version: 66.13
glider: 178
mission: 31
dive: 122
start: 10 30 119 23 37 38
data:
$ID,178
$MISSION,31
$DIVE,122
$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,35
$R_STBD_OVSHOOT,27
$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
$GPS1,301019,231830,1410.7046,14409.2256,23,0.9,23,0.3,0.5,322.1,10,5.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.42
$_SM_ANGLEo,-55.6
$GPS2,301019,233649,1410.7098,14408.9727,2,0.6,2,0.3,0.5,265.7,12,8.4
$SPEED_LIMITS,0.147,0.188
$TGT_NAME,N
$TGT_LATLONG,1421.000,14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,20.5,19146,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.81,-97.3,145,2732,987,870,0.0,0.0,0,109,0.00,0.00,-88.53,0.005,16386,0.000,0.000,145,2733,3265,3285,3245,0,0,0,0,0,0,15.25,28.83,15.26
$GC,111,-0.81,-97.3,145,2733,3285,3245,4.9,-9.6,9,128,7.78,2.10,-1.75,0.065,18692,0.390,0.099,1844,3950,3367,3396,3339,0,0,0,0,0,0,14.86,14.15,15.04
$GC,356,-0.81,-97.3,1844,3951,3396,3338,96.8,-32.4,57,362,0.00,1.95,0.00,0.000,1030,0.000,0.033,1845,2698,3366,3395,3338,0,0,0,0,0,0,15.26,15.23,15.28
$GC,550,-0.81,-97.3,1850,2697,3396,3338,139.3,-17.1,77,556,0.00,2.12,0.00,0.000,260,0.000,0.077,1838,3947,3366,3396,3337,0,0,0,0,0,0,15.41,15.20,15.43
$GC,784,-0.81,-97.3,1838,3947,3396,3338,178.4,-16.2,123,789,0.00,1.92,0.00,0.000,1030,0.000,0.030,1838,2729,3366,3396,3337,0,0,0,0,0,0,15.35,15.30,15.35
$GC,977,-0.81,-97.3,1838,2723,3396,3337,209.4,-15.1,143,983,0.00,2.08,0.00,0.000,260,0.000,0.076,1830,3949,3366,3395,3337,0,0,0,0,0,0,15.46,15.24,15.48
$GC,1121,-0.81,-97.3,1830,3949,3396,3336,230.7,-15.4,171,1128,0.15,1.90,0.00,0.000,3078,0.281,0.031,1864,2731,3366,3396,3337,0,0,0,0,0,0,15.15,15.33,15.32
$GC,1337,-0.81,-97.3,1862,2728,3396,3335,257.6,-11.7,189,1343,0.00,2.08,0.00,0.000,260,0.000,0.077,1858,3951,3366,3396,3336,0,0,0,0,0,0,15.48,15.25,15.50
$GC,1431,-0.81,-97.3,1857,3952,3393,3335,268.4,-11.0,207,1437,0.00,1.88,0.00,0.000,1030,0.000,0.031,1858,2738,3365,3396,3335,0,0,0,0,0,0,15.38,15.35,15.40
$GC,1764,-0.81,-97.3,1857,2731,3396,3331,298.5,-7.7,223,1770,0.00,2.17,0.00,0.000,516,0.000,0.049,1858,1385,3363,3396,3331,0,0,0,0,0,0,15.50,15.30,15.52
$GC,1977,-0.81,-97.3,1857,1385,3396,3329,317.3,-9.5,265,1983,0.00,2.28,0.00,0.000,1030,0.000,0.052,1856,2751,3365,3401,3329,0,0,0,0,0,0,15.38,15.30,15.40
$GC,2312,-0.81,-97.3,1855,2751,3396,3324,351.6,-10.5,281,2318,0.00,2.00,0.00,0.000,260,0.000,0.081,1856,3942,3362,3403,3322,0,0,0,0,0,0,15.51,15.27,15.53
$GC,2479,-0.81,-97.3,1855,3943,3397,3321,369.0,-9.7,314,2485,0.00,1.88,0.00,0.000,1030,0.000,0.034,1856,2751,3362,3403,3321,0,0,0,0,0,0,15.39,15.35,15.40
$GC,2798,-0.81,-97.3,1856,2744,3396,3315,397.7,-9.4,327,2804,0.00,2.22,0.00,0.000,516,0.000,0.050,1856,1382,3355,3396,3315,0,0,0,0,0,0,15.51,15.32,15.53
$GC,2964,-0.81,-97.3,1855,1377,3396,3312,416.3,-11.0,360,2970,0.00,2.33,0.00,0.000,1030,0.000,0.056,1856,2757,3353,3396,3311,0,0,0,0,0,0,15.38,15.30,15.41
$GC,3278,-0.81,-97.3,1855,2757,3396,3307,451.2,-11.5,372,3282,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,2757,3351,3396,3306,0,0,0,0,0,0,15.51,15.53,15.53
$GC,3578,-0.81,-97.3,1855,2757,3396,3301,481.2,-9.2,382,3582,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,2755,3348,3396,3301,0,0,0,0,0,0,15.51,15.54,15.52
$GC,3878,-0.81,-97.3,1855,2757,3395,3295,505.8,-7.7,392,3881,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,2757,3345,3395,3295,0,0,0,0,0,0,15.52,15.53,15.53
$GC,4178,-0.81,-97.3,1855,2757,3391,3293,529.5,-8.0,402,4184,0.00,2.00,0.00,0.000,260,0.000,0.085,1856,3943,3342,3392,3293,0,0,0,0,0,0,15.51,15.28,15.53
$GC,4303,-0.81,-97.3,1855,3943,3392,3291,540.6,-8.9,426,4308,0.00,1.90,0.00,0.000,1030,0.000,0.039,1856,2746,3340,3389,3292,0,0,0,0,0,0,15.40,15.36,15.44
$GC,4636,-0.81,-97.3,1855,2746,3388,3289,570.7,-9.4,442,4642,0.00,2.28,0.00,0.000,516,0.000,0.049,1858,1367,3339,3389,3289,0,0,0,0,0,0,15.50,15.28,15.52
$GC,4679,-0.81,-97.3,1855,1366,3388,3289,574.9,-9.3,450,4684,0.00,2.35,0.00,0.000,1030,0.000,0.058,1855,2753,3338,3388,3289,0,0,0,0,0,0,15.37,15.28,15.38
$GC,5002,-0.81,-97.3,1855,2748,3385,3286,604.2,-9.2,464,5006,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,2748,3336,3386,3286,0,0,0,0,0,0,15.48,15.50,15.50
$GC,5302,-0.81,-97.3,1855,2748,3384,3285,631.9,-9.2,474,5306,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,2748,3334,3384,3285,0,0,0,0,0,0,15.48,15.50,15.50
$GC,5602,-0.81,-97.3,1855,2748,3382,3285,658.5,-8.7,484,5608,0.00,2.33,0.00,0.000,516,0.000,0.049,1855,1367,3332,3382,3282,0,0,0,0,0,0,15.48,15.29,15.50
$GC,5710,-0.81,-97.3,1855,1366,3381,3282,668.2,-8.9,505,5717,0.00,2.35,0.00,0.000,1030,0.000,0.058,1855,2748,3331,3381,3282,0,0,0,0,0,0,15.36,15.27,15.38
$GC,6030,-0.81,-97.3,1855,2748,3380,3280,693.9,-7.8,518,6035,0.00,2.30,0.00,0.000,516,0.000,0.048,1852,1369,3330,3380,3280,0,0,0,0,0,0,15.49,15.28,15.50
$GC,6246,-0.81,-97.3,1855,1369,3378,3279,713.0,-8.7,561,6252,0.00,2.38,0.00,0.000,1030,0.000,0.059,1855,2758,3328,3376,3280,0,0,0,0,0,0,15.35,15.26,15.37
$GC,6575,-0.81,-97.3,1855,2758,3376,3279,741.8,-8.9,576,6579,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,2758,3327,3377,3277,0,0,0,0,0,0,15.48,15.50,15.49
$GC,6875,-0.81,-97.3,1855,2758,3376,3276,769.4,-9.3,586,6879,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,2759,3325,3375,3276,0,0,0,0,0,0,15.48,15.50,15.50
$GC,7175,-0.81,-97.3,1854,2761,3374,3275,796.9,-9.1,596,7179,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,2758,3324,3374,3275,0,0,0,0,0,0,15.47,15.50,15.50
$GC,7475,-0.81,-97.3,1855,2758,3373,3274,824.8,-9.2,606,7481,0.00,2.35,0.00,0.000,516,0.000,0.051,1855,1373,3323,3372,3274,0,0,0,0,0,0,15.47,15.26,15.49
$GC,7552,-0.81,-97.3,1855,1372,3372,3276,832.6,-9.2,621,7559,0.00,2.35,0.00,0.000,1030,0.000,0.060,1855,2754,3322,3372,3273,0,0,0,0,0,0,15.34,15.24,15.35
$GC,7872,-0.81,-97.3,1855,2749,3371,3273,859.6,-8.7,634,7880,0.00,2.30,0.00,0.000,516,0.000,0.050,1855,1376,3321,3371,3272,0,0,0,0,0,0,15.45,15.26,15.48
$GC,7976,-0.81,-97.3,1852,1376,3370,3273,869.5,-8.6,655,7982,0.00,2.35,0.00,0.000,1030,0.000,0.060,1861,2745,3321,3370,3273,0,0,0,0,0,0,15.33,15.23,15.35
$GC,8290,-0.81,-97.3,1855,2745,3369,3271,893.9,-8.1,667,8296,0.00,2.08,0.00,0.000,260,0.000,0.091,1855,3945,3320,3370,3271,0,0,0,0,0,0,15.45,15.21,15.47
$GC,8371,-0.81,-97.3,1855,3945,3369,3271,901.7,-8.7,683,8377,0.00,1.92,0.00,0.000,1030,0.000,0.045,1855,2770,3319,3369,3270,0,0,0,0,0,0,15.33,15.28,15.35
$GC,8685,-0.81,-97.3,1855,2769,3366,3270,925.2,-7.5,695,8693,0.00,2.38,0.00,0.000,516,0.000,0.052,1855,1343,3320,3370,3270,0,0,0,0,0,0,15.45,15.23,15.50
$GC,8745,-0.81,-97.3,1861,1343,3367,3270,930.5,-7.8,707,8753,0.00,2.42,0.00,0.000,1030,0.000,0.061,1855,2752,3318,3367,3270,0,0,0,0,0,0,15.28,15.21,15.32
$GC,9076,-0.81,-97.3,1855,2752,3367,3269,952.8,-6.8,723,9080,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,2752,3318,3368,3269,0,0,0,0,0,0,15.45,15.47,15.46
$GC,9376,-0.81,-97.3,1855,2752,3366,3268,971.9,-6.0,733,9382,0.00,2.08,0.00,0.000,292,0.000,0.093,1856,3950,3314,3365,3264,0,0,0,0,0,0,15.45,15.17,15.47
$GC,9470,-0.81,-97.3,1855,3950,3366,3268,978.6,-6.3,751,9476,0.00,1.98,0.00,0.000,1062,0.000,0.045,1857,2750,3316,3366,3267,0,0,0,0,0,0,15.33,15.27,15.35
$STATE,9711,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9711,begin apogee
$GC,9718,-0.21,0.0,1855,1701,3365,3267,990.6,-4.9,764,9808,0.70,0.00,84.88,2.065,10246,0.210,0.000,2053,1700,2968,3030,2906,0,0,0,0,0,0,15.07,14.61,13.90
$STATE,9811,end apogee,CONTROL_FINISHED_OK
$STATE,9811,begin climb
$GC,9813,0.81,97.3,2053,1701,3030,2904,991.5,0.0,767,9925,1.05,2.00,98.55,2.010,10756,0.120,0.078,2384,634,2571,2629,2513,0,0,0,0,0,0,14.59,14.35,13.71
$GC,9971,0.81,97.3,2384,634,2625,2512,977.3,12.1,800,9976,0.00,1.88,0.00,0.000,1030,0.000,0.043,2382,1726,2567,2624,2511,0,0,0,0,0,0,14.69,14.64,14.71
$GC,10289,0.81,97.3,2384,1726,2624,2504,939.8,11.8,813,10295,0.00,2.35,0.00,0.000,260,0.000,0.067,2384,3092,2564,2625,2504,0,0,0,0,0,0,15.15,14.97,15.19
$GC,10521,0.81,97.3,2384,3093,2624,2501,912.7,11.6,859,10527,0.00,2.40,0.00,0.000,1030,0.000,0.049,2384,1695,2563,2625,2501,0,0,0,0,0,0,15.14,15.05,15.16
$GC,10829,0.81,97.3,2384,1695,2624,2499,880.1,10.2,870,10833,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1695,2561,2624,2499,0,0,0,0,0,0,15.33,15.35,15.34
$GC,11128,0.81,97.3,2384,1695,2624,2498,852.0,8.9,880,11134,0.00,2.45,0.00,0.000,260,0.000,0.066,2384,3092,2561,2624,2498,0,0,0,0,0,0,15.35,15.14,15.38
$GC,11282,0.81,97.3,2384,3093,2624,2496,838.7,8.6,910,11288,0.00,2.40,0.00,0.000,1030,0.000,0.050,2383,1696,2561,2625,2497,0,0,0,0,0,0,15.23,15.16,15.26
$GC,11616,0.85,97.3,2386,1697,2624,2496,813.0,7.3,926,11622,0.00,1.83,0.00,0.000,580,0.000,0.080,2388,635,2560,2624,2496,0,0,0,0,0,0,15.39,15.15,15.40
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$STATE,20758,end climb,SURFACE_DEPTH_REACHED
$STATE,20758,begin surface coast
$STATE,20778,end surface coast,CONTROL_FINISHED_OK
$STATE,20778,begin surface
$SM_CCo,20797,138.38,0.662,1,0,927,500.17
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$IRIDIUM_FIX,1411.28,14411.44,301019,171522
$TT8_MAMPS,0.020223,0.158039
$HUMID,44.84
$INTERNAL_PRESSURE,8.95542
$TCM_TEMP,26.50
$XPDR_PINGS,0
$SC_FREEKB,3818304
$PM_FREEKB_00,58040768
$PM_FREEKB_01,118273344
$PM_FREEKB_02,124821056
$PM_FREEKB_03,124821056
$PM_ACTIVECARD,1
$24V_AH,13.71,51.271
$10V_AH,13.25,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.100,156.525,389.275,138.375,0.000,0.000,0.000,805.625,0.000,0.000,14.212,1511.616,13994.718,605.299,5528.199,405.991,0.000,3047.637,0.000,4406.252,0.000,0.553,0.000
$DEVICE_MAMPS,390.150,98.685,2064.735,662.490,0.000,0.000,0.000,220.320,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20856.000,20799.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.682,5.693,0.000,0.000
$MEM,270796
$DATA_FILE_SIZE,66646,1870
$CAP_FILE_SIZE,193253,0
$CFSIZE,260034560,237957120
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,113.27,0x23576e,0,24
$CURRENT,0.071,246.74,1
$GPS,311019,052800,1412.290,14408.982,25,0.8,25,0.3,0.2,258.5,9,7.9