version: 66.13
glider: 178
mission: 31
dive: 385
start: 1 8 120 11 56 56
data:
$ID,178
$MISSION,31
$DIVE,385
$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,0.00316228
$HD_B,0.010145
$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,35
$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
$GPS1,080120,114330,1408.3243,14412.8447,29,0.6,29,0.3,0.3,24.0,12,3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.24
$_SM_ANGLEo,-53.2
$GPS2,080120,115608,1408.3513,14412.7539,2,0.6,4,0.3,1.0,23.1,12,6.0
$SPEED_LIMITS,0.147,0.205
$TGT_NAME,HOLDN
$TGT_LATLONG,1345.000,14430.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,166.6,53224,-19.0,-8.462,-22.47,1763
$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,-0.83,-97.3,117,2739,988,866,0.0,0.0,0,121,0.00,0.00,-94.38,0.005,16390,0.000,0.000,113,2738,3364,3390,3339,0,0,0,0,0,0,15.21,13.88,15.18
$GC,125,-0.83,-97.3,113,2738,3390,3339,6.0,-12.5,10,142,8.32,2.38,0.00,0.000,2564,0.384,0.045,1849,1343,3365,3392,3339,0,0,0,0,0,0,14.47,14.89,14.87
$GC,374,-0.83,-97.3,1848,1343,3395,3334,85.3,-24.6,58,386,0.00,2.42,0.00,0.000,1030,0.000,0.054,1842,2751,3364,3395,3334,0,0,0,0,0,0,15.04,14.94,15.07
$GC,571,-0.83,-97.3,1842,2751,3395,3333,125.5,-17.3,78,577,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,2751,3363,3393,3333,0,0,0,0,0,0,15.31,15.33,15.33
$GC,757,-0.83,-97.3,1842,2751,3396,3333,157.4,-14.6,97,765,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,2751,3364,3396,3333,0,0,0,0,0,0,15.35,15.36,15.36
$GC,946,-0.83,-97.3,1842,2751,3396,3333,182.4,-10.8,116,952,0.00,2.05,0.00,0.000,260,0.000,0.080,1842,3945,3364,3396,3333,0,0,0,0,0,0,15.36,14.97,15.38
$GC,1183,-0.83,-97.3,1842,3945,3396,3332,212.8,-12.3,162,1189,0.00,2.00,0.00,0.000,1030,0.000,0.030,1842,2692,3364,3396,3333,0,0,0,0,0,0,15.20,15.16,15.21
$GC,1382,-0.83,-97.3,1839,2686,3396,3332,234.3,-10.1,182,1388,0.00,2.20,0.00,0.000,260,0.000,0.078,1842,3945,3364,3396,3332,0,0,0,0,0,0,15.38,14.97,15.39
$GC,1619,-0.83,-97.3,1842,3946,3396,3331,266.4,-12.8,228,1625,0.00,1.98,0.00,0.000,1030,0.000,0.031,1842,2694,3363,3396,3331,0,0,0,0,0,0,15.21,15.19,15.23
$GC,1935,-0.83,-97.3,1842,2691,3396,3328,302.2,-11.4,240,1940,0.00,2.22,0.00,0.000,260,0.000,0.080,1842,3950,3362,3396,3328,0,0,0,0,0,0,15.38,14.95,15.40
$GC,2065,-0.83,-97.3,1841,3950,3396,3326,318.4,-13.4,265,2071,0.00,2.00,0.00,0.000,1030,0.000,0.031,1842,2702,3363,3399,3327,0,0,0,0,0,0,15.14,15.11,15.16
$GC,2395,-0.83,-97.3,1842,2695,3396,3323,352.9,-9.6,280,2399,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,2695,3359,3396,3322,0,0,0,0,0,0,15.36,15.38,15.38
$GC,2697,-0.83,-97.3,1842,2695,3396,3317,379.0,-8.0,290,2702,0.00,2.22,0.00,0.000,260,0.000,0.084,1842,3945,3356,3396,3317,0,0,0,0,0,0,15.35,14.98,15.38
$GC,2931,-0.83,-97.3,1842,3945,3396,3312,397.3,-7.8,336,2939,0.00,1.92,0.00,0.000,1030,0.000,0.034,1842,2749,3354,3396,3313,0,0,0,0,0,0,15.15,15.11,15.16
$GC,3248,-0.83,-97.3,1841,2739,3396,3308,426.2,-10.3,348,3254,0.00,2.28,0.00,0.000,516,0.000,0.047,1842,1383,3352,3396,3308,0,0,0,0,0,0,15.40,15.01,15.41
$GC,3313,-0.83,-97.3,1842,1382,3396,3307,433.4,-11.5,360,3321,0.00,2.38,0.00,0.000,1030,0.000,0.058,1842,2750,3351,3396,3307,0,0,0,0,0,0,15.10,14.97,15.14
$GC,3646,-0.83,-97.3,1842,2750,3396,3301,468.9,-10.3,376,3653,0.00,2.35,0.00,0.000,516,0.000,0.048,1842,1381,3348,3395,3302,0,0,0,0,0,0,15.38,15.00,15.40
$GC,3755,-0.83,-97.3,1842,1381,3394,3301,480.5,-10.3,397,3761,0.00,2.40,0.00,0.000,1030,0.000,0.057,1842,2756,3347,3394,3301,0,0,0,0,0,0,15.09,14.97,15.13
$GC,4082,-0.83,-97.3,1842,2756,3392,3298,512.4,-9.5,410,4087,0.00,2.35,0.00,0.000,516,0.000,0.048,1842,1381,3345,3392,3298,0,0,0,0,0,0,15.35,15.01,15.38
$GC,4189,-0.83,-97.3,1842,1381,3390,3298,523.9,-10.0,431,4197,0.00,2.40,0.00,0.000,1030,0.000,0.057,1842,2752,3343,3390,3297,0,0,0,0,0,0,15.02,14.90,15.05
$GC,4506,-0.83,-97.3,1841,2753,3390,3294,552.4,-8.7,444,4511,0.00,2.12,0.00,0.000,260,0.000,0.089,1842,3943,3341,3389,3294,0,0,0,0,0,0,15.37,14.88,15.39
$GC,4729,-0.83,-97.3,1841,3943,3389,3292,572.2,-9.1,488,4736,0.00,1.95,0.00,0.000,1030,0.000,0.037,1846,2757,3340,3389,3292,0,0,0,0,0,0,15.07,15.03,15.09
$GC,5056,-0.83,-97.3,1842,2757,3386,3291,601.1,-9.1,502,5061,0.00,2.17,0.00,0.000,260,0.000,0.090,1841,3951,3337,3386,3288,0,0,0,0,0,0,15.37,14.85,15.39
$GC,5242,-0.83,-97.3,1842,3952,3386,3289,618.6,-9.0,538,5250,0.00,1.98,0.00,0.000,1030,0.000,0.038,1843,2757,3337,3386,3289,0,0,0,0,0,0,15.07,15.01,15.07
$GC,5582,-0.83,-97.3,1842,2755,3378,3288,642.0,-6.1,554,5590,0.00,2.35,0.00,0.000,548,0.000,0.044,1842,1362,3335,3383,3287,0,0,0,0,0,0,15.33,14.95,15.35
$GC,5798,-0.83,-97.3,1842,1362,3381,3287,654.9,-5.7,597,5805,0.00,2.45,0.00,0.000,1062,0.000,0.057,1842,2749,3334,3381,3287,0,0,0,0,0,0,14.99,14.86,15.02
$GC,6130,-0.83,-97.3,1841,2749,3380,3286,673.0,-5.4,612,6134,0.00,0.00,0.00,0.000,38,0.000,0.000,1843,2750,3332,3380,3285,0,0,0,0,0,0,15.35,15.37,15.36
$GC,6429,-0.83,-97.3,1842,2749,3379,3281,691.9,-6.6,622,6435,0.00,2.38,0.00,0.000,516,0.000,0.045,1842,1367,3331,3379,3284,0,0,0,0,0,0,15.35,14.92,15.37
$GC,6539,-0.83,-97.3,1842,1367,3378,3284,699.8,-7.7,643,6547,0.00,2.45,0.00,0.000,1030,0.000,0.057,1842,2755,3331,3378,3284,0,0,0,0,0,0,14.99,14.85,15.02
$GC,6856,-0.83,-97.3,1842,2755,3377,3281,722.8,-7.4,656,6859,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,2755,3329,3377,3282,0,0,0,0,0,0,15.34,15.36,15.36
$GC,7156,-0.83,-97.3,1842,2755,3376,3280,745.8,-7.9,666,7163,0.00,2.15,0.00,0.000,260,0.000,0.090,1842,3949,3328,3376,3281,0,0,0,0,0,0,15.35,14.77,15.36
$GC,7313,-0.83,-97.3,1842,3949,3375,3279,759.3,-9.0,696,7320,0.00,2.00,0.00,0.000,1030,0.000,0.040,1842,2753,3326,3374,3278,0,0,0,0,0,0,15.00,14.95,15.02
$GC,7650,-0.83,-97.3,1842,2754,3374,3279,786.5,-8.0,712,7656,0.00,2.17,0.00,0.000,260,0.000,0.090,1842,3942,3326,3373,3279,0,0,0,0,0,0,15.30,14.76,15.32
$GC,7813,-0.83,-97.3,1843,3942,3373,3277,800.9,-8.6,744,7819,0.00,2.00,0.00,0.000,1030,0.000,0.042,1842,2753,3325,3373,3277,0,0,0,0,0,0,15.04,14.98,15.05
$GC,8138,-0.83,-97.3,1842,2753,3372,3272,824.0,-6.7,758,8146,0.00,2.38,0.00,0.000,516,0.000,0.047,1842,1361,3324,3371,3277,0,0,0,0,0,0,15.32,14.85,15.34
$GC,8194,-0.83,-97.3,1842,1361,3371,3277,827.9,-6.7,769,8201,0.00,2.53,0.00,0.000,1030,0.000,0.060,1842,2750,3324,3371,3277,0,0,0,0,0,0,14.78,14.69,14.81
$GC,8500,-0.83,-97.3,1842,2750,3375,3276,845.6,-5.4,780,8506,0.00,2.17,0.00,0.000,292,0.000,0.092,1842,3945,3323,3370,3276,0,0,0,0,0,0,15.29,14.71,15.31
$GC,8554,-0.83,-97.3,1838,3946,3370,3276,848.7,-5.7,790,8560,0.00,2.03,0.00,0.000,1062,0.000,0.042,1842,2749,3323,3370,3276,0,0,0,0,0,0,15.05,14.97,15.04
$GC,8870,-0.83,-97.3,1842,2745,3369,3275,864.0,-4.8,802,8879,0.00,2.40,0.00,0.000,548,0.000,0.047,1841,1356,3322,3369,3275,0,0,0,0,0,0,15.30,14.77,15.32
$GC,8912,-0.83,-97.3,1842,1358,3369,3275,866.3,-5.4,810,8920,0.00,2.47,0.00,0.000,1062,0.000,0.060,1841,2751,3322,3369,3275,0,0,0,0,0,0,14.91,14.78,14.94
$GC,9234,-0.83,-97.3,1842,2751,3368,3274,884.8,-6.3,824,9238,0.00,0.00,0.00,0.000,38,0.000,0.000,1842,2751,3321,3368,3274,0,0,0,0,0,0,15.27,15.29,15.29
$GC,9535,-0.83,-97.3,1841,2751,3372,3273,904.6,-6.7,834,9543,0.00,2.42,0.00,0.000,516,0.000,0.047,1842,1363,3320,3367,3273,0,0,0,0,0,0,15.29,14.81,15.30
$GC,9602,-0.83,-97.3,1842,1362,3366,3274,909.2,-7.1,846,9610,0.00,2.47,0.00,0.000,1030,0.000,0.060,1842,2750,3320,3367,3273,0,0,0,0,0,0,14.88,14.76,14.90
$GC,9935,-0.83,-97.3,1842,2750,3368,3278,931.6,-6.7,862,9938,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,2750,3320,3367,3273,0,0,0,0,0,0,15.27,15.29,15.28
$GC,10236,-0.83,-97.3,1842,2750,3366,3272,952.7,-7.1,872,10245,0.00,2.42,0.00,0.000,516,0.000,0.048,1842,1361,3319,3366,3272,0,0,0,0,0,0,15.26,14.79,15.27
$GC,10299,-0.83,-97.3,1842,1362,3366,3272,957.5,-7.6,884,10308,0.00,2.50,0.00,0.000,1030,0.000,0.060,1842,2757,3319,3366,3272,0,0,0,0,0,0,14.83,14.74,14.87
$GC,10633,-0.83,-97.3,1841,2757,3365,3271,982.0,-7.5,900,10636,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,2757,3319,3367,3271,0,0,0,0,0,0,15.29,15.31,15.30
$STATE,10748,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10748,begin apogee
$GC,10757,-0.21,0.0,1842,1723,3365,3271,991.3,-7.7,904,10853,0.77,0.00,89.82,2.101,10246,0.198,0.000,2053,1723,2968,3031,2906,0,0,0,0,0,0,14.46,14.46,13.46
$STATE,10862,end apogee,CONTROL_FINISHED_OK
$STATE,10862,begin climb
$GC,10865,0.83,97.3,2053,1722,3031,2903,993.9,0.0,907,10985,1.08,2.05,103.18,2.057,10756,0.109,0.078,2391,639,2571,2632,2510,0,0,0,0,0,0,14.50,14.27,13.35
$GC,11073,0.83,97.3,2391,639,2625,2507,982.8,9.0,952,11078,0.00,1.88,0.00,0.000,1030,0.000,0.042,2391,1724,2566,2625,2507,0,0,0,0,0,0,14.74,14.68,14.77
$GC,11393,0.83,97.3,2391,1725,2627,2501,954.7,8.8,965,11399,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1724,2563,2625,2501,0,0,0,0,0,0,15.19,15.21,15.21
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$STATE,22593,end climb,SURFACE_DEPTH_REACHED
$STATE,22593,begin surface coast
$STATE,22622,end surface coast,CONTROL_FINISHED_OK
$STATE,22622,begin surface
$SM_CCo,22646,192.12,0.687,1,0,928,500.17
$SM_GC,0.28,7.03,1.83,192.12,0.075,0.054,0.687,158,2730,928,-6.10,-1.39,500.17,0,0,0,0,1,0,14.90,14.94,14.24
$IRIDIUM_FIX,1408.74,14412.75,080120,052837
$TT8_MAMPS,0.019474,0.151298
$HUMID,47.08
$INTERNAL_PRESSURE,8.93589
$TCM_TEMP,26.00
$XPDR_PINGS,0
$SC_FREEKB,3707168
$PM_FREEKB_00,58040768
$PM_FREEKB_01,85563520
$PM_FREEKB_02,59195968
$PM_FREEKB_03,72056448
$PM_ACTIVECARD,3
$24V_AH,13.35,158.840
$10V_AH,12.77,0.000
$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,17.550,169.825,353.625,192.125,0.000,0.000,0.000,432.000,0.000,0.000,16.382,1733.558,14544.328,637.253,5992.547,690.559,0.000,2957.601,0.000,5197.162,0.000,0.553,0.000
$DEVICE_MAMPS,384.030,91.800,2101.455,686.970,0.000,0.000,0.000,197.370,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22657.000,22649.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.399,8.604,0.000,0.000
$MEM,270496
$DATA_FILE_SIZE,73188,2116
$CAP_FILE_SIZE,210017,0
$CFSIZE,260034560,198025216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.036,65.81,1
$GPS,080120,181900,1406.391,14413.531,20,1.0,20,0.3,0.3,290.9,7,6.0