version: 66.13
glider: 178
mission: 31
dive: 312
start: 12 19 119 18 5 6
data:
$ID,178
$MISSION,31
$DIVE,312
$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,39
$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
$GPS1,191219,175209,1415.9783,14410.5176,29,0.9,30,0.3,0.7,214.7,7,4.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.32
$_SM_ANGLEo,-54.4
$GPS2,191219,180417,1415.9362,14410.4287,4,0.9,5,0.3,0.5,213.0,7,10.0
$SPEED_LIMITS,0.147,0.188
$TGT_NAME,S
$TGT_LATLONG,1410.000,14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,193.6,11021,-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,18,-0.81,-97.3,115,2733,987,868,0.0,0.0,0,110,0.00,0.00,-87.43,0.005,16386,0.000,0.000,109,2734,3140,3162,3119,0,0,0,0,0,0,15.21,28.83,15.23
$GC,114,-0.81,-97.3,109,2734,3163,3119,3.5,-6.4,9,135,8.23,2.10,-4.07,0.030,18724,0.383,0.100,1847,3939,3365,3401,3329,0,0,0,0,0,0,14.61,14.11,14.84
$GC,365,-0.81,-97.3,1847,3939,3401,3328,82.2,-30.4,59,371,0.00,1.95,0.00,0.000,1030,0.000,0.032,1848,2728,3364,3401,3328,0,0,0,0,0,0,15.15,15.11,15.16
$GC,559,-0.81,-97.3,1847,2723,3401,3328,126.4,-21.6,79,565,0.00,2.12,0.00,0.000,260,0.000,0.076,1839,3942,3364,3401,3328,0,0,0,0,0,0,15.35,14.95,15.35
$GC,796,-0.81,-97.3,1838,3942,3401,3328,172.1,-20.1,125,803,0.00,1.90,0.00,0.000,1030,0.000,0.030,1839,2728,3368,3408,3328,0,0,0,0,0,0,15.21,15.17,15.22
$GC,992,-0.81,-97.3,1838,2723,3401,3328,200.9,-11.7,145,998,0.00,2.10,0.00,0.000,260,0.000,0.076,1830,3938,3365,3402,3328,0,0,0,0,0,0,15.38,15.02,15.40
$GC,1227,-0.81,-97.3,1830,3938,3400,3328,231.3,-14.5,191,1233,0.12,1.88,0.00,0.000,3078,0.273,0.031,1852,2731,3364,3401,3328,0,0,0,0,0,0,14.84,15.21,15.09
$GC,1424,-0.81,-97.3,1855,2732,3401,3328,253.1,-10.2,209,1431,0.00,2.12,0.00,0.000,260,0.000,0.076,1851,3945,3363,3401,3326,0,0,0,0,0,0,15.40,15.03,15.42
$GC,1658,-0.81,-97.3,1851,3945,3401,3323,277.3,-10.7,255,1664,0.00,1.88,0.00,0.000,1030,0.000,0.031,1852,2747,3364,3401,3327,0,0,0,0,0,0,15.25,15.21,15.26
$GC,1972,-0.81,-97.3,1851,2741,3401,3323,316.0,-13.0,267,1978,0.00,2.10,0.00,0.000,260,0.000,0.080,1851,3937,3362,3401,3323,0,0,0,0,0,0,15.40,15.04,15.42
$GC,2157,-0.81,-97.3,1851,3937,3401,3321,338.9,-11.5,303,2162,0.00,1.88,0.00,0.000,1030,0.000,0.031,1851,2751,3361,3401,3322,0,0,0,0,0,0,15.25,15.21,15.26
$GC,2491,-0.81,-97.3,1851,2745,3401,3316,374.4,-10.7,319,2496,0.00,2.10,0.00,0.000,260,0.000,0.080,1851,3943,3358,3401,3315,0,0,0,0,0,0,15.42,15.04,15.43
$GC,2638,-0.81,-97.3,1851,3943,3401,3313,389.4,-9.6,348,2646,0.00,1.95,0.00,0.000,1030,0.000,0.033,1851,2743,3356,3401,3312,0,0,0,0,0,0,15.15,15.14,15.17
$GC,2945,-0.81,-97.3,1851,2747,3401,3308,416.9,-8.9,359,2951,0.00,2.25,0.00,0.000,516,0.000,0.045,1851,1393,3354,3401,3308,0,0,0,0,0,0,15.41,15.08,15.42
$GC,3179,-0.81,-97.3,1851,1393,3401,3305,438.9,-9.3,405,3186,0.00,2.33,0.00,0.000,1030,0.000,0.052,1851,2750,3352,3400,3305,0,0,0,0,0,0,15.17,15.06,15.20
$GC,3494,-0.81,-97.3,1851,2750,3400,3299,464.5,-7.8,417,3498,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,2750,3350,3400,3301,0,0,0,0,0,0,15.41,15.44,15.43
$GC,3794,-0.81,-97.3,1851,2750,3397,3296,489.8,-9.0,427,3800,0.00,2.10,0.00,0.000,260,0.000,0.083,1851,3949,3346,3397,3296,0,0,0,0,0,0,15.41,14.98,15.42
$GC,3893,-0.81,-97.3,1851,3949,3396,3294,499.6,-10.1,446,3899,0.00,1.92,0.00,0.000,1030,0.000,0.036,1851,2750,3343,3397,3290,0,0,0,0,0,0,15.21,15.16,15.23
$GC,4222,-0.81,-97.3,1851,2749,3394,3292,529.2,-8.5,461,4226,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,2749,3343,3394,3292,0,0,0,0,0,0,15.38,15.40,15.40
$GC,4523,-0.81,-97.3,1850,2749,3392,3291,552.2,-7.6,471,4529,0.00,2.30,0.00,0.000,516,0.000,0.045,1851,1380,3341,3391,3291,0,0,0,0,0,0,15.37,15.04,15.39
$GC,4565,-0.81,-97.3,1851,1380,3391,3286,555.9,-8.4,479,4571,0.00,2.38,0.00,0.000,1030,0.000,0.053,1851,2750,3340,3391,3290,0,0,0,0,0,0,15.14,15.02,15.17
$GC,4890,-0.81,-97.3,1852,2750,3389,3287,581.9,-8.1,493,4893,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,2750,3338,3389,3287,0,0,0,0,0,0,15.39,15.41,15.40
$GC,5190,-0.81,-97.3,1851,2750,3386,3285,608.4,-9.2,503,5196,0.00,2.33,0.00,0.000,516,0.000,0.045,1851,1383,3335,3386,3285,0,0,0,0,0,0,15.38,15.02,15.40
$GC,5237,-0.81,-97.3,1850,1383,3386,3286,613.2,-9.8,512,5246,0.00,2.38,0.00,0.000,1030,0.000,0.054,1851,2751,3335,3386,3285,0,0,0,0,0,0,15.07,14.95,15.10
$GC,5555,-0.81,-97.3,1851,2751,3384,3283,641.0,-8.3,525,5561,0.00,2.10,0.00,0.000,260,0.000,0.088,1851,3942,3333,3384,3283,0,0,0,0,0,0,15.38,14.92,15.40
$GC,5659,-0.81,-97.3,1851,3942,3385,3282,649.2,-7.7,545,5665,0.00,1.92,0.00,0.000,1030,0.000,0.038,1851,2763,3333,3384,3282,0,0,0,0,0,0,15.11,15.07,15.16
$GC,5984,-0.81,-97.3,1851,2763,3382,3281,671.2,-6.8,559,5988,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,2763,3331,3382,3281,0,0,0,0,0,0,15.38,15.40,15.39
$GC,6284,-0.81,-97.3,1851,2763,3380,3279,692.0,-6.8,569,6290,0.00,2.38,0.00,0.000,516,0.000,0.047,1851,1370,3329,3380,3279,0,0,0,0,0,0,15.38,14.98,15.39
$GC,6415,-0.81,-97.3,1851,1374,3379,3279,701.3,-6.9,594,6423,0.00,2.42,0.00,0.000,1030,0.000,0.056,1851,2754,3331,3385,3278,0,0,0,0,0,0,15.08,14.96,15.11
$GC,6741,-0.81,-97.3,1853,2754,3378,3277,723.1,-6.6,609,6747,0.00,2.12,0.00,0.000,260,0.000,0.090,1851,3947,3326,3375,3277,0,0,0,0,0,0,15.35,14.85,15.37
$GC,6825,-0.81,-97.3,1851,3947,3378,3276,729.2,-7.4,625,6832,0.00,1.98,0.00,0.000,1030,0.000,0.041,1851,2755,3327,3379,3276,0,0,0,0,0,0,15.14,15.08,15.15
$GC,7140,-0.81,-97.3,1851,2754,3376,3275,752.4,-7.7,637,7147,0.00,2.38,0.00,0.000,516,0.000,0.047,1851,1358,3325,3376,3275,0,0,0,0,0,0,15.35,14.96,15.37
$GC,7281,-0.81,-97.3,1856,1358,3375,3275,764.5,-8.8,664,7290,0.00,2.45,0.00,0.000,1030,0.000,0.056,1851,2750,3324,3375,3274,0,0,0,0,0,0,15.05,14.93,15.09
$GC,7599,-0.81,-97.3,1851,2750,3374,3274,791.5,-8.6,677,7602,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,2750,3324,3374,3274,0,0,0,0,0,0,15.35,15.38,15.37
$GC,7898,-0.81,-97.3,1851,2750,3373,3273,817.9,-8.7,687,7902,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,2750,3323,3373,3273,0,0,0,0,0,0,15.34,15.37,15.36
$GC,8199,-0.81,-97.3,1851,2750,3372,3271,842.6,-8.0,697,8206,0.00,2.12,0.00,0.000,260,0.000,0.089,1851,3943,3323,3372,3274,0,0,0,0,0,0,15.34,14.84,15.35
$GC,8334,-0.81,-97.3,1851,3944,3372,3271,853.7,-8.2,723,8340,0.00,2.00,0.00,0.000,1030,0.000,0.044,1852,2750,3321,3372,3270,0,0,0,0,0,0,15.13,15.04,15.11
$GC,8659,-0.81,-97.3,1851,2753,3370,3270,877.0,-7.1,737,8666,0.00,2.40,0.00,0.000,516,0.000,0.049,1851,1361,3320,3371,3270,0,0,0,0,0,0,15.32,14.86,15.34
$GC,8724,-0.81,-97.3,1851,1361,3370,3270,881.8,-7.2,749,8731,0.00,2.45,0.00,0.000,1030,0.000,0.057,1851,2750,3320,3370,3270,0,0,0,0,0,0,15.02,14.90,15.07
$GC,9059,-0.81,-97.3,1851,2750,3369,3268,905.4,-7.1,765,9065,0.00,2.40,0.00,0.000,516,0.000,0.048,1851,1359,3319,3370,3269,0,0,0,0,0,0,15.32,14.91,15.34
$GC,9118,-0.81,-97.3,1847,1359,3369,3268,909.6,-7.2,776,9125,0.00,2.50,0.00,0.000,1030,0.000,0.058,1851,2748,3318,3368,3268,0,0,0,0,0,0,14.86,14.80,14.92
$GC,9424,-0.81,-97.3,1851,2748,3368,3268,929.0,-6.2,787,9428,0.00,0.00,0.00,0.000,38,0.000,0.000,1851,2748,3316,3368,3264,0,0,0,0,0,0,15.32,15.35,15.33
$GC,9724,-0.81,-97.3,1851,2748,3367,3267,947.1,-6.0,797,9731,0.00,2.17,0.00,0.000,292,0.000,0.089,1851,3952,3317,3367,3267,0,0,0,0,0,0,15.32,14.80,15.33
$GC,9804,-0.81,-97.3,1851,3953,3367,3267,952.2,-6.4,812,9809,0.00,2.03,0.00,0.000,1062,0.000,0.044,1856,2750,3317,3367,3267,0,0,0,0,0,0,15.07,15.02,15.09
$GC,10123,-0.81,-97.3,1851,2750,3366,3266,971.1,-6.0,825,10130,0.00,2.38,0.00,0.000,548,0.000,0.049,1854,1359,3314,3366,3262,0,0,0,0,0,0,15.31,14.88,15.33
$GC,10202,-0.81,-97.3,1851,1360,3365,3266,976.2,-6.3,840,10208,0.00,2.50,0.00,0.000,1062,0.000,0.060,1851,2753,3316,3366,3266,0,0,0,0,0,0,14.98,14.84,15.02
$STATE,10459,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10459,begin apogee
$GC,10467,-0.21,0.0,1851,1711,3365,3265,991.5,-6.0,851,10559,0.73,0.00,86.62,2.111,10246,0.201,0.000,2050,1710,2969,3032,2906,0,0,0,0,0,0,14.66,14.51,13.64
$STATE,10568,end apogee,CONTROL_FINISHED_OK
$STATE,10568,begin climb
$GC,10571,0.81,97.3,2050,1711,3031,2902,993.0,0.0,854,10683,1.05,1.98,101.00,2.052,10756,0.113,0.073,2380,631,2572,2633,2511,0,0,0,0,0,0,14.49,14.16,13.49
$GC,10818,0.81,97.3,2379,630,2625,2508,975.6,9.8,906,10824,0.00,1.92,0.00,0.000,1030,0.000,0.042,2379,1724,2566,2625,2508,0,0,0,0,0,0,14.74,14.66,14.71
$GC,11121,0.81,97.3,2379,1724,2624,2502,947.3,9.2,917,11125,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1724,2563,2625,2502,0,0,0,0,0,0,15.17,15.20,15.19
$GC,11421,0.81,97.3,2379,1724,2625,2501,921.1,8.6,927,11427,0.00,2.42,0.00,0.000,260,0.000,0.065,2379,3097,2562,2625,2500,0,0,0,0,0,0,15.23,14.85,15.25
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$STATE,22227,end climb,SURFACE_DEPTH_REACHED
$STATE,22227,begin surface coast
$STATE,22249,end surface coast,CONTROL_FINISHED_OK
$STATE,22249,begin surface
$SM_CCo,22270,110.05,0.656,1,0,928,500.17
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$IRIDIUM_FIX,1417.71,14408.34,191219,112956
$TT8_MAMPS,0.019474,0.154294
$HUMID,47.87
$INTERNAL_PRESSURE,8.94566
$TCM_TEMP,26.20
$XPDR_PINGS,0
$SC_FREEKB,3735200
$PM_FREEKB_00,58040768
$PM_FREEKB_01,85563520
$PM_FREEKB_02,59195968
$PM_FREEKB_03,120284352
$PM_ACTIVECARD,3
$24V_AH,13.49,128.104
$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,17.375,168.875,432.450,110.050,0.000,0.000,0.000,438.475,0.000,0.000,17.025,1667.030,14815.582,614.258,5428.838,590.367,0.000,2825.031,0.000,4675.817,0.000,0.553,0.000
$DEVICE_MAMPS,382.500,100.215,2111.400,655.605,0.000,0.000,0.000,195.075,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22279.000,22272.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.254,5.516,0.000,0.000
$MEM,270592
$DATA_FILE_SIZE,69812,1997
$CAP_FILE_SIZE,202986,0
$CFSIZE,260034560,209063936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.037,265.78,1
$GPS,201219,002001,1414.083,14409.240,18,0.8,49,0.3,1.0,208.6,9,2.1