version: 66.13
glider: 178
mission: 31
dive: 352
start: 12 30 119 12 51 11
data:
$ID,178
$MISSION,31
$DIVE,352
$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,34
$R_STBD_OVSHOOT,27
$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
$GPS1,301219,123730,1414.5265,14409.6406,83,0.7,83,0.3,0.7,106.6,12,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.30
$_SM_ANGLEo,-52.5
$GPS2,301219,125022,1414.5427,14409.5635,4,0.7,6,0.3,0.8,258.8,12,3.4
$SPEED_LIMITS,0.147,0.188
$TGT_NAME,S
$TGT_LATLONG,1410.000,14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,178.6,8450,-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,-97.3,100,2732,988,862,0.0,0.0,0,121,0.00,0.00,-94.93,0.005,16390,0.000,0.000,94,2732,3363,3387,3340,0,0,0,0,0,0,15.21,13.94,15.17
$GC,125,-0.81,-97.3,95,2732,3388,3340,5.7,-11.7,10,142,8.48,2.35,0.00,0.000,2564,0.389,0.041,1851,1331,3364,3389,3339,0,0,0,0,0,0,14.51,14.91,14.90
$GC,372,-0.81,-97.3,1853,1331,3393,3333,77.5,-23.8,59,379,0.00,2.47,0.00,0.000,1030,0.000,0.054,1846,2741,3363,3393,3334,0,0,0,0,0,0,14.95,14.89,15.00
$GC,560,-0.81,-97.3,1846,2742,3394,3333,118.6,-19.2,78,566,0.00,2.10,0.00,0.000,260,0.000,0.077,1837,3960,3365,3398,3333,0,0,0,0,0,0,15.33,14.92,15.35
$GC,616,-0.81,-97.3,1836,3961,3394,3332,128.5,-18.2,88,621,0.00,2.00,0.00,0.000,1030,0.000,0.030,1837,2698,3363,3395,3332,0,0,0,0,0,0,15.16,15.11,15.16
$GC,810,-0.81,-97.3,1836,2693,3392,3332,158.8,-12.5,108,816,0.00,2.22,0.00,0.000,516,0.000,0.041,1836,1331,3363,3395,3331,0,0,0,0,0,0,15.35,15.04,15.37
$GC,867,-0.81,-97.3,1837,1330,3396,3332,166.4,-13.8,119,876,0.10,2.47,0.00,0.000,3078,0.239,0.050,1855,2759,3364,3396,3332,0,0,0,0,0,0,14.71,14.95,14.87
$GC,1056,-0.81,-97.3,1854,2759,3396,3332,188.3,-10.0,138,1061,0.00,2.05,0.00,0.000,260,0.000,0.077,1851,3957,3364,3396,3332,0,0,0,0,0,0,15.37,14.99,15.39
$GC,1274,-0.81,-97.3,1851,3956,3396,3330,213.9,-13.0,180,1279,0.00,2.00,0.00,0.000,1030,0.000,0.029,1852,2688,3363,3396,3331,0,0,0,0,0,0,15.19,15.17,15.22
$GC,1468,-0.81,-97.3,1851,2682,3396,3331,239.1,-12.8,200,1474,0.00,2.22,0.00,0.000,260,0.000,0.078,1850,3955,3363,3395,3331,0,0,0,0,0,0,15.35,15.00,15.39
$GC,1703,-0.81,-97.3,1851,3954,3395,3329,266.5,-9.4,246,1709,0.00,2.00,0.00,0.000,1030,0.000,0.030,1852,2693,3363,3396,3330,0,0,0,0,0,0,15.16,15.14,15.19
$GC,2018,-0.81,-97.3,1851,2688,3396,3323,291.7,-8.7,258,2024,0.00,2.22,0.00,0.000,516,0.000,0.045,1852,1335,3361,3396,3327,0,0,0,0,0,0,15.40,15.07,15.41
$GC,2251,-0.81,-97.3,1851,1332,3396,3324,317.8,-10.4,304,2262,0.00,2.42,0.00,0.000,1030,0.000,0.052,1852,2754,3360,3396,3324,0,0,0,0,0,0,15.14,15.03,15.17
$GC,2563,-0.81,-97.3,1851,2754,3396,3320,347.3,-8.7,316,2572,0.00,2.38,0.00,0.000,516,0.000,0.044,1857,1340,3358,3396,3320,0,0,0,0,0,0,15.40,15.05,15.41
$GC,2697,-0.81,-97.3,1851,1340,3396,3319,359.5,-9.7,342,2703,0.00,2.45,0.00,0.000,1030,0.000,0.054,1852,2754,3357,3396,3318,0,0,0,0,0,0,15.14,15.02,15.17
$GC,3022,-0.81,-97.3,1851,2754,3395,3312,392.4,-10.7,356,3029,0.00,2.10,0.00,0.000,260,0.000,0.086,1852,3949,3353,3395,3312,0,0,0,0,0,0,15.37,14.92,15.39
$GC,3188,-0.81,-97.3,1851,3949,3396,3309,411.4,-11.1,388,3194,0.00,2.00,0.00,0.000,1030,0.000,0.033,1852,2707,3352,3396,3309,0,0,0,0,0,0,15.21,15.16,15.22
$GC,3513,-0.81,-97.3,1851,2701,3391,3305,440.9,-8.3,402,3519,0.00,2.22,0.00,0.000,260,0.000,0.086,1852,3942,3350,3396,3304,0,0,0,0,0,0,15.40,14.95,15.41
$GC,3592,-0.81,-97.3,1851,3945,3396,3302,448.2,-8.8,417,3599,0.00,1.92,0.00,0.000,1030,0.000,0.035,1850,2744,3348,3395,3302,0,0,0,0,0,0,15.14,15.10,15.16
$GC,3914,-0.81,-97.3,1851,2745,3393,3300,477.6,-9.5,430,3919,0.00,2.15,0.00,0.000,260,0.000,0.087,1851,3940,3346,3393,3300,0,0,0,0,0,0,15.40,14.94,15.41
$GC,4049,-0.81,-97.3,1851,3940,3395,3297,490.3,-9.3,456,4055,0.00,1.92,0.00,0.000,1030,0.000,0.035,1855,2750,3345,3393,3297,0,0,0,0,0,0,15.18,15.14,15.21
$GC,4374,-0.81,-97.3,1850,2745,3390,3295,518.3,-8.5,470,4378,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,2745,3343,3391,3295,0,0,0,0,0,0,15.36,15.38,15.39
$GC,4673,-0.81,-97.3,1851,2745,3389,3294,544.2,-9.2,480,4679,0.00,2.17,0.00,0.000,260,0.000,0.089,1851,3949,3340,3388,3292,0,0,0,0,0,0,15.36,14.89,15.38
$GC,4908,-0.81,-97.3,1851,3948,3387,3291,567.0,-9.6,526,4915,0.00,1.95,0.00,0.000,1030,0.000,0.037,1851,2750,3339,3387,3291,0,0,0,0,0,0,15.11,15.07,15.13
$GC,5224,-0.81,-97.3,1851,2751,3385,3290,592.9,-8.1,538,5229,0.00,2.15,0.00,0.000,260,0.000,0.088,1851,3942,3336,3383,3289,0,0,0,0,0,0,15.36,14.88,15.38
$GC,5370,-0.81,-97.3,1851,3942,3384,3287,605.4,-8.0,566,5376,0.00,1.95,0.00,0.000,1030,0.000,0.038,1851,2757,3336,3384,3288,0,0,0,0,0,0,15.14,15.09,15.16
$GC,5685,-0.81,-97.3,1851,2757,3382,3287,631.1,-8.3,578,5689,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,2756,3334,3382,3287,0,0,0,0,0,0,15.37,15.38,15.38
$GC,5986,-0.81,-97.3,1851,2757,3380,3286,656.1,-8.4,588,5989,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,2757,3333,3381,3286,0,0,0,0,0,0,15.35,15.38,15.37
$GC,6285,-0.81,-97.3,1851,2756,3378,3284,681.9,-8.5,598,6291,0.00,2.17,0.00,0.000,260,0.000,0.089,1851,3946,3331,3378,3285,0,0,0,0,0,0,15.35,14.83,15.38
$GC,6454,-0.81,-97.3,1851,3946,3378,3282,696.8,-8.3,631,6459,0.00,2.00,0.00,0.000,1030,0.000,0.040,1857,2741,3330,3378,3283,0,0,0,0,0,0,15.11,15.07,15.13
$GC,6773,-0.81,-97.3,1849,2747,3376,3282,720.6,-7.0,644,6779,0.00,2.38,0.00,0.000,516,0.000,0.047,1851,1362,3329,3376,3282,0,0,0,0,0,0,15.33,14.90,15.34
$GC,6831,-0.81,-97.3,1851,1362,3376,3280,724.9,-7.1,655,6840,0.00,2.50,0.00,0.000,1030,0.000,0.057,1852,2746,3329,3377,3281,0,0,0,0,0,0,14.85,14.77,14.90
$GC,7140,-0.81,-97.3,1851,2746,3375,3280,744.3,-6.0,666,7144,0.00,0.00,0.00,0.000,38,0.000,0.000,1851,2745,3327,3375,3280,0,0,0,0,0,0,15.32,15.34,15.33
$GC,7438,-0.81,-97.3,1847,2746,3372,3279,761.4,-6.0,676,7442,0.00,0.00,0.00,0.000,38,0.000,0.000,1851,2746,3326,3373,3279,0,0,0,0,0,0,15.31,15.34,15.33
$GC,7739,-0.81,-97.3,1850,2746,3372,3276,779.8,-6.2,686,7745,0.00,2.17,0.00,0.000,292,0.000,0.091,1851,3945,3324,3371,3278,0,0,0,0,0,0,15.31,14.78,15.33
$GC,7848,-0.81,-97.3,1850,3944,3372,3277,788.1,-8.1,707,7855,0.00,2.00,0.00,0.000,1030,0.000,0.041,1851,2752,3324,3372,3277,0,0,0,0,0,0,15.05,15.01,15.06
$GC,8168,-0.81,-97.3,1847,2752,3370,3276,812.2,-7.5,720,8177,0.00,2.38,0.00,0.000,516,0.000,0.047,1851,1359,3323,3370,3277,0,0,0,0,0,0,15.32,14.88,15.34
$GC,8225,-0.81,-97.3,1851,1360,3370,3276,816.7,-7.8,731,8232,0.00,2.53,0.00,0.000,1030,0.000,0.058,1851,2756,3323,3370,3276,0,0,0,0,0,0,14.81,14.74,14.86
$GC,8531,-0.81,-97.3,1851,2756,3368,3276,838.0,-6.7,742,8537,0.00,2.15,0.00,0.000,260,0.000,0.092,1851,3945,3322,3368,3276,0,0,0,0,0,0,15.33,14.73,15.34
$GC,8625,-0.81,-97.3,1850,3946,3369,3275,844.8,-7.2,760,8631,0.00,2.00,0.00,0.000,1030,0.000,0.041,1851,2750,3322,3369,3275,0,0,0,0,0,0,15.04,14.99,15.07
$GC,8960,-0.81,-97.3,1851,2750,3367,3274,867.2,-6.9,776,8965,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,2750,3320,3367,3274,0,0,0,0,0,0,15.28,15.30,15.30
$GC,9260,-0.81,-97.3,1852,2750,3366,3273,890.0,-7.6,786,9269,0.00,2.40,0.00,0.000,516,0.000,0.048,1851,1358,3320,3366,3274,0,0,0,0,0,0,15.29,14.78,15.31
$GC,9323,-0.81,-97.3,1851,1358,3366,3273,895.0,-8.0,798,9329,0.00,2.50,0.00,0.000,1030,0.000,0.059,1851,2756,3320,3366,3274,0,0,0,0,0,0,14.92,14.79,14.97
$GC,9659,-0.81,-97.3,1851,2755,3366,3272,920.5,-7.6,814,9663,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,2755,3319,3366,3272,0,0,0,0,0,0,15.28,15.29,15.29
$GC,9958,-0.81,-97.3,1851,2756,3365,3272,943.7,-7.7,824,9964,0.00,2.17,0.00,0.000,260,0.000,0.093,1851,3945,3318,3365,3271,0,0,0,0,0,0,15.27,14.71,15.29
$GC,10067,-0.81,-97.3,1851,3945,3365,3272,952.8,-8.2,845,10075,0.00,2.03,0.00,0.000,1030,0.000,0.044,1851,2754,3318,3365,3271,0,0,0,0,0,0,15.00,14.95,15.04
$GC,10389,-0.81,-97.3,1851,2755,3364,3271,977.0,-7.4,858,10395,0.00,2.22,0.00,0.000,260,0.000,0.093,1851,3949,3318,3365,3271,0,0,0,0,0,0,15.29,14.69,15.31
$GC,10476,-0.81,-97.3,1851,3949,3365,3270,984.0,-8.1,875,10483,0.00,2.10,0.00,0.000,1030,0.000,0.043,1852,2743,3317,3364,3270,0,0,0,0,0,0,14.87,14.85,14.89
$STATE,10570,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10570,begin apogee
$GC,10580,-0.21,0.0,1851,1709,3364,3270,990.9,-7.2,879,10675,0.75,0.00,88.12,2.090,10246,0.198,0.000,2056,1709,2969,3032,2906,0,0,0,0,0,0,14.51,14.47,13.56
$STATE,10684,end apogee,CONTROL_FINISHED_OK
$STATE,10684,begin climb
$GC,10687,0.81,97.3,2056,1709,3031,2903,993.4,0.0,882,10802,1.05,1.95,101.50,2.059,10756,0.109,0.073,2388,640,2571,2632,2511,0,0,0,0,0,0,14.51,14.13,13.41
$GC,10884,0.81,97.3,2387,641,2626,2509,983.1,8.5,925,10890,0.00,1.88,0.00,0.000,1030,0.000,0.041,2387,1725,2567,2626,2509,0,0,0,0,0,0,14.70,14.62,14.69
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$STATE,21795,end climb,SURFACE_DEPTH_REACHED
$STATE,21795,begin surface coast
$STATE,21826,end surface coast,CONTROL_FINISHED_OK
$STATE,21826,begin surface
$SM_CCo,21847,199.20,0.684,1,0,928,500.17
$SM_GC,0.27,6.75,1.77,199.20,0.066,0.044,0.684,160,2726,928,-6.09,-1.78,500.17,0,0,0,0,1,0,14.95,15.00,14.29
$IRIDIUM_FIX,1413.38,14411.44,301219,060740
$TT8_MAMPS,0.018725,0.153545
$HUMID,46.61
$INTERNAL_PRESSURE,8.94566
$TCM_TEMP,26.20
$XPDR_PINGS,0
$SC_FREEKB,3719840
$PM_FREEKB_00,58040768
$PM_FREEKB_01,85563520
$PM_FREEKB_02,59195968
$PM_FREEKB_03,95129088
$PM_ACTIVECARD,3
$24V_AH,13.41,144.596
$10V_AH,12.73,0.000
$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,17.350,177.200,342.700,199.200,0.000,0.000,0.000,462.750,0.000,0.000,17.609,1633.415,14449.517,649.706,5465.085,625.776,0.000,2853.125,0.000,4660.286,0.000,0.553,0.000
$DEVICE_MAMPS,389.385,92.565,2089.980,683.910,0.000,0.000,0.000,195.075,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21860.000,21849.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.305,7.592,0.000,0.000
$MEM,270600
$DATA_FILE_SIZE,66541,1919
$CAP_FILE_SIZE,203008,0
$CFSIZE,260034560,203104256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0
$CURRENT,0.039,87.99,1
$GPS,301219,190009,1412.330,14409.887,24,1.0,25,0.3,1.0,309.2,7,6.4