version: 66.13
glider: 178
mission: 31
dive: 360
start: 1 1 120 17 1 55
data:
$ID,178
$MISSION,31
$DIVE,360
$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,30
$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
$GPS1,010120,164830,1412.6077,14410.0557,30,0.7,30,0.3,0.5,241.7,12,3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.23
$_SM_ANGLEo,-52.7
$GPS2,010120,170105,1412.5559,14410.0137,2,0.6,5,0.3,0.5,0.0,12,6.1
$SPEED_LIMITS,0.147,0.188
$TGT_NAME,S
$TGT_LATLONG,1410.000,14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,188.3,4734,-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,-97.3,128,2742,989,866,0.0,0.0,0,121,0.00,0.00,-94.00,0.005,16390,0.000,0.000,126,2743,3364,3387,3342,0,0,0,0,0,0,15.21,13.95,15.19
$GC,125,-0.81,-97.3,126,2742,3382,3342,6.3,-13.2,10,142,8.40,2.38,0.00,0.000,2564,0.394,0.044,1854,1341,3365,3389,3341,0,0,0,0,0,0,14.54,14.90,14.91
$GC,372,-0.81,-97.3,1853,1341,3394,3335,81.2,-29.0,59,379,0.00,2.45,0.00,0.000,1030,0.000,0.053,1845,2743,3364,3394,3335,0,0,0,0,0,0,14.97,14.91,15.01
$GC,560,-0.81,-97.3,1845,2742,3396,3334,120.6,-16.9,78,566,0.00,2.38,0.00,0.000,516,0.000,0.041,1846,1335,3364,3395,3334,0,0,0,0,0,0,15.33,14.97,15.35
$GC,732,-0.81,-97.3,1845,1335,3396,3334,146.7,-14.6,110,742,0.00,2.42,0.00,0.000,1030,0.000,0.052,1839,2759,3364,3395,3333,0,0,0,0,0,0,15.11,15.02,15.14
$GC,922,-0.81,-97.3,1837,2759,3396,3333,175.8,-14.7,130,929,0.00,2.03,0.00,0.000,260,0.000,0.077,1841,3945,3364,3396,3333,0,0,0,0,0,0,15.34,14.93,15.35
$GC,1020,-0.81,-97.3,1838,3945,3396,3333,190.4,-13.8,148,1025,0.00,1.98,0.00,0.000,1030,0.000,0.031,1839,2684,3364,3396,3333,0,0,0,0,0,0,15.22,15.16,15.20
$GC,1214,-0.81,-97.3,1838,2684,3397,3333,211.2,-10.7,168,1220,0.00,2.20,0.00,0.000,260,0.000,0.076,1839,3945,3364,3396,3333,0,0,0,0,0,0,15.38,14.99,15.40
$GC,1395,-0.81,-97.3,1843,3945,3396,3332,234.1,-13.0,203,1403,0.00,2.03,0.00,0.000,1030,0.000,0.030,1838,2694,3364,3396,3332,0,0,0,0,0,0,15.12,15.10,15.13
$GC,1603,-0.81,-97.3,1838,2688,3396,3331,257.9,-11.6,220,1609,0.00,2.22,0.00,0.000,260,0.000,0.077,1838,3950,3365,3399,3331,0,0,0,0,0,0,15.39,15.00,15.40
$GC,1717,-0.81,-97.3,1838,3950,3396,3330,271.1,-12.0,242,1723,0.00,2.00,0.00,0.000,1030,0.000,0.031,1842,2689,3363,3396,3330,0,0,0,0,0,0,15.22,15.18,15.23
$GC,2032,-0.81,-97.3,1838,2683,3396,3328,309.4,-11.6,254,2040,0.00,2.25,0.00,0.000,516,0.000,0.046,1838,1340,3361,3396,3327,0,0,0,0,0,0,15.38,15.01,15.39
$GC,2269,-0.81,-97.3,1838,1340,3394,3324,330.9,-7.3,300,2279,0.00,2.42,0.00,0.000,1030,0.000,0.052,1838,2754,3359,3395,3324,0,0,0,0,0,0,15.11,15.00,15.13
$GC,2581,-0.81,-97.3,1838,2754,3396,3320,358.2,-9.6,312,2587,0.00,2.40,0.00,0.000,516,0.000,0.044,1838,1338,3358,3396,3320,0,0,0,0,0,0,15.40,15.05,15.41
$GC,2749,-0.81,-97.3,1838,1338,3396,3318,376.6,-11.2,345,2756,0.00,2.45,0.00,0.000,1030,0.000,0.054,1838,2757,3358,3396,3321,0,0,0,0,0,0,15.09,14.98,15.12
$GC,3070,-0.81,-97.3,1837,2756,3396,3311,409.7,-10.4,358,3078,0.00,2.40,0.00,0.000,516,0.000,0.046,1838,1338,3351,3392,3311,0,0,0,0,0,0,15.40,15.04,15.42
$GC,3161,-0.81,-97.3,1838,1338,3396,3310,418.8,-9.9,376,3170,0.00,2.45,0.00,0.000,1030,0.000,0.055,1838,2758,3353,3396,3310,0,0,0,0,0,0,15.11,15.00,15.14
$GC,3494,-0.81,-97.3,1838,2758,3396,3305,444.6,-7.0,392,3499,0.00,2.08,0.00,0.000,260,0.000,0.083,1835,3946,3350,3396,3305,0,0,0,0,0,0,15.40,14.95,15.41
$GC,3702,-0.81,-97.3,1838,3946,3395,3301,460.2,-8.0,433,3709,0.00,2.05,0.00,0.000,1030,0.000,0.035,1838,2709,3349,3396,3302,0,0,0,0,0,0,15.10,15.08,15.09
$GC,4009,-0.81,-97.3,1838,2710,3394,3299,486.2,-9.1,444,4015,0.00,2.20,0.00,0.000,260,0.000,0.082,1838,3940,3346,3393,3299,0,0,0,0,0,0,15.38,14.88,15.40
$GC,4106,-0.81,-97.3,1838,3941,3393,3298,495.9,-10.3,462,4112,0.00,1.95,0.00,0.000,1030,0.000,0.039,1837,2756,3345,3393,3298,0,0,0,0,0,0,15.16,15.11,15.18
$GC,4441,-0.81,-97.3,1838,2756,3390,3295,525.0,-8.0,478,4446,0.00,2.33,0.00,0.000,516,0.000,0.044,1844,1368,3342,3390,3295,0,0,0,0,0,0,15.37,15.00,15.39
$GC,4508,-0.81,-97.3,1838,1368,3389,3295,530.5,-8.2,491,4514,0.00,2.40,0.00,0.000,1030,0.000,0.054,1840,2752,3342,3390,3295,0,0,0,0,0,0,15.09,14.98,15.13
$GC,4833,-0.81,-97.3,1838,2751,3387,3293,556.8,-8.3,505,4837,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2752,3340,3387,3293,0,0,0,0,0,0,15.37,15.39,15.39
$GC,5132,-0.81,-97.3,1837,2752,3385,3291,581.4,-8.0,515,5138,0.00,2.12,0.00,0.000,260,0.000,0.086,1838,3945,3338,3385,3291,0,0,0,0,0,0,15.36,14.89,15.38
$GC,5258,-0.81,-97.3,1838,3945,3385,3290,591.6,-8.3,539,5263,0.00,1.98,0.00,0.000,1030,0.000,0.041,1838,2747,3337,3385,3290,0,0,0,0,0,0,15.14,15.09,15.16
$GC,5592,-0.81,-97.3,1838,2748,3390,3288,617.3,-8.1,555,5597,0.00,2.33,0.00,0.000,516,0.000,0.046,1838,1366,3335,3383,3288,0,0,0,0,0,0,15.37,14.96,15.38
$GC,5739,-0.81,-97.3,1838,1365,3382,3287,630.4,-9.3,583,5749,0.00,2.42,0.00,0.000,1030,0.000,0.056,1838,2748,3334,3381,3288,0,0,0,0,0,0,15.04,14.92,15.09
$GC,6047,-0.81,-97.3,1838,2751,3380,3286,657.7,-8.7,595,6053,0.00,2.12,0.00,0.000,260,0.000,0.086,1838,3949,3333,3381,3286,0,0,0,0,0,0,15.35,14.85,15.35
$GC,6125,-0.81,-97.3,1837,3949,3375,3286,665.3,-9.5,610,6131,0.00,2.00,0.00,0.000,1030,0.000,0.041,1839,2745,3330,3376,3285,0,0,0,0,0,0,15.11,15.07,15.14
$GC,6446,-0.81,-97.3,1838,2745,3379,3284,692.1,-8.2,623,6452,0.00,2.35,0.00,0.000,516,0.000,0.046,1838,1364,3329,3377,3282,0,0,0,0,0,0,15.30,14.93,15.32
$GC,6500,-0.81,-97.3,1837,1364,3378,3284,696.7,-8.3,633,6506,0.00,2.45,0.00,0.000,1030,0.000,0.055,1838,2754,3331,3378,3284,0,0,0,0,0,0,14.96,14.84,15.00
$GC,6815,-0.81,-97.3,1838,2754,3377,3282,721.4,-8.0,645,6818,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2754,3329,3376,3282,0,0,0,0,0,0,15.33,15.36,15.35
$GC,7116,-0.81,-97.3,1838,2754,3381,3281,746.1,-8.4,655,7122,0.00,2.15,0.00,0.000,260,0.000,0.089,1838,3946,3328,3375,3281,0,0,0,0,0,0,15.33,14.81,15.34
$GC,7180,-0.81,-97.3,1838,3946,3375,3280,752.0,-9.3,667,7186,0.00,2.00,0.00,0.000,1030,0.000,0.043,1838,2751,3326,3373,3280,0,0,0,0,0,0,15.09,15.03,15.13
$GC,7514,-0.81,-97.3,1838,2751,3374,3279,782.0,-9.0,683,7523,0.00,2.38,0.00,0.000,516,0.000,0.047,1838,1360,3326,3374,3279,0,0,0,0,0,0,15.33,14.89,15.35
$GC,7571,-0.81,-97.3,1837,1360,3373,3279,787.4,-9.5,694,7578,0.00,2.50,0.00,0.000,1030,0.000,0.057,1838,2748,3326,3373,3279,0,0,0,0,0,0,14.83,14.76,14.88
$GC,7877,-0.81,-97.3,1837,2747,3371,3278,815.5,-9.2,705,7885,0.00,2.40,0.00,0.000,516,0.000,0.047,1838,1362,3324,3371,3278,0,0,0,0,0,0,15.33,14.86,15.34
$GC,7978,-0.81,-97.3,1837,1362,3371,3278,825.0,-9.6,724,7984,0.00,2.47,0.00,0.000,1030,0.000,0.056,1838,2752,3322,3370,3275,0,0,0,0,0,0,14.97,14.84,15.02
$GC,8309,-0.81,-97.3,1837,2752,3370,3276,854.6,-8.9,739,8313,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2752,3323,3370,3277,0,0,0,0,0,0,15.29,15.30,15.30
$GC,8609,-0.81,-97.3,1837,2752,3369,3276,879.2,-7.9,749,8615,0.00,2.40,0.00,0.000,516,0.000,0.047,1838,1362,3322,3368,3276,0,0,0,0,0,0,15.28,14.85,15.30
$GC,8678,-0.81,-97.3,1838,1363,3375,3276,884.9,-8.2,762,8686,0.00,2.47,0.00,0.000,1030,0.000,0.058,1838,2754,3322,3368,3276,0,0,0,0,0,0,14.93,14.82,14.95
$GC,9005,-0.81,-97.3,1837,2754,3366,3274,910.4,-7.9,777,9008,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2754,3320,3367,3274,0,0,0,0,0,0,15.30,15.31,15.31
$GC,9305,-0.81,-97.3,1838,2754,3367,3274,932.5,-7.2,787,9313,0.00,2.42,0.00,0.000,516,0.000,0.049,1838,1360,3319,3365,3273,0,0,0,0,0,0,15.29,14.84,15.31
$GC,9361,-0.81,-97.3,1837,1360,3366,3274,936.7,-7.3,798,9368,0.00,2.53,0.00,0.000,1030,0.000,0.058,1838,2750,3320,3366,3274,0,0,0,0,0,0,14.77,14.67,14.83
$GC,9667,-0.81,-97.3,1837,2749,3366,3273,956.4,-6.4,809,9670,0.00,0.00,0.00,0.000,38,0.000,0.000,1837,2750,3319,3366,3273,0,0,0,0,0,0,15.30,15.33,15.31
$GC,9967,-0.81,-97.3,1841,2750,3366,3272,975.1,-6.3,819,9970,0.00,0.00,0.00,0.000,38,0.000,0.000,1837,2750,3318,3364,3272,0,0,0,0,0,0,15.29,15.32,15.31
$STATE,10203,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10203,begin apogee
$GC,10213,-0.21,0.0,1838,1717,3365,3272,990.7,-6.6,827,10307,0.80,0.00,88.82,2.087,10246,0.201,0.000,2056,1717,2966,3031,2901,0,0,0,0,0,0,14.52,14.49,13.54
$STATE,10316,end apogee,CONTROL_FINISHED_OK
$STATE,10316,begin climb
$GC,10319,0.81,97.3,2056,1717,3031,2902,992.4,0.0,830,10433,1.02,1.98,101.53,2.039,10756,0.107,0.074,2380,640,2571,2632,2510,0,0,0,0,0,0,14.49,14.14,13.42
$GC,10529,0.81,97.3,2380,640,2625,2507,978.9,9.2,876,10536,0.00,1.92,0.00,0.000,1030,0.000,0.043,2380,1731,2566,2625,2507,0,0,0,0,0,0,14.67,14.64,14.70
$GC,10837,0.81,97.3,2380,1731,2625,2501,952.1,8.6,887,10843,0.00,2.40,0.00,0.000,260,0.000,0.063,2379,3093,2561,2625,2497,0,0,0,0,0,0,15.19,14.83,15.20
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$STATE,21308,end climb,SURFACE_DEPTH_REACHED
$STATE,21308,begin surface coast
$STATE,21338,end surface coast,CONTROL_FINISHED_OK
$STATE,21338,begin surface
$SM_CCo,21363,195.32,0.696,1,0,928,500.17
$SM_GC,0.26,7.00,3.60,195.32,0.079,0.045,0.696,165,2726,928,-6.08,-1.61,500.17,0,0,0,0,1,0,14.89,14.97,14.27
$IRIDIUM_FIX,1413.19,14406.54,010120,102839
$TT8_MAMPS,0.019474,0.154294
$HUMID,46.61
$INTERNAL_PRESSURE,8.93589
$TCM_TEMP,25.40
$XPDR_PINGS,0
$SC_FREEKB,3716768
$PM_FREEKB_00,58040768
$PM_FREEKB_01,85563520
$PM_FREEKB_02,59195968
$PM_FREEKB_03,88978240
$PM_ACTIVECARD,3
$24V_AH,13.42,148.012
$10V_AH,12.67,0.000
$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,17.575,171.675,345.550,195.325,0.000,0.000,0.000,442.250,0.000,0.000,16.617,1587.200,14056.946,645.234,5402.891,626.589,0.000,2779.039,0.000,4633.373,0.000,0.552,0.000
$DEVICE_MAMPS,393.975,88.740,2086.920,696.150,0.000,0.000,0.000,192.780,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21372.000,21362.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.254,7.594,0.000,0.000
$MEM,270592
$DATA_FILE_SIZE,66507,1873
$CAP_FILE_SIZE,196122,0
$CFSIZE,260034560,201879552
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,1,0,0
$INTR,0,21204.34,0x214798,1,24
$CURRENT,0.032,150.05,1
$GPS,010120,230238,1410.223,14409.829,19,0.9,19,0.3,0.8,129.6,7,5.7