version: 66.13
glider: 178
mission: 31
dive: 298
start: 12 15 119 23 21 57
data:
$ID,178
$MISSION,31
$DIVE,298
$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,59
$R_STBD_OVSHOOT,79
$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
$GPS1,151219,230839,1412.6730,14409.8271,32,1.0,32,0.3,0.4,197.4,10,7.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.30
$_SM_ANGLEo,-51.2
$GPS2,151219,232057,1412.5396,14409.8516,2,1.1,5,0.3,0.7,118.2,9,8.3
$SPEED_LIMITS,0.147,0.188
$TGT_NAME,S
$TGT_LATLONG,1410.000,14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,178.9,4711,-19.4,-8.462,-24.96,1628
$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,-0.84,-90.3,100,2724,991,866,0.0,0.0,0,116,0.00,0.00,-87.78,0.005,16386,0.000,0.000,96,2724,3259,3283,3236,0,0,0,0,0,0,15.20,28.83,15.22
$GC,119,-0.84,-90.3,96,2724,3284,3236,5.2,-10.5,9,139,8.23,2.33,-1.30,0.084,18948,0.382,0.069,1842,1362,3340,3371,3309,0,0,0,0,0,0,14.61,13.78,14.83
$GC,366,-0.84,-90.3,1842,1362,3371,3308,85.4,-27.9,57,373,0.00,2.28,0.00,0.000,1030,0.000,0.051,1835,2702,3339,3371,3308,0,0,0,0,0,0,15.09,15.00,15.12
$GC,561,-0.84,-90.3,1835,2702,3372,3309,133.3,-24.3,77,571,0.00,2.12,0.00,0.000,260,0.000,0.073,1826,3949,3339,3371,3308,0,0,0,0,0,0,15.33,15.00,15.37
$GC,800,-0.84,-90.3,1824,3949,3373,3308,172.0,-17.8,123,805,0.00,1.92,0.00,0.000,1030,0.000,0.031,1826,2723,3340,3372,3308,0,0,0,0,0,0,15.20,15.16,15.21
$GC,996,-0.84,-90.3,1826,2722,3374,3308,200.9,-10.8,143,1002,0.00,2.12,0.00,0.000,260,0.000,0.073,1817,3952,3340,3373,3308,0,0,0,0,0,0,15.35,15.03,15.37
$GC,1095,-0.84,-90.3,1817,3952,3373,3308,212.7,-9.7,161,1103,0.15,1.90,0.00,0.000,3078,0.271,0.031,1850,2746,3340,3373,3308,0,0,0,0,0,0,14.82,15.19,15.07
$GC,1297,-0.84,-90.3,1849,2746,3373,3308,230.1,-9.7,181,1305,0.00,2.22,0.00,0.000,516,0.000,0.040,1850,1375,3340,3373,3308,0,0,0,0,0,0,15.36,15.06,15.38
$GC,1432,-0.84,-90.3,1849,1375,3374,3304,243.2,-9.6,206,1441,0.00,2.35,0.00,0.000,1030,0.000,0.045,1845,2743,3339,3372,3307,0,0,0,0,0,0,15.07,15.02,15.13
$GC,1631,-0.84,-90.3,1845,2743,3373,3307,262.6,-9.8,218,1636,0.00,2.05,0.00,0.000,260,0.000,0.075,1842,3943,3343,3381,3306,0,0,0,0,0,0,15.39,15.04,15.40
$GC,1725,-0.84,-90.3,1841,3943,3373,3305,274.4,-12.8,236,1730,0.00,1.90,0.00,0.000,1030,0.000,0.031,1842,2731,3339,3374,3305,0,0,0,0,0,0,15.24,15.21,15.25
$GC,2059,-0.84,-90.3,1841,2729,3374,3301,311.8,-11.2,252,2064,0.00,2.17,0.00,0.000,516,0.000,0.038,1841,1393,3337,3373,3301,0,0,0,0,0,0,15.40,15.11,15.42
$GC,2112,-0.84,-90.3,1841,1392,3373,3301,317.4,-10.0,262,2118,0.00,2.30,0.00,0.000,1030,0.000,0.047,1837,2751,3336,3373,3300,0,0,0,0,0,0,15.19,15.09,15.20
$GC,2427,-0.84,-90.3,1836,2751,3373,3293,349.8,-10.4,274,2435,0.00,2.05,0.00,0.000,260,0.000,0.079,1832,3940,3333,3373,3294,0,0,0,0,0,0,15.38,15.00,15.39
$GC,2550,-0.84,-90.3,1831,3940,3375,3293,363.3,-10.9,297,2559,0.00,1.92,0.00,0.000,1030,0.000,0.034,1832,2772,3333,3373,3293,0,0,0,0,0,0,15.11,15.08,15.12
$GC,2857,-0.84,-90.3,1831,2771,3373,3287,392.3,-9.3,308,2863,0.00,2.33,0.00,0.000,516,0.000,0.041,1831,1372,3330,3373,3288,0,0,0,0,0,0,15.38,15.09,15.40
$GC,3091,-0.84,-90.3,1829,1373,3373,3284,412.9,-7.8,354,3100,0.00,2.38,0.00,0.000,1030,0.000,0.051,1832,2752,3328,3373,3284,0,0,0,0,0,0,15.15,15.02,15.19
$GC,3402,-0.84,-90.3,1831,2752,3373,3277,436.8,-8.1,366,3406,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,2752,3325,3373,3277,0,0,0,0,0,0,15.40,15.40,15.41
$GC,3701,-0.84,-90.3,1831,2752,3371,3273,462.8,-8.4,376,3707,0.00,2.10,0.00,0.000,260,0.000,0.086,1833,3940,3322,3371,3274,0,0,0,0,0,0,15.39,14.98,15.41
$GC,3935,-0.84,-90.3,1831,3940,3369,3272,484.3,-9.6,422,3941,0.00,1.95,0.00,0.000,1030,0.000,0.036,1829,2747,3320,3369,3271,0,0,0,0,0,0,15.21,15.16,15.22
$GC,4250,-0.84,-90.3,1831,2748,3366,3270,511.5,-8.6,434,4256,0.00,2.15,0.00,0.000,260,0.000,0.086,1831,3940,3318,3366,3270,0,0,0,0,0,0,15.39,14.96,15.40
$GC,4327,-0.84,-90.3,1831,3946,3366,3269,519.1,-10.2,449,4334,0.00,1.95,0.00,0.000,1030,0.000,0.036,1831,2741,3317,3366,3269,0,0,0,0,0,0,15.20,15.16,15.22
$GC,4648,-0.84,-90.3,1831,2741,3363,3267,549.1,-9.4,462,4656,0.00,2.30,0.00,0.000,516,0.000,0.043,1831,1370,3314,3363,3266,0,0,0,0,0,0,15.34,15.01,15.36
$GC,4798,-0.84,-90.3,1831,1370,3362,3267,563.4,-9.7,490,4811,0.00,2.40,0.00,0.000,1030,0.000,0.054,1832,2745,3314,3362,3267,0,0,0,0,0,0,15.07,14.95,15.11
$GC,5106,-0.84,-90.3,1831,2746,3361,3265,593.1,-9.5,502,5110,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,2746,3313,3361,3265,0,0,0,0,0,0,15.35,15.38,15.37
$GC,5407,-0.84,-90.3,1832,2746,3359,3264,617.8,-7.7,512,5412,0.00,2.35,0.00,0.000,516,0.000,0.047,1831,1379,3310,3356,3264,0,0,0,0,0,0,15.35,15.02,15.37
$GC,5449,-0.84,-90.3,1831,1379,3357,3263,621.2,-7.4,520,5455,0.00,2.40,0.00,0.000,1030,0.000,0.057,1831,2750,3311,3358,3264,0,0,0,0,0,0,15.09,14.97,15.13
$GC,5775,-0.85,-97.3,1831,2750,3357,3261,642.6,-6.3,534,5780,0.00,2.12,0.00,0.000,292,0.000,0.089,1831,3949,3311,3357,3265,0,0,0,0,0,0,15.37,14.92,15.39
$GC,5923,-0.85,-97.3,1831,3949,3356,3259,653.7,-7.3,563,5931,0.00,2.00,0.00,0.000,1030,0.000,0.041,1831,2769,3311,3356,3266,0,0,0,0,0,0,15.05,15.03,15.08
$GC,6231,-0.85,-97.3,1831,2770,3355,3257,675.6,-7.5,574,6237,0.00,2.38,0.00,0.000,516,0.000,0.046,1830,1364,3306,3354,3258,0,0,0,0,0,0,15.36,14.99,15.38
$GC,6366,-0.85,-97.3,1831,1364,3361,3258,686.5,-8.1,600,6375,0.00,2.42,0.00,0.000,1030,0.000,0.057,1831,2750,3305,3354,3257,0,0,0,0,0,0,15.08,14.95,15.11
$GC,6688,-0.85,-97.3,1831,2750,3352,3256,713.6,-8.7,614,6695,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,2751,3304,3352,3256,0,0,0,0,0,0,15.32,15.34,15.33
$GC,6988,-0.85,-97.3,1831,2750,3350,3254,740.1,-8.9,624,6996,0.00,2.15,0.00,0.000,260,0.000,0.090,1831,3950,3302,3350,3255,0,0,0,0,0,0,15.30,14.84,15.30
$GC,7045,-0.85,-97.3,1831,3950,3350,3254,745.7,-9.8,634,7053,0.00,2.00,0.00,0.000,1030,0.000,0.042,1831,2755,3301,3350,3253,0,0,0,0,0,0,15.08,15.03,15.10
$GC,7362,-0.85,-97.3,1831,2759,3349,3253,775.4,-9.6,646,7369,0.00,2.38,0.00,0.000,516,0.000,0.047,1832,1355,3301,3349,3253,0,0,0,0,0,0,15.34,14.97,15.36
$GC,7477,-0.85,-97.3,1831,1355,3349,3258,787.2,-10.5,669,7485,0.00,2.50,0.00,0.000,1030,0.000,0.059,1831,2747,3301,3349,3253,0,0,0,0,0,0,14.92,14.84,14.95
$GC,7783,-0.85,-97.3,1831,2747,3348,3252,817.6,-9.9,680,7786,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,2747,3300,3348,3252,0,0,0,0,0,0,15.33,15.35,15.35
$GC,8083,-0.85,-97.3,1831,2747,3348,3251,845.0,-8.7,690,8089,0.00,2.15,0.00,0.000,260,0.000,0.091,1831,3949,3296,3347,3246,0,0,0,0,0,0,15.33,14.85,15.35
$GC,8218,-0.85,-97.3,1831,3949,3347,3251,856.9,-8.8,716,8227,0.00,2.03,0.00,0.000,1030,0.000,0.042,1831,2751,3298,3346,3250,0,0,0,0,0,0,15.06,15.00,15.07
$GC,8546,-0.85,-97.3,1831,2749,3345,3250,882.4,-7.6,730,8553,0.00,0.00,0.00,0.000,6,0.000,0.000,1831,2749,3298,3346,3250,0,0,0,0,0,0,15.31,15.33,15.33
$GC,8845,-0.85,-97.3,1831,2749,3346,3248,903.9,-7.0,740,8853,0.00,2.20,0.00,0.000,260,0.000,0.091,1831,3951,3297,3346,3248,0,0,0,0,0,0,15.32,14.78,15.33
$GC,8947,-0.85,-97.3,1831,3950,3346,3248,911.7,-7.7,758,8953,0.00,2.03,0.00,0.000,1030,0.000,0.042,1831,2746,3297,3346,3248,0,0,0,0,0,0,15.10,15.04,15.11
$GC,9282,-0.85,-97.3,1831,2746,3344,3248,935.4,-7.1,774,9290,0.00,2.38,0.00,0.000,516,0.000,0.047,1831,1354,3295,3343,3248,0,0,0,0,0,0,15.28,14.92,15.33
$GC,9414,-0.85,-97.3,1830,1354,3343,3248,945.4,-7.6,800,9423,0.00,2.47,0.00,0.000,1030,0.000,0.058,1828,2756,3299,3350,3248,0,0,0,0,0,0,14.93,14.83,14.95
$GC,9737,-0.85,-97.3,1831,2756,3342,3246,971.5,-8.2,814,9743,0.00,2.15,0.00,0.000,260,0.000,0.093,1831,3944,3294,3342,3246,0,0,0,0,0,0,15.31,14.81,15.33
$GC,9850,-0.85,-97.3,1830,3947,3341,3248,982.1,-9.5,836,9856,0.00,2.03,0.00,0.000,1030,0.000,0.044,1831,2749,3294,3342,3246,0,0,0,0,0,0,15.08,15.02,15.10
$STATE,9951,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9951,begin apogee
$GC,9959,-0.21,0.0,1831,1715,3338,3245,991.3,-9.0,841,10046,0.82,0.00,80.12,2.095,10246,0.210,0.000,2056,1718,2971,3034,2908,0,0,0,0,0,0,14.66,14.54,13.69
$STATE,10052,end apogee,CONTROL_FINISHED_OK
$STATE,10052,begin climb
$GC,10055,0.85,97.3,2056,1718,3033,2907,994.8,0.0,844,10173,1.08,2.03,101.85,2.053,10756,0.116,0.074,2391,644,2570,2630,2510,0,0,0,0,0,0,14.52,14.30,13.50
$GC,10242,0.86,97.3,2391,644,2624,2508,986.8,7.9,882,10248,0.00,1.88,0.00,0.000,1094,0.000,0.042,2391,1728,2566,2625,2507,0,0,0,0,0,0,14.66,14.60,14.68
$GC,10567,0.86,97.3,2391,1728,2624,2501,961.1,8.0,896,10573,0.00,2.40,0.00,0.000,260,0.000,0.064,2392,3091,2562,2624,2501,0,0,0,0,0,0,15.15,14.82,15.17
$GC,10715,0.86,97.3,2391,3092,2625,2498,948.5,8.6,925,10723,0.00,2.47,0.00,0.000,1030,0.000,0.045,2391,1704,2561,2625,2498,0,0,0,0,0,0,14.88,14.83,14.92
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$STATE,21647,end climb,SURFACE_DEPTH_REACHED
$STATE,21647,begin surface coast
$STATE,21666,end surface coast,CONTROL_FINISHED_OK
$STATE,21666,begin surface
$SM_CCo,21687,134.30,0.661,1,0,928,500.17
$SM_GC,0.43,6.95,1.70,134.30,0.074,0.045,0.661,159,2712,928,-6.10,-1.92,500.17,0,0,0,0,1,0,14.95,15.00,14.40
$IRIDIUM_FIX,1413.26,14414.55,151219,164646
$TT8_MAMPS,0.017976,0.153545
$HUMID,46.22
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,27.00
$XPDR_PINGS,0
$SC_FREEKB,3740576
$PM_FREEKB_00,58040768
$PM_FREEKB_01,85563520
$PM_FREEKB_02,62647232
$PM_FREEKB_03,124821056
$PM_ACTIVECARD,2
$24V_AH,13.50,122.230
$10V_AH,12.91,0.000
$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,17.550,189.125,401.175,134.300,0.000,0.000,0.000,451.425,0.000,0.000,16.778,1755.630,13801.486,590.488,5856.421,576.401,0.000,2973.009,0.000,5017.151,0.000,0.553,0.000
$DEVICE_MAMPS,381.735,92.565,2094.570,660.960,0.000,0.000,0.000,192.780,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21693.000,21691.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.252,9.459,0.000,0.000
$MEM,270616
$DATA_FILE_SIZE,73132,2113
$CAP_FILE_SIZE,211238,0
$CFSIZE,260034560,211124224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.027,261.23,1
$GPS,161219,052719,1410.554,14409.425,22,1.0,33,0.3,0.8,240.8,11,4.0