version: 66.13
glider: 178
mission: 31
dive: 322
start: 12 22 119 10 9 2
data:
$ID,178
$MISSION,31
$DIVE,322
$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,33
$R_STBD_OVSHOOT,32
$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
$GPS1,221219,095625,1412.5597,14410.1143,90,0.8,90,0.3,0.9,246.7,11,4.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.32
$_SM_ANGLEo,-57.9
$GPS2,221219,100813,1412.5273,14410.0732,3,0.7,3,0.3,0.4,196.9,12,9.5
$SPEED_LIMITS,0.147,0.188
$TGT_NAME,S
$TGT_LATLONG,1410.000,14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,178.5,4682,-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,18,-0.81,-97.3,121,2744,991,863,0.0,0.0,0,110,0.00,0.00,-87.53,0.005,16386,0.000,0.000,116,2744,3146,3173,3119,0,0,0,0,0,0,15.20,28.83,15.22
$GC,113,-0.81,-97.3,116,2744,3171,3120,3.6,-6.9,9,135,8.20,2.33,-4.03,0.030,18948,0.382,0.062,1854,1341,3364,3402,3326,0,0,0,0,0,0,14.58,14.09,14.81
$GC,363,-0.81,-97.3,1854,1347,3402,3326,70.5,-23.7,59,372,0.00,2.40,0.00,0.000,1030,0.000,0.053,1847,2746,3364,3403,3326,0,0,0,0,0,0,15.07,14.97,15.11
$GC,553,-0.81,-97.3,1846,2745,3402,3325,114.8,-18.1,79,559,0.00,2.35,0.00,0.000,516,0.000,0.041,1846,1336,3364,3402,3326,0,0,0,0,0,0,15.33,15.02,15.35
$GC,609,-0.81,-97.3,1846,1336,3402,3326,123.4,-14.6,89,615,0.00,2.40,0.00,0.000,1030,0.000,0.046,1839,2759,3364,3403,3326,0,0,0,0,0,0,15.13,15.03,15.15
$GC,804,-0.81,-97.3,1839,2759,3403,3326,150.5,-14.8,109,810,0.00,2.38,0.00,0.000,516,0.000,0.041,1839,1331,3364,3402,3326,0,0,0,0,0,0,15.33,15.06,15.35
$GC,922,-0.81,-97.3,1839,1330,3401,3325,169.7,-16.3,132,930,0.10,2.45,0.00,0.000,3078,0.239,0.046,1858,2752,3364,3403,3326,0,0,0,0,0,0,14.73,14.99,14.90
$GC,1109,-0.81,-97.3,1858,2752,3403,3325,198.0,-15.7,151,1114,0.00,2.03,0.00,0.000,260,0.000,0.073,1852,3946,3362,3403,3322,0,0,0,0,0,0,15.38,15.02,15.40
$GC,1346,-0.81,-97.3,1851,3947,3402,3326,227.3,-11.0,197,1352,0.00,1.98,0.00,0.000,1030,0.000,0.030,1851,2674,3364,3403,3325,0,0,0,0,0,0,15.22,15.19,15.22
$GC,1541,-0.81,-97.3,1855,2674,3403,3326,248.6,-11.6,217,1547,0.00,2.20,0.00,0.000,260,0.000,0.073,1845,3944,3363,3402,3325,0,0,0,0,0,0,15.40,15.03,15.41
$GC,1774,-0.81,-97.3,1845,3945,3399,3324,277.1,-11.1,263,1780,0.00,1.98,0.00,0.000,1030,0.000,0.030,1846,2698,3363,3403,3324,0,0,0,0,0,0,15.23,15.19,15.24
$GC,2088,-0.81,-97.3,1845,2694,3402,3322,309.5,-10.0,275,2094,0.00,2.17,0.00,0.000,260,0.000,0.076,1841,3940,3361,3401,3322,0,0,0,0,0,0,15.40,14.99,15.42
$GC,2321,-0.81,-97.3,1841,3940,3402,3319,337.8,-13.1,321,2327,0.00,1.98,0.00,0.000,1030,0.000,0.031,1841,2709,3360,3402,3319,0,0,0,0,0,0,15.23,15.19,15.24
$GC,2637,-0.81,-97.3,1842,2707,3402,3315,369.2,-9.6,333,2643,0.00,2.17,0.00,0.000,516,0.000,0.041,1841,1375,3358,3403,3314,0,0,0,0,0,0,15.39,15.08,15.41
$GC,2705,-0.81,-97.3,1845,1375,3402,3313,377.1,-11.1,346,2711,0.00,2.35,0.00,0.000,1030,0.000,0.049,1841,2753,3358,3404,3312,0,0,0,0,0,0,15.16,15.06,15.20
$GC,3034,-0.81,-97.3,1837,2753,3402,3308,410.0,-9.1,361,3038,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,2753,3355,3402,3308,0,0,0,0,0,0,15.41,15.43,15.42
$GC,3335,-0.81,-97.3,1841,2753,3402,3303,438.8,-9.8,371,3339,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,2753,3352,3402,3303,0,0,0,0,0,0,15.41,15.42,15.42
$GC,3634,-0.81,-97.3,1840,2753,3401,3299,471.8,-10.7,381,3641,0.00,2.33,0.00,0.000,516,0.000,0.041,1841,1376,3350,3401,3299,0,0,0,0,0,0,15.41,15.05,15.42
$GC,3790,-0.81,-97.3,1841,1376,3398,3300,489.2,-11.3,411,3796,0.00,2.38,0.00,0.000,1030,0.000,0.052,1841,2747,3348,3397,3300,0,0,0,0,0,0,15.14,15.02,15.16
$GC,4124,-0.81,-97.3,1840,2747,3396,3294,520.9,-8.8,427,4130,0.00,2.10,0.00,0.000,260,0.000,0.085,1841,3943,3345,3396,3294,0,0,0,0,0,0,15.40,14.95,15.41
$GC,4292,-0.81,-97.3,1840,3942,3396,3293,536.9,-9.6,460,4298,0.00,1.95,0.00,0.000,1030,0.000,0.038,1841,2753,3344,3396,3292,0,0,0,0,0,0,15.19,15.14,15.20
$GC,4611,-0.81,-97.3,1841,2753,3393,3291,564.6,-8.3,473,4615,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2753,3342,3393,3291,0,0,0,0,0,0,15.38,15.40,15.39
$GC,4911,-0.81,-97.3,1840,2756,3391,3289,586.4,-6.8,483,4915,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,2753,3339,3390,3289,0,0,0,0,0,0,15.38,15.39,15.40
$GC,5212,-0.81,-97.3,1840,2753,3388,3287,607.6,-7.5,493,5219,0.00,2.35,0.00,0.000,516,0.000,0.044,1842,1368,3337,3388,3287,0,0,0,0,0,0,15.36,15.01,15.38
$GC,5410,-0.81,-97.3,1840,1366,3385,3287,623.3,-7.9,532,5419,0.00,2.42,0.00,0.000,1030,0.000,0.054,1841,2756,3336,3385,3287,0,0,0,0,0,0,15.09,14.96,15.12
$GC,5729,-0.81,-97.3,1840,2757,3385,3284,645.8,-7.1,545,5735,0.00,2.10,0.00,0.000,260,0.000,0.088,1841,3941,3334,3384,3284,0,0,0,0,0,0,15.35,14.88,15.37
$GC,5817,-0.81,-97.3,1840,3942,3384,3283,652.7,-7.9,562,5824,0.00,2.03,0.00,0.000,1030,0.000,0.040,1840,2750,3333,3384,3283,0,0,0,0,0,0,15.02,14.99,15.04
$GC,6123,-0.81,-97.3,1840,2751,3383,3282,675.8,-7.7,573,6130,0.00,2.35,0.00,0.000,516,0.000,0.044,1841,1355,3334,3383,3285,0,0,0,0,0,0,15.36,14.99,15.38
$GC,6219,-0.81,-97.3,1840,1355,3382,3281,683.6,-8.3,591,6227,0.00,2.45,0.00,0.000,1030,0.000,0.057,1841,2754,3331,3382,3281,0,0,0,0,0,0,15.06,14.93,15.10
$GC,6550,-0.81,-97.3,1840,2754,3380,3278,710.3,-8.1,607,6554,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,2754,3329,3380,3279,0,0,0,0,0,0,15.36,15.38,15.38
$GC,6851,-0.81,-97.3,1840,2754,3379,3278,735.0,-8.5,617,6858,0.00,2.12,0.00,0.000,260,0.000,0.091,1841,3943,3325,3376,3274,0,0,0,0,0,0,15.35,14.85,15.37
$GC,6929,-0.81,-97.3,1840,3943,3379,3277,742.2,-9.2,632,6935,0.00,2.00,0.00,0.000,1030,0.000,0.039,1840,2747,3326,3379,3273,0,0,0,0,0,0,15.13,15.07,15.14
$GC,7248,-0.81,-97.3,1840,2737,3378,3279,768.7,-8.3,645,7252,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,2738,3327,3379,3276,0,0,0,0,0,0,15.35,15.36,15.36
$GC,7549,-0.81,-97.3,1840,2738,3376,3274,794.0,-8.7,655,7553,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,2738,3325,3376,3275,0,0,0,0,0,0,15.33,15.35,15.35
$GC,7848,-0.81,-97.3,1840,2738,3375,3274,819.6,-8.3,665,7852,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,2737,3324,3375,3274,0,0,0,0,0,0,15.34,15.35,15.35
$GC,8148,-0.81,-97.3,1840,2738,3374,3273,843.2,-7.6,675,8152,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,2737,3321,3375,3268,0,0,0,0,0,0,15.33,15.35,15.33
$GC,8449,-0.81,-97.3,1840,2739,3373,3272,865.7,-7.5,685,8456,0.00,2.25,0.00,0.000,260,0.000,0.093,1840,3954,3322,3372,3272,0,0,0,0,0,0,15.33,14.76,15.35
$GC,8517,-0.81,-97.3,1840,3949,3372,3272,871.2,-8.0,698,8523,0.00,2.03,0.00,0.000,1030,0.000,0.043,1840,2750,3321,3372,3271,0,0,0,0,0,0,15.08,15.02,15.09
$GC,8846,-0.81,-97.3,1840,2751,3371,3271,894.9,-7.3,713,8852,0.00,2.38,0.00,0.000,516,0.000,0.047,1840,1360,3321,3371,3271,0,0,0,0,0,0,15.30,14.90,15.33
$GC,8895,-0.81,-97.3,1840,1360,3371,3271,898.6,-7.4,722,8903,0.00,2.47,0.00,0.000,1030,0.000,0.059,1840,2754,3322,3371,3274,0,0,0,0,0,0,14.97,14.85,14.99
$GC,9212,-0.81,-97.3,1840,2755,3370,3270,922.1,-7.4,735,9215,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,2755,3320,3371,3270,0,0,0,0,0,0,15.31,15.33,15.33
$GC,9512,-0.81,-97.3,1840,2755,3369,3270,943.7,-7.2,745,9515,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,2756,3319,3369,3270,0,0,0,0,0,0,15.31,15.33,15.33
$GC,9812,-0.81,-97.3,1840,2755,3364,3269,965.6,-7.2,755,9816,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,2754,3319,3369,3269,0,0,0,0,0,0,15.30,15.33,15.32
$GC,10112,-0.81,-97.3,1840,2755,3367,3268,988.6,-7.6,765,10118,0.00,2.42,0.00,0.000,516,0.000,0.048,1840,1359,3317,3367,3268,0,0,0,0,0,0,15.30,14.87,15.32
$STATE,10127,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10127,begin apogee
$GC,10134,-0.21,0.0,1840,1734,3362,3268,990.2,-7.7,768,10227,0.77,0.00,87.15,2.096,10246,0.203,0.000,2053,1734,2968,3031,2905,0,0,0,0,0,0,14.64,14.52,13.64
$STATE,10236,end apogee,CONTROL_FINISHED_OK
$STATE,10236,begin climb
$GC,10239,0.81,97.3,2053,1734,3031,2902,992.8,0.0,771,10352,1.08,2.05,101.22,2.045,10756,0.111,0.073,2389,657,2570,2631,2510,0,0,1,0,0,0,14.51,14.27,13.52
$GC,10572,0.81,97.3,2389,657,2623,2505,970.2,8.9,835,10578,0.00,1.83,0.00,0.000,1030,0.000,0.042,2389,1702,2564,2623,2505,0,0,0,0,0,0,14.87,14.76,14.89
$GC,10891,0.81,97.3,2389,1702,2623,2501,942.4,8.9,848,10900,0.00,2.45,0.00,0.000,260,0.000,0.064,2395,3086,2561,2623,2500,0,0,0,0,0,0,15.20,14.81,15.21
$GC,11025,0.81,97.3,2389,3086,2624,2498,929.3,9.9,874,11033,0.00,2.40,0.00,0.000,1030,0.000,0.044,2389,1714,2560,2623,2498,0,0,0,0,0,0,15.00,14.91,15.04
$GC,11347,0.81,97.3,2388,1714,2623,2497,899.7,9.1,888,11356,0.00,2.45,0.00,0.000,260,0.000,0.063,2389,3088,2559,2623,2496,0,0,0,0,0,0,15.24,14.86,15.28
$GC,11424,0.81,97.3,2388,3088,2623,2495,892.5,9.2,903,11432,0.00,2.42,0.00,0.000,1030,0.000,0.044,2389,1699,2559,2623,2496,0,0,0,0,0,0,15.02,14.92,15.04
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$STATE,21879,end climb,SURFACE_DEPTH_REACHED
$STATE,21879,begin surface coast
$STATE,21899,end surface coast,CONTROL_FINISHED_OK
$STATE,21899,begin surface
$SM_CCo,21922,122.00,0.660,1,0,929,500.17
$SM_GC,0.32,7.10,0.57,122.00,0.112,0.041,0.660,162,2720,929,-6.09,1.27,500.17,0,0,0,0,1,0,14.92,15.11,14.40
$IRIDIUM_FIX,1415.49,14411.44,221219,033419
$TT8_MAMPS,0.019474,0.155043
$HUMID,47.20
$INTERNAL_PRESSURE,8.94566
$TCM_TEMP,26.50
$XPDR_PINGS,0
$SC_FREEKB,3731360
$PM_FREEKB_00,58040768
$PM_FREEKB_01,85563520
$PM_FREEKB_02,59195968
$PM_FREEKB_03,112635840
$PM_ACTIVECARD,3
$24V_AH,13.52,132.235
$10V_AH,12.81,0.000
$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,17.475,159.125,427.150,122.000,0.000,0.000,0.000,416.375,0.000,0.000,15.201,1584.752,14689.688,635.127,5271.475,580.735,0.000,2756.883,0.000,4541.978,0.000,0.553,0.000
$DEVICE_MAMPS,381.735,92.565,2096.100,660.195,0.000,0.000,0.000,197.370,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21926.000,21920.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.228,6.108,0.000,0.000
$MEM,270600
$DATA_FILE_SIZE,66535,1884
$CAP_FILE_SIZE,197357,0
$CFSIZE,260034560,207536128
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,1,0,0
$INTR,0,17900.04,0x235770,1,24
$CURRENT,0.010,255.32,1
$GPS,221219,161831,1410.390,14409.853,33,0.7,56,0.3,1.5,212.9,12,2.4