version: 66.11
glider: 125
mission: 18
dive: 67
start: 8 31 113 13 6 24
data:
$ID,125
$MISSION,18
$DIVE,67
$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,-181800.62
$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,15
$R_STBD_OVSHOOT,15
$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
$GPS1,310813,125654,8145.923,7345.388,37,1.1,37,43.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-54.3
$GPS2,310813,130555,8145.947,7345.371,33,1.4,33,43.0
$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,351.4,32363,-15.1,-10.588,-20.35,3719
$D_GRID,590
$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,-1.43,-257.8,514,2067,1319,1074,0.0,0.0,0,148,0.00,0.00,-124.80,0.000,16386,0.000,0.000,514,2067,3286,3346,3226,0,0,0,0,0,0,28.83,28.83,28.83
$GC,152,-1.43,-257.8,513,2067,3347,3227,4.2,-5.1,12,185,10.38,2.83,-12.70,0.000,18948,0.188,0.116,2203,678,3853,3906,3801,0,0,0,0,0,0,24.17,24.21,24.60
$GC,271,-1.43,-257.8,2203,677,3906,3802,24.4,-12.6,23,278,0.00,2.67,0.00,0.000,1030,0.000,0.080,2203,2088,3854,3906,3803,0,0,0,0,0,0,28.83,24.33,28.83
$GC,577,-1.43,-257.8,2203,2087,3907,3803,58.5,-10.4,54,579,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2088,3855,3907,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,878,-1.43,-257.8,2203,2088,3907,3803,88.3,-9.4,84,879,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2088,3855,3907,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1177,-1.43,-257.8,2203,2088,3906,3803,117.6,-10.4,114,1183,0.00,2.75,0.00,0.000,260,0.000,0.100,2203,3492,3854,3906,3803,0,0,0,0,0,0,28.83,24.39,28.83
$GC,1234,-1.43,-257.8,2203,3492,3906,3803,123.1,-10.6,119,1241,0.00,2.65,0.00,0.000,1030,0.000,0.079,2203,2088,3854,3906,3803,0,0,0,0,0,0,28.83,24.41,28.83
$GC,1541,-1.43,-257.8,2203,2088,3906,3803,153.9,-9.9,150,1546,0.00,2.80,0.00,0.000,516,0.000,0.107,2203,673,3855,3907,3803,0,0,0,0,0,0,28.83,24.37,28.83
$GC,1625,-1.43,-257.8,2203,673,3906,3803,162.5,-10.1,158,1630,0.00,2.67,0.00,0.000,1030,0.000,0.081,2203,2089,3854,3906,3803,0,0,0,0,0,0,28.83,24.42,28.83
$GC,1939,-1.43,-257.8,2203,2089,3907,3803,194.0,-10.0,189,1945,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2090,3855,3906,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2247,-1.43,-257.8,2203,2089,3906,3803,224.6,-9.9,220,2254,0.00,2.83,0.00,0.000,516,0.000,0.108,2203,669,3855,3906,3804,0,0,0,0,0,0,28.83,24.39,28.83
$GC,2332,-1.43,-257.8,2203,669,3907,3803,232.8,-9.8,228,2338,0.00,2.67,0.00,0.000,1030,0.000,0.080,2203,2084,3854,3906,3803,0,0,0,0,0,0,28.83,24.44,28.83
$GC,2656,-1.43,-257.8,2203,2084,3906,3803,263.9,-9.6,253,2657,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2084,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2957,-1.43,-257.8,2203,2083,3906,3803,292.0,-9.2,268,2958,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2084,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3257,-1.43,-257.8,2203,2084,3906,3803,319.3,-9.1,283,3263,0.00,2.83,0.00,0.000,516,0.000,0.111,2203,674,3854,3906,3803,0,0,0,0,0,0,28.83,24.39,28.83
$GC,3325,-1.43,-257.8,2203,674,3907,3803,325.2,-9.0,286,3330,0.00,2.65,0.00,0.000,1030,0.000,0.081,2203,2077,3854,3906,3803,0,0,0,0,0,0,28.83,24.46,28.83
$GC,3643,-1.43,-257.8,2203,2077,3906,3803,355.8,-10.0,302,3644,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2077,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3944,-1.43,-257.8,2203,2077,3906,3802,384.8,-9.5,317,3949,0.00,2.83,0.00,0.000,516,0.000,0.112,2203,674,3854,3906,3802,0,0,0,0,0,0,28.83,24.40,28.83
$GC,4001,-1.43,-257.8,2203,674,3906,3802,389.0,-9.4,319,4008,0.00,2.67,0.00,0.000,1030,0.000,0.083,2203,2075,3854,3906,3802,0,0,0,0,0,0,28.83,24.47,28.83
$GC,4307,-1.43,-257.8,2203,2075,3906,3802,416.8,-8.8,335,4308,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2075,3854,3906,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4607,-1.43,-257.8,2203,2075,3906,3801,444.0,-9.2,350,4613,0.00,2.83,0.00,0.000,516,0.000,0.114,2203,675,3854,3907,3801,0,0,0,0,0,0,28.83,24.41,28.83
$GC,4680,-1.43,-257.8,2203,675,3906,3801,450.1,-9.5,353,4686,0.00,2.67,0.00,0.000,1030,0.000,0.084,2203,2085,3853,3906,3801,0,0,0,0,0,0,28.83,24.47,28.83
$GC,4993,-1.43,-257.8,2203,2085,3906,3801,479.6,-9.2,369,4994,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2085,3853,3906,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5294,-1.43,-257.8,2203,2087,3906,3800,507.6,-9.3,384,5295,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2087,3853,3906,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5594,-1.43,-257.8,2203,2086,3906,3800,535.2,-8.9,399,5595,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2087,3853,3906,3800,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5651,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5651,begin apogee
$GC,5656,-0.37,0.0,2203,2086,3906,3800,540.7,-9.3,402,5874,1.23,0.00,212.12,1.095,10244,0.123,0.000,2437,2086,2800,2867,2734,0,0,0,0,0,0,24.46,28.83,23.06
$STATE,5876,end apogee,CONTROL_FINISHED_OK
$STATE,5876,begin climb
$GC,5878,1.43,257.8,2436,2086,2867,2733,550.5,0.0,413,6107,2.00,2.97,214.90,1.043,10756,0.090,0.114,2833,662,1747,1846,1649,0,0,0,0,0,0,23.85,23.76,23.02
$GC,6216,1.44,264.0,2833,662,1845,1642,524.2,10.4,430,6230,0.00,2.70,6.05,0.798,9222,0.000,0.091,2834,2067,1723,1824,1622,0,0,0,0,0,0,28.83,24.17,23.40
$GC,6537,1.47,288.6,2834,2067,1824,1617,492.1,9.9,446,6567,0.00,2.95,22.83,0.995,8708,0.000,0.116,2834,662,1623,1730,1517,0,0,0,0,0,0,28.83,23.75,23.18
$GC,6753,1.47,288.6,2833,662,1726,1514,470.2,11.0,456,6760,0.00,2.70,0.00,0.000,1030,0.000,0.090,2834,2071,1619,1726,1513,0,0,0,0,0,0,28.83,24.28,28.83
$GC,7059,1.48,294.4,2834,2071,1726,1511,437.0,10.4,472,7067,0.00,0.00,6.20,0.838,8198,0.000,0.000,2834,2071,1600,1707,1493,0,0,0,0,0,0,28.83,28.83,23.53
$GC,7359,1.51,316.7,2833,2072,1706,1490,406.4,10.0,487,7383,0.00,0.00,21.98,0.988,8198,0.000,0.000,2834,2072,1508,1618,1398,0,0,0,0,0,0,28.83,28.83,23.21
$GC,7679,1.51,316.7,2834,2072,1617,1392,373.6,10.7,503,7680,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2072,1505,1617,1393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7980,1.53,332.5,2834,2073,1617,1391,342.3,10.2,518,8000,0.12,0.00,15.38,0.946,10246,0.092,0.000,2861,2073,1444,1558,1330,0,0,0,0,0,0,24.44,28.83,23.32
$GC,8299,1.53,332.5,2861,2073,1558,1325,306.2,11.3,534,8300,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2073,1441,1558,1325,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8599,1.53,332.5,2861,2075,1558,1324,272.4,11.2,549,8601,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2075,1441,1558,1324,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8899,1.53,332.5,2861,2075,1558,1323,239.1,11.0,568,8900,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2075,1440,1557,1323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9200,1.53,332.5,2861,2075,1557,1323,205.9,11.6,598,9201,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2075,1440,1557,1323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9499,1.53,332.5,2861,2075,1557,1323,172.4,11.0,628,9500,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2075,1440,1557,1323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9800,1.53,332.5,2861,2075,1557,1322,139.5,10.7,658,9801,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2075,1439,1556,1323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10100,1.53,332.5,2861,2075,1557,1324,107.2,10.9,688,10101,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2075,1440,1557,1323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10399,1.53,332.5,2861,2075,1557,1322,73.7,11.2,718,10405,0.00,2.83,0.00,0.000,516,0.000,0.109,2862,658,1439,1557,1322,0,0,0,0,0,0,28.83,24.37,28.83
$GC,10415,1.53,332.5,1920,657,1522,1319,72.5,10.9,719,10423,0.00,2.67,0.00,0.000,1030,0.000,0.081,2862,2071,1439,1557,1322,0,0,0,0,0,0,28.83,24.44,28.83
$GC,10722,1.53,332.5,2862,2070,1557,1322,39.1,10.7,750,10723,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2070,1439,1557,1322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11023,1.59,381.2,2862,2070,1558,1322,9.1,9.2,780,11072,0.00,0.00,43.70,0.768,8454,0.000,0.000,2862,2070,1246,1371,1121,0,0,0,0,0,0,28.83,28.83,23.37
$STATE,11110,end climb,SURFACE_DEPTH_REACHED
$STATE,11110,begin surface coast
$FINISH,0.4,1.026710
$STATE,11134,end surface coast,CONTROL_FINISHED_OK
$STATE,11134,begin surface
$SM_CCo,11213,0.00,0.000,0,0,1241,382.42
$SM_GC,1.03,11.05,0.00,0.00,0.060,0.000,0.000,510,2073,1241,-9.23,-0.34,382.42,0,0,0,0,0,0,24.26,28.83,28.83
$IRIDIUM_FIX,8028.18,7336.63,310813,090927
$TT8_MAMPS,0.026215,0.026215
$HUMID,46.41
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,15.60
$XPDR_PINGS,5
$SC_FREEKB,3998496
$TM_FREEKB,2660928
$24V_AH,23.0,10.776
$10V_AH,9.2,7.280
$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,24.775,55.175,543.150,0.000,0.000,0.000,0.000,323.200,1.250,0.000,35.892,2098.187,6947.500,589.762,1950.522,170.948,0.000,1749.337,0.000,1483.378,0.000,0.546,0.000
$DEVICE_MAMPS,188.190,116.280,1095.480,0.000,0.000,0.000,0.000,146.115,420.000,0.000,32.210,12.760,2.190,12.760,37.480,46.470,0.000,15.700,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11147.000,11134.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.300,13.805,0.000,0.000
$MEM,266372
$DATA_FILE_SIZE,26730,791
$CAP_FILE_SIZE,143551,0
$CFSIZE,260034560,242737152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.148, 41.0,1
$GPS,310813,161436,8147.889,7356.003,38,1.6,38,43.1