version: 66.13
glider: 178
mission: 31
dive: 147
start: 11 6 119 4 4 7
data:
$ID,178
$MISSION,31
$DIVE,147
$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,30
$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
$GPS1,061119,040015,1411.9819,14410.1367,1,0.7,3,0.3,0.5,239.1,11,6.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.47
$_SM_ANGLEo,-57.9
$GPS2,061119,040318,1411.9863,14410.1250,2,0.7,4,0.3,0.3,357.9,11,6.5
$SPEED_LIMITS,0.147,0.188
$TGT_NAME,N
$TGT_LATLONG,1421.000,14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,18.9,16695,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.81,-97.3,153,2734,990,872,0.0,0.0,0,110,0.00,0.00,-88.55,0.005,16386,0.000,0.000,154,2735,3193,3213,3174,0,0,0,0,0,0,15.45,28.83,15.47
$GC,113,-0.81,-97.3,154,2735,3213,3179,3.9,-6.7,9,130,7.72,2.25,-3.22,0.037,18948,0.390,0.054,1856,1328,3366,3399,3334,0,0,0,0,0,0,15.02,14.59,15.19
$GC,196,-0.81,-97.3,1856,1324,3400,3334,35.2,-32.2,26,203,0.00,2.40,0.00,0.000,1030,0.000,0.053,1849,2740,3367,3400,3334,0,0,0,0,0,0,15.30,15.23,15.30
$GC,383,-0.81,-97.3,1848,2741,3401,3333,94.4,-31.3,45,390,0.00,2.00,0.00,0.000,260,0.000,0.077,1839,3953,3369,3405,3333,0,0,0,0,0,0,15.47,15.27,15.49
$GC,617,-0.81,-97.3,1839,3953,3400,3332,147.5,-14.8,91,623,0.00,1.92,0.00,0.000,1030,0.000,0.029,1839,2699,3366,3400,3332,0,0,0,0,0,0,15.40,15.36,15.40
$GC,812,-0.81,-97.3,1839,2693,3400,3332,174.9,-12.3,111,817,0.00,2.10,0.00,0.000,260,0.000,0.076,1830,3948,3365,3400,3331,0,0,0,0,0,0,15.52,15.30,15.54
$GC,1047,-0.81,-97.3,1829,3948,3400,3331,207.6,-13.5,157,1054,0.15,1.90,0.00,0.000,3078,0.292,0.030,1862,2682,3365,3400,3331,0,0,0,0,0,0,15.19,15.39,15.38
$GC,1241,-0.81,-97.3,1861,2682,3400,3329,228.5,-9.9,177,1247,0.00,2.12,0.00,0.000,260,0.000,0.078,1858,3947,3364,3400,3329,0,0,0,0,0,0,15.54,15.31,15.55
$GC,1473,-0.81,-97.3,1858,3947,3401,3328,259.6,-13.6,223,1479,0.00,1.92,0.00,0.000,1030,0.000,0.031,1858,2696,3364,3400,3328,0,0,0,0,0,0,15.44,15.40,15.45
$GC,1786,-0.81,-97.3,1858,2689,3400,3323,295.2,-11.1,235,1790,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,2689,3362,3400,3324,0,0,0,0,0,0,15.55,15.57,15.57
$GC,2087,-0.81,-97.3,1858,2689,3399,3319,328.9,-11.5,245,2093,0.00,2.15,0.00,0.000,260,0.000,0.082,1858,3953,3359,3400,3319,0,0,0,0,0,0,15.56,15.33,15.57
$GC,2151,-0.81,-97.3,1857,3953,3400,3316,336.6,-11.6,257,2158,0.00,1.92,0.00,0.000,1030,0.000,0.034,1858,2686,3360,3399,3321,0,0,0,0,0,0,15.44,15.40,15.45
$GC,2486,-0.81,-97.3,1857,2686,3400,3310,370.4,-9.8,273,2492,0.00,2.15,0.00,0.000,516,0.000,0.044,1858,1333,3354,3399,3310,0,0,0,0,0,0,15.54,15.36,15.56
$GC,2629,-0.81,-97.3,1858,1335,3400,3308,384.2,-9.3,301,2637,0.00,2.38,0.00,0.000,1030,0.000,0.055,1858,2754,3354,3400,3308,0,0,0,0,0,0,15.40,15.33,15.42
$GC,2945,-0.81,-97.3,1857,2753,3407,3301,412.8,-9.3,313,2951,0.00,2.00,0.00,0.000,260,0.000,0.084,1858,3947,3350,3400,3301,0,0,0,0,0,0,15.55,15.32,15.57
$GC,3161,-0.81,-97.3,1857,3947,3399,3297,435.0,-9.2,356,3167,0.00,1.92,0.00,0.000,1030,0.000,0.037,1858,2708,3347,3398,3297,0,0,0,0,0,0,15.44,15.41,15.45
$GC,3490,-0.81,-97.3,1858,2708,3397,3293,462.1,-8.3,371,3493,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,2708,3344,3396,3293,0,0,0,0,0,0,15.54,15.57,15.57
$GC,3790,-0.81,-97.3,1858,2708,3394,3290,489.5,-9.0,381,3796,0.00,2.15,0.00,0.000,516,0.000,0.044,1858,1375,3340,3392,3289,0,0,0,0,0,0,15.54,15.34,15.57
$GC,3886,-0.81,-97.3,1857,1374,3392,3289,498.8,-9.4,400,3893,0.00,2.33,0.00,0.000,1030,0.000,0.058,1858,2753,3340,3391,3289,0,0,0,0,0,0,15.40,15.31,15.42
$GC,4211,-0.81,-97.3,1860,2754,3390,3282,525.8,-8.0,414,4215,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,2754,3338,3390,3286,0,0,0,0,0,0,15.54,15.57,15.55
$GC,4511,-0.81,-97.3,1857,2754,3386,3283,548.3,-7.7,424,4517,0.00,2.03,0.00,0.000,260,0.000,0.091,1858,3943,3335,3387,3283,0,0,0,0,0,0,15.54,15.28,15.56
$GC,4574,-0.81,-97.3,1857,3943,3387,3281,553.5,-8.3,436,4580,0.00,1.90,0.00,0.000,1030,0.000,0.040,1858,2739,3334,3387,3282,0,0,0,0,0,0,15.42,15.38,15.43
$GC,4908,-0.81,-97.3,1857,2737,3384,3279,579.7,-8.2,452,4913,0.00,2.10,0.00,0.000,260,0.000,0.095,1858,3943,3331,3384,3279,0,0,0,0,0,0,15.53,15.25,15.54
$GC,4954,-0.81,-97.3,1857,3943,3384,3279,584.0,-9.1,461,4961,0.00,1.88,0.00,0.000,1030,0.000,0.041,1858,2755,3331,3384,3279,0,0,0,0,0,0,15.42,15.38,15.43
$GC,5274,-0.81,-97.3,1858,2754,3382,3276,609.0,-7.6,474,5279,0.00,2.25,0.00,0.000,516,0.000,0.049,1858,1370,3328,3382,3275,0,0,0,0,0,0,15.51,15.31,15.52
$GC,5350,-0.81,-97.3,1858,1370,3381,3276,615.3,-7.8,489,5357,0.00,2.35,0.00,0.000,1030,0.000,0.061,1858,2755,3328,3381,3276,0,0,0,0,0,0,15.38,15.28,15.40
$GC,5670,-0.81,-97.3,1857,2755,3379,3274,639.0,-7.5,502,5675,0.00,2.28,0.00,0.000,516,0.000,0.047,1858,1377,3326,3379,3274,0,0,0,0,0,0,15.52,15.30,15.54
$GC,5716,-0.81,-97.3,1857,1375,3378,3274,642.7,-7.5,511,5723,0.00,2.35,0.00,0.000,1030,0.000,0.062,1854,2756,3326,3378,3274,0,0,0,0,0,0,15.38,15.28,15.39
$GC,6031,-0.81,-97.3,1858,2755,3376,3272,667.2,-8.2,523,6035,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,2756,3324,3376,3273,0,0,0,0,0,0,15.52,15.54,15.53
$GC,6331,-0.81,-97.3,1857,2756,3376,3270,695.5,-9.8,533,6334,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,2755,3323,3375,3271,0,0,0,0,0,0,15.51,15.54,15.53
$GC,6631,-0.81,-97.3,1858,2756,3373,3270,723.5,-8.9,543,6634,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,2756,3321,3373,3270,0,0,0,0,0,0,15.51,15.53,15.52
$GC,6931,-0.81,-97.3,1857,2756,3372,3269,746.7,-7.4,553,6935,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,2756,3320,3372,3268,0,0,0,0,0,0,15.50,15.53,15.52
$GC,7231,-0.81,-97.3,1857,2756,3370,3268,765.7,-6.0,563,7237,0.00,2.30,0.00,0.000,548,0.000,0.049,1857,1373,3321,3376,3266,0,0,0,0,0,0,15.50,15.28,15.52
$GC,7350,-0.81,-97.3,1857,1373,3369,3267,773.0,-6.0,586,7358,0.00,2.40,0.00,0.000,1062,0.000,0.064,1858,2749,3318,3369,3267,0,0,0,0,0,0,15.28,15.23,15.31
$GC,7656,-0.81,-97.3,1857,2749,3368,3265,790.2,-5.7,597,7662,0.00,2.28,0.00,0.000,548,0.000,0.048,1858,1376,3316,3368,3265,0,0,0,0,0,0,15.50,15.26,15.51
$GC,7720,-0.81,-97.3,1857,1376,3367,3265,794.4,-6.5,609,7727,0.00,2.35,0.00,0.000,1030,0.000,0.063,1858,2750,3316,3367,3265,0,0,0,0,0,0,15.34,15.23,15.36
$GC,8055,-0.81,-97.3,1857,2750,3366,3265,816.5,-6.9,625,8063,0.00,2.08,0.00,0.000,260,0.000,0.093,1858,3947,3315,3367,3264,0,0,0,0,0,0,15.48,15.19,15.50
$GC,8151,-0.81,-97.3,1857,3948,3366,3264,824.3,-7.9,643,8157,0.00,1.92,0.00,0.000,1030,0.000,0.047,1858,2771,3315,3366,3264,0,0,0,0,0,0,15.33,15.28,15.35
$GC,8485,-0.81,-97.3,1857,2773,3365,3268,849.2,-7.8,659,8491,0.00,2.35,0.00,0.000,516,0.000,0.049,1858,1351,3314,3365,3263,0,0,0,0,0,0,15.46,15.26,15.48
$GC,8609,-0.81,-97.3,1857,1351,3365,3263,860.2,-8.5,683,8617,0.00,2.40,0.00,0.000,1030,0.000,0.063,1858,2750,3314,3365,3264,0,0,0,0,0,0,15.30,15.21,15.33
$GC,8940,-0.81,-97.3,1858,2750,3364,3262,886.8,-8.2,699,8943,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,2750,3313,3364,3263,0,0,0,0,0,0,15.47,15.49,15.49
$GC,9240,-0.81,-97.3,1857,2750,3364,3261,911.2,-8.1,709,9246,0.00,2.33,0.00,0.000,516,0.000,0.050,1858,1355,3312,3364,3261,0,0,0,0,0,0,15.47,15.24,15.48
$GC,9304,-0.81,-97.3,1857,1355,3363,3261,917.0,-8.0,721,9310,0.00,2.40,0.00,0.000,1030,0.000,0.064,1858,2752,3312,3364,3261,0,0,0,0,0,0,15.31,15.21,15.34
$GC,9638,-0.81,-97.3,1857,2752,3362,3260,939.9,-6.7,737,9641,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,2752,3311,3362,3260,0,0,0,0,0,0,15.46,15.48,15.48
$GC,9938,-0.81,-97.3,1858,2752,3361,3259,958.0,-5.9,747,9944,0.00,2.08,0.00,0.000,292,0.000,0.095,1858,3946,3310,3362,3259,0,0,0,0,0,0,15.50,15.16,15.48
$GC,10025,-0.81,-97.3,1857,3947,3362,3258,964.2,-6.1,764,10031,0.00,2.00,0.00,0.000,1062,0.000,0.048,1858,2758,3310,3362,3258,0,0,0,0,0,0,15.27,15.23,15.29
$GC,10332,-0.81,-97.3,1857,2757,3360,3258,979.9,-5.4,775,10335,0.00,0.00,0.00,0.000,38,0.000,0.000,1858,2758,3309,3360,3258,0,0,0,0,0,0,15.46,15.47,15.47
$STATE,10540,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10540,begin apogee
$GC,10547,-0.21,0.0,1858,1704,3361,3258,991.6,-5.7,782,10636,0.70,0.00,83.45,2.076,10246,0.213,0.000,2054,1703,2967,3032,2903,0,0,0,0,0,0,15.05,14.64,13.90
$STATE,10643,end apogee,CONTROL_FINISHED_OK
$STATE,10643,begin climb
$GC,10645,0.81,97.3,2054,1704,3031,2901,993.2,0.0,785,10758,1.05,1.90,99.00,2.026,10756,0.119,0.074,2385,643,2569,2626,2512,0,0,0,0,0,0,14.62,14.31,13.71
$GC,10891,0.81,97.3,2388,643,2622,2508,970.6,11.6,836,10897,0.00,1.83,0.00,0.000,1030,0.000,0.044,2388,1723,2565,2622,2508,0,0,0,0,0,0,14.90,14.83,14.91
$GC,11210,0.81,97.3,2388,1720,2622,2502,934.3,11.2,849,11216,0.00,2.38,0.00,0.000,260,0.000,0.070,2388,3093,2561,2621,2502,0,0,0,0,0,0,15.26,15.02,15.28
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$STATE,21736,end climb,SURFACE_DEPTH_REACHED
$STATE,21736,begin surface coast
$STATE,21751,end surface coast,CONTROL_FINISHED_OK
$STATE,21751,begin surface
$SM_CCo,21770,160.82,0.667,1,0,928,500.17
$SM_GC,0.42,6.85,1.75,160.82,0.073,0.048,0.667,160,2725,928,-6.08,-1.70,500.17,0,0,0,0,1,0,15.14,15.16,14.45
$IRIDIUM_FIX,1408.74,14412.75,061119,035654
$TT8_MAMPS,0.019474,0.155792
$HUMID,45.74
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,26.50
$XPDR_PINGS,0
$SC_FREEKB,3805376
$PM_FREEKB_00,58040768
$PM_FREEKB_01,105275648
$PM_FREEKB_02,124821056
$PM_FREEKB_03,124821056
$PM_ACTIVECARD,1
$24V_AH,13.71,61.040
$10V_AH,13.21,0.000
$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,16.850,165.850,366.975,160.825,0.000,0.000,0.000,0.000,0.000,0.000,16.195,1491.916,14817.756,631.695,4833.578,269.258,0.000,2272.117,0.000,4517.763,0.000,0.555,0.000
$DEVICE_MAMPS,390.150,94.860,2076.210,667.080,0.000,0.000,0.000,0.000,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21741.000,21745.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.363,6.625,0.000,0.000
$MEM,270960
$DATA_FILE_SIZE,63262,1816
$CAP_FILE_SIZE,217941,0
$CFSIZE,260034560,233672704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.025,265.20,1
$GPS,061119,101100,1413.855,14410.567,20,0.7,20,0.3,0.4,319.8,12,4.1