version: 66.13
glider: 178
mission: 31
dive: 350
start: 12 29 119 23 52 35
data:
$ID,178
$MISSION,31
$DIVE,350
$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,32
$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
$GPS1,291219,233700,1418.4541,14409.5947,49,0.8,49,0.2,1.3,294.6,8,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.32
$_SM_ANGLEo,-52.8
$GPS2,291219,235146,1418.4845,14409.4990,4,0.6,4,0.2,0.7,251.5,12,9.1
$SPEED_LIMITS,0.147,0.188
$TGT_NAME,S
$TGT_LATLONG,1410.000,14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,175.9,15739,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-0.81,-97.3,91,2737,995,866,0.0,0.0,0,121,0.00,0.00,-93.43,0.005,16390,0.000,0.000,90,2738,3363,3385,3342,0,0,0,0,0,0,15.21,13.32,15.19
$GC,125,-0.81,-97.3,90,2738,3386,3342,6.5,-13.4,10,142,8.48,2.38,0.00,0.000,2564,0.389,0.041,1857,1335,3366,3391,3342,0,0,0,0,0,0,14.55,14.91,14.91
$GC,372,-0.81,-97.3,1856,1335,3396,3335,81.5,-21.4,59,379,0.00,2.45,0.00,0.000,1030,0.000,0.052,1851,2741,3367,3396,3338,0,0,0,0,0,0,14.97,14.92,15.01
$GC,561,-0.81,-97.3,1851,2741,3396,3335,115.8,-18.6,78,568,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,2741,3365,3396,3335,0,0,0,0,0,0,15.33,15.34,15.37
$GC,749,-0.81,-97.3,1852,2741,3396,3335,147.2,-18.5,97,756,0.00,2.33,0.00,0.000,516,0.000,0.042,1851,1337,3366,3397,3335,0,0,0,0,0,0,15.35,15.05,15.36
$GC,959,-0.81,-97.3,1851,1337,3397,3334,176.0,-12.1,137,966,0.00,2.40,0.00,0.000,1030,0.000,0.050,1851,2756,3365,3397,3334,0,0,0,0,0,0,15.15,15.04,15.19
$GC,1154,-0.81,-97.3,1851,2756,3398,3334,200.7,-13.4,157,1161,0.00,2.05,0.00,0.000,260,0.000,0.079,1850,3947,3365,3397,3334,0,0,0,0,0,0,15.39,15.00,15.40
$GC,1351,-0.81,-97.3,1851,3946,3397,3334,226.5,-11.1,195,1356,0.00,1.98,0.00,0.000,1030,0.000,0.029,1850,2689,3366,3399,3333,0,0,0,0,0,0,15.21,15.18,15.22
$GC,1545,-0.81,-97.3,1850,2683,3397,3334,246.9,-10.3,215,1551,0.00,2.20,0.00,0.000,516,0.000,0.043,1850,1334,3365,3397,3333,0,0,0,0,0,0,15.40,15.07,15.41
$GC,1598,-0.81,-97.3,1850,1334,3397,3329,252.7,-10.7,225,1605,0.00,2.40,0.00,0.000,1030,0.000,0.050,1846,2754,3364,3397,3331,0,0,0,0,0,0,15.16,15.07,15.19
$GC,1913,-0.81,-97.3,1845,2754,3397,3329,283.2,-8.7,237,1920,0.00,2.05,0.00,0.000,260,0.000,0.080,1846,3940,3363,3397,3329,0,0,0,0,0,0,15.38,14.96,15.40
$GC,2148,-0.81,-97.3,1845,3941,3397,3327,304.4,-8.9,283,2155,0.00,1.98,0.00,0.000,1030,0.000,0.031,1845,2693,3365,3404,3327,0,0,0,0,0,0,15.23,15.19,15.24
$GC,2463,-0.81,-97.3,1846,2688,3397,3323,332.5,-8.8,295,2469,0.00,2.25,0.00,0.000,516,0.000,0.045,1846,1331,3359,3397,3322,0,0,0,0,0,0,15.40,15.06,15.42
$GC,2618,-0.81,-97.3,1845,1331,3397,3321,346.3,-9.7,325,2625,0.00,2.45,0.00,0.000,1030,0.000,0.054,1845,2753,3358,3397,3320,0,0,0,0,0,0,15.14,15.01,15.18
$GC,2954,-0.81,-97.3,1845,2753,3397,3314,377.5,-9.1,341,2960,0.00,2.08,0.00,0.000,260,0.000,0.086,1843,3942,3355,3397,3313,0,0,0,0,0,0,15.40,14.97,15.42
$GC,3021,-0.81,-97.3,1845,3943,3397,3312,384.0,-9.2,354,3029,0.00,2.00,0.00,0.000,1030,0.000,0.033,1845,2693,3354,3397,3312,0,0,0,0,0,0,15.16,15.13,15.18
$GC,3353,-0.81,-97.3,1849,2692,3397,3307,414.0,-9.4,369,3357,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,2692,3351,3396,3307,0,0,0,0,0,0,15.38,15.40,15.39
$GC,3652,-0.81,-97.3,1846,2692,3393,3304,440.1,-8.2,379,3659,0.00,2.25,0.00,0.000,260,0.000,0.087,1845,3941,3349,3396,3302,0,0,0,0,0,0,15.37,14.92,15.39
$GC,3857,-0.81,-97.3,1845,3940,3396,3299,458.5,-8.7,419,3863,0.00,2.03,0.00,0.000,1030,0.000,0.035,1845,2690,3347,3396,3299,0,0,0,0,0,0,15.17,15.14,15.19
$GC,4172,-0.81,-97.3,1845,2689,3392,3296,482.7,-7.4,431,4176,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,2689,3344,3392,3297,0,0,0,0,0,0,15.38,15.40,15.40
$GC,4472,-0.81,-97.3,1845,2688,3391,3294,503.7,-6.9,441,4476,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,2689,3345,3390,3300,0,0,0,0,0,0,15.38,15.40,15.40
$GC,4773,-0.81,-97.3,1845,2688,3388,3291,525.2,-7.5,451,4779,0.00,2.28,0.00,0.000,260,0.000,0.090,1845,3937,3340,3388,3292,0,0,0,0,0,0,15.37,14.89,15.39
$GC,4867,-0.81,-97.3,1845,3937,3387,3291,533.1,-8.3,469,4874,0.00,2.03,0.00,0.000,1030,0.000,0.037,1845,2703,3339,3388,3291,0,0,0,0,0,0,15.16,15.11,15.17
$GC,5203,-0.81,-97.3,1845,2702,3385,3289,561.3,-8.9,485,5207,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,2702,3337,3385,3289,0,0,0,0,0,0,15.37,15.39,15.38
$GC,5502,-0.81,-97.3,1845,2702,3384,3287,589.1,-9.5,495,5506,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,2702,3335,3383,3288,0,0,0,0,0,0,15.37,15.39,15.38
$GC,5802,-0.81,-97.3,1845,2702,3382,3286,617.9,-9.8,505,5809,0.00,2.28,0.00,0.000,260,0.000,0.090,1845,3946,3337,3382,3292,0,0,0,0,0,0,15.36,14.83,15.37
$GC,5934,-0.81,-97.3,1845,3946,3381,3285,631.0,-9.8,530,5939,0.00,1.98,0.00,0.000,1030,0.000,0.037,1845,2744,3332,3381,3283,0,0,0,0,0,0,15.12,15.07,15.14
$GC,6264,-0.81,-97.3,1845,2744,3380,3282,660.4,-8.3,545,6270,0.00,2.30,0.00,0.000,516,0.000,0.046,1845,1382,3331,3380,3283,0,0,0,0,0,0,15.33,14.94,15.35
$GC,6368,-0.81,-97.3,1845,1382,3378,3283,669.2,-8.5,565,6375,0.00,2.40,0.00,0.000,1030,0.000,0.058,1845,2748,3330,3378,3283,0,0,0,0,0,0,15.02,14.90,15.06
$GC,6693,-0.81,-97.3,1845,2748,3377,3281,695.9,-8.3,579,6697,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,2748,3329,3377,3281,0,0,0,0,0,0,15.34,15.36,15.35
$GC,6993,-0.81,-97.3,1844,2748,3376,3279,722.0,-8.8,589,6997,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,2747,3328,3376,3280,0,0,0,0,0,0,15.33,15.35,15.35
$GC,7294,-0.81,-97.3,1845,2747,3375,3279,748.2,-8.7,599,7298,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,2748,3326,3374,3279,0,0,0,0,0,0,15.33,15.35,15.35
$GC,7593,-0.81,-97.3,1843,2748,3372,3278,773.0,-8.3,609,7600,0.00,2.38,0.00,0.000,516,0.000,0.048,1845,1375,3325,3373,3277,0,0,0,0,0,0,15.32,14.90,15.34
$GC,7647,-0.81,-97.3,1845,1380,3373,3278,778.0,-9.0,619,7656,0.00,2.42,0.00,0.000,1030,0.000,0.058,1845,2749,3324,3372,3277,0,0,0,0,0,0,14.99,14.85,15.03
$GC,7960,-0.81,-97.3,1845,2749,3371,3276,802.4,-7.6,631,7965,0.00,2.15,0.00,0.000,260,0.000,0.090,1845,3946,3323,3371,3276,0,0,0,0,0,0,15.32,14.78,15.34
$GC,8062,-0.81,-97.3,1845,3946,3371,3276,810.3,-7.4,651,8069,0.00,1.98,0.00,0.000,1030,0.000,0.043,1845,2772,3323,3371,3276,0,0,0,0,0,0,15.00,14.94,15.02
$GC,8388,-0.81,-97.3,1845,2772,3370,3275,831.6,-6.5,665,8392,0.00,0.00,0.00,0.000,38,0.000,0.000,1845,2772,3322,3370,3275,0,0,0,0,0,0,15.32,15.34,15.33
$GC,8688,-0.81,-97.3,1845,2772,3369,3274,852.7,-7.3,675,8696,0.00,2.42,0.00,0.000,516,0.000,0.048,1845,1359,3321,3368,3274,0,0,0,0,0,0,15.30,14.81,15.32
$GC,8793,-0.81,-97.3,1845,1359,3368,3274,860.8,-7.4,696,8802,0.00,2.47,0.00,0.000,1030,0.000,0.060,1845,2749,3321,3369,3274,0,0,0,0,0,0,14.95,14.81,14.99
$GC,9112,-0.81,-97.3,1845,2754,3367,3273,883.5,-7.2,709,9120,0.00,2.17,0.00,0.000,260,0.000,0.090,1846,3952,3320,3368,3273,0,0,0,0,0,0,15.30,14.68,15.29
$GC,9191,-0.81,-97.3,1845,3952,3367,3273,889.9,-8.0,724,9197,0.00,2.05,0.00,0.000,1030,0.000,0.043,1845,2744,3320,3368,3273,0,0,0,0,0,0,15.04,14.97,15.06
$GC,9511,-0.81,-97.3,1844,2744,3367,3272,914.6,-7.9,737,9515,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,2744,3318,3363,3273,0,0,0,0,0,0,15.27,15.30,15.29
$GC,9811,-0.81,-97.3,1845,2742,3365,3271,939.7,-8.5,747,9815,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,2744,3318,3366,3271,0,0,0,0,0,0,15.28,15.30,15.30
$GC,10111,-0.81,-97.3,1845,2743,3365,3271,964.3,-7.8,757,10118,0.00,2.22,0.00,0.000,260,0.000,0.089,1845,3948,3318,3366,3271,0,0,0,0,0,0,15.29,14.71,15.30
$GC,10189,-0.81,-97.3,1845,3948,3366,3266,970.8,-7.9,772,10195,0.00,2.03,0.00,0.000,1030,0.000,0.044,1846,2756,3317,3365,3270,0,0,0,0,0,0,14.94,14.88,14.96
$STATE,10476,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10476,begin apogee
$GC,10485,-0.21,0.0,1845,1703,3365,3270,991.1,-6.9,784,10579,0.77,0.00,88.03,2.090,10246,0.201,0.000,2056,1703,2970,3033,2908,0,0,0,0,0,0,14.53,14.49,13.57
$STATE,10581,end apogee,CONTROL_FINISHED_OK
$STATE,10581,begin climb
$GC,10584,0.81,97.3,2057,1703,3032,2907,993.0,0.0,787,10701,1.02,2.00,102.12,2.048,10756,0.109,0.076,2380,645,2570,2630,2510,0,0,0,0,0,0,14.47,14.26,13.43
$GC,10755,0.81,97.3,2380,645,2625,2508,984.0,8.9,823,10761,0.00,1.90,0.00,0.000,1030,0.000,0.044,2380,1730,2566,2625,2508,0,0,0,0,0,0,14.61,14.53,14.62
$GC,11091,0.81,97.3,2380,1729,2625,2501,952.3,9.5,839,11100,0.00,2.42,0.00,0.000,260,0.000,0.067,2380,3099,2563,2625,2501,0,0,0,0,0,0,15.16,14.81,15.17
$GC,11258,0.81,97.3,2380,3101,2625,2498,935.8,9.8,872,11267,0.00,2.45,0.00,0.000,1030,0.000,0.047,2381,1705,2561,2625,2498,0,0,0,0,0,0,14.97,14.88,15.00
$GC,11576,0.81,97.3,2380,1705,2625,2496,906.2,9.3,885,11580,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1705,2560,2625,2496,0,0,0,0,0,0,15.24,15.26,15.26
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$STATE,21827,end climb,SURFACE_DEPTH_REACHED
$STATE,21827,begin surface coast
$STATE,21861,end surface coast,CONTROL_FINISHED_OK
$STATE,21861,begin surface
$SM_CCo,21883,189.62,0.684,1,0,928,500.17
$SM_GC,0.24,6.85,1.67,189.62,0.073,0.049,0.684,153,2700,928,-6.10,-2.29,500.17,0,0,0,0,1,0,14.99,15.02,14.30
$IRIDIUM_FIX,1420.13,14410.14,291219,165922
$TT8_MAMPS,0.019474,0.152047
$HUMID,46.53
$INTERNAL_PRESSURE,8.95542
$TCM_TEMP,26.80
$XPDR_PINGS,0
$SC_FREEKB,3720608
$PM_FREEKB_00,58040768
$PM_FREEKB_01,85563520
$PM_FREEKB_02,59195968
$PM_FREEKB_03,96265280
$PM_ACTIVECARD,3
$24V_AH,13.32,143.756
$10V_AH,12.88,0.000
$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,17.400,160.550,357.175,189.625,0.000,0.000,0.000,578.075,0.000,0.000,15.509,1531.953,14794.959,651.046,5320.870,665.451,0.000,2890.434,0.000,4466.908,0.000,0.552,0.000
$DEVICE_MAMPS,388.620,90.270,2089.980,683.910,0.000,0.000,0.000,194.310,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21894.000,21885.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.256,7.127,0.000,0.000
$MEM,270580
$DATA_FILE_SIZE,63189,1802
$CAP_FILE_SIZE,193121,0
$CFSIZE,260034560,203407360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.043,238.01,1
$GPS,301219,060239,1416.068,14409.152,55,0.8,64,0.3,1.0,72.2,12,3.6