version: 66.13
glider: 178
mission: 31
dive: 157
start: 11 8 119 18 18 21
data:
$ID,178
$MISSION,31
$DIVE,157
$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,33
$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
$GPS1,081119,180630,1416.3896,14409.6934,27,0.8,27,0.3,0.4,251.5,10,3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.36
$_SM_ANGLEo,-57.2
$GPS2,081119,181732,1416.3718,14409.6572,3,0.6,3,0.3,0.2,0.0,12,9.1
$SPEED_LIMITS,0.147,0.188
$TGT_NAME,N
$TGT_LATLONG,1421.000,14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,6.0,8594,-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,17,-0.81,-97.3,154,2740,986,868,0.0,0.0,0,110,0.00,0.00,-88.35,0.005,16386,0.000,0.000,154,2740,3248,3274,3222,0,0,0,0,0,0,15.26,28.83,15.27
$GC,113,-0.81,-97.3,154,2740,3274,3223,5.1,-10.2,9,130,8.02,2.10,-1.98,0.058,18692,0.401,0.089,1846,3948,3366,3398,3335,0,0,0,0,0,0,14.82,14.40,15.02
$GC,359,-0.81,-97.3,1851,3947,3398,3334,92.2,-22.1,58,366,0.00,2.00,0.00,0.000,1030,0.000,0.031,1846,2688,3367,3400,3334,0,0,0,0,0,0,15.21,15.20,15.23
$GC,546,-0.81,-97.3,1846,2688,3398,3334,121.4,-15.1,77,552,0.00,2.15,0.00,0.000,260,0.000,0.076,1846,3946,3366,3398,3334,0,0,0,0,0,0,15.40,15.16,15.42
$GC,781,-0.81,-97.3,1845,3946,3398,3334,165.5,-18.5,123,787,0.00,1.92,0.00,0.000,1030,0.000,0.032,1846,2695,3364,3395,3334,0,0,0,0,0,0,15.32,15.28,15.33
$GC,975,-0.81,-97.3,1845,2695,3398,3334,194.3,-13.8,143,980,0.00,2.15,0.00,0.000,260,0.000,0.076,1846,3950,3366,3398,3334,0,0,0,0,0,0,15.45,15.21,15.46
$GC,1208,-0.81,-97.3,1845,3949,3398,3332,225.3,-13.0,189,1214,0.00,1.92,0.00,0.000,1030,0.000,0.032,1846,2688,3365,3398,3333,0,0,0,0,0,0,15.35,15.32,15.36
$GC,1403,-0.81,-97.3,1845,2687,3398,3333,247.2,-11.2,209,1410,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,2688,3365,3398,3333,0,0,0,0,0,0,15.45,15.47,15.47
$GC,1612,-0.81,-97.3,1845,2688,3398,3331,271.5,-11.3,218,1616,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,2687,3364,3398,3331,0,0,0,0,0,0,15.46,15.49,15.49
$GC,1912,-0.81,-97.3,1845,2688,3398,3328,298.5,-9.6,228,1918,0.00,2.15,0.00,0.000,260,0.000,0.078,1848,3940,3363,3398,3328,0,0,0,0,0,0,15.47,15.23,15.50
$GC,2037,-0.81,-97.3,1845,3940,3398,3327,312.8,-11.6,252,2043,0.00,1.92,0.00,0.000,1030,0.000,0.034,1845,2705,3362,3398,3327,0,0,0,0,0,0,15.38,15.35,15.39
$GC,2370,-0.81,-97.3,1845,2704,3398,3322,347.0,-9.8,268,2376,0.00,2.12,0.00,0.000,260,0.000,0.080,1846,3943,3360,3398,3322,0,0,0,0,0,0,15.47,15.26,15.50
$GC,2532,-0.81,-97.3,1845,3943,3393,3319,363.5,-10.2,300,2537,0.00,1.88,0.00,0.000,1030,0.000,0.037,1845,2753,3358,3398,3319,0,0,0,0,0,0,15.38,15.35,15.40
$GC,2856,-0.81,-97.3,1845,2753,3398,3314,394.7,-10.1,314,2862,0.00,2.25,0.00,0.000,516,0.000,0.043,1845,1370,3355,3398,3313,0,0,0,0,0,0,15.45,15.29,15.49
$GC,2943,-0.81,-97.3,1845,1370,3398,3311,403.4,-9.8,331,2950,0.00,2.35,0.00,0.000,1030,0.000,0.054,1846,2737,3354,3398,3310,0,0,0,0,0,0,15.29,15.26,15.33
$GC,3250,-0.81,-97.3,1845,2737,3397,3307,433.4,-10.0,342,3253,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,2738,3352,3398,3307,0,0,0,0,0,0,15.45,15.51,15.50
$GC,3549,-0.81,-97.3,1845,2737,3398,3301,464.9,-10.2,352,3555,0.00,2.08,0.00,0.000,260,0.000,0.086,1846,3945,3349,3398,3301,0,0,0,0,0,0,15.45,15.24,15.50
$GC,3782,-0.81,-97.3,1846,3945,3398,3297,490.1,-10.4,398,3787,0.00,1.90,0.00,0.000,1030,0.000,0.040,1846,2758,3347,3398,3297,0,0,0,0,0,0,15.38,15.33,15.39
$GC,4096,-0.81,-97.3,1845,2756,3394,3294,516.8,-8.0,410,4103,0.00,2.30,0.00,0.000,516,0.000,0.045,1846,1361,3344,3394,3294,0,0,0,0,0,0,15.45,15.28,15.48
$GC,4221,-0.81,-97.3,1845,1361,3392,3294,526.9,-8.1,434,4230,0.00,2.38,0.00,0.000,1030,0.000,0.056,1846,2756,3342,3391,3294,0,0,0,0,0,0,15.34,15.25,15.35
$GC,4553,-0.81,-97.3,1845,2755,3391,3295,552.6,-7.8,450,4559,0.00,2.33,0.00,0.000,516,0.000,0.046,1846,1355,3341,3391,3292,0,0,0,0,0,0,15.43,15.27,15.47
$GC,4617,-0.81,-97.3,1847,1361,3390,3292,557.8,-8.3,462,4625,0.00,2.38,0.00,0.000,1030,0.000,0.057,1845,2748,3340,3390,3291,0,0,0,0,0,0,15.34,15.25,15.36
$GC,4948,-0.81,-97.3,1845,2748,3387,3288,585.7,-8.5,478,4952,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,2748,3338,3387,3289,0,0,0,0,0,0,15.44,15.49,15.47
$GC,5248,-0.81,-97.3,1845,2748,3385,3286,610.7,-8.5,488,5254,0.00,2.08,0.00,0.000,260,0.000,0.090,1846,3951,3336,3385,3287,0,0,0,0,0,0,15.43,15.21,15.47
$GC,5320,-0.81,-97.3,1845,3951,3385,3286,617.6,-9.5,502,5326,0.00,1.95,0.00,0.000,1030,0.000,0.043,1845,2751,3335,3385,3286,0,0,0,0,0,0,15.36,15.31,15.38
$GC,5643,-0.81,-97.3,1845,2750,3383,3285,648.6,-9.7,516,5649,0.00,2.30,0.00,0.000,516,0.000,0.047,1846,1357,3334,3383,3285,0,0,0,0,0,0,15.44,15.26,15.47
$GC,5745,-0.81,-97.3,1851,1356,3382,3285,659.1,-10.2,536,5751,0.00,2.38,0.00,0.000,1030,0.000,0.057,1846,2750,3333,3382,3285,0,0,0,0,0,0,15.33,15.23,15.35
$GC,6070,-0.81,-97.3,1845,2750,3380,3282,689.1,-9.0,550,6075,0.00,2.33,0.00,0.000,516,0.000,0.045,1845,1356,3331,3381,3282,0,0,0,0,0,0,15.43,15.25,15.47
$GC,6122,-0.81,-97.3,1845,1354,3380,3280,694.1,-9.2,560,6132,0.00,2.40,0.00,0.000,1030,0.000,0.059,1845,2751,3331,3380,3282,0,0,0,0,0,0,15.32,15.22,15.34
$GC,6433,-0.81,-97.3,1845,2751,3379,3280,722.1,-9.4,572,6437,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,2751,3329,3379,3280,0,0,0,0,0,0,15.42,15.48,15.47
$GC,6733,-0.81,-97.3,1845,2751,3377,3279,750.3,-9.3,582,6739,0.00,2.35,0.00,0.000,516,0.000,0.047,1846,1351,3327,3377,3278,0,0,0,0,0,0,15.43,15.23,15.47
$GC,6819,-0.81,-97.3,1845,1349,3377,3279,758.7,-9.2,599,6827,0.00,2.45,0.00,0.000,1030,0.000,0.060,1845,2747,3327,3376,3279,0,0,0,0,0,0,15.23,15.17,15.27
$GC,7127,-0.81,-97.3,1845,2747,3375,3277,784.3,-8.1,610,7134,0.00,2.33,0.00,0.000,516,0.000,0.047,1845,1355,3327,3376,3278,0,0,0,0,0,0,15.42,15.21,15.46
$GC,7185,-0.81,-97.3,1845,1356,3375,3277,789.9,-8.6,621,7194,0.00,2.45,0.00,0.000,1030,0.000,0.060,1845,2754,3326,3375,3277,0,0,0,0,0,0,15.23,15.19,15.27
$GC,7492,-0.81,-97.3,1845,2754,3374,3276,814.2,-8.0,632,7496,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,2754,3325,3374,3276,0,0,0,0,0,0,15.40,15.45,15.44
$GC,7792,-0.81,-97.3,1845,2754,3373,3275,837.2,-7.5,642,7798,0.00,2.08,0.00,0.000,260,0.000,0.093,1845,3944,3324,3373,3275,0,0,0,0,0,0,15.40,15.14,15.45
$GC,7839,-0.81,-97.3,1845,3945,3373,3274,841.6,-7.9,651,7844,0.00,1.95,0.00,0.000,1030,0.000,0.047,1845,2756,3323,3373,3274,0,0,0,0,0,0,15.33,15.27,15.33
$GC,8157,-0.81,-97.3,1845,2756,3371,3274,865.9,-8.1,664,8161,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,2756,3322,3371,3274,0,0,0,0,0,0,15.40,15.45,15.43
$GC,8458,-0.81,-97.3,1845,2756,3370,3273,890.5,-8.3,674,8464,0.00,2.35,0.00,0.000,516,0.000,0.050,1845,1344,3321,3369,3273,0,0,0,0,0,0,15.40,15.21,15.44
$GC,8560,-0.81,-97.3,1845,1342,3370,3273,900.1,-8.6,694,8568,0.00,2.42,0.00,0.000,1030,0.000,0.060,1841,2750,3321,3369,3273,0,0,0,0,0,0,15.28,15.18,15.31
$GC,8882,-0.81,-97.3,1845,2749,3369,3270,925.7,-8.0,708,8887,0.00,2.10,0.00,0.000,260,0.000,0.095,1844,3952,3320,3369,3271,0,0,0,0,0,0,15.40,15.14,15.44
$GC,8945,-0.81,-97.3,1845,3952,3370,3271,931.8,-8.6,720,8951,0.00,1.98,0.00,0.000,1030,0.000,0.047,1845,2750,3320,3369,3271,0,0,0,0,0,0,15.30,15.26,15.32
$GC,9278,-0.81,-97.3,1845,2754,3368,3271,956.5,-7.6,736,9284,0.00,2.33,0.00,0.000,516,0.000,0.050,1845,1351,3319,3367,3271,0,0,0,0,0,0,15.40,15.20,15.43
$GC,9351,-0.81,-97.3,1844,1351,3368,3270,962.9,-7.8,750,9360,0.00,2.42,0.00,0.000,1030,0.000,0.061,1845,2753,3318,3367,3270,0,0,0,0,0,0,15.20,15.14,15.24
$GC,9673,-0.81,-97.3,1845,2753,3367,3270,986.2,-7.5,764,9676,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,2753,3316,3363,3270,0,0,0,0,0,0,15.40,15.45,15.43
$STATE,9731,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9731,begin apogee
$GC,9738,-0.21,0.0,1845,1707,3367,3270,990.6,-7.4,766,9828,0.75,0.00,85.53,2.074,10246,0.211,0.000,2056,1706,2968,3031,2906,0,0,0,0,0,0,15.02,14.59,13.85
$STATE,9837,end apogee,CONTROL_FINISHED_OK
$STATE,9837,begin climb
$GC,9840,0.81,97.3,2056,1706,3032,2903,993.4,0.0,769,9949,1.02,1.92,99.20,2.032,10756,0.115,0.073,2382,643,2571,2630,2512,0,0,0,0,0,0,14.59,14.26,13.69
$GC,10016,0.81,97.3,2382,643,2624,2510,981.7,9.8,807,10022,0.00,1.85,0.00,0.000,1030,0.000,0.042,2382,1726,2567,2624,2510,0,0,0,0,0,0,14.73,14.68,14.75
$GC,10334,0.81,97.3,2382,1725,2624,2503,950.2,10.0,820,10341,0.00,2.38,0.00,0.000,260,0.000,0.067,2382,3093,2563,2624,2503,0,0,0,0,0,0,15.16,14.94,15.20
$GC,10432,0.81,97.3,2382,3093,2624,2501,940.5,10.8,839,10438,0.00,2.40,0.00,0.000,1030,0.000,0.047,2382,1696,2562,2624,2501,0,0,0,0,0,0,15.10,15.02,15.13
$GC,10756,0.81,97.3,2382,1697,2624,2500,910.0,9.1,853,10765,0.00,2.45,0.00,0.000,260,0.000,0.066,2382,3089,2562,2624,2500,0,0,0,0,0,0,15.25,15.05,15.31
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$STATE,21084,end climb,SURFACE_DEPTH_REACHED
$STATE,21084,begin surface coast
$STATE,21114,end surface coast,CONTROL_FINISHED_OK
$STATE,21114,begin surface
$SM_CCo,21131,170.77,0.665,1,0,929,500.17
$SM_GC,0.35,6.80,0.57,170.77,0.075,0.039,0.665,161,2693,929,-6.08,1.27,500.17,0,0,0,0,1,0,15.16,15.25,14.46
$IRIDIUM_FIX,1413.50,14408.34,081119,115549
$TT8_MAMPS,0.019474,0.156541
$HUMID,44.17
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,25.90
$XPDR_PINGS,0
$SC_FREEKB,3800352
$PM_FREEKB_00,58040768
$PM_FREEKB_01,99806208
$PM_FREEKB_02,124821056
$PM_FREEKB_03,124821056
$PM_ACTIVECARD,1
$24V_AH,13.69,65.040
$10V_AH,13.18,0.000
$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,16.925,178.475,359.625,170.775,0.000,0.000,0.000,429.675,0.000,0.000,14.890,1615.593,13945.133,611.316,5410.933,392.203,0.000,2787.232,0.000,4646.405,0.000,0.553,0.000
$DEVICE_MAMPS,400.860,94.860,2073.915,664.785,0.000,0.000,0.000,204.255,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21139.000,21134.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.527,6.959,0.000,0.000
$MEM,270796
$DATA_FILE_SIZE,69843,1969
$CAP_FILE_SIZE,199530,0
$CFSIZE,260034560,232136704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.022,144.63,1
$GPS,091119,001501,1417.851,14410.045,31,0.8,38,0.3,0.3,25.6,10,3.2