version: 66.13
glider: 178
mission: 31
dive: 393
start: 1 10 120 15 40 44
data:
$ID,178
$MISSION,31
$DIVE,393
$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,0.00316228
$HD_B,0.010145
$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,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
$GPS1,100120,152730,1356.3224,14421.1621,27,0.7,27,0.4,0.4,262.0,12,3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.23
$_SM_ANGLEo,-56.2
$GPS2,100120,153957,1356.3240,14421.1992,3,0.6,5,0.4,0.6,75.2,12,3.1
$SPEED_LIMITS,0.147,0.205
$TGT_NAME,HOLDN
$TGT_LATLONG,1345.000,14430.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,178.1,26277,-19.0,-8.462,-22.47,1763
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,24,-0.83,-97.3,150,2750,989,864,0.0,0.0,0,116,0.00,0.00,-87.53,0.005,16386,0.000,0.000,150,2750,3127,3155,3099,0,0,0,0,0,0,15.22,28.83,15.23
$GC,120,-0.83,-97.3,150,2750,3155,3099,3.5,-6.7,9,142,8.18,2.40,-4.25,0.028,18948,0.383,0.067,1849,1332,3366,3405,3328,0,0,0,0,0,0,14.42,13.44,14.69
$GC,338,-0.83,-97.3,1848,1332,3406,3328,69.3,-28.4,51,347,0.00,2.42,0.00,0.000,1030,0.000,0.052,1840,2750,3367,3406,3328,0,0,0,0,0,0,15.07,14.96,15.09
$GC,528,-0.83,-97.3,1840,2750,3406,3328,116.3,-15.9,71,535,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,2750,3366,3405,3328,0,0,0,0,0,0,15.34,15.35,15.35
$GC,720,-0.83,-97.3,1840,2750,3405,3328,147.7,-17.0,90,727,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,2750,3366,3405,3328,0,0,0,0,0,0,15.33,15.34,15.35
$GC,908,-0.83,-97.3,1841,2750,3406,3328,177.3,-12.8,109,914,0.00,2.05,0.00,0.000,260,0.000,0.079,1834,3946,3367,3406,3328,0,0,0,0,0,0,15.37,14.98,15.36
$GC,1146,-0.83,-97.3,1835,3946,3406,3328,206.6,-9.5,155,1152,0.00,1.98,0.00,0.000,1030,0.000,0.031,1835,2694,3367,3406,3328,0,0,0,0,0,0,15.19,15.16,15.21
$GC,1341,-0.83,-97.3,1835,2688,3406,3328,226.8,-11.0,175,1346,0.00,2.20,0.00,0.000,260,0.000,0.077,1827,3947,3366,3405,3328,0,0,0,0,0,0,15.39,14.98,15.40
$GC,1576,-0.83,-97.3,1829,3947,3406,3325,260.0,-14.5,221,1583,0.00,1.98,0.00,0.000,1030,0.000,0.031,1830,2698,3366,3406,3327,0,0,0,0,0,0,15.21,15.16,15.23
$GC,1895,-0.83,-97.3,1829,2692,3406,3323,293.3,-10.1,233,1902,0.00,2.25,0.00,0.000,516,0.000,0.046,1829,1337,3365,3406,3324,0,0,0,0,0,0,15.38,15.04,15.39
$GC,1932,-0.83,-97.3,1829,1338,3406,3324,297.4,-11.0,239,1940,0.12,2.42,0.00,0.000,3078,0.274,0.054,1855,2749,3364,3406,3323,0,0,0,0,0,0,14.78,15.02,14.91
$GC,2264,-0.83,-97.3,1853,2749,3405,3320,324.5,-7.7,255,2270,0.00,2.08,0.00,0.000,260,0.000,0.084,1852,3943,3362,3406,3319,0,0,0,0,0,0,15.40,14.97,15.42
$GC,2317,-0.83,-97.3,1852,3943,3406,3319,329.2,-8.7,265,2324,0.00,2.00,0.00,0.000,1030,0.000,0.033,1852,2689,3362,3405,3319,0,0,0,0,0,0,15.21,15.16,15.23
$GC,2632,-0.83,-97.3,1853,2689,3405,3313,357.4,-9.3,277,2636,0.00,0.00,0.00,0.000,6,0.000,0.000,1853,2689,3359,3406,3313,0,0,0,0,0,0,15.38,15.40,15.40
$GC,2932,-0.83,-97.3,1852,2689,3405,3308,386.0,-9.6,287,2936,0.00,0.00,0.00,0.000,6,0.000,0.000,1853,2689,3356,3405,3308,0,0,0,0,0,0,15.38,15.42,15.40
$GC,3232,-0.83,-97.3,1852,2686,3405,3303,415.9,-10.0,297,3242,0.00,2.25,0.00,0.000,260,0.000,0.086,1852,3944,3353,3405,3302,0,0,0,0,0,0,15.38,14.91,15.40
$GC,3294,-0.83,-97.3,1852,3940,3405,3301,422.3,-9.9,307,3302,0.00,2.03,0.00,0.000,1030,0.000,0.035,1852,2701,3353,3405,3302,0,0,0,0,0,0,15.12,15.08,15.14
$GC,3611,-0.83,-97.3,1852,2694,3402,3300,447.6,-7.0,319,3617,0.00,2.22,0.00,0.000,516,0.000,0.049,1852,1379,3350,3401,3300,0,0,0,0,0,0,15.39,15.00,15.40
$GC,3647,-0.83,-97.3,1852,1379,3401,3300,449.8,-6.3,325,3654,0.00,2.40,0.00,0.000,1062,0.000,0.058,1852,2753,3350,3401,3300,0,0,0,0,0,0,15.10,14.96,15.13
$GC,3982,-0.83,-97.3,1851,2753,3398,3297,470.6,-6.7,341,3986,0.00,0.00,0.00,0.000,6,0.000,0.000,1853,2753,3347,3398,3297,0,0,0,0,0,0,15.35,15.38,15.38
$GC,4282,-0.83,-97.3,1851,2752,3396,3294,494.1,-7.9,351,4291,0.00,2.12,0.00,0.000,260,0.000,0.089,1853,3949,3345,3396,3294,0,0,0,0,0,0,15.32,14.88,15.38
$GC,4518,-0.83,-97.3,1852,3949,3395,3292,512.4,-7.2,397,4525,0.00,1.98,0.00,0.000,1030,0.000,0.037,1852,2740,3344,3396,3292,0,0,0,0,0,0,15.16,15.09,15.16
$GC,4836,-0.83,-97.3,1853,2735,3392,3291,533.9,-7.2,409,4842,0.00,2.20,0.00,0.000,260,0.000,0.092,1853,3946,3341,3392,3291,0,0,0,0,0,0,15.35,14.85,15.36
$GC,5030,-0.83,-97.3,1852,3946,3392,3288,552.0,-9.5,447,5035,0.00,1.98,0.00,0.000,1030,0.000,0.038,1852,2744,3340,3392,3288,0,0,0,0,0,0,15.11,15.10,15.13
$GC,5354,-0.83,-97.3,1853,2742,3389,3287,579.9,-8.5,461,5361,0.00,2.33,0.00,0.000,516,0.000,0.045,1852,1378,3338,3389,3287,0,0,0,0,0,0,15.35,14.95,15.37
$GC,5429,-0.83,-97.3,1852,1378,3388,3282,586.2,-8.2,475,5438,0.00,2.42,0.00,0.000,1030,0.000,0.057,1849,2750,3335,3383,3287,0,0,0,0,0,0,15.01,14.87,15.05
$GC,5752,-0.83,-97.3,1852,2749,3386,3284,611.0,-7.6,489,5761,0.00,2.35,0.00,0.000,516,0.000,0.044,1852,1381,3336,3388,3285,0,0,0,0,0,0,15.34,14.92,15.35
$GC,5819,-0.83,-97.3,1852,1381,3385,3285,616.2,-8.2,500,5827,0.00,2.47,0.00,0.000,1030,0.000,0.057,1852,2749,3335,3385,3285,0,0,0,0,0,0,14.83,14.75,14.88
$GC,6126,-0.83,-97.3,1852,2749,3384,3283,641.6,-8.9,511,6131,0.00,2.35,0.00,0.000,516,0.000,0.045,1852,1384,3333,3384,3283,0,0,0,0,0,0,15.33,14.92,15.35
$GC,6183,-0.83,-97.3,1852,1382,3384,3281,647.2,-9.6,522,6190,0.00,2.47,0.00,0.000,1030,0.000,0.058,1853,2751,3333,3383,3283,0,0,0,0,0,0,14.84,14.77,14.89
$GC,6491,-0.83,-97.3,1852,2751,3382,3281,674.6,-9.1,533,6497,0.00,2.15,0.00,0.000,260,0.000,0.091,1852,3949,3332,3384,3280,0,0,0,0,0,0,15.33,14.79,15.33
$GC,6627,-0.83,-97.3,1852,3949,3382,3280,687.8,-9.6,559,6637,0.00,1.98,0.00,0.000,1030,0.000,0.040,1852,2769,3330,3380,3280,0,0,0,0,0,0,15.02,14.96,15.02
$GC,6956,-0.83,-97.3,1852,2768,3380,3279,716.9,-8.6,573,6963,0.00,0.00,0.00,0.000,6,0.000,0.000,1853,2768,3330,3381,3279,0,0,0,0,0,0,15.30,15.32,15.31
$GC,7255,-0.83,-97.3,1852,2768,3379,3278,741.7,-8.1,583,7261,0.00,0.00,0.00,0.000,6,0.000,0.000,1853,2768,3325,3374,3277,0,0,0,0,0,0,15.32,15.34,15.34
$GC,7555,-0.83,-97.3,1852,2768,3378,3277,765.5,-7.9,593,7562,0.00,0.00,0.00,0.000,6,0.000,0.000,1852,2768,3327,3378,3277,0,0,0,0,0,0,15.33,15.34,15.33
$GC,7855,-0.83,-97.3,1852,2767,3377,3276,788.3,-7.5,603,7861,0.00,0.00,0.00,0.000,6,0.000,0.000,1852,2768,3326,3377,3276,0,0,0,0,0,0,15.32,15.33,15.33
$GC,8156,-0.83,-97.3,1852,2768,3376,3275,809.5,-6.9,613,8166,0.00,2.17,0.00,0.000,260,0.000,0.092,1852,3942,3325,3376,3274,0,0,0,0,0,0,15.28,14.66,15.30
$GC,8209,-0.83,-97.3,1852,3942,3376,3274,813.5,-7.6,622,8214,0.00,2.00,0.00,0.000,1030,0.000,0.042,1852,2753,3324,3376,3273,0,0,0,0,0,0,15.04,15.01,15.06
$GC,8528,-0.83,-97.3,1852,2753,3374,3273,835.2,-6.8,635,8536,0.00,2.40,0.00,0.000,516,0.000,0.049,1854,1362,3324,3375,3273,0,0,0,0,0,0,15.28,14.83,15.30
$GC,8584,-0.83,-97.3,1852,1362,3375,3273,839.3,-7.4,646,8592,0.00,2.53,0.00,0.000,1030,0.000,0.060,1849,2742,3323,3374,3273,0,0,0,0,0,0,14.73,14.65,14.78
$GC,8890,-0.83,-97.3,1852,2742,3374,3273,861.7,-7.5,657,8896,0.00,2.20,0.00,0.000,260,0.000,0.093,1852,3954,3323,3374,3273,0,0,0,0,0,0,15.30,14.69,15.31
$GC,8955,-0.83,-97.3,1851,3954,3374,3272,866.9,-8.4,669,8961,0.00,2.05,0.00,0.000,1030,0.000,0.044,1850,2746,3323,3374,3272,0,0,0,0,0,0,15.02,14.96,15.04
$GC,9291,-0.83,-97.3,1852,2752,3373,3272,893.3,-7.9,685,9295,0.00,0.00,0.00,0.000,6,0.000,0.000,1852,2746,3322,3372,3272,0,0,0,0,0,0,15.30,15.32,15.32
$GC,9590,-0.83,-97.3,1852,2746,3372,3271,917.0,-7.8,695,9594,0.00,0.00,0.00,0.000,6,0.000,0.000,1852,2745,3320,3371,3270,0,0,0,0,0,0,15.31,15.33,15.33
$GC,9890,-0.83,-97.3,1852,2746,3370,3271,938.6,-7.0,705,9894,0.00,0.00,0.00,0.000,6,0.000,0.000,1852,2746,3319,3371,3267,0,0,0,0,0,0,15.30,15.33,15.31
$GC,10191,-0.83,-97.3,1852,2746,3370,3270,958.2,-6.3,715,10195,0.00,0.00,0.00,0.000,38,0.000,0.000,1851,2744,3320,3370,3270,0,0,0,0,0,0,15.30,15.32,15.31
$GC,10490,-0.83,-97.3,1852,2746,3369,3270,975.6,-5.5,725,10494,0.00,0.00,0.00,0.000,38,0.000,0.000,1853,2746,3317,3364,3270,0,0,0,0,0,0,15.30,15.32,15.31
$STATE,10757,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10757,begin apogee
$GC,10767,-0.21,0.0,1852,1716,3368,3268,990.3,-5.5,734,10866,0.75,0.00,89.80,2.092,10246,0.196,0.000,2056,1717,2967,3029,2905,0,0,0,0,0,0,14.39,14.45,13.43
$STATE,10875,end apogee,CONTROL_FINISHED_OK
$STATE,10875,begin climb
$GC,10878,0.83,97.3,2056,1718,3032,2902,992.0,0.0,737,10992,1.08,2.05,102.50,2.047,10756,0.106,0.076,2394,642,2572,2633,2511,0,0,0,0,0,0,14.47,14.28,13.33
$GC,11127,0.83,97.3,2393,642,2625,2508,974.7,9.7,791,11133,0.00,1.88,0.00,0.000,1030,0.000,0.043,2394,1732,2568,2628,2508,0,0,0,0,0,0,14.82,14.75,14.84
$GC,11456,0.83,97.3,2394,1732,2625,2502,945.2,8.8,806,11460,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1732,2563,2625,2502,0,0,0,0,0,0,15.21,15.23,15.22
$GC,11757,0.83,97.3,2393,1732,2625,2500,918.1,8.9,816,11763,0.00,1.98,0.00,0.000,516,0.000,0.073,2394,635,2563,2625,2501,0,0,0,0,0,0,15.22,14.81,15.24
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$STATE,22607,end climb,SURFACE_DEPTH_REACHED
$STATE,22608,begin surface coast
$STATE,22637,end surface coast,CONTROL_FINISHED_OK
$STATE,22637,begin surface
$SM_CCo,22661,195.77,0.686,1,0,929,500.17
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$IRIDIUM_FIX,1357.86,14422.05,100120,090233
$TT8_MAMPS,0.019474,0.152047
$HUMID,47.44
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$TCM_TEMP,26.70
$XPDR_PINGS,0
$SC_FREEKB,3704096
$PM_FREEKB_00,58040768
$PM_FREEKB_01,85563520
$PM_FREEKB_02,59195968
$PM_FREEKB_03,67516992
$PM_ACTIVECARD,3
$24V_AH,13.33,162.283
$10V_AH,12.53,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.525,168.425,347.800,195.775,0.000,0.000,0.000,418.025,0.000,0.000,16.491,1589.201,15022.530,642.088,5671.101,680.222,0.000,2834.510,0.000,4875.569,0.000,0.552,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.374,9.055,0.000,0.000
$MEM,270484
$DATA_FILE_SIZE,66507,1894
$CAP_FILE_SIZE,202295,0
$CFSIZE,260034560,196841472
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,21216.47,0x23576e,1,24
$CURRENT,0.023,145.58,1
$GPS,100120,220309,1353.745,14421.188,21,1.0,21,0.4,0.5,280.1,7,6.1