version: 66.11
glider: 125
mission: 18
dive: 31
start: 8 26 113 16 9 31
data:
$ID,125
$MISSION,18
$DIVE,31
$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,-181703.28
$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,2400
$C_ROLL_CLIMB,2046
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,13
$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
$GPS1,260813,160153,8104.318,6954.780,38,0.9,38,40.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-53.9
$GPS2,260813,160906,8104.303,6954.573,11,1.7,11,40.7
$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,231.5,32914,-22.0,-10.000,-24.97,2244
$D_GRID,555
$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,-145.9,510,2398,1531,1385,0.0,0.0,0,114,0.00,0.00,-91.93,0.000,16386,0.000,0.000,510,2398,3048,3107,2989,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-1.81,-145.9,510,2399,3108,2989,3.4,-4.5,9,148,9.95,2.83,-10.27,0.000,19204,0.189,0.118,2125,3807,3395,3474,3316,0,0,0,0,0,0,24.15,24.17,24.57
$GC,451,-1.81,-145.9,2124,3807,3475,3316,48.1,-12.2,42,456,0.00,2.70,0.00,0.000,1030,0.000,0.087,2126,2395,3394,3473,3316,0,0,0,0,0,0,28.83,24.35,28.83
$GC,763,-1.85,-145.9,2125,2395,3474,3316,83.5,-10.6,73,768,0.00,2.80,0.00,0.000,260,0.000,0.109,2125,3801,3395,3474,3316,0,0,0,0,0,0,28.83,24.30,28.83
$GC,1069,-1.85,-145.9,1360,3800,3459,3312,117.7,-11.0,103,1076,0.00,2.70,0.00,0.000,1030,0.000,0.089,2125,2392,3395,3474,3316,0,0,0,0,0,0,28.83,24.39,28.83
$GC,1376,-1.91,-145.9,2125,2392,3474,3316,150.0,-10.6,134,1381,0.00,2.78,0.00,0.000,516,0.000,0.106,2126,991,3395,3474,3316,0,0,0,0,0,0,28.83,24.36,28.83
$GC,1419,-1.96,-145.9,2125,991,3474,3316,154.7,-11.0,138,1425,0.12,2.70,0.00,0.000,5126,0.086,0.089,2100,2399,3395,3474,3316,0,0,0,0,0,0,24.44,24.38,28.83
$GC,1732,-1.96,-145.9,2099,2399,3474,3316,190.7,-11.4,169,1738,0.00,2.78,0.00,0.000,516,0.000,0.103,2099,992,3395,3474,3316,0,0,0,0,0,0,28.83,24.37,28.83
$GC,1835,-1.96,-145.9,2098,991,3474,3316,202.7,-11.9,179,1840,0.00,2.70,0.00,0.000,1030,0.000,0.086,2099,2400,3395,3474,3316,0,0,0,0,0,0,28.83,24.41,28.83
$GC,2147,-1.96,-145.9,2098,2401,3474,3316,238.1,-11.1,210,2153,0.00,2.80,0.00,0.000,516,0.000,0.105,2099,990,3395,3474,3316,0,0,0,0,0,0,28.83,24.39,28.83
$GC,2250,-1.96,-145.9,2099,990,3474,3316,249.6,-11.1,220,2255,0.00,2.70,0.00,0.000,1030,0.000,0.088,2099,2401,3395,3474,3316,0,0,0,0,0,0,28.83,24.41,28.83
$GC,2564,-1.96,-145.9,2098,2402,3474,3317,284.0,-11.2,236,2569,0.00,2.80,0.00,0.000,516,0.000,0.106,2099,991,3395,3474,3317,0,0,0,0,0,0,28.83,24.39,28.83
$GC,2670,-1.96,-145.9,1328,991,3459,3312,295.6,-11.3,241,2675,0.00,2.70,0.00,0.000,1030,0.000,0.087,2099,2401,3395,3474,3317,0,0,0,0,0,0,28.83,24.43,28.83
$GC,2988,-1.96,-145.9,2098,2400,3474,3317,331.0,-11.0,257,2993,0.00,2.80,0.00,0.000,516,0.000,0.107,2099,990,3396,3475,3317,0,0,0,0,0,0,28.83,24.41,28.83
$GC,3084,-1.96,-145.9,2098,990,3474,3317,340.2,-11.2,261,3090,0.00,2.70,0.00,0.000,1030,0.000,0.088,2099,2400,3395,3474,3317,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3390,-1.96,-145.9,2098,2402,3474,3317,374.4,-10.3,277,3395,0.00,2.80,0.00,0.000,516,0.000,0.108,2099,992,3395,3474,3317,0,0,0,0,0,0,28.83,24.41,28.83
$GC,3502,-1.96,-145.9,2099,991,3474,3317,385.5,-10.8,282,3507,0.00,2.70,0.00,0.000,1030,0.000,0.089,2099,2402,3396,3475,3317,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3814,-1.96,-145.9,2099,2402,3475,3317,420.5,-10.9,298,3820,0.00,2.83,0.00,0.000,516,0.000,0.109,2099,988,3395,3474,3317,0,0,0,0,0,0,28.83,24.42,28.83
$GC,3906,-1.96,-145.9,2099,987,3474,3317,429.9,-11.4,302,3911,0.00,2.72,0.00,0.000,1030,0.000,0.091,2099,2402,3395,3474,3317,0,0,0,0,0,0,28.83,24.45,28.83
$GC,4218,-1.96,-145.9,2098,2402,3474,3317,465.5,-11.0,318,4223,0.00,2.83,0.00,0.000,516,0.000,0.108,2099,987,3396,3475,3317,0,0,0,0,0,0,28.83,24.43,28.83
$GC,4324,-1.96,-145.9,1328,987,3459,3313,476.9,-11.2,323,4329,0.00,2.72,0.00,0.000,1030,0.000,0.090,2099,2401,3395,3474,3317,0,0,0,0,0,0,28.83,24.46,28.83
$STATE,4640,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4640,begin apogee
$GC,4645,-0.37,0.0,2098,2050,3474,3317,510.9,-10.5,339,4776,1.80,0.00,121.40,1.062,10246,0.138,0.000,2438,2049,2799,2871,2728,0,0,0,0,0,0,24.41,28.83,23.15
$STATE,4779,end apogee,CONTROL_FINISHED_OK
$STATE,4779,begin climb
$GC,4780,1.81,145.9,2438,2048,2871,2727,514.4,0.0,345,4917,2.40,2.97,122.15,1.020,10500,0.103,0.104,2914,3461,2204,2283,2126,0,0,0,0,0,0,23.94,23.70,23.13
$GC,4968,1.86,145.9,2913,3461,2282,2118,501.1,10.2,355,4974,0.00,2.80,0.00,0.000,1030,0.000,0.095,2914,2047,2200,2282,2118,0,0,0,0,0,0,28.83,24.09,28.83
$GC,5286,1.98,145.9,2913,2047,2282,2112,467.0,10.6,371,5292,0.17,2.80,0.00,0.000,2308,0.062,0.103,2960,3458,2196,2282,2111,0,0,0,0,0,0,24.39,24.26,28.83
$GC,5333,2.03,145.9,2960,3458,2281,2111,461.7,11.4,373,5339,0.00,2.78,0.00,0.000,1030,0.000,0.094,2960,2045,2197,2281,2113,0,0,0,0,0,0,28.83,24.27,28.83
$GC,5652,2.03,145.9,2960,2045,2281,2110,423.1,11.9,389,5657,0.00,2.83,0.00,0.000,260,0.000,0.104,2960,3459,2195,2281,2109,0,0,0,0,0,0,28.83,24.30,28.83
$GC,5683,2.03,145.9,2960,3459,2281,2110,420.2,12.0,390,5688,0.00,2.78,0.00,0.000,1030,0.000,0.095,2960,2042,2194,2280,2109,0,0,0,0,0,0,28.83,24.30,28.83
$GC,5995,2.03,145.9,2959,2042,2281,2109,382.4,11.6,406,5996,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2042,2195,2281,2109,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6296,2.03,145.9,2960,2042,2281,2108,348.0,11.7,421,6297,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2042,2194,2281,2108,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6596,2.03,145.9,2960,2042,2280,2108,313.2,11.7,436,6602,0.00,2.83,0.00,0.000,260,0.000,0.102,2960,3464,2194,2280,2108,0,0,0,0,0,0,28.83,24.35,28.83
$GC,6627,2.03,145.9,2960,3464,2279,2108,310.1,12.0,437,6633,0.00,2.75,0.00,0.000,1030,0.000,0.092,2960,2047,2193,2279,2108,0,0,0,0,0,0,28.83,24.37,28.83
$GC,6939,2.03,145.9,2960,2047,2279,2108,271.8,11.8,453,6941,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2047,2194,2281,2108,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7239,2.03,145.9,2960,2047,2279,2108,236.6,11.9,473,7241,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2047,2193,2279,2108,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7540,2.03,145.9,2960,2047,2278,2108,201.5,11.9,503,7541,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2047,2194,2280,2108,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7840,2.03,145.9,2960,2047,2279,2108,166.5,11.5,533,7841,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2047,2193,2279,2108,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8140,2.03,145.9,2960,2048,2278,2107,132.6,11.3,563,8141,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2047,2193,2279,2108,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8440,2.03,145.9,2959,2047,2279,2108,98.9,11.0,593,8441,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2047,2193,2279,2108,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8740,2.03,145.9,2960,2047,2279,2108,64.0,11.8,623,8741,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2047,2193,2278,2108,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9041,2.09,157.4,2960,2047,2278,2108,33.3,9.5,653,9052,0.00,0.00,9.05,0.720,8198,0.000,0.000,2960,2047,2158,2242,2075,0,0,0,0,0,0,28.83,28.83,23.73
$GC,9351,2.24,181.5,2960,2047,2241,2073,5.3,8.9,684,9380,0.22,0.00,21.30,0.745,10246,0.056,0.000,3018,2047,2058,2142,1975,0,0,0,0,0,0,24.53,28.83,23.49
$STATE,9388,end climb,SURFACE_DEPTH_REACHED
$STATE,9389,begin surface coast
$FINISH,0.6,1.026749
$STATE,9399,end surface coast,CONTROL_FINISHED_OK
$STATE,9399,begin surface
$SM_CCo,9421,93.95,0.717,0,0,1475,325.02
$SM_GC,1.18,12.05,0.73,93.95,0.072,0.093,0.717,514,2401,1475,-9.21,-0.48,325.02,0,0,0,0,0,0,24.24,24.18,23.39
$IRIDIUM_FIX,8002.69,6926.64,260813,131349
$TT8_MAMPS,0.026964,0.026964
$HUMID,45.98
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,15.70
$XPDR_PINGS,10
$SC_FREEKB,4009856
$TM_FREEKB,3852576
$24V_AH,23.1,4.685
$10V_AH,9.2,3.307
$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,26.725,79.450,273.900,93.950,0.000,0.000,0.000,267.025,2.500,0.000,13.667,1897.740,5669.084,468.052,1787.695,129.350,0.000,1491.469,0.000,1411.550,0.000,0.543,0.000
$DEVICE_MAMPS,188.955,130.050,1061.820,716.805,0.000,0.000,0.000,146.880,420.000,0.000,32.210,12.760,2.190,12.760,37.480,46.470,0.000,15.700,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9414.000,9409.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.066,13.804,0.000,0.000
$MEM,267224
$DATA_FILE_SIZE,23426,689
$CAP_FILE_SIZE,131327,0
$CFSIZE,260034560,246112256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260813,184929,8104.067,6949.216,34,1.0,40,40.7