version: 66.13
glider: 178
mission: 31
dive: 319
start: 12 21 119 14 55 17
data:
$ID,178
$MISSION,31
$DIVE,319
$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,37
$R_STBD_OVSHOOT,38
$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
$GPS1,211219,144155,1419.1250,14410.3350,29,0.8,46,0.2,0.8,118.6,12,3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.29
$_SM_ANGLEo,-53.4
$GPS2,211219,145428,1419.1193,14410.2637,4,0.9,5,0.2,0.7,257.9,12,8.7
$SPEED_LIMITS,0.147,0.188
$TGT_NAME,S
$TGT_LATLONG,1410.000,14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,178.0,16895,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-0.81,-97.3,103,2741,990,861,0.0,0.0,0,111,0.00,0.00,-87.93,0.005,16386,0.000,0.000,98,2736,3182,3210,3155,0,0,0,0,0,0,15.21,28.83,15.23
$GC,114,-0.81,-97.3,98,2739,3210,3155,4.0,-7.8,9,136,8.20,2.35,-3.30,0.036,18948,0.377,0.066,1853,1336,3366,3402,3330,0,0,0,0,0,0,14.60,14.09,14.81
$GC,364,-0.81,-97.3,1853,1336,3401,3327,72.6,-24.9,59,373,0.00,2.40,0.00,0.000,1030,0.000,0.049,1845,2750,3364,3402,3327,0,0,0,0,0,0,15.10,15.00,15.12
$GC,554,-0.81,-97.3,1845,2750,3401,3327,111.3,-20.1,79,560,0.00,2.38,0.00,0.000,516,0.000,0.042,1845,1333,3364,3402,3326,0,0,0,0,0,0,15.34,15.02,15.35
$GC,791,-0.81,-97.3,1844,1334,3402,3327,150.6,-14.6,125,797,0.00,2.40,0.00,0.000,1030,0.000,0.047,1843,2756,3364,3402,3327,0,0,0,0,0,0,15.15,15.05,15.18
$GC,987,-0.81,-97.3,1843,2756,3402,3327,178.6,-13.6,145,993,0.00,2.35,0.00,0.000,516,0.000,0.041,1844,1338,3364,3402,3327,0,0,0,0,0,0,15.37,15.07,15.35
$GC,1022,-0.81,-97.3,1843,1338,3402,3327,183.3,-13.3,151,1031,0.00,2.38,0.00,0.000,1030,0.000,0.049,1844,2750,3364,3402,3327,0,0,0,0,0,0,15.16,15.07,15.19
$GC,1212,-0.81,-97.3,1843,2750,3402,3333,204.8,-10.5,171,1217,0.00,2.03,0.00,0.000,260,0.000,0.076,1843,3943,3363,3400,3327,0,0,0,0,0,0,15.40,15.02,15.41
$GC,1448,-0.81,-97.3,1843,3944,3402,3327,235.1,-12.7,217,1455,0.00,1.95,0.00,0.000,1030,0.000,0.030,1843,2679,3364,3401,3327,0,0,0,0,0,0,15.24,15.21,15.25
$GC,1663,-0.81,-97.3,1843,2679,3402,3327,260.5,-11.5,233,1667,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2679,3364,3401,3327,0,0,0,0,0,0,15.41,15.43,15.42
$GC,1964,-0.81,-97.3,1843,2678,3402,3324,289.6,-8.1,243,1969,0.00,2.20,0.00,0.000,260,0.000,0.077,1843,3941,3366,3409,3323,0,0,0,0,0,0,15.41,15.04,15.43
$GC,2028,-0.81,-97.3,1843,3942,3402,3323,294.9,-8.6,255,2033,0.00,1.95,0.00,0.000,1030,0.000,0.031,1842,2689,3362,3402,3323,0,0,0,0,0,0,15.24,15.20,15.26
$GC,2363,-0.81,-97.3,1843,2689,3403,3319,326.8,-10.4,271,2366,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,2688,3360,3402,3319,0,0,0,0,0,0,15.40,15.42,15.41
$GC,2662,-0.81,-97.3,1843,2689,3402,3314,361.7,-12.5,281,2665,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2688,3356,3401,3311,0,0,0,0,0,0,15.40,15.42,15.42
$GC,2962,-0.81,-97.3,1844,2690,3401,3309,398.3,-11.2,291,2968,0.00,2.25,0.00,0.000,516,0.000,0.042,1843,1339,3355,3402,3308,0,0,0,0,0,0,15.40,15.04,15.42
$GC,3076,-0.81,-97.3,1854,1339,3398,3308,409.7,-9.4,313,3083,0.00,2.42,0.00,0.000,1030,0.000,0.049,1844,2753,3354,3402,3307,0,0,0,0,0,0,15.16,15.06,15.20
$GC,3391,-0.81,-97.3,1843,2759,3401,3307,434.2,-7.2,325,3397,0.00,2.08,0.00,0.000,260,0.000,0.083,1843,3946,3351,3402,3301,0,0,0,0,0,0,15.41,15.00,15.42
$GC,3517,-0.81,-97.3,1843,3946,3401,3299,443.8,-7.8,349,3523,0.00,2.00,0.00,0.000,1030,0.000,0.034,1844,2706,3350,3401,3299,0,0,0,0,0,0,15.23,15.19,15.22
$GC,3852,-0.81,-97.3,1843,2705,3398,3296,468.3,-7.5,365,3855,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,2706,3347,3398,3296,0,0,0,0,0,0,15.40,15.42,15.42
$GC,4152,-0.81,-97.3,1843,2705,3396,3294,492.8,-8.4,375,4158,0.00,2.22,0.00,0.000,260,0.000,0.083,1843,3948,3344,3395,3294,0,0,0,0,0,0,15.40,14.96,15.42
$GC,4205,-0.81,-97.3,1843,3948,3395,3292,497.9,-9.9,385,4212,0.00,1.92,0.00,0.000,1030,0.000,0.038,1843,2768,3343,3395,3292,0,0,0,0,0,0,15.20,15.15,15.21
$GC,4520,-0.81,-97.3,1843,2768,3392,3291,528.6,-9.8,397,4524,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2768,3341,3392,3291,0,0,0,0,0,0,15.39,15.41,15.40
$GC,4820,-0.81,-97.3,1843,2769,3390,3289,554.1,-7.9,407,4824,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2768,3339,3390,3289,0,0,0,0,0,0,15.38,15.40,15.40
$GC,5121,-0.81,-97.3,1843,2768,3388,3287,575.5,-7.0,417,5125,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2768,3337,3388,3287,0,0,0,0,0,0,15.37,15.39,15.39
$GC,5420,-0.81,-97.3,1843,2768,3383,3286,596.4,-6.9,427,5424,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2768,3335,3386,3285,0,0,0,0,0,0,15.38,15.40,15.40
$GC,5720,-0.81,-97.3,1843,2768,3383,3283,617.4,-7.2,437,5724,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2768,3332,3379,3285,0,0,0,0,0,0,15.38,15.40,15.39
$GC,6020,-0.81,-97.3,1843,2769,3382,3282,639.8,-7.6,447,6026,0.00,2.40,0.00,0.000,516,0.000,0.045,1843,1360,3331,3382,3281,0,0,0,0,0,0,15.37,14.96,15.38
$GC,6094,-0.81,-97.3,1843,1356,3380,3281,645.9,-7.9,461,6102,0.00,2.40,0.00,0.000,1030,0.000,0.054,1843,2742,3331,3381,3281,0,0,0,0,0,0,14.98,14.92,15.02
$GC,6420,-0.81,-97.3,1843,2742,3379,3279,671.0,-7.9,475,6424,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2742,3329,3380,3279,0,0,0,0,0,0,15.36,15.38,15.38
$GC,6720,-0.81,-97.3,1843,2742,3379,3277,696.1,-8.7,485,6727,0.00,2.35,0.00,0.000,516,0.000,0.045,1844,1365,3327,3378,3277,0,0,0,0,0,0,15.35,14.97,15.38
$GC,6866,-0.81,-97.3,1844,1365,3377,3277,709.7,-9.5,513,6873,0.00,2.42,0.00,0.000,1030,0.000,0.054,1843,2752,3326,3376,3277,0,0,0,0,0,0,15.06,14.94,15.09
$GC,7181,-0.81,-97.3,1843,2752,3376,3276,738.6,-9.1,525,7188,0.00,2.40,0.00,0.000,516,0.000,0.046,1843,1360,3326,3376,3276,0,0,0,0,0,0,15.35,14.95,15.37
$GC,7231,-0.81,-97.3,1843,1360,3376,3276,743.2,-9.3,534,7237,0.00,2.45,0.00,0.000,1030,0.000,0.055,1843,2751,3325,3375,3276,0,0,0,0,0,0,15.05,14.93,15.09
$GC,7550,-0.81,-97.3,1843,2751,3375,3274,769.5,-8.2,547,7559,0.00,2.40,0.00,0.000,516,0.000,0.046,1843,1361,3324,3375,3274,0,0,0,0,0,0,15.33,14.88,15.35
$GC,7606,-0.81,-97.3,1843,1362,3375,3273,774.4,-8.6,558,7613,0.00,2.50,0.00,0.000,1030,0.000,0.055,1842,2753,3327,3381,3274,0,0,0,0,0,0,14.90,14.82,14.95
$GC,7913,-0.81,-97.3,1842,2753,3374,3273,799.1,-8.0,569,7919,0.00,2.12,0.00,0.000,260,0.000,0.089,1843,3942,3323,3373,3273,0,0,0,0,0,0,15.33,14.83,15.33
$GC,8058,-0.81,-97.3,1843,3941,3373,3274,811.3,-8.3,597,8064,0.00,2.00,0.00,0.000,1030,0.000,0.041,1843,2755,3322,3373,3272,0,0,0,0,0,0,15.09,15.02,15.10
$GC,8374,-0.81,-97.3,1842,2750,3372,3272,835.2,-7.5,609,8377,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2750,3321,3372,3271,0,0,0,0,0,0,15.32,15.35,15.34
$GC,8673,-0.81,-97.3,1843,2750,3371,3271,856.6,-7.0,619,8676,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2750,3321,3371,3271,0,0,0,0,0,0,15.32,15.35,15.34
$GC,8973,-0.81,-97.3,1843,2750,3368,3270,876.0,-6.2,629,8977,0.00,0.00,0.00,0.000,38,0.000,0.000,1843,2750,3320,3370,3270,0,0,0,0,0,0,15.33,15.34,15.34
$GC,9274,-0.81,-97.3,1843,2750,3369,3270,894.7,-6.4,639,9278,0.00,0.00,0.00,0.000,38,0.000,0.000,1843,2750,3320,3371,3270,0,0,0,0,0,0,15.31,15.34,15.33
$GC,9573,-0.81,-97.3,1843,2750,3368,3269,915.4,-7.2,649,9576,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2750,3318,3368,3269,0,0,0,0,0,0,15.31,15.33,15.33
$GC,9873,-0.81,-97.3,1843,2750,3367,3268,939.9,-8.7,659,9876,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2750,3317,3367,3268,0,0,0,0,0,0,15.31,15.33,15.33
$GC,10174,-0.81,-97.3,1843,2751,3366,3267,966.3,-8.8,669,10180,0.00,2.20,0.00,0.000,260,0.000,0.093,1843,3937,3316,3366,3267,0,0,0,0,0,0,15.30,14.77,15.31
$GC,10247,-0.81,-97.3,1843,3937,3366,3267,973.2,-9.3,683,10253,0.00,2.03,0.00,0.000,1030,0.000,0.044,1843,2747,3317,3367,3267,0,0,0,0,0,0,15.04,14.97,15.06
$STATE,10449,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10449,begin apogee
$GC,10457,-0.21,0.0,1845,1706,3367,3266,991.0,-8.7,693,10550,0.75,0.00,86.90,2.114,10246,0.202,0.000,2049,1706,2968,3032,2904,0,0,0,0,0,0,14.62,14.50,13.63
$STATE,10553,end apogee,CONTROL_FINISHED_OK
$STATE,10553,begin climb
$GC,10556,0.81,97.3,2050,1706,3031,2903,994.7,0.0,696,10672,1.05,1.95,100.78,2.052,10756,0.113,0.072,2379,642,2571,2631,2512,0,0,0,0,0,0,14.48,14.16,13.47
$GC,10727,0.86,97.3,2378,642,2625,2506,989.2,6.9,732,10732,0.00,1.90,0.00,0.000,1094,0.000,0.042,2379,1728,2567,2626,2509,0,0,0,0,0,0,14.62,14.54,14.64
$GC,11061,0.91,97.3,2380,1727,2626,2502,965.7,6.7,748,11071,0.12,2.40,0.00,0.000,2372,0.162,0.062,2420,3096,2564,2626,2502,0,0,0,0,0,0,14.81,14.78,14.89
$GC,11185,0.91,97.3,2420,3096,2626,2501,954.9,9.7,772,11193,0.00,2.42,0.00,0.000,1030,0.000,0.045,2421,1705,2562,2625,2500,0,0,0,0,0,0,14.97,14.88,15.01
$GC,11517,0.91,97.3,2421,1705,2626,2499,922.7,10.3,788,11521,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,1705,2562,2626,2499,0,0,0,0,0,0,15.23,15.26,15.26
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$STATE,21497,end climb,SURFACE_DEPTH_REACHED
$STATE,21497,begin surface coast
$STATE,21517,end surface coast,CONTROL_FINISHED_OK
$STATE,21518,begin surface
$SM_CCo,21542,126.45,0.667,1,0,929,500.17
$SM_GC,0.21,7.03,3.60,126.45,0.071,0.042,0.667,155,2721,929,-6.10,-1.67,500.17,0,0,0,0,1,0,14.92,14.95,14.35
$IRIDIUM_FIX,1420.32,14415.06,211219,082753
$TT8_MAMPS,0.019474,0.155043
$HUMID,47.24
$INTERNAL_PRESSURE,8.95542
$TCM_TEMP,26.50
$XPDR_PINGS,0
$SC_FREEKB,3732512
$PM_FREEKB_00,58040768
$PM_FREEKB_01,85563520
$PM_FREEKB_02,59195968
$PM_FREEKB_03,114327232
$PM_ACTIVECARD,3
$24V_AH,13.47,130.992
$10V_AH,12.85,0.000
$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,17.475,152.900,415.525,126.450,0.000,0.000,0.000,464.375,0.000,0.000,16.595,1501.505,14563.400,619.674,5182.118,565.306,0.000,2724.220,0.000,4417.198,0.000,0.553,0.000
$DEVICE_MAMPS,377.145,92.565,2113.695,667.080,0.000,0.000,0.000,192.015,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21547.000,21539.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.233,15.066,0.000,0.000
$MEM,270600
$DATA_FILE_SIZE,63195,1789
$CAP_FILE_SIZE,188243,0
$CFSIZE,260034560,208056320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.044,143.48,1
$GPS,211219,205835,1416.729,14410.650,36,1.1,63,0.3,0.5,0.0,7,4.2