version: 66.13
glider: 178
mission: 31
dive: 334
start: 12 25 119 16 2 33
data:
$ID,178
$MISSION,31
$DIVE,334
$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,38
$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
$GPS1,251219,154830,1418.4213,14410.7842,34,0.7,34,0.2,0.1,0.0,12,3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.20
$_SM_ANGLEo,-51.8
$GPS2,251219,160133,1418.3672,14410.7988,3,0.8,4,0.2,0.3,341.8,10,5.7
$SPEED_LIMITS,0.147,0.188
$TGT_NAME,N
$TGT_LATLONG,1421.000,14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,326.5,5082,-19.3,-8.462,-24.81,1652
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,20,-0.84,-91.7,139,2780,984,864,0.0,0.0,0,112,0.00,0.00,-87.90,0.005,16386,0.000,0.000,139,2780,3181,3207,3155,0,0,0,0,0,0,15.21,28.83,15.23
$GC,115,-0.84,-91.7,138,2780,3207,3156,4.1,-8.1,9,133,8.10,2.00,-2.90,0.040,18692,0.384,0.101,1838,3933,3343,3380,3306,0,0,0,0,0,0,14.56,14.08,14.81
$GC,361,-0.84,-91.7,1838,3933,3380,3306,79.1,-20.7,58,368,0.00,2.03,0.00,0.000,1030,0.000,0.034,1838,2699,3345,3384,3306,0,0,0,0,0,0,15.05,15.04,15.07
$GC,548,-0.84,-91.7,1838,2699,3380,3306,113.9,-19.9,77,555,0.00,2.17,0.00,0.000,260,0.000,0.076,1830,3940,3342,3380,3305,0,0,0,0,0,0,15.33,14.97,15.35
$GC,667,-0.84,-91.7,1829,3941,3380,3306,134.7,-17.0,100,674,0.00,2.03,0.00,0.000,1030,0.000,0.030,1830,2694,3343,3380,3306,0,0,0,0,0,0,15.10,15.08,15.11
$GC,853,-0.84,-91.7,1830,2693,3380,3306,163.9,-16.6,119,859,0.00,2.22,0.00,0.000,516,0.000,0.041,1830,1332,3343,3380,3306,0,0,0,0,0,0,15.37,15.05,15.38
$GC,1013,-0.84,-91.7,1829,1332,3380,3306,185.8,-12.9,150,1020,0.00,2.42,0.00,0.000,1030,0.000,0.045,1824,2741,3342,3380,3305,0,0,0,0,0,0,15.02,14.97,15.07
$GC,1200,-0.84,-91.7,1824,2741,3380,3306,208.3,-11.7,169,1208,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2741,3343,3380,3306,0,0,0,0,0,0,15.38,15.40,15.40
$GC,1391,-0.84,-91.7,1824,2741,3379,3306,231.1,-10.4,188,1397,0.12,2.05,0.00,0.000,2308,0.288,0.070,1844,3942,3343,3380,3306,0,0,0,0,0,0,14.84,15.02,15.02
$GC,1427,-0.84,-91.7,1843,3942,3380,3305,234.5,-9.1,194,1432,0.00,1.98,0.00,0.000,1030,0.000,0.031,1843,2682,3342,3380,3305,0,0,0,0,0,0,15.22,15.19,15.23
$GC,1642,-0.84,-91.7,1843,2682,3379,3304,254.3,-10.7,214,1649,0.00,2.22,0.00,0.000,516,0.000,0.044,1843,1332,3342,3380,3304,0,0,0,0,0,0,15.38,15.03,15.39
$GC,1779,-0.84,-91.7,1843,1332,3380,3303,271.3,-12.0,240,1788,0.00,2.40,0.00,0.000,1030,0.000,0.047,1842,2750,3341,3380,3302,0,0,0,0,0,0,15.16,15.07,15.20
$GC,2103,-0.84,-91.7,1841,2751,3380,3300,306.6,-11.1,254,2109,0.00,2.05,0.00,0.000,260,0.000,0.077,1839,3942,3339,3379,3300,0,0,0,0,0,0,15.40,15.02,15.42
$GC,2150,-0.84,-91.7,1839,3942,3379,3299,311.9,-10.2,263,2156,0.00,2.00,0.00,0.000,1030,0.000,0.031,1839,2690,3339,3380,3299,0,0,0,0,0,0,15.18,15.14,15.19
$GC,2470,-0.84,-91.7,1839,2685,3379,3294,340.3,-9.3,276,2476,0.00,2.22,0.00,0.000,260,0.000,0.083,1839,3943,3337,3380,3294,0,0,0,0,0,0,15.40,14.99,15.42
$GC,2638,-0.84,-91.7,1838,3943,3380,3293,356.8,-10.0,309,2645,0.00,2.03,0.00,0.000,1030,0.000,0.033,1839,2689,3336,3380,3292,0,0,0,0,0,0,15.24,15.18,15.24
$GC,2959,-0.84,-91.7,1839,2688,3380,3288,384.4,-8.5,322,2965,0.00,2.25,0.00,0.000,516,0.000,0.044,1839,1330,3334,3380,3288,0,0,0,0,0,0,15.40,15.03,15.42
$GC,3054,-0.84,-91.7,1838,1329,3379,3288,393.0,-9.3,340,3063,0.00,2.42,0.00,0.000,1030,0.000,0.050,1838,2746,3333,3380,3286,0,0,0,0,0,0,15.14,15.04,15.18
$GC,3388,-0.84,-91.7,1838,2746,3380,3281,422.8,-9.0,356,3394,0.00,2.10,0.00,0.000,260,0.000,0.084,1839,3942,3330,3380,3281,0,0,0,0,0,0,15.38,14.96,15.40
$GC,3622,-0.84,-91.7,1838,3942,3379,3277,446.0,-9.6,402,3628,0.00,2.03,0.00,0.000,1030,0.000,0.034,1839,2702,3328,3379,3278,0,0,0,0,0,0,15.15,15.11,15.16
$GC,3937,-0.84,-91.7,1838,2696,3376,3275,472.3,-8.5,414,3943,0.00,2.25,0.00,0.000,260,0.000,0.086,1839,3943,3326,3376,3276,0,0,0,0,0,0,15.40,14.94,15.41
$GC,3987,-0.84,-91.7,1838,3943,3376,3274,476.9,-9.6,423,3992,0.00,1.95,0.00,0.000,1030,0.000,0.035,1838,2736,3325,3376,3274,0,0,0,0,0,0,15.20,15.16,15.21
$GC,4306,-0.84,-91.7,1838,2733,3373,3272,503.7,-8.1,436,4311,0.00,2.25,0.00,0.000,516,0.000,0.044,1839,1385,3322,3373,3272,0,0,0,0,0,0,15.39,15.02,15.41
$GC,4353,-0.84,-91.7,1838,1384,3372,3273,507.8,-8.4,445,4360,0.00,2.38,0.00,0.000,1030,0.000,0.055,1838,2752,3322,3372,3272,0,0,0,0,0,0,15.11,14.99,15.15
$GC,4675,-0.84,-91.7,1838,2752,3370,3270,531.8,-7.4,458,4678,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2752,3318,3370,3266,0,0,0,0,0,0,15.36,15.39,15.38
$GC,4973,-0.84,-91.7,1838,2752,3368,3268,554.4,-7.6,468,4979,0.00,2.35,0.00,0.000,516,0.000,0.048,1838,1381,3316,3367,3266,0,0,0,0,0,0,15.36,14.98,15.38
$GC,5109,-0.84,-91.7,1837,1379,3364,3268,565.2,-7.9,494,5117,0.00,2.40,0.00,0.000,1030,0.000,0.057,1838,2755,3316,3366,3267,0,0,0,0,0,0,15.07,14.95,15.12
$GC,5434,-0.84,-97.3,1838,2754,3365,3265,587.4,-6.2,508,5438,0.00,0.00,0.00,0.000,38,0.000,0.000,1838,2754,3314,3364,3265,0,0,0,0,0,0,15.38,15.39,15.38
$GC,5732,-0.84,-97.3,1838,2755,3364,3264,605.0,-5.9,518,5736,0.00,0.00,0.00,0.000,38,0.000,0.000,1838,2754,3314,3364,3265,0,0,0,0,0,0,15.37,15.39,15.38
$GC,6032,-0.84,-97.3,1838,2754,3362,3264,622.4,-5.9,528,6038,0.00,2.12,0.00,0.000,292,0.000,0.089,1838,3946,3312,3362,3263,0,0,0,0,0,0,15.36,14.87,15.38
$GC,6157,-0.84,-97.3,1838,3946,3356,3262,631.2,-7.2,552,6163,0.00,1.95,0.00,0.000,1030,0.000,0.040,1838,2770,3312,3362,3263,0,0,0,0,0,0,15.14,15.08,15.15
$GC,6491,-0.84,-97.3,1838,2770,3360,3260,654.2,-7.1,568,6495,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2769,3310,3360,3260,0,0,0,0,0,0,15.35,15.38,15.37
$GC,6793,-0.84,-97.3,1838,2770,3359,3259,677.1,-7.7,578,6798,0.00,2.12,0.00,0.000,260,0.000,0.088,1838,3941,3308,3358,3258,0,0,0,0,0,0,15.35,14.84,15.37
$GC,6905,-0.84,-97.3,1838,3942,3358,3258,686.9,-8.7,600,6911,0.00,2.00,0.00,0.000,1030,0.000,0.039,1838,2744,3308,3358,3258,0,0,0,0,0,0,15.11,15.06,15.16
$GC,7220,-0.84,-97.3,1838,2751,3359,3257,713.5,-8.7,612,7226,0.00,2.35,0.00,0.000,516,0.000,0.046,1838,1366,3306,3356,3257,0,0,0,0,0,0,15.33,14.86,15.35
$GC,7298,-0.84,-97.3,1838,1365,3356,3257,721.0,-9.3,627,7304,0.00,2.45,0.00,0.000,1030,0.000,0.057,1838,2751,3306,3355,3257,0,0,0,0,0,0,15.02,14.88,15.06
$GC,7619,-0.84,-97.3,1838,2751,3354,3255,749.8,-9.2,640,7622,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2751,3305,3355,3255,0,0,0,0,0,0,15.31,15.33,15.33
$GC,7920,-0.84,-97.3,1838,2751,3354,3254,777.9,-9.4,650,7923,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2751,3304,3354,3255,0,0,0,0,0,0,15.30,15.33,15.32
$GC,8219,-0.84,-97.3,1839,2751,3352,3253,807.4,-9.9,660,8227,0.00,2.40,0.00,0.000,516,0.000,0.047,1838,1364,3302,3352,3253,0,0,0,0,0,0,15.30,14.90,15.32
$GC,8264,-0.84,-97.3,1834,1365,3352,3253,812.2,-9.8,669,8271,0.00,2.45,0.00,0.000,1030,0.000,0.058,1838,2748,3302,3352,3253,0,0,0,0,0,0,14.99,14.85,15.02
$GC,8586,-0.84,-97.3,1838,2748,3352,3252,841.7,-9.2,682,8589,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2748,3299,3347,3252,0,0,0,0,0,0,15.32,15.34,15.33
$GC,8884,-0.84,-97.3,1837,2748,3351,3252,868.0,-8.6,692,8888,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2749,3299,3347,3252,0,0,0,0,0,0,15.31,15.33,15.33
$GC,9185,-0.84,-97.3,1838,2749,3350,3251,892.2,-7.8,702,9193,0.00,2.40,0.00,0.000,516,0.000,0.047,1838,1367,3300,3349,3251,0,0,0,0,0,0,15.32,14.87,15.33
$GC,9355,-0.84,-97.3,1838,1366,3345,3251,905.5,-7.7,736,9361,0.00,2.47,0.00,0.000,1030,0.000,0.058,1838,2750,3300,3349,3251,0,0,0,0,0,0,14.96,14.82,15.00
$GC,9670,-0.84,-97.3,1837,2750,3349,3250,926.5,-6.4,748,9674,0.00,0.00,0.00,0.000,38,0.000,0.000,1838,2750,3300,3350,3250,0,0,0,0,0,0,15.31,15.33,15.33
$GC,9971,-0.84,-97.3,1838,2750,3349,3249,945.0,-6.1,758,9975,0.00,0.00,0.00,0.000,38,0.000,0.000,1838,2750,3299,3349,3249,0,0,0,0,0,0,15.30,15.33,15.32
$GC,10270,-0.84,-97.3,1838,2750,3348,3248,962.4,-5.7,768,10274,0.00,0.00,0.00,0.000,38,0.000,0.000,1843,2750,3297,3348,3247,0,0,0,0,0,0,15.30,15.33,15.32
$GC,10570,-0.84,-97.3,1839,2750,3347,3248,980.4,-6.0,778,10574,0.00,0.00,0.00,0.000,38,0.000,0.000,1838,2749,3297,3347,3248,0,0,0,0,0,0,15.30,15.33,15.32
$STATE,10717,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10717,begin apogee
$GC,10726,-0.21,0.0,1838,1717,3347,3247,990.1,-6.5,783,10814,0.77,0.00,82.28,2.103,10246,0.203,0.000,2050,1717,2970,3032,2908,0,0,0,0,0,0,14.57,14.52,13.63
$STATE,10822,end apogee,CONTROL_FINISHED_OK
$STATE,10823,begin climb
$GC,10825,0.84,97.3,2050,1718,3032,2905,991.9,0.0,786,10940,1.08,2.03,101.75,2.055,10756,0.112,0.076,2391,647,2571,2631,2512,0,0,0,0,0,0,14.48,14.27,13.46
$GC,10974,0.84,97.3,2390,647,2626,2510,984.2,8.6,818,10979,0.00,1.88,0.00,0.000,1030,0.000,0.042,2388,1725,2567,2626,2509,0,0,0,0,0,0,14.57,14.50,14.58
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$STATE,22293,end climb,SURFACE_DEPTH_REACHED
$STATE,22293,begin surface coast
$STATE,22315,end surface coast,CONTROL_FINISHED_OK
$STATE,22315,begin surface
$SM_CCo,22337,145.75,0.679,1,0,928,500.17
$SM_GC,0.29,7.00,1.80,145.75,0.075,0.054,0.679,157,2738,928,-6.09,-1.30,500.17,0,0,0,0,1,0,14.94,14.97,14.33
$IRIDIUM_FIX,1415.49,14411.44,251219,094138
$TT8_MAMPS,0.019474,0.150549
$HUMID,47.16
$INTERNAL_PRESSURE,8.93589
$TCM_TEMP,26.10
$XPDR_PINGS,0
$SC_FREEKB,3726752
$PM_FREEKB_00,58040768
$PM_FREEKB_01,85563520
$PM_FREEKB_02,59195968
$PM_FREEKB_03,105383424
$PM_ACTIVECARD,3
$24V_AH,13.46,137.163
$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,17.450,151.200,392.900,145.750,0.000,0.000,0.000,474.125,0.000,0.000,15.966,1502.147,15326.251,608.942,5244.265,606.124,0.000,2692.097,0.000,4456.675,0.000,0.554,0.000
$DEVICE_MAMPS,384.030,144.585,2102.985,679.320,0.000,0.000,0.000,198.900,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22346.000,22346.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.257,6.525,0.000,0.000
$MEM,270600
$DATA_FILE_SIZE,59897,1743
$CAP_FILE_SIZE,190496,0
$CFSIZE,260034560,205766656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.033,353.69,1
$GPS,251219,221901,1420.576,14409.619,30,0.8,37,0.2,0.3,26.9,10,1.8