version: 66.13
glider: 178
mission: 31
dive: 327
start: 12 23 119 18 43 56
data:
$ID,178
$MISSION,31
$DIVE,327
$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,22
$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
$GPS1,231219,183107,1419.8190,14409.7070,19,1.4,47,0.2,0.3,194.2,7,6.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.31
$_SM_ANGLEo,-56.8
$GPS2,231219,184306,1419.7793,14409.6699,3,1.4,6,0.2,0.3,0.0,7,9.1
$SPEED_LIMITS,0.147,0.188
$TGT_NAME,S
$TGT_LATLONG,1410.000,14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,179.1,18121,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.81,-97.3,151,2728,989,866,0.0,0.0,0,112,0.00,0.00,-88.35,0.005,16386,0.000,0.000,151,2732,3187,3215,3159,0,0,0,0,0,0,15.21,28.83,15.22
$GC,115,-0.81,-97.3,151,2728,3216,3162,4.2,-8.3,9,137,8.15,2.33,-3.12,0.037,18948,0.389,0.060,1853,1331,3363,3398,3329,0,0,0,0,0,0,14.56,14.04,14.81
$GC,358,-0.81,-97.3,1853,1331,3403,3329,72.3,-25.6,57,364,0.00,2.42,0.00,0.000,1030,0.000,0.053,1846,2754,3366,3403,3329,0,0,0,0,0,0,15.07,14.97,15.10
$GC,553,-0.81,-97.3,1845,2754,3403,3328,118.1,-16.6,77,560,0.00,2.38,0.00,0.000,516,0.000,0.041,1845,1334,3365,3402,3329,0,0,0,0,0,0,15.34,15.02,15.35
$GC,701,-0.81,-97.3,1845,1334,3403,3329,142.0,-17.0,105,707,0.00,2.40,0.00,0.000,1030,0.000,0.047,1841,2754,3365,3403,3328,0,0,0,0,0,0,15.13,15.03,15.15
$GC,898,-0.81,-97.3,1841,2754,3403,3329,171.4,-12.8,125,905,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,2754,3366,3403,3329,0,0,0,0,0,0,15.35,15.37,15.36
$GC,1087,-0.81,-97.3,1841,2754,3403,3329,196.4,-12.6,144,1092,0.00,2.03,0.00,0.000,260,0.000,0.074,1832,3945,3365,3403,3328,0,0,0,0,0,0,15.38,15.00,15.38
$GC,1216,-0.81,-97.3,1832,3945,3403,3329,214.1,-14.4,169,1224,0.00,2.03,0.00,0.000,1030,0.000,0.030,1832,2694,3367,3405,3329,0,0,0,0,0,0,15.11,15.09,15.14
$GC,1404,-0.81,-97.3,1832,2693,3403,3329,235.5,-10.1,188,1410,0.12,2.17,0.00,0.000,2308,0.268,0.072,1852,3942,3365,3403,3328,0,0,0,0,0,0,14.81,15.01,14.99
$GC,1552,-0.81,-97.3,1852,3942,3403,3328,249.0,-9.0,217,1560,0.00,2.03,0.00,0.000,1030,0.000,0.031,1852,2694,3365,3403,3328,0,0,0,0,0,0,15.09,15.07,15.11
$GC,1751,-0.81,-97.3,1852,2697,3403,3327,271.1,-12.3,225,1758,0.00,2.25,0.00,0.000,516,0.000,0.040,1852,1324,3365,3403,3327,0,0,0,0,0,0,15.40,15.09,15.41
$GC,1882,-0.81,-97.3,1852,1324,3403,3326,288.0,-12.3,250,1891,0.00,2.42,0.00,0.000,1030,0.000,0.047,1848,2752,3364,3403,3326,0,0,0,0,0,0,15.11,15.02,15.16
$GC,2210,-0.81,-97.3,1852,2752,3403,3322,316.5,-7.3,265,2217,0.00,2.08,0.00,0.000,260,0.000,0.079,1850,3940,3362,3403,3322,0,0,0,0,0,0,15.40,14.96,15.40
$GC,2293,-0.81,-97.3,1850,3940,3403,3321,323.6,-9.6,281,2300,0.00,1.98,0.00,0.000,1030,0.000,0.031,1850,2707,3362,3403,3321,0,0,0,0,0,0,15.23,15.19,15.24
$GC,2608,-0.81,-97.3,1850,2697,3403,3317,350.1,-8.6,293,2614,0.00,2.17,0.00,0.000,516,0.000,0.039,1850,1375,3359,3402,3317,0,0,0,0,0,0,15.40,15.08,15.41
$GC,2749,-0.81,-97.3,1847,1375,3403,3315,361.9,-9.3,320,2755,0.00,2.35,0.00,0.000,1030,0.000,0.050,1850,2747,3358,3403,3314,0,0,0,0,0,0,15.11,15.00,15.14
$GC,3068,-0.81,-97.3,1850,2748,3403,3309,390.5,-9.0,333,3075,0.00,2.33,0.00,0.000,516,0.000,0.044,1850,1372,3356,3403,3309,0,0,0,0,0,0,15.40,15.05,15.44
$GC,3216,-0.81,-97.3,1850,1372,3402,3308,403.0,-8.2,361,3222,0.00,2.38,0.00,0.000,1030,0.000,0.056,1850,2751,3355,3402,3308,0,0,0,0,0,0,15.14,15.02,15.17
$GC,3532,-0.81,-97.3,1850,2751,3401,3302,429.4,-8.4,373,3539,0.00,2.10,0.00,0.000,260,0.000,0.086,1850,3941,3351,3401,3302,0,0,0,0,0,0,15.38,14.90,15.40
$GC,3631,-0.81,-97.3,1850,3941,3401,3300,438.9,-10.0,392,3637,0.00,1.92,0.00,0.000,1030,0.000,0.035,1850,2747,3351,3401,3301,0,0,0,0,0,0,15.21,15.16,15.22
$GC,3960,-0.81,-97.3,1849,2746,3398,3298,471.0,-10.0,407,3964,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,2745,3348,3398,3298,0,0,0,0,0,0,15.39,15.41,15.40
$GC,4260,-0.81,-97.3,1849,2746,3396,3295,498.8,-8.8,417,4264,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2746,3345,3396,3295,0,0,0,0,0,0,15.40,15.41,15.40
$GC,4561,-0.81,-97.3,1848,2746,3394,3293,523.4,-8.3,427,4565,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2746,3343,3393,3293,0,0,0,0,0,0,15.38,15.40,15.39
$GC,4860,-0.81,-97.3,1849,2746,3391,3292,549.0,-8.5,437,4864,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2747,3344,3391,3297,0,0,0,0,0,0,15.38,15.40,15.40
$GC,5160,-0.81,-97.3,1849,2746,3389,3288,574.2,-8.3,447,5166,0.00,2.20,0.00,0.000,260,0.000,0.091,1849,3946,3339,3390,3289,0,0,0,0,0,0,15.38,14.90,15.39
$GC,5214,-0.81,-97.3,1849,3946,3389,3288,578.8,-8.6,457,5220,0.00,1.98,0.00,0.000,1030,0.000,0.038,1848,2751,3338,3389,3288,0,0,0,0,0,0,15.17,15.12,15.19
$GC,5529,-0.81,-97.3,1850,2745,3387,3287,601.9,-7.3,469,5535,0.00,2.33,0.00,0.000,516,0.000,0.050,1850,1375,3336,3386,3287,0,0,0,0,0,0,15.38,14.99,15.39
$GC,5655,-0.81,-97.3,1849,1375,3392,3287,612.4,-8.7,493,5661,0.00,2.42,0.00,0.000,1030,0.000,0.057,1850,2757,3336,3385,3287,0,0,0,0,0,0,15.06,14.93,15.09
$GC,5991,-0.81,-97.3,1849,2756,3384,3285,642.2,-9.1,509,5998,0.00,2.40,0.00,0.000,516,0.000,0.046,1849,1369,3334,3384,3285,0,0,0,0,0,0,15.35,14.91,15.37
$GC,6049,-0.81,-97.3,1849,1369,3383,3285,647.9,-9.1,520,6057,0.00,2.47,0.00,0.000,1030,0.000,0.058,1850,2745,3332,3380,3285,0,0,0,0,0,0,14.87,14.79,14.92
$GC,6359,-0.81,-97.3,1849,2746,3382,3283,675.0,-8.8,531,6363,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2745,3332,3382,3283,0,0,0,0,0,0,15.33,15.35,15.35
$GC,6658,-0.81,-97.3,1855,2745,3381,3281,702.2,-9.2,541,6661,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2746,3331,3381,3281,0,0,0,0,0,0,15.33,15.35,15.35
$GC,6958,-0.81,-97.3,1849,2745,3378,3279,730.5,-9.2,551,6963,0.00,2.38,0.00,0.000,516,0.000,0.047,1850,1366,3329,3379,3279,0,0,0,0,0,0,15.33,14.94,15.34
$GC,7053,-0.81,-97.3,1849,1366,3379,3279,739.2,-8.9,569,7060,0.00,2.45,0.00,0.000,1030,0.000,0.059,1850,2755,3326,3374,3279,0,0,0,0,0,0,15.02,14.89,15.07
$GC,7388,-0.81,-97.3,1847,2755,3377,3278,765.7,-7.2,585,7392,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2752,3327,3377,3278,0,0,0,0,0,0,15.34,15.36,15.35
$GC,7688,-0.81,-97.3,1848,2755,3376,3277,785.0,-6.1,595,7692,0.00,0.00,0.00,0.000,38,0.000,0.000,1850,2755,3326,3376,3277,0,0,0,0,0,0,15.33,15.36,15.35
$GC,7989,-0.81,-97.3,1849,2755,3375,3276,803.4,-6.2,605,7993,0.00,0.00,0.00,0.000,38,0.000,0.000,1850,2755,3325,3375,3276,0,0,0,0,0,0,15.33,15.35,15.35
$GC,8288,-0.81,-97.3,1849,2755,3375,3274,822.8,-6.5,615,8294,0.00,2.40,0.00,0.000,516,0.000,0.048,1850,1375,3328,3378,3279,0,0,0,0,0,0,15.33,14.90,15.35
$GC,8335,-0.81,-97.3,1849,1374,3374,3274,826.4,-7.3,624,8341,0.00,2.45,0.00,0.000,1030,0.000,0.060,1850,2747,3324,3375,3274,0,0,0,0,0,0,15.00,14.86,15.04
$GC,8656,-0.81,-97.3,1849,2747,3374,3273,849.7,-7.5,637,8660,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2747,3323,3374,3273,0,0,0,0,0,0,15.31,15.33,15.35
$GC,8955,-0.81,-97.3,1849,2747,3372,3274,873.0,-8.0,647,8959,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2747,3322,3372,3273,0,0,0,0,0,0,15.32,15.34,15.33
$GC,9255,-0.81,-97.3,1849,2747,3371,3272,896.6,-7.9,657,9261,0.00,2.20,0.00,0.000,260,0.000,0.093,1850,3950,3320,3369,3272,0,0,0,0,0,0,15.30,14.76,15.33
$GC,9351,-0.81,-97.3,1849,3950,3371,3272,904.7,-8.7,675,9358,0.00,2.03,0.00,0.000,1030,0.000,0.044,1850,2768,3321,3371,3272,0,0,0,0,0,0,14.99,14.92,15.00
$GC,9687,-0.81,-97.3,1849,2769,3370,3271,931.4,-7.8,691,9691,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2769,3320,3370,3271,0,0,0,0,0,0,15.28,15.30,15.30
$GC,9988,-0.81,-97.3,1849,2769,3370,3271,954.8,-7.7,701,9994,0.00,2.45,0.00,0.000,516,0.000,0.049,1850,1350,3320,3370,3270,0,0,0,0,0,0,15.27,14.85,15.29
$GC,10067,-0.81,-97.3,1849,1350,3369,3270,961.5,-8.2,716,10075,0.00,2.50,0.00,0.000,1030,0.000,0.059,1849,2752,3319,3369,3270,0,0,0,0,0,0,14.91,14.81,14.93
$GC,10384,-0.81,-97.3,1849,2753,3368,3270,986.0,-7.7,729,10388,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2752,3319,3368,3270,0,0,0,0,0,0,15.29,15.31,15.31
$STATE,10441,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10441,begin apogee
$GC,10450,-0.21,0.0,1848,1708,3368,3270,990.7,-7.8,731,10543,0.75,0.00,87.78,2.108,10246,0.200,0.000,2056,1708,2969,3032,2906,0,0,0,0,0,0,14.62,14.50,13.62
$STATE,10552,end apogee,CONTROL_FINISHED_OK
$STATE,10552,begin climb
$GC,10555,0.81,97.3,2056,1709,3032,2903,993.5,0.0,734,10669,1.02,2.05,100.78,2.048,10756,0.110,0.080,2380,636,2572,2632,2512,0,0,0,0,0,0,14.48,14.28,13.46
$GC,10707,0.84,97.3,2380,636,2622,2511,987.8,7.4,768,10713,0.00,1.90,0.00,0.000,1094,0.000,0.041,2376,1723,2568,2627,2510,0,0,0,0,0,0,14.57,14.50,14.59
$GC,11022,0.86,97.3,2380,1724,2626,2505,963.1,7.8,780,11025,0.00,0.00,0.00,0.000,70,0.000,0.000,2380,1723,2564,2627,2502,0,0,0,0,0,0,15.14,15.16,15.16
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$STATE,22288,end climb,SURFACE_DEPTH_REACHED
$STATE,22288,begin surface coast
$STATE,22308,end surface coast,CONTROL_FINISHED_OK
$STATE,22309,begin surface
$SM_CCo,22330,185.07,0.683,1,0,928,500.17
$SM_GC,0.36,7.00,1.73,185.07,0.076,0.048,0.683,157,2722,928,-6.09,-1.75,500.17,0,0,0,0,1,0,14.96,15.00,14.32
$IRIDIUM_FIX,1419.69,14411.44,231219,115345
$TT8_MAMPS,0.019474,0.150549
$HUMID,45.82
$INTERNAL_PRESSURE,8.94566
$TCM_TEMP,26.30
$XPDR_PINGS,0
$SC_FREEKB,3729440
$PM_FREEKB_00,58040768
$PM_FREEKB_01,85563520
$PM_FREEKB_02,59195968
$PM_FREEKB_03,109759360
$PM_ACTIVECARD,3
$24V_AH,13.46,134.292
$10V_AH,12.84,0.000
$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,17.450,163.325,353.825,185.075,0.000,0.000,0.000,418.200,0.000,0.000,17.667,1603.144,14942.463,652.003,5443.052,599.902,0.000,2768.485,0.000,4705.723,0.000,0.554,0.000
$DEVICE_MAMPS,388.620,92.565,2107.575,683.145,0.000,0.000,0.000,198.900,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22339.000,22332.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.254,6.290,0.000,0.000
$MEM,270592
$DATA_FILE_SIZE,66518,1901
$CAP_FILE_SIZE,199551,0
$CFSIZE,260034560,206794752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.054,202.78,1
$GPS,241219,010038,1416.916,14409.533,20,0.9,20,0.3,0.5,288.0,8,8.3