version: 66.13
glider: 178
mission: 31
dive: 245
start: 12 1 119 18 48 42
data:
$ID,178
$MISSION,31
$DIVE,245
$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,0.0019952599
$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,29
$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
$GPS1,011219,183500,1420.3937,14410.4316,21,0.7,21,0.2,0.8,297.3,11,3.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-55.7
$GPS2,011219,184751,1420.3219,14410.3545,2,0.6,4,0.2,0.5,344.5,12,3.7
$SPEED_LIMITS,0.147,0.187
$TGT_NAME,S
$TGT_LATLONG,1410.000,14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,174.3,19127,-17.9,-8.462,-24.29,1747
$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,-0.78,-97.3,129,2732,986,867,0.0,0.0,0,109,0.00,0.00,-87.82,0.005,16386,0.000,0.000,126,2732,3196,3219,3173,0,0,0,0,0,0,15.24,28.83,15.26
$GC,112,-0.78,-97.3,126,2733,3218,3173,4.3,-8.4,9,133,8.23,2.30,-2.95,0.040,18948,0.392,0.062,1859,1339,3364,3398,3331,0,0,0,0,0,0,14.71,14.22,14.93
$GC,366,-0.78,-97.3,1862,1340,3399,3330,82.4,-22.2,59,375,0.00,2.40,0.00,0.000,1030,0.000,0.055,1857,2751,3364,3399,3330,0,0,0,0,0,0,15.17,15.07,15.19
$GC,557,-0.78,-97.3,1857,2749,3399,3330,121.0,-19.0,79,563,0.00,2.05,0.00,0.000,260,0.000,0.079,1848,3955,3364,3399,3330,0,0,0,0,0,0,15.35,15.06,15.39
$GC,793,-0.78,-97.3,1847,3955,3399,3330,162.2,-18.1,125,799,0.00,1.95,0.00,0.000,1030,0.000,0.030,1847,2700,3364,3399,3330,0,0,0,0,0,0,15.27,15.23,15.28
$GC,989,-0.78,-97.3,1847,2694,3399,3330,191.6,-13.7,145,995,0.00,2.15,0.00,0.000,260,0.000,0.077,1843,3947,3364,3399,3329,0,0,0,0,0,0,15.41,15.12,15.43
$GC,1076,-0.78,-97.3,1843,3947,3399,3327,204.1,-12.5,162,1083,0.00,1.90,0.00,0.000,1030,0.000,0.031,1842,2735,3364,3399,3330,0,0,0,0,0,0,15.23,15.21,15.25
$GC,1264,-0.78,-97.3,1843,2735,3399,3330,227.1,-11.8,181,1271,0.00,2.15,0.00,0.000,516,0.000,0.043,1839,1399,3364,3399,3330,0,0,0,0,0,0,15.44,15.15,15.45
$GC,1481,-0.78,-97.3,1843,1398,3399,3329,255.2,-13.1,223,1487,0.00,2.28,0.00,0.000,1030,0.000,0.053,1846,2755,3364,3399,3329,0,0,0,0,0,0,15.26,15.16,15.28
$GC,1816,-0.78,-97.3,1842,2755,3399,3322,291.7,-10.6,239,1824,0.00,2.22,0.00,0.000,516,0.000,0.042,1843,1403,3362,3398,3327,0,0,0,0,0,0,15.45,15.20,15.47
$GC,1900,-0.78,-97.3,1842,1403,3399,3325,301.5,-11.2,255,1905,0.00,2.28,0.00,0.000,1030,0.000,0.053,1843,2755,3359,3399,3320,0,0,0,0,0,0,15.28,15.18,15.30
$GC,2217,-0.78,-97.3,1843,2755,3399,3322,332.8,-9.8,267,2223,0.00,2.03,0.00,0.000,260,0.000,0.083,1843,3940,3360,3399,3322,0,0,0,0,0,0,15.45,15.14,15.47
$GC,2401,-0.78,-97.3,1842,3940,3397,3319,351.6,-10.3,303,2406,0.00,1.83,0.00,0.000,1030,0.000,0.033,1843,2749,3359,3399,3319,0,0,0,0,0,0,15.33,15.28,15.33
$GC,2735,-0.78,-97.3,1842,2748,3398,3313,381.8,-9.2,319,2739,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2748,3356,3399,3313,0,0,0,0,0,0,15.45,15.47,15.47
$GC,3034,-0.78,-97.3,1842,2748,3399,3308,405.6,-8.1,329,3041,0.00,2.20,0.00,0.000,516,0.000,0.045,1843,1404,3353,3399,3308,0,0,0,0,0,0,15.49,15.17,15.48
$GC,3268,-0.78,-97.3,1842,1404,3399,3304,426.9,-9.4,375,3274,0.00,2.30,0.00,0.000,1030,0.000,0.059,1843,2748,3352,3398,3306,0,0,0,0,0,0,15.26,15.16,15.28
$GC,3582,-0.78,-97.3,1842,2748,3399,3300,454.4,-8.4,387,3587,0.00,2.25,0.00,0.000,516,0.000,0.046,1843,1402,3349,3398,3300,0,0,0,0,0,0,15.46,15.17,15.47
$GC,3646,-0.78,-97.3,1842,1402,3404,3300,459.8,-8.7,399,3653,0.00,2.33,0.00,0.000,1030,0.000,0.059,1843,2758,3348,3397,3300,0,0,0,0,0,0,15.26,15.14,15.28
$GC,3983,-0.78,-97.3,1845,2758,3394,3295,490.2,-9.1,415,3989,0.12,2.05,0.00,0.000,2308,0.272,0.084,1866,3942,3345,3394,3296,0,0,0,0,0,0,14.94,15.10,15.12
$GC,4041,-0.78,-97.3,1865,3940,3394,3294,495.9,-9.4,426,4049,0.00,1.90,0.00,0.000,1030,0.000,0.037,1866,2778,3344,3394,3294,0,0,0,0,0,0,15.19,15.16,15.19
$GC,4348,-0.78,-97.3,1866,2778,3391,3292,522.9,-8.9,437,4354,0.00,2.08,0.00,0.000,260,0.000,0.090,1865,3944,3342,3392,3292,0,0,0,0,0,0,15.44,15.09,15.46
$GC,4425,-0.78,-97.3,1865,3944,3391,3291,530.8,-10.1,452,4433,0.00,1.92,0.00,0.000,1030,0.000,0.039,1865,2751,3341,3391,3291,0,0,0,0,0,0,15.29,15.24,15.30
$GC,4747,-0.78,-97.3,1865,2747,3389,3289,562.1,-10.0,465,4750,0.00,0.00,0.00,0.000,6,0.000,0.000,1868,2749,3339,3389,3289,0,0,0,0,0,0,15.45,15.47,15.47
$GC,5047,-0.78,-97.3,1865,2750,3386,3287,587.6,-8.1,475,5052,0.00,2.30,0.00,0.000,516,0.000,0.047,1865,1365,3336,3386,3287,0,0,0,0,0,0,15.44,15.14,15.46
$GC,5279,-0.78,-97.3,1865,1363,3383,3287,604.2,-7.8,521,5286,0.00,2.40,0.00,0.000,1030,0.000,0.057,1865,2753,3335,3383,3287,0,0,0,0,0,0,15.21,15.08,15.24
$GC,5594,-0.78,-97.3,1865,2753,3382,3284,625.6,-6.7,533,5602,0.00,2.35,0.00,0.000,516,0.000,0.047,1865,1366,3333,3382,3284,0,0,0,0,0,0,15.43,15.13,15.45
$GC,5693,-0.78,-97.3,1865,1366,3381,3283,632.9,-7.3,552,5699,0.00,2.40,0.00,0.000,1030,0.000,0.057,1865,2750,3332,3381,3284,0,0,0,0,0,0,15.21,15.10,15.25
$GC,6023,-0.78,-97.3,1861,2750,3379,3281,656.0,-7.0,567,6027,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2750,3330,3380,3281,0,0,0,0,0,0,15.40,15.42,15.42
$GC,6323,-0.78,-97.3,1865,2748,3378,3279,675.1,-6.2,577,6327,0.00,0.00,0.00,0.000,38,0.000,0.000,1865,2750,3328,3378,3279,0,0,0,0,0,0,15.40,15.41,15.42
$GC,6623,-0.78,-97.3,1864,2750,3376,3275,694.0,-6.5,587,6629,0.00,2.35,0.00,0.000,548,0.000,0.047,1865,1362,3327,3377,3277,0,0,0,0,0,0,15.40,15.11,15.42
$GC,6701,-0.78,-97.3,1864,1362,3376,3277,699.6,-7.1,602,6709,0.00,2.40,0.00,0.000,1030,0.000,0.057,1865,2749,3327,3376,3278,0,0,0,0,0,0,15.19,15.08,15.23
$GC,7018,-0.78,-97.3,1865,2749,3374,3276,722.4,-7.4,615,7021,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2749,3325,3375,3276,0,0,0,0,0,0,15.41,15.43,15.42
$GC,7317,-0.78,-97.3,1865,2749,3375,3275,746.1,-8.1,625,7324,0.00,2.10,0.00,0.000,260,0.000,0.092,1865,3942,3324,3373,3275,0,0,0,0,0,0,15.39,15.02,15.42
$GC,7406,-0.78,-97.3,1865,3942,3373,3274,754.3,-9.2,642,7413,0.00,2.00,0.00,0.000,1030,0.000,0.041,1865,2752,3323,3373,3274,0,0,0,0,0,0,15.14,15.11,15.16
$GC,7712,-0.78,-97.3,1865,2751,3372,3273,780.5,-8.6,653,7716,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2753,3322,3371,3273,0,0,0,0,0,0,15.38,15.41,15.40
$GC,8012,-0.78,-97.3,1865,2751,3371,3272,805.9,-8.3,663,8017,0.00,2.15,0.00,0.000,260,0.000,0.093,1866,3947,3321,3370,3272,0,0,0,0,0,0,15.37,14.97,15.40
$GC,8114,-0.78,-97.3,1865,3947,3371,3272,815.5,-8.7,683,8120,0.00,1.98,0.00,0.000,1030,0.000,0.041,1865,2748,3321,3370,3272,0,0,0,0,0,0,15.21,15.17,15.23
$GC,8438,-0.78,-97.3,1864,2748,3369,3271,839.8,-7.2,697,8444,0.00,2.33,0.00,0.000,516,0.000,0.048,1865,1362,3320,3369,3271,0,0,0,0,0,0,15.43,15.07,15.42
$GC,8521,-0.78,-97.3,1864,1362,3368,3271,846.6,-7.4,713,8528,0.00,2.45,0.00,0.000,1030,0.000,0.060,1865,2753,3322,3368,3276,0,0,0,0,0,0,15.16,15.03,15.19
$GC,8836,-0.78,-97.3,1870,2751,3368,3269,867.6,-7.0,725,8843,0.00,2.10,0.00,0.000,260,0.000,0.093,1865,3942,3317,3367,3268,0,0,0,0,0,0,15.38,14.97,15.41
$GC,8957,-0.78,-97.3,1864,3942,3368,3269,877.1,-7.6,748,8966,0.00,2.03,0.00,0.000,1030,0.000,0.044,1864,2750,3318,3367,3269,0,0,0,0,0,0,15.07,15.04,15.08
$GC,9261,-0.78,-97.3,1864,2751,3366,3268,899.9,-8.0,759,9267,0.00,2.35,0.00,0.000,516,0.000,0.048,1865,1361,3317,3367,3268,0,0,0,0,0,0,15.36,15.03,15.38
$GC,9364,-0.78,-97.3,1864,1360,3366,3268,909.5,-8.7,779,9373,0.00,2.45,0.00,0.000,1030,0.000,0.060,1865,2753,3317,3366,3269,0,0,0,0,0,0,15.12,15.00,15.16
$GC,9687,-0.78,-97.3,1864,2757,3366,3267,936.2,-8.5,793,9693,0.00,2.40,0.00,0.000,516,0.000,0.048,1865,1353,3316,3365,3267,0,0,0,0,0,0,15.35,15.04,15.38
$GC,9744,-0.78,-97.3,1864,1353,3365,3267,942.1,-8.4,804,9752,0.00,2.50,0.00,0.000,1030,0.000,0.060,1865,2750,3316,3365,3267,0,0,0,0,0,0,15.00,14.95,15.04
$GC,10051,-0.78,-97.3,1864,2750,3365,3266,964.8,-7.3,815,10057,0.00,2.38,0.00,0.000,516,0.000,0.047,1865,1358,3315,3365,3266,0,0,0,0,0,0,15.35,15.03,15.38
$GC,10104,-0.78,-97.3,1864,1359,3365,3267,969.4,-7.1,825,10111,0.00,2.45,0.00,0.000,1030,0.000,0.060,1865,2756,3315,3365,3266,0,0,0,0,0,0,15.12,15.00,15.16
$GC,10419,-0.78,-97.3,1864,2756,3364,3266,988.2,-5.8,837,10423,0.00,0.00,0.00,0.000,38,0.000,0.000,1864,2755,3315,3364,3266,0,0,0,0,0,0,15.34,15.39,15.38
$STATE,10476,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10476,begin apogee
$GC,10484,-0.21,0.0,1865,1715,3364,3266,991.6,-5.7,839,10574,0.68,0.00,85.43,2.096,10246,0.200,0.000,2053,1715,2968,3031,2905,0,0,0,0,0,0,14.83,14.55,13.73
$STATE,10583,end apogee,CONTROL_FINISHED_OK
$STATE,10583,begin climb
$GC,10586,0.78,97.3,2053,1716,3031,2902,993.4,0.0,842,10694,1.02,0.00,100.15,2.047,10758,0.116,0.000,2374,1715,2570,2630,2511,0,0,0,0,0,0,14.54,14.33,13.57
$GC,10989,0.78,97.3,2374,1715,2628,2498,957.4,10.3,876,10993,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1715,2563,2628,2499,0,0,0,0,0,0,15.11,15.13,15.13
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$STATE,22315,end climb,SURFACE_DEPTH_REACHED
$STATE,22316,begin surface coast
$STATE,22345,end surface coast,CONTROL_FINISHED_OK
$STATE,22345,begin surface
$SM_CCo,22367,166.55,0.675,1,0,929,500.17
$SM_GC,0.37,6.88,1.75,166.55,0.076,0.042,0.675,161,2726,929,-6.09,-1.84,500.17,0,0,0,0,1,0,15.04,15.10,14.40
$IRIDIUM_FIX,1418.03,14410.14,011219,121527
$TT8_MAMPS,0.019474,0.153545
$HUMID,45.47
$INTERNAL_PRESSURE,8.98472
$TCM_TEMP,27.30
$XPDR_PINGS,0
$SC_FREEKB,3760960
$PM_FREEKB_00,58040768
$PM_FREEKB_01,85563520
$PM_FREEKB_02,95484352
$PM_FREEKB_03,124821056
$PM_ACTIVECARD,2
$24V_AH,13.57,100.024
$10V_AH,13.19,0.000
$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,17.325,181.825,367.550,166.550,0.000,0.000,0.000,450.800,0.000,0.000,16.064,1707.364,14768.218,623.234,5710.562,506.245,0.000,2907.202,0.000,4908.525,0.000,0.553,0.000
$DEVICE_MAMPS,391.680,93.330,2096.100,675.495,0.000,0.000,0.000,200.430,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22370.000,22370.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.373,7.168,0.000,0.000
$MEM,270864
$DATA_FILE_SIZE,69802,2037
$CAP_FILE_SIZE,208767,0
$CFSIZE,260034560,219017216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.061,225.67,1
$GPS,021219,010549,1417.819,14410.050,31,1.0,31,0.3,0.1,0.0,7,5.4