version: 66.13
glider: 178
mission: 31
dive: 399
start: 1 12 120 6 48 29
data:
$ID,178
$MISSION,31
$DIVE,399
$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,34
$R_STBD_OVSHOOT,28
$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
$GPS1,120120,063500,1345.4968,14428.4502,28,0.8,28,0.5,0.7,52.7,11,5.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.18
$_SM_ANGLEo,-52.9
$GPS2,120120,064741,1345.4589,14428.4580,2,0.6,4,0.5,0.4,91.0,12,4.9
$SPEED_LIMITS,0.147,0.205
$TGT_NAME,HOLDS
$TGT_LATLONG,1336.000,14430.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,168.4,17736,-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,-97.3,155,2719,989,866,0.0,0.0,0,116,0.00,0.00,-87.75,0.005,16386,0.000,0.000,152,2721,3129,3157,3101,0,0,0,0,0,0,15.23,28.83,15.24
$GC,120,-0.83,-97.3,153,2721,3157,3100,3.5,-6.6,9,142,8.10,2.30,-4.28,0.028,18948,0.380,0.062,1848,1338,3364,3403,3325,0,0,0,0,0,0,14.45,13.97,14.71
$GC,248,-0.83,-97.3,1848,1338,3404,3325,43.4,-26.1,33,254,0.00,2.42,0.00,0.000,1030,0.000,0.049,1840,2757,3364,3403,3325,0,0,0,0,0,0,15.05,14.95,15.08
$GC,443,-0.83,-97.3,1840,2757,3403,3325,94.3,-25.7,53,455,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,2757,3363,3403,3324,0,0,0,0,0,0,15.33,15.34,15.33
$GC,636,-0.83,-97.3,1840,2757,3403,3325,131.6,-18.9,72,642,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,2757,3364,3403,3325,0,0,0,0,0,0,15.34,15.35,15.35
$GC,825,-0.83,-97.3,1840,2757,3403,3326,158.4,-12.7,91,830,0.00,2.03,0.00,0.000,260,0.000,0.072,1837,3948,3364,3403,3325,0,0,0,0,0,0,15.37,14.97,15.36
$GC,933,-0.83,-97.3,1839,3948,3403,3325,174.0,-12.9,112,939,0.00,2.03,0.00,0.000,1030,0.000,0.029,1839,2690,3364,3403,3325,0,0,0,0,0,0,15.10,15.08,15.11
$GC,1120,-0.83,-97.3,1839,2689,3404,3322,197.9,-14.0,131,1126,0.00,2.22,0.00,0.000,516,0.000,0.044,1839,1331,3364,3403,3325,0,0,0,0,0,0,15.38,15.04,15.39
$GC,1179,-0.83,-97.3,1839,1336,3403,3325,206.6,-13.4,142,1185,0.00,2.45,0.00,0.000,1030,0.000,0.046,1839,2749,3364,3403,3325,0,0,0,0,0,0,15.02,14.96,15.06
$GC,1367,-0.83,-97.3,1844,2747,3403,3325,227.8,-11.1,161,1373,0.00,2.05,0.00,0.000,260,0.000,0.076,1839,3947,3364,3404,3325,0,0,0,0,0,0,15.39,14.97,15.40
$GC,1605,-0.83,-97.3,1840,3949,3403,3324,254.0,-10.7,207,1611,0.00,1.98,0.00,0.000,1030,0.000,0.028,1839,2692,3363,3403,3323,0,0,0,0,0,0,15.19,15.17,15.22
$GC,1921,-0.83,-97.3,1838,2686,3403,3321,282.5,-9.7,219,1927,0.00,2.25,0.00,0.000,260,0.000,0.079,1839,3949,3362,3403,3321,0,0,0,0,0,0,15.37,14.96,15.38
$GC,2154,-0.83,-97.3,1839,3949,3403,3318,309.6,-10.8,265,2162,0.00,2.00,0.00,0.000,1030,0.000,0.031,1839,2702,3362,3406,3318,0,0,0,0,0,0,15.15,15.11,15.17
$GC,2472,-0.83,-97.3,1839,2695,3403,3313,336.5,-7.8,277,2479,0.00,2.17,0.00,0.000,516,0.000,0.044,1839,1384,3358,3403,3313,0,0,0,0,0,0,15.39,15.05,15.41
$GC,2561,-0.83,-97.3,1838,1383,3403,3312,343.8,-7.8,294,2568,0.00,2.40,0.00,0.000,1030,0.000,0.050,1839,2753,3357,3403,3311,0,0,0,0,0,0,15.00,14.94,15.04
$GC,2869,-0.83,-97.3,1839,2753,3403,3307,368.8,-8.6,305,2875,0.00,2.10,0.00,0.000,260,0.000,0.083,1839,3941,3355,3403,3307,0,0,0,0,0,0,15.38,14.92,15.38
$GC,3102,-0.83,-97.3,1839,3942,3403,3302,389.7,-9.1,351,3108,0.00,1.92,0.00,0.000,1030,0.000,0.033,1839,2753,3352,3403,3302,0,0,0,0,0,0,15.19,15.14,15.20
$GC,3418,-0.83,-97.3,1839,2745,3401,3300,415.0,-8.1,363,3426,0.00,2.17,0.00,0.000,260,0.000,0.087,1839,3943,3350,3402,3299,0,0,0,0,0,0,15.34,14.86,15.36
$GC,3473,-0.83,-97.3,1844,3943,3402,3298,420.4,-9.7,373,3482,0.00,1.95,0.00,0.000,1030,0.000,0.034,1839,2748,3349,3401,3298,0,0,0,0,0,0,15.12,15.08,15.15
$GC,3791,-0.83,-97.3,1839,2744,3398,3296,450.7,-9.7,385,3798,0.00,2.30,0.00,0.000,516,0.000,0.041,1839,1371,3347,3398,3296,0,0,0,0,0,0,15.38,15.01,15.40
$GC,3903,-0.83,-97.3,1838,1372,3396,3301,461.0,-9.0,406,3911,0.00,2.40,0.00,0.000,1030,0.000,0.053,1839,2750,3346,3396,3296,0,0,0,0,0,0,15.07,14.95,15.10
$GC,4220,-0.83,-97.3,1839,2747,3394,3293,485.0,-6.8,419,4223,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2750,3343,3394,3293,0,0,0,0,0,0,15.38,15.40,15.39
$GC,4521,-0.83,-97.3,1839,2751,3392,3291,505.6,-7.2,429,4524,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2750,3341,3392,3291,0,0,0,0,0,0,15.40,15.39,15.39
$GC,4820,-0.83,-97.3,1839,2751,3390,3289,528.7,-7.9,439,4826,0.00,2.12,0.00,0.000,260,0.000,0.087,1840,3944,3339,3390,3289,0,0,0,0,0,0,15.39,14.85,15.39
$GC,4887,-0.83,-97.3,1839,3944,3390,3288,534.6,-8.6,452,4895,0.00,1.98,0.00,0.000,1030,0.000,0.036,1839,2758,3336,3390,3283,0,0,0,0,0,0,15.07,15.02,15.09
$GC,5220,-0.83,-97.3,1839,2751,3387,3286,561.4,-7.9,467,5228,0.00,2.15,0.00,0.000,260,0.000,0.086,1839,3941,3336,3387,3286,0,0,0,0,0,0,15.33,14.76,15.35
$GC,5346,-0.83,-97.3,1839,3940,3387,3286,572.5,-8.8,491,5352,0.00,1.98,0.00,0.000,1030,0.000,0.037,1839,2759,3336,3387,3285,0,0,0,0,0,0,15.11,15.05,15.12
$GC,5683,-0.83,-97.3,1839,2759,3385,3284,599.0,-7.6,507,5691,0.00,2.38,0.00,0.000,516,0.000,0.046,1839,1361,3334,3384,3284,0,0,0,0,0,0,15.34,14.93,15.35
$GC,5728,-0.83,-97.3,1838,1361,3385,3284,602.9,-8.1,516,5739,0.00,2.45,0.00,0.000,1030,0.000,0.057,1839,2749,3334,3385,3284,0,0,0,0,0,0,15.00,14.87,15.04
$GC,6048,-0.83,-97.3,1839,2749,3382,3282,627.1,-7.7,529,6055,0.00,2.15,0.00,0.000,260,0.000,0.089,1839,3951,3332,3382,3283,0,0,0,0,0,0,15.35,14.78,15.37
$GC,6145,-0.83,-97.3,1837,3950,3382,3281,635.0,-8.5,547,6152,0.00,2.03,0.00,0.000,1030,0.000,0.037,1839,2743,3331,3383,3280,0,0,0,0,0,0,15.02,14.97,15.04
$GC,6486,-0.83,-97.3,1839,2741,3381,3279,661.2,-7.7,563,6491,0.00,2.35,0.00,0.000,516,0.000,0.046,1839,1362,3329,3380,3279,0,0,0,0,0,0,15.30,14.90,15.32
$GC,6589,-0.83,-97.3,1838,1361,3379,3279,669.8,-7.9,583,6598,0.00,2.45,0.00,0.000,1030,0.000,0.056,1838,2749,3333,3383,3283,0,0,0,0,0,0,14.96,14.85,14.97
$GC,6911,-0.83,-97.3,1838,2749,3379,3277,695.4,-7.9,597,6915,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2749,3328,3379,3278,0,0,0,0,0,0,15.30,15.32,15.31
$GC,7211,-0.83,-97.3,1838,2749,3377,3276,720.2,-8.3,607,7215,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,2749,3326,3376,3276,0,0,0,0,0,0,15.32,15.34,15.32
$GC,7513,-0.83,-97.3,1838,2746,3376,3276,743.8,-8.0,617,7519,0.00,2.15,0.00,0.000,260,0.000,0.090,1839,3942,3326,3376,3276,0,0,0,0,0,0,15.29,14.73,15.30
$GC,7638,-0.83,-97.3,1838,3942,3376,3274,754.9,-8.9,641,7645,0.00,2.03,0.00,0.000,1030,0.000,0.041,1839,2744,3325,3376,3274,0,0,0,0,0,0,15.04,14.98,15.06
$GC,7975,-0.83,-97.3,1838,2743,3375,3274,782.3,-8.0,657,7983,0.00,2.22,0.00,0.000,260,0.000,0.089,1838,3942,3322,3372,3273,0,0,0,0,0,0,15.30,14.65,15.32
$GC,8058,-0.83,-97.3,1838,3940,3375,3273,789.7,-8.9,672,8064,0.00,2.03,0.00,0.000,1030,0.000,0.041,1838,2748,3324,3375,3273,0,0,0,0,0,0,15.03,14.97,15.04
$GC,8378,-0.83,-97.3,1838,2748,3374,3272,817.3,-8.9,685,8381,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2749,3323,3374,3273,0,0,0,0,0,0,15.27,15.29,15.28
$GC,8679,-0.83,-97.3,1838,2747,3373,3272,845.0,-9.3,695,8682,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2749,3322,3373,3271,0,0,0,0,0,0,15.27,15.29,15.28
$GC,8978,-0.83,-97.3,1838,2749,3372,3271,869.2,-7.5,705,8984,0.00,2.40,0.00,0.000,516,0.000,0.046,1838,1354,3322,3373,3271,0,0,0,0,0,0,15.28,14.82,15.30
$GC,9067,-0.83,-97.3,1838,1354,3371,3271,875.9,-7.1,722,9073,0.00,2.55,0.00,0.000,1030,0.000,0.058,1838,2750,3320,3370,3271,0,0,0,0,0,0,14.71,14.64,14.78
$GC,9374,-0.83,-97.3,1838,2751,3370,3270,895.3,-6.2,733,9378,0.00,0.00,0.00,0.000,38,0.000,0.000,1838,2751,3320,3371,3270,0,0,0,0,0,0,15.29,15.31,15.30
$GC,9673,-0.83,-97.3,1838,2750,3369,3270,912.1,-5.7,743,9677,0.00,0.00,0.00,0.000,38,0.000,0.000,1838,2751,3319,3369,3270,0,0,0,0,0,0,15.33,15.32,15.30
$GC,9973,-0.83,-97.3,1838,2750,3368,3269,931.8,-6.9,753,9977,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2751,3319,3369,3269,0,0,0,0,0,0,15.29,15.31,15.30
$GC,10274,-0.83,-97.3,1838,2751,3367,3269,955.6,-8.4,763,10280,0.00,2.45,0.00,0.000,516,0.000,0.047,1838,1361,3318,3367,3269,0,0,0,0,0,0,15.28,14.78,15.30
$GC,10401,-0.83,-97.3,1834,1361,3366,3269,967.3,-9.5,787,10412,0.00,2.50,0.00,0.000,1030,0.000,0.060,1835,2751,3318,3367,3269,0,0,0,0,0,0,14.81,14.70,14.84
$STATE,10643,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10643,begin apogee
$GC,10653,-0.21,0.0,1838,1715,3366,3268,990.6,-9.4,800,10748,0.80,0.00,89.62,2.095,10246,0.197,0.000,2056,1715,2968,3032,2904,0,0,0,0,0,0,14.42,14.45,13.44
$STATE,10756,end apogee,CONTROL_FINISHED_OK
$STATE,10757,begin climb
$GC,10760,0.83,97.3,2056,1715,3032,2901,994.9,0.0,803,10877,1.05,2.05,102.35,2.059,10756,0.107,0.076,2391,638,2571,2632,2511,0,0,0,0,0,0,14.47,14.28,13.33
$GC,11081,0.83,97.3,2391,638,2624,2507,978.7,8.1,871,11088,0.00,1.85,0.00,0.000,1030,0.000,0.043,2391,1723,2566,2625,2507,0,0,0,0,0,0,14.86,14.79,14.88
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$STATE,22592,end climb,SURFACE_DEPTH_REACHED
$STATE,22593,begin surface coast
$STATE,22623,end surface coast,CONTROL_FINISHED_OK
$STATE,22623,begin surface
$SM_CCo,22645,159.57,0.666,1,0,928,500.17
$SM_GC,0.30,6.75,1.77,159.57,0.067,0.048,0.666,160,2712,928,-6.08,-1.95,500.17,0,0,0,0,1,0,14.95,14.97,14.27
$IRIDIUM_FIX,1344.25,14427.74,120120,002428
$TT8_MAMPS,0.019474,0.152796
$HUMID,47.20
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,26.60
$XPDR_PINGS,0
$SC_FREEKB,3701792
$PM_FREEKB_00,58040768
$PM_FREEKB_01,85563520
$PM_FREEKB_02,59195968
$PM_FREEKB_03,64081088
$PM_ACTIVECARD,3
$24V_AH,13.33,164.920
$10V_AH,12.52,0.000
$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,16.925,175.750,392.350,159.575,0.000,0.000,0.000,432.075,0.000,0.000,16.209,1699.961,14594.485,611.064,5974.175,691.138,0.000,2954.091,0.000,5159.987,0.000,0.553,0.000
$DEVICE_MAMPS,380.205,89.505,2094.570,666.315,0.000,0.000,0.000,192.015,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22659.000,22648.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.399,9.348,0.000,0.000
$MEM,270444
$DATA_FILE_SIZE,73194,2062
$CAP_FILE_SIZE,210922,0
$CFSIZE,260034560,195923968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0
$CURRENT,0.051,331.47,1
$GPS,120120,131009,1343.650,14428.394,24,1.7,24,0.5,0.2,0.0,7,8.4