version: 66.13
glider: 178
mission: 31
dive: 310
start: 12 19 119 5 19 42
data:
$ID,178
$MISSION,31
$DIVE,310
$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,58
$R_STBD_OVSHOOT,62
$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
$GPS1,191219,050631,1420.4246,14410.1709,39,0.6,62,0.2,0.4,224.7,12,3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.29
$_SM_ANGLEo,-53.5
$GPS2,191219,051852,1420.3226,14410.0010,2,0.7,4,0.2,0.6,235.8,12,5.6
$SPEED_LIMITS,0.147,0.188
$TGT_NAME,S
$TGT_LATLONG,1410.000,14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,184.2,19118,-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,15,begin dive
$GC,18,-0.81,-97.3,117,2712,986,868,0.0,0.0,0,110,0.00,0.00,-87.65,0.005,16386,0.000,0.000,115,2712,3205,3227,3183,0,0,0,0,0,0,15.20,28.83,15.24
$GC,113,-0.81,-97.3,114,2712,3227,3183,4.5,-8.7,9,134,8.23,2.25,-2.80,0.041,18948,0.386,0.065,1853,1361,3367,3399,3335,0,0,0,0,0,0,14.60,14.12,14.85
$GC,363,-0.81,-97.3,1852,1361,3399,3335,76.9,-26.4,59,372,0.00,2.33,0.00,0.000,1030,0.000,0.054,1845,2720,3366,3398,3334,0,0,0,0,0,0,15.11,15.01,15.14
$GC,553,-0.81,-97.3,1845,2719,3398,3334,123.1,-24.0,79,559,0.00,2.28,0.00,0.000,516,0.000,0.044,1845,1362,3366,3399,3334,0,0,0,0,0,0,15.35,15.06,15.37
$GC,789,-0.81,-97.3,1845,1365,3399,3334,159.8,-12.9,125,795,0.00,2.35,0.00,0.000,1030,0.000,0.050,1839,2751,3366,3399,3334,0,0,0,0,0,0,15.16,15.07,15.19
$GC,985,-0.81,-97.3,1838,2751,3399,3334,185.9,-13.3,145,991,0.00,2.30,0.00,0.000,516,0.000,0.042,1838,1363,3366,3399,3334,0,0,0,0,0,0,15.37,15.09,15.39
$GC,1069,-0.81,-97.3,1835,1363,3399,3334,197.1,-12.2,161,1076,0.00,2.35,0.00,0.000,1030,0.000,0.050,1838,2752,3366,3399,3334,0,0,0,0,0,0,15.14,15.04,15.17
$GC,1264,-0.81,-97.3,1837,2752,3399,3334,222.2,-12.3,181,1271,0.00,2.05,0.00,0.000,260,0.000,0.079,1837,3946,3366,3399,3334,0,0,0,0,0,0,15.40,15.04,15.42
$GC,1499,-0.81,-97.3,1838,3946,3399,3333,251.7,-12.3,227,1505,0.00,1.92,0.00,0.000,1030,0.000,0.029,1838,2719,3365,3398,3332,0,0,0,0,0,0,15.26,15.21,15.26
$GC,1814,-0.81,-97.3,1838,2716,3399,3331,287.7,-10.9,239,1820,0.00,2.15,0.00,0.000,260,0.000,0.079,1838,3948,3364,3398,3330,0,0,0,0,0,0,15.42,15.04,15.43
$GC,1878,-0.81,-97.3,1838,3948,3399,3329,294.4,-10.4,251,1884,0.00,1.88,0.00,0.000,1030,0.000,0.031,1838,2752,3364,3399,3330,0,0,0,0,0,0,15.21,15.19,15.23
$GC,2212,-0.81,-97.3,1838,2746,3399,3327,325.9,-9.2,267,2218,0.00,2.25,0.00,0.000,516,0.000,0.045,1838,1383,3363,3399,3327,0,0,0,0,0,0,15.41,15.11,15.42
$GC,2397,-0.81,-97.3,1838,1383,3400,3324,345.1,-10.5,303,2403,0.00,2.35,0.00,0.000,1030,0.000,0.051,1838,2757,3360,3399,3322,0,0,0,0,0,0,15.20,15.10,15.23
$GC,2731,-0.81,-97.3,1838,2758,3399,3319,376.6,-9.1,319,2736,0.00,2.05,0.00,0.000,260,0.000,0.081,1838,3946,3359,3399,3319,0,0,0,0,0,0,15.42,15.04,15.44
$GC,2856,-0.81,-97.3,1838,3946,3399,3316,388.3,-9.5,343,2862,0.00,1.90,0.00,0.000,1030,0.000,0.033,1839,2745,3357,3399,3316,0,0,0,0,0,0,15.26,15.21,15.27
$GC,3190,-0.81,-97.3,1838,2749,3399,3310,419.4,-10.4,359,3196,0.00,2.12,0.00,0.000,260,0.000,0.083,1838,3940,3354,3399,3310,0,0,0,0,0,0,15.42,15.00,15.44
$GC,3423,-0.81,-97.3,1838,3940,3399,3307,448.6,-10.7,405,3429,0.00,1.90,0.00,0.000,1030,0.000,0.034,1838,2751,3353,3399,3307,0,0,0,0,0,0,15.24,15.20,15.25
$GC,3738,-0.81,-97.3,1838,2752,3398,3301,475.1,-8.0,417,3745,0.00,2.12,0.00,0.000,260,0.000,0.087,1838,3938,3350,3399,3301,0,0,0,0,0,0,15.41,14.96,15.42
$GC,3901,-0.81,-97.3,1837,3938,3397,3299,489.3,-9.1,449,3908,0.00,1.92,0.00,0.000,1030,0.000,0.035,1838,2740,3348,3397,3299,0,0,0,0,0,0,15.23,15.19,15.25
$GC,4227,-0.81,-97.3,1837,2739,3395,3296,517.4,-9.0,463,4233,0.00,2.28,0.00,0.000,516,0.000,0.044,1837,1383,3345,3395,3296,0,0,0,0,0,0,15.39,15.06,15.41
$GC,4425,-0.81,-97.3,1837,1383,3391,3296,536.2,-9.9,502,4431,0.00,2.35,0.00,0.000,1030,0.000,0.054,1838,2747,3343,3390,3296,0,0,0,0,0,0,15.15,15.02,15.16
$GC,4745,-0.81,-97.3,1837,2746,3390,3289,568.1,-10.4,515,4750,0.00,2.10,0.00,0.000,260,0.000,0.087,1838,3943,3341,3390,3292,0,0,0,0,0,0,15.39,14.96,15.41
$GC,4873,-0.81,-97.3,1837,3943,3391,3291,581.8,-10.5,540,4879,0.00,1.95,0.00,0.000,1030,0.000,0.037,1838,2749,3340,3390,3291,0,0,0,0,0,0,15.22,15.14,15.21
$GC,5202,-0.81,-97.3,1837,2749,3387,3290,615.6,-10.2,555,5206,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2749,3338,3387,3290,0,0,0,0,0,0,15.39,15.41,15.41
$GC,5504,-0.81,-97.3,1836,2748,3382,3287,641.4,-8.1,565,5507,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2749,3336,3385,3288,0,0,0,0,0,0,15.38,15.41,15.40
$GC,5802,-0.81,-97.3,1837,2746,3384,3286,663.8,-7.4,575,5806,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2749,3334,3383,3286,0,0,0,0,0,0,15.39,15.41,15.40
$GC,6102,-0.81,-97.3,1837,2749,3382,3284,687.8,-8.3,585,6109,0.00,2.17,0.00,0.000,260,0.000,0.092,1838,3942,3333,3382,3284,0,0,0,0,0,0,15.38,14.90,15.40
$GC,6182,-0.81,-97.3,1834,3942,3381,3283,695.1,-9.5,600,6188,0.00,1.95,0.00,0.000,1030,0.000,0.038,1838,2751,3332,3381,3284,0,0,0,0,0,0,15.17,15.13,15.19
$GC,6501,-0.81,-97.3,1838,2751,3381,3282,722.6,-8.6,613,6507,0.00,2.33,0.00,0.000,516,0.000,0.049,1838,1382,3330,3379,3281,0,0,0,0,0,0,15.37,14.99,15.38
$GC,6560,-0.81,-97.3,1837,1382,3379,3282,727.8,-8.9,624,6567,0.00,2.45,0.00,0.000,1030,0.000,0.057,1838,2744,3330,3379,3282,0,0,0,0,0,0,14.90,14.83,14.95
$GC,6866,-0.81,-97.3,1836,2744,3379,3281,751.8,-7.6,635,6869,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2744,3329,3378,3280,0,0,0,0,0,0,15.33,15.37,15.37
$GC,7166,-0.81,-97.3,1838,2744,3377,3279,773.8,-7.4,645,7172,0.00,2.15,0.00,0.000,260,0.000,0.088,1838,3950,3329,3376,3283,0,0,0,0,0,0,15.35,14.88,15.37
$GC,7275,-0.81,-97.3,1837,3950,3377,3278,782.6,-8.1,666,7281,0.00,1.98,0.00,0.000,1030,0.000,0.042,1838,2763,3326,3375,3277,0,0,0,0,0,0,15.13,15.08,15.15
$GC,7594,-0.81,-97.3,1837,2763,3375,3277,805.5,-7.1,679,7598,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2763,3328,3375,3281,0,0,0,0,0,0,15.35,15.38,15.38
$GC,7894,-0.81,-97.3,1837,2763,3374,3276,827.1,-7.4,689,7901,0.00,2.40,0.00,0.000,516,0.000,0.049,1837,1363,3324,3373,3276,0,0,0,0,0,0,15.35,14.95,15.37
$GC,7960,-0.81,-97.3,1837,1364,3372,3276,832.3,-8.0,701,7967,0.00,2.45,0.00,0.000,1030,0.000,0.057,1834,2756,3324,3373,3276,0,0,0,0,0,0,15.04,14.92,15.08
$GC,8295,-0.81,-97.3,1838,2755,3372,3275,859.0,-8.2,717,8302,0.00,2.12,0.00,0.000,260,0.000,0.089,1837,3948,3323,3372,3275,0,0,0,0,0,0,15.34,14.84,15.36
$GC,8353,-0.81,-97.3,1837,3948,3370,3274,864.3,-9.0,728,8360,0.00,2.05,0.00,0.000,1030,0.000,0.044,1838,2754,3323,3371,3275,0,0,0,0,0,0,14.98,14.95,15.00
$GC,8661,-0.81,-97.3,1837,2754,3370,3274,890.2,-8.5,739,8667,0.00,2.40,0.00,0.000,516,0.000,0.049,1838,1359,3321,3370,3273,0,0,0,0,0,0,15.33,14.92,15.34
$GC,8725,-0.81,-97.3,1837,1359,3370,3274,895.8,-8.6,751,8732,0.00,2.42,0.00,0.000,1030,0.000,0.058,1838,2746,3320,3368,3273,0,0,0,0,0,0,14.92,14.84,14.97
$GC,9061,-0.81,-97.3,1837,2745,3370,3271,921.8,-7.4,767,9065,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2745,3323,3369,3278,0,0,0,0,0,0,15.33,15.34,15.33
$GC,9361,-0.81,-97.3,1837,2745,3369,3271,942.4,-6.7,777,9367,0.00,2.40,0.00,0.000,516,0.000,0.049,1838,1358,3320,3368,3272,0,0,0,0,0,0,15.33,14.92,15.35
$GC,9449,-0.81,-97.3,1837,1358,3365,3271,948.8,-7.3,794,9456,0.00,2.50,0.00,0.000,1030,0.000,0.060,1838,2743,3319,3367,3271,0,0,0,0,0,0,14.87,14.78,14.91
$GC,9756,-0.81,-97.3,1833,2742,3367,3270,971.2,-7.4,805,9763,0.00,2.40,0.00,0.000,516,0.000,0.049,1838,1357,3319,3368,3270,0,0,0,0,0,0,15.32,14.90,15.34
$GC,9824,-0.81,-97.3,1837,1357,3367,3270,976.8,-8.3,818,9832,0.00,2.47,0.00,0.000,1030,0.000,0.059,1838,2752,3318,3367,3270,0,0,0,0,0,0,15.00,14.86,15.04
$STATE,9998,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9999,begin apogee
$GC,10008,-0.21,0.0,1836,1714,3367,3270,991.4,-8.5,828,10101,0.77,0.00,87.05,2.101,10246,0.205,0.000,2050,1714,2969,3031,2907,0,0,0,0,0,0,14.66,14.52,13.65
$STATE,10109,end apogee,CONTROL_FINISHED_OK
$STATE,10109,begin climb
$GC,10112,0.81,97.3,2050,1714,3032,2906,995.1,0.0,831,10227,1.05,2.05,101.12,2.052,10756,0.114,0.076,2384,638,2571,2631,2511,0,0,0,0,0,0,14.50,14.30,13.50
$GC,10347,0.84,97.3,2381,638,2627,2508,984.7,7.6,881,10354,0.00,1.88,0.00,0.000,1094,0.000,0.042,2381,1727,2566,2625,2507,0,0,0,0,0,0,14.77,14.71,14.79
$GC,10673,0.87,97.3,2381,1727,2625,2501,960.0,7.5,895,10676,0.00,0.00,0.00,0.000,70,0.000,0.000,2382,1728,2563,2625,2501,0,0,0,0,0,0,15.18,15.18,15.19
$GC,10973,0.87,97.3,2381,1727,2624,2499,935.1,8.8,905,10980,0.00,1.98,0.00,0.000,516,0.000,0.075,2381,638,2562,2625,2500,0,0,0,0,0,0,15.21,14.84,15.23
$GC,11151,0.87,97.3,2381,640,2624,2500,917.6,10.2,940,11158,0.00,1.83,0.00,0.000,1030,0.000,0.043,2382,1694,2562,2624,2500,0,0,0,0,0,0,14.93,14.88,14.95
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$STATE,21619,end climb,SURFACE_DEPTH_REACHED
$STATE,21619,begin surface coast
$STATE,21641,end surface coast,CONTROL_FINISHED_OK
$STATE,21642,begin surface
$SM_CCo,21663,139.70,0.669,1,0,928,500.17
$SM_GC,0.34,7.05,1.70,139.70,0.076,0.051,0.669,155,2709,928,-6.10,-2.15,500.17,0,0,0,0,1,0,14.92,14.94,14.35
$IRIDIUM_FIX,1415.61,14408.34,181219,230550
$TT8_MAMPS,0.020223,0.154294
$HUMID,46.69
$INTERNAL_PRESSURE,8.95542
$TCM_TEMP,26.50
$XPDR_PINGS,0
$SC_FREEKB,3735968
$PM_FREEKB_00,58040768
$PM_FREEKB_01,85563520
$PM_FREEKB_02,59195968
$PM_FREEKB_03,121422784
$PM_ACTIVECARD,3
$24V_AH,13.50,127.294
$10V_AH,12.89,0.000
$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,17.500,174.450,399.000,139.700,0.000,0.000,0.000,454.600,0.000,0.000,16.296,1652.761,14294.097,621.092,5417.175,569.214,0.000,2841.759,0.000,4653.587,0.000,0.553,0.000
$DEVICE_MAMPS,386.325,91.800,2100.690,669.375,0.000,0.000,0.000,195.075,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21671.000,21664.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.253,5.413,0.000,0.000
$MEM,270600
$DATA_FILE_SIZE,69804,1996
$CAP_FILE_SIZE,202523,0
$CFSIZE,260034560,209358848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.044,260.30,1
$GPS,191219,112509,1418.409,14409.419,19,1.0,58,0.2,0.7,10.2,9,2.1