version: 66.13
glider: 178
mission: 31
dive: 389
start: 1 9 120 13 55 12
data:
$ID,178
$MISSION,31
$DIVE,389
$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,32
$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
$GPS1,090120,134203,1402.6433,14416.2090,36,1.2,61,0.3,0.6,321.8,7,4.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.27
$_SM_ANGLEo,-56.2
$GPS2,090120,135424,1402.6892,14416.1973,4,1.2,6,0.3,0.2,0.0,7,9.8
$SPEED_LIMITS,0.147,0.205
$TGT_NAME,HOLDN
$TGT_LATLONG,1345.000,14430.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,161.7,41107,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,22,-0.83,-97.3,124,2743,989,865,0.0,0.0,0,114,0.00,0.00,-87.47,0.005,16386,0.000,0.000,121,2743,3114,3142,3086,0,0,0,0,0,0,15.21,28.83,15.22
$GC,118,-0.83,-97.3,121,2743,3142,3086,3.3,-6.1,9,140,8.20,2.38,-4.68,0.026,18980,0.377,0.068,1848,1337,3366,3405,3328,0,0,0,0,0,0,14.43,13.44,14.69
$GC,344,-0.83,-97.3,1848,1337,3405,3328,68.7,-27.0,53,350,0.00,2.40,0.00,0.000,1030,0.000,0.049,1844,2746,3366,3406,3327,0,0,0,0,0,0,15.07,14.96,15.08
$GC,544,-0.83,-97.3,1844,2746,3406,3327,118.0,-17.9,73,550,0.00,2.08,0.00,0.000,260,0.000,0.076,1844,3953,3366,3406,3327,0,0,0,0,0,0,15.29,14.95,15.30
$GC,594,-0.83,-97.3,1844,3953,3406,3327,126.9,-17.5,81,604,0.00,2.00,0.00,0.000,1030,0.000,0.030,1844,2702,3366,3406,3327,0,0,0,0,0,0,15.11,15.07,15.12
$GC,792,-0.83,-97.3,1844,2696,3405,3327,159.8,-14.8,101,800,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,2695,3366,3406,3327,0,0,0,0,0,0,15.35,15.38,15.38
$GC,982,-0.83,-97.3,1844,2693,3406,3327,182.4,-11.2,120,992,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,2696,3368,3408,3328,0,0,0,0,0,0,15.37,15.39,15.38
$GC,1175,-0.83,-97.3,1842,2696,3406,3333,200.8,-9.1,139,1181,0.00,2.20,0.00,0.000,260,0.000,0.076,1844,3949,3366,3406,3327,0,0,0,0,0,0,15.37,14.99,15.38
$GC,1417,-0.83,-97.3,1844,3949,3406,3327,234.3,-14.8,185,1423,0.00,1.90,0.00,0.000,1030,0.000,0.031,1844,2734,3366,3406,3327,0,0,0,0,0,0,15.21,15.17,15.21
$GC,1632,-0.83,-97.3,1844,2734,3406,3325,261.1,-11.5,201,1638,0.00,2.12,0.00,0.000,260,0.000,0.078,1845,3950,3365,3405,3326,0,0,0,0,0,0,15.39,14.99,15.41
$GC,1866,-0.83,-97.3,1844,3950,3407,3325,285.3,-10.9,247,1872,0.00,1.90,0.00,0.000,1030,0.000,0.031,1845,2752,3365,3406,3324,0,0,0,0,0,0,15.21,15.17,15.22
$GC,2181,-0.83,-97.3,1843,2745,3406,3322,319.5,-11.1,259,2189,0.00,2.12,0.00,0.000,260,0.000,0.077,1844,3956,3361,3401,3321,0,0,0,0,0,0,15.39,14.98,15.40
$GC,2416,-0.83,-97.3,1844,3956,3406,3318,345.0,-11.0,305,2422,0.00,1.92,0.00,0.000,1030,0.000,0.033,1844,2748,3362,3406,3318,0,0,0,0,0,0,15.21,15.16,15.22
$GC,2734,-0.83,-97.3,1843,2747,3406,3312,375.6,-10.0,317,2740,0.00,2.12,0.00,0.000,260,0.000,0.081,1844,3948,3359,3406,3312,0,0,0,0,0,0,15.38,14.96,15.39
$GC,2968,-0.83,-97.3,1843,3947,3405,3308,398.4,-9.9,363,2974,0.00,1.92,0.00,0.000,1030,0.000,0.034,1844,2755,3357,3407,3308,0,0,0,0,0,0,15.14,15.09,15.15
$GC,3283,-0.83,-97.3,1843,2748,3406,3303,426.5,-8.7,375,3288,0.00,2.15,0.00,0.000,260,0.000,0.085,1844,3953,3354,3405,3303,0,0,0,0,0,0,15.40,14.93,15.41
$GC,3446,-0.83,-97.3,1843,3953,3407,3300,440.6,-8.0,407,3454,0.00,1.98,0.00,0.000,1030,0.000,0.035,1844,2745,3353,3405,3301,0,0,0,0,0,0,15.11,15.07,15.13
$GC,3773,-0.83,-97.3,1843,2742,3401,3300,468.1,-9.0,421,3780,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2742,3350,3401,3299,0,0,0,0,0,0,15.38,15.40,15.40
$GC,4074,-0.83,-97.3,1843,2742,3399,3296,496.8,-9.8,431,4080,0.00,2.30,0.00,0.000,516,0.000,0.044,1844,1381,3347,3398,3296,0,0,0,0,0,0,15.37,14.93,15.39
$GC,4143,-0.83,-97.3,1843,1378,3397,3296,504.0,-10.2,443,4151,0.00,2.40,0.00,0.000,1030,0.000,0.054,1844,2751,3346,3397,3296,0,0,0,0,0,0,15.08,14.96,15.11
$GC,4476,-0.83,-97.3,1843,2755,3395,3293,537.4,-10.2,459,4482,0.00,2.33,0.00,0.000,516,0.000,0.043,1844,1382,3344,3395,3293,0,0,0,0,0,0,15.35,14.97,15.36
$GC,4571,-0.83,-97.3,1845,1383,3394,3290,546.4,-9.2,477,4578,0.00,2.40,0.00,0.000,1030,0.000,0.054,1844,2758,3343,3394,3293,0,0,0,0,0,0,15.06,14.94,15.13
$GC,4906,-0.83,-97.3,1843,2758,3392,3291,572.5,-7.2,493,4910,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,2758,3341,3392,3291,0,0,0,0,0,0,15.36,15.38,15.38
$GC,5208,-0.83,-97.3,1843,2758,3390,3289,592.1,-6.3,503,5211,0.00,0.00,0.00,0.000,38,0.000,0.000,1843,2758,3339,3390,3289,0,0,0,0,0,0,15.34,15.36,15.35
$GC,5506,-0.83,-97.3,1843,2758,3388,3287,612.1,-6.8,513,5513,0.00,2.12,0.00,0.000,260,0.000,0.090,1844,3945,3337,3388,3286,0,0,0,0,0,0,15.34,14.83,15.37
$GC,5655,-0.83,-97.3,1843,3944,3388,3286,623.1,-7.6,542,5662,0.00,2.00,0.00,0.000,1030,0.000,0.040,1844,2766,3336,3388,3285,0,0,0,0,0,0,14.99,14.96,15.01
$GC,5963,-0.83,-97.3,1843,2767,3386,3283,643.7,-6.4,553,5970,0.00,2.15,0.00,0.000,292,0.000,0.090,1843,3945,3335,3386,3285,0,0,0,0,0,0,15.33,14.74,15.35
$GC,6172,-0.83,-97.3,1843,3945,3385,3282,658.5,-6.9,593,6180,0.00,1.98,0.00,0.000,1030,0.000,0.041,1844,2757,3334,3385,3284,0,0,0,0,0,0,15.03,14.97,15.04
$GC,6489,-0.83,-97.3,1844,2757,3384,3282,678.7,-6.4,605,6496,0.00,2.38,0.00,0.000,548,0.000,0.047,1844,1362,3332,3383,3281,0,0,0,0,0,0,15.34,14.91,15.36
$GC,6579,-0.83,-97.3,1843,1366,3382,3281,685.0,-7.3,622,6586,0.00,2.50,0.00,0.000,1030,0.000,0.057,1843,2748,3331,3382,3281,0,0,0,0,0,0,14.83,14.74,14.87
$GC,6884,-0.83,-97.3,1843,2747,3381,3280,707.9,-7.8,633,6891,0.00,2.40,0.00,0.000,516,0.000,0.045,1843,1357,3331,3382,3280,0,0,0,0,0,0,15.33,14.90,15.35
$GC,6963,-0.83,-97.3,1843,1357,3381,3280,714.6,-8.5,648,6969,0.00,2.47,0.00,0.000,1030,0.000,0.057,1844,2751,3329,3380,3279,0,0,0,0,0,0,14.97,14.84,15.02
$GC,7282,-0.83,-97.3,1843,2748,3379,3279,740.8,-8.3,661,7290,0.00,2.40,0.00,0.000,516,0.000,0.046,1844,1364,3329,3379,3279,0,0,0,0,0,0,15.33,14.82,15.35
$GC,7336,-0.83,-97.3,1843,1365,3379,3279,745.5,-8.4,670,7345,0.00,2.45,0.00,0.000,1030,0.000,0.058,1843,2751,3328,3379,3278,0,0,0,0,0,0,14.96,14.84,15.00
$GC,7654,-0.83,-97.3,1843,2752,3378,3277,769.4,-7.3,683,7657,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2751,3327,3378,3277,0,0,0,0,0,0,15.30,15.33,15.33
$GC,7954,-0.83,-97.3,1843,2751,3372,3278,792.3,-7.9,693,7958,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,2751,3327,3377,3277,0,0,0,0,0,0,15.30,15.33,15.33
$GC,8253,-0.83,-97.3,1843,2751,3377,3275,816.0,-7.8,703,8257,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2751,3325,3377,3274,0,0,0,0,0,0,15.30,15.33,15.32
$GC,8553,-0.83,-97.3,1843,2751,3376,3274,837.6,-6.7,713,8560,0.00,2.17,0.00,0.000,260,0.000,0.092,1843,3947,3325,3376,3274,0,0,0,0,0,0,15.30,14.71,15.31
$GC,8628,-0.83,-97.3,1843,3947,3376,3274,842.8,-7.0,727,8634,0.00,2.03,0.00,0.000,1030,0.000,0.044,1844,2749,3324,3375,3274,0,0,0,0,0,0,15.02,14.95,15.04
$GC,8953,-0.83,-97.3,1843,2750,3374,3273,863.1,-6.2,741,8959,0.00,2.20,0.00,0.000,292,0.000,0.092,1843,3943,3324,3375,3273,0,0,0,0,0,0,15.29,14.68,15.30
$GC,9032,-0.83,-97.3,1843,3943,3375,3273,868.8,-7.1,756,9038,0.00,2.03,0.00,0.000,1030,0.000,0.044,1844,2750,3323,3374,3273,0,0,0,0,0,0,15.02,14.95,15.04
$GC,9353,-0.83,-97.3,1843,2750,3373,3272,890.3,-6.9,769,9359,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2750,3321,3371,3272,0,0,0,0,0,0,15.29,15.31,15.30
$GC,9652,-0.83,-97.3,1843,2750,3371,3271,911.6,-7.1,779,9658,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,2750,3322,3373,3271,0,0,0,0,0,0,15.27,15.28,15.29
$GC,9952,-0.83,-97.3,1843,2750,3370,3271,932.4,-6.7,789,9958,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,2750,3321,3370,3272,0,0,0,0,0,0,15.28,15.33,15.30
$GC,10253,-0.83,-97.3,1843,2750,3371,3270,952.3,-6.6,799,10260,0.00,2.22,0.00,0.000,260,0.000,0.093,1844,3944,3321,3370,3273,0,0,0,0,0,0,15.30,14.57,15.28
$GC,10361,-0.83,-97.3,1843,3945,3371,3270,960.4,-7.4,819,10367,0.00,2.05,0.00,0.000,1030,0.000,0.045,1844,2745,3320,3371,3270,0,0,0,0,0,0,14.98,14.92,15.00
$GC,10687,-0.83,-97.3,1843,2744,3370,3270,982.8,-7.1,833,10693,0.00,2.42,0.00,0.000,516,0.000,0.048,1843,1358,3320,3370,3270,0,0,0,0,0,0,15.22,14.76,15.24
$STATE,10779,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10779,begin apogee
$GC,10787,-0.21,0.0,1844,1731,3369,3270,990.2,-7.9,851,10882,0.77,0.00,89.57,2.088,10246,0.199,0.000,2061,1732,2970,3033,2907,0,0,0,0,0,0,14.43,14.46,13.45
$WARN,HPMAR missed fuel gauge read
$STATE,10889,end apogee,CONTROL_FINISHED_OK
$STATE,10889,begin climb
$GC,10894,0.83,97.3,2054,1732,3033,2905,992.8,0.0,854,11010,1.08,2.00,103.00,2.054,10756,0.109,0.071,2391,664,2573,2634,2512,0,0,0,0,0,0,14.46,14.10,13.32
$GC,11241,0.83,97.3,2391,664,2625,2507,970.8,8.6,926,11248,0.00,1.75,0.00,0.000,1030,0.000,0.042,2391,1700,2566,2625,2507,0,0,0,0,0,0,14.87,14.81,14.89
$GC,11582,0.83,97.3,2391,1700,2625,2502,942.3,8.5,942,11590,0.00,2.45,0.00,0.000,260,0.000,0.064,2391,3088,2563,2625,2502,0,0,0,0,0,0,15.19,14.83,15.19
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$STATE,22415,end climb,SURFACE_DEPTH_REACHED
$STATE,22415,begin surface coast
$STATE,22445,end surface coast,CONTROL_FINISHED_OK
$STATE,22445,begin surface
$SM_CCo,22469,155.48,0.685,1,0,928,500.17
$SM_GC,0.23,6.88,3.58,155.48,0.070,0.038,0.685,157,2723,928,-6.10,-1.70,500.17,0,0,0,0,1,0,14.92,14.96,14.26
$IRIDIUM_FIX,1359.90,14414.04,090120,072321
$TT8_MAMPS,0.019474,0.153545
$HUMID,47.71
$INTERNAL_PRESSURE,8.94566
$TCM_TEMP,25.60
$XPDR_PINGS,0
$SC_FREEKB,3705632
$PM_FREEKB_00,58040768
$PM_FREEKB_01,85563520
$PM_FREEKB_02,59195968
$PM_FREEKB_03,69785408
$PM_ACTIVECARD,3
$24V_AH,13.32,160.568
$10V_AH,12.38,0.000
$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,17.225,165.150,392.550,155.475,0.000,0.000,0.000,412.225,0.000,0.000,17.498,1683.916,14440.014,617.972,5949.759,677.269,0.000,2907.358,0.000,5170.467,0.000,0.552,0.000
$DEVICE_MAMPS,377.145,92.565,2088.450,685.440,0.000,0.000,0.000,199.665,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22476.000,22469.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.375,11.843,0.000,0.000
$MEM,270500
$DATA_FILE_SIZE,69818,2048
$CAP_FILE_SIZE,206424,0
$CFSIZE,260034560,197431296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.028,206.87,1
$GPS,090120,201400,1400.276,14416.489,34,0.8,34,0.4,0.4,166.2,10,3.2