version: 66.13
glider: 178
mission: 31
dive: 405
start: 1 13 120 21 0 18
data:
$ID,178
$MISSION,31
$DIVE,405
$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,0.00316228
$HD_B,0.010145
$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,30
$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
$GPS1,130120,204430,1331.9060,14431.7686,29,0.9,29,0.6,0.6,43.4,9,3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.26
$_SM_ANGLEo,-54.2
$GPS2,130120,205930,1331.8849,14431.6836,2,0.6,4,0.6,0.2,78.8,12,2.9
$SPEED_LIMITS,0.147,0.205
$TGT_NAME,PICKUP_S
$TGT_LATLONG,1326.000,14436.300
$TGT_RADIUS,1500.000
$MHEAD_RNG_PITCHd_Wd,133.0,13709,-19.0,-8.462,-22.47,1763
$D_GRID,2622
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,25,-0.83,-97.3,149,2739,991,866,0.0,0.0,0,117,0.00,0.00,-87.95,0.005,16386,0.000,0.000,149,2740,3146,3174,3119,0,0,0,0,0,0,15.21,28.83,15.23
$GC,121,-0.83,-97.3,149,2740,3173,3119,3.6,-7.3,9,143,8.23,2.33,-3.90,0.031,18948,0.384,0.059,1848,1341,3365,3403,3328,0,0,0,0,0,0,14.42,14.00,14.69
$GC,369,-0.83,-97.3,1847,1341,3404,3328,78.6,-25.6,57,376,0.00,2.40,0.00,0.000,1030,0.000,0.053,1842,2745,3365,3404,3327,0,0,0,0,0,0,15.07,14.96,15.10
$GC,565,-0.83,-97.3,1842,2745,3407,3327,119.0,-18.6,77,574,0.00,2.38,0.00,0.000,516,0.000,0.041,1842,1331,3365,3404,3327,0,0,0,0,0,0,15.33,14.97,15.35
$GC,586,-0.83,-97.3,1842,1331,3404,3327,123.3,-16.9,80,593,0.00,2.47,0.00,0.000,1030,0.000,0.051,1833,2751,3365,3404,3327,0,0,0,0,0,0,14.97,14.92,15.04
$GC,773,-0.83,-97.3,1833,2751,3404,3327,159.2,-15.9,99,781,0.00,2.05,0.00,0.000,260,0.000,0.079,1825,3948,3365,3404,3327,0,0,0,0,0,0,15.35,14.97,15.38
$GC,1016,-0.83,-97.3,1825,3947,3404,3328,191.5,-19.0,145,1025,0.15,1.98,0.00,0.000,3078,0.266,0.028,1857,2700,3366,3406,3327,0,0,0,0,0,0,14.71,15.10,14.97
$GC,1217,-0.83,-97.3,1861,2693,3404,3327,217.2,-9.8,165,1224,0.00,2.20,0.00,0.000,260,0.000,0.077,1856,3947,3368,3404,3332,0,0,0,0,0,0,15.38,14.98,15.39
$GC,1442,-0.83,-97.3,1853,3947,3399,3327,241.9,-8.9,208,1450,0.00,1.95,0.00,0.000,1030,0.000,0.030,1855,2735,3365,3404,3326,0,0,0,0,0,0,15.07,15.05,15.07
$GC,1641,-0.83,-97.3,1855,2735,3404,3326,257.2,-7.5,222,1645,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,2735,3365,3404,3326,0,0,0,0,0,0,15.39,15.41,15.41
$GC,1939,-0.83,-97.3,1855,2735,3404,3323,281.8,-8.9,232,1943,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,2734,3363,3404,3323,0,0,0,0,0,0,15.40,15.42,15.42
$GC,2240,-0.83,-97.3,1855,2732,3403,3319,313.7,-11.0,242,2246,0.00,2.12,0.00,0.000,260,0.000,0.080,1849,3943,3361,3404,3319,0,0,0,0,0,0,15.41,14.97,15.43
$GC,2474,-0.83,-97.3,1849,3943,3404,3315,341.7,-13.2,288,2480,0.00,1.90,0.00,0.000,1030,0.000,0.033,1849,2757,3359,3404,3315,0,0,0,0,0,0,15.19,15.17,15.23
$GC,2789,-0.83,-97.3,1849,2750,3403,3310,381.3,-12.1,300,2797,0.00,2.12,0.00,0.000,260,0.000,0.083,1849,3942,3356,3403,3310,0,0,0,0,0,0,15.35,14.90,15.38
$GC,2828,-0.83,-97.3,1848,3942,3403,3309,386.0,-12.8,306,2834,0.00,1.92,0.00,0.000,1030,0.000,0.034,1848,2744,3356,3403,3309,0,0,0,0,0,0,15.21,15.17,15.22
$GC,3163,-0.83,-97.3,1848,2737,3403,3304,421.0,-10.0,322,3167,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,2739,3354,3404,3305,0,0,0,0,0,0,15.40,15.42,15.42
$GC,3463,-0.83,-97.3,1848,2739,3402,3305,450.5,-10.2,332,3466,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,2739,3352,3404,3301,0,0,0,0,0,0,15.39,15.41,15.41
$GC,3764,-0.83,-97.3,1848,2739,3400,3299,480.0,-9.7,342,3770,0.00,2.28,0.00,0.000,516,0.000,0.048,1848,1387,3349,3400,3298,0,0,0,0,0,0,15.39,15.00,15.40
$GC,3848,-0.83,-97.3,1844,1387,3398,3298,488.7,-10.3,358,3857,0.00,2.38,0.00,0.000,1030,0.000,0.057,1849,2749,3351,3399,3304,0,0,0,0,0,0,15.07,14.95,15.11
$GC,4161,-0.83,-97.3,1848,2750,3396,3295,513.8,-6.7,370,4171,0.00,2.15,0.00,0.000,260,0.000,0.087,1848,3947,3345,3396,3295,0,0,0,0,0,0,15.38,14.88,15.40
$GC,4398,-0.83,-97.3,1848,3948,3396,3292,527.5,-6.5,416,4404,0.00,1.95,0.00,0.000,1030,0.000,0.036,1848,2746,3344,3396,3292,0,0,0,0,0,0,15.16,15.12,15.18
$GC,4718,-0.83,-97.3,1848,2746,3392,3292,551.2,-8.3,428,4723,0.00,2.28,0.00,0.000,516,0.000,0.044,1848,1387,3341,3392,3291,0,0,0,0,0,0,15.33,14.95,15.35
$GC,4796,-0.83,-97.3,1848,1387,3392,3291,558.7,-9.1,443,4804,0.00,2.40,0.00,0.000,1030,0.000,0.057,1848,2750,3341,3392,3291,0,0,0,0,0,0,14.98,14.85,15.02
$GC,5113,-0.83,-97.3,1848,2750,3390,3288,584.4,-7.6,456,5117,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,2747,3339,3390,3288,0,0,0,0,0,0,15.34,15.35,15.35
$GC,5413,-0.83,-97.3,1848,2755,3388,3287,600.5,-6.0,466,5419,0.00,2.15,0.00,0.000,292,0.000,0.089,1848,3947,3337,3388,3287,0,0,0,0,0,0,15.34,14.81,15.36
$GC,5559,-0.83,-97.3,1848,3947,3387,3286,613.0,-9.2,494,5565,0.00,1.95,0.00,0.000,1030,0.000,0.038,1848,2762,3336,3387,3286,0,0,0,0,0,0,15.12,15.08,15.14
$GC,5875,-0.83,-97.3,1848,2762,3388,3285,641.5,-9.1,506,5883,0.00,2.38,0.00,0.000,516,0.000,0.046,1848,1368,3335,3385,3285,0,0,0,0,0,0,15.35,14.85,15.36
$GC,5931,-0.83,-97.3,1848,1368,3385,3284,646.8,-8.6,517,5941,0.00,2.50,0.00,0.000,1030,0.000,0.061,1848,2750,3334,3385,3283,0,0,0,0,0,0,14.84,14.76,14.90
$GC,6239,-0.83,-97.3,1848,2750,3383,3282,670.5,-7.3,528,6247,0.00,2.17,0.00,0.000,260,0.000,0.090,1848,3946,3332,3383,3282,0,0,0,0,0,0,15.29,14.73,15.30
$GC,6466,-0.83,-97.3,1848,3946,3383,3280,687.8,-7.6,572,6471,0.00,1.98,0.00,0.000,1030,0.000,0.039,1848,2762,3331,3382,3280,0,0,0,0,0,0,15.09,15.04,15.14
$GC,6792,-0.83,-97.3,1848,2764,3381,3279,709.7,-7.1,586,6798,0.00,2.40,0.00,0.000,516,0.000,0.047,1848,1367,3330,3381,3279,0,0,0,0,0,0,15.33,14.88,15.33
$GC,6905,-0.83,-97.3,1848,1367,3381,3279,718.6,-7.7,608,6915,0.00,2.45,0.00,0.000,1030,0.000,0.057,1848,2751,3329,3380,3279,0,0,0,0,0,0,14.97,14.84,15.02
$GC,7217,-0.83,-97.3,1848,2752,3379,3281,744.0,-8.5,620,7222,0.00,2.15,0.00,0.000,260,0.000,0.092,1848,3943,3328,3379,3278,0,0,0,0,0,0,15.33,14.76,15.35
$GC,7391,-0.83,-97.3,1848,3943,3381,3276,757.0,-6.8,654,7399,0.00,2.00,0.00,0.000,1030,0.000,0.041,1848,2754,3328,3379,3277,0,0,0,0,0,0,15.06,15.01,15.08
$GC,7708,-0.83,-97.3,1848,2754,3377,3276,779.3,-7.5,666,7714,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,2754,3327,3378,3277,0,0,0,0,0,0,15.28,15.31,15.30
$GC,8008,-0.83,-97.3,1848,2755,3375,3275,803.6,-8.2,676,8017,0.00,2.42,0.00,0.000,516,0.000,0.047,1850,1359,3325,3376,3275,0,0,0,0,0,0,15.28,14.78,15.29
$GC,8060,-0.83,-97.3,1852,1359,3375,3275,808.2,-8.4,685,8066,0.00,2.47,0.00,0.000,1030,0.000,0.058,1848,2750,3325,3375,3276,0,0,0,0,0,0,14.92,14.79,14.97
$GC,8381,-0.83,-97.3,1848,2750,3375,3273,834.3,-7.9,698,8384,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,2755,3324,3375,3273,0,0,0,0,0,0,15.31,15.33,15.33
$GC,8681,-0.83,-97.3,1848,2755,3374,3273,855.8,-6.8,708,8690,0.00,2.42,0.00,0.000,516,0.000,0.047,1848,1356,3323,3374,3273,0,0,0,0,0,0,15.30,14.83,15.32
$GC,8737,-0.83,-97.3,1848,1356,3374,3273,860.0,-7.1,719,8744,0.00,2.53,0.00,0.000,1030,0.000,0.058,1848,2742,3324,3373,3275,0,0,0,0,0,0,14.73,14.66,14.79
$GC,9045,-0.83,-97.3,1848,2742,3373,3273,882.5,-7.7,730,9050,0.00,2.17,0.00,0.000,260,0.000,0.091,1848,3938,3322,3373,3272,0,0,0,0,0,0,15.30,14.69,15.33
$GC,9187,-0.83,-97.3,1848,3937,3373,3271,894.6,-8.9,757,9193,0.00,2.03,0.00,0.000,1030,0.000,0.041,1848,2741,3322,3374,3271,0,0,0,0,0,0,14.97,14.92,14.99
$GC,9507,-0.83,-97.3,1846,2743,3372,3271,921.2,-8.0,770,9514,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,2743,3321,3372,3271,0,0,0,0,0,0,15.26,15.29,15.28
$GC,9808,-0.83,-97.3,1848,2743,3371,3270,942.1,-6.4,780,9815,0.00,0.00,0.00,0.000,38,0.000,0.000,1848,2742,3320,3370,3270,0,0,0,0,0,0,15.25,15.27,15.26
$GC,10108,-0.83,-97.3,1849,2743,3370,3274,959.4,-5.9,790,10114,0.00,0.00,0.00,0.000,38,0.000,0.000,1848,2743,3322,3374,3270,0,0,0,0,0,0,15.26,15.28,15.28
$GC,10407,-0.83,-97.3,1848,2748,3369,3272,976.4,-5.7,800,10416,0.00,2.25,0.00,0.000,292,0.000,0.092,1846,3942,3319,3369,3270,0,0,0,0,0,0,15.26,14.56,15.27
$GC,10509,-0.83,-97.3,1847,3939,3369,3269,983.2,-6.9,818,10514,0.00,2.03,0.00,0.000,1030,0.000,0.044,1848,2755,3318,3367,3269,0,0,0,0,0,0,15.00,14.92,15.00
$STATE,10630,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10630,begin apogee
$GC,10639,-0.21,0.0,1848,1715,3368,3269,990.9,-5.9,827,10734,0.75,0.00,89.82,2.081,10246,0.194,0.000,2053,1715,2968,3033,2904,0,0,0,0,0,0,14.44,14.45,13.43
$STATE,10743,end apogee,CONTROL_FINISHED_OK
$STATE,10743,begin climb
$GC,10747,0.83,97.3,2053,1715,3032,2901,992.2,0.0,830,10865,1.05,2.05,102.78,2.049,10756,0.109,0.076,2385,638,2570,2631,2510,0,0,0,0,0,0,14.48,14.30,13.34
$GC,10929,0.83,97.3,2385,638,2625,2507,981.2,9.3,870,10935,0.00,1.88,0.00,0.000,1030,0.000,0.043,2385,1723,2566,2626,2507,0,0,0,0,0,0,14.73,14.66,14.74
$GC,11244,0.83,97.3,2385,1724,2626,2507,952.3,9.2,882,11255,0.00,2.42,0.00,0.000,260,0.000,0.065,2385,3098,2564,2626,2502,0,0,0,0,0,0,15.20,14.83,15.21
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$STATE,22225,end climb,SURFACE_DEPTH_REACHED
$STATE,22225,begin surface coast
$STATE,22246,end surface coast,CONTROL_FINISHED_OK
$STATE,22249,begin surface
$SM_CCo,22270,145.25,0.655,1,0,929,500.17
$SM_GC,0.23,6.88,0.55,145.25,0.062,0.037,0.655,158,2697,929,-6.10,1.02,500.17,0,0,1,0,1,0,14.89,15.11,14.28
$IRIDIUM_FIX,1335.27,14432.12,130120,143929
$TT8_MAMPS,0.018725,0.1498
$HUMID,48.14
$INTERNAL_PRESSURE,8.95542
$TCM_TEMP,26.50
$XPDR_PINGS,0
$SC_FREEKB,3699488
$PM_FREEKB_00,58040768
$PM_FREEKB_01,85563520
$PM_FREEKB_02,59195968
$PM_FREEKB_03,60744832
$PM_ACTIVECARD,3
$24V_AH,13.34,167.496
$10V_AH,12.49,0.000
$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,17.425,170.925,407.675,145.250,0.000,0.000,0.000,567.550,0.000,0.000,16.023,1603.879,14518.568,628.185,5816.426,753.502,0.000,3043.116,0.000,4913.109,0.000,0.554,0.000
$DEVICE_MAMPS,384.030,91.800,2080.800,654.840,0.000,0.000,0.000,193.545,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22285.000,22275.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.375,9.535,0.000,0.000
$MEM,270356
$DATA_FILE_SIZE,66577,1928
$CAP_FILE_SIZE,205106,0
$CFSIZE,260034560,195018752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0,0
$CURRENT,0.025,201.04,1
$GPS,140120,031530,1329.726,14433.352,26,0.8,26,0.6,0.8,181.8,10,6.0