version: 66.13
glider: 178
mission: 31
dive: 394
start: 1 10 120 22 17 13
data:
$ID,178
$MISSION,31
$DIVE,394
$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,36
$R_STBD_OVSHOOT,35
$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
$GPS1,100120,220309,1353.7446,14421.1885,21,1.0,21,0.4,0.5,280.1,7,6.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.21
$_SM_ANGLEo,-52.9
$GPS2,100120,221626,1353.7963,14421.0713,3,0.7,3,0.4,0.6,240.3,12,6.6
$SPEED_LIMITS,0.147,0.205
$TGT_NAME,HOLDN
$TGT_LATLONG,1345.000,14430.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,133.9,22878,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,24,-0.83,-97.3,142,2731,991,865,0.0,0.0,0,116,0.00,0.00,-87.65,0.005,16386,0.000,0.000,142,2732,3146,3173,3120,0,0,0,0,0,0,15.24,28.83,15.24
$GC,120,-0.83,-97.3,142,2731,3174,3119,3.7,-7.1,9,142,8.23,2.30,-3.85,0.031,18948,0.385,0.061,1844,1346,3364,3403,3326,0,0,0,0,0,0,14.42,14.02,14.69
$GC,206,-0.83,-97.3,1846,1347,3404,3328,32.8,-25.9,25,213,0.00,2.40,0.00,0.000,1030,0.000,0.053,1840,2743,3366,3404,3328,0,0,0,0,0,0,14.97,14.88,15.00
$GC,402,-0.83,-97.3,1838,2743,3404,3326,89.7,-30.8,45,409,0.00,2.08,0.00,0.000,260,0.000,0.076,1829,3946,3366,3404,3328,0,0,0,0,0,0,15.30,14.93,15.34
$GC,517,-0.83,-97.3,1829,3946,3404,3328,117.1,-18.7,67,523,0.00,1.98,0.00,0.000,1030,0.000,0.030,1829,2709,3366,3404,3328,0,0,0,0,0,0,15.16,15.14,15.16
$GC,713,-0.83,-97.3,1829,2703,3404,3328,148.3,-17.0,87,722,0.00,2.17,0.00,0.000,260,0.000,0.075,1821,3950,3366,3404,3328,0,0,0,0,0,0,15.35,14.90,15.36
$GC,958,-0.83,-97.3,1818,3951,3404,3327,189.2,-11.2,133,968,0.15,1.92,0.00,0.000,3078,0.267,0.030,1853,2721,3366,3404,3328,0,0,0,0,0,0,14.71,15.10,14.97
$GC,1159,-0.83,-97.3,1852,2720,3404,3328,207.6,-10.8,153,1165,0.00,2.15,0.00,0.000,260,0.000,0.077,1851,3954,3364,3404,3324,0,0,0,0,0,0,15.38,14.97,15.40
$GC,1198,-0.83,-97.3,1850,3953,3404,3328,212.3,-12.2,159,1206,0.00,1.90,0.00,0.000,1030,0.000,0.031,1851,2754,3366,3404,3328,0,0,0,0,0,0,15.15,15.11,15.16
$GC,1395,-0.83,-97.3,1850,2748,3402,3328,233.7,-10.2,179,1402,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,2748,3366,3404,3328,0,0,0,0,0,0,15.38,15.40,15.40
$GC,1585,-0.83,-97.3,1851,2748,3404,3323,253.6,-10.9,196,1592,0.00,2.12,0.00,0.000,260,0.000,0.080,1851,3951,3364,3403,3326,0,0,0,0,0,0,15.38,14.92,15.40
$GC,1809,-0.83,-97.3,1851,3951,3404,3324,280.3,-11.2,239,1815,0.00,1.90,0.00,0.000,1030,0.000,0.032,1851,2735,3364,3404,3324,0,0,0,0,0,0,15.21,15.16,15.22
$GC,2141,-0.83,-97.3,1850,2731,3404,3319,313.7,-8.4,254,2146,0.00,2.22,0.00,0.000,516,0.000,0.046,1851,1395,3361,3404,3319,0,0,0,0,0,0,15.32,15.04,15.38
$GC,2336,-0.83,-97.3,1851,1393,3404,3317,329.2,-7.6,292,2345,0.00,2.33,0.00,0.000,1030,0.000,0.051,1851,2751,3362,3404,3320,0,0,0,0,0,0,15.07,14.97,15.11
$GC,2665,-0.83,-97.3,1851,2751,3403,3309,357.4,-9.3,306,2672,0.00,2.10,0.00,0.000,260,0.000,0.084,1857,3943,3357,3404,3311,0,0,0,0,0,0,15.39,14.90,15.41
$GC,2839,-0.83,-97.3,1851,3943,3403,3308,375.5,-10.5,339,2845,0.00,1.90,0.00,0.000,1030,0.000,0.033,1851,2768,3355,3403,3307,0,0,0,0,0,0,15.17,15.13,15.19
$GC,3160,-0.83,-97.3,1851,2761,3403,3303,403.5,-8.2,352,3165,0.00,2.33,0.00,0.000,516,0.000,0.047,1850,1379,3353,3403,3303,0,0,0,0,0,0,15.38,15.02,15.40
$GC,3395,-0.83,-97.3,1851,1378,3400,3302,423.8,-8.2,398,3404,0.00,2.38,0.00,0.000,1030,0.000,0.054,1851,2746,3351,3400,3302,0,0,0,0,0,0,15.10,14.99,15.14
$GC,3708,-0.83,-97.3,1850,2750,3406,3299,447.1,-7.3,410,3714,0.00,2.35,0.00,0.000,516,0.000,0.048,1853,1379,3349,3399,3299,0,0,0,0,0,0,15.38,15.00,15.40
$GC,3785,-0.83,-97.3,1851,1377,3398,3300,453.0,-7.1,425,3792,0.00,2.40,0.00,0.000,1030,0.000,0.054,1851,2755,3348,3397,3299,0,0,0,0,0,0,15.09,14.99,15.13
$GC,4107,-0.83,-97.3,1851,2755,3396,3294,474.9,-7.2,438,4115,0.00,2.10,0.00,0.000,260,0.000,0.083,1850,3945,3345,3396,3294,0,0,0,0,0,0,15.33,14.84,15.35
$GC,4346,-0.83,-97.3,1851,3945,3396,3292,495.8,-8.8,484,4352,0.00,1.95,0.00,0.000,1030,0.000,0.040,1851,2766,3344,3395,3293,0,0,0,0,0,0,15.09,15.02,15.08
$GC,4662,-0.83,-97.3,1851,2766,3398,3292,520.8,-7.9,496,4668,0.00,2.10,0.00,0.000,260,0.000,0.084,1851,3942,3342,3392,3292,0,0,0,0,0,0,15.35,14.88,15.38
$GC,4819,-0.83,-97.3,1851,3942,3392,3290,535.8,-10.2,527,4824,0.00,1.98,0.00,0.000,1030,0.000,0.040,1851,2747,3341,3392,3290,0,0,0,0,0,0,15.11,15.06,15.12
$GC,5149,-0.83,-97.3,1850,2747,3390,3288,568.1,-10.4,542,5158,0.00,2.35,0.00,0.000,516,0.000,0.045,1851,1363,3338,3389,3288,0,0,0,0,0,0,15.37,14.95,15.39
$GC,5362,-0.83,-97.3,1851,1363,3387,3288,590.4,-10.0,584,5372,0.00,2.42,0.00,0.000,1030,0.000,0.054,1851,2748,3335,3385,3286,0,0,0,0,0,0,15.00,14.88,15.03
$GC,5697,-0.83,-97.3,1850,2749,3386,3286,618.9,-7.6,600,5709,0.00,2.40,0.00,0.000,516,0.000,0.044,1851,1361,3336,3386,3286,0,0,0,0,0,0,15.28,14.85,15.28
$GC,5758,-0.83,-97.3,1851,1361,3385,3286,623.5,-6.9,611,5767,0.00,2.50,0.00,0.000,1030,0.000,0.055,1851,2747,3335,3385,3285,0,0,0,0,0,0,14.85,14.78,14.90
$GC,6067,-0.83,-97.3,1851,2747,3383,3284,642.2,-6.0,622,6071,0.00,0.00,0.00,0.000,38,0.000,0.000,1851,2747,3334,3384,3284,0,0,0,0,0,0,15.31,15.36,15.33
$GC,6365,-0.83,-97.3,1851,2747,3383,3282,661.6,-6.8,632,6369,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,2747,3332,3382,3282,0,0,0,0,0,0,15.31,15.33,15.33
$GC,6666,-0.83,-97.3,1851,2747,3381,3280,686.3,-8.9,642,6672,0.00,2.15,0.00,0.000,260,0.000,0.087,1851,3949,3329,3381,3278,0,0,0,0,0,0,15.31,14.78,15.33
$GC,6715,-0.83,-97.3,1851,3946,3381,3286,691.2,-9.9,651,6722,0.00,2.03,0.00,0.000,1030,0.000,0.042,1850,2748,3330,3381,3280,0,0,0,0,0,0,15.00,14.94,15.02
$GC,7037,-0.83,-97.3,1851,2748,3380,3279,721.7,-9.4,664,7045,0.00,2.38,0.00,0.000,516,0.000,0.046,1851,1360,3329,3380,3279,0,0,0,0,0,0,15.30,14.86,15.32
$GC,7088,-0.83,-97.3,1851,1360,3380,3278,726.8,-9.4,674,7097,0.00,2.45,0.00,0.000,1030,0.000,0.056,1851,2753,3329,3379,3279,0,0,0,0,0,0,14.98,14.86,15.02
$GC,7401,-0.83,-97.3,1851,2753,3378,3277,751.3,-7.3,686,7406,0.00,2.12,0.00,0.000,260,0.000,0.088,1851,3942,3328,3378,3278,0,0,0,0,0,0,15.30,14.73,15.33
$GC,7518,-0.83,-97.3,1851,3942,3378,3277,759.5,-6.9,709,7525,0.00,2.05,0.00,0.000,1030,0.000,0.043,1851,2757,3327,3377,3277,0,0,0,0,0,0,14.90,14.88,14.92
$GC,7825,-0.83,-97.3,1847,2757,3377,3280,775.9,-5.0,720,7831,0.00,0.00,0.00,0.000,38,0.000,0.000,1851,2758,3326,3377,3276,0,0,0,0,0,0,15.28,15.30,15.30
$GC,8127,-0.83,-97.3,1850,2757,3375,3275,791.0,-5.0,730,8134,0.00,0.00,0.00,0.000,38,0.000,0.000,1851,2758,3326,3378,3275,0,0,0,0,0,0,15.27,15.29,15.29
$GC,8425,-0.83,-97.3,1851,2758,3375,3274,807.4,-5.7,740,8431,0.00,0.00,0.00,0.000,38,0.000,0.000,1851,2758,3324,3375,3274,0,0,0,0,0,0,15.29,15.31,15.30
$GC,8726,-0.83,-97.3,1851,2758,3374,3278,826.6,-6.7,750,8731,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,2758,3323,3374,3273,0,0,0,0,0,0,15.28,15.29,15.30
$GC,9026,-0.83,-97.3,1851,2758,3373,3272,848.8,-7.7,760,9035,0.00,2.45,0.00,0.000,516,0.000,0.049,1851,1358,3322,3372,3272,0,0,0,0,0,0,15.24,14.73,15.27
$GC,9098,-0.83,-97.3,1851,1359,3373,3272,855.2,-8.9,773,9104,0.00,2.47,0.00,0.000,1030,0.000,0.057,1851,2749,3322,3373,3272,0,0,0,0,0,0,14.92,14.78,14.96
$GC,9428,-0.83,-97.3,1850,2749,3372,3271,883.8,-8.8,788,9434,0.00,2.15,0.00,0.000,260,0.000,0.090,1851,3942,3321,3372,3271,0,0,0,0,0,0,15.29,14.69,15.30
$GC,9502,-0.83,-97.3,1850,3942,3372,3271,890.9,-9.7,802,9511,0.00,2.05,0.00,0.000,1030,0.000,0.044,1851,2754,3321,3371,3271,0,0,0,0,0,0,14.98,14.92,15.00
$GC,9829,-0.83,-97.3,1851,2754,3371,3271,922.0,-9.6,816,9835,0.00,2.20,0.00,0.000,260,0.000,0.090,1851,3948,3321,3371,3271,0,0,0,0,0,0,15.30,14.65,15.32
$GC,10045,-0.83,-97.3,1850,3948,3371,3270,943.4,-9.9,858,10052,0.00,2.08,0.00,0.000,1030,0.000,0.044,1851,2746,3320,3370,3270,0,0,0,0,0,0,14.88,14.83,14.90
$GC,10386,-0.83,-97.3,1851,2746,3370,3270,973.1,-8.6,874,10390,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,2746,3319,3369,3270,0,0,0,0,0,0,15.23,15.26,15.26
$STATE,10623,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10623,begin apogee
$GC,10633,-0.21,0.0,1851,1716,3368,3269,991.9,-7.6,882,10728,0.75,0.00,89.45,2.092,10246,0.195,0.000,2056,1716,2968,3033,2904,0,0,0,0,0,0,14.45,14.46,13.45
$WARN,HPMAR missed fuel gauge read
$STATE,10741,end apogee,CONTROL_FINISHED_OK
$STATE,10741,begin climb
$GC,10745,0.83,97.3,2056,1716,3032,2901,994.7,0.0,885,10868,1.05,2.05,102.95,2.051,10756,0.107,0.075,2392,639,2568,2628,2508,0,0,0,0,0,0,14.48,14.29,13.34
$GC,10975,0.83,97.3,2391,639,2624,2506,980.0,10.0,931,10984,0.00,1.90,0.00,0.000,1030,0.000,0.043,2391,1739,2565,2624,2506,0,0,0,0,0,0,14.76,14.69,14.78
$GC,11298,0.83,97.3,2391,1739,2623,2501,948.3,9.8,944,11304,0.00,2.38,0.00,0.000,260,0.000,0.063,2392,3090,2563,2625,2501,0,0,0,0,0,0,15.21,14.83,15.21
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$STATE,21997,end climb,SURFACE_DEPTH_REACHED
$STATE,21998,begin surface coast
$STATE,22028,end surface coast,CONTROL_FINISHED_OK
$STATE,22028,begin surface
$SM_CCo,22051,158.02,0.668,1,0,930,500.17
$SM_GC,0.27,6.85,1.73,158.02,0.069,0.039,0.668,152,2731,930,-6.10,-1.67,500.17,0,0,0,0,1,0,14.97,15.02,14.28
$IRIDIUM_FIX,1357.43,14423.35,100120,153256
$TT8_MAMPS,0.019474,0.150549
$HUMID,47.36
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,26.60
$XPDR_PINGS,0
$SC_FREEKB,3703712
$PM_FREEKB_00,58040768
$PM_FREEKB_01,85563520
$PM_FREEKB_02,59195968
$PM_FREEKB_03,66952768
$PM_ACTIVECARD,3
$24V_AH,13.34,162.740
$10V_AH,12.53,0.000
$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,17.300,169.200,397.050,158.025,0.000,0.000,0.000,469.225,0.000,0.000,15.352,1646.445,14106.741,616.637,5942.159,698.989,0.000,2946.220,0.000,5080.611,0.000,0.553,0.000
$DEVICE_MAMPS,384.795,90.270,2092.275,667.845,0.000,0.000,0.000,194.310,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22059.000,22056.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.400,11.958,0.000,0.000
$MEM,270488
$DATA_FILE_SIZE,69934,1997
$CAP_FILE_SIZE,204740,0
$CFSIZE,260034560,196689920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.034,154.75,1
$GPS,110120,042900,1351.640,14423.010,29,0.8,29,0.4,0.2,0.0,10,6.0