version: 66.11
glider: 125
mission: 18
dive: 27
start: 8 26 113 5 2 50
data:
$ID,125
$MISSION,18
$DIVE,27
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,510
$D_ABORT,550
$D_NO_BLEED,200
$D_BOOST,0
$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,170
$T_MISSION,200
$T_ABORT,720
$T_TURN,300
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,400
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,52433
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,60
$KALMAN_USE,2
$HD_A,0.0047900002
$HD_B,0.0153
$HD_C,5.5800001e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,325
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-181698.19
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,512
$PITCH_MAX,3700
$C_PITCH,2525
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,13.5
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,282
$ROLL_MAX,3810
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2046
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,13
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,458
$VBD_MAX,3884
$C_VBD,2800
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,0
$AH0_24V,80
$AH0_10V,50
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-50.226429
$PRESSURE_SLOPE,0.0001156654
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043359469
$SEABIRD_T_H,0.00062641408
$SEABIRD_T_I,2.4610727e-05
$SEABIRD_T_J,2.7438246e-06
$SEABIRD_C_G,-9.9540386
$SEABIRD_C_H,1.1272155
$SEABIRD_C_I,-0.0019266624
$SEABIRD_C_J,0.00023293085
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,2000.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,260813,045506,8104.816,7026.335,38,1.0,38,40.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-54.3
$GPS2,260813,050225,8104.807,7025.919,11,0.9,11,40.9
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,SA1
$TGT_LATLONG,8105.000,6800.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,229.6,41889,-22.0,-10.000,-24.97,2244
$D_GRID,560
$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,20,-1.81,-145.9,511,2204,1439,1273,0.0,0.0,0,125,0.00,0.00,-102.03,0.000,16386,0.000,0.000,511,2204,3123,3185,3062,0,0,0,0,0,0,28.83,28.83,28.83
$GC,128,-1.81,-145.9,511,2204,3185,3063,3.5,-4.1,10,155,9.90,2.85,-7.55,0.000,19204,0.189,0.116,2123,3604,3396,3475,3318,0,0,0,0,0,0,24.13,24.19,24.56
$GC,457,-1.81,-145.9,2123,3604,3475,3319,49.7,-13.0,43,462,0.00,2.72,0.00,0.000,1030,0.000,0.090,2123,2195,3397,3475,3319,0,0,0,0,0,0,28.83,24.33,28.83
$GC,769,-1.81,-145.9,2123,2194,3475,3319,86.6,-11.7,74,770,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2194,3397,3475,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1069,-1.81,-145.9,2123,2194,3474,3319,120.3,-10.7,104,1070,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2193,3397,3475,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1369,-1.86,-145.9,2123,2194,3475,3319,151.5,-10.5,134,1375,0.00,2.83,0.00,0.000,516,0.000,0.115,2123,792,3396,3474,3319,0,0,0,0,0,0,28.83,24.34,28.83
$GC,1406,-1.86,-145.9,2123,791,3475,3319,154.9,-10.4,137,1412,0.00,2.72,0.00,0.000,1030,0.000,0.093,2123,2200,3397,3475,3319,0,0,0,0,0,0,28.83,24.37,28.83
$GC,1712,-1.91,-145.9,2123,2200,3475,3319,187.4,-10.5,168,1717,0.00,2.83,0.00,0.000,516,0.000,0.112,2123,792,3397,3475,3319,0,0,0,0,0,0,28.83,24.34,28.83
$GC,1774,-1.91,-145.9,2123,791,3475,3318,194.0,-10.7,174,1780,0.00,2.72,0.00,0.000,1030,0.000,0.091,2123,2205,3397,3475,3319,0,0,0,0,0,0,28.83,24.39,28.83
$GC,2088,-1.96,-145.9,2123,2205,3475,3318,225.0,-9.6,205,2094,0.12,2.85,0.00,0.000,4612,0.090,0.123,2093,789,3397,3475,3319,0,0,0,0,0,0,24.50,24.36,28.83
$GC,2131,-1.96,-145.9,2093,790,3474,3318,229.9,-11.1,209,2136,0.00,2.72,0.00,0.000,1030,0.000,0.091,2094,2203,3396,3475,3318,0,0,0,0,0,0,28.83,24.40,28.83
$GC,2443,-1.96,-145.9,2094,2203,3475,3319,264.3,-11.1,234,2448,0.00,2.85,0.00,0.000,516,0.000,0.115,2094,789,3397,3475,3319,0,0,0,0,0,0,28.83,24.37,28.83
$GC,2474,-1.96,-145.9,2094,789,3475,3319,267.0,-11.4,235,2479,0.00,2.72,0.00,0.000,1030,0.000,0.091,2094,2202,3397,3475,3319,0,0,0,0,0,0,28.83,24.41,28.83
$GC,2786,-1.96,-145.9,2094,2202,3475,3318,302.9,-11.1,251,2791,0.00,2.85,0.00,0.000,516,0.000,0.116,2094,791,3396,3475,3318,0,0,0,0,0,0,28.83,24.37,28.83
$GC,2828,-1.96,-145.9,2094,791,3475,3318,307.8,-11.3,253,2834,0.00,2.72,0.00,0.000,1030,0.000,0.093,2094,2203,3397,3475,3319,0,0,0,0,0,0,28.83,24.42,28.83
$GC,3150,-1.96,-145.9,2094,2204,3474,3318,343.5,-11.0,269,3156,0.00,2.85,0.00,0.000,516,0.000,0.117,2094,792,3396,3474,3318,0,0,0,0,0,0,28.83,24.38,28.83
$GC,3202,-1.96,-145.9,2093,792,3475,3318,348.3,-11.1,271,3207,0.00,2.72,0.00,0.000,1030,0.000,0.092,2094,2204,3396,3475,3318,0,0,0,0,0,0,28.83,24.43,28.83
$GC,3514,-1.96,-145.9,2094,2204,3475,3318,383.5,-10.8,287,3519,0.00,2.88,0.00,0.000,516,0.000,0.119,2094,788,3396,3475,3318,0,0,0,0,0,0,28.83,24.38,28.83
$GC,3556,-1.96,-145.9,2093,788,3475,3318,388.3,-11.0,289,3561,0.00,2.72,0.00,0.000,1030,0.000,0.093,2094,2200,3396,3475,3318,0,0,0,0,0,0,28.83,24.43,28.83
$GC,3878,-1.96,-145.9,2093,2200,3475,3319,423.4,-10.7,305,3883,0.00,2.88,0.00,0.000,516,0.000,0.119,2094,789,3397,3475,3320,0,0,0,0,0,0,28.83,24.39,28.83
$GC,3900,-1.96,-145.9,2093,789,3475,3318,425.9,-10.8,306,3905,0.00,2.72,0.00,0.000,1030,0.000,0.093,2093,2200,3397,3475,3319,0,0,0,0,0,0,28.83,24.44,28.83
$GC,4222,-1.96,-145.9,2094,2200,3475,3318,459.4,-10.6,322,4227,0.00,2.90,0.00,0.000,516,0.000,0.124,2094,791,3396,3475,3318,0,0,0,0,0,0,28.83,24.39,28.83
$GC,4233,-1.96,-145.9,2093,791,3475,3319,459.4,-10.6,322,4238,0.00,2.75,0.00,0.000,1030,0.000,0.095,2094,2203,3396,3475,3318,0,0,0,0,0,0,28.83,24.44,28.83
$GC,4545,-1.96,-145.9,2094,2203,3475,3318,494.3,-10.9,338,4550,0.00,2.95,0.00,0.000,516,0.000,0.132,2094,788,3397,3476,3319,0,0,0,0,0,0,28.83,24.38,28.83
$GC,4577,-1.96,-145.9,2093,788,3475,3318,496.8,-11.1,339,4582,0.00,2.78,0.00,0.000,1030,0.000,0.099,2094,2202,3396,3475,3318,0,0,0,0,0,0,28.83,24.44,28.83
$STATE,4707,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4707,begin apogee
$GC,4711,-0.37,0.0,2094,2049,3475,3318,512.0,-10.6,346,4843,1.85,0.00,121.72,1.075,10246,0.140,0.000,2440,2046,2800,2871,2729,0,0,0,0,0,0,24.39,28.83,23.13
$STATE,4846,end apogee,CONTROL_FINISHED_OK
$STATE,4846,begin climb
$GC,4847,1.81,145.9,2439,2047,2871,2728,515.4,0.0,352,4984,2.40,3.10,122.47,1.030,10756,0.102,0.132,2914,632,2204,2282,2127,0,0,0,0,0,0,23.92,23.65,23.11
$GC,5012,1.83,161.5,2914,633,2281,2123,504.2,9.3,361,5033,0.00,2.80,14.32,0.938,9222,0.000,0.094,2914,2049,2141,2222,2061,0,0,0,0,0,0,28.83,24.03,23.18
$GC,5334,1.94,161.5,2914,2049,2221,2050,469.4,10.9,377,5339,0.12,2.83,0.00,0.000,2308,0.072,0.108,2951,3458,2135,2221,2050,0,0,0,0,0,0,24.39,24.23,28.83
$GC,5391,2.00,161.5,2950,3458,2220,2050,463.8,11.7,379,5398,0.00,2.80,0.00,0.000,1030,0.000,0.098,2951,2039,2135,2220,2050,0,0,0,0,0,0,28.83,24.25,28.83
$GC,5696,2.00,161.5,2950,2039,2220,2048,425.4,12.0,395,5702,0.00,2.85,0.00,0.000,260,0.000,0.108,2951,3458,2134,2220,2048,0,0,0,0,0,0,28.83,24.27,28.83
$GC,5722,2.00,161.5,2950,3458,2219,2048,422.6,12.2,396,5728,0.00,2.80,0.00,0.000,1030,0.000,0.098,2951,2037,2133,2219,2048,0,0,0,0,0,0,28.83,24.29,28.83
$GC,6040,2.00,161.5,2951,2037,2219,2047,384.7,11.5,412,6042,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2037,2133,2219,2047,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6340,2.00,161.5,2950,2037,2219,2046,349.9,11.8,427,6342,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2037,2133,2219,2047,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6641,2.00,161.5,2950,2037,2219,2046,314.8,11.8,442,6642,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2037,2132,2219,2046,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6940,2.00,161.5,2950,2037,2218,2046,279.4,11.7,457,6942,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2037,2132,2218,2046,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7240,2.00,161.5,2950,2038,2218,2045,244.6,11.9,474,7245,0.00,2.83,0.00,0.000,260,0.000,0.107,2951,3456,2131,2218,2045,0,0,0,0,0,0,28.83,24.36,28.83
$GC,7276,2.00,161.5,2951,3457,2217,2045,240.7,12.1,477,7283,0.00,2.75,0.00,0.000,1030,0.000,0.095,2951,2047,2131,2217,2045,0,0,0,0,0,0,28.83,24.38,28.83
$GC,7582,2.00,161.5,2951,2047,2216,2045,204.2,11.5,508,7583,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2047,2131,2217,2045,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7882,2.00,161.5,2950,2047,2217,2045,168.7,11.8,538,7887,0.00,2.80,0.00,0.000,260,0.000,0.104,2951,3458,2131,2217,2045,0,0,0,0,0,0,28.83,24.38,28.83
$GC,7914,2.00,161.5,2950,3458,2216,2045,164.7,12.5,541,7919,0.00,2.75,0.00,0.000,1030,0.000,0.093,2951,2042,2131,2216,2046,0,0,0,0,0,0,28.83,24.40,28.83
$GC,8226,2.00,161.5,2950,2042,2216,2045,126.6,12.2,572,8227,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2042,2130,2216,2045,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8526,2.00,161.5,2951,2042,2216,2045,91.5,11.0,602,8531,0.00,2.80,0.00,0.000,260,0.000,0.103,2951,3461,2130,2216,2045,0,0,0,0,0,0,28.83,24.39,28.83
$GC,8552,2.00,161.5,2016,3459,2152,2035,88.9,11.4,604,8559,0.00,2.75,0.00,0.000,1030,0.000,0.092,2951,2040,2130,2216,2045,0,0,0,0,0,0,28.83,24.41,28.83
$GC,8859,2.07,161.5,2950,2040,2216,2045,54.0,11.4,635,8861,0.12,0.00,0.00,0.000,2054,0.075,0.000,2985,2040,2130,2215,2045,0,0,0,0,0,0,24.56,28.83,28.83
$GC,9159,2.10,185.9,2985,2040,2216,2045,22.0,8.9,665,9189,0.00,2.92,19.92,0.777,8708,0.000,0.120,2985,638,2040,2124,1957,0,0,0,0,0,0,28.83,23.92,23.50
$GC,9275,2.10,185.9,2985,638,2123,1956,11.3,10.3,676,9282,0.00,2.75,0.00,0.000,1030,0.000,0.091,2985,2056,2039,2123,1955,0,0,0,0,0,0,28.83,24.29,28.83
$STATE,9369,end climb,SURFACE_DEPTH_REACHED
$STATE,9369,begin surface coast
$FINISH,0.5,1.014622
$STATE,9392,end surface coast,CONTROL_FINISHED_OK
$STATE,9392,begin surface
$SM_CCo,9412,97.78,0.733,0,0,1475,325.02
$SM_GC,1.15,11.62,0.30,97.78,0.064,0.107,0.733,513,2204,1475,-9.22,-0.40,325.02,0,0,0,0,0,0,24.39,24.37,23.38
$IRIDIUM_FIX,8002.69,7032.83,260813,020249
$TT8_MAMPS,0.026964,0.026964
$HUMID,46.69
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,15.40
$XPDR_PINGS,8
$SC_FREEKB,4011136
$TM_FREEKB,3965792
$24V_AH,23.1,4.231
$10V_AH,9.2,2.935
$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,26.150,102.075,278.450,97.775,0.000,0.000,0.000,284.450,2.000,0.000,13.798,1813.729,5820.375,496.537,1704.643,120.441,0.000,1519.187,0.000,1316.445,0.000,0.544,0.000
$DEVICE_MAMPS,188.955,131.580,1074.825,732.870,0.000,0.000,0.000,141.525,420.000,0.000,32.210,12.760,2.190,12.760,37.480,46.470,0.000,15.700,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9401.000,9399.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.019,13.748,0.000,0.000
$MEM,267228
$DATA_FILE_SIZE,23396,688
$CAP_FILE_SIZE,133919,0
$CFSIZE,260034560,246456320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260813,074236,8104.565,7016.090,34,1.0,34,40.8