version: 66.13
glider: 178
mission: 31
dive: 226
start: 11 26 119 18 59 27
data:
$ID,178
$MISSION,31
$DIVE,226
$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,39
$R_STBD_OVSHOOT,24
$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
$GPS1,261119,183909,1410.8728,14410.2588,43,1.2,45,0.3,1.2,223.4,7,4.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.32
$_SM_ANGLEo,-54.5
$GPS2,261119,185837,1410.8667,14409.9482,4,1.1,7,0.3,0.8,106.8,7,7.4
$SPEED_LIMITS,0.147,0.188
$TGT_NAME,N
$TGT_LATLONG,1421.000,14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,0.7,18767,-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,-97.3,45,2744,988,866,0.0,0.0,0,109,0.00,0.00,-87.30,0.005,16386,0.000,0.000,43,2745,3179,3200,3159,0,0,0,0,0,0,15.24,28.83,15.29
$GC,112,-0.81,-97.3,43,2745,3201,3159,4.0,-7.5,9,134,8.55,2.10,-3.33,0.036,18692,0.394,0.099,1845,3947,3364,3399,3330,0,0,0,0,0,0,14.72,14.26,14.95
$GC,363,-0.81,-97.3,1845,3948,3399,3329,87.9,-22.0,59,369,0.00,1.95,0.00,0.000,1030,0.000,0.030,1845,2700,3364,3399,3329,0,0,0,0,0,0,15.23,15.20,15.24
$GC,557,-0.81,-97.3,1844,2694,3399,3329,131.2,-19.7,79,563,0.00,2.15,0.00,0.000,260,0.000,0.076,1838,3944,3364,3399,3329,0,0,0,0,0,0,15.40,15.09,15.42
$GC,791,-0.81,-97.3,1838,3945,3398,3329,172.1,-14.5,125,798,0.00,1.88,0.00,0.000,1030,0.000,0.030,1839,2741,3363,3399,3328,0,0,0,0,0,0,15.30,15.27,15.31
$GC,985,-0.81,-97.3,1837,2735,3399,3329,196.8,-13.3,145,992,0.00,2.10,0.00,0.000,260,0.000,0.080,1838,3955,3364,3399,3329,0,0,0,0,0,0,15.43,15.16,15.45
$GC,1221,-0.81,-97.3,1837,3955,3399,3329,226.7,-12.5,191,1227,0.00,1.88,0.00,0.000,1030,0.000,0.030,1838,2748,3366,3399,3334,0,0,0,0,0,0,15.29,15.26,15.30
$GC,1436,-0.81,-97.3,1837,2741,3399,3328,254.5,-13.0,211,1442,0.00,2.08,0.00,0.000,260,0.000,0.080,1838,3944,3362,3398,3326,0,0,0,0,0,0,15.45,15.16,15.47
$GC,1538,-0.81,-97.3,1837,3945,3399,3327,267.0,-11.6,231,1543,0.00,1.88,0.00,0.000,1030,0.000,0.031,1838,2739,3362,3397,3327,0,0,0,0,0,0,15.34,15.30,15.35
$GC,1861,-0.81,-97.3,1837,2734,3399,3323,305.6,-13.4,245,1868,0.00,2.10,0.00,0.000,260,0.000,0.082,1838,3943,3363,3399,3328,0,0,0,0,0,0,15.47,15.17,15.49
$GC,1940,-0.81,-97.3,1837,3943,3399,3322,316.1,-13.7,260,1947,0.00,1.88,0.00,0.000,1030,0.000,0.032,1837,2749,3360,3399,3322,0,0,0,0,0,0,15.30,15.26,15.30
$GC,2260,-0.81,-97.3,1837,2744,3399,3316,351.0,-9.9,273,2266,0.00,2.22,0.00,0.000,516,0.000,0.046,1838,1380,3357,3398,3316,0,0,0,0,0,0,15.48,15.21,15.50
$GC,2313,-0.81,-97.3,1837,1380,3395,3316,356.6,-9.5,283,2322,0.00,2.33,0.00,0.000,1030,0.000,0.054,1837,2755,3356,3399,3314,0,0,0,0,0,0,15.30,15.21,15.33
$GC,2624,-0.81,-97.3,1837,2755,3398,3309,384.8,-9.2,295,2630,0.00,2.28,0.00,0.000,516,0.000,0.042,1838,1375,3353,3399,3308,0,0,0,0,0,0,15.48,15.22,15.50
$GC,2666,-0.81,-97.3,1838,1376,3399,3309,389.1,-9.8,303,2672,0.00,2.35,0.00,0.000,1030,0.000,0.055,1838,2759,3354,3400,3308,0,0,0,0,0,0,15.31,15.19,15.33
$GC,2985,-0.81,-97.3,1837,2759,3398,3302,420.7,-10.4,316,2992,0.00,2.03,0.00,0.000,260,0.000,0.084,1837,3940,3350,3398,3302,0,0,0,0,0,0,15.47,15.16,15.50
$GC,3082,-0.81,-97.3,1837,3941,3399,3300,431.7,-10.4,335,3088,0.00,1.90,0.00,0.000,1030,0.000,0.034,1837,2734,3349,3398,3300,0,0,0,0,0,0,15.34,15.30,15.35
$GC,3412,-0.81,-97.3,1837,2734,3392,3296,463.0,-9.0,350,3417,0.00,2.20,0.00,0.000,516,0.000,0.044,1837,1392,3346,3396,3296,0,0,0,0,0,0,15.45,15.20,15.47
$GC,3523,-0.81,-97.3,1837,1392,3394,3295,473.6,-9.5,372,3529,0.00,2.33,0.00,0.000,1030,0.000,0.055,1837,2753,3344,3392,3296,0,0,0,0,0,0,15.28,15.18,15.30
$GC,3830,-0.81,-97.3,1838,2753,3391,3292,503.7,-10.4,383,3836,0.00,2.08,0.00,0.000,260,0.000,0.089,1838,3946,3342,3392,3292,0,0,0,0,0,0,15.44,15.10,15.45
$GC,3965,-0.81,-97.3,1837,3946,3392,3291,518.2,-10.9,409,3971,0.00,1.90,0.00,0.000,1030,0.000,0.037,1837,2762,3340,3391,3290,0,0,0,0,0,0,15.32,15.28,15.33
$GC,4289,-0.81,-97.3,1842,2761,3383,3288,549.9,-9.6,423,4295,0.00,2.10,0.00,0.000,260,0.000,0.090,1837,3941,3338,3388,3288,0,0,0,0,0,0,15.46,15.13,15.47
$GC,4423,-0.81,-97.3,1837,3942,3387,3287,563.4,-10.1,449,4430,0.00,1.92,0.00,0.000,1030,0.000,0.037,1837,2741,3337,3388,3286,0,0,0,0,0,0,15.31,15.27,15.33
$GC,4748,-0.81,-97.3,1837,2741,3384,3285,591.7,-8.3,463,4754,0.00,2.25,0.00,0.000,516,0.000,0.044,1838,1378,3334,3384,3285,0,0,0,0,0,0,15.45,15.18,15.48
$GC,4820,-0.81,-97.3,1837,1378,3383,3285,597.7,-8.2,477,4828,0.00,2.38,0.00,0.000,1030,0.000,0.057,1837,2753,3334,3383,3285,0,0,0,0,0,0,15.26,15.12,15.28
$GC,5145,-0.81,-97.3,1837,2753,3381,3282,622.6,-7.8,491,5152,0.00,2.08,0.00,0.000,260,0.000,0.092,1838,3943,3331,3381,3282,0,0,0,0,0,0,15.45,15.10,15.47
$GC,5228,-0.81,-97.3,1837,3943,3380,3281,629.7,-8.6,507,5234,0.00,1.92,0.00,0.000,1030,0.000,0.039,1836,2750,3331,3381,3281,0,0,0,0,0,0,15.30,15.26,15.32
$GC,5543,-0.81,-97.3,1837,2750,3379,3279,655.0,-8.4,519,5547,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2750,3329,3379,3279,0,0,0,0,0,0,15.42,15.45,15.44
$GC,5842,-0.81,-97.3,1837,2750,3377,3276,679.1,-8.1,529,5849,0.00,2.30,0.00,0.000,516,0.000,0.050,1837,1377,3327,3377,3277,0,0,0,0,0,0,15.42,15.14,15.45
$GC,5890,-0.81,-97.3,1837,1377,3376,3277,683.3,-8.3,538,5898,0.00,2.38,0.00,0.000,1030,0.000,0.059,1836,2750,3327,3377,3277,0,0,0,0,0,0,15.23,15.12,15.26
$GC,6208,-0.81,-97.3,1837,2750,3375,3275,708.6,-8.3,551,6212,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2750,3325,3375,3276,0,0,0,0,0,0,15.42,15.45,15.45
$GC,6507,-0.81,-97.3,1837,2749,3373,3274,733.2,-8.4,561,6510,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2756,3323,3373,3274,0,0,0,0,0,0,15.41,15.43,15.43
$GC,6807,-0.81,-97.3,1837,2750,3371,3273,758.7,-8.7,571,6812,0.00,2.33,0.00,0.000,516,0.000,0.047,1837,1379,3322,3371,3273,0,0,0,0,0,0,15.40,15.12,15.42
$GC,6885,-0.81,-97.3,1837,1379,3371,3273,765.9,-9.2,586,6893,0.00,2.38,0.00,0.000,1030,0.000,0.059,1837,2750,3322,3371,3273,0,0,0,0,0,0,15.19,15.09,15.21
$GC,7200,-0.81,-97.3,1837,2750,3370,3271,794.5,-9.2,599,7204,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2750,3320,3370,3271,0,0,0,0,0,0,15.42,15.44,15.43
$GC,7501,-0.81,-97.3,1837,2750,3368,3270,822.2,-9.1,609,7507,0.00,2.12,0.00,0.000,260,0.000,0.091,1837,3953,3319,3368,3270,0,0,0,0,0,0,15.40,15.03,15.42
$GC,7584,-0.81,-97.3,1837,3950,3372,3269,830.7,-9.7,625,7590,0.00,1.95,0.00,0.000,1030,0.000,0.043,1837,2768,3319,3369,3269,0,0,0,0,0,0,15.25,15.20,15.27
$GC,7898,-0.81,-97.3,1837,2768,3367,3268,857.8,-8.6,637,7904,0.00,2.10,0.00,0.000,260,0.000,0.090,1837,3945,3318,3367,3269,0,0,0,0,0,0,15.42,15.04,15.43
$GC,7970,-0.81,-97.3,1837,3943,3367,3268,865.2,-9.3,651,7976,0.00,1.98,0.00,0.000,1030,0.000,0.044,1837,2753,3317,3366,3268,0,0,0,0,0,0,15.19,15.16,15.22
$GC,8295,-0.81,-97.3,1837,2753,3365,3267,892.4,-8.6,665,8299,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2753,3316,3365,3267,0,0,0,0,0,0,15.41,15.44,15.42
$GC,8594,-0.81,-97.3,1837,2753,3365,3266,917.4,-8.2,675,8598,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2753,3315,3365,3266,0,0,0,0,0,0,15.41,15.43,15.43
$GC,8894,-0.81,-97.3,1837,2753,3364,3265,942.6,-8.3,685,8902,0.00,2.35,0.00,0.000,516,0.000,0.050,1837,1359,3314,3364,3265,0,0,0,0,0,0,15.41,15.09,15.41
$GC,8991,-0.81,-97.3,1837,1359,3364,3265,951.5,-8.5,703,8999,0.08,2.42,0.00,0.000,3078,0.252,0.060,1858,2750,3314,3364,3265,0,0,0,0,0,0,14.77,15.00,14.92
$GC,9322,-0.81,-97.3,1857,2750,3361,3264,976.4,-7.7,719,9326,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,2747,3314,3364,3265,0,0,0,0,0,0,15.38,15.40,15.40
$STATE,9500,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9500,begin apogee
$GC,9508,-0.21,0.0,1858,1716,3362,3265,990.1,-7.6,725,9598,0.70,0.00,84.78,2.079,10246,0.205,0.000,2055,1716,2968,3032,2905,0,0,0,0,0,0,14.88,14.58,13.78
$STATE,9607,end apogee,CONTROL_FINISHED_OK
$STATE,9607,begin climb
$GC,9609,0.81,97.3,2055,1716,3031,2902,993.5,0.0,728,9715,1.08,0.00,100.43,2.038,10758,0.116,0.000,2388,1715,2571,2631,2512,0,0,0,0,0,0,14.59,14.36,13.62
$GC,10012,0.81,97.3,2388,1717,2629,2500,961.4,9.8,757,10016,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,1717,2564,2629,2500,0,0,0,0,0,0,15.14,15.16,15.16
$GC,10312,0.81,97.3,2388,1715,2628,2497,932.2,9.6,767,10318,0.00,1.90,0.00,0.000,516,0.000,0.081,2390,632,2563,2629,2497,0,0,0,0,0,0,15.26,14.94,15.28
$GC,10425,0.81,97.3,2388,632,2626,2497,922.1,9.3,789,10431,0.00,1.83,0.00,0.000,1030,0.000,0.043,2390,1730,2561,2626,2497,0,0,0,0,0,0,15.11,15.04,15.14
$GC,10739,0.81,97.3,2389,1730,2626,2496,894.4,8.5,801,10746,0.00,2.35,0.00,0.000,260,0.000,0.066,2389,3086,2563,2631,2496,0,0,0,0,0,0,15.31,14.97,15.34
$GC,10817,0.81,97.3,2389,3086,2626,2495,888.1,8.4,816,10826,0.00,2.38,0.00,0.000,1030,0.000,0.046,2389,1702,2560,2626,2495,0,0,0,0,0,0,15.13,15.05,15.17
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$STATE,21048,end climb,SURFACE_DEPTH_REACHED
$STATE,21048,begin surface coast
$STATE,21067,end surface coast,CONTROL_FINISHED_OK
$STATE,21068,begin surface
$SM_CCo,21087,137.43,0.665,1,0,928,500.17
$SM_GC,0.46,6.97,0.57,137.43,0.070,0.041,0.665,160,2711,928,-6.09,1.02,500.17,0,0,0,0,1,0,15.04,15.17,14.44
$IRIDIUM_FIX,1410.85,14412.75,261119,184320
$TT8_MAMPS,0.019474,0.156541
$HUMID,46.06
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,25.90
$XPDR_PINGS,0
$SC_FREEKB,3768256
$PM_FREEKB_00,58040768
$PM_FREEKB_01,85563520
$PM_FREEKB_02,106066496
$PM_FREEKB_03,124821056
$PM_ACTIVECARD,2
$24V_AH,13.62,92.425
$10V_AH,13.26,0.000
$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,17.800,162.325,399.450,137.425,0.000,0.000,0.000,855.125,0.000,0.000,18.429,1490.653,14298.380,619.591,5457.889,538.469,0.000,3103.653,0.000,4365.478,0.000,0.553,0.000
$DEVICE_MAMPS,393.975,99.450,2079.270,664.785,0.000,0.000,0.000,211.140,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21086.000,21086.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.345,6.465,0.000,0.000
$MEM,270820
$DATA_FILE_SIZE,63211,1794
$CAP_FILE_SIZE,193390,0
$CFSIZE,260034560,221794304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0
$CURRENT,0.106,306.15,1
$GPS,271119,005553,1413.404,14408.996,53,1.3,98,0.3,0.2,0.0,6,3.4