version: 66.13
glider: 178
mission: 31
dive: 357
start: 12 31 119 21 31 58
data:
$ID,178
$MISSION,31
$DIVE,357
$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,40
$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
$GPS1,311219,211800,1419.0437,14409.9199,26,0.8,26,0.2,0.7,141.6,9,3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.27
$_SM_ANGLEo,-53.6
$GPS2,311219,213108,1419.0088,14409.9336,3,0.6,4,0.2,1.0,92.4,12,3.6
$SPEED_LIMITS,0.147,0.188
$TGT_NAME,S
$TGT_LATLONG,1410.000,14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,190.9,16685,-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,-97.3,128,2746,990,863,0.0,0.0,0,111,0.00,0.00,-87.35,0.005,16386,0.000,0.000,127,2746,3154,3187,3122,0,0,0,0,0,0,15.21,28.83,15.22
$GC,115,-0.81,-97.3,126,2746,3186,3123,3.8,-7.5,9,136,8.25,2.33,-3.92,0.031,18948,0.386,0.064,1850,1345,3366,3405,3327,0,0,0,0,0,0,14.50,14.02,14.76
$GC,369,-0.81,-97.3,1847,1351,3405,3327,76.5,-21.8,59,378,0.00,2.38,0.00,0.000,1030,0.000,0.048,1843,2744,3366,3405,3327,0,0,0,0,0,0,15.08,14.98,15.11
$GC,559,-0.81,-97.3,1842,2744,3405,3327,113.7,-17.9,79,566,0.00,2.05,0.00,0.000,260,0.000,0.071,1834,3945,3365,3405,3326,0,0,0,0,0,0,15.33,14.94,15.33
$GC,799,-0.81,-97.3,1834,3945,3405,3327,155.3,-13.6,125,806,0.00,1.98,0.00,0.000,1030,0.000,0.030,1834,2687,3366,3405,3328,0,0,0,0,0,0,15.17,15.15,15.19
$GC,996,-0.81,-97.3,1834,2687,3405,3327,183.2,-15.5,145,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,1834,2686,3365,3405,3326,0,0,0,0,0,0,15.37,15.39,15.38
$GC,1184,-0.81,-97.3,1834,2686,3405,3327,209.1,-12.3,164,1190,0.00,2.17,0.00,0.000,260,0.000,0.074,1828,3943,3365,3405,3326,0,0,0,0,0,0,15.38,15.03,15.40
$GC,1311,-0.81,-97.3,1826,3943,3405,3332,226.1,-15.2,188,1318,0.15,1.98,0.00,0.000,3078,0.261,0.031,1859,2700,3366,3406,3326,0,0,0,0,0,0,14.75,15.12,15.00
$GC,1510,-0.81,-97.3,1859,2695,3407,3326,246.0,-10.1,208,1515,0.00,2.15,0.00,0.000,516,0.000,0.039,1859,1377,3365,3405,3325,0,0,0,0,0,0,15.38,15.07,15.39
$GC,1648,-0.81,-97.3,1859,1377,3405,3325,257.7,-7.5,235,1653,0.00,2.33,0.00,0.000,1030,0.000,0.045,1858,2755,3364,3405,3324,0,0,0,0,0,0,15.15,15.05,15.17
$GC,1967,-0.81,-97.3,1855,2755,3405,3322,291.1,-12.0,248,1974,0.00,2.05,0.00,0.000,260,0.000,0.077,1856,3946,3363,3405,3322,0,0,0,0,0,0,15.40,15.00,15.42
$GC,2142,-0.81,-97.3,1856,3946,3402,3320,308.1,-8.0,282,2148,0.00,1.90,0.00,0.000,1030,0.000,0.032,1856,2732,3362,3405,3320,0,0,0,0,0,0,15.22,15.20,15.23
$GC,2460,-0.81,-97.3,1855,2731,3405,3316,333.2,-8.2,294,2466,0.00,2.15,0.00,0.000,260,0.000,0.081,1855,3949,3360,3405,3315,0,0,0,0,0,0,15.38,14.99,15.40
$GC,2572,-0.81,-97.3,1855,3949,3404,3314,342.8,-8.5,316,2580,0.00,1.90,0.00,0.000,1030,0.000,0.033,1856,2752,3357,3405,3310,0,0,0,0,0,0,15.16,15.13,15.18
$GC,2889,-0.81,-97.3,1855,2748,3405,3309,364.6,-6.8,328,2895,0.00,2.28,0.00,0.000,516,0.000,0.042,1856,1379,3357,3405,3309,0,0,0,0,0,0,15.40,15.06,15.42
$GC,3057,-0.81,-97.3,1855,1379,3411,3308,380.0,-9.8,361,3063,0.00,2.35,0.00,0.000,1030,0.000,0.051,1856,2747,3355,3404,3307,0,0,0,0,0,0,15.13,15.02,15.16
$GC,3378,-0.81,-97.3,1855,2748,3403,3302,411.8,-10.8,374,3381,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,2748,3352,3403,3302,0,0,0,0,0,0,15.39,15.42,15.41
$GC,3677,-0.81,-97.3,1854,2748,3401,3300,439.5,-8.2,384,3681,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,2748,3350,3401,3300,0,0,0,0,0,0,15.38,15.41,15.40
$GC,3978,-0.81,-97.3,1855,2748,3399,3297,460.0,-6.6,394,3986,0.00,2.33,0.00,0.000,516,0.000,0.046,1856,1389,3347,3399,3295,0,0,0,0,0,0,15.39,15.00,15.41
$GC,4128,-0.81,-97.3,1855,1389,3397,3296,470.7,-7.4,423,4139,0.00,2.42,0.00,0.000,1030,0.000,0.057,1855,2749,3348,3396,3300,0,0,0,0,0,0,14.95,14.88,15.00
$GC,4440,-0.81,-97.3,1856,2749,3395,3294,491.4,-6.7,434,4443,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,2749,3344,3395,3294,0,0,0,0,0,0,15.35,15.38,15.37
$GC,4740,-0.81,-97.3,1855,2749,3393,3291,512.6,-7.0,444,4744,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,2750,3342,3393,3291,0,0,0,0,0,0,15.35,15.38,15.37
$GC,5040,-0.81,-97.3,1855,2749,3391,3290,535.1,-7.7,454,5046,0.00,2.12,0.00,0.000,260,0.000,0.089,1856,3946,3340,3391,3290,0,0,0,0,0,0,15.35,14.87,15.36
$GC,5099,-0.81,-97.3,1855,3946,3391,3289,540.4,-8.6,465,5107,0.00,1.98,0.00,0.000,1030,0.000,0.038,1854,2757,3339,3390,3289,0,0,0,0,0,0,15.04,15.02,15.05
$GC,5405,-0.81,-97.3,1855,2757,3389,3287,566.2,-8.7,476,5409,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,2757,3335,3384,3287,0,0,0,0,0,0,15.35,15.38,15.37
$GC,5705,-0.81,-97.3,1855,2757,3387,3293,594.7,-9.7,486,5711,0.00,2.35,0.00,0.000,516,0.000,0.045,1855,1376,3336,3387,3285,0,0,0,0,0,0,15.36,14.96,15.38
$GC,5788,-0.81,-97.3,1855,1376,3386,3285,603.1,-9.7,502,5797,0.00,2.42,0.00,0.000,1030,0.000,0.057,1855,2754,3336,3386,3286,0,0,0,0,0,0,15.04,14.91,15.08
$GC,6101,-0.81,-97.3,1855,2755,3384,3284,632.1,-9.4,514,6105,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,2755,3334,3384,3284,0,0,0,0,0,0,15.35,15.38,15.37
$GC,6400,-0.81,-97.3,1855,2754,3383,3282,660.8,-9.5,524,6403,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,2755,3332,3383,3282,0,0,0,0,0,0,15.35,15.37,15.37
$GC,6700,-0.81,-97.3,1855,2755,3381,3281,687.0,-8.2,534,6706,0.00,2.38,0.00,0.000,516,0.000,0.045,1855,1376,3331,3382,3280,0,0,0,0,0,0,15.35,14.93,15.37
$GC,6831,-0.81,-97.3,1855,1376,3381,3286,697.2,-7.9,559,6840,0.00,2.45,0.00,0.000,1030,0.000,0.057,1855,2756,3330,3380,3280,0,0,0,0,0,0,14.94,14.81,14.98
$GC,7159,-0.81,-97.3,1856,2756,3379,3279,721.1,-7.2,574,7165,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,2756,3329,3379,3279,0,0,0,0,0,0,15.33,15.35,15.35
$GC,7458,-0.81,-97.3,1855,2756,3378,3277,743.1,-7.5,584,7463,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,2756,3327,3378,3277,0,0,0,0,0,0,15.33,15.35,15.34
$GC,7760,-0.81,-97.3,1855,2757,3377,3276,765.6,-7.5,594,7766,0.00,2.38,0.00,0.000,516,0.000,0.046,1855,1382,3326,3376,3276,0,0,0,0,0,0,15.33,14.86,15.34
$GC,7838,-0.81,-97.3,1855,1382,3377,3276,771.9,-7.9,609,7844,0.00,2.42,0.00,0.000,1030,0.000,0.058,1855,2749,3326,3376,3276,0,0,0,0,0,0,14.98,14.85,15.02
$GC,8161,-0.81,-97.3,1855,2750,3377,3274,793.6,-6.6,622,8166,0.00,2.15,0.00,0.000,260,0.000,0.091,1855,3945,3325,3376,3274,0,0,0,0,0,0,15.30,14.76,15.31
$GC,8346,-0.81,-97.3,1854,3945,3376,3274,806.3,-6.5,658,8352,0.00,1.98,0.00,0.000,1030,0.000,0.042,1855,2767,3324,3376,3273,0,0,0,0,0,0,15.05,15.00,15.07
$GC,8683,-0.81,-97.3,1855,2768,3375,3273,824.2,-5.1,674,8691,0.00,2.42,0.00,0.000,548,0.000,0.049,1855,1358,3324,3376,3273,0,0,0,0,0,0,15.32,14.86,15.35
$GC,8838,-0.81,-97.3,1855,1354,3373,3273,833.6,-6.4,705,8846,0.00,2.47,0.00,0.000,1062,0.000,0.058,1855,2748,3323,3373,3273,0,0,0,0,0,0,14.93,14.80,14.97
$GC,9171,-0.81,-97.3,1855,2749,3373,3272,852.6,-5.9,720,9178,0.00,2.17,0.00,0.000,292,0.000,0.092,1855,3945,3321,3372,3270,0,0,0,0,0,0,15.28,14.65,15.30
$GC,9311,-0.81,-97.3,1855,3946,3373,3271,861.6,-6.5,746,9316,0.00,2.03,0.00,0.000,1030,0.000,0.041,1855,2739,3322,3373,3271,0,0,0,0,0,0,15.03,14.98,15.05
$GC,9636,-0.81,-97.3,1856,2738,3371,3271,881.2,-6.1,760,9642,0.00,2.38,0.00,0.000,548,0.000,0.049,1855,1359,3321,3371,3271,0,0,0,0,0,0,15.29,14.83,15.30
$GC,9709,-0.81,-97.3,1854,1358,3371,3271,886.2,-6.7,774,9718,0.00,2.50,0.00,0.000,1030,0.000,0.058,1855,2757,3319,3369,3270,0,0,0,0,0,0,14.81,14.72,14.84
$GC,10031,-0.81,-97.3,1855,2757,3371,3277,907.9,-6.9,788,10037,0.00,2.15,0.00,0.000,260,0.000,0.093,1855,3943,3318,3370,3266,0,0,0,0,0,0,15.29,14.69,15.30
$GC,10167,-0.81,-97.3,1855,3943,3370,3270,918.4,-8.0,814,10174,0.00,2.03,0.00,0.000,1030,0.000,0.045,1855,2747,3320,3370,3270,0,0,0,0,0,0,15.01,14.94,15.02
$GC,10493,-0.81,-97.3,1854,2747,3369,3269,942.5,-7.5,828,10498,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,2744,3318,3368,3269,0,0,0,0,0,0,15.26,15.28,15.28
$GC,10794,-0.81,-97.3,1854,2747,3368,3269,964.5,-7.4,838,10798,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,2748,3318,3368,3269,0,0,0,0,0,0,15.26,15.28,15.28
$GC,11093,-0.81,-97.3,1855,2748,3366,3268,985.7,-7.0,848,11103,0.00,2.40,0.00,0.000,516,0.000,0.049,1853,1361,3319,3370,3268,0,0,0,0,0,0,15.25,14.78,15.26
$STATE,11149,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11149,begin apogee
$GC,11157,-0.21,0.0,1855,1729,3368,3268,990.1,-7.2,859,11250,0.73,0.00,88.18,2.090,10246,0.197,0.000,2053,1729,2969,3032,2906,0,0,0,0,0,0,14.52,14.47,13.53
$STATE,11253,end apogee,CONTROL_FINISHED_OK
$STATE,11253,begin climb
$GC,11257,0.81,97.3,2054,1729,3032,2905,992.1,0.0,862,11371,1.02,2.00,102.32,2.056,10756,0.109,0.071,2377,660,2570,2631,2510,0,0,0,0,0,0,14.47,14.09,13.40
$GC,11519,0.81,97.3,2377,660,2623,2506,974.5,9.5,916,11525,0.00,1.77,0.00,0.000,1030,0.000,0.043,2378,1697,2564,2623,2506,0,0,0,0,0,0,14.81,14.73,14.82
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$STATE,22835,end climb,SURFACE_DEPTH_REACHED
$STATE,22835,begin surface coast
$STATE,22855,end surface coast,CONTROL_FINISHED_OK
$STATE,22855,begin surface
$SM_CCo,22880,171.85,0.695,1,0,928,500.17
$SM_GC,0.16,7.03,1.80,171.85,0.079,0.047,0.695,161,2719,928,-6.08,-1.84,500.17,0,0,0,0,1,0,14.91,14.97,14.26
$IRIDIUM_FIX,1415.49,14411.44,311219,144857
$TT8_MAMPS,0.019474,0.154294
$HUMID,47.51
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,25.70
$XPDR_PINGS,0
$SC_FREEKB,3717920
$PM_FREEKB_00,58040768
$PM_FREEKB_01,85563520
$PM_FREEKB_02,59195968
$PM_FREEKB_03,90651392
$PM_ACTIVECARD,3
$24V_AH,13.40,146.766
$10V_AH,12.58,0.000
$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,17.575,177.400,371.325,171.850,0.000,0.000,0.000,476.275,0.000,0.000,16.181,1707.960,15033.448,622.504,5811.066,671.303,0.000,2938.062,0.000,4985.230,0.000,0.552,0.000
$DEVICE_MAMPS,385.560,93.330,2089.980,695.385,0.000,0.000,0.000,193.545,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22887.000,22880.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.233,7.595,0.000,0.000
$MEM,270592
$DATA_FILE_SIZE,69832,2031
$CAP_FILE_SIZE,209545,0
$CFSIZE,260034560,202297344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0
$CURRENT,0.030,165.09,1
$GPS,010120,035801,1416.582,14409.530,45,0.9,45,0.3,0.6,268.9,10,6.6