version: 66.11
glider: 125
mission: 18
dive: 32
start: 8 26 113 18 57 26
data:
$ID,125
$MISSION,18
$DIVE,32
$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,0.003
$HD_B,0.015
$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,-181704.53
$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
$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,12
$R_STBD_OVSHOOT,10
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.029999999
$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
$GPS1,260813,184929,8104.067,6949.216,34,1.0,40,40.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-54.2
$GPS2,260813,185701,8104.060,6949.070,14,1.2,14,40.7
$SPEED_LIMITS,0.173,0.216
$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,232.5,31358,-20.1,-10.000,-24.88,2235
$D_GRID,559
$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,-1.67,-145.9,514,2402,1529,1386,0.0,0.0,0,114,0.00,0.00,-91.43,0.000,16386,0.000,0.000,514,2402,3039,3099,2979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-1.67,-145.9,514,2402,3099,2979,3.1,-3.7,9,149,10.05,2.85,-10.77,0.000,19204,0.188,0.119,2153,3803,3398,3479,3318,0,0,0,0,0,0,24.15,24.18,24.58
$GC,451,-1.67,-145.9,2153,3803,3477,3319,45.4,-11.1,42,456,0.00,2.70,0.00,0.000,1030,0.000,0.097,2153,2391,3398,3477,3319,0,0,0,0,0,0,28.83,24.35,28.83
$GC,763,-1.67,-145.9,2153,2389,3477,3319,77.9,-10.5,73,768,0.00,2.83,0.00,0.000,260,0.000,0.109,2153,3806,3398,3477,3319,0,0,0,0,0,0,28.83,24.32,28.83
$GC,1009,-1.67,-145.9,2154,3807,3477,3319,103.9,-10.8,97,1016,0.00,2.70,0.00,0.000,1030,0.000,0.088,2153,2392,3398,3477,3319,0,0,0,0,0,0,28.83,24.39,28.83
$GC,1316,-1.67,-145.9,2153,2392,3477,3319,134.1,-9.4,128,1321,0.00,2.78,0.00,0.000,516,0.000,0.105,2154,992,3398,3477,3319,0,0,0,0,0,0,28.83,24.36,28.83
$GC,1362,-1.67,-145.9,2153,993,3477,3319,138.4,-9.8,132,1369,0.00,2.70,0.00,0.000,1030,0.000,0.088,2153,2397,3398,3477,3319,0,0,0,0,0,0,28.83,24.39,28.83
$GC,1669,-1.67,-145.9,2153,2397,3477,3319,168.4,-9.6,163,1674,0.00,2.78,0.00,0.000,516,0.000,0.103,2153,991,3398,3477,3319,0,0,0,0,0,0,28.83,24.37,28.83
$GC,1796,-1.67,-145.9,2153,991,3477,3318,180.8,-10.0,175,1803,0.00,2.65,0.00,0.000,1030,0.000,0.086,2154,2378,3398,3477,3319,0,0,0,0,0,0,28.83,24.41,28.83
$GC,2102,-1.67,-145.9,2153,2378,3477,3319,210.8,-9.4,206,2107,0.00,2.75,0.00,0.000,516,0.000,0.104,2153,989,3398,3477,3319,0,0,0,0,0,0,28.83,24.39,28.83
$GC,2214,-1.67,-145.9,2153,989,3477,3319,221.3,-9.1,217,2220,0.00,2.67,0.00,0.000,1030,0.000,0.086,2153,2376,3398,3477,3319,0,0,0,0,0,0,28.83,24.42,28.83
$GC,2528,-1.67,-145.9,2153,2376,3477,3319,249.9,-9.4,248,2533,0.00,2.75,0.00,0.000,516,0.000,0.106,2153,991,3398,3477,3319,0,0,0,0,0,0,28.83,24.40,28.83
$GC,2654,-1.67,-145.9,1376,991,3462,3315,261.8,-9.7,255,2659,0.00,2.62,0.00,0.000,1030,0.000,0.086,2153,2363,3398,3477,3319,0,0,0,0,0,0,28.83,24.44,28.83
$GC,2972,-1.67,-145.9,2153,2362,3477,3319,291.5,-9.3,271,2977,0.00,2.72,0.00,0.000,516,0.000,0.107,2153,991,3398,3477,3319,0,0,0,0,0,0,28.83,24.41,28.83
$GC,3104,-1.67,-145.9,2153,992,3477,3319,303.2,-9.5,277,3109,0.00,2.62,0.00,0.000,1030,0.000,0.088,2153,2361,3398,3477,3319,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3416,-1.67,-145.9,2153,2362,3477,3319,332.6,-9.1,293,3421,0.00,2.72,0.00,0.000,516,0.000,0.107,2154,991,3398,3477,3319,0,0,0,0,0,0,28.83,24.41,28.83
$GC,3540,-1.67,-145.9,2153,991,3477,3319,344.3,-9.6,299,3545,0.00,2.62,0.00,0.000,1030,0.000,0.087,2153,2358,3398,3477,3319,0,0,0,0,0,0,28.83,24.45,28.83
$GC,3862,-1.67,-145.9,2153,2358,3477,3319,374.5,-9.1,315,3868,0.00,2.72,0.00,0.000,516,0.000,0.108,2153,989,3398,3477,3320,0,0,0,0,0,0,28.83,24.43,28.83
$GC,3939,-1.67,-145.9,2153,989,3477,3319,380.3,-9.2,318,3946,0.00,2.60,0.00,0.000,1030,0.000,0.088,2153,2345,3398,3477,3320,0,0,0,0,0,0,28.83,24.46,28.83
$GC,4245,-1.67,-145.9,2153,2345,3477,3320,408.8,-8.9,334,4250,0.00,2.70,0.00,0.000,516,0.000,0.109,2153,992,3398,3477,3320,0,0,0,0,0,0,28.83,24.43,28.83
$GC,4368,-1.67,-145.9,2153,992,3477,3320,420.0,-9.1,340,4374,0.00,2.60,0.00,0.000,1030,0.000,0.089,2153,2338,3398,3477,3320,0,0,0,0,0,0,28.83,24.47,28.83
$GC,4691,-1.67,-145.9,2153,2338,3477,3322,448.8,-9.1,356,4696,0.00,2.67,0.00,0.000,516,0.000,0.107,2153,992,3398,3477,3320,0,0,0,0,0,0,28.83,24.44,28.83
$GC,4773,-1.67,-145.9,2153,992,3476,3320,456.3,-9.2,360,4779,0.00,2.58,0.00,0.000,1030,0.000,0.090,2153,2333,3398,3477,3320,0,0,0,0,0,0,28.83,24.46,28.83
$GC,5096,-1.67,-145.9,2153,2333,3477,3320,484.6,-8.7,376,5102,0.00,2.67,0.00,0.000,516,0.000,0.109,2153,992,3398,3477,3320,0,0,0,0,0,0,28.83,24.44,28.83
$GC,5163,-1.67,-145.9,2153,992,3477,3320,490.5,-9.2,379,5168,0.00,2.58,0.00,0.000,1030,0.000,0.091,2153,2323,3398,3477,3319,0,0,0,0,0,0,28.83,24.47,28.83
$STATE,5379,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5379,begin apogee
$GC,5383,-0.37,0.0,2153,2047,3477,3319,510.4,-8.9,390,5515,1.52,0.00,122.10,1.062,10244,0.135,0.000,2444,2046,2800,2871,2729,0,0,0,0,0,0,24.43,28.83,23.15
$STATE,5518,end apogee,CONTROL_FINISHED_OK
$STATE,5518,begin climb
$GC,5519,1.67,145.9,2444,2047,2871,2728,513.6,0.0,396,5650,2.22,0.00,122.25,1.024,11270,0.103,0.000,2888,2046,2205,2284,2127,0,0,0,0,0,0,23.94,28.83,23.12
$GC,5964,1.69,162.6,2888,2046,2282,2112,477.7,9.2,419,5987,0.00,2.90,14.95,0.956,8452,0.000,0.104,2888,3449,2135,2220,2051,0,0,0,0,0,0,28.83,23.88,23.30
$GC,6028,1.70,170.2,1952,3448,2155,2038,471.6,9.7,422,6046,0.00,2.78,7.57,0.853,9222,0.000,0.093,2888,2042,2106,2191,2021,0,0,0,0,0,0,28.83,24.14,23.36
$GC,6345,1.70,170.7,2888,2042,2190,2016,439.4,10.0,438,6350,0.00,2.83,0.00,0.000,260,0.000,0.104,2888,3458,2103,2190,2016,0,0,0,0,0,0,28.83,24.27,28.83
$GC,6376,1.70,170.7,2889,3458,2190,2016,436.9,10.3,439,6381,0.00,2.75,0.00,0.000,1030,0.000,0.094,2888,2051,2103,2190,2016,0,0,0,0,0,0,28.83,24.29,28.83
$GC,6688,1.70,170.7,2888,2051,2189,2014,403.9,10.3,455,6689,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2051,2102,2190,2014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6991,1.70,170.7,2888,2051,2190,2013,372.4,10.5,470,6996,0.00,2.78,0.00,0.000,260,0.000,0.103,2888,3456,2101,2190,2013,0,0,0,0,0,0,28.83,24.33,28.83
$GC,7037,1.70,170.7,2888,3456,2189,2013,367.6,10.6,472,7042,0.00,2.72,0.00,0.000,1030,0.000,0.093,2888,2056,2101,2189,2013,0,0,0,0,0,0,28.83,24.34,28.83
$GC,7354,1.70,170.7,2888,2056,2189,2013,334.0,10.3,488,7355,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2056,2101,2189,2013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7655,1.70,170.7,2888,2056,2189,2013,303.2,10.1,503,7660,0.00,2.78,0.00,0.000,260,0.000,0.101,2888,3464,2101,2189,2014,0,0,0,0,0,0,28.83,24.36,28.83
$GC,7697,1.70,170.7,2888,3464,2189,2013,298.7,10.3,505,7702,0.00,2.72,0.00,0.000,1030,0.000,0.091,2888,2058,2101,2189,2013,0,0,0,0,0,0,28.83,24.37,28.83
$GC,8019,1.71,174.3,2887,2058,2189,2012,266.7,9.8,521,8025,0.00,0.00,4.32,0.679,8198,0.000,0.000,2888,2058,2089,2176,2003,0,0,0,0,0,0,28.83,28.83,23.68
$GC,8319,1.71,175.0,2888,2058,2176,2003,236.7,10.0,542,8324,0.00,2.75,0.00,0.000,260,0.000,0.101,2888,3457,2089,2176,2003,0,0,0,0,0,0,28.83,24.37,28.83
$GC,8371,1.71,175.0,2888,3457,2176,2002,231.2,10.6,547,8377,0.00,2.72,0.00,0.000,1030,0.000,0.091,2888,2055,2089,2176,2002,0,0,0,0,0,0,28.83,24.38,28.83
$GC,8684,1.71,175.3,2888,2055,2176,2002,200.2,10.0,578,8685,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2055,2088,2175,2002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8984,1.72,181.6,2888,2055,2176,2003,171.2,9.7,608,8999,0.00,2.85,8.02,0.784,8452,0.000,0.101,2888,3454,2059,2144,1975,0,0,0,0,0,0,28.83,24.18,23.66
$GC,9036,1.72,181.6,2888,3454,2144,1973,165.9,10.1,613,9042,0.00,2.72,0.00,0.000,1030,0.000,0.096,2888,2059,2058,2144,1973,0,0,0,0,0,0,28.83,24.27,28.83
$GC,9349,1.72,181.6,2888,2058,2144,1972,134.0,10.2,644,9354,0.00,2.75,0.00,0.000,260,0.000,0.100,2888,3456,2058,2144,1972,0,0,0,0,0,0,28.83,24.39,28.83
$GC,9385,1.72,181.6,2887,3456,2144,1972,130.5,10.6,647,9392,0.00,2.67,0.00,0.000,1030,0.000,0.090,2888,2070,2058,2144,1972,0,0,0,0,0,0,28.83,24.40,28.83
$GC,9692,1.73,193.3,2888,2070,2144,1972,100.1,9.5,678,9712,0.00,2.83,11.15,0.775,8452,0.000,0.099,2888,3458,2012,2099,1926,0,0,0,0,0,0,28.83,24.10,23.63
$GC,9735,1.73,196.7,2888,3458,2099,1925,95.7,9.8,682,9746,0.00,2.70,5.07,0.634,9222,0.000,0.089,2888,2068,1996,2083,1910,0,0,0,0,0,0,28.83,24.22,23.59
$GC,10045,1.73,196.7,2888,2068,2083,1908,64.2,10.1,713,10046,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2068,1995,2083,1908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10345,1.76,214.9,2888,2068,2083,1907,34.6,9.2,743,10369,0.00,2.83,16.75,0.754,8452,0.000,0.098,2888,3454,1922,2010,1835,0,0,0,0,0,0,28.83,24.01,23.55
$GC,10401,1.77,226.4,1936,3452,1951,1825,29.7,9.5,748,10419,0.10,2.67,11.10,0.714,11270,0.090,0.088,2915,2073,1877,1965,1789,0,0,0,0,0,0,24.27,24.20,23.50
$STATE,10696,end climb,SURFACE_DEPTH_REACHED
$STATE,10697,begin surface coast
$FINISH,0.4,1.014660
$STATE,10717,end surface coast,CONTROL_FINISHED_OK
$STATE,10717,begin surface
$SM_CCo,10737,79.05,0.732,0,0,1475,325.02
$SM_GC,1.18,11.32,0.68,79.05,0.067,0.094,0.732,513,2403,1475,-9.21,-0.40,325.02,0,0,0,0,0,0,24.41,24.39,23.39
$IRIDIUM_FIX,8002.69,7002.19,260813,161640
$TT8_MAMPS,0.026964,0.026964
$HUMID,46.61
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,15.70
$XPDR_PINGS,5
$SC_FREEKB,4009536
$TM_FREEKB,3820096
$24V_AH,23.1,4.804
$10V_AH,9.2,3.413
$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,25.225,115.600,323.300,79.050,0.000,0.000,0.000,286.725,1.250,0.000,17.043,2191.213,6370.335,519.777,2049.744,143.220,0.000,1698.444,0.000,1646.583,0.000,0.527,0.000
$DEVICE_MAMPS,188.190,146.115,1061.820,732.105,0.000,0.000,0.000,143.820,420.000,0.000,32.210,12.760,2.190,12.760,37.480,46.470,0.000,15.700,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10730.000,10724.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.948,13.775,0.000,0.000
$MEM,267292
$DATA_FILE_SIZE,26724,780
$CAP_FILE_SIZE,155943,0
$CFSIZE,260034560,245993472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260813,215905,8103.743,6941.574,39,1.0,39,40.6