version: 66.13
glider: 178
mission: 31
dive: 135
start: 11 3 119 7 46 39
data:
$ID,178
$MISSION,31
$DIVE,135
$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,36
$R_STBD_OVSHOOT,28
$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
$GPS1,031119,073531,1418.9668,14409.4902,38,0.8,45,0.3,0.2,200.6,10,6.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.36
$_SM_ANGLEo,-57.4
$GPS2,031119,074550,1418.9872,14409.4521,2,0.6,3,0.2,0.4,259.9,12,8.0
$SPEED_LIMITS,0.147,0.188
$TGT_NAME,S
$TGT_LATLONG,1410.000,14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,160.0,16673,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.81,-97.3,155,2721,986,866,0.0,0.0,0,109,0.00,0.00,-88.25,0.005,16386,0.000,0.000,156,2721,3208,3231,3185,0,0,0,0,0,0,15.26,28.83,15.28
$GC,111,-0.81,-97.3,156,2721,3232,3182,4.6,-9.0,9,129,7.85,2.25,-2.78,0.043,18948,0.391,0.058,1855,1336,3366,3401,3332,0,0,0,0,0,0,14.86,14.43,15.03
$GC,355,-0.81,-97.3,1855,1335,3401,3332,83.2,-25.1,58,362,0.00,2.42,0.00,0.000,1030,0.000,0.054,1847,2751,3366,3401,3332,0,0,0,0,0,0,15.21,15.13,15.21
$GC,542,-0.81,-97.3,1847,2756,3401,3332,119.1,-16.5,77,548,0.00,2.33,0.00,0.000,516,0.000,0.044,1847,1333,3366,3401,3332,0,0,0,0,0,0,15.43,15.20,15.42
$GC,636,-0.81,-97.3,1846,1333,3401,3332,133.5,-17.3,95,645,0.00,2.38,0.00,0.000,1030,0.000,0.052,1838,2754,3366,3401,3332,0,0,0,0,0,0,15.30,15.21,15.30
$GC,826,-0.81,-97.3,1837,2754,3400,3332,168.3,-16.7,115,832,0.00,2.00,0.00,0.000,260,0.000,0.076,1829,3954,3366,3401,3332,0,0,0,0,0,0,15.45,15.22,15.46
$GC,1061,-0.81,-97.3,1828,3954,3401,3332,206.6,-13.2,161,1068,0.15,1.92,0.00,0.000,3078,0.288,0.030,1861,2694,3366,3401,3332,0,0,0,0,0,0,15.12,15.33,15.30
$GC,1256,-0.81,-97.3,1860,2693,3401,3332,228.9,-11.5,181,1262,0.00,2.12,0.00,0.000,260,0.000,0.078,1860,3944,3370,3408,3332,0,0,0,0,0,0,15.47,15.24,15.49
$GC,1455,-0.81,-97.3,1859,3944,3401,3335,252.6,-9.7,220,1462,0.00,1.92,0.00,0.000,1030,0.000,0.031,1860,2703,3366,3401,3331,0,0,0,0,0,0,15.38,15.34,15.39
$GC,1775,-0.81,-97.3,1859,2694,3401,3329,288.2,-11.0,233,1778,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,2694,3365,3401,3329,0,0,0,0,0,0,15.50,15.52,15.52
$GC,2074,-0.81,-97.3,1859,2694,3401,3327,322.5,-12.1,243,2080,0.00,2.12,0.00,0.000,516,0.000,0.047,1860,1383,3364,3401,3327,0,0,0,0,0,0,15.50,15.30,15.52
$GC,2186,-0.81,-97.3,1859,1384,3401,3326,335.8,-11.5,265,2193,0.00,2.28,0.00,0.000,1030,0.000,0.052,1859,2753,3363,3401,3325,0,0,0,0,0,0,15.38,15.30,15.40
$GC,2501,-0.81,-97.3,1859,2752,3401,3321,366.3,-8.1,277,2507,0.00,2.25,0.00,0.000,516,0.000,0.045,1860,1379,3361,3401,3321,0,0,0,0,0,0,15.51,15.31,15.53
$GC,2685,-0.81,-97.3,1859,1379,3401,3319,381.5,-8.0,313,2692,0.00,2.30,0.00,0.000,1030,0.000,0.052,1860,2756,3360,3401,3319,0,0,0,0,0,0,15.38,15.30,15.40
$GC,3021,-0.81,-97.3,1859,2756,3401,3312,408.4,-8.0,329,3024,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,2756,3358,3402,3314,0,0,0,0,0,0,15.50,15.52,15.52
$GC,3320,-0.81,-97.3,1859,2756,3401,3308,432.9,-7.5,339,3326,0.00,2.00,0.00,0.000,260,0.000,0.083,1858,3943,3354,3401,3308,0,0,0,0,0,0,15.51,15.27,15.52
$GC,3542,-0.81,-97.3,1859,3943,3401,3304,450.0,-7.0,383,3548,0.00,1.88,0.00,0.000,1030,0.000,0.037,1860,2754,3354,3404,3304,0,0,0,0,0,0,15.40,15.36,15.41
$GC,3866,-0.81,-97.3,1860,2753,3401,3299,474.7,-8.5,397,3869,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,2753,3350,3402,3299,0,0,0,0,0,0,15.50,15.53,15.52
$GC,4166,-0.81,-97.3,1859,2753,3397,3297,503.5,-9.4,407,4170,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,2753,3347,3398,3297,0,0,0,0,0,0,15.52,15.53,15.52
$GC,4465,-0.81,-97.3,1857,2753,3395,3294,528.3,-8.0,417,4472,0.00,2.25,0.00,0.000,516,0.000,0.046,1860,1370,3344,3395,3294,0,0,0,0,0,0,15.50,15.30,15.52
$GC,4553,-0.81,-97.3,1857,1370,3392,3294,535.9,-8.5,434,4560,0.00,2.38,0.00,0.000,1030,0.000,0.055,1860,2749,3343,3392,3294,0,0,0,0,0,0,15.32,15.26,15.35
$GC,4860,-0.81,-97.3,1859,2748,3392,3291,563.1,-9.3,445,4866,0.00,2.05,0.00,0.000,260,0.000,0.089,1860,3951,3341,3392,3291,0,0,0,0,0,0,15.50,15.26,15.52
$GC,4993,-0.81,-97.3,1859,3950,3392,3290,576.7,-10.1,471,4999,0.00,1.90,0.00,0.000,1030,0.000,0.038,1860,2757,3341,3392,3290,0,0,0,0,0,0,15.39,15.35,15.39
$GC,5317,-0.81,-97.3,1859,2757,3389,3288,601.3,-6.9,485,5324,0.00,2.30,0.00,0.000,516,0.000,0.047,1861,1363,3338,3389,3288,0,0,0,0,0,0,15.50,15.29,15.52
$GC,5374,-0.81,-97.3,1859,1363,3388,3287,605.5,-7.0,496,5381,0.00,2.40,0.00,0.000,1030,0.000,0.058,1859,2747,3337,3388,3287,0,0,0,0,0,0,15.30,15.24,15.34
$GC,5681,-0.81,-97.3,1859,2747,3387,3284,626.6,-6.9,507,5687,0.00,2.30,0.00,0.000,516,0.000,0.046,1859,1364,3336,3386,3286,0,0,0,0,0,0,15.50,15.29,15.52
$GC,5723,-0.81,-97.3,1859,1364,3386,3288,629.7,-7.1,515,5731,0.00,2.38,0.00,0.000,1030,0.000,0.059,1863,2756,3336,3386,3286,0,0,0,0,0,0,15.35,15.26,15.38
$GC,6044,-0.81,-97.3,1859,2756,3384,3284,650.9,-6.8,529,6048,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,2756,3334,3384,3284,0,0,0,0,0,0,15.50,15.51,15.50
$GC,6344,-0.81,-97.3,1865,2756,3382,3282,673.1,-7.7,539,6350,0.00,2.33,0.00,0.000,516,0.000,0.047,1859,1360,3332,3382,3282,0,0,0,0,0,0,15.50,15.28,15.51
$GC,6396,-0.81,-97.3,1859,1360,3382,3282,677.6,-8.5,549,6403,0.00,2.38,0.00,0.000,1030,0.000,0.060,1859,2750,3332,3382,3282,0,0,0,0,0,0,15.35,15.26,15.37
$GC,6710,-0.81,-97.3,1863,2749,3381,3280,704.3,-8.8,561,6714,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,2749,3330,3381,3280,0,0,0,0,0,0,15.47,15.50,15.50
$GC,7010,-0.81,-97.3,1859,2750,3379,3278,730.7,-8.9,571,7016,0.00,2.33,0.00,0.000,516,0.000,0.047,1859,1359,3328,3379,3278,0,0,0,0,0,0,15.47,15.26,15.49
$GC,7113,-0.81,-97.3,1859,1357,3382,3278,740.2,-8.8,591,7119,0.00,2.40,0.00,0.000,1030,0.000,0.059,1859,2757,3328,3378,3278,0,0,0,0,0,0,15.34,15.24,15.36
$GC,7431,-0.81,-97.3,1859,2757,3377,3283,766.7,-8.2,604,7435,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,2757,3327,3378,3276,0,0,0,0,0,0,15.47,15.49,15.47
$GC,7732,-0.81,-97.3,1859,2757,3376,3276,790.2,-8.0,614,7738,0.00,2.35,0.00,0.000,516,0.000,0.047,1859,1359,3325,3375,3276,0,0,0,0,0,0,15.46,15.26,15.48
$GC,7785,-0.81,-97.3,1859,1358,3373,3276,794.6,-6.6,624,7795,0.00,2.40,0.00,0.000,1030,0.000,0.060,1859,2756,3325,3374,3276,0,0,0,0,0,0,15.33,15.23,15.33
$GC,8095,-0.81,-97.3,1859,2755,3375,3275,820.1,-8.3,636,8101,0.00,2.05,0.00,0.000,260,0.000,0.093,1859,3946,3325,3375,3275,0,0,0,0,0,0,15.46,15.21,15.47
$GC,8292,-0.81,-97.3,1859,3943,3375,3273,837.8,-8.4,675,8297,0.00,1.95,0.00,0.000,1030,0.000,0.044,1859,2754,3324,3375,3274,0,0,0,0,0,0,15.34,15.30,15.36
$GC,8610,-0.81,-97.3,1859,2753,3373,3273,860.2,-6.7,688,8614,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,2755,3323,3373,3273,0,0,0,0,0,0,15.46,15.47,15.47
$GC,8911,-0.81,-97.3,1858,2753,3372,3272,877.5,-5.5,698,8916,0.00,2.33,0.00,0.000,548,0.000,0.049,1859,1352,3322,3372,3273,0,0,0,0,0,0,15.46,15.23,15.46
$GC,9054,-0.81,-97.3,1859,1347,3372,3272,886.2,-5.4,726,9060,0.00,2.42,0.00,0.000,1062,0.000,0.060,1859,2750,3321,3371,3272,0,0,0,0,0,0,15.32,15.21,15.33
$GC,9369,-0.81,-97.3,1859,2750,3371,3271,901.9,-5.3,738,9373,0.00,0.00,0.00,0.000,38,0.000,0.000,1856,2750,3320,3371,3270,0,0,0,0,0,0,15.45,15.47,15.47
$GC,9669,-0.81,-97.3,1859,2750,3370,3270,919.9,-6.2,748,9673,0.00,0.00,0.00,0.000,38,0.000,0.000,1859,2750,3320,3370,3270,0,0,0,0,0,0,15.45,15.50,15.47
$GC,9969,-0.81,-97.3,1859,2750,3369,3268,941.1,-7.3,758,9972,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,2750,3319,3369,3270,0,0,0,0,0,0,15.45,15.47,15.47
$GC,10268,-0.81,-97.3,1859,2750,3368,3270,963.4,-7.4,768,10272,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,2750,3318,3368,3269,0,0,0,0,0,0,15.46,15.47,15.47
$GC,10569,-0.81,-97.3,1859,2750,3367,3269,985.0,-7.0,778,10575,0.00,2.10,0.00,0.000,260,0.000,0.096,1859,3949,3318,3367,3269,0,0,0,0,0,0,15.44,15.17,15.46
$STATE,10623,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10624,begin apogee
$GC,10632,-0.21,0.0,1860,1714,3367,3268,990.1,-7.4,789,10722,0.68,0.00,84.53,2.072,10246,0.209,0.000,2050,1714,2969,3031,2907,0,0,0,0,0,0,15.07,14.60,13.88
$STATE,10732,end apogee,CONTROL_FINISHED_OK
$STATE,10732,begin climb
$GC,10734,0.81,97.3,2050,1714,3032,2905,992.1,0.0,792,10847,1.05,1.95,99.40,2.039,10756,0.118,0.073,2382,639,2569,2627,2512,0,0,0,0,0,0,14.60,14.26,13.67
$GC,10913,0.81,97.3,2382,639,2623,2509,979.5,10.2,831,10919,0.00,1.85,0.00,0.000,1030,0.000,0.044,2382,1723,2566,2623,2509,0,0,0,0,0,0,14.73,14.68,14.75
$GC,11232,0.81,97.3,2382,1724,2623,2502,948.1,10.0,844,11238,0.00,2.38,0.00,0.000,260,0.000,0.067,2382,3092,2562,2623,2501,0,0,0,0,0,0,15.17,14.96,15.19
$GC,11315,0.81,97.3,2382,3092,2623,2500,939.8,10.6,860,11321,0.00,2.40,0.00,0.000,1030,0.000,0.048,2382,1694,2561,2622,2501,0,0,0,0,0,0,15.09,15.02,15.11
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$STATE,21549,end climb,SURFACE_DEPTH_REACHED
$STATE,21549,begin surface coast
$STATE,21580,end surface coast,CONTROL_FINISHED_OK
$STATE,21580,begin surface
$SM_CCo,21601,115.43,0.654,1,0,928,500.17
$SM_GC,0.42,6.70,1.75,115.43,0.073,0.047,0.654,155,2729,928,-6.10,-1.72,500.17,0,0,0,0,1,0,15.17,15.20,14.53
$IRIDIUM_FIX,1417.59,14411.44,031119,012146
$TT8_MAMPS,0.020223,0.156541
$HUMID,44.95
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,26.80
$XPDR_PINGS,0
$SC_FREEKB,3812224
$PM_FREEKB_00,58040768
$PM_FREEKB_01,111212736
$PM_FREEKB_02,124821056
$PM_FREEKB_03,124821056
$PM_ACTIVECARD,1
$24V_AH,13.67,56.474
$10V_AH,13.23,0.000
$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,16.675,153.125,424.525,115.425,0.000,0.000,0.000,404.375,0.000,0.000,15.213,1498.641,14811.952,614.262,5057.105,364.076,0.000,2614.380,0.000,4337.673,0.000,0.551,0.000
$DEVICE_MAMPS,390.915,95.625,2072.385,654.075,0.000,0.000,0.000,194.310,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21597.000,21602.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.188,6.176,0.000,0.000
$MEM,270864
$DATA_FILE_SIZE,59904,1746
$CAP_FILE_SIZE,187326,0
$CFSIZE,260034560,235753472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.105,201.11,1
$GPS,031119,135000,1415.773,14409.826,25,0.9,25,0.3,0.4,252.4,9,3.8