version: 66.13
glider: 178
mission: 31
dive: 44
start: 10 10 119 23 27 36
data:
$ID,178
$MISSION,31
$DIVE,44
$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,0.00223872
$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,32
$R_STBD_OVSHOOT,56
$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
$GPS1,101019,231530,1402.8297,14413.6436,19,0.8,19,0.3,0.9,223.9,9,4.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.50
$_SM_ANGLEo,-58.5
$GPS2,101019,232647,1402.7026,14413.5068,2,0.6,3,0.3,1.3,179.0,12,7.5
$SPEED_LIMITS,0.147,0.205
$TGT_NAME,S
$TGT_LATLONG,1410.000,14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,2.8,14910,-16.5,-8.462,-22.45,2099
$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,17,-0.73,-116.8,141,2692,990,867,0.0,0.0,0,110,0.00,0.00,-89.25,0.005,16386,0.000,0.000,139,2693,3289,3328,3251,0,0,0,0,0,0,15.24,28.83,15.26
$GC,113,-0.73,-116.8,139,2694,3328,3251,5.3,-10.4,9,130,8.23,2.10,-2.58,0.047,18692,0.409,0.097,1873,3923,3444,3506,3383,0,0,0,0,0,0,14.92,14.60,15.07
$GC,359,-0.73,-116.8,1879,3923,3507,3383,96.3,-28.9,58,366,0.00,1.95,0.00,0.000,1030,0.000,0.034,1873,2718,3445,3507,3383,0,0,0,0,0,0,15.23,15.19,15.25
$GC,545,-0.73,-116.8,1873,2712,3507,3382,138.9,-19.0,77,552,0.00,2.05,0.00,0.000,260,0.000,0.084,1866,3913,3444,3507,3382,0,0,0,0,0,0,15.42,15.21,15.44
$GC,780,-0.73,-116.8,1866,3913,3507,3382,183.5,-19.9,123,785,0.00,1.83,0.00,0.000,1030,0.000,0.033,1866,2736,3444,3507,3382,0,0,0,0,0,0,15.35,15.32,15.37
$GC,973,-0.73,-116.8,1867,2727,3508,3382,208.0,-10.8,143,979,0.00,2.17,0.00,0.000,516,0.000,0.047,1868,1369,3445,3508,3382,0,0,0,0,0,0,15.48,15.30,15.50
$GC,1030,-0.73,-116.8,1866,1368,3508,3382,215.4,-12.8,154,1037,0.00,2.28,0.00,0.000,1030,0.000,0.053,1863,2717,3445,3508,3382,0,0,0,0,0,0,15.33,15.30,15.35
$GC,1216,-0.73,-116.8,1862,2717,3508,3382,239.5,-11.8,173,1225,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2713,3445,3508,3382,0,0,0,0,0,0,15.48,15.52,15.52
$GC,1427,-0.73,-116.8,1862,2716,3508,3381,266.3,-12.7,186,1433,0.00,2.05,0.00,0.000,260,0.000,0.082,1859,3948,3444,3507,3381,0,0,0,0,0,0,15.47,15.30,15.52
$GC,1658,-0.73,-116.8,1859,3947,3508,3380,295.5,-11.1,232,1664,0.00,1.85,0.00,0.000,1030,0.000,0.035,1859,2748,3444,3508,3380,0,0,0,0,0,0,15.42,15.40,15.44
$GC,1971,-0.73,-116.8,1859,2746,3507,3376,325.6,-10.2,244,1977,0.00,2.05,0.00,0.000,260,0.000,0.084,1858,3946,3441,3507,3376,0,0,0,0,0,0,15.53,15.34,15.54
$GC,2194,-0.73,-116.8,1857,3946,3507,3373,349.5,-10.4,288,2200,0.12,1.85,0.00,0.000,3078,0.275,0.035,1884,2749,3440,3508,3373,0,0,0,0,0,0,15.26,15.41,15.41
$GC,2518,-0.73,-116.8,1884,2749,3507,3369,378.0,-9.4,302,2524,0.00,2.05,0.00,0.000,260,0.000,0.089,1881,3946,3437,3506,3369,0,0,0,0,0,0,15.55,15.34,15.57
$GC,2651,-0.73,-116.8,1881,3946,3506,3368,393.0,-11.8,328,2656,0.00,1.88,0.00,0.000,1030,0.000,0.037,1881,2744,3437,3505,3369,0,0,0,0,0,0,15.45,15.42,15.46
$GC,2974,-0.73,-116.8,1887,2744,3502,3366,423.4,-8.0,342,2980,0.00,2.22,0.00,0.000,516,0.000,0.050,1881,1365,3434,3503,3366,0,0,0,0,0,0,15.55,15.38,15.57
$GC,3107,-0.73,-116.8,1881,1364,3500,3366,434.8,-8.7,368,3116,0.00,2.33,0.00,0.000,1030,0.000,0.059,1881,2751,3433,3500,3366,0,0,0,0,0,0,15.42,15.35,15.44
$GC,3429,-0.73,-116.8,1881,2752,3497,3362,464.7,-9.3,382,3435,0.00,2.03,0.00,0.000,260,0.000,0.091,1880,3951,3430,3499,3362,0,0,0,0,0,0,15.54,15.34,15.54
$GC,3505,-0.73,-116.8,1879,3950,3497,3362,472.7,-10.5,397,3511,0.00,1.90,0.00,0.000,1030,0.000,0.041,1880,2745,3432,3496,3368,0,0,0,0,0,0,15.45,15.41,15.46
$GC,3824,-0.73,-116.8,1879,2745,3494,3358,500.5,-8.3,410,3830,0.00,2.08,0.00,0.000,260,0.000,0.095,1880,3948,3426,3493,3359,0,0,0,0,0,0,15.55,15.33,15.57
$GC,3906,-0.73,-116.8,1880,3947,3493,3358,507.6,-8.3,426,3912,0.00,1.90,0.00,0.000,1030,0.000,0.042,1880,2743,3428,3497,3359,0,0,0,0,0,0,15.45,15.41,15.46
$GC,4220,-0.73,-116.8,1879,2743,3489,3356,530.2,-6.9,438,4227,0.00,2.22,0.00,0.000,516,0.000,0.051,1880,1374,3422,3489,3356,0,0,0,0,0,0,15.53,15.34,15.55
$GC,4348,-0.73,-116.8,1879,1374,3486,3356,540.0,-7.4,463,4354,0.00,2.33,0.00,0.000,1030,0.000,0.062,1880,2749,3420,3486,3355,0,0,0,0,0,0,15.42,15.33,15.44
$GC,4672,-0.73,-116.8,1879,2749,3482,3353,563.9,-7.4,477,4675,0.00,0.00,0.00,0.000,6,0.000,0.000,1880,2746,3419,3485,3353,0,0,0,0,0,0,15.53,15.55,15.54
$GC,4972,-0.73,-116.8,1879,2749,3482,3351,586.6,-7.7,487,4977,0.00,2.28,0.00,0.000,516,0.000,0.052,1880,1374,3417,3482,3352,0,0,0,0,0,0,15.53,15.36,15.55
$GC,5028,-0.73,-116.8,1879,1374,3481,3351,591.5,-8.9,498,5035,0.00,2.38,0.00,0.000,1030,0.000,0.063,1880,2748,3417,3482,3352,0,0,0,0,0,0,15.38,15.31,15.40
$GC,5335,-0.73,-116.8,1878,2748,3480,3350,616.4,-8.2,509,5342,0.00,2.28,0.00,0.000,516,0.000,0.052,1879,1375,3414,3480,3349,0,0,0,0,0,0,15.53,15.35,15.55
$GC,5388,-0.73,-116.8,1879,1374,3479,3349,620.9,-8.5,519,5394,0.00,2.35,0.00,0.000,1030,0.000,0.063,1879,2759,3414,3479,3349,0,0,0,0,0,0,15.41,15.33,15.43
$GC,5696,-0.73,-116.8,1879,2759,3477,3347,646.8,-8.6,530,5701,0.00,2.05,0.00,0.000,260,0.000,0.097,1879,3956,3412,3477,3347,0,0,0,0,0,0,15.52,15.32,15.56
$GC,5791,-0.73,-116.8,1876,3956,3476,3346,655.9,-9.0,549,5798,0.00,1.92,0.00,0.000,1030,0.000,0.047,1880,2762,3411,3476,3346,0,0,0,0,0,0,15.42,15.38,15.44
$GC,6120,-0.73,-116.8,1879,2762,3474,3345,683.4,-8.2,564,6124,0.00,0.00,0.00,0.000,6,0.000,0.000,1879,2759,3410,3474,3346,0,0,0,0,0,0,15.52,15.54,15.54
$GC,6421,-0.73,-116.8,1880,2762,3472,3344,705.6,-7.1,574,6425,0.00,0.00,0.00,0.000,6,0.000,0.000,1879,2762,3408,3472,3344,0,0,0,0,0,0,15.53,15.55,15.55
$GC,6721,-0.73,-116.8,1881,2762,3471,3343,725.9,-6.6,584,6726,0.00,2.33,0.00,0.000,516,0.000,0.054,1880,1344,3407,3471,3343,0,0,0,0,0,0,15.52,15.34,15.54
$GC,6784,-0.73,-116.8,1879,1344,3470,3343,730.3,-7.4,596,6793,0.00,2.40,0.00,0.000,1030,0.000,0.064,1879,2754,3406,3469,3343,0,0,0,0,0,0,15.40,15.33,15.41
$GC,7116,-0.73,-116.8,1879,2756,3469,3342,750.1,-5.8,612,7122,0.00,2.05,0.00,0.000,292,0.000,0.099,1880,3946,3405,3468,3342,0,0,0,0,0,0,15.52,15.31,15.54
$GC,7198,-0.73,-116.8,1879,3946,3468,3341,755.5,-6.5,628,7203,0.00,1.95,0.00,0.000,1030,0.000,0.048,1878,2745,3404,3468,3341,0,0,0,0,0,0,15.40,15.38,15.43
$GC,7511,-0.73,-116.8,1878,2745,3466,3340,776.2,-7.3,640,7515,0.00,0.00,0.00,0.000,6,0.000,0.000,1880,2745,3404,3467,3341,0,0,0,0,0,0,15.52,15.54,15.54
$GC,7811,-0.73,-116.8,1879,2745,3466,3340,798.3,-7.6,650,7815,0.00,0.00,0.00,0.000,6,0.000,0.000,1880,2745,3402,3465,3340,0,0,0,0,0,0,15.52,15.54,15.54
$GC,8111,-0.73,-116.8,1879,2745,3464,3339,823.0,-8.4,660,8117,0.00,2.30,0.00,0.000,516,0.000,0.056,1880,1347,3401,3464,3339,0,0,0,0,0,0,15.52,15.33,15.54
$GC,8177,-0.73,-116.8,1879,1348,3464,3345,828.6,-8.9,673,8184,0.00,2.42,0.00,0.000,1030,0.000,0.067,1879,2755,3401,3464,3338,0,0,0,0,0,0,15.37,15.30,15.40
$GC,8506,-0.73,-116.8,1879,2756,3463,3338,857.0,-8.5,688,8513,0.00,2.35,0.00,0.000,516,0.000,0.055,1880,1346,3401,3464,3338,0,0,0,0,0,0,15.50,15.31,15.52
$GC,8594,-0.73,-116.8,1879,1346,3463,3338,864.6,-10.1,705,8602,0.00,2.45,0.00,0.000,1030,0.000,0.067,1880,2749,3400,3463,3338,0,0,0,0,0,0,15.35,15.30,15.38
$GC,8900,-0.73,-116.8,1879,2749,3462,3336,889.4,-7.8,716,8905,0.00,0.00,0.00,0.000,6,0.000,0.000,1880,2748,3399,3462,3336,0,0,0,0,0,0,15.50,15.52,15.51
$GC,9201,-0.73,-116.8,1879,2748,3462,3334,911.2,-6.9,726,9205,0.00,0.00,0.00,0.000,6,0.000,0.000,1880,2749,3398,3461,3336,0,0,0,0,0,0,15.50,15.52,15.51
$GC,9500,-0.73,-116.8,1880,2749,3459,3336,931.1,-6.6,736,9507,0.00,2.08,0.00,0.000,260,0.000,0.102,1880,3948,3398,3460,3336,0,0,0,0,0,0,15.50,15.28,15.51
$GC,9543,-0.73,-116.8,1879,3948,3459,3336,934.2,-6.3,744,9550,0.00,1.98,0.00,0.000,1062,0.000,0.050,1880,2734,3397,3459,3335,0,0,0,0,0,0,15.40,15.35,15.41
$GC,9868,-0.73,-116.8,1880,2737,3459,3335,956.3,-6.5,758,9872,0.00,0.00,0.00,0.000,6,0.000,0.000,1879,2737,3396,3458,3335,0,0,0,0,0,0,15.49,15.51,15.51
$GC,10167,-0.73,-116.8,1880,2737,3457,3334,977.0,-7.0,768,10173,0.00,2.28,0.00,0.000,516,0.000,0.057,1877,1361,3396,3458,3335,0,0,0,0,0,0,15.49,15.30,15.51
$GC,10224,-0.73,-116.8,1879,1361,3458,3334,980.5,-6.4,779,10231,0.00,2.42,0.00,0.000,1062,0.000,0.068,1879,2746,3395,3457,3334,0,0,0,0,0,0,15.33,15.28,15.36
$STATE,10349,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10349,begin apogee
$GC,10356,-0.21,0.0,1880,1723,3457,3334,990.2,-7.2,784,10464,0.62,0.00,102.93,2.132,10246,0.211,0.000,2055,1724,2969,3041,2897,0,0,0,0,0,0,15.23,14.50,13.81
$STATE,10467,end apogee,CONTROL_FINISHED_OK
$STATE,10467,begin climb
$GC,10469,0.73,116.8,2058,1723,3040,2899,992.6,0.0,787,10597,0.98,2.00,118.43,2.051,10756,0.125,0.082,2365,638,2491,2557,2426,0,0,0,0,0,0,14.49,14.21,13.62
$GC,10679,0.73,116.8,2364,638,2550,2422,979.5,11.0,834,10685,0.00,1.90,0.00,0.000,1030,0.000,0.050,2365,1716,2486,2550,2422,0,0,0,0,0,0,14.71,14.68,14.73
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$STATE,21659,end climb,SURFACE_DEPTH_REACHED
$STATE,21659,begin surface coast
$STATE,21689,end surface coast,CONTROL_FINISHED_OK
$STATE,21690,begin surface
$SM_CCo,21709,99.10,0.643,1,0,928,500.41
$SM_GC,0.60,6.78,1.77,99.10,0.083,0.051,0.643,164,2740,928,-6.08,-1.30,500.41,0,0,0,0,1,0,15.20,15.21,14.66
$IRIDIUM_FIX,1359.78,14417.15,101019,171337
$TT8_MAMPS,0.018725,0.167027
$HUMID,43.54
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,27.40
$XPDR_PINGS,0
$SC_FREEKB,3858656
$PM_FREEKB_00,106438976
$PM_FREEKB_01,124821056
$PM_FREEKB_02,124821056
$PM_FREEKB_03,124821056
$PM_ACTIVECARD,0
$24V_AH,13.62,17.994
$10V_AH,13.44,0.000
$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,17.050,166.550,455.350,99.100,0.000,0.000,0.000,463.075,0.000,0.000,15.822,1521.493,14744.092,604.195,5284.860,343.846,0.000,2773.836,0.000,4498.739,0.000,0.553,0.000
$DEVICE_MAMPS,409.275,101.745,2132.055,643.365,0.000,0.000,0.000,208.845,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21716.000,21710.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.834,6.553,0.000,0.000
$MEM,270908
$DATA_FILE_SIZE,63161,1846
$CAP_FILE_SIZE,196724,0
$CFSIZE,260034560,251719680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.072,250.53,1
$GPS,111019,053230,1404.652,14412.926,25,0.7,25,0.3,1.0,252.6,9,6.9