version: 66.13
glider: 178
mission: 31
dive: 227
start: 11 27 119 1 9 4
data:
$ID,178
$MISSION,31
$DIVE,227
$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,71
$R_STBD_OVSHOOT,63
$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
$GPS1,271119,005553,1413.4036,14408.9961,53,1.3,98,0.3,0.2,0.0,6,3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.31
$_SM_ANGLEo,-53.7
$GPS2,271119,010816,1413.5389,14408.7109,3,0.9,5,0.3,0.2,0.0,11,8.9
$SPEED_LIMITS,0.147,0.188
$TGT_NAME,N
$TGT_LATLONG,1421.000,14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,39.5,14010,-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,-97.3,85,2709,988,861,0.0,0.0,0,110,0.00,0.00,-88.30,0.005,16386,0.000,0.000,79,2713,3191,3212,3170,0,0,0,0,0,0,15.23,28.83,15.26
$GC,113,-0.81,-97.3,79,2711,3212,3170,4.1,-7.8,9,134,8.45,2.08,-3.12,0.038,18692,0.399,0.096,1845,3911,3366,3401,3332,0,0,0,0,0,0,14.71,14.25,14.92
$GC,362,-0.81,-97.3,1845,3916,3400,3332,88.1,-27.3,59,368,0.00,1.83,0.00,0.000,1030,0.000,0.032,1846,2738,3365,3400,3331,0,0,0,0,0,0,15.22,15.19,15.23
$GC,556,-0.81,-97.3,1845,2733,3399,3332,133.0,-15.6,79,563,0.00,2.03,0.00,0.000,260,0.000,0.074,1839,3910,3365,3400,3331,0,0,0,0,0,0,15.38,15.10,15.40
$GC,744,-0.81,-97.3,1839,3910,3400,3331,168.0,-20.8,116,750,0.00,1.85,0.00,0.000,1030,0.000,0.030,1839,2748,3365,3400,3331,0,0,0,0,0,0,15.22,15.20,15.23
$GC,931,-0.81,-97.3,1839,2742,3400,3332,197.4,-12.0,135,937,0.00,2.20,0.00,0.000,516,0.000,0.038,1839,1376,3366,3401,3331,0,0,0,0,0,0,15.42,15.19,15.44
$GC,1058,-0.81,-97.3,1839,1376,3400,3331,213.8,-14.0,160,1066,0.10,2.28,0.00,0.000,3078,0.241,0.044,1858,2716,3366,3400,3332,0,0,0,0,0,0,14.95,15.15,15.09
$GC,1245,-0.81,-97.3,1859,2718,3400,3331,237.6,-12.3,179,1252,0.00,2.08,0.00,0.000,260,0.000,0.075,1855,3947,3364,3400,3329,0,0,0,0,0,0,15.42,15.14,15.45
$GC,1372,-0.81,-97.3,1855,3947,3400,3331,252.0,-10.8,203,1378,0.00,1.88,0.00,0.000,1030,0.000,0.030,1856,2738,3365,3400,3330,0,0,0,0,0,0,15.33,15.28,15.33
$GC,1705,-0.81,-97.3,1855,2731,3401,3329,287.2,-10.5,219,1711,0.00,2.08,0.00,0.000,260,0.000,0.077,1853,3941,3364,3400,3328,0,0,0,0,0,0,15.47,15.16,15.47
$GC,1830,-0.81,-97.3,1853,3942,3400,3328,301.3,-11.4,243,1835,0.00,1.85,0.00,0.000,1030,0.000,0.031,1853,2736,3363,3400,3327,0,0,0,0,0,0,15.33,15.32,15.34
$GC,2163,-0.81,-97.3,1853,2733,3400,3324,334.6,-8.6,259,2169,0.00,2.10,0.00,0.000,260,0.000,0.080,1853,3947,3361,3400,3323,0,0,0,0,0,0,15.47,15.16,15.48
$GC,2288,-0.81,-97.3,1852,3947,3400,3322,346.5,-10.3,283,2293,0.00,1.85,0.00,0.000,1030,0.000,0.033,1853,2761,3361,3400,3322,0,0,0,0,0,0,15.34,15.30,15.35
$GC,2621,-0.81,-97.3,1852,2761,3400,3314,380.0,-10.1,299,2627,0.00,2.05,0.00,0.000,260,0.000,0.080,1853,3947,3358,3400,3316,0,0,0,0,0,0,15.48,15.16,15.50
$GC,2788,-0.81,-97.3,1852,3947,3399,3313,397.9,-9.3,332,2793,0.00,1.88,0.00,0.000,1030,0.000,0.034,1852,2754,3357,3400,3314,0,0,0,0,0,0,15.33,15.30,15.35
$GC,3106,-0.81,-97.3,1852,2754,3400,3308,425.3,-8.9,345,3113,0.00,2.08,0.00,0.000,260,0.000,0.083,1852,3939,3354,3399,3310,0,0,0,0,0,0,15.47,15.14,15.48
$GC,3274,-0.81,-97.3,1852,3938,3400,3305,442.9,-11.1,378,3280,0.00,1.88,0.00,0.000,1030,0.000,0.034,1852,2753,3352,3400,3305,0,0,0,0,0,0,15.33,15.29,15.34
$GC,3593,-0.81,-97.3,1852,2753,3400,3299,472.6,-8.7,391,3599,0.00,2.28,0.00,0.000,516,0.000,0.042,1852,1372,3350,3400,3300,0,0,0,0,0,0,15.45,15.21,15.47
$GC,3807,-0.81,-97.3,1852,1373,3396,3299,491.9,-9.5,433,3813,0.00,2.35,0.00,0.000,1030,0.000,0.054,1853,2752,3346,3395,3298,0,0,0,0,0,0,15.28,15.17,15.30
$GC,4141,-0.81,-97.3,1852,2751,3394,3294,522.4,-9.1,449,4145,0.00,0.00,0.00,0.000,6,0.000,0.000,1853,2752,3345,3397,3294,0,0,0,0,0,0,15.46,15.49,15.47
$GC,4442,-0.81,-97.3,1852,2752,3392,3292,547.2,-7.9,459,4448,0.00,2.10,0.00,0.000,260,0.000,0.089,1852,3948,3342,3392,3292,0,0,0,0,0,0,15.45,15.11,15.46
$GC,4541,-0.81,-97.3,1851,3949,3392,3291,555.3,-8.3,478,4546,0.00,1.92,0.00,0.000,1030,0.000,0.037,1853,2741,3341,3392,3291,0,0,0,0,0,0,15.31,15.27,15.33
$GC,4869,-0.81,-97.3,1852,2741,3389,3288,581.4,-8.3,493,4873,0.00,0.00,0.00,0.000,6,0.000,0.000,1852,2741,3339,3389,3289,0,0,0,0,0,0,15.46,15.48,15.47
$GC,5170,-0.81,-97.3,1852,2741,3387,3287,609.9,-9.7,503,5174,0.00,0.00,0.00,0.000,6,0.000,0.000,1852,2742,3337,3387,3287,0,0,0,0,0,0,15.45,15.47,15.47
$GC,5469,-0.81,-97.3,1852,2742,3385,3286,639.6,-10.0,513,5473,0.00,0.00,0.00,0.000,6,0.000,0.000,1853,2739,3335,3385,3285,0,0,0,0,0,0,15.45,15.48,15.47
$GC,5769,-0.81,-97.3,1852,2742,3383,3284,666.3,-8.4,523,5775,0.00,2.25,0.00,0.000,516,0.000,0.047,1852,1384,3333,3383,3283,0,0,0,0,0,0,15.45,15.16,15.47
$GC,5812,-0.81,-97.3,1852,1384,3382,3283,669.8,-7.9,531,5818,0.00,2.38,0.00,0.000,1030,0.000,0.059,1852,2754,3334,3386,3283,0,0,0,0,0,0,15.24,15.13,15.28
$GC,6136,-0.81,-97.3,1852,2754,3380,3281,694.4,-7.7,545,6143,0.00,2.30,0.00,0.000,516,0.000,0.046,1852,1384,3330,3380,3280,0,0,0,0,0,0,15.44,15.11,15.46
$GC,6239,-0.81,-97.3,1852,1385,3379,3281,703.2,-8.3,565,6245,0.00,2.38,0.00,0.000,1030,0.000,0.059,1852,2757,3330,3380,3281,0,0,0,0,0,0,15.23,15.11,15.26
$GC,6566,-0.81,-97.3,1852,2757,3378,3278,727.4,-7.5,579,6570,0.00,0.00,0.00,0.000,6,0.000,0.000,1852,2757,3335,3385,3285,0,0,0,0,0,0,15.42,15.44,15.44
$GC,6866,-0.81,-97.3,1852,2757,3377,3278,747.5,-6.3,589,6872,0.00,2.33,0.00,0.000,548,0.000,0.047,1852,1379,3327,3377,3277,0,0,0,0,0,0,15.42,15.13,15.43
$GC,6918,-0.81,-97.3,1852,1380,3376,3277,751.3,-6.7,599,6924,0.00,2.38,0.00,0.000,1030,0.000,0.059,1858,2749,3326,3376,3277,0,0,0,0,0,0,15.19,15.07,15.22
$GC,7227,-0.81,-97.3,1852,2749,3375,3276,769.9,-5.9,610,7231,0.00,0.00,0.00,0.000,38,0.000,0.000,1853,2749,3325,3375,3276,0,0,0,0,0,0,15.41,15.43,15.45
$GC,7526,-0.81,-97.3,1852,2749,3374,3275,787.5,-5.7,620,7532,0.00,2.12,0.00,0.000,292,0.000,0.092,1852,3946,3324,3374,3275,0,0,0,0,0,0,15.41,15.07,15.42
$GC,7614,-0.81,-97.3,1853,3946,3374,3274,793.1,-6.3,637,7621,0.00,1.98,0.00,0.000,1062,0.000,0.040,1852,2771,3324,3375,3274,0,0,0,0,0,0,15.16,15.14,15.19
$GC,7920,-0.81,-97.3,1852,2772,3372,3271,810.2,-5.9,648,7926,0.00,2.38,0.00,0.000,548,0.000,0.047,1852,1362,3323,3372,3274,0,0,0,0,0,0,15.42,15.11,15.43
$GC,8023,-0.81,-97.3,1852,1363,3371,3273,817.4,-6.5,668,8033,0.00,2.40,0.00,0.000,1030,0.000,0.059,1854,2748,3322,3371,3273,0,0,0,0,0,0,15.18,15.07,15.20
$GC,8347,-0.81,-97.3,1852,2748,3371,3272,838.5,-6.9,682,8350,0.00,0.00,0.00,0.000,6,0.000,0.000,1852,2746,3321,3371,3272,0,0,0,0,0,0,15.39,15.42,15.41
$GC,8646,-0.81,-97.3,1852,2749,3370,3271,860.0,-7.4,692,8649,0.00,0.00,0.00,0.000,6,0.000,0.000,1853,2746,3320,3369,3271,0,0,0,0,0,0,15.40,15.42,15.42
$GC,8946,-0.81,-97.3,1852,2748,3369,3270,882.6,-7.5,702,8952,0.00,2.12,0.00,0.000,260,0.000,0.093,1852,3943,3319,3369,3270,0,0,0,0,0,0,15.38,15.00,15.41
$GC,9095,-0.81,-97.3,1852,3943,3369,3270,895.3,-8.4,731,9102,0.00,2.03,0.00,0.000,1030,0.000,0.041,1853,2748,3319,3369,3270,0,0,0,0,0,0,15.13,15.11,15.14
$GC,9400,-0.81,-97.3,1852,2748,3366,3269,917.1,-7.2,742,9408,0.00,2.33,0.00,0.000,516,0.000,0.047,1853,1362,3318,3367,3270,0,0,0,0,0,0,15.40,15.07,15.42
$GC,9470,-0.81,-97.3,1852,1362,3362,3270,923.0,-7.2,756,9480,0.00,2.42,0.00,0.000,1030,0.000,0.060,1852,2747,3318,3367,3269,0,0,0,0,0,0,15.11,15.02,15.12
$GC,9794,-0.81,-97.3,1849,2747,3367,3268,944.3,-6.7,770,9803,0.00,2.38,0.00,0.000,516,0.000,0.048,1851,1358,3317,3367,3268,0,0,0,0,0,0,15.38,15.06,15.40
$GC,9835,-0.81,-97.3,1851,1358,3366,3268,947.9,-6.8,778,9843,0.00,2.45,0.00,0.000,1030,0.000,0.060,1851,2756,3317,3366,3268,0,0,0,0,0,0,15.15,15.02,15.19
$GC,10157,-0.81,-97.3,1852,2757,3366,3268,966.2,-5.7,792,10162,0.00,0.00,0.00,0.000,38,0.000,0.000,1852,2757,3315,3365,3266,0,0,0,0,0,0,15.38,15.40,15.40
$GC,10457,-0.81,-97.3,1852,2757,3364,3267,982.7,-5.5,802,10461,0.00,0.00,0.00,0.000,38,0.000,0.000,1852,2757,3316,3365,3267,0,0,0,0,0,0,15.37,15.40,15.39
$STATE,10603,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10603,begin apogee
$GC,10611,-0.21,0.0,1852,1719,3365,3272,991.1,-5.6,807,10703,0.73,0.00,85.45,2.083,10246,0.204,0.000,2054,1719,2967,3031,2903,0,0,0,0,0,0,14.83,14.56,13.76
$STATE,10713,end apogee,CONTROL_FINISHED_OK
$STATE,10713,begin climb
$GC,10716,0.81,97.3,2053,1718,3031,2903,993.3,0.0,810,10828,1.05,1.95,100.20,2.042,10756,0.115,0.073,2386,639,2571,2631,2512,0,0,0,0,0,0,14.57,14.23,13.59
$GC,10935,0.81,97.3,2386,639,2624,2509,976.6,9.6,857,10942,0.00,1.90,0.00,0.000,1030,0.000,0.043,2386,1721,2566,2625,2508,0,0,0,0,0,0,14.71,14.66,14.73
$GC,11241,0.81,97.3,2386,1721,2624,2502,947.2,9.8,868,11246,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1721,2563,2624,2502,0,0,0,0,0,0,15.19,15.21,15.21
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$STATE,21962,end climb,SURFACE_DEPTH_REACHED
$STATE,21962,begin surface coast
$STATE,21981,end surface coast,CONTROL_FINISHED_OK
$STATE,21982,begin surface
$SM_CCo,22001,157.77,0.676,1,0,929,500.17
$SM_GC,0.31,6.93,1.80,157.77,0.061,0.067,0.676,158,2714,929,-6.08,-1.81,500.17,0,0,0,0,1,0,15.08,15.05,14.40
$IRIDIUM_FIX,1408.86,14409.64,261119,184900
$TT8_MAMPS,0.019474,0.156541
$HUMID,45.82
$INTERNAL_PRESSURE,8.95542
$TCM_TEMP,26.70
$XPDR_PINGS,0
$SC_FREEKB,3767872
$PM_FREEKB_00,58040768
$PM_FREEKB_01,85563520
$PM_FREEKB_02,105503808
$PM_FREEKB_03,124821056
$PM_ACTIVECARD,2
$24V_AH,13.59,92.826
$10V_AH,13.00,0.000
$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,17.775,165.675,376.000,157.775,0.000,0.000,0.000,494.200,0.000,0.000,17.282,1546.554,14842.445,618.206,5432.433,474.730,0.000,2818.638,0.000,4612.716,0.000,0.552,0.000
$DEVICE_MAMPS,398.565,95.625,2083.095,676.260,0.000,0.000,0.000,196.605,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22004.000,22003.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.375,6.515,0.000,0.000
$MEM,270864
$DATA_FILE_SIZE,66473,1888
$CAP_FILE_SIZE,197792,0
$CFSIZE,260034560,221638656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.104,306.87,1
$GPS,271119,072030,1415.682,14409.160,62,0.8,62,0.3,1.2,333.2,10,6.4