version: 66.13
glider: 178
mission: 31
dive: 30
start: 10 7 119 8 5 23
data:
$ID,178
$MISSION,31
$DIVE,30
$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,120
$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,0.0035481299
$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,26
$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
$GPS1,071019,075301,1338.7825,14429.1455,26,0.9,27,0.5,0.7,204.7,7,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.41
$_SM_ANGLEo,-53.7
$GPS2,071019,080437,1338.7983,14429.1299,3,0.9,4,0.5,0.8,208.6,9,7.5
$SPEED_LIMITS,0.147,0.223
$TGT_NAME,NW
$TGT_LATLONG,1336.000,14430.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,144.7,5414,-17.5,-8.462,-20.79,2118
$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,14,begin dive
$GC,16,-0.77,-116.8,128,2740,994,862,0.0,0.0,0,110,0.00,0.00,-89.28,0.005,16386,0.000,0.000,126,2741,3292,3332,3252,0,0,0,0,0,0,15.25,28.83,15.27
$GC,112,-0.77,-116.8,125,2741,3333,3252,5.4,-10.6,9,130,8.23,2.10,-2.40,0.050,18692,0.410,0.103,1858,3940,3443,3505,3382,0,0,0,0,0,0,14.92,14.59,15.09
$GC,357,-0.77,-116.8,1857,3940,3504,3381,100.7,-34.5,58,364,0.00,1.98,0.00,0.000,1030,0.000,0.041,1858,2711,3443,3505,3381,0,0,0,0,0,0,15.25,15.23,15.26
$GC,544,-0.77,-116.8,1858,2710,3505,3381,142.6,-20.5,77,551,0.00,2.10,0.00,0.000,260,0.000,0.082,1851,3946,3443,3505,3381,0,0,0,0,0,0,15.43,15.20,15.45
$GC,779,-0.77,-116.8,1851,3946,3505,3381,185.9,-17.0,123,784,0.00,1.88,0.00,0.000,1030,0.000,0.038,1851,2738,3443,3505,3381,0,0,0,0,0,0,15.36,15.33,15.38
$GC,972,-0.77,-116.8,1851,2738,3505,3381,213.1,-10.9,143,978,0.00,2.05,0.00,0.000,260,0.000,0.080,1843,3946,3443,3506,3381,0,0,0,0,0,0,15.48,15.28,15.50
$GC,1205,-0.77,-116.8,1842,3946,3504,3380,243.9,-13.3,189,1212,0.12,1.85,0.00,0.000,3078,0.286,0.038,1868,2754,3442,3505,3380,0,0,0,0,0,0,15.22,15.36,15.37
$GC,1410,-0.77,-116.8,1867,2754,3505,3379,269.2,-12.5,200,1415,0.00,2.22,0.00,0.000,516,0.000,0.044,1868,1357,3442,3505,3379,0,0,0,0,0,0,15.52,15.34,15.54
$GC,1466,-0.77,-116.8,1868,1357,3505,3379,275.8,-10.8,211,1473,0.00,2.35,0.00,0.000,1030,0.000,0.054,1868,2746,3442,3505,3379,0,0,0,0,0,0,15.37,15.32,15.40
$GC,1774,-0.77,-116.8,1868,2747,3505,3375,305.0,-9.0,222,1777,0.00,0.00,0.00,0.000,6,0.000,0.000,1868,2746,3440,3505,3375,0,0,0,0,0,0,15.54,15.56,15.56
$GC,2073,-0.77,-116.8,1867,2746,3505,3371,336.3,-10.7,232,2079,0.00,2.25,0.00,0.000,516,0.000,0.047,1868,1359,3437,3505,3370,0,0,0,0,0,0,15.55,15.37,15.57
$GC,2106,-0.77,-116.8,1868,1359,3505,3370,339.9,-11.0,238,2112,0.00,2.33,0.00,0.000,1030,0.000,0.056,1868,2756,3437,3504,3370,0,0,0,0,0,0,15.44,15.36,15.45
$GC,2441,-0.77,-116.8,1864,2756,3504,3364,374.0,-8.9,254,2446,0.00,2.00,0.00,0.000,260,0.000,0.088,1864,3947,3434,3502,3366,0,0,0,0,0,0,15.55,15.35,15.57
$GC,2467,-0.77,-116.8,1865,3948,3502,3365,376.4,-8.2,259,2474,0.00,1.92,0.00,0.000,1030,0.000,0.043,1865,2757,3434,3502,3366,0,0,0,0,0,0,15.42,15.40,15.45
$GC,2774,-0.77,-116.8,1863,2756,3499,3363,401.6,-8.8,270,2778,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2757,3429,3499,3359,0,0,0,0,0,0,15.56,15.58,15.58
$GC,3074,-0.77,-116.8,1865,2757,3495,3360,427.9,-8.8,280,3079,0.00,2.03,0.00,0.000,260,0.000,0.090,1865,3942,3427,3495,3360,0,0,0,0,0,0,15.56,15.35,15.57
$GC,3160,-0.77,-116.8,1865,3942,3494,3359,435.8,-8.7,297,3168,0.00,1.95,0.00,0.000,1030,0.000,0.046,1865,2746,3426,3494,3359,0,0,0,0,0,0,15.43,15.40,15.45
$GC,3467,-0.77,-116.8,1864,2746,3493,3357,460.9,-8.6,308,3471,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2746,3424,3492,3357,0,0,0,0,0,0,15.55,15.57,15.57
$GC,3768,-0.77,-116.8,1865,2746,3483,3355,487.6,-8.8,318,3773,0.00,2.28,0.00,0.000,516,0.000,0.053,1865,1358,3420,3486,3354,0,0,0,0,0,0,15.55,15.37,15.57
$GC,3831,-0.77,-116.8,1864,1358,3485,3354,493.5,-9.3,330,3840,0.00,2.35,0.00,0.000,1030,0.000,0.061,1865,2753,3419,3485,3354,0,0,0,0,0,0,15.44,15.35,15.48
$GC,4163,-0.77,-116.8,1864,2753,3484,3349,523.3,-9.3,346,4168,0.00,2.03,0.00,0.000,260,0.000,0.093,1865,3946,3416,3484,3349,0,0,0,0,0,0,15.54,15.34,15.56
$GC,4269,-0.77,-116.8,1864,3946,3483,3351,534.0,-9.9,367,4275,0.00,1.92,0.00,0.000,1030,0.000,0.048,1865,2746,3419,3483,3356,0,0,0,0,0,0,15.45,15.40,15.46
$GC,4587,-0.77,-116.8,1866,2748,3480,3350,562.3,-9.1,380,4593,0.00,2.28,0.00,0.000,516,0.000,0.054,1865,1357,3415,3480,3350,0,0,0,0,0,0,15.54,15.37,15.56
$GC,4674,-0.77,-116.8,1864,1357,3479,3350,570.3,-8.8,397,4682,0.00,2.40,0.00,0.000,1030,0.000,0.063,1865,2747,3414,3479,3350,0,0,0,0,0,0,15.40,15.34,15.41
$GC,4981,-0.77,-116.8,1864,2747,3477,3347,595.6,-8.2,408,4987,0.00,2.08,0.00,0.000,260,0.000,0.095,1868,3956,3411,3476,3347,0,0,0,0,0,0,15.54,15.33,15.54
$GC,5104,-0.77,-116.8,1864,3956,3475,3346,605.9,-8.1,432,5110,0.00,1.95,0.00,0.000,1030,0.000,0.050,1865,2746,3411,3476,3346,0,0,0,0,0,0,15.44,15.40,15.45
$GC,5438,-0.77,-116.8,1867,2746,3473,3345,630.4,-7.1,448,5443,0.00,2.28,0.00,0.000,516,0.000,0.054,1865,1355,3409,3473,3345,0,0,0,0,0,0,15.54,15.36,15.55
$GC,5561,-0.77,-116.8,1864,1354,3472,3345,640.6,-8.9,472,5570,0.00,2.38,0.00,0.000,1030,0.000,0.063,1865,2754,3408,3472,3344,0,0,0,0,0,0,15.42,15.33,15.44
$GC,5893,-0.77,-116.8,1864,2755,3471,3343,669.4,-8.9,488,5898,0.00,2.03,0.00,0.000,260,0.000,0.096,1865,3944,3406,3470,3342,0,0,0,0,0,0,15.54,15.33,15.55
$GC,6004,-0.77,-116.8,1864,3945,3471,3342,679.9,-9.6,510,6010,0.00,1.92,0.00,0.000,1030,0.000,0.050,1865,2752,3406,3470,3342,0,0,0,0,0,0,15.43,15.39,15.45
$GC,6319,-0.77,-116.8,1864,2752,3468,3341,705.9,-8.2,522,6324,0.00,2.30,0.00,0.000,516,0.000,0.055,1864,1351,3404,3467,3341,0,0,0,0,0,0,15.52,15.34,15.54
$GC,6442,-0.77,-116.8,1864,1350,3466,3341,716.3,-8.9,546,6447,0.00,2.38,0.00,0.000,1030,0.000,0.063,1865,2750,3403,3466,3341,0,0,0,0,0,0,15.41,15.33,15.42
$GC,6776,-0.77,-116.8,1864,2751,3464,3340,742.1,-7.4,562,6781,0.00,2.05,0.00,0.000,260,0.000,0.097,1864,3949,3402,3465,3340,0,0,0,0,0,0,15.52,15.31,15.54
$GC,6827,-0.77,-116.8,1864,3949,3465,3340,746.1,-8.8,572,6832,0.00,1.95,0.00,0.000,1030,0.000,0.051,1865,2749,3402,3465,3340,0,0,0,0,0,0,15.42,15.37,15.42
$GC,7140,-0.77,-116.8,1864,2748,3464,3338,768.5,-7.5,584,7144,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2748,3401,3464,3338,0,0,0,0,0,0,15.52,15.54,15.54
$GC,7441,-0.77,-116.8,1864,2748,3463,3337,790.0,-7.0,594,7444,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,2748,3403,3463,3344,0,0,0,0,0,0,15.52,15.54,15.54
$GC,7740,-0.77,-116.8,1864,2748,3462,3337,811.7,-7.8,604,7744,0.00,0.00,0.00,0.000,6,0.000,0.000,1865,2748,3399,3462,3337,0,0,0,0,0,0,15.52,15.54,15.54
$GC,8040,-0.77,-116.8,1864,2748,3460,3336,835.6,-8.2,614,8046,0.00,2.33,0.00,0.000,516,0.000,0.057,1865,1345,3397,3459,3336,0,0,0,0,0,0,15.52,15.34,15.54
$GC,8104,-0.77,-116.8,1864,1345,3459,3336,841.2,-7.9,626,8112,0.00,2.40,0.00,0.000,1030,0.000,0.066,1870,2750,3397,3459,3336,0,0,0,0,0,0,15.40,15.32,15.42
$GC,8435,-0.77,-116.8,1864,2750,3459,3335,871.4,-9.4,642,8441,0.00,2.35,0.00,0.000,516,0.000,0.057,1863,1350,3396,3458,3334,0,0,0,0,0,0,15.54,15.33,15.53
$GC,8500,-0.77,-116.8,1864,1349,3458,3335,877.7,-9.8,654,8508,0.00,2.40,0.00,0.000,1030,0.000,0.066,1865,2753,3396,3458,3334,0,0,0,0,0,0,15.40,15.31,15.41
$GC,8831,-0.77,-116.8,1864,2753,3457,3334,908.4,-9.0,670,8836,0.00,2.05,0.00,0.000,260,0.000,0.099,1864,3945,3395,3457,3334,0,0,0,0,0,0,15.51,15.30,15.53
$GC,8992,-0.77,-116.8,1864,3945,3457,3333,924.2,-10.5,702,8998,0.00,1.95,0.00,0.000,1030,0.000,0.053,1864,2750,3395,3457,3333,0,0,0,0,0,0,15.40,15.35,15.41
$GC,9316,-0.77,-116.8,1864,2750,3456,3334,953.3,-8.9,716,9322,0.00,2.10,0.00,0.000,260,0.000,0.100,1865,3949,3396,3455,3337,0,0,0,0,0,0,15.50,15.29,15.52
$GC,9368,-0.77,-116.8,1864,3950,3455,3332,958.2,-5.2,726,9374,0.00,1.95,0.00,0.000,1062,0.000,0.054,1865,2752,3393,3455,3332,0,0,0,0,0,0,15.40,15.35,15.41
$GC,9682,-0.77,-116.8,1863,2752,3455,3331,984.1,-8.2,738,9688,0.00,2.33,0.00,0.000,516,0.000,0.058,1865,1351,3393,3454,3332,0,0,0,0,0,0,15.49,15.31,15.51
$STATE,9744,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9744,begin apogee
$GC,9750,-0.21,0.0,1865,1734,3454,3332,990.4,-8.6,750,9859,0.68,0.00,103.30,2.147,10246,0.224,0.000,2055,1734,2968,3038,2898,0,0,0,0,0,0,15.23,14.50,13.79
$STATE,9861,end apogee,CONTROL_FINISHED_OK
$STATE,9861,begin climb
$GC,9863,0.77,116.8,2055,1734,3037,2897,993.3,0.0,753,9991,1.02,2.03,117.22,2.062,10756,0.135,0.081,2369,653,2494,2561,2427,0,0,0,0,0,0,14.48,14.23,13.62
$GC,10218,0.81,116.8,2373,653,2551,2421,967.0,7.3,829,10223,0.00,1.77,0.00,0.000,1094,0.000,0.050,2369,1707,2486,2551,2421,0,0,0,0,0,0,14.97,14.90,14.98
$GC,10531,0.81,116.8,2368,1707,2551,2417,936.2,9.6,841,10535,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1707,2483,2551,2416,0,0,0,0,0,0,15.26,15.28,15.28
$GC,10832,0.81,116.8,2368,1707,2551,2415,906.2,9.6,851,10837,0.00,2.38,0.00,0.000,260,0.000,0.076,2369,3092,2482,2551,2414,0,0,0,0,0,0,15.34,15.14,15.36
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$STATE,21252,end climb,SURFACE_DEPTH_REACHED
$STATE,21252,begin surface coast
$STATE,21299,end surface coast,CONTROL_FINISHED_OK
$STATE,21299,begin surface
$SM_CCo,21318,96.65,0.695,1,0,928,500.17
$SM_GC,0.33,6.93,1.77,96.65,0.082,0.054,0.695,163,2726,928,-6.08,-1.41,500.17,0,0,0,0,1,0,15.10,15.10,14.55
$IRIDIUM_FIX,1342.02,14430.84,071019,014022
$TT8_MAMPS,0.020223,0.166278
$HUMID,43.77
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,27.60
$XPDR_PINGS,0
$SC_FREEKB,3864928
$PM_FREEKB_00,116383296
$PM_FREEKB_01,124821056
$PM_FREEKB_02,124821056
$PM_FREEKB_03,124821056
$PM_ACTIVECARD,0
$24V_AH,13.62,12.038
$10V_AH,13.45,0.000
$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,17.400,162.175,456.575,96.650,0.000,0.000,0.000,481.150,0.000,0.000,15.734,1549.934,14391.525,575.645,5274.727,328.179,0.000,2741.549,0.000,4485.356,0.000,0.553,0.000
$DEVICE_MAMPS,410.040,103.275,2146.590,695.385,0.000,0.000,0.000,207.315,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21326.000,21318.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.814,5.810,0.000,0.000
$MEM,270892
$DATA_FILE_SIZE,63269,1852
$CAP_FILE_SIZE,193977,0
$CFSIZE,260034560,254091264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.011,85.29,1
$GPS,071019,140400,1336.880,14430.482,42,0.9,42,0.5,0.1,0.0,9,3.6