.14
$GC,9430,-0.81,-97.3,1858,2748,3369,3272,907.6,-4.5,709,9433,0.00,0.00,0.00,0.000,38,0.000,0.000,1858,2748,3320,3369,3272,0,0,0,0,0,0,15.33,15.35,15.35
$GC,9729,-0.81,-97.3,1858,2747,3369,3272,924.4,-6.1,719,9735,0.00,2.38,0.00,0.000,548,0.000,0.049,1858,1357,3319,3368,3271,0,0,0,0,0,0,15.33,14.95,15.35
$GC,9782,-0.81,-97.3,1858,1360,3368,3271,928.1,-7.0,729,9788,0.00,2.45,0.00,0.000,1030,0.000,0.058,1859,2749,3319,3368,3271,0,0,0,0,0,0,15.04,14.92,15.09
$GC,10097,-0.81,-97.3,1858,2748,3367,3271,949.8,-7.0,741,10104,0.00,2.15,0.00,0.000,260,0.000,0.091,1859,3946,3319,3367,3271,0,0,0,0,0,0,15.31,14.83,15.32
$GC,10146,-0.81,-97.3,1858,3946,3367,3271,953.5,-7.5,750,10152,0.00,2.03,0.00,0.000,1030,0.000,0.044,1858,2750,3318,3367,3270,0,0,0,0,0,0,15.11,15.05,15.13
$GC,10465,-0.81,-97.3,1858,2750,3366,3268,974.9,-6.6,763,10474,0.00,2.40,0.00,0.000,516,0.000,0.047,1858,1352,3318,3366,3270,0,0,0,0,0,0,15.30,14.87,15.32
$GC,10589,-0.81,-97.3,1858,1353,3366,3270,983.5,-7.2,787,10598,0.00,2.47,0.00,0.000,1030,0.000,0.059,1859,2750,3318,3366,3270,0,0,0,0,0,0,15.02,14.91,15.06
$STATE,10682,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10682,begin apogee
$GC,10690,-0.21,0.0,1859,1711,3366,3270,990.0,-6.9,795,10782,0.70,0.00,86.55,2.092,10246,0.203,0.000,2053,1717,2968,3031,2906,0,0,0,0,0,0,14.71,14.51,13.66
$STATE,10791,end apogee,CONTROL_FINISHED_OK
$STATE,10791,begin climb
$GC,10795,0.81,97.3,2051,1711,3031,2904,992.6,0.0,798,10906,1.05,2.00,100.25,2.044,10756,0.118,0.077,2380,623,2572,2632,2512,0,0,0,0,0,0,14.50,14.28,13.52
$GC,11023,0.81,97.3,2377,624,2624,2508,979.9,8.1,848,11032,0.00,1.88,0.00,0.000,1030,0.000,0.043,2378,1724,2566,2624,2508,0,0,0,0,0,0,14.75,14.68,14.77
$GC,11350,0.81,97.3,2377,1724,2626,2502,953.9,8.0,862,11356,0.00,1.95,0.00,0.000,516,0.000,0.076,2378,645,2564,2626,2502,0,0,0,0,0,0,15.18,14.80,15.20
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$STATE,22313,end climb,SURFACE_DEPTH_REACHED
$STATE,22313,begin surface coast
$STATE,22333,end surface coast,CONTROL_FINISHED_OK
$STATE,22333,begin surface
$SM_CCo,22355,146.00,0.666,1,0,929,500.17
$SM_GC,0.50,7.00,0.57,146.00,0.074,0.036,0.666,163,2691,929,-6.10,0.96,500.17,0,0,1,0,1,0,14.95,15.13,14.39
$IRIDIUM_FIX,1411.28,14411.44,131219,060443
$TT8_MAMPS,0.020223,0.154294
$HUMID,46.81
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,26.70
$XPDR_PINGS,0
$SC_FREEKB,3744032
$PM_FREEKB_00,58040768
$PM_FREEKB_01,85563520
$PM_FREEKB_02,68986304
$PM_FREEKB_03,124821056
$PM_ACTIVECARD,2
$24V_AH,13.52,118.256
$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,17.500,172.525,392.725,146.000,0.000,0.000,0.000,412.775,0.000,0.000,16.378,1634.053,14821.340,595.144,5600.728,554.720,0.000,2844.463,0.000,4795.035,0.000,0.553,0.000
$DEVICE_MAMPS,382.500,91.035,2091.510,666.315,0.000,0.000,0.000,200.430,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22362.000,22356.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.794,9.011,0.000,0.000
$MEM,270644
$DATA_FILE_SIZE,66505,1940
$CAP_FILE_SIZE,203139,0
$CFSIZE,260034560,212484096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0,0
$CURRENT,0.071,90.93,1
$GPS,131219,191039,1408.952,14412.885,18,0.8,27,0.3,0.7,95.9,11,2.4