version: 66.13
glider: 178
mission: 31
dive: 260
start: 12 5 119 18 10 43
data:
$ID,178
$MISSION,31
$DIVE,260
$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
$GPS1,051219,175830,1418.0518,14409.9844,21,0.6,21,0.3,0.7,322.1,12,3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.38
$_SM_ANGLEo,-58.4
$GPS2,051219,180955,1418.0295,14409.8369,2,0.6,4,0.3,1.0,208.8,12,4.5
$SPEED_LIMITS,0.147,0.188
$TGT_NAME,N
$TGT_LATLONG,1421.000,14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,14.7,5509,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.81,-97.3,135,2744,986,867,0.0,0.0,0,114,0.00,0.00,-88.25,0.005,16386,0.000,0.000,133,2744,3245,3271,3220,0,0,0,0,0,0,15.23,28.83,15.25
$GC,117,-0.81,-97.3,132,2744,3271,3220,4.9,-9.7,9,135,8.02,2.12,-2.05,0.055,18692,0.383,0.096,1844,3944,3365,3398,3332,0,0,0,0,0,0,14.69,14.21,14.91
$GC,362,-0.81,-97.3,1843,3943,3399,3333,98.2,-31.8,57,370,0.00,1.98,0.00,0.000,1030,0.000,0.031,1844,2697,3366,3399,3334,0,0,0,0,0,0,15.19,15.14,15.20
$GC,558,-0.81,-97.3,1843,2690,3399,3334,139.3,-17.9,77,565,0.00,2.20,0.00,0.000,516,0.000,0.044,1844,1338,3365,3398,3333,0,0,0,0,0,0,15.37,15.09,15.39
$GC,623,-0.81,-97.3,1843,1338,3399,3333,150.0,-16.4,89,631,0.00,2.35,0.00,0.000,1030,0.000,0.050,1837,2743,3365,3398,3333,0,0,0,0,0,0,15.11,15.03,15.14
$GC,819,-0.81,-97.3,1837,2743,3399,3333,173.0,-10.7,109,825,0.00,2.05,0.00,0.000,260,0.000,0.079,1837,3946,3366,3399,3333,0,0,0,0,0,0,15.40,15.09,15.41
$GC,1055,-0.81,-97.3,1837,3946,3399,3333,206.2,-14.7,155,1061,0.00,1.95,0.00,0.000,1030,0.000,0.030,1837,2695,3366,3399,3333,0,0,0,0,0,0,15.28,15.24,15.27
$GC,1249,-0.81,-97.3,1837,2690,3399,3333,230.1,-11.8,175,1255,0.00,2.17,0.00,0.000,260,0.000,0.078,1837,3945,3365,3399,3332,0,0,0,0,0,0,15.41,15.09,15.42
$GC,1483,-0.81,-97.3,1836,3945,3400,3331,263.2,-12.7,221,1489,0.00,1.95,0.00,0.000,1030,0.000,0.031,1837,2701,3365,3399,3331,0,0,0,0,0,0,15.30,15.26,15.30
$GC,1797,-0.81,-97.3,1836,2694,3396,3329,294.9,-9.2,233,1804,0.00,2.17,0.00,0.000,260,0.000,0.080,1837,3941,3364,3399,3329,0,0,0,0,0,0,15.42,15.11,15.43
$GC,1983,-0.81,-97.3,1836,3940,3399,3327,313.8,-13.0,269,1989,0.00,1.88,0.00,0.000,1030,0.000,0.032,1837,2743,3363,3399,3327,0,0,0,0,0,0,15.30,15.27,15.32
$GC,2317,-0.81,-97.3,1836,2738,3399,3323,354.1,-11.4,285,2324,0.00,2.10,0.00,0.000,260,0.000,0.083,1837,3942,3357,3399,3316,0,0,0,0,0,0,15.43,15.11,15.47
$GC,2366,-0.81,-97.3,1836,3942,3397,3321,359.9,-12.0,294,2374,0.00,1.88,0.00,0.000,1030,0.000,0.033,1837,2751,3360,3399,3321,0,0,0,0,0,0,15.27,15.23,15.29
$GC,2687,-0.81,-97.3,1836,2745,3399,3316,390.9,-8.7,307,2692,0.00,2.10,0.00,0.000,260,0.000,0.085,1836,3945,3356,3399,3314,0,0,0,0,0,0,15.46,15.11,15.47
$GC,2919,-0.81,-97.3,1836,3944,3399,3312,411.2,-8.8,353,2925,0.00,1.90,0.00,0.000,1030,0.000,0.034,1836,2749,3355,3399,3311,0,0,0,0,0,0,15.30,15.26,15.31
$GC,3233,-0.81,-97.3,1836,2743,3399,3304,439.1,-9.2,365,3240,0.00,2.25,0.00,0.000,516,0.000,0.046,1837,1384,3353,3399,3307,0,0,0,0,0,0,15.45,15.11,15.45
$GC,3392,-0.81,-97.3,1841,1390,3397,3306,453.9,-9.8,395,3399,0.00,2.35,0.00,0.000,1030,0.000,0.059,1837,2745,3351,3398,3305,0,0,0,0,0,0,15.23,15.11,15.26
$GC,3723,-0.81,-97.3,1835,2748,3397,3299,482.7,-8.7,411,3728,0.00,2.10,0.00,0.000,260,0.000,0.089,1836,3949,3348,3397,3299,0,0,0,0,0,0,15.43,15.09,15.45
$GC,3760,-0.81,-97.3,1836,3949,3397,3299,486.2,-9.5,418,3766,0.00,1.95,0.00,0.000,1030,0.000,0.035,1837,2747,3348,3397,3299,0,0,0,0,0,0,15.28,15.24,15.31
$GC,4089,-0.81,-97.3,1836,2741,3394,3295,516.4,-9.3,433,4093,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2740,3344,3394,3295,0,0,0,0,0,0,15.44,15.46,15.46
$GC,4389,-0.81,-97.3,1836,2741,3391,3293,544.1,-9.4,443,4393,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2741,3342,3392,3293,0,0,0,0,0,0,15.43,15.45,15.45
$GC,4690,-0.81,-97.3,1836,2741,3389,3292,567.9,-7.4,453,4697,0.00,2.30,0.00,0.000,516,0.000,0.048,1836,1372,3340,3389,3291,0,0,0,0,0,0,15.43,15.12,15.45
$GC,4763,-0.81,-97.3,1836,1378,3388,3291,573.7,-7.7,467,4770,0.00,2.38,0.00,0.000,1030,0.000,0.057,1836,2752,3340,3389,3291,0,0,0,0,0,0,15.05,15.00,15.12
$GC,5088,-0.81,-97.3,1837,2752,3386,3288,600.6,-9.0,481,5094,0.00,2.10,0.00,0.000,260,0.000,0.090,1836,3949,3337,3386,3288,0,0,0,0,0,0,15.43,15.04,15.45
$GC,5234,-0.81,-97.3,1836,3949,3386,3287,615.6,-10.4,509,5241,0.00,1.95,0.00,0.000,1030,0.000,0.038,1836,2748,3336,3386,3287,0,0,0,0,0,0,15.24,15.19,15.26
$GC,5551,-0.81,-97.3,1836,2746,3383,3286,648.2,-10.4,521,5555,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2748,3335,3384,3286,0,0,0,0,0,0,15.40,15.42,15.42
$GC,5852,-0.81,-97.3,1836,2749,3382,3284,678.1,-9.9,531,5858,0.00,2.30,0.00,0.000,516,0.000,0.047,1836,1368,3333,3382,3285,0,0,0,0,0,0,15.40,15.09,15.41
$GC,5970,-0.81,-97.3,1836,1369,3380,3284,689.6,-8.8,554,5977,0.00,2.45,0.00,0.000,1030,0.000,0.057,1836,2745,3332,3380,3284,0,0,0,0,0,0,15.06,14.98,15.10
$GC,6277,-0.81,-97.3,1836,2745,3379,3282,715.3,-8.4,565,6283,0.00,2.12,0.00,0.000,260,0.000,0.090,1836,3949,3330,3379,3281,0,0,0,0,0,0,15.41,15.01,15.42
$GC,6386,-0.81,-97.3,1836,3950,3379,3281,725.6,-9.6,586,6393,0.00,1.98,0.00,0.000,1030,0.000,0.041,1837,2748,3331,3386,3276,0,0,0,0,0,0,15.19,15.14,15.20
$GC,6706,-0.81,-97.3,1836,2747,3378,3279,752.9,-8.4,599,6711,0.00,2.33,0.00,0.000,516,0.000,0.046,1836,1361,3328,3377,3279,0,0,0,0,0,0,15.41,15.07,15.42
$GC,6793,-0.81,-97.3,1836,1362,3376,3279,760.7,-8.6,616,6800,0.00,2.47,0.00,0.000,1030,0.000,0.058,1836,2750,3329,3379,3279,0,0,0,0,0,0,15.04,14.97,15.08
$GC,7099,-0.81,-97.3,1836,2750,3375,3277,784.8,-7.4,627,7103,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2750,3325,3375,3276,0,0,0,0,0,0,15.38,15.40,15.40
$GC,7399,-0.81,-97.3,1836,2750,3374,3276,804.4,-6.5,637,7410,0.00,2.38,0.00,0.000,516,0.000,0.047,1836,1361,3325,3374,3276,0,0,0,0,0,0,15.39,15.05,15.41
$GC,7519,-0.81,-97.3,1836,1361,3373,3276,812.5,-6.9,659,7531,0.00,2.45,0.00,0.000,1030,0.000,0.058,1836,2759,3324,3373,3276,0,0,0,0,0,0,15.13,15.00,15.16
$GC,7832,-0.81,-97.3,1836,2759,3371,3274,834.3,-7.3,671,7835,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2759,3323,3371,3275,0,0,0,0,0,0,15.36,15.39,15.38
$GC,8131,-0.81,-97.3,1836,2759,3371,3271,856.9,-7.6,681,8138,0.00,2.38,0.00,0.000,516,0.000,0.047,1836,1366,3322,3371,3274,0,0,0,0,0,0,15.37,15.04,15.38
$GC,8272,-0.81,-97.3,1836,1366,3370,3273,868.4,-7.8,708,8280,0.00,2.42,0.00,0.000,1030,0.000,0.057,1836,2750,3322,3370,3274,0,0,0,0,0,0,15.05,14.95,15.07
$GC,8588,-0.81,-97.3,1836,2750,3370,3271,891.1,-7.2,721,8592,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2749,3321,3370,3272,0,0,0,0,0,0,15.38,15.40,15.39
$GC,8889,-0.81,-97.3,1836,2750,3368,3271,912.0,-7.1,731,8893,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2750,3319,3368,3271,0,0,0,0,0,0,15.37,15.42,15.39
$GC,9188,-0.81,-97.3,1836,2750,3366,3270,936.3,-8.2,741,9194,0.00,2.12,0.00,0.000,260,0.000,0.093,1836,3943,3319,3368,3270,0,0,0,0,0,0,15.38,14.94,15.39
$GC,9332,-0.81,-97.3,1836,3943,3367,3270,950.3,-9.5,769,9339,0.00,1.98,0.00,0.000,1030,0.000,0.045,1836,2759,3318,3367,3270,0,0,0,0,0,0,15.17,15.11,15.19
$GC,9648,-0.81,-97.3,1836,2759,3366,3270,976.8,-8.6,781,9651,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2757,3318,3366,3270,0,0,0,0,0,0,15.37,15.39,15.38
$STATE,9825,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9825,begin apogee
$GC,9832,-0.21,0.0,1836,1708,3364,3269,992.0,-8.5,787,9924,0.77,0.00,86.43,2.079,10246,0.209,0.000,2051,1708,2970,3033,2907,0,0,0,0,0,0,14.76,14.55,13.73
$STATE,9933,end apogee,CONTROL_FINISHED_OK
$STATE,9933,begin climb
$GC,9937,0.81,97.3,2051,1708,3031,2904,995.9,0.0,790,10048,1.05,1.95,100.70,2.046,10756,0.117,0.074,2379,639,2571,2631,2511,0,0,0,0,0,0,14.54,14.22,13.56
$GC,10126,0.81,97.3,2379,639,2625,2507,986.2,8.4,831,10132,0.00,1.88,0.00,0.000,1030,0.000,0.043,2380,1723,2566,2625,2508,0,0,0,0,0,0,14.71,14.65,14.73
$GC,10461,0.81,97.3,2384,1723,2625,2501,958.0,8.7,847,10469,0.00,2.40,0.00,0.000,260,0.000,0.067,2379,3094,2562,2624,2501,0,0,0,0,0,0,15.18,14.90,15.20
$GC,10635,0.81,97.3,2379,3094,2625,2497,941.8,9.4,880,10644,0.00,2.42,0.00,0.000,1030,0.000,0.047,2380,1702,2561,2624,2498,0,0,0,0,0,0,15.04,14.95,15.07
$GC,10952,0.81,97.3,2379,1702,2632,2497,913.7,8.9,893,10956,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1702,2561,2625,2497,0,0,0,0,0,0,15.26,15.28,15.28
$GC,11252,0.81,97.3,2379,1702,2625,2495,886.3,9.2,903,11258,0.00,2.50,0.00,0.000,260,0.000,0.066,2381,3099,2558,2625,2491,0,0,0,0,0,0,15.28,14.94,15.28
$GC,11379,0.81,97.3,2379,3099,2624,2495,875.1,9.5,927,11387,0.00,2.42,0.00,0.000,1030,0.000,0.047,2385,1696,2563,2625,2501,0,0,0,0,0,0,15.07,15.00,15.09
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$STATE,21444,end climb,SURFACE_DEPTH_REACHED
$STATE,21444,begin surface coast
$STATE,21464,end surface coast,CONTROL_FINISHED_OK
$STATE,21464,begin surface
$SM_CCo,21486,159.25,0.687,1,0,928,500.17
$SM_GC,0.38,7.25,1.83,159.25,0.103,0.051,0.687,156,2741,928,-6.09,-1.22,500.17,0,0,0,0,1,0,15.05,15.03,14.38
$IRIDIUM_FIX,1417.59,14411.44,051219,113855
$TT8_MAMPS,0.019474,0.154294
$HUMID,46.22
$INTERNAL_PRESSURE,8.94566
$TCM_TEMP,26.20
$XPDR_PINGS,0
$SC_FREEKB,3755168
$PM_FREEKB_00,58040768
$PM_FREEKB_01,85563520
$PM_FREEKB_02,86161664
$PM_FREEKB_03,124821056
$PM_ACTIVECARD,2
$24V_AH,13.56,106.161
$10V_AH,12.96,0.000
$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,17.600,167.925,375.925,159.250,0.000,0.000,0.000,417.175,0.000,0.000,15.608,1588.410,14105.979,625.250,5514.947,504.442,0.000,2817.885,0.000,4759.264,0.000,0.552,0.000
$DEVICE_MAMPS,383.265,96.390,2078.505,686.970,0.000,0.000,0.000,196.605,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21489.000,21488.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.346,7.889,0.000,0.000
$MEM,270864
$DATA_FILE_SIZE,69843,1978
$CAP_FILE_SIZE,197562,0
$CFSIZE,260034560,216780800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.074,282.47,1
$GPS,061219,001324,1420.081,14409.365,51,0.8,51,0.2,0.9,202.4,10,4.8