version: 66.13
glider: 178
mission: 31
dive: 313
start: 12 20 119 0 32 48
data:
$ID,178
$MISSION,31
$DIVE,313
$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,36
$R_STBD_OVSHOOT,31
$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
$GPS1,201219,002001,1414.0828,14409.2402,18,0.8,49,0.3,1.0,208.6,9,2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.26
$_SM_ANGLEo,-50.8
$GPS2,201219,003159,1414.0002,14409.1016,2,0.6,3,0.3,0.1,0.0,12,10.0
$SPEED_LIMITS,0.147,0.188
$TGT_NAME,S
$TGT_LATLONG,1410.000,14410.000
$TGT_RADIUS,4000.000
$MHEAD_RNG_PITCHd_Wd,156.4,7582,-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,19,-0.81,-97.3,128,2753,988,866,0.0,0.0,0,111,0.00,0.00,-87.75,0.005,16386,0.000,0.000,128,2754,3170,3195,3145,0,0,0,0,0,0,15.20,28.83,15.21
$GC,114,-0.81,-97.3,128,2754,3195,3146,4.1,-8.1,9,136,8.20,2.35,-3.53,0.034,18948,0.386,0.060,1853,1332,3370,3408,3332,0,0,0,0,0,0,14.58,14.09,14.82
$GC,364,-0.81,-97.3,1853,1332,3401,3331,73.8,-27.8,59,373,0.00,2.40,0.00,0.000,1030,0.000,0.050,1846,2747,3366,3401,3331,0,0,0,0,0,0,15.09,14.97,15.11
$GC,554,-0.81,-97.3,1845,2747,3400,3330,114.4,-16.1,79,560,0.00,2.35,0.00,0.000,516,0.000,0.041,1845,1336,3365,3401,3330,0,0,0,0,0,0,15.34,15.04,15.35
$GC,780,-0.81,-97.3,1845,1336,3401,3330,151.0,-12.2,123,790,0.00,2.38,0.00,0.000,1030,0.000,0.045,1839,2752,3365,3401,3330,0,0,0,0,0,0,15.15,15.07,15.17
$GC,971,-0.81,-97.3,1838,2752,3401,3331,178.2,-14.9,143,977,0.00,2.03,0.00,0.000,260,0.000,0.073,1831,3943,3365,3401,3330,0,0,0,0,0,0,15.38,15.02,15.39
$GC,1206,-0.81,-97.3,1830,3943,3401,3329,211.7,-14.1,189,1213,0.12,1.95,0.00,0.000,3078,0.272,0.031,1856,2692,3365,3401,3330,0,0,0,0,0,0,14.81,15.19,15.07
$GC,1402,-0.81,-97.3,1856,2692,3401,3330,231.9,-8.9,209,1409,0.00,2.22,0.00,0.000,516,0.000,0.040,1856,1331,3365,3401,3330,0,0,0,0,0,0,15.38,15.09,15.39
$GC,1507,-0.81,-97.3,1853,1330,3401,3330,240.5,-8.0,229,1514,0.00,2.40,0.00,0.000,1030,0.000,0.045,1855,2758,3365,3401,3330,0,0,0,0,0,0,15.17,15.07,15.20
$GC,1703,-0.81,-97.3,1855,2758,3401,3329,259.2,-10.2,243,1709,0.00,2.03,0.00,0.000,260,0.000,0.077,1855,3942,3365,3401,3329,0,0,0,0,0,0,15.38,15.02,15.40
$GC,1925,-0.81,-97.3,1854,3941,3401,3328,281.9,-10.6,287,1930,0.00,1.98,0.00,0.000,1030,0.000,0.031,1855,2696,3364,3401,3328,0,0,0,0,0,0,15.23,15.20,15.25
$GC,2250,-0.81,-97.3,1854,2689,3401,3323,315.0,-10.2,301,2256,0.00,2.22,0.00,0.000,516,0.000,0.041,1855,1331,3362,3401,3323,0,0,0,0,0,0,15.40,15.09,15.42
$GC,2345,-0.81,-97.3,1855,1331,3401,3322,324.6,-10.5,319,2353,0.00,2.40,0.00,0.000,1030,0.000,0.049,1855,2750,3361,3401,3322,0,0,0,0,0,0,15.18,15.07,15.21
$GC,2677,-0.81,-97.3,1854,2746,3401,3317,361.2,-11.0,335,2683,0.00,2.08,0.00,0.000,260,0.000,0.081,1855,3939,3358,3401,3316,0,0,0,0,0,0,15.40,15.01,15.42
$GC,2735,-0.81,-97.3,1855,3939,3401,3315,367.9,-10.7,346,2741,0.00,2.05,0.00,0.000,1030,0.000,0.034,1855,2692,3358,3401,3315,0,0,0,0,0,0,15.14,15.11,15.15
$GC,3041,-0.81,-97.3,1854,2692,3401,3310,398.0,-9.6,357,3045,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,2692,3356,3401,3311,0,0,0,0,0,0,15.40,15.43,15.42
$GC,3342,-0.81,-97.3,1854,2692,3401,3305,424.0,-8.4,367,3348,0.00,2.25,0.00,0.000,516,0.000,0.044,1854,1337,3353,3401,3305,0,0,0,0,0,0,15.40,15.07,15.42
$GC,3520,-0.81,-97.3,1854,1341,3399,3304,440.7,-9.0,402,3527,0.00,2.47,0.00,0.000,1030,0.000,0.053,1854,2742,3350,3398,3303,0,0,0,0,0,0,15.02,14.95,15.06
$GC,3827,-0.81,-97.3,1854,2742,3398,3298,464.9,-7.7,413,3833,0.00,2.12,0.00,0.000,260,0.000,0.087,1855,3950,3347,3397,3298,0,0,0,0,0,0,15.40,14.95,15.41
$GC,3862,-0.81,-97.3,1854,3953,3398,3298,467.8,-8.3,419,3867,0.00,2.03,0.00,0.000,1030,0.000,0.037,1855,2704,3351,3398,3305,0,0,0,0,0,0,15.16,15.11,15.18
$GC,4196,-0.81,-97.3,1854,2704,3395,3295,494.7,-8.2,435,4202,0.00,2.22,0.00,0.000,260,0.000,0.090,1854,3942,3345,3395,3295,0,0,0,0,0,0,15.36,14.94,15.38
$GC,4403,-0.81,-97.3,1854,3943,3394,3293,513.0,-9.2,476,4410,0.00,1.98,0.00,0.000,1030,0.000,0.037,1854,2755,3343,3394,3293,0,0,0,0,0,0,15.09,15.06,15.11
$GC,4711,-0.81,-97.3,1854,2755,3391,3291,541.1,-9.7,487,4716,0.00,2.33,0.00,0.000,516,0.000,0.050,1854,1380,3341,3391,3292,0,0,0,0,0,0,15.38,15.00,15.40
$GC,4789,-0.81,-97.3,1854,1380,3390,3291,549.3,-10.5,502,4797,0.00,2.40,0.00,0.000,1030,0.000,0.061,1856,2750,3340,3390,3291,0,0,0,0,0,0,15.06,14.93,15.09
$GC,5105,-0.81,-97.3,1854,2750,3388,3289,580.5,-9.4,515,5111,0.00,2.38,0.00,0.000,516,0.000,0.050,1855,1376,3338,3388,3288,0,0,0,0,0,0,15.38,15.00,15.40
$GC,5260,-0.81,-97.3,1854,1377,3386,3289,594.3,-8.3,545,5266,0.00,2.42,0.00,0.000,1030,0.000,0.057,1854,2755,3337,3386,3289,0,0,0,0,0,0,15.11,14.96,15.12
$GC,5595,-0.81,-97.3,1854,2754,3385,3286,621.3,-7.8,561,5598,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,2754,3335,3385,3286,0,0,0,0,0,0,15.38,15.40,15.39
$GC,5895,-0.81,-97.3,1854,2755,3384,3285,644.3,-7.6,571,5900,0.00,2.35,0.00,0.000,516,0.000,0.047,1855,1383,3334,3383,3285,0,0,0,0,0,0,15.36,14.97,15.39
$GC,5954,-0.81,-97.3,1854,1383,3383,3284,648.9,-7.7,582,5960,0.00,2.45,0.00,0.000,1030,0.000,0.059,1854,2749,3334,3383,3285,0,0,0,0,0,0,14.94,14.85,14.98
$GC,6259,-0.81,-97.3,1854,2747,3382,3283,672.1,-7.7,593,6263,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,2749,3332,3382,3283,0,0,0,0,0,0,15.35,15.38,15.38
$GC,6559,-0.81,-97.3,1854,2749,3380,3281,695.1,-7.8,603,6563,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,2750,3330,3380,3281,0,0,0,0,0,0,15.35,15.38,15.38
$GC,6860,-0.81,-97.3,1854,2749,3379,3280,717.9,-7.4,613,6863,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,2749,3329,3379,3280,0,0,0,0,0,0,15.35,15.37,15.36
$GC,7159,-0.81,-97.3,1854,2749,3377,3278,741.6,-8.1,623,7165,0.00,2.35,0.00,0.000,516,0.000,0.048,1855,1384,3327,3377,3278,0,0,0,0,0,0,15.35,14.89,15.37
$GC,7317,-0.81,-97.3,1854,1384,3375,3278,755.1,-8.8,654,7323,0.00,2.42,0.00,0.000,1030,0.000,0.059,1852,2751,3324,3371,3278,0,0,0,0,0,0,15.04,14.91,15.08
$GC,7647,-0.81,-97.3,1854,2750,3375,3277,783.1,-8.6,669,7650,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,2750,3326,3376,3277,0,0,0,0,0,0,15.33,15.35,15.34
$GC,7947,-0.81,-97.3,1855,2751,3375,3277,807.1,-7.8,679,7953,0.00,2.38,0.00,0.000,516,0.000,0.048,1854,1377,3325,3374,3276,0,0,0,0,0,0,15.32,14.92,15.34
$GC,8012,-0.81,-97.3,1854,1378,3374,3276,812.1,-7.5,691,8020,0.00,2.42,0.00,0.000,1030,0.000,0.059,1854,2752,3325,3374,3276,0,0,0,0,0,0,15.02,14.89,15.04
$GC,8343,-0.81,-97.3,1854,2752,3372,3274,835.8,-6.9,707,8347,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,2752,3323,3373,3274,0,0,0,0,0,0,15.33,15.35,15.35
$GC,8643,-0.81,-97.3,1854,2752,3372,3274,856.3,-6.9,717,8650,0.00,2.15,0.00,0.000,260,0.000,0.093,1855,3947,3322,3372,3273,0,0,0,0,0,0,15.33,14.81,15.34
$GC,8717,-0.81,-97.3,1854,3948,3372,3271,862.0,-7.9,731,8723,0.00,1.98,0.00,0.000,1030,0.000,0.042,1854,2775,3322,3372,3272,0,0,0,0,0,0,15.08,15.02,15.10
$GC,9041,-0.81,-97.3,1854,2775,3371,3272,886.1,-7.5,745,9048,0.00,2.42,0.00,0.000,516,0.000,0.048,1854,1356,3321,3371,3272,0,0,0,0,0,0,15.33,14.90,15.34
$GC,9094,-0.81,-97.3,1851,1361,3371,3272,890.4,-7.8,755,9104,0.00,2.47,0.00,0.000,1030,0.000,0.060,1854,2749,3323,3371,3275,0,0,0,0,0,0,15.00,14.86,15.04
$GC,9407,-0.81,-97.3,1854,2749,3370,3269,913.9,-7.6,767,9413,0.00,2.15,0.00,0.000,260,0.000,0.093,1854,3942,3320,3370,3271,0,0,0,0,0,0,15.31,14.78,15.33
$GC,9520,-0.81,-97.3,1854,3943,3371,3270,923.4,-8.3,789,9526,0.00,2.00,0.00,0.000,1030,0.000,0.044,1854,2750,3320,3370,3271,0,0,0,0,0,0,15.07,15.02,15.09
$GC,9835,-0.81,-97.3,1854,2751,3368,3270,948.0,-7.9,801,9842,0.00,2.20,0.00,0.000,260,0.000,0.094,1855,3949,3319,3369,3270,0,0,0,0,0,0,15.28,14.78,15.28
$GC,9900,-0.81,-97.3,1854,3949,3368,3270,953.6,-8.7,813,9907,0.00,2.03,0.00,0.000,1030,0.000,0.044,1855,2745,3319,3368,3270,0,0,0,0,0,0,15.07,15.02,15.09
$GC,10235,-0.81,-97.3,1854,2744,3368,3270,980.4,-8.0,829,10241,0.00,2.38,0.00,0.000,516,0.000,0.050,1855,1356,3316,3363,3270,0,0,0,0,0,0,15.30,14.88,15.32
$GC,10324,-0.81,-97.3,1854,1356,3373,3270,987.9,-8.1,846,10332,0.00,2.53,0.00,0.000,1030,0.000,0.060,1854,2746,3318,3367,3270,0,0,0,0,0,0,14.82,14.73,14.86
$STATE,10360,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10360,begin apogee
$GC,10368,-0.21,0.0,1859,1709,3367,3270,990.7,-8.1,848,10461,0.73,0.00,87.47,2.105,10246,0.200,0.000,2054,1709,2968,3031,2906,0,0,0,0,0,0,14.66,14.50,13.64
$STATE,10470,end apogee,CONTROL_FINISHED_OK
$STATE,10470,begin climb
$GC,10473,0.81,97.3,2054,1709,3031,2903,993.8,0.0,851,10586,1.05,1.95,100.93,2.048,10756,0.113,0.074,2380,642,2573,2631,2515,0,0,0,0,0,0,14.48,14.16,13.49
$GC,10706,0.81,97.3,2383,642,2625,2509,981.5,8.7,901,10712,0.00,1.88,0.00,0.000,1030,0.000,0.042,2383,1729,2565,2624,2507,0,0,0,0,0,0,14.75,14.68,14.76
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$STATE,21989,end climb,SURFACE_DEPTH_REACHED
$STATE,21989,begin surface coast
$STATE,22021,end surface coast,CONTROL_FINISHED_OK
$STATE,22021,begin surface
$SM_CCo,22042,158.57,0.666,1,0,928,500.17
$SM_GC,0.37,6.95,1.73,158.57,0.076,0.049,0.666,162,2718,928,-6.08,-1.84,500.17,0,0,0,0,1,0,14.93,14.97,14.36
$IRIDIUM_FIX,1415.61,14408.34,191219,175657
$TT8_MAMPS,0.019474,0.152796
$HUMID,45.98
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,27.00
$XPDR_PINGS,0
$SC_FREEKB,3734816
$PM_FREEKB_00,58040768
$PM_FREEKB_01,85563520
$PM_FREEKB_02,59195968
$PM_FREEKB_03,119720128
$PM_ACTIVECARD,3
$24V_AH,13.49,128.512
$10V_AH,12.85,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22050.000,22042.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.254,5.593,0.000,0.000
$MEM,270600
$DATA_FILE_SIZE,69873,2007
$CAP_FILE_SIZE,207342,0
$CFSIZE,260034560,208908288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.036,242.57,1
$GPS,201219,064513,1411.828,14409.714,72,1.0,76,0.3,0.4,261.6,8,9.1