version: 66.13
glider: 178
mission: 31
dive: 342
start: 12 27 119 19 54 22
data:
$ID,178
$MISSION,31
$DIVE,342
$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,66
$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
$GPS1,271219,194130,1420.3394,14410.0469,30,0.7,30,0.2,0.4,15.1,12,3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.25
$_SM_ANGLEo,-55.9
$GPS2,271219,195332,1420.3217,14410.0674,2,0.7,4,0.2,0.5,49.5,12,3.7
$SPEED_LIMITS,0.147,0.188
$TGT_NAME,S
$TGT_LATLONG,1410.000,14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,183.6,19116,-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,-97.3,128,2706,988,866,0.0,0.0,0,121,0.00,0.00,-94.35,0.005,16390,0.000,0.000,127,2703,3364,3388,3340,0,0,0,0,0,0,15.20,13.95,15.17
$GC,125,-0.81,-97.3,127,2703,3388,3341,6.2,-13.0,10,142,8.25,2.12,0.00,0.000,2308,0.389,0.070,1846,3904,3365,3390,3340,0,0,0,0,0,0,14.55,14.88,14.92
$GC,371,-0.81,-97.3,1845,3904,3393,3341,87.2,-19.9,59,378,0.00,1.90,0.00,0.000,1030,0.000,0.031,1847,2730,3364,3393,3336,0,0,0,0,0,0,15.04,15.03,15.06
$GC,559,-0.81,-97.3,1851,2730,3395,3333,118.2,-15.4,78,565,0.00,2.08,0.00,0.000,260,0.000,0.077,1844,3912,3364,3395,3333,0,0,0,0,0,0,15.33,14.94,15.34
$GC,798,-0.81,-97.3,1844,3912,3391,3333,155.2,-15.7,124,805,0.00,1.83,0.00,0.000,1030,0.000,0.031,1844,2738,3365,3396,3335,0,0,0,0,0,0,15.18,15.14,15.19
$GC,994,-0.81,-97.3,1843,2738,3396,3333,180.7,-12.4,144,1000,0.00,2.05,0.00,0.000,260,0.000,0.078,1844,3912,3365,3396,3334,0,0,0,0,0,0,15.36,14.99,15.38
$GC,1232,-0.81,-97.3,1844,3912,3393,3332,209.2,-12.7,190,1238,0.00,1.80,0.00,0.000,1030,0.000,0.032,1844,2763,3364,3396,3332,0,0,0,0,0,0,15.21,15.17,15.22
$GC,1428,-0.81,-97.3,1844,2762,3396,3332,235.9,-14.3,210,1435,0.00,2.03,0.00,0.000,260,0.000,0.078,1844,3916,3364,3396,3332,0,0,0,0,0,0,15.38,14.99,15.39
$GC,1664,-0.81,-97.3,1843,3915,3396,3330,268.5,-13.0,256,1670,0.00,1.88,0.00,0.000,1030,0.000,0.032,1845,2738,3363,3396,3330,0,0,0,0,0,0,15.19,15.15,15.21
$GC,1978,-0.81,-97.3,1844,2732,3403,3328,296.2,-8.0,268,1984,0.00,2.08,0.00,0.000,260,0.000,0.079,1844,3913,3362,3396,3328,0,0,0,0,0,0,15.38,15.00,15.40
$GC,2182,-0.81,-97.3,1843,3913,3396,3325,314.6,-9.9,308,2189,0.00,1.85,0.00,0.000,1030,0.000,0.032,1844,2755,3360,3396,3325,0,0,0,0,0,0,15.17,15.14,15.19
$GC,2497,-0.81,-97.3,1844,2750,3396,3321,347.3,-10.9,320,2503,0.00,2.28,0.00,0.000,516,0.000,0.045,1844,1381,3358,3396,3321,0,0,0,0,0,0,15.40,15.05,15.42
$GC,2616,-0.81,-97.3,1843,1381,3396,3319,358.9,-9.3,343,2623,0.00,2.33,0.00,0.000,1030,0.000,0.053,1844,2706,3357,3396,3319,0,0,0,0,0,0,15.02,14.95,15.06
$GC,2923,-0.81,-97.3,1842,2706,3396,3314,387.3,-9.7,354,2926,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2706,3355,3396,3314,0,0,0,0,0,0,15.40,15.42,15.42
$GC,3221,-0.81,-97.3,1843,2706,3395,3309,417.7,-9.9,364,3227,0.00,2.25,0.00,0.000,516,0.000,0.046,1844,1384,3352,3396,3308,0,0,0,0,0,0,15.40,15.04,15.42
$GC,3256,-0.81,-97.3,1843,1385,3396,3309,421.0,-9.9,370,3265,0.00,2.38,0.00,0.000,1030,0.000,0.057,1844,2756,3352,3396,3308,0,0,0,0,0,0,15.12,15.00,15.16
$GC,3590,-0.81,-97.3,1844,2756,3396,3303,450.0,-7.8,386,3594,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,2756,3349,3396,3302,0,0,0,0,0,0,15.39,15.41,15.40
$GC,3888,-0.81,-97.3,1843,2756,3394,3300,473.4,-8.0,396,3893,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,2753,3347,3394,3301,0,0,0,0,0,0,15.39,15.40,15.40
$GC,4189,-0.81,-97.3,1843,2756,3391,3297,501.5,-10.2,406,4195,0.00,2.12,0.00,0.000,260,0.000,0.086,1844,3945,3343,3390,3297,0,0,0,0,0,0,15.39,14.86,15.40
$GC,4324,-0.81,-97.3,1843,3945,3393,3294,516.0,-10.7,432,4330,0.00,1.95,0.00,0.000,1030,0.000,0.037,1844,2752,3343,3392,3294,0,0,0,0,0,0,15.18,15.14,15.19
$GC,4649,-0.81,-97.3,1843,2751,3389,3293,548.7,-9.8,446,4653,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,2751,3341,3389,3293,0,0,0,0,0,0,15.35,15.38,15.38
$GC,4950,-0.81,-97.3,1843,2751,3386,3291,575.4,-8.5,456,4955,0.00,2.15,0.00,0.000,260,0.000,0.088,1844,3942,3338,3386,3291,0,0,0,0,0,0,15.35,14.90,15.37
$GC,5037,-0.81,-97.3,1843,3942,3386,3291,583.0,-8.2,473,5044,0.00,2.00,0.00,0.000,1030,0.000,0.037,1844,2765,3342,3393,3291,0,0,0,0,0,0,15.03,15.01,15.06
$GC,5344,-0.81,-97.3,1844,2764,3384,3289,604.4,-6.6,484,5350,0.00,2.38,0.00,0.000,516,0.000,0.047,1844,1364,3336,3384,3288,0,0,0,0,0,0,15.35,14.97,15.38
$GC,5418,-0.81,-97.3,1843,1364,3383,3289,609.4,-6.7,498,5426,0.00,2.42,0.00,0.000,1030,0.000,0.055,1844,2751,3335,3383,3288,0,0,0,0,0,0,15.05,14.93,15.09
$GC,5739,-0.81,-97.3,1843,2752,3382,3287,631.7,-7.3,512,5745,0.00,2.38,0.00,0.000,516,0.000,0.046,1844,1366,3335,3384,3286,0,0,0,0,0,0,15.36,14.98,15.38
$GC,5787,-0.81,-97.3,1843,1364,3381,3293,635.7,-8.1,521,5794,0.00,2.42,0.00,0.000,1030,0.000,0.056,1844,2751,3333,3381,3286,0,0,0,0,0,0,15.05,14.93,15.09
$GC,6109,-0.81,-97.3,1843,2751,3379,3292,662.9,-8.8,534,6114,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2751,3332,3380,3285,0,0,0,0,0,0,15.35,15.37,15.37
$GC,6408,-0.81,-97.3,1843,2751,3378,3283,689.0,-8.4,544,6415,0.00,2.15,0.00,0.000,260,0.000,0.088,1844,3943,3331,3378,3284,0,0,0,0,0,0,15.34,14.79,15.36
$GC,6492,-0.81,-97.3,1844,3943,3378,3283,696.6,-9.0,560,6498,0.00,2.00,0.00,0.000,1030,0.000,0.042,1843,2753,3329,3377,3282,0,0,0,0,0,0,15.10,15.05,15.12
$GC,6808,-0.81,-97.3,1843,2753,3376,3281,721.0,-7.4,572,6817,0.00,2.38,0.00,0.000,516,0.000,0.047,1842,1361,3328,3376,3281,0,0,0,0,0,0,15.31,14.92,15.36
$GC,6919,-0.81,-97.3,1842,1359,3376,3281,729.8,-7.7,594,6925,0.00,2.47,0.00,0.000,1030,0.000,0.057,1844,2750,3328,3375,3281,0,0,0,0,0,0,14.95,14.82,14.98
$GC,7235,-0.81,-97.3,1843,2751,3375,3279,753.2,-7.6,606,7241,0.00,2.15,0.00,0.000,260,0.000,0.089,1844,3949,3327,3375,3279,0,0,0,0,0,0,15.33,14.81,15.34
$GC,7380,-0.81,-97.3,1850,3949,3374,3279,765.2,-8.4,634,7386,0.00,2.03,0.00,0.000,1030,0.000,0.041,1844,2749,3328,3377,3279,0,0,0,0,0,0,15.09,15.03,15.10
$GC,7696,-0.81,-97.3,1843,2748,3373,3278,789.3,-7.4,646,7700,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2748,3324,3373,3275,0,0,0,0,0,0,15.32,15.34,15.34
$GC,7994,-0.81,-97.3,1843,2748,3371,3277,809.9,-6.8,656,7998,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2748,3326,3373,3279,0,0,0,0,0,0,15.32,15.35,15.34
$GC,8295,-0.81,-97.3,1843,2747,3374,3276,829.9,-6.8,666,8299,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2748,3322,3369,3275,0,0,0,0,0,0,15.33,15.34,15.35
$GC,8595,-0.81,-97.3,1843,2749,3370,3275,851.3,-7.3,676,8599,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2748,3322,3370,3275,0,0,0,0,0,0,15.30,15.33,15.33
$GC,8895,-0.81,-97.3,1842,2749,3369,3274,872.1,-6.6,686,8899,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,2748,3321,3369,3274,0,0,0,0,0,0,15.32,15.34,15.33
$GC,9195,-0.81,-97.3,1843,2748,3367,3273,890.3,-5.8,696,9201,0.00,2.22,0.00,0.000,292,0.000,0.090,1844,3948,3321,3368,3274,0,0,0,0,0,0,15.31,14.73,15.33
$GC,9279,-0.81,-97.3,1843,3947,3367,3273,895.5,-6.1,712,9284,0.00,2.05,0.00,0.000,1062,0.000,0.044,1845,2747,3320,3367,3273,0,0,0,0,0,0,15.04,14.98,15.06
$GC,9594,-0.81,-97.3,1843,2746,3366,3272,913.1,-5.7,724,9597,0.00,0.00,0.00,0.000,38,0.000,0.000,1844,2746,3319,3366,3272,0,0,0,0,0,0,15.28,15.30,15.30
$GC,9894,-0.81,-97.3,1843,2746,3366,3271,931.5,-6.2,734,9899,0.00,2.22,0.00,0.000,292,0.000,0.090,1844,3948,3319,3367,3271,0,0,0,0,0,0,15.28,14.72,15.30
$GC,9989,-0.81,-97.3,1843,3949,3366,3271,937.9,-6.8,752,9994,0.00,2.05,0.00,0.000,1030,0.000,0.044,1844,2747,3318,3366,3271,0,0,0,0,0,0,15.02,14.96,15.04
$GC,10323,-0.81,-97.3,1843,2748,3365,3271,959.0,-6.4,768,10327,0.00,0.00,0.00,0.000,38,0.000,0.000,1849,2748,3317,3365,3270,0,0,0,0,0,0,15.28,15.30,15.30
$GC,10625,-0.81,-97.3,1843,2747,3365,3270,977.4,-6.0,778,10633,0.00,2.40,0.00,0.000,548,0.000,0.050,1844,1361,3317,3365,3270,0,0,0,0,0,0,15.28,14.81,15.30
$GC,10695,-0.81,-97.3,1843,1361,3365,3270,982.1,-6.2,792,10704,0.00,2.47,0.00,0.000,1062,0.000,0.060,1843,2748,3319,3369,3270,0,0,0,0,0,0,14.90,14.76,14.95
$STATE,10835,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10835,begin apogee
$GC,10844,-0.21,0.0,1844,1719,3365,3267,990.7,-6.1,800,10938,0.77,0.00,87.80,2.094,10246,0.200,0.000,2055,1719,2971,3031,2912,0,0,0,0,0,0,14.55,14.54,13.58
$STATE,10947,end apogee,CONTROL_FINISHED_OK
$STATE,10947,begin climb
$GC,10950,0.81,97.3,2056,1719,3031,2904,992.4,0.0,803,11065,1.05,2.03,101.85,2.057,10756,0.108,0.081,2389,629,2570,2630,2510,0,0,0,0,0,0,14.47,14.26,13.42
$GC,11163,0.81,97.3,2390,629,2624,2507,979.6,8.9,849,11170,0.00,1.90,0.00,0.000,1030,0.000,0.042,2391,1732,2565,2624,2507,0,0,0,0,0,0,14.71,14.65,14.73
$GC,11478,0.81,97.3,2391,1733,2624,2501,952.6,8.3,861,11484,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1733,2562,2624,2501,0,0,0,0,0,0,15.13,15.16,15.16
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$STATE,22252,end climb,SURFACE_DEPTH_REACHED
$STATE,22252,begin surface coast
$STATE,22283,end surface coast,CONTROL_FINISHED_OK
$STATE,22283,begin surface
$SM_CCo,22305,178.35,0.685,1,0,929,500.17
$SM_GC,0.35,7.07,1.70,178.35,0.083,0.045,0.685,153,2710,929,-6.10,-2.12,500.17,0,0,0,0,1,0,14.96,14.97,14.31
$IRIDIUM_FIX,1420.08,14421.27,271219,132614
$TT8_MAMPS,0.019474,0.151298
$HUMID,46.77
$INTERNAL_PRESSURE,8.95542
$TCM_TEMP,26.50
$XPDR_PINGS,0
$SC_FREEKB,3723680
$PM_FREEKB_00,58040768
$PM_FREEKB_01,85563520
$PM_FREEKB_02,59195968
$PM_FREEKB_03,100818496
$PM_ACTIVECARD,3
$24V_AH,13.42,140.467
$10V_AH,12.87,0.000
$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,17.550,167.500,360.975,178.350,0.000,0.000,0.000,416.975,0.000,0.000,16.065,1603.619,14996.692,648.977,5337.022,625.708,0.000,2766.396,0.000,4589.975,0.000,0.553,0.000
$DEVICE_MAMPS,388.620,90.270,2093.805,684.675,0.000,0.000,0.000,197.370,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22315.000,22307.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.257,6.791,0.000,0.000
$MEM,270592
$DATA_FILE_SIZE,66516,1882
$CAP_FILE_SIZE,199659,0
$CFSIZE,260034560,204562432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.041,189.69,1
$GPS,281219,021038,1417.941,14409.595,26,0.9,26,0.2,0.8,193.3,9,8.9