version: 66.11
glider: 125
mission: 18
dive: 56
start: 8 30 113 0 47 53
data:
$ID,125
$MISSION,18
$DIVE,56
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,540
$D_ABORT,600
$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,265
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,52433
$MASS_COMP,0
$NAV_MODE,2
$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,-181786.88
$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,2085
$C_ROLL_CLIMB,2070
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,13
$R_STBD_OVSHOOT,12
$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
$GPS1,300813,003829,8127.888,7200.331,34,1.3,39,41.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-52.8
$GPS2,300813,004724,8127.832,7200.082,15,1.2,32,41.9
$SPEED_LIMITS,0.183,0.285
$TGT_NAME,SA2
$TGT_LATLONG,8200.000,7500.000
$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,351.7,75497,-15.1,-10.588,-20.35,3719
$D_GRID,557
$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,21,-1.43,-257.8,511,2088,1209,968,0.0,0.0,0,149,0.00,0.00,-125.57,0.000,16386,0.000,0.000,512,2088,3151,3209,3094,0,0,0,0,0,0,28.83,28.83,28.83
$GC,153,-1.43,-257.8,511,2088,3209,3094,3.7,-4.2,12,189,10.40,2.90,-17.23,0.000,18948,0.189,0.122,2206,682,3853,3906,3801,0,0,0,0,0,0,24.17,24.21,24.60
$GC,247,-1.43,-257.8,2206,682,3906,3803,19.4,-11.9,21,252,0.00,2.70,0.00,0.000,1030,0.000,0.087,2206,2085,3854,3906,3803,0,0,0,0,0,0,28.83,24.30,28.83
$GC,559,-1.43,-257.8,2206,2086,3906,3804,54.3,-11.4,52,565,0.00,2.80,0.00,0.000,260,0.000,0.116,2206,3494,3854,3906,3803,0,0,0,0,0,0,28.83,24.34,28.83
$GC,612,-1.43,-257.8,2205,3494,3905,3804,60.3,-11.2,57,618,0.00,2.72,0.00,0.000,1030,0.000,0.086,2206,2075,3855,3906,3804,0,0,0,0,0,0,28.83,24.36,28.83
$GC,925,-1.43,-257.8,2206,2075,3906,3803,95.4,-10.9,88,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2075,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1225,-1.43,-257.8,2206,2075,3906,3803,124.6,-9.0,118,1226,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2075,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1526,-1.43,-257.8,2206,2075,3906,3803,151.7,-8.8,148,1527,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2075,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1825,-1.43,-257.8,2206,2075,3906,3803,178.2,-8.6,178,1831,0.00,2.80,0.00,0.000,260,0.000,0.102,2206,3499,3854,3906,3803,0,0,0,0,0,0,28.83,24.40,28.83
$GC,1898,-1.43,-257.8,2205,3499,3906,3803,184.9,-9.3,185,1904,0.00,2.70,0.00,0.000,1030,0.000,0.086,2206,2092,3854,3906,3803,0,0,0,0,0,0,28.83,24.42,28.83
$GC,2212,-1.43,-257.8,2207,2092,3906,3803,212.9,-9.2,216,2213,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2092,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2511,-1.43,-257.8,2206,2092,3906,3803,239.8,-9.0,246,2512,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2092,3855,3907,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2811,-1.43,-257.8,2206,2093,3906,3804,267.7,-9.4,267,2812,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2092,3855,3906,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3112,-1.43,-257.8,2206,2092,3906,3805,296.0,-9.4,282,3113,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2092,3855,3906,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3412,-1.43,-257.8,2206,2092,3906,3805,323.6,-9.1,297,3413,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2092,3855,3906,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3713,-1.43,-257.8,2206,2091,3906,3805,350.8,-9.1,312,3714,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2091,3855,3906,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4012,-1.43,-257.8,2206,2091,3906,3806,378.8,-9.3,327,4013,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2091,3856,3906,3806,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4312,-1.43,-257.8,2206,2090,3906,3806,406.4,-9.2,342,4317,0.00,2.75,0.00,0.000,260,0.000,0.100,2206,3494,3856,3906,3806,0,0,0,0,0,0,28.83,24.46,28.83
$GC,4395,-1.43,-257.8,2206,3494,3906,3806,414.4,-9.5,346,4400,0.00,2.72,0.00,0.000,1030,0.000,0.089,2206,2082,3856,3906,3806,0,0,0,0,0,0,28.83,24.46,28.83
$GC,4718,-1.43,-257.8,2206,2080,3906,3805,443.5,-9.2,362,4719,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2080,3856,3906,3806,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5019,-1.43,-257.8,2206,2079,3906,3806,470.9,-9.4,377,5020,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2079,3856,3906,3806,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5318,-1.43,-257.8,2206,2079,3906,3806,499.1,-9.4,392,5320,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2078,3856,3906,3806,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5619,-1.43,-257.8,2206,2078,3907,3805,527.1,-9.5,407,5624,0.00,2.80,0.00,0.000,260,0.000,0.105,2207,3494,3855,3906,3805,0,0,0,0,0,0,28.83,24.46,28.83
$GC,5675,-1.43,-257.8,2206,3494,3906,3805,531.6,-10.1,409,5682,0.00,2.72,0.00,0.000,1030,0.000,0.091,2206,2084,3855,3906,3805,0,0,0,0,0,0,28.83,24.47,28.83
$STATE,5759,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5759,begin apogee
$GC,5763,-0.37,0.0,2206,2084,3906,3805,541.4,-9.9,414,5986,1.23,0.00,213.62,1.082,10244,0.123,0.000,2438,2083,2799,2866,2733,0,0,0,0,0,0,24.44,28.83,23.08
$STATE,5988,end apogee,CONTROL_FINISHED_OK
$STATE,5988,begin climb
$GC,5990,1.43,257.8,2438,2083,2866,2731,552.9,0.0,425,6216,1.98,3.03,215.18,1.037,10756,0.091,0.123,2831,662,1749,1845,1654,0,0,0,0,0,0,23.89,23.80,23.05
$GC,6308,1.46,281.9,1872,662,1790,1639,530.5,9.9,441,6338,0.00,2.75,21.77,0.975,9222,0.000,0.090,2831,2068,1650,1750,1550,0,0,0,0,0,0,28.83,24.14,23.15
$GC,6646,1.49,299.7,2830,2068,1749,1541,496.4,10.1,458,6671,0.00,3.03,16.77,0.974,8708,0.000,0.120,2831,665,1578,1685,1471,0,0,0,0,0,0,28.83,23.80,23.25
$GC,6849,1.49,299.7,2831,665,1681,1468,474.0,11.4,468,6855,0.00,2.72,0.00,0.000,1030,0.000,0.089,2831,2070,1575,1681,1469,0,0,0,0,0,0,28.83,24.27,28.83
$GC,7172,1.49,305.8,2830,2070,1681,1466,440.2,10.4,484,7180,0.00,0.00,6.28,0.840,8198,0.000,0.000,2831,2070,1553,1660,1446,0,0,0,0,0,0,28.83,28.83,23.53
$GC,7472,1.50,307.2,2831,2070,1660,1444,408.9,10.6,499,7473,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2070,1552,1660,1444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7774,1.51,322.7,2831,2071,1660,1443,377.8,10.2,514,7793,0.12,0.00,16.98,0.964,10246,0.084,0.000,2860,2070,1485,1594,1376,0,0,0,0,0,0,24.46,28.83,23.31
$GC,8092,1.51,322.7,2860,2072,1594,1372,341.0,11.6,530,8093,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2072,1483,1594,1372,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8392,1.51,322.7,2860,2072,1593,1370,306.4,11.4,545,8398,0.00,2.88,0.00,0.000,516,0.000,0.118,2861,661,1482,1594,1370,0,0,0,0,0,0,28.83,24.31,28.83
$GC,8425,1.51,322.7,2861,661,1593,1370,303.5,11.5,546,8430,0.00,2.72,0.00,0.000,1030,0.000,0.088,2861,2077,1482,1593,1371,0,0,0,0,0,0,28.83,24.36,28.83
$GC,8737,1.51,322.7,2861,2078,1593,1370,267.5,11.0,562,8739,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2078,1481,1593,1370,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9038,1.51,322.7,2861,2079,1593,1370,234.2,11.2,584,9039,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2078,1481,1593,1370,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9338,1.51,322.7,2861,2078,1593,1370,201.0,10.9,614,9343,0.00,2.88,0.00,0.000,516,0.000,0.116,2861,662,1481,1593,1370,0,0,0,0,0,0,28.83,24.34,28.83
$GC,9363,1.51,322.7,1920,662,1556,1366,198.4,10.9,616,9371,0.00,2.70,0.00,0.000,1030,0.000,0.086,2861,2070,1481,1593,1370,0,0,0,0,0,0,28.83,24.41,28.83
$GC,9670,1.51,322.7,2861,2070,1593,1370,165.1,10.7,647,9671,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2070,1481,1592,1370,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9971,1.52,324.6,2861,2070,1593,1370,132.9,10.5,677,9972,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2070,1481,1592,1370,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10271,1.55,352.0,2861,2070,1592,1370,101.8,9.8,707,10300,0.00,0.00,27.38,0.803,8198,0.000,0.000,2861,2070,1364,1479,1250,0,0,0,0,0,0,28.83,28.83,23.39
$GC,10601,1.61,398.3,2861,2070,1479,1242,70.0,9.3,740,10651,0.00,0.00,41.80,0.775,8198,0.000,0.000,2861,2070,1175,1302,1048,0,0,0,0,0,0,28.83,28.83,23.37
$GC,10951,1.61,398.3,2861,2070,1302,1040,30.8,12.2,775,10952,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2070,1171,1302,1040,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11249,end climb,SURFACE_DEPTH_REACHED
$STATE,11249,begin surface coast
$FINISH,0.5,1.017600
$STATE,11272,end surface coast,CONTROL_FINISHED_OK
$STATE,11272,begin surface
$SM_CCo,11351,0.00,0.000,0,0,1169,400.08
$SM_GC,1.09,10.93,0.00,0.00,0.059,0.000,0.000,510,2074,1169,-9.23,-0.34,400.08,0,0,0,0,0,0,24.44,28.83,28.83
$IRIDIUM_FIX,8015.30,7156.67,290813,212114
$TT8_MAMPS,0.026215,0.026215
$HUMID,46.69
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,15.70
$XPDR_PINGS,5
$SC_FREEKB,4002016
$TM_FREEKB,3032352
$24V_AH,23.0,8.857
$10V_AH,9.2,6.035
$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,24.650,50.325,559.775,0.000,0.000,0.000,0.000,325.025,1.250,0.000,34.929,2105.673,7072.177,593.868,1953.741,165.040,0.000,1756.030,0.000,1487.615,0.000,0.546,0.000
$DEVICE_MAMPS,188.955,123.165,1082.475,0.000,0.000,0.000,0.000,145.350,420.000,0.000,32.210,12.760,2.190,12.760,37.480,46.470,0.000,15.700,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11288.000,11276.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.402,13.859,0.000,0.000
$MEM,266364
$DATA_FILE_SIZE,26699,807
$CAP_FILE_SIZE,142778,0
$CFSIZE,260034560,243798016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.038,200.1,1
$GPS,300813,035819,8128.837,7206.291,34,1.4,34,42.0