version: 66.13
glider: 178
mission: 31
dive: 113
start: 10 29 119 5 38 27
data:
$ID,178
$MISSION,31
$DIVE,113
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$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,150
$T_MISSION,190
$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,250
$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,60
$R_STBD_OVSHOOT,67
$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
$GPS1,291019,051309,1412.2711,14408.8037,16,0.7,25,0.3,0.6,279.9,12,4.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.44
$_SM_ANGLEo,-55.2
$GPS2,291019,053737,1412.3594,14408.6836,2,0.7,4,0.3,0.3,0.0,12,10.0
$SPEED_LIMITS,0.231,0.332
$TGT_NAME,N
$TGT_LATLONG,1421.000,14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,32.7,16176,-17.1,-13.333,-21.90,2783
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.81,-243.3,145,2715,994,864,0.0,0.0,0,109,0.00,0.00,-88.53,0.005,16386,0.000,0.000,143,2715,3215,3260,3171,0,0,0,0,0,0,15.36,28.83,15.38
$GC,112,-0.81,-243.3,144,2715,3258,3172,4.4,-8.1,9,139,7.80,2.05,-12.27,0.012,18724,0.392,0.098,1849,3911,3962,4020,3904,0,0,0,0,0,0,14.98,14.58,15.16
$GC,365,-0.81,-243.3,1849,3910,4016,3904,112.6,-29.4,60,372,0.00,1.85,0.00,0.000,1030,0.000,0.032,1850,2745,3961,4019,3904,0,0,0,0,0,0,15.30,15.28,15.33
$GC,552,-0.81,-243.3,1849,2746,4020,3904,160.2,-22.4,79,556,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2746,3960,4019,3902,0,0,0,0,0,0,15.47,15.50,15.48
$GC,733,-0.81,-243.3,1849,2746,4020,3904,200.8,-21.9,97,740,0.00,1.98,0.00,0.000,260,0.000,0.075,1841,3914,3962,4020,3904,0,0,0,0,0,0,15.50,15.28,15.52
$GC,889,-0.81,-243.3,1841,3914,4019,3903,232.1,-17.2,127,895,0.00,1.80,0.00,0.000,1030,0.000,0.031,1841,2744,3961,4020,3903,0,0,0,0,0,0,15.38,15.35,15.40
$GC,1102,-0.81,-243.3,1840,2744,4019,3903,264.7,-15.0,143,1107,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,2744,3962,4021,3903,0,0,0,0,0,0,15.51,15.53,15.52
$GC,1402,-0.81,-243.3,1840,2744,4018,3900,310.8,-14.9,153,1406,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,2744,3958,4016,3900,0,0,0,0,0,0,15.52,15.54,15.54
$GC,1702,-0.81,-243.3,1842,2744,4015,3897,357.8,-15.4,163,1708,0.00,1.98,0.00,0.000,260,0.000,0.077,1841,3909,3956,4015,3897,0,0,0,0,0,0,15.53,15.33,15.54
$GC,1809,-0.81,-243.3,1840,3909,4015,3895,374.6,-14.2,184,1815,0.00,1.80,0.00,0.000,1030,0.000,0.036,1840,2756,3954,4015,3893,0,0,0,0,0,0,15.43,15.39,15.45
$GC,2127,-0.81,-243.3,1840,2761,4011,3892,418.8,-14.0,197,2134,0.00,2.25,0.00,0.000,516,0.000,0.044,1840,1359,3951,4011,3892,0,0,0,0,0,0,15.54,15.35,15.55
$GC,2164,-0.81,-243.3,1840,1362,4010,3892,424.3,-14.3,204,2170,0.00,2.25,0.00,0.000,1030,0.000,0.053,1841,2713,3951,4010,3892,0,0,0,0,0,0,15.42,15.34,15.43
$GC,2493,-0.81,-243.3,1839,2713,4006,3887,464.1,-11.4,219,2498,0.00,2.08,0.00,0.000,260,0.000,0.082,1840,3947,3944,4001,3887,0,0,0,0,0,0,15.54,15.32,15.56
$GC,2635,-0.81,-243.3,1840,3946,4001,3885,481.7,-12.8,247,2641,0.00,1.90,0.00,0.000,1030,0.000,0.038,1840,2748,3944,4005,3884,0,0,0,0,0,0,15.42,15.38,15.44
$GC,2949,-0.81,-243.3,1840,2748,4000,3880,516.2,-10.6,259,2955,0.00,2.05,0.00,0.000,292,0.000,0.083,1840,3947,3941,4001,3882,0,0,0,0,0,0,15.53,15.30,15.54
$GC,3012,-0.81,-243.3,1840,3948,4000,3881,523.3,-11.4,271,3018,0.00,1.90,0.00,0.000,1030,0.000,0.040,1840,2751,3940,4000,3881,0,0,0,0,0,0,15.42,15.38,15.43
$GC,3345,-0.81,-243.3,1840,2751,3995,3879,557.6,-10.0,287,3351,0.00,2.05,0.00,0.000,292,0.000,0.086,1840,3946,3937,3995,3879,0,0,0,0,0,0,15.53,15.30,15.57
$GC,3414,-0.81,-243.3,1840,3946,3995,3877,564.8,-11.0,300,3419,0.00,1.92,0.00,0.000,1062,0.000,0.041,1840,2746,3935,3995,3876,0,0,0,0,0,0,15.42,15.38,15.43
$GC,3742,-0.81,-243.3,1840,2747,3991,3874,598.3,-10.5,315,3748,0.00,2.28,0.00,0.000,548,0.000,0.047,1843,1352,3932,3991,3874,0,0,0,0,0,0,15.51,15.33,15.52
$STATE,3757,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3757,begin apogee
$GC,3763,-0.21,0.0,1840,1732,3990,3874,600.2,-10.4,318,3980,0.73,0.00,212.40,1.489,10246,0.202,0.000,2051,1732,2968,3046,2890,0,0,0,0,0,0,15.23,14.64,14.09
$STATE,3983,end apogee,CONTROL_FINISHED_OK
$STATE,3983,begin climb
$GC,3985,0.81,243.3,2051,1732,3046,2888,606.6,0.0,325,4219,1.05,2.00,220.20,1.459,10756,0.122,0.073,2382,656,1976,2065,1887,0,0,1,0,0,0,14.63,14.53,14.04
$GC,4448,0.81,243.3,2381,656,2055,1885,561.4,13.4,420,4454,0.00,1.75,0.00,0.000,1030,0.000,0.041,2381,1701,1970,2055,1885,0,0,0,0,0,0,15.07,15.06,15.09
$GC,4753,0.81,243.3,2381,1700,2055,1881,521.6,13.1,431,4758,0.00,1.80,0.00,0.000,516,0.000,0.075,2382,654,1968,2055,1881,0,0,0,0,0,0,15.36,15.14,15.38
$GC,4984,0.82,243.3,2381,654,2054,1879,491.6,12.7,477,4990,0.00,1.73,0.00,0.000,1094,0.000,0.041,2381,1696,1967,2054,1881,0,0,0,0,0,0,15.27,15.25,15.29
$GC,5298,0.88,243.3,2381,1698,2054,1879,454.9,11.4,489,5307,0.00,2.35,0.00,0.000,324,0.000,0.061,2381,3101,1965,2053,1878,0,0,0,0,0,0,15.44,15.23,15.46
$GC,5410,0.91,243.3,2381,3096,2053,1877,441.2,12.5,511,5420,0.12,2.30,0.00,0.000,3142,0.156,0.047,2426,1721,1965,2053,1877,0,0,0,0,0,0,15.24,15.25,15.33
$GC,5721,0.91,243.3,2426,1721,2054,1877,394.5,15.2,523,5724,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,1727,1965,2053,1877,0,0,0,0,0,0,15.47,15.49,15.48
$GC,6020,0.91,243.3,2423,1719,2053,1876,350.0,14.1,533,6026,0.00,1.90,0.00,0.000,516,0.000,0.080,2428,631,1962,2053,1872,0,0,0,0,0,0,15.47,15.25,15.50
$GC,6067,0.91,243.3,2429,631,2052,1876,342.8,15.0,542,6074,0.00,1.77,0.00,0.000,1030,0.000,0.041,2428,1706,1964,2052,1876,0,0,0,0,0,0,15.33,15.30,15.35
$GC,6387,0.94,243.3,2427,1707,2051,1876,301.4,12.4,555,6395,0.00,2.33,0.00,0.000,324,0.000,0.061,2428,3091,1963,2051,1875,0,0,0,0,0,0,15.48,15.28,15.50
$GC,6426,0.94,243.3,2427,3091,2051,1876,295.9,13.3,563,6432,0.00,2.33,0.00,0.000,1030,0.000,0.047,2432,1698,1963,2051,1875,0,0,0,0,0,0,15.35,15.28,15.38
$GC,6745,0.94,243.3,2432,1698,2051,1875,253.8,13.6,576,6751,0.00,1.80,0.00,0.000,516,0.000,0.078,2433,634,1962,2051,1874,0,0,0,0,0,0,15.48,15.26,15.50
$GC,6979,0.96,243.3,2432,634,2050,1875,223.7,12.4,622,6985,0.00,1.73,0.00,0.000,1094,0.000,0.041,2432,1711,1962,2050,1875,0,0,0,0,0,0,15.36,15.31,15.38
$GC,7174,1.02,243.3,2432,1712,2050,1875,199.0,11.5,642,7181,0.00,1.85,0.00,0.000,580,0.000,0.074,2432,636,1962,2049,1875,0,0,0,0,0,0,15.47,15.26,15.50
$GC,7300,1.07,367.8,2432,636,2057,1875,186.9,8.7,666,7420,0.12,1.70,109.25,1.064,11302,0.161,0.041,2475,1704,1469,1562,1376,0,0,0,0,0,0,15.24,15.30,14.38
$GC,7599,1.07,367.8,2474,1708,1561,1370,149.6,13.9,708,7604,0.00,2.35,0.00,0.000,260,0.000,0.057,2474,3087,1465,1561,1370,0,0,0,0,0,0,15.23,15.04,15.25
$GC,7833,1.10,367.8,2474,3087,1561,1369,116.9,12.3,754,7839,0.00,2.33,0.00,0.000,1094,0.000,0.045,2475,1698,1465,1561,1369,0,0,0,0,0,0,15.21,15.15,15.24
$GC,8028,1.13,459.1,2474,1697,1561,1368,96.0,10.0,774,8111,0.00,0.00,78.50,0.892,8486,0.000,0.000,2475,1697,1096,1195,997,0,0,0,0,0,0,15.38,14.92,14.51
$GC,8290,1.16,533.3,2475,1697,1195,992,66.9,10.6,801,8357,0.00,0.00,61.90,0.832,8486,0.000,0.000,2474,1698,795,901,689,0,0,0,0,0,0,15.27,14.82,14.51
$GC,8542,1.20,643.9,2474,1698,902,684,40.9,9.2,827,8609,0.12,2.40,58.35,0.771,10532,0.148,0.048,2521,3077,499,625,374,0,0,0,0,0,0,15.08,14.85,14.54
$GC,8675,1.20,643.9,2521,3077,623,373,23.3,13.2,853,8682,0.00,2.35,0.00,0.000,1030,0.000,0.042,2522,1708,498,623,373,0,0,0,0,0,0,15.03,14.99,15.06
$STATE,8830,end climb,SURFACE_DEPTH_REACHED
$STATE,8830,begin surface coast
$STATE,8851,end surface coast,CONTROL_FINISHED_OK
$STATE,8851,begin surface
$SM_CCo,8931,0.00,0.000,0,0,497,605.89
$SM_GC,0.36,6.88,1.75,0.00,0.076,0.053,0.000,155,2725,497,-6.10,-1.70,605.89,0,0,0,0,0,0,15.14,15.15,15.21
$IRIDIUM_FIX,1411.28,14411.44,291019,051823
$TT8_MAMPS,0.020223,0.161035
$HUMID,51.18
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,25.90
$XPDR_PINGS,0
$SC_FREEKB,3825024
$PM_FREEKB_00,58040768
$PM_FREEKB_01,123420608
$PM_FREEKB_02,124821056
$PM_FREEKB_03,124821056
$PM_ACTIVECARD,1
$24V_AH,14.04,47.634
$10V_AH,13.32,0.000
$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,16.825,69.250,740.600,0.000,0.000,0.000,0.000,1094.425,0.000,0.000,16.381,699.596,5340.847,649.048,3420.285,307.511,0.000,2662.830,0.000,2132.904,0.000,0.554,0.000
$DEVICE_MAMPS,391.680,97.920,1489.455,0.000,0.000,0.000,0.000,221.085,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8964.000,8868.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.185,5.419,0.000,0.000
$MEM,270812
$DATA_FILE_SIZE,30014,871
$CAP_FILE_SIZE,101192,0
$CFSIZE,260034560,239849472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.091,257.65,1
$GPS,291019,080830,1413.331,14409.308,20,1.0,20,0.3,0.5,289.0,8,6.8