version: 66.13
glider: 178
mission: 31
dive: 146
start: 11 5 119 23 59 15
data:
$ID,178
$MISSION,31
$DIVE,146
$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,200
$T_MISSION,240
$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,0.00223872
$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,2140
$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,26
$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
$GPS1,051119,235500,1413.7418,14410.2666,1,0.8,1,0.3,0.3,0.0,12,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.44
$_SM_ANGLEo,-57.0
$GPS2,051119,235827,1413.7335,14410.2559,2,0.8,4,0.3,0.5,259.5,12,6.8
$SPEED_LIMITS,0.173,0.239
$TGT_NAME,S
$TGT_LATLONG,1410.000,14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,165.2,6930,-17.3,-10.000,-22.67,2224
$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,17,-0.77,-146.0,153,2731,984,867,0.0,0.0,0,110,0.00,0.00,-88.70,0.005,16386,0.000,0.000,153,2731,3225,3246,3204,0,0,0,0,0,0,15.50,28.83,15.52
$GC,112,-0.77,-146.0,153,2732,3246,3204,4.5,-8.4,9,135,7.82,2.25,-5.93,0.022,18948,0.392,0.061,1879,1336,3565,3609,3521,0,0,0,0,0,0,15.04,14.32,15.23
$GC,363,-0.77,-146.0,1879,1336,3610,3521,84.5,-22.6,59,368,0.00,2.35,0.00,0.000,1030,0.000,0.054,1872,2752,3565,3610,3521,0,0,0,0,0,0,15.38,15.28,15.39
$GC,556,-0.77,-146.0,1872,2755,3610,3520,124.3,-19.1,79,563,0.00,1.98,0.00,0.000,260,0.000,0.080,1869,3950,3565,3611,3520,0,0,0,0,0,0,15.52,15.29,15.53
$GC,792,-0.77,-146.0,1869,3951,3610,3520,168.9,-15.4,125,798,0.00,1.90,0.00,0.000,1030,0.000,0.031,1869,2697,3566,3613,3520,0,0,0,0,0,0,15.42,15.39,15.43
$GC,986,-0.77,-146.0,1868,2692,3610,3519,197.3,-14.2,145,992,0.00,2.12,0.00,0.000,260,0.000,0.080,1861,3956,3562,3605,3519,0,0,0,0,0,0,15.53,15.30,15.54
$GC,1200,-0.77,-146.0,1861,3956,3610,3521,226.9,-12.1,187,1206,0.00,1.92,0.00,0.000,1030,0.000,0.031,1862,2707,3563,3610,3517,0,0,0,0,0,0,15.43,15.39,15.44
$GC,1414,-0.77,-146.0,1861,2701,3610,3515,253.7,-11.9,207,1417,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,2701,3563,3611,3516,0,0,0,0,0,0,15.54,15.57,15.55
$GC,1714,-0.77,-146.0,1861,2701,3610,3511,291.9,-11.9,217,1717,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,2701,3561,3611,3512,0,0,0,0,0,0,15.54,15.59,15.57
$GC,2013,-0.77,-146.0,1861,2701,3610,3508,327.0,-11.9,227,2019,0.00,2.12,0.00,0.000,260,0.000,0.084,1858,3954,3558,3610,3507,0,0,0,0,0,0,15.54,15.32,15.57
$GC,2120,-0.77,-146.0,1857,3954,3610,3504,339.5,-11.1,248,2127,0.12,1.88,0.00,0.000,3078,0.262,0.034,1885,2734,3557,3610,3504,0,0,0,0,0,0,15.10,15.39,15.30
$GC,2441,-0.77,-146.0,1885,2728,3610,3499,364.7,-7.6,261,2447,0.00,2.08,0.00,0.000,292,0.000,0.086,1885,3945,3554,3610,3498,0,0,0,0,0,0,15.54,15.31,15.56
$GC,2625,-0.77,-146.0,1885,3945,3611,3494,383.9,-10.3,297,2633,0.00,1.88,0.00,0.000,1030,0.000,0.035,1885,2727,3552,3610,3494,0,0,0,0,0,0,15.42,15.40,15.47
$GC,2961,-0.77,-146.0,1886,2726,3608,3491,411.9,-7.6,313,2968,0.00,2.15,0.00,0.000,548,0.000,0.048,1885,1388,3549,3608,3490,0,0,0,0,0,0,15.52,15.32,15.57
$GC,3123,-0.77,-146.0,1881,1388,3604,3490,425.6,-8.7,345,3129,0.00,2.30,0.00,0.000,1030,0.000,0.063,1885,2752,3548,3604,3492,0,0,0,0,0,0,15.41,15.31,15.42
$GC,3447,-0.77,-146.0,1885,2752,3602,3485,451.7,-7.5,359,3451,0.00,0.00,0.00,0.000,38,0.000,0.000,1885,2752,3543,3602,3485,0,0,0,0,0,0,15.52,15.55,15.54
$GC,3747,-0.77,-146.0,1885,2752,3595,3488,472.8,-7.0,369,3755,0.00,2.20,0.00,0.000,548,0.000,0.049,1885,1402,3540,3599,3481,0,0,0,0,0,0,15.52,15.31,15.54
$GC,3791,-0.77,-146.0,1885,1402,3599,3481,476.4,-8.1,377,3798,0.00,2.28,0.00,0.000,1030,0.000,0.064,1885,2749,3540,3599,3481,0,0,0,0,0,0,15.40,15.30,15.41
$GC,4115,-0.77,-146.0,1885,2750,3596,3478,503.5,-8.8,391,4119,0.00,0.00,0.00,0.000,6,0.000,0.000,1886,2749,3536,3595,3478,0,0,0,0,0,0,15.52,15.54,15.54
$GC,4416,-0.77,-146.0,1885,2749,3592,3476,528.6,-7.8,401,4419,0.00,0.00,0.00,0.000,38,0.000,0.000,1885,2749,3533,3592,3475,0,0,0,0,0,0,15.52,15.54,15.54
$GC,4716,-0.77,-146.0,1884,2749,3590,3473,548.0,-6.4,411,4721,0.00,2.22,0.00,0.000,548,0.000,0.049,1885,1398,3530,3589,3472,0,0,0,0,0,0,15.52,15.31,15.53
$GC,4809,-0.77,-146.0,1885,1397,3588,3472,554.9,-7.7,429,4816,0.00,2.30,0.00,0.000,1062,0.000,0.062,1886,2755,3530,3588,3473,0,0,0,0,0,0,15.38,15.28,15.40
$GC,5144,-0.77,-146.0,1885,2756,3585,3470,582.9,-8.8,445,5150,0.00,2.03,0.00,0.000,260,0.000,0.093,1885,3943,3528,3586,3470,0,0,0,0,0,0,15.50,15.26,15.52
$GC,5201,-0.77,-146.0,1885,3943,3585,3469,588.5,-9.4,456,5208,0.00,1.90,0.00,0.000,1030,0.000,0.044,1885,2786,3527,3586,3469,0,0,0,0,0,0,15.35,15.33,15.36
$STATE,5356,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5356,begin apogee
$GC,5363,-0.21,0.0,1887,1712,3583,3468,602.4,-8.9,462,5495,0.62,0.00,125.88,1.528,10246,0.197,0.000,2067,1712,2966,3040,2893,0,0,0,0,0,0,15.19,14.73,14.15
$STATE,5498,end apogee,CONTROL_FINISHED_OK
$STATE,5498,begin climb
$GC,5500,0.77,146.0,2067,1712,3041,2895,606.7,0.0,466,5645,0.98,1.95,134.48,1.480,10756,0.113,0.075,2381,646,2373,2442,2305,0,0,0,0,0,0,14.71,14.57,14.05
$GC,5846,0.77,146.0,2381,646,2433,2301,581.1,10.1,539,5853,0.00,1.77,0.00,0.000,1030,0.000,0.042,2381,1722,2366,2431,2301,0,0,0,0,0,0,15.09,15.02,15.10
$GC,6171,0.77,146.0,2381,1722,2432,2296,550.3,9.6,553,6176,0.00,2.33,0.00,0.000,260,0.000,0.069,2382,3092,2364,2432,2297,0,0,0,0,0,0,15.36,15.14,15.38
$GC,6212,0.77,146.0,2381,3094,2433,2295,545.7,10.5,561,6218,0.00,2.33,0.00,0.000,1030,0.000,0.045,2378,1704,2364,2433,2295,0,0,0,0,0,0,15.26,15.19,15.28
$GC,6536,0.77,146.0,2381,1705,2433,2294,512.8,10.3,575,6540,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1705,2363,2433,2294,0,0,0,0,0,0,15.42,15.45,15.44
$GC,6836,0.77,146.0,2381,1705,2432,2292,480.6,10.9,585,6840,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1705,2362,2433,2292,0,0,0,0,0,0,15.44,15.47,15.46
$GC,7136,0.77,146.0,2381,1706,2434,2290,449.0,10.1,595,7140,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1705,2361,2433,2290,0,0,0,0,0,0,15.45,15.47,15.45
$GC,7436,0.77,146.0,2381,1705,2433,2288,419.4,10.2,605,7440,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1705,2360,2430,2290,0,0,0,0,0,0,15.46,15.48,15.47
$GC,7736,0.77,146.0,2381,1705,2436,2288,388.8,10.0,615,7740,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1706,2359,2431,2288,0,0,0,0,0,0,15.46,15.48,15.48
$GC,8037,0.83,146.0,2381,1706,2430,2290,362.0,8.2,625,8043,0.00,1.85,0.00,0.000,580,0.000,0.076,2385,610,2359,2431,2287,0,0,0,0,0,0,15.45,15.22,15.47
$GC,8254,0.85,210.5,2382,609,2429,2289,345.4,7.0,667,8318,0.00,1.77,56.97,1.282,9254,0.000,0.041,2382,1709,2109,2182,2037,0,0,0,0,0,0,15.33,15.28,14.45
$GC,8645,0.85,210.5,2383,1708,2181,2028,303.9,12.3,695,8652,0.00,2.35,0.00,0.000,260,0.000,0.068,2383,3093,2103,2180,2027,0,0,0,0,0,0,15.33,15.11,15.35
$GC,8877,0.85,210.5,2383,3093,2180,2025,277.3,9.7,741,8885,0.00,2.35,0.00,0.000,1030,0.000,0.046,2384,1699,2102,2180,2025,0,0,0,0,0,0,15.24,15.17,15.27
$GC,9193,0.89,210.5,2383,1695,2180,2024,249.2,8.6,753,9199,0.15,2.38,0.00,0.000,2372,0.141,0.064,2436,3088,2102,2180,2024,0,0,0,0,0,0,15.21,15.19,15.28
$GC,9277,0.89,210.5,2437,3088,2180,2024,240.0,11.7,769,9283,0.00,2.33,0.00,0.000,1030,0.000,0.045,2443,1696,2102,2180,2024,0,0,0,0,0,0,15.29,15.21,15.30
$GC,9471,0.89,210.5,2443,1696,2180,2024,218.6,10.7,789,9474,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1700,2104,2181,2028,0,0,0,0,0,0,15.42,15.45,15.44
$GC,9652,0.89,210.5,2442,1695,2180,2022,197.8,11.1,807,9660,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1695,2104,2186,2023,0,0,0,0,0,0,15.42,15.44,15.44
$GC,9843,0.89,210.5,2442,1695,2186,2024,178.1,9.9,826,9850,0.00,2.40,0.00,0.000,260,0.000,0.064,2443,3089,2102,2180,2024,0,0,0,0,0,0,15.42,15.20,15.44
$GC,10010,0.89,210.5,2442,3089,2180,2023,160.8,10.0,859,10018,0.00,2.38,0.00,0.000,1030,0.000,0.047,2443,1696,2101,2180,2023,0,0,0,0,0,0,15.25,15.19,15.27
$GC,10198,0.95,210.5,2443,1697,2180,2023,142.0,8.2,878,10206,0.00,0.00,0.00,0.000,70,0.000,0.000,2443,1697,2100,2177,2024,0,0,0,0,0,0,15.42,15.44,15.44
$GC,10388,0.97,280.5,2443,1697,2180,2023,127.8,6.8,897,10457,0.00,1.85,60.10,0.961,8740,0.000,0.073,2443,639,1825,1908,1742,0,0,0,0,0,0,15.42,14.95,14.57
$GC,10632,0.99,333.7,2443,639,1902,1741,108.8,7.5,945,10687,0.00,1.73,47.28,0.907,9254,0.000,0.037,2442,1711,1607,1697,1518,0,0,0,0,0,0,15.17,15.11,14.51
$GC,10875,0.99,333.7,2440,1711,1702,1513,85.8,9.8,975,10882,0.00,2.30,0.00,0.000,260,0.000,0.060,2442,3084,1604,1696,1513,0,0,0,0,0,0,15.27,15.06,15.28
$GC,11111,1.04,333.7,2444,3084,1697,1512,63.8,8.3,1021,11117,0.00,2.30,0.00,0.000,1094,0.000,0.043,2443,1697,1603,1696,1511,0,0,0,0,0,0,15.23,15.16,15.25
$GC,11305,1.07,403.3,2443,1696,1696,1512,50.2,6.8,1041,11374,0.12,2.45,57.55,0.794,10532,0.151,0.057,2483,3089,1323,1417,1229,0,0,0,0,0,0,15.18,14.98,14.62
$GC,11601,1.07,403.3,2487,3088,1417,1226,18.8,11.4,1100,11608,0.00,2.35,0.00,0.000,1030,0.000,0.044,2487,1707,1324,1421,1227,0,0,0,0,0,0,15.16,15.12,15.19
$STATE,11755,end climb,SURFACE_DEPTH_REACHED
$STATE,11756,begin surface coast
$STATE,11777,end surface coast,CONTROL_FINISHED_OK
$STATE,11777,begin surface
$SM_CCo,11795,87.28,0.622,1,0,929,500.41
$SM_GC,0.31,6.70,1.75,87.28,0.073,0.053,0.622,158,2727,929,-6.13,-1.55,500.41,0,0,0,0,1,0,15.19,15.19,14.64
$IRIDIUM_FIX,1413.07,14409.64,051119,235153
$TT8_MAMPS,0.018725,0.156541
$HUMID,48.70
$INTERNAL_PRESSURE,9.00425
$TCM_TEMP,26.60
$XPDR_PINGS,1
$SC_FREEKB,3806208
$PM_FREEKB_00,58040768
$PM_FREEKB_01,105832256
$PM_FREEKB_02,124821056
$PM_FREEKB_03,124821056
$PM_ACTIVECARD,1
$24V_AH,14.05,60.529
$10V_AH,13.33,0.000
$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,16.525,80.525,482.250,87.275,0.000,0.000,0.000,0.000,0.250,0.000,15.597,924.158,7339.768,563.671,3009.438,156.561,0.000,1621.693,0.000,2815.833,0.000,0.554,0.000
$DEVICE_MAMPS,392.445,93.330,1528.470,621.945,0.000,0.000,0.000,0.000,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11768.000,11771.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.710,6.634,0.000,0.000
$MEM,270916
$DATA_FILE_SIZE,39970,1118
$CAP_FILE_SIZE,127765,0
$CFSIZE,260034560,234246144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.125,210.16,1
$GPS,061119,031848,1411.926,14410.266,29,1.1,29,0.3,0.2,0.0,7,9.1