version: 66.13
glider: 178
mission: 31
dive: 320
start: 12 21 119 21 17 31
data:
$ID,178
$MISSION,31
$DIVE,320
$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,26
$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
$GPS1,211219,205835,1416.7286,14410.6504,36,1.1,63,0.3,0.5,0.0,7,4.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.33
$_SM_ANGLEo,-56.2
$GPS2,211219,211640,1416.6661,14410.5078,2,1.0,5,0.3,0.8,282.8,7,9.8
$SPEED_LIMITS,0.147,0.188
$TGT_NAME,S
$TGT_LATLONG,1410.000,14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,192.8,12379,-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,18,-0.81,-97.3,87,2735,991,866,0.0,0.0,0,121,0.00,0.00,-94.60,0.005,16390,0.000,0.000,82,2735,3363,3387,3340,0,0,0,0,0,0,15.21,13.96,15.20
$GC,125,-0.81,-97.3,82,2735,3385,3340,5.8,-11.9,10,142,8.50,2.35,0.00,0.000,2564,0.392,0.039,1862,1342,3363,3387,3340,0,0,0,0,0,0,14.65,14.95,14.84
$GC,369,-0.81,-97.3,1861,1341,3392,3333,75.0,-23.6,59,376,0.00,2.45,0.00,0.000,1030,0.000,0.054,1855,2744,3362,3392,3333,0,0,0,0,0,0,15.01,14.95,15.04
$GC,558,-0.81,-97.3,1855,2744,3392,3332,117.8,-20.2,78,563,0.00,2.33,0.00,0.000,516,0.000,0.042,1856,1342,3362,3392,3332,0,0,0,0,0,0,15.34,15.01,15.36
$GC,792,-0.81,-97.3,1855,1341,3393,3332,159.1,-16.1,124,803,0.00,2.40,0.00,0.000,1030,0.000,0.049,1845,2764,3362,3392,3332,0,0,0,0,0,0,15.16,15.07,15.19
$GC,982,-0.81,-97.3,1848,2764,3393,3332,183.5,-10.0,144,989,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,2764,3362,3393,3332,0,0,0,0,0,0,15.36,15.39,15.39
$GC,1172,-0.81,-97.3,1846,2764,3393,3332,207.1,-13.2,163,1178,0.00,2.00,0.00,0.000,260,0.000,0.076,1845,3944,3362,3393,3331,0,0,0,0,0,0,15.40,15.04,15.41
$GC,1409,-0.81,-97.3,1845,3944,3393,3331,238.3,-13.3,209,1416,0.00,1.95,0.00,0.000,1030,0.000,0.029,1845,2701,3362,3393,3331,0,0,0,0,0,0,15.25,15.21,15.26
$GC,1625,-0.81,-97.3,1844,2694,3393,3330,265.0,-11.6,223,1628,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,2694,3361,3393,3329,0,0,0,0,0,0,15.40,15.43,15.42
$GC,1924,-0.81,-97.3,1850,2697,3393,3328,294.1,-9.6,233,1931,0.00,2.17,0.00,0.000,260,0.000,0.077,1845,3940,3360,3393,3327,0,0,0,0,0,0,15.42,15.04,15.44
$GC,2123,-0.81,-97.3,1844,3940,3393,3325,313.0,-9.5,272,2129,0.00,1.88,0.00,0.000,1030,0.000,0.031,1844,2742,3356,3393,3320,0,0,0,0,0,0,15.26,15.21,15.26
$GC,2442,-0.81,-97.3,1844,2732,3393,3321,336.2,-7.0,285,2448,0.00,2.12,0.00,0.000,260,0.000,0.080,1844,3945,3356,3393,3320,0,0,0,0,0,0,15.42,15.02,15.45
$GC,2507,-0.81,-97.3,1844,3945,3393,3319,342.6,-10.4,297,2513,0.00,1.88,0.00,0.000,1030,0.000,0.032,1844,2748,3356,3393,3319,0,0,0,0,0,0,15.25,15.21,15.27
$GC,2842,-0.81,-97.3,1844,2747,3393,3314,376.6,-10.2,313,2849,0.00,2.25,0.00,0.000,516,0.000,0.046,1846,1392,3353,3393,3313,0,0,0,0,0,0,15.40,15.09,15.42
$GC,2982,-0.81,-97.3,1844,1392,3393,3311,391.2,-10.3,340,2988,0.00,2.33,0.00,0.000,1030,0.000,0.055,1845,2746,3354,3393,3315,0,0,0,0,0,0,15.18,15.07,15.21
$GC,3302,-0.81,-97.3,1844,2746,3393,3306,424.5,-10.6,353,3309,0.00,2.30,0.00,0.000,516,0.000,0.047,1844,1392,3349,3392,3306,0,0,0,0,0,0,15.41,15.07,15.43
$GC,3535,-0.81,-97.3,1844,1392,3392,3303,449.5,-10.2,399,3544,0.00,2.35,0.00,0.000,1030,0.000,0.054,1846,2759,3346,3390,3302,0,0,0,0,0,0,15.16,15.06,15.20
$GC,3848,-0.81,-97.3,1844,2759,3391,3298,478.7,-9.1,411,3852,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,2759,3344,3391,3298,0,0,0,0,0,0,15.40,15.42,15.42
$GC,4147,-0.81,-97.3,1844,2759,3388,3294,501.1,-7.2,421,4154,0.00,2.10,0.00,0.000,260,0.000,0.086,1844,3949,3341,3389,3294,0,0,0,0,0,0,15.41,14.97,15.42
$GC,4237,-0.81,-97.3,1844,3949,3389,3294,507.5,-6.9,438,4243,0.00,1.95,0.00,0.000,1030,0.000,0.035,1844,2765,3340,3388,3293,0,0,0,0,0,0,15.12,15.10,15.14
$GC,4543,-0.81,-97.3,1844,2765,3386,3292,526.1,-6.4,449,4546,0.00,0.00,0.00,0.000,38,0.000,0.000,1845,2765,3338,3385,3291,0,0,0,0,0,0,15.40,15.42,15.42
$GC,4842,-0.81,-97.3,1843,2765,3382,3289,550.3,-8.8,459,4846,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,2764,3336,3384,3289,0,0,0,0,0,0,15.40,15.42,15.42
$GC,5142,-0.81,-97.3,1844,2764,3381,3287,577.3,-8.9,469,5149,0.00,2.35,0.00,0.000,516,0.000,0.046,1844,1377,3334,3381,3287,0,0,0,0,0,0,15.39,15.02,15.41
$GC,5180,-0.81,-97.3,1844,1378,3381,3287,580.9,-8.9,476,5190,0.00,2.40,0.00,0.000,1030,0.000,0.056,1844,2752,3333,3380,3287,0,0,0,0,0,0,15.07,14.95,15.11
$GC,5508,-0.81,-97.3,1844,2752,3379,3285,607.8,-8.0,491,5514,0.00,2.10,0.00,0.000,260,0.000,0.087,1841,3940,3332,3379,3285,0,0,0,0,0,0,15.38,14.88,15.40
$GC,5591,-0.81,-97.3,1844,3944,3379,3284,614.7,-8.2,507,5597,0.00,1.92,0.00,0.000,1030,0.000,0.037,1844,2765,3331,3379,3284,0,0,0,0,0,0,15.17,15.13,15.19
$GC,5906,-0.81,-97.3,1844,2765,3376,3282,638.2,-7.6,519,5909,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,2765,3330,3377,3283,0,0,0,0,0,0,15.35,15.38,15.37
$GC,6206,-0.81,-97.3,1844,2765,3375,3281,661.4,-7.7,529,6213,0.00,2.40,0.00,0.000,516,0.000,0.050,1844,1358,3327,3375,3280,0,0,0,0,0,0,15.35,15.00,15.38
$GC,6302,-0.81,-97.3,1844,1358,3374,3279,668.8,-7.6,547,6308,0.00,2.45,0.00,0.000,1030,0.000,0.055,1844,2750,3327,3374,3280,0,0,0,0,0,0,15.09,14.96,15.11
$GC,6636,-0.81,-97.3,1844,2750,3372,3278,694.0,-7.7,563,6644,0.00,2.38,0.00,0.000,516,0.000,0.045,1844,1360,3325,3373,3278,0,0,0,0,0,0,15.38,14.98,15.38
$GC,6703,-0.81,-97.3,1841,1360,3372,3278,699.5,-8.2,576,6712,0.00,2.45,0.00,0.000,1030,0.000,0.056,1844,2760,3325,3372,3278,0,0,0,0,0,0,15.07,14.95,15.10
$GC,7030,-0.81,-97.3,1844,2760,3377,3275,726.3,-8.3,591,7034,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,2760,3323,3370,3276,0,0,0,0,0,0,15.36,15.38,15.38
$GC,7330,-0.81,-97.3,1844,2760,3372,3275,752.2,-9.0,601,7337,0.00,2.40,0.00,0.000,516,0.000,0.047,1844,1367,3322,3370,3275,0,0,0,0,0,0,15.35,14.95,15.36
$GC,7444,-0.81,-97.3,1844,1367,3368,3275,762.8,-9.2,623,7453,0.00,2.42,0.00,0.000,1030,0.000,0.055,1844,2749,3321,3368,3275,0,0,0,0,0,0,15.04,14.92,15.07
$GC,7755,-0.81,-97.3,1844,2752,3367,3274,790.6,-8.9,635,7759,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,2753,3320,3367,3273,0,0,0,0,0,0,15.35,15.37,15.38
$GC,8055,-0.81,-97.3,1843,2753,3366,3273,817.9,-9.3,645,8062,0.00,2.40,0.00,0.000,516,0.000,0.047,1844,1366,3320,3367,3273,0,0,0,0,0,0,15.32,14.92,15.35
$GC,8105,-0.81,-97.3,1845,1366,3366,3273,822.7,-9.4,654,8113,0.00,2.45,0.00,0.000,1030,0.000,0.057,1844,2758,3319,3365,3273,0,0,0,0,0,0,15.02,14.91,15.05
$GC,8426,-0.81,-97.3,1844,2759,3366,3271,849.1,-7.8,667,8432,0.00,2.12,0.00,0.000,260,0.000,0.088,1849,3946,3318,3366,3271,0,0,0,0,0,0,15.30,14.82,15.33
$GC,8499,-0.81,-97.3,1844,3946,3374,3270,855.2,-8.3,681,8505,0.00,2.00,0.00,0.000,1030,0.000,0.043,1844,2756,3318,3366,3270,0,0,0,0,0,0,15.09,15.04,15.11
$GC,8824,-0.81,-97.3,1844,2757,3365,3270,879.4,-7.3,695,8830,0.00,2.15,0.00,0.000,260,0.000,0.088,1845,3943,3317,3365,3270,0,0,0,0,0,0,15.31,14.81,15.34
$GC,8902,-0.81,-97.3,1843,3943,3365,3274,885.7,-8.0,710,8908,0.00,2.03,0.00,0.000,1030,0.000,0.043,1848,2750,3317,3365,3269,0,0,0,0,0,0,15.01,14.91,15.04
$GC,9222,-0.81,-97.3,1843,2751,3365,3268,907.5,-6.5,723,9226,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,2751,3316,3365,3268,0,0,0,0,0,0,15.32,15.35,15.34
$GC,9521,-0.81,-97.3,1843,2751,3364,3267,925.7,-6.0,733,9525,0.00,0.00,0.00,0.000,38,0.000,0.000,1844,2751,3316,3365,3267,0,0,0,0,0,0,15.33,15.35,15.35
$GC,9822,-0.81,-97.3,1843,2751,3363,3267,943.4,-6.3,743,9827,0.00,2.20,0.00,0.000,292,0.000,0.090,1844,3946,3315,3363,3267,0,0,0,0,0,0,15.33,14.78,15.34
$GC,9887,-0.81,-97.3,1844,3946,3363,3268,948.2,-7.5,755,9893,0.00,2.03,0.00,0.000,1030,0.000,0.044,1844,2748,3314,3363,3266,0,0,0,0,0,0,15.04,15.00,15.06
$GC,10221,-0.81,-97.3,1843,2747,3369,3266,972.8,-7.6,771,10230,0.00,2.40,0.00,0.000,516,0.000,0.049,1844,1356,3314,3362,3266,0,0,0,0,0,0,15.29,14.83,15.30
$GC,10322,-0.81,-97.3,1843,1356,3361,3266,980.7,-7.6,791,10330,0.00,2.47,0.00,0.000,1030,0.000,0.060,1844,2747,3313,3361,3266,0,0,0,0,0,0,14.96,14.83,14.98
$STATE,10461,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10461,begin apogee
$GC,10469,-0.21,0.0,1844,1713,3361,3266,990.9,-7.2,799,10561,0.77,0.00,86.47,2.109,10246,0.203,0.000,2056,1714,2967,3029,2906,0,0,0,0,0,0,14.64,14.51,13.64
$STATE,10564,end apogee,CONTROL_FINISHED_OK
$STATE,10564,begin climb
$GC,10566,0.81,97.3,2056,1714,3029,2904,993.2,0.0,802,10679,1.05,2.03,100.72,2.055,10756,0.112,0.078,2385,639,2576,2632,2520,0,0,0,0,0,0,14.49,14.27,13.48
$GC,10792,0.81,97.3,2385,640,2620,2509,979.6,8.8,849,10800,0.00,1.92,0.00,0.000,1030,0.000,0.043,2385,1730,2566,2625,2508,0,0,0,0,0,0,14.66,14.61,14.69
$GC,11099,0.81,97.3,2384,1728,2625,2503,953.2,8.8,860,11103,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1728,2564,2625,2503,0,0,0,0,0,0,15.14,15.16,15.16
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$STATE,22030,end climb,SURFACE_DEPTH_REACHED
$STATE,22030,begin surface coast
$STATE,22043,end surface coast,CONTROL_FINISHED_OK
$STATE,22043,begin surface
$SM_CCo,22064,143.55,0.665,1,0,927,500.17
$SM_GC,0.27,7.25,0.55,143.55,0.109,0.038,0.665,164,2693,927,-6.08,1.13,500.17,0,0,1,0,1,0,14.92,15.10,14.36
$IRIDIUM_FIX,1422.55,14411.95,211219,144637
$TT8_MAMPS,0.019474,0.155043
$HUMID,47.79
$INTERNAL_PRESSURE,8.94566
$TCM_TEMP,25.60
$XPDR_PINGS,0
$SC_FREEKB,3732128
$PM_FREEKB_00,58040768
$PM_FREEKB_01,85563520
$PM_FREEKB_02,59195968
$PM_FREEKB_03,113762944
$PM_ACTIVECARD,3
$24V_AH,13.48,131.420
$10V_AH,12.83,0.000
$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,17.950,168.925,394.475,143.550,0.000,0.000,0.000,733.925,0.000,0.000,17.259,1603.306,14803.351,648.030,5621.803,627.654,0.000,3098.957,0.000,4574.478,0.000,0.553,0.000
$DEVICE_MAMPS,392.445,90.270,2109.105,664.785,0.000,0.000,0.000,211.905,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22073.000,22106.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.255,5.895,0.000,0.000
$MEM,270604
$DATA_FILE_SIZE,66447,1903
$CAP_FILE_SIZE,200369,0
$CFSIZE,260034560,207826944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0
$CURRENT,0.036,256.17,1
$GPS,221219,032931,1414.565,14409.796,38,0.8,45,0.3,0.5,262.3,11,5.7