version: 66.11
glider: 125
mission: 18
dive: 29
start: 8 26 113 10 32 55
data:
$ID,125
$MISSION,18
$DIVE,29
$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,-181700.69
$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,11
$R_STBD_OVSHOOT,15
$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
$GPS1,260813,102535,8104.274,7006.888,25,0.9,25,40.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-52.7
$GPS2,260813,103231,8104.258,7006.834,11,1.1,11,40.8
$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,231.4,36434,-22.0,-10.000,-24.97,2244
$D_GRID,553
$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,-145.9,511,2204,1532,1384,0.0,0.0,0,114,0.00,0.00,-92.05,0.000,16386,0.000,0.000,512,2205,3032,3091,2973,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-1.81,-145.9,511,2205,3092,2973,3.2,-3.9,9,148,9.88,2.78,-10.70,0.000,19204,0.187,0.112,2126,3605,3395,3475,3316,0,0,0,0,0,0,24.14,24.20,24.56
$GC,451,-1.81,-145.9,2127,3605,3474,3317,49.6,-11.9,42,456,0.00,2.72,0.00,0.000,1030,0.000,0.090,2125,2192,3395,3474,3317,0,0,0,0,0,0,28.83,24.34,28.83
$GC,763,-1.85,-145.9,2125,2192,3474,3318,83.5,-10.6,73,768,0.00,2.83,0.00,0.000,260,0.000,0.106,2125,3608,3395,3475,3316,0,0,0,0,0,0,28.83,24.33,28.83
$GC,909,-1.85,-145.9,1360,3606,3459,3312,99.2,-10.9,87,916,0.00,2.72,0.00,0.000,1030,0.000,0.090,2125,2198,3395,3475,3316,0,0,0,0,0,0,28.83,24.37,28.83
$GC,1216,-1.90,-145.9,2125,2198,3475,3317,131.0,-10.5,118,1217,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2198,3395,3474,3316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1516,-1.96,-145.9,2125,2198,3474,3317,163.0,-10.9,148,1522,0.12,2.83,0.00,0.000,4612,0.090,0.112,2096,788,3395,3475,3316,0,0,0,0,0,0,24.49,24.35,28.83
$GC,1549,-1.96,-145.9,2096,788,3474,3317,166.8,-11.2,151,1554,0.00,2.70,0.00,0.000,1030,0.000,0.090,2096,2199,3396,3475,3317,0,0,0,0,0,0,28.83,24.39,28.83
$GC,1861,-1.96,-145.9,2095,2199,3474,3317,201.7,-10.9,182,1866,0.00,2.83,0.00,0.000,516,0.000,0.111,2096,789,3396,3475,3317,0,0,0,0,0,0,28.83,24.37,28.83
$GC,1886,-1.96,-145.9,1344,789,3462,3312,204.2,-11.3,184,1894,0.00,2.72,0.00,0.000,1030,0.000,0.089,2096,2203,3395,3475,3316,0,0,0,0,0,0,28.83,24.40,28.83
$GC,2194,-1.96,-145.9,2096,2203,3474,3317,238.9,-10.9,215,2199,0.00,2.83,0.00,0.000,516,0.000,0.112,2096,792,3396,3475,3317,0,0,0,0,0,0,28.83,24.37,28.83
$GC,2226,-1.96,-145.9,2096,792,3475,3317,242.6,-11.0,218,2231,0.00,2.72,0.00,0.000,1030,0.000,0.090,2096,2205,3395,3475,3316,0,0,0,0,0,0,28.83,24.41,28.83
$GC,2538,-1.96,-145.9,2096,2205,3475,3316,276.2,-10.7,237,2544,0.00,2.83,0.00,0.000,516,0.000,0.112,2096,792,3396,3475,3317,0,0,0,0,0,0,28.83,24.38,28.83
$GC,2561,-1.96,-145.9,2096,792,3475,3316,278.8,-10.8,238,2566,0.00,2.70,0.00,0.000,1030,0.000,0.089,2096,2201,3396,3475,3317,0,0,0,0,0,0,28.83,24.41,28.83
$GC,2883,-1.96,-145.9,2096,2201,3475,3317,315.2,-11.5,254,2888,0.00,2.85,0.00,0.000,516,0.000,0.115,2096,788,3396,3475,3317,0,0,0,0,0,0,28.83,24.38,28.83
$GC,2925,-1.96,-145.9,2096,788,3474,3317,320.3,-11.7,256,2930,0.00,2.72,0.00,0.000,1030,0.000,0.090,2095,2206,3396,3475,3317,0,0,0,0,0,0,28.83,24.43,28.83
$GC,3247,-1.96,-145.9,2096,2206,3474,3317,355.5,-11.1,272,3252,0.00,2.85,0.00,0.000,516,0.000,0.116,2096,792,3396,3475,3317,0,0,0,0,0,0,28.83,24.39,28.83
$GC,3293,-1.96,-145.9,2096,792,3474,3317,360.3,-11.1,274,3298,0.00,2.70,0.00,0.000,1030,0.000,0.091,2096,2201,3396,3475,3317,0,0,0,0,0,0,28.83,24.43,28.83
$GC,3610,-1.96,-145.9,2095,2201,3474,3317,395.0,-10.4,290,3615,0.00,2.85,0.00,0.000,516,0.000,0.116,2096,791,3395,3475,3316,0,0,0,0,0,0,28.83,24.39,28.83
$GC,3652,-1.96,-145.9,2096,791,3475,3317,399.8,-10.9,292,3658,0.00,2.72,0.00,0.000,1030,0.000,0.091,2096,2201,3396,3475,3317,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3974,-1.96,-145.9,2096,2201,3475,3317,434.1,-10.4,308,3980,0.00,2.85,0.00,0.000,516,0.000,0.116,2096,790,3396,3475,3317,0,0,0,0,0,0,28.83,24.40,28.83
$GC,3990,-1.96,-145.9,2096,790,3475,3316,434.1,-10.4,308,3997,0.00,2.72,0.00,0.000,1030,0.000,0.091,2096,2200,3396,3475,3317,0,0,0,0,0,0,28.83,24.44,28.83
$GC,4296,-1.96,-145.9,2095,2201,3474,3317,467.0,-10.3,324,4302,0.00,2.85,0.00,0.000,516,0.000,0.116,2096,789,3396,3475,3317,0,0,0,0,0,0,28.83,24.40,28.83
$GC,4343,-1.96,-145.9,2096,789,3474,3317,471.7,-10.5,326,4348,0.00,2.72,0.00,0.000,1030,0.000,0.091,2096,2205,3396,3475,3317,0,0,0,0,0,0,28.83,24.45,28.83
$GC,4660,-1.96,-145.9,2096,2205,3475,3317,504.9,-10.4,342,4665,0.00,2.85,0.00,0.000,516,0.000,0.116,2096,790,3396,3475,3317,0,0,0,0,0,0,28.83,24.41,28.83
$GC,4696,-1.96,-145.9,2096,789,3475,3316,507.3,-10.5,343,4703,0.00,2.72,0.00,0.000,1030,0.000,0.091,2096,2205,3396,3475,3317,0,0,0,0,0,0,28.83,24.46,28.83
$STATE,4720,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4721,begin apogee
$GC,4725,-0.37,0.0,2095,2037,3475,3317,511.5,-10.4,345,4856,1.85,0.00,121.57,1.071,10246,0.141,0.000,2435,2036,2800,2871,2729,0,0,0,0,0,0,24.39,28.83,23.13
$STATE,4860,end apogee,CONTROL_FINISHED_OK
$STATE,4860,begin climb
$GC,4861,1.81,145.9,2434,2036,2871,2728,515.2,0.0,351,4998,2.42,3.05,122.32,1.030,10756,0.102,0.125,2916,639,2204,2282,2127,0,0,0,0,0,0,23.94,23.66,23.11
$GC,5019,1.86,186.7,2916,639,2282,2123,506.7,8.1,359,5065,0.00,2.78,35.53,0.987,9222,0.000,0.092,2916,2046,2037,2120,1955,0,0,0,0,0,0,28.83,24.01,23.12
$GC,5365,1.97,186.7,2916,2045,2117,1944,465.2,12.0,377,5371,0.15,2.83,0.00,0.000,2308,0.070,0.105,2955,3458,2030,2117,1944,0,0,0,0,0,0,24.37,24.23,28.83
$GC,5437,1.97,186.7,2955,3458,2116,1944,456.8,13.1,380,5443,0.00,2.78,0.00,0.000,1030,0.000,0.094,2954,2043,2030,2116,1944,0,0,0,0,0,0,28.83,24.27,28.83
$GC,5750,1.97,186.7,2956,2043,2116,1942,416.0,12.6,396,5755,0.00,2.83,0.00,0.000,260,0.000,0.105,2955,3456,2029,2116,1942,0,0,0,0,0,0,28.83,24.28,28.83
$GC,5776,1.97,186.7,2048,3455,2055,1933,412.9,12.9,397,5781,0.00,2.78,0.00,0.000,1030,0.000,0.095,2955,2047,2029,2116,1942,0,0,0,0,0,0,28.83,24.30,28.83
$GC,6093,1.97,186.7,2955,2047,2115,1941,371.1,12.7,413,6098,0.00,2.80,0.00,0.000,260,0.000,0.104,2955,3456,2028,2115,1941,0,0,0,0,0,0,28.83,24.31,28.83
$GC,6144,1.97,186.7,2955,3456,2114,1941,365.5,13.0,415,6150,0.00,2.75,0.00,0.000,1030,0.000,0.095,2955,2046,2027,2114,1941,0,0,0,0,0,0,28.83,24.32,28.83
$GC,6457,1.97,186.7,2955,2046,2114,1941,324.4,12.9,431,6462,0.00,2.80,0.00,0.000,260,0.000,0.103,2955,3460,2027,2114,1941,0,0,0,0,0,0,28.83,24.32,28.83
$GC,6483,1.97,186.7,2955,3461,2114,1940,321.4,13.0,432,6488,0.00,2.78,0.00,0.000,1030,0.000,0.093,2955,2042,2027,2114,1940,0,0,0,0,0,0,28.83,24.34,28.83
$GC,6800,1.97,186.7,2954,2042,2114,1940,278.2,13.5,448,6805,0.00,2.83,0.00,0.000,260,0.000,0.103,2954,3457,2027,2114,1940,0,0,0,0,0,0,28.83,24.34,28.83
$GC,6836,1.97,186.7,2955,3458,2114,1940,275.1,13.5,449,6843,0.00,2.75,0.00,0.000,1030,0.000,0.093,2955,2046,2027,2114,1940,0,0,0,0,0,0,28.83,24.36,28.83
$GC,7142,1.97,186.7,2955,2046,2113,1940,232.1,12.8,471,7147,0.00,2.78,0.00,0.000,260,0.000,0.102,2954,3457,2027,2114,1940,0,0,0,0,0,0,28.83,24.36,28.83
$GC,7178,1.97,186.7,2048,3455,2054,1931,227.7,13.5,474,7185,0.00,2.75,0.00,0.000,1030,0.000,0.092,2955,2041,2027,2114,1940,0,0,0,0,0,0,28.83,24.37,28.83
$GC,7484,1.97,186.7,2955,2042,2114,1940,187.1,12.7,505,7485,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2042,2026,2113,1940,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7784,1.97,186.7,2955,2042,2113,1940,148.8,12.5,535,7790,0.00,2.80,0.00,0.000,260,0.000,0.103,2955,3457,2027,2114,1940,0,0,0,0,0,0,28.83,24.37,28.83
$GC,7840,1.97,186.7,2048,3456,2054,1930,141.9,13.5,540,7847,0.00,2.75,0.00,0.000,1030,0.000,0.093,2955,2038,2027,2114,1940,0,0,0,0,0,0,28.83,24.39,28.83
$GC,8147,2.01,186.7,2956,2038,2114,1940,103.1,12.2,571,8152,0.00,2.83,0.00,0.000,260,0.000,0.103,2955,3459,2027,2114,1940,0,0,0,0,0,0,28.83,24.37,28.83
$GC,8183,2.01,186.7,2954,3459,2114,1940,99.0,12.5,574,8190,0.00,2.72,0.00,0.000,1030,0.000,0.089,2954,2046,2026,2113,1940,0,0,0,0,0,0,28.83,24.41,28.83
$GC,8490,2.07,186.7,2954,2046,2114,1940,60.4,12.6,605,8491,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2046,2027,2114,1940,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8790,2.17,186.7,2955,2046,2114,1940,25.1,13.0,635,8796,0.15,2.78,0.00,0.000,2308,0.068,0.099,2999,3461,2026,2113,1940,0,0,0,0,0,0,24.55,24.40,28.83
$GC,8827,2.17,186.7,2999,3461,2113,1940,20.8,12.8,638,8834,0.00,2.72,0.00,0.000,1030,0.000,0.088,2999,2043,2027,2114,1940,0,0,0,0,0,0,28.83,24.43,28.83
$STATE,9001,end climb,SURFACE_DEPTH_REACHED
$STATE,9001,begin surface coast
$FINISH,0.5,1.013614
$STATE,9023,end surface coast,CONTROL_FINISHED_OK
$STATE,9023,begin surface
$SM_CCo,9044,94.88,0.738,0,0,1475,325.02
$SM_GC,1.12,11.70,0.32,94.88,0.067,0.099,0.738,512,2204,1475,-9.22,-0.54,325.02,0,0,0,0,0,0,24.47,24.45,23.38
$IRIDIUM_FIX,8002.69,7015.19,260813,070723
$TT8_MAMPS,0.026215,0.026215
$HUMID,46.81
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,15.70
$XPDR_PINGS,6
$SC_FREEKB,4010496
$TM_FREEKB,3910592
$24V_AH,23.1,4.460
$10V_AH,9.2,3.114
$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,26.275,123.150,279.425,94.875,0.000,0.000,0.000,256.425,1.500,0.000,13.554,1788.230,5449.414,511.039,1685.701,124.694,0.000,1520.179,0.000,1326.260,0.000,0.546,0.000
$DEVICE_MAMPS,186.660,125.460,1071.000,738.225,0.000,0.000,0.000,145.350,420.000,0.000,32.210,12.760,2.190,12.760,37.480,46.470,0.000,15.700,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9034.000,9032.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.040,13.785,0.000,0.000
$MEM,267288
$DATA_FILE_SIZE,23451,658
$CAP_FILE_SIZE,134202,0
$CFSIZE,260034560,246284288
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260813,130636,8104.313,7000.017,40,1.0,40,40.7