version: 66.13
glider: 178
mission: 31
dive: 4
start: 10 3 119 5 8 32
data:
$ID,178
$MISSION,31
$DIVE,4
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,360
$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,120
$T_MISSION,160
$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,150
$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,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-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,2200
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,27
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,625
$ROLL_MAX,3950
$ROLL_DEG,40
$C_ROLL_DIVE,2800
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$R_STBD_OVSHOOT,47
$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,0
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$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
$GPS1,031019,050426,1323.7284,14436.3740,1,0.7,2,0.6,0.3,175.9,11,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-56.5
$GPS2,031019,050745,1323.6875,14436.3691,2,0.7,3,0.6,0.3,191.9,11,5.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,WEST
$TGT_LATLONG,1326.000,14431.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,338.3,10578,-18.2,-10.000,-21.02,2236
$D_GRID,761
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.73,-146.0,156,2810,990,862,0.0,0.0,0,119,0.00,0.00,-99.20,0.005,16390,0.000,0.000,156,2810,3565,3605,3526,0,0,0,0,0,0,15.69,14.59,15.68
$GC,122,-0.73,-146.0,156,2810,3606,3526,6.7,-13.2,10,140,8.55,1.83,0.00,0.000,2308,0.429,0.066,1949,3935,3566,3607,3525,0,0,0,0,0,0,15.26,15.44,15.50
$GC,325,-0.67,-146.0,1948,3935,3612,3519,64.8,-19.0,51,334,0.10,1.77,0.00,0.000,3206,0.239,0.036,1977,2781,3565,3613,3518,0,0,0,0,0,0,15.36,15.52,15.47
$GC,515,-0.72,-146.0,1976,2781,3613,3516,92.4,-15.0,70,520,0.00,1.90,0.00,0.000,388,0.000,0.085,1971,3930,3564,3613,3516,0,0,0,0,0,0,15.69,15.46,15.70
$GC,699,-0.77,-146.0,1973,3930,3613,3516,120.5,-12.7,106,704,0.00,1.70,0.00,0.000,1158,0.000,0.036,1971,2786,3564,3613,3516,0,0,0,0,0,0,15.59,15.54,15.59
$GC,894,-0.88,-146.0,1971,2785,3609,3516,141.5,-9.9,126,901,0.15,2.10,0.00,0.000,4772,0.134,0.041,1911,1441,3564,3614,3515,0,0,0,0,0,0,15.47,15.50,15.53
$GC,989,-0.88,-146.0,1911,1440,3614,3515,154.2,-13.9,144,994,0.00,2.20,0.00,0.000,1030,0.000,0.060,1912,2787,3564,3614,3515,0,0,0,0,0,0,15.56,15.48,15.58
$GC,1182,-0.93,-146.0,1911,2787,3614,3517,177.6,-13.8,164,1188,0.00,1.90,0.00,0.000,388,0.000,0.086,1906,3949,3564,3614,3514,0,0,0,0,0,0,15.71,15.47,15.71
$GC,1418,-0.98,-146.0,1906,3949,3615,3515,201.9,-9.5,210,1424,0.00,1.70,0.00,0.000,1190,0.000,0.036,1906,2796,3564,3614,3514,0,0,0,0,0,0,15.59,15.55,15.60
$GC,1614,-1.07,-146.0,1905,2791,3614,3513,215.8,-7.7,230,1620,0.15,1.92,0.00,0.000,4516,0.133,0.085,1841,3942,3563,3614,3512,0,0,0,0,0,0,15.49,15.46,15.53
$GC,1849,-1.02,-146.0,1840,3943,3614,3511,244.4,-11.9,276,1855,0.12,1.70,0.00,0.000,3206,0.282,0.038,1867,2813,3562,3614,3511,0,0,0,0,0,0,15.38,15.54,15.54
$GC,2053,-1.06,-146.0,1866,2811,3614,3509,268.9,-12.7,287,2059,0.00,1.90,0.00,0.000,388,0.000,0.089,1863,3951,3561,3614,3508,0,0,0,0,0,0,15.69,15.46,15.71
$GC,2259,-1.06,-146.0,1863,3951,3614,3505,290.4,-11.2,328,2266,0.00,1.80,0.00,0.000,1030,0.000,0.037,1863,2810,3559,3614,3504,0,0,0,0,0,0,15.54,15.52,15.56
$GC,2567,-1.13,-146.0,1862,2804,3612,3500,328.0,-12.4,339,2572,0.00,2.22,0.00,0.000,644,0.000,0.051,1862,1405,3555,3612,3499,0,0,0,0,0,0,15.71,15.48,15.70
$GC,2729,-1.20,-146.0,1862,1405,3607,3499,345.1,-9.6,371,2737,0.15,2.33,0.00,0.000,5286,0.145,0.066,1810,2806,3554,3609,3499,0,0,0,0,0,0,15.47,15.47,15.54
$STATE,2868,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2868,begin apogee
$GC,2874,-0.19,0.0,1810,2000,3608,3497,360.8,-11.4,379,3008,1.12,0.00,128.12,1.206,10246,0.230,0.000,2132,2000,2968,3051,2886,0,0,0,0,0,0,15.36,15.07,14.56
$STATE,3017,end apogee,CONTROL_FINISHED_OK
$STATE,3017,begin climb
$GC,3019,0.73,146.0,2132,2000,3051,2882,362.2,0.0,383,3159,0.88,0.00,133.38,1.167,10758,0.097,0.000,2434,2000,2372,2455,2290,0,0,0,0,0,0,15.07,14.97,14.51
$GC,3441,0.66,146.0,2434,2000,2452,2279,309.6,15.0,418,3446,0.00,2.25,0.00,0.000,644,0.000,0.080,2436,649,2365,2453,2278,0,0,0,0,0,0,15.55,15.35,15.57
$GC,3673,0.58,146.0,2435,649,2446,2279,278.9,12.0,464,3684,0.20,2.22,0.00,0.000,5254,0.272,0.051,2388,2026,2361,2445,2278,0,0,0,0,0,0,15.30,15.42,15.47
$GC,3984,0.60,192.1,2388,2026,2446,2275,252.4,7.9,476,4033,0.00,2.38,39.38,1.144,8740,0.000,0.080,2389,654,2186,2274,2098,0,0,0,0,0,0,15.64,15.21,14.79
$GC,4260,0.65,192.1,2389,655,2263,2098,225.2,11.0,531,4267,0.00,2.22,0.00,0.000,1158,0.000,0.052,2389,1997,2179,2262,2096,0,0,0,0,0,0,15.42,15.37,15.44
$GC,4448,0.71,237.0,2389,1997,2263,2094,208.0,7.9,550,4497,0.12,2.42,40.38,1.116,10660,0.158,0.080,2435,3401,2000,2090,1910,0,0,0,0,0,0,15.40,15.14,14.76
$GC,4541,0.67,237.0,2434,3402,2090,1906,198.3,12.3,568,4547,0.00,2.30,0.00,0.000,1158,0.000,0.050,2435,2002,1998,2090,1907,0,0,0,0,0,0,15.33,15.26,15.35
$GC,4735,0.67,240.6,2435,2006,2090,1902,177.7,9.8,588,4746,0.00,2.33,4.03,0.718,8740,0.000,0.081,2435,629,1986,2080,1893,0,0,0,0,0,0,15.55,15.28,14.85
$GC,4972,0.67,240.6,2434,628,2075,1893,149.1,10.7,635,4979,0.00,2.28,0.00,0.000,1030,0.000,0.050,2435,2001,1983,2074,1893,0,0,0,0,0,0,15.43,15.40,15.46
$GC,5160,0.73,299.6,2434,2001,2075,1892,134.9,7.3,654,5219,0.00,2.35,51.58,1.055,8868,0.000,0.077,2435,638,1745,1834,1656,0,0,0,0,0,0,15.61,15.11,14.73
$GC,5446,0.83,356.2,2434,638,1826,1656,110.2,7.4,711,5504,0.08,2.25,48.67,1.039,11430,0.111,0.049,2472,2000,1515,1607,1423,0,0,0,0,0,0,15.31,15.33,14.67
$GC,5684,0.92,391.2,2471,2000,1608,1417,88.8,8.4,740,5723,0.00,2.35,30.25,0.974,8868,0.000,0.078,2471,646,1373,1466,1280,0,0,0,0,0,0,15.49,15.14,14.76
$GC,5949,1.07,432.2,2472,645,1460,1281,63.9,8.1,793,5996,0.17,2.22,34.78,0.915,11430,0.091,0.047,2545,1994,1205,1297,1114,0,0,0,0,0,0,15.33,15.33,14.81
$GC,6176,1.12,432.2,2546,1995,1297,1110,37.1,14.1,820,6182,0.00,2.28,0.00,0.000,644,0.000,0.075,2546,637,1204,1297,1111,0,0,0,0,0,0,15.52,15.30,15.53
$GC,6411,1.18,432.2,2545,637,1296,1111,5.5,12.5,866,6417,0.00,2.20,0.00,0.000,1158,0.000,0.045,2546,2008,1203,1296,1111,0,0,0,0,0,0,15.45,15.39,15.47
$STATE,6432,end climb,SURFACE_DEPTH_REACHED
$STATE,6433,begin surface coast
$STATE,6453,end surface coast,CONTROL_FINISHED_OK
$STATE,6453,begin surface
$SM_CCo,6470,65.68,0.668,1,0,929,500.17
$SM_GC,0.57,6.95,1.30,65.68,0.095,0.061,0.668,158,2793,929,-6.34,-1.10,500.17,0,0,0,0,1,0,15.37,15.39,14.87
$IRIDIUM_FIX,1319.85,14439.59,031019,050120
$TT8_MAMPS,0.019474,0.163282
$HUMID,52.91
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,26.80
$XPDR_PINGS,0
$SC_FREEKB,3875808
$PM_FREEKB_00,124646272
$PM_FREEKB_01,124821056
$PM_FREEKB_02,124821056
$PM_FREEKB_03,124821056
$PM_ACTIVECARD,0
$24V_AH,14.51,3.761
$10V_AH,13.74,0.000
$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,18.750,61.625,510.550,65.675,0.000,0.000,0.000,0.000,0.000,0.000,14.883,700.704,3036.508,539.840,2274.944,91.831,0.000,1375.161,0.000,2134.477,0.000,0.556,0.000
$DEVICE_MAMPS,429.165,88.740,1206.405,667.845,0.000,0.000,0.000,0.000,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6444.000,6447.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.284,4.654,0.000,0.000
$MEM,271148
$DATA_FILE_SIZE,30029,871
$CAP_FILE_SIZE,102970,0
$CFSIZE,260034560,257454080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.090,151.41,1
$GPS,031019,065839,1324.340,14436.578,5,1.0,12,0.6,0.6,145.0,7,5.0