version: 66.13
glider: 178
mission: 31
dive: 293
start: 12 14 119 14 56 0
data:
$ID,178
$MISSION,31
$DIVE,293
$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,33
$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
$GPS1,141219,144330,1417.4325,14411.1816,37,0.6,37,0.3,0.3,52.9,12,3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.35
$_SM_ANGLEo,-53.9
$GPS2,141219,145511,1417.4852,14411.2383,2,0.6,4,0.3,0.5,338.3,12,6.1
$SPEED_LIMITS,0.147,0.188
$TGT_NAME,N
$TGT_LATLONG,1421.000,14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,332.1,6878,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.81,-97.3,122,2741,987,866,0.0,0.0,0,115,0.00,0.00,-88.25,0.005,16386,0.000,0.000,116,2742,3299,3324,3274,0,0,0,0,0,0,15.21,28.83,15.23
$GC,118,-0.81,-97.3,116,2743,3324,3274,5.8,-12.2,9,137,8.18,2.10,-1.05,0.104,18692,0.383,0.099,1849,3937,3370,3403,3338,0,0,1,0,0,0,14.62,13.82,14.87
$GC,368,-0.81,-97.3,1847,3937,3397,3337,97.1,-26.0,58,375,0.00,2.00,0.00,0.000,1030,0.000,0.032,1846,2715,3365,3396,3335,0,0,0,0,0,0,15.09,15.08,15.10
$GC,555,-0.81,-97.3,1847,2712,3397,3336,135.4,-16.9,77,562,0.00,2.17,0.00,0.000,516,0.000,0.038,1847,1372,3366,3397,3336,0,0,0,0,0,0,15.35,15.07,15.36
$GC,677,-0.81,-97.3,1847,1372,3398,3335,154.3,-16.6,100,684,0.00,2.35,0.00,0.000,1030,0.000,0.047,1843,2740,3367,3399,3336,0,0,0,0,0,0,15.06,15.02,15.10
$GC,864,-0.81,-97.3,1848,2741,3399,3335,181.5,-13.3,119,871,0.00,2.05,0.00,0.000,260,0.000,0.072,1830,3949,3366,3397,3335,0,0,0,0,0,0,15.38,15.02,15.39
$GC,1019,-0.81,-97.3,1833,3949,3399,3334,203.4,-12.0,148,1026,0.00,1.95,0.00,0.000,1030,0.000,0.029,1833,2731,3366,3398,3335,0,0,0,0,0,0,15.11,15.10,15.14
$GC,1204,-0.81,-97.3,1833,2731,3398,3335,224.4,-10.2,167,1211,0.12,2.12,0.00,0.000,2308,0.269,0.073,1854,3949,3367,3399,3335,0,0,0,0,0,0,14.90,15.05,15.07
$GC,1443,-0.81,-97.3,1854,3947,3398,3332,253.4,-10.5,213,1449,0.00,1.88,0.00,0.000,1030,0.000,0.030,1854,2747,3365,3398,3333,0,0,0,0,0,0,15.25,15.22,15.26
$GC,1758,-0.81,-97.3,1853,2742,3399,3331,285.5,-11.0,225,1764,0.00,2.08,0.00,0.000,260,0.000,0.076,1849,3943,3364,3399,3330,0,0,0,0,0,0,15.42,15.07,15.42
$GC,1991,-0.81,-97.3,1848,3948,3399,3328,313.0,-11.0,271,1997,0.00,1.88,0.00,0.000,1030,0.000,0.032,1849,2756,3363,3399,3328,0,0,0,0,0,0,15.25,15.21,15.26
$GC,2305,-0.81,-97.3,1846,2756,3398,3324,344.9,-10.0,283,2314,0.00,2.10,0.00,0.000,260,0.000,0.077,1843,3948,3361,3398,3324,0,0,0,0,0,0,15.38,15.02,15.40
$GC,2542,-0.81,-97.3,1843,3951,3398,3320,370.9,-11.5,329,2551,0.00,1.92,0.00,0.000,1030,0.000,0.032,1843,2739,3359,3398,3320,0,0,0,0,0,0,15.25,15.21,15.26
$GC,2860,-0.81,-97.3,1843,2733,3398,3313,406.2,-10.9,341,2866,0.00,2.15,0.00,0.000,260,0.000,0.083,1843,3948,3356,3398,3314,0,0,0,0,0,0,15.41,15.04,15.42
$GC,3010,-0.81,-97.3,1843,3948,3403,3311,423.8,-11.9,370,3017,0.00,1.95,0.00,0.000,1030,0.000,0.033,1843,2748,3355,3399,3311,0,0,0,0,0,0,15.16,15.14,15.18
$GC,3316,-0.81,-97.3,1843,2747,3398,3306,455.4,-10.9,381,3322,0.00,2.25,0.00,0.000,516,0.000,0.041,1843,1384,3352,3398,3307,0,0,0,0,0,0,15.41,15.10,15.43
$GC,3549,-0.81,-97.3,1844,1384,3397,3305,482.1,-10.4,427,3554,0.00,2.33,0.00,0.000,1030,0.000,0.050,1843,2747,3351,3397,3305,0,0,0,0,0,0,15.18,15.07,15.21
$GC,3863,-0.81,-97.3,1844,2747,3396,3299,511.3,-8.7,439,3871,0.00,2.10,0.00,0.000,260,0.000,0.085,1843,3945,3348,3396,3300,0,0,0,0,0,0,15.40,14.97,15.42
$GC,4103,-0.81,-97.3,1843,3945,3394,3296,530.8,-8.6,485,4111,0.00,1.90,0.00,0.000,1030,0.000,0.035,1843,2756,3349,3401,3297,0,0,0,0,0,0,15.18,15.14,15.19
$GC,4419,-0.81,-97.3,1843,2756,3392,3294,559.0,-9.2,497,4426,0.00,2.15,0.00,0.000,260,0.000,0.088,1843,3949,3343,3392,3294,0,0,0,0,0,0,15.33,14.92,15.35
$GC,4528,-0.81,-97.3,1843,3948,3392,3293,570.0,-10.0,518,4533,0.00,1.95,0.00,0.000,1030,0.000,0.035,1843,2743,3342,3392,3293,0,0,0,0,0,0,15.16,15.11,15.16
$GC,4847,-0.81,-97.3,1840,2743,3389,3292,596.0,-7.6,531,4853,0.00,2.30,0.00,0.000,516,0.000,0.048,1843,1387,3340,3389,3291,0,0,0,0,0,0,15.28,14.98,15.32
$GC,5055,-0.81,-97.3,1843,1387,3386,3292,611.6,-7.3,572,5062,0.00,2.42,0.00,0.000,1030,0.000,0.056,1843,2753,3338,3386,3291,0,0,0,0,0,0,14.95,14.88,14.99
$GC,5362,-0.81,-97.3,1848,2749,3385,3288,634.8,-8.1,583,5368,0.00,2.12,0.00,0.000,260,0.000,0.086,1843,3948,3336,3385,3288,0,0,0,0,0,0,15.28,14.88,15.30
$GC,5457,-0.81,-97.3,1842,3947,3385,3291,643.8,-9.6,601,5463,0.00,1.95,0.00,0.000,1030,0.000,0.037,1843,2766,3336,3385,3287,0,0,0,0,0,0,15.11,15.07,15.14
$GC,5792,-0.81,-97.3,1849,2767,3382,3286,672.9,-8.6,617,5799,0.00,2.38,0.00,0.000,516,0.000,0.045,1843,1365,3334,3382,3286,0,0,0,0,0,0,15.27,14.95,15.28
$GC,5827,-0.81,-97.3,1843,1365,3382,3286,676.0,-8.3,623,5834,0.00,2.42,0.00,0.000,1030,0.000,0.055,1843,2747,3334,3382,3286,0,0,0,0,0,0,15.04,14.95,15.07
$GC,6163,-0.81,-97.3,1843,2749,3382,3284,701.1,-7.3,639,6167,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2745,3332,3381,3284,0,0,0,0,0,0,15.27,15.29,15.26
$GC,6464,-0.81,-97.3,1843,2747,3379,3282,722.3,-7.1,649,6471,0.00,2.40,0.00,0.000,516,0.000,0.045,1843,1362,3329,3379,3279,0,0,0,0,0,0,15.26,14.92,15.28
$GC,6543,-0.81,-97.3,1843,1364,3376,3282,728.6,-8.3,664,6552,0.00,2.42,0.00,0.000,1030,0.000,0.055,1843,2750,3330,3378,3282,0,0,0,0,0,0,15.02,14.91,15.05
$GC,6861,-0.81,-97.3,1843,2750,3377,3280,753.5,-7.9,677,6867,0.00,2.12,0.00,0.000,260,0.000,0.088,1843,3941,3328,3377,3280,0,0,0,0,0,0,15.26,14.84,15.28
$GC,6959,-0.81,-97.3,1843,3940,3376,3279,761.7,-8.6,696,6964,0.00,1.98,0.00,0.000,1030,0.000,0.038,1843,2754,3327,3376,3279,0,0,0,0,0,0,15.07,15.02,15.09
$GC,7288,-0.81,-97.3,1843,2755,3376,3279,786.8,-7.6,711,7294,0.00,2.40,0.00,0.000,516,0.000,0.047,1841,1361,3326,3375,3278,0,0,0,0,0,0,15.24,14.90,15.27
$GC,7371,-0.81,-97.3,1842,1361,3374,3278,793.3,-7.8,727,7381,0.00,2.45,0.00,0.000,1030,0.000,0.057,1843,2753,3326,3374,3278,0,0,0,0,0,0,15.00,14.88,15.04
$GC,7682,-0.81,-97.3,1843,2753,3372,3276,816.4,-7.4,739,7688,0.00,2.15,0.00,0.000,260,0.000,0.090,1843,3945,3321,3371,3272,0,0,0,0,0,0,15.23,14.82,15.26
$GC,7776,-0.81,-97.3,1840,3946,3373,3276,823.9,-8.1,757,7783,0.00,2.03,0.00,0.000,1030,0.000,0.041,1843,2753,3324,3373,3276,0,0,0,0,0,0,15.04,15.00,15.07
$GC,8112,-0.81,-97.3,1842,2753,3371,3275,849.1,-7.5,773,8116,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2754,3323,3371,3276,0,0,0,0,0,0,15.23,15.25,15.25
$GC,8411,-0.81,-97.3,1843,2757,3370,3274,872.1,-7.6,783,8415,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2753,3322,3370,3274,0,0,0,0,0,0,15.23,15.25,15.24
$GC,8712,-0.81,-97.3,1843,2753,3369,3273,894.7,-7.4,793,8715,0.00,0.00,0.00,0.000,6,0.000,0.000,1842,2753,3321,3370,3273,0,0,0,0,0,0,15.22,15.24,15.22
$GC,9012,-0.81,-97.3,1843,2758,3368,3274,916.5,-7.3,803,9018,0.00,2.20,0.00,0.000,260,0.000,0.092,1843,3943,3320,3368,3272,0,0,0,0,0,0,15.21,14.79,15.23
$GC,9106,-0.81,-97.3,1843,3943,3370,3273,923.9,-7.8,821,9113,0.00,2.03,0.00,0.000,1030,0.000,0.044,1843,2756,3321,3372,3271,0,0,0,0,0,0,15.02,14.97,15.04
$GC,9442,-0.81,-97.3,1843,2755,3367,3271,948.0,-7.2,837,9449,0.00,2.42,0.00,0.000,516,0.000,0.047,1843,1346,3319,3368,3271,0,0,0,0,0,0,15.21,14.86,15.22
$GC,9546,-0.81,-97.3,1843,1346,3366,3271,956.5,-8.2,857,9553,0.00,2.50,0.00,0.000,1030,0.000,0.059,1843,2753,3318,3366,3271,0,0,0,0,0,0,14.94,14.81,14.98
$GC,9871,-0.81,-97.3,1843,2753,3366,3271,982.9,-8.2,871,9879,0.00,2.45,0.00,0.000,516,0.000,0.049,1843,1348,3318,3366,3270,0,0,0,0,0,0,15.20,14.83,15.22
$GC,9952,-0.81,-97.3,1843,1348,3366,3269,989.6,-8.1,887,9958,0.00,2.53,0.00,0.000,1030,0.000,0.060,1843,2761,3319,3366,3272,0,0,0,0,0,0,14.93,14.80,14.97
$STATE,9963,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9963,begin apogee
$GC,9971,-0.21,0.0,1843,1713,3365,3270,990.5,-7.6,889,10063,0.77,0.00,87.12,2.099,10246,0.204,0.000,2054,1714,2969,3032,2907,0,0,0,0,0,0,14.66,14.50,13.66
$STATE,10072,end apogee,CONTROL_FINISHED_OK
$STATE,10072,begin climb
$GC,10076,0.81,97.3,2056,1714,3032,2904,993.1,0.0,892,10193,1.05,2.03,101.15,2.056,10756,0.114,0.078,2384,635,2569,2629,2510,0,0,0,0,0,0,14.49,14.28,13.52
$GC,10424,0.81,97.3,2385,634,2623,2504,966.7,9.9,964,10431,0.00,1.85,0.00,0.000,1030,0.000,0.041,2384,1723,2563,2622,2504,0,0,0,0,0,0,14.86,14.80,14.88
$GC,10766,0.81,97.3,2384,1723,2622,2500,933.3,10.0,980,10771,0.00,1.95,0.00,0.000,516,0.000,0.074,2385,633,2559,2618,2500,0,0,0,0,0,0,15.19,14.88,15.21
$GC,10892,0.81,97.3,2384,633,2621,2500,920.4,9.9,1004,10898,0.00,1.80,0.00,0.000,1030,0.000,0.040,2384,1708,2561,2622,2500,0,0,0,0,0,0,15.04,14.97,15.07
$GC,11226,0.81,97.3,2384,1708,2622,2497,888.4,9.3,1020,11232,0.00,2.42,0.00,0.000,260,0.000,0.064,2384,3090,2560,2623,2497,0,0,0,0,0,0,15.26,14.90,15.28
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$STATE,21601,end climb,SURFACE_DEPTH_REACHED
$STATE,21602,begin surface coast
$STATE,21615,end surface coast,CONTROL_FINISHED_OK
$STATE,21615,begin surface
$SM_CCo,21639,134.73,0.651,1,0,928,500.17
$SM_GC,0.42,7.00,0.60,134.73,0.090,0.041,0.651,159,2704,928,-6.10,0.76,500.17,0,0,0,0,1,0,14.97,15.14,14.42
$IRIDIUM_FIX,1409.18,14411.44,141219,082020
$TT8_MAMPS,0.018725,0.152796
$HUMID,46.41
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,26.00
$XPDR_PINGS,0
$SC_FREEKB,3742496
$PM_FREEKB_00,58040768
$PM_FREEKB_01,85563520
$PM_FREEKB_02,65495424
$PM_FREEKB_03,124821056
$PM_ACTIVECARD,2
$24V_AH,13.52,120.005
$10V_AH,12.93,0.000
$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,17.425,170.000,410.425,134.725,0.000,0.000,0.000,420.900,0.000,0.000,15.478,1666.223,13931.288,631.573,5702.655,554.986,0.000,2862.631,0.000,4907.479,0.000,0.553,0.000
$DEVICE_MAMPS,383.265,98.685,2099.160,651.015,0.000,0.000,0.000,198.900,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21644.000,21641.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.275,13.665,0.000,0.000
$MEM,270624
$DATA_FILE_SIZE,69825,2006
$CAP_FILE_SIZE,202432,0
$CFSIZE,260034560,211902464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0
$CURRENT,0.069,334.50,1
$GPS,141219,210104,1420.085,14409.892,60,1.4,64,0.2,0.4,56.6,9,4.7