version: 66.13
glider: 178
mission: 31
dive: 302
start: 12 17 119 1 23 12
data:
$ID,178
$MISSION,31
$DIVE,302
$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,35
$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
$GPS1,171219,010739,1419.2119,14409.8447,14,1.8,45,0.2,0.4,288.2,7,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.38
$_SM_ANGLEo,-55.7
$GPS2,171219,012223,1419.2144,14409.6846,4,1.5,7,0.2,0.3,0.0,7,9.2
$SPEED_LIMITS,0.147,0.188
$TGT_NAME,S
$TGT_LATLONG,1410.000,14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,181.7,17074,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.81,-97.3,110,2745,991,862,0.0,0.0,0,117,0.00,0.00,-88.45,0.005,16386,0.000,0.000,108,2744,3230,3254,3206,0,0,0,0,0,0,15.21,28.83,15.23
$GC,120,-0.81,-97.3,108,2745,3254,3206,4.6,-9.0,9,140,8.18,2.35,-2.25,0.050,18948,0.383,0.063,1848,1339,3367,3400,3334,0,0,0,0,0,0,14.62,14.15,14.85
$GC,340,-0.81,-97.3,1847,1339,3400,3333,75.6,-29.1,52,347,0.00,2.45,0.00,0.000,1030,0.000,0.054,1836,2745,3366,3400,3332,0,0,0,0,0,0,15.01,14.95,15.04
$GC,528,-0.81,-97.3,1839,2745,3400,3332,117.1,-20.3,71,534,0.00,2.35,0.00,0.000,516,0.000,0.041,1839,1333,3364,3397,3332,0,0,0,0,0,0,15.34,15.05,15.35
$GC,616,-0.81,-97.3,1839,1332,3400,3332,133.3,-19.4,87,626,0.15,2.40,0.00,0.000,3078,0.272,0.050,1865,2753,3366,3400,3332,0,0,0,0,0,0,14.76,15.04,14.94
$GC,806,-0.81,-97.3,1864,2754,3402,3332,165.7,-13.6,107,813,0.00,2.05,0.00,0.000,260,0.000,0.075,1858,3951,3367,3400,3335,0,0,0,0,0,0,15.36,15.00,15.38
$GC,1046,-0.81,-97.3,1857,3950,3400,3332,197.9,-12.5,153,1056,0.00,1.98,0.00,0.000,1030,0.000,0.031,1858,2679,3368,3400,3336,0,0,0,0,0,0,15.20,15.16,15.21
$GC,1245,-0.81,-97.3,1857,2677,3400,3333,220.0,-11.8,173,1251,0.00,2.20,0.00,0.000,260,0.000,0.075,1854,3946,3365,3400,3330,0,0,0,0,0,0,15.40,15.06,15.41
$GC,1486,-0.81,-97.3,1854,3949,3400,3331,248.0,-10.2,219,1491,0.00,1.98,0.00,0.000,1030,0.000,0.031,1854,2699,3365,3400,3331,0,0,0,0,0,0,15.23,15.20,15.25
$GC,1690,-0.81,-97.3,1854,2693,3400,3330,268.8,-9.9,228,1696,0.00,2.17,0.00,0.000,260,0.000,0.076,1851,3945,3366,3401,3331,0,0,0,0,0,0,15.40,15.06,15.42
$GC,1725,-0.81,-97.3,1851,3946,3400,3329,272.3,-11.0,234,1731,0.00,1.98,0.00,0.000,1030,0.000,0.031,1851,2700,3364,3400,3329,0,0,0,0,0,0,15.26,15.21,15.30
$GC,2060,-0.81,-97.3,1851,2693,3400,3326,303.7,-8.0,250,2066,0.00,2.17,0.00,0.000,260,0.000,0.080,1851,3943,3363,3400,3326,0,0,0,0,0,0,15.42,15.06,15.44
$GC,2185,-0.81,-97.3,1851,3943,3400,3324,313.7,-9.1,274,2194,0.00,1.90,0.00,0.000,1030,0.000,0.033,1851,2746,3362,3400,3324,0,0,0,0,0,0,15.21,15.18,15.21
$GC,2527,-0.81,-97.3,1851,2747,3400,3319,346.1,-10.0,290,2531,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2747,3359,3400,3318,0,0,0,0,0,0,15.40,15.42,15.42
$GC,2827,-0.81,-97.3,1851,2746,3400,3312,373.9,-9.0,300,2833,0.00,2.10,0.00,0.000,260,0.000,0.080,1851,3942,3356,3400,3313,0,0,0,0,0,0,15.38,15.02,15.41
$GC,3061,-0.81,-97.3,1851,3942,3400,3308,396.7,-9.3,346,3068,0.00,1.92,0.00,0.000,1030,0.000,0.034,1852,2738,3354,3400,3308,0,0,0,0,0,0,15.20,15.16,15.21
$GC,3376,-0.81,-97.3,1851,2732,3400,3302,423.0,-7.8,358,3380,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,2732,3351,3399,3303,0,0,0,0,0,0,15.41,15.43,15.43
$GC,3676,-0.81,-97.3,1851,2732,3398,3297,447.1,-8.1,368,3682,0.00,2.28,0.00,0.000,516,0.000,0.046,1851,1380,3350,3402,3298,0,0,0,0,0,0,15.36,15.07,15.40
$GC,3839,-0.81,-97.3,1851,1376,3395,3298,460.5,-8.2,400,3850,0.00,2.38,0.00,0.000,1030,0.000,0.054,1851,2746,3346,3395,3298,0,0,0,0,0,0,15.14,15.01,15.17
$GC,4165,-0.81,-97.3,1851,2746,3392,3294,485.3,-7.6,414,4173,0.00,2.33,0.00,0.000,516,0.000,0.049,1852,1387,3343,3393,3294,0,0,0,0,0,0,15.35,14.99,15.40
$GC,4327,-0.81,-97.3,1851,1385,3390,3294,498.6,-8.2,444,4336,0.00,2.38,0.00,0.000,1030,0.000,0.058,1856,2751,3342,3390,3294,0,0,0,0,0,0,15.15,15.02,15.18
$GC,4660,-0.81,-97.3,1851,2750,3389,3290,525.2,-7.8,460,4665,0.00,2.10,0.00,0.000,260,0.000,0.087,1851,3944,3339,3389,3290,0,0,0,0,0,0,15.35,14.97,15.38
$GC,4893,-0.81,-97.3,1851,3945,3388,3293,544.2,-8.1,506,4898,0.00,1.92,0.00,0.000,1030,0.000,0.038,1851,2772,3335,3383,3287,0,0,0,0,0,0,15.19,15.14,15.20
$GC,5207,-0.81,-97.3,1851,2771,3385,3286,568.6,-7.9,518,5211,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,2772,3335,3385,3286,0,0,0,0,0,0,15.35,15.40,15.39
$GC,5507,-0.81,-97.3,1851,2771,3383,3285,590.1,-6.7,528,5513,0.00,2.10,0.00,0.000,260,0.000,0.089,1851,3942,3332,3381,3284,0,0,0,0,0,0,15.33,14.93,15.38
$GC,5705,-0.81,-97.3,1851,3942,3382,3282,604.2,-7.1,567,5712,0.00,1.98,0.00,0.000,1030,0.000,0.039,1851,2744,3332,3382,3282,0,0,0,0,0,0,15.17,15.11,15.19
$GC,6026,-0.81,-97.3,1851,2745,3381,3281,625.0,-6.6,580,6033,0.00,2.35,0.00,0.000,516,0.000,0.047,1851,1367,3333,3386,3280,0,0,0,0,0,0,15.31,14.95,15.35
$GC,6172,-0.81,-97.3,1851,1367,3378,3281,635.2,-6.6,607,6179,0.00,2.42,0.00,0.000,1030,0.000,0.056,1851,2746,3330,3379,3281,0,0,0,0,0,0,15.09,14.96,15.12
$GC,6493,-0.81,-97.3,1851,2746,3378,3279,656.4,-6.6,620,6501,0.00,2.38,0.00,0.000,516,0.000,0.047,1851,1363,3328,3378,3279,0,0,0,0,0,0,15.33,14.99,15.36
$GC,6645,-0.81,-97.3,1850,1361,3376,3280,668.1,-8.0,650,6653,0.00,2.42,0.00,0.000,1030,0.000,0.056,1851,2755,3327,3376,3279,0,0,0,0,0,0,15.08,14.95,15.11
$GC,6978,-0.81,-97.3,1854,2755,3372,3277,694.2,-7.9,666,6981,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,2755,3326,3375,3277,0,0,0,0,0,0,15.32,15.37,15.36
$GC,7276,-0.81,-97.3,1851,2755,3375,3276,717.2,-7.5,676,7285,0.00,2.40,0.00,0.000,516,0.000,0.048,1851,1362,3325,3374,3276,0,0,0,0,0,0,15.33,15.00,15.35
$GC,7327,-0.81,-97.3,1852,1361,3374,3276,721.2,-7.7,686,7337,0.00,2.45,0.00,0.000,1030,0.000,0.057,1851,2753,3327,3379,3276,0,0,0,0,0,0,15.07,14.95,15.11
$GC,7640,-0.81,-97.3,1851,2753,3373,3274,742.6,-6.6,698,7646,0.00,2.15,0.00,0.000,260,0.000,0.091,1851,3955,3324,3373,3275,0,0,0,0,0,0,15.32,14.86,15.35
$GC,7692,-0.81,-97.3,1851,3952,3372,3274,746.4,-7.0,708,7698,0.00,2.00,0.00,0.000,1030,0.000,0.041,1851,2762,3323,3372,3274,0,0,0,0,0,0,15.13,15.07,15.15
$GC,8007,-0.81,-97.3,1851,2756,3371,3273,766.0,-6.2,720,8013,0.00,0.00,0.00,0.000,38,0.000,0.000,1851,2756,3322,3371,3273,0,0,0,0,0,0,15.28,15.33,15.32
$GC,8308,-0.81,-97.3,1851,2756,3372,3272,782.8,-5.5,730,8318,0.00,2.40,0.00,0.000,548,0.000,0.049,1850,1356,3321,3370,3272,0,0,0,0,0,0,15.28,14.90,15.32
$GC,8407,-0.81,-97.3,1851,1355,3372,3272,788.1,-5.2,748,8416,0.00,2.47,0.00,0.000,1062,0.000,0.059,1851,2758,3323,3376,3271,0,0,0,0,0,0,15.02,14.91,15.02
$GC,8740,-0.81,-97.3,1851,2758,3370,3271,804.8,-5.3,764,8749,0.00,2.42,0.00,0.000,548,0.000,0.049,1851,1355,3320,3369,3271,0,0,0,0,0,0,15.32,14.94,15.34
$GC,8796,-0.81,-97.3,1851,1355,3369,3271,808.2,-5.9,775,8803,0.00,2.50,0.00,0.000,1062,0.000,0.059,1851,2742,3320,3369,3271,0,0,0,0,0,0,14.90,14.83,14.95
$GC,9104,-0.81,-97.3,1853,2742,3368,3270,826.7,-6.3,786,9107,0.00,0.00,0.00,0.000,38,0.000,0.000,1853,2742,3319,3368,3270,0,0,0,0,0,0,15.30,15.35,15.34
$GC,9403,-0.81,-97.3,1851,2741,3367,3265,846.4,-6.6,796,9412,0.00,2.40,0.00,0.000,516,0.000,0.049,1851,1354,3318,3367,3270,0,0,0,0,0,0,15.29,14.92,15.33
$GC,9496,-0.81,-97.3,1851,1354,3369,3270,853.1,-7.2,814,9504,0.00,2.47,0.00,0.000,1030,0.000,0.058,1851,2757,3318,3366,3270,0,0,0,0,0,0,15.00,14.89,15.02
$GC,9828,-0.81,-97.3,1851,2757,3366,3269,876.6,-7.3,830,9832,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,2757,3317,3366,3269,0,0,0,0,0,0,15.28,15.36,15.32
$GC,10127,-0.81,-97.3,1851,2757,3365,3269,899.1,-7.7,840,10136,0.00,2.42,0.00,0.000,516,0.000,0.050,1851,1356,3315,3363,3267,0,0,0,0,0,0,15.28,14.91,15.32
$GC,10310,-0.81,-97.3,1851,1357,3365,3268,914.6,-8.8,876,10321,0.00,2.47,0.00,0.000,1030,0.000,0.059,1847,2753,3317,3365,3269,0,0,0,0,0,0,14.97,14.85,14.99
$GC,10645,-0.81,-97.3,1850,2752,3365,3267,943.9,-8.8,892,10651,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,2752,3316,3365,3267,0,0,0,0,0,0,15.27,15.30,15.30
$GC,10945,-0.81,-97.3,1850,2751,3364,3267,970.9,-9.2,902,10952,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,2752,3315,3364,3267,0,0,0,0,0,0,15.27,15.32,15.30
$STATE,11152,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11152,begin apogee
$GC,11161,-0.21,0.0,1851,1703,3371,3266,990.9,-9.7,909,11254,0.75,0.00,86.70,2.105,10246,0.201,0.000,2056,1703,2970,3032,2908,0,0,0,0,0,0,14.64,14.49,13.65
$STATE,11257,end apogee,CONTROL_FINISHED_OK
$STATE,11257,begin climb
$GC,11260,0.81,97.3,2057,1703,3032,2906,995.6,0.0,912,11375,1.05,0.00,102.28,2.055,10758,0.114,0.000,2383,1703,2570,2630,2510,0,0,0,0,0,0,14.49,14.28,13.48
$GC,11699,0.87,97.3,2384,1704,2629,2500,975.0,6.6,952,11711,0.00,2.53,0.00,0.000,324,0.000,0.065,2384,3109,2564,2629,2499,0,0,0,0,0,0,15.08,14.75,15.12
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$STATE,22295,end climb,SURFACE_DEPTH_REACHED
$STATE,22295,begin surface coast
$STATE,22312,end surface coast,CONTROL_FINISHED_OK
$STATE,22312,begin surface
$SM_CCo,22333,109.00,0.642,1,0,927,500.17
$SM_GC,0.33,6.90,1.80,109.00,0.073,0.046,0.642,155,2723,927,-6.10,-1.67,500.17,0,0,0,0,1,0,14.96,14.98,14.40
$IRIDIUM_FIX,1418.03,14410.14,161219,183633
$TT8_MAMPS,0.019474,0.153545
$HUMID,46.57
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,27.20
$XPDR_PINGS,0
$SC_FREEKB,3739040
$PM_FREEKB_00,58040768
$PM_FREEKB_01,85563520
$PM_FREEKB_02,60349120
$PM_FREEKB_03,124821056
$PM_ACTIVECARD,2
$24V_AH,13.48,123.999
$10V_AH,13.09,0.000
$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,17.400,164.325,437.750,109.000,0.000,0.000,0.000,591.475,0.000,0.000,18.662,1704.841,14315.757,594.248,6100.498,616.166,0.000,3094.473,0.000,5140.473,0.000,0.553,0.000
$DEVICE_MAMPS,382.500,91.035,2104.515,641.835,0.000,0.000,0.000,196.605,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22341.000,22337.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.260,9.660,0.000,0.000
$MEM,270576
$DATA_FILE_SIZE,73158,2073
$CAP_FILE_SIZE,208596,0
$CFSIZE,260034560,210530304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.044,259.85,1
$GPS,171219,073855,1417.110,14408.805,29,1.2,36,0.2,0.6,21.6,9,3.3