version: 66.13
glider: 178
mission: 31
dive: 225
start: 11 26 119 12 26 0
data:
$ID,178
$MISSION,31
$DIVE,225
$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,64
$R_STBD_OVSHOOT,66
$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
$GPS1,261119,121401,1413.5184,14409.9570,31,0.6,54,0.3,0.7,245.2,12,1.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.33
$_SM_ANGLEo,-53.7
$GPS2,261119,122511,1413.5089,14409.7676,2,0.6,3,0.3,0.7,249.8,12,8.2
$SPEED_LIMITS,0.147,0.188
$TGT_NAME,S
$TGT_LATLONG,1410.000,14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,169.2,6512,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.81,-97.3,77,2715,989,867,0.0,0.0,0,109,0.00,0.00,-87.97,0.005,16386,0.000,0.000,72,2717,3219,3242,3197,0,0,0,0,0,0,15.27,28.83,15.26
$GC,112,-0.81,-97.3,72,2717,3247,3196,4.6,-9.2,9,130,8.43,2.22,-2.50,0.047,18948,0.392,0.062,1853,1365,3367,3401,3333,0,0,0,0,0,0,14.71,14.23,14.99
$GC,358,-0.81,-97.3,1853,1365,3401,3333,85.8,-28.5,58,365,0.00,2.33,0.00,0.000,1030,0.000,0.052,1846,2714,3366,3401,3332,0,0,0,0,0,0,15.11,15.05,15.13
$GC,545,-0.81,-97.3,1845,2713,3401,3332,125.7,-21.6,77,551,0.00,2.10,0.00,0.000,260,0.000,0.077,1837,3952,3366,3401,3332,0,0,0,0,0,0,15.38,15.09,15.40
$GC,680,-0.81,-97.3,1837,3952,3401,3332,152.8,-15.7,103,686,0.00,1.92,0.00,0.000,1030,0.000,0.030,1837,2723,3366,3401,3332,0,0,0,0,0,0,15.25,15.21,15.26
$GC,874,-0.81,-97.3,1837,2716,3401,3332,185.9,-16.6,123,880,0.00,2.10,0.00,0.000,260,0.000,0.076,1828,3943,3366,3401,3332,0,0,0,0,0,0,15.42,15.14,15.44
$GC,982,-0.81,-97.3,1828,3943,3401,3332,200.3,-12.4,144,989,0.10,1.90,0.00,0.000,3078,0.256,0.030,1854,2755,3367,3402,3332,0,0,0,0,0,0,14.92,15.21,15.07
$GC,1168,-0.81,-97.3,1853,2750,3402,3332,218.6,-9.1,163,1173,0.00,2.22,0.00,0.000,516,0.000,0.044,1855,1378,3369,3401,3337,0,0,0,0,0,0,15.44,15.19,15.45
$GC,1358,-0.81,-97.3,1854,1378,3401,3332,240.3,-12.2,200,1365,0.00,2.35,0.00,0.000,1030,0.000,0.053,1851,2742,3366,3401,3331,0,0,0,0,0,0,15.19,15.14,15.23
$GC,1555,-0.81,-97.3,1851,2745,3401,3330,265.2,-12.6,212,1561,0.00,2.05,0.00,0.000,260,0.000,0.083,1844,3949,3366,3402,3331,0,0,0,0,0,0,15.45,15.15,15.46
$GC,1699,-0.81,-97.3,1843,3949,3402,3329,283.1,-11.0,240,1706,0.00,1.88,0.00,0.000,1030,0.000,0.030,1843,2762,3366,3404,3329,0,0,0,0,0,0,15.30,15.26,15.31
$GC,2013,-0.81,-97.3,1843,2757,3401,3327,314.6,-10.7,252,2017,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,2757,3363,3401,3326,0,0,0,0,0,0,15.47,15.49,15.49
$GC,2314,-0.81,-97.3,1843,2756,3401,3323,348.8,-11.2,262,2318,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2756,3363,3401,3326,0,0,0,0,0,0,15.48,15.50,15.50
$GC,2614,-0.81,-97.3,1843,2756,3401,3317,380.2,-9.6,272,2620,0.00,2.28,0.00,0.000,516,0.000,0.047,1844,1376,3359,3401,3317,0,0,0,0,0,0,15.47,15.21,15.50
$GC,2842,-0.81,-97.3,1843,1376,3401,3314,404.1,-10.8,317,2848,0.00,2.35,0.00,0.000,1030,0.000,0.057,1843,2751,3357,3401,3313,0,0,0,0,0,0,15.29,15.21,15.31
$GC,3162,-0.81,-97.3,1843,2751,3401,3308,439.4,-12.0,330,3167,0.00,2.08,0.00,0.000,260,0.000,0.086,1843,3952,3354,3401,3308,0,0,0,0,0,0,15.47,15.15,15.50
$GC,3238,-0.81,-97.3,1843,3952,3401,3307,450.0,-13.7,345,3245,0.00,1.92,0.00,0.000,1030,0.000,0.034,1844,2746,3354,3401,3307,0,0,0,0,0,0,15.33,15.29,15.35
$GC,3559,-0.81,-97.3,1843,2739,3401,3305,487.2,-11.2,358,3566,0.00,2.25,0.00,0.000,516,0.000,0.046,1843,1374,3351,3401,3301,0,0,0,0,0,0,15.44,15.16,15.45
$GC,3626,-0.81,-97.3,1843,1374,3400,3301,494.6,-11.4,370,3633,0.00,2.38,0.00,0.000,1030,0.000,0.059,1843,2760,3353,3405,3301,0,0,0,0,0,0,15.28,15.17,15.31
$GC,3957,-0.81,-97.3,1843,2760,3398,3298,528.3,-9.7,386,3963,0.00,2.05,0.00,0.000,260,0.000,0.087,1844,3946,3345,3392,3298,0,0,0,0,0,0,15.46,15.14,15.47
$GC,4029,-0.81,-97.3,1843,3945,3397,3299,535.7,-10.2,400,4035,0.00,1.90,0.00,0.000,1030,0.000,0.036,1843,2759,3347,3397,3297,0,0,0,0,0,0,15.32,15.28,15.33
$GC,4354,-0.81,-97.3,1843,2758,3394,3294,566.1,-9.2,414,4359,0.00,2.30,0.00,0.000,516,0.000,0.044,1844,1366,3344,3395,3294,0,0,0,0,0,0,15.45,15.18,15.47
$GC,4426,-0.81,-97.3,1843,1370,3392,3290,572.6,-8.9,428,4435,0.00,2.40,0.00,0.000,1030,0.000,0.060,1844,2756,3343,3393,3294,0,0,0,0,0,0,15.23,15.12,15.25
$GC,4748,-0.81,-97.3,1843,2756,3391,3292,599.2,-7.8,442,4752,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2756,3341,3391,3292,0,0,0,0,0,0,15.46,15.48,15.47
$GC,5048,-0.81,-97.3,1840,2753,3389,3290,622.4,-7.7,452,5051,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,2756,3339,3389,3290,0,0,0,0,0,0,15.45,15.48,15.47
$GC,5349,-0.81,-97.3,1843,2757,3387,3288,645.5,-7.6,462,5352,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2756,3337,3387,3288,0,0,0,0,0,0,15.46,15.48,15.47
$GC,5648,-0.81,-97.3,1843,2756,3385,3286,669.5,-7.8,472,5651,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,2756,3335,3385,3286,0,0,0,0,0,0,15.45,15.47,15.47
$GC,5948,-0.81,-97.3,1843,2756,3383,3285,694.2,-8.5,482,5954,0.00,2.10,0.00,0.000,260,0.000,0.090,1844,3949,3334,3383,3285,0,0,0,0,0,0,15.45,15.09,15.47
$GC,6013,-0.81,-97.3,1843,3949,3383,3284,700.2,-9.4,494,6019,0.00,1.95,0.00,0.000,1030,0.000,0.041,1844,2757,3333,3383,3283,0,0,0,0,0,0,15.28,15.23,15.29
$GC,6347,-0.81,-97.3,1843,2757,3381,3282,728.2,-7.9,510,6353,0.00,2.33,0.00,0.000,516,0.000,0.047,1844,1364,3331,3381,3282,0,0,0,0,0,0,15.45,15.11,15.47
$GC,6411,-0.81,-97.3,1843,1364,3381,3282,733.5,-8.1,522,6422,0.00,2.40,0.00,0.000,1030,0.000,0.060,1843,2750,3330,3379,3282,0,0,0,0,0,0,15.23,15.11,15.26
$GC,6746,-0.81,-97.3,1846,2749,3379,3280,757.0,-6.6,538,6752,0.00,2.10,0.00,0.000,260,0.000,0.091,1843,3946,3329,3379,3280,0,0,0,0,0,0,15.42,15.09,15.45
$GC,6814,-0.81,-97.3,1843,3946,3378,3279,761.6,-7.0,551,6819,0.00,1.98,0.00,0.000,1030,0.000,0.041,1843,2741,3328,3377,3279,0,0,0,0,0,0,15.28,15.22,15.29
$GC,7144,-0.81,-97.3,1842,2741,3378,3278,780.2,-5.5,566,7149,0.00,2.15,0.00,0.000,292,0.000,0.091,1843,3945,3327,3377,3278,0,0,0,0,0,0,15.42,15.04,15.44
$GC,7201,-0.81,-97.3,1843,3944,3377,3278,783.8,-6.3,577,7209,0.00,2.00,0.00,0.000,1062,0.000,0.042,1843,2759,3327,3377,3278,0,0,0,0,0,0,15.17,15.16,15.17
$GC,7508,-0.81,-97.3,1843,2759,3376,3277,800.2,-5.4,588,7513,0.00,2.35,0.00,0.000,548,0.000,0.047,1843,1358,3326,3376,3277,0,0,0,0,0,0,15.42,15.11,15.45
$GC,7585,-0.81,-97.3,1843,1357,3374,3277,804.9,-5.3,603,7591,0.00,2.42,0.00,0.000,1062,0.000,0.060,1843,2750,3325,3375,3276,0,0,0,0,0,0,15.21,15.09,15.24
$GC,7905,-0.81,-97.3,1843,2750,3372,3276,819.4,-4.5,616,7908,0.00,0.00,0.00,0.000,38,0.000,0.000,1843,2750,3325,3375,3276,0,0,0,0,0,0,15.42,15.45,15.44
$GC,8206,-0.81,-97.3,1843,2750,3373,3274,834.6,-5.5,626,8212,0.00,2.10,0.00,0.000,292,0.000,0.093,1842,3943,3322,3370,3274,0,0,0,0,0,0,15.42,15.03,15.44
$GC,8271,-0.81,-97.3,1843,3944,3373,3275,839.4,-6.8,638,8277,0.00,1.98,0.00,0.000,1030,0.000,0.043,1843,2748,3323,3373,3274,0,0,0,0,0,0,15.22,15.16,15.24
$GC,8605,-0.81,-97.3,1843,2748,3372,3273,861.7,-7.2,654,8609,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2749,3322,3370,3274,0,0,0,0,0,0,15.40,15.42,15.42
$GC,8906,-0.81,-97.3,1843,2748,3371,3272,885.2,-8.0,664,8910,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2746,3321,3371,3271,0,0,0,0,0,0,15.40,15.42,15.41
$GC,9206,-0.81,-97.3,1843,2748,3370,3272,909.0,-7.7,674,9209,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2748,3321,3370,3272,0,0,0,0,0,0,15.39,15.42,15.41
$GC,9505,-0.81,-97.3,1842,2749,3369,3271,930.8,-6.9,684,9511,0.00,2.15,0.00,0.000,260,0.000,0.093,1843,3943,3319,3368,3271,0,0,0,0,0,0,15.39,15.01,15.40
$GC,9574,-0.81,-97.3,1842,3943,3368,3271,936.4,-7.3,697,9580,0.00,2.00,0.00,0.000,1030,0.000,0.044,1843,2743,3319,3368,3271,0,0,0,0,0,0,15.22,15.16,15.23
$GC,9904,-0.81,-97.3,1843,2743,3368,3270,956.9,-6.3,712,9907,0.00,0.00,0.00,0.000,38,0.000,0.000,1843,2743,3318,3367,3270,0,0,0,0,0,0,15.38,15.40,15.40
$GC,10204,-0.81,-97.3,1842,2743,3367,3269,975.7,-6.1,722,10210,0.00,2.35,0.00,0.000,548,0.000,0.049,1843,1358,3318,3367,3270,0,0,0,0,0,0,15.39,15.07,15.41
$GC,10270,-0.81,-97.3,1843,1358,3367,3270,980.6,-6.3,734,10278,0.00,2.45,0.00,0.000,1062,0.000,0.061,1842,2757,3318,3367,3269,0,0,0,0,0,0,15.15,15.02,15.18
$STATE,10448,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10448,begin apogee
$GC,10456,-0.21,0.0,1843,1706,3366,3269,990.6,-5.9,745,10547,0.75,0.00,86.03,2.071,10246,0.210,0.000,2051,1706,2969,3032,2906,0,0,0,0,0,0,14.85,14.57,13.76
$STATE,10556,end apogee,CONTROL_FINISHED_OK
$STATE,10556,begin climb
$GC,10559,0.81,97.3,2050,1706,3031,2903,992.6,0.0,748,10671,1.05,2.00,100.22,2.033,10756,0.118,0.077,2379,645,2570,2629,2511,0,0,0,0,0,0,14.57,14.32,13.59
$GC,10857,0.81,97.3,2379,641,2623,2506,968.9,9.4,810,10862,0.00,1.83,0.00,0.000,1030,0.000,0.042,2379,1722,2564,2623,2506,0,0,0,0,0,0,14.88,14.81,14.90
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$STATE,22103,end climb,SURFACE_DEPTH_REACHED
$STATE,22103,begin surface coast
$STATE,22135,end surface coast,CONTROL_FINISHED_OK
$STATE,22135,begin surface
$SM_CCo,22157,123.88,0.656,1,0,928,500.17
$SM_GC,0.25,6.85,3.58,123.88,0.073,0.042,0.656,158,2729,928,-6.10,-1.39,500.17,0,0,0,0,1,0,15.04,15.07,14.46
$IRIDIUM_FIX,1411.40,14408.34,261119,055212
$TT8_MAMPS,0.019474,0.156541
$HUMID,45.70
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,25.90
$XPDR_PINGS,0
$SC_FREEKB,3768640
$PM_FREEKB_00,58040768
$PM_FREEKB_01,85563520
$PM_FREEKB_02,106606144
$PM_FREEKB_03,124821056
$PM_ACTIVECARD,2
$24V_AH,13.59,92.009
$10V_AH,13.02,0.000
$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,17.550,168.575,417.975,123.875,0.000,0.000,0.000,424.125,0.000,0.000,15.062,1544.335,15081.153,609.047,5266.691,462.573,0.000,2698.579,0.000,4520.325,0.000,0.553,0.000
$DEVICE_MAMPS,392.445,93.330,2070.855,655.605,0.000,0.000,0.000,198.135,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22158.000,22156.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.351,6.431,0.000,0.000
$MEM,270864
$DATA_FILE_SIZE,63248,1795
$CAP_FILE_SIZE,196479,0
$CFSIZE,260034560,221941760
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,6415.33,0x23576e,0,24
$INTR,1,10577.59,0x23576e,1,24
$CURRENT,0.044,183.44,1
$GPS,261119,183909,1410.873,14410.259,43,1.2,45,0.3,1.2,223.4,7,4.6