version: 66.11
glider: 125
mission: 18
dive: 80
start: 9 2 113 8 5 6
data:
$ID,125
$MISSION,18
$DIVE,80
$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,-4
$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,-181816.88
$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,14
$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
$GPS1,020913,075554,8207.175,7529.191,39,1.3,39,44.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-50.6
$GPS2,020913,080437,8207.175,7528.755,12,1.2,12,44.1
$SPEED_LIMITS,0.183,0.285
$TGT_NAME,SHELF2
$TGT_LATLONG,8248.000,7845.000
$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,348.7,88270,-15.1,-10.588,-20.35,3719
$D_GRID,643
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-1.43,-257.8,513,2096,1518,1306,0.0,0.0,0,118,0.00,0.00,-94.35,0.000,16386,0.000,0.000,513,2096,2986,3037,2936,0,0,0,0,0,0,28.83,28.83,28.83
$GC,121,-1.43,-257.8,513,2095,3037,2936,3.1,-4.0,9,160,10.38,0.00,-25.20,0.000,18950,0.187,0.000,2205,2094,3852,3906,3799,0,0,0,0,0,0,24.19,28.83,24.63
$GC,458,-1.43,-257.8,2205,2094,3906,3803,40.1,-9.8,43,463,0.00,2.72,0.00,0.000,260,0.000,0.095,2206,3498,3854,3906,3803,0,0,0,0,0,0,28.83,24.37,28.83
$GC,511,-1.43,-257.8,2205,3498,3906,3803,45.3,-10.2,48,517,0.00,2.67,0.00,0.000,1030,0.000,0.079,2206,2082,3854,3906,3803,0,0,0,0,0,0,28.83,24.41,28.83
$GC,824,-1.43,-257.8,2205,2082,3906,3802,76.8,-9.7,79,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2082,3854,3906,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1124,-1.43,-257.8,2205,2082,3906,3802,105.7,-9.3,109,1125,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2082,3853,3906,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1424,-1.43,-257.8,2205,2082,3906,3801,132.8,-8.9,139,1430,0.00,2.78,0.00,0.000,516,0.000,0.106,2205,677,3853,3906,3801,0,0,0,0,0,0,28.83,24.39,28.83
$GC,1481,-1.43,-257.8,2205,677,3906,3801,138.0,-9.7,144,1489,0.00,2.67,0.00,0.000,1030,0.000,0.080,2206,2094,3853,3906,3801,0,0,0,0,0,0,28.83,24.46,28.83
$GC,1788,-1.43,-257.8,2205,2094,3906,3801,166.7,-9.2,175,1793,0.00,2.72,0.00,0.000,260,0.000,0.096,2206,3501,3853,3906,3801,0,0,0,0,0,0,28.83,24.43,28.83
$GC,1834,-1.43,-257.8,2205,3501,3907,3801,171.0,-10.0,179,1842,0.00,2.67,0.00,0.000,1030,0.000,0.078,2206,2082,3853,3906,3801,0,0,0,0,0,0,28.83,24.45,28.83
$GC,2140,-1.43,-257.8,2205,2082,3906,3801,200.7,-9.5,210,2142,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2082,3853,3906,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2441,-1.43,-257.8,2205,2082,3906,3801,229.2,-9.5,240,2446,0.00,2.75,0.00,0.000,260,0.000,0.093,2206,3500,3854,3906,3802,0,0,0,0,0,0,28.83,24.45,28.83
$GC,2494,-1.43,-257.8,2205,3501,3906,3801,234.4,-9.8,245,2499,0.00,2.67,0.00,0.000,1030,0.000,0.079,2206,2087,3853,3906,3801,0,0,0,0,0,0,28.83,24.47,28.83
$GC,2807,-1.43,-257.8,2205,2086,3906,3802,262.9,-9.0,269,2808,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2086,3854,3906,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3108,-1.43,-257.8,2205,2086,3906,3803,290.3,-9.2,284,3109,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2086,3854,3906,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3408,-1.43,-257.8,2205,2086,3906,3803,317.9,-9.0,299,3409,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2086,3855,3907,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3709,-1.43,-257.8,2205,2088,3906,3804,344.4,-8.6,314,3710,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2087,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4008,-1.43,-257.8,2206,2087,3906,3804,370.1,-8.6,329,4009,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2087,3855,3906,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4307,-1.43,-257.8,2205,2086,3906,3804,395.8,-8.6,344,4313,0.00,2.75,0.00,0.000,260,0.000,0.106,2206,3500,3855,3906,3804,0,0,0,0,0,0,28.83,24.48,28.83
$GC,4365,-1.43,-257.8,2206,3499,3906,3804,399.7,-8.9,346,4372,0.00,2.67,0.00,0.000,1030,0.000,0.082,2206,2089,3855,3906,3804,0,0,0,0,0,0,28.83,24.49,28.83
$GC,4670,-1.43,-257.8,2206,2089,3906,3804,428.9,-9.4,362,4672,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2089,3856,3908,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4972,-1.43,-257.8,2206,2089,3906,3804,457.4,-9.5,377,4973,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2089,3855,3906,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5271,-1.43,-257.8,2206,2088,3906,3804,486.3,-9.6,392,5272,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2088,3855,3906,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5572,-1.43,-257.8,2206,2088,3906,3804,514.7,-9.4,407,5577,0.00,2.72,0.00,0.000,260,0.000,0.104,2206,3495,3855,3906,3805,0,0,0,0,0,0,28.83,24.36,28.83
$GC,5628,-1.43,-257.8,2205,3495,3906,3804,518.8,-9.3,409,5635,0.00,2.67,0.00,0.000,1030,0.000,0.082,2206,2086,3855,3906,3804,0,0,0,0,0,0,28.83,24.50,28.83
$STATE,5852,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5854,begin apogee
$GC,5857,-0.37,0.0,2206,2086,3906,3804,540.4,-8.8,421,6076,1.20,0.00,210.70,1.068,10244,0.120,0.000,2435,2086,2800,2867,2733,0,0,0,0,0,0,24.47,28.83,23.11
$STATE,6078,end apogee,CONTROL_FINISHED_OK
$STATE,6078,begin climb
$GC,6080,1.43,257.8,2435,2086,2867,2731,550.4,0.0,432,6305,1.98,2.97,213.52,1.024,10756,0.086,0.116,2831,661,1749,1850,1649,0,0,0,0,0,0,23.91,23.82,23.08
$GC,6387,1.46,278.6,2830,661,1849,1642,528.1,10.0,447,6412,0.00,2.70,19.00,0.946,9222,0.000,0.081,2831,2068,1664,1770,1558,0,0,0,0,0,0,28.83,24.15,23.19
$GC,6720,1.51,319.3,2830,2068,1770,1549,495.5,9.5,464,6765,0.12,2.95,36.83,0.985,11012,0.087,0.112,2865,662,1498,1612,1385,0,0,0,0,0,0,24.38,23.74,23.18
$GC,6952,1.51,319.3,2864,662,1608,1381,469.3,12.0,475,6958,0.00,2.67,0.00,0.000,1030,0.000,0.080,2865,2069,1494,1608,1381,0,0,0,0,0,0,28.83,24.30,28.83
$GC,7265,1.51,319.3,2864,2069,1607,1379,433.4,11.1,491,7266,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2069,1493,1607,1379,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7566,1.51,319.3,2864,2069,1607,1377,399.5,11.3,506,7567,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2070,1492,1607,1378,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7866,1.51,319.3,2864,2069,1607,1376,365.3,11.5,521,7871,0.00,2.83,0.00,0.000,516,0.000,0.119,2865,662,1491,1607,1376,0,0,0,0,0,0,28.83,24.33,28.83
$GC,7889,1.51,319.3,2865,662,1606,1376,362.5,11.5,522,7895,0.00,2.67,0.00,0.000,1030,0.000,0.090,2865,2069,1492,1607,1377,0,0,0,0,0,0,28.83,24.39,28.83
$GC,8212,1.51,319.3,2865,2069,1606,1376,324.2,12.0,538,8214,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2069,1491,1606,1376,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8514,1.51,319.3,2865,2069,1606,1376,288.6,12.0,553,8519,0.00,2.83,0.00,0.000,516,0.000,0.110,2865,658,1491,1607,1376,0,0,0,0,0,0,28.83,24.34,28.83
$GC,8536,1.51,319.3,2865,658,1606,1376,285.6,12.1,554,8542,0.00,2.67,0.00,0.000,1030,0.000,0.085,2865,2067,1491,1606,1376,0,0,0,0,0,0,28.83,24.41,28.83
$GC,8859,1.51,319.3,2865,2067,1606,1376,247.9,11.6,570,8860,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2067,1491,1606,1376,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9160,1.51,319.3,2865,2067,1606,1376,212.5,11.6,600,9161,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2067,1491,1606,1376,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9460,1.51,319.3,2865,2068,1606,1376,177.4,11.9,630,9465,0.00,2.80,0.00,0.000,516,0.000,0.106,2865,658,1491,1606,1376,0,0,0,0,0,0,28.83,24.39,28.83
$GC,9492,1.51,319.3,2865,658,1606,1376,173.1,12.7,633,9498,0.00,2.65,0.00,0.000,1030,0.000,0.078,2865,2062,1491,1606,1376,0,0,0,0,0,0,28.83,24.44,28.83
$GC,9806,1.51,319.3,2865,2062,1606,1376,136.0,11.8,664,9807,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2062,1491,1606,1376,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10106,1.51,319.3,2865,2062,1606,1376,101.0,11.5,694,10107,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2062,1491,1606,1376,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10406,1.51,319.3,2865,2062,1606,1376,66.6,11.5,724,10407,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2062,1491,1607,1376,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10706,1.51,319.3,2865,2062,1606,1375,32.7,11.2,754,10707,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2062,1491,1606,1376,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11006,1.60,394.0,2865,2062,1606,1376,2.1,8.5,784,11018,0.00,0.00,10.32,0.723,8962,0.000,0.000,2865,2062,1452,1570,1335,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11019,end climb,SURFACE_DEPTH_REACHED
$STATE,11020,begin surface coast
$FINISH,0.6,1.026903
$STATE,11036,end surface coast,CONTROL_FINISHED_OK
$STATE,11036,begin surface
$SM_CCo,11116,0.00,0.000,0,0,1450,331.40
$SM_GC,1.19,10.98,0.00,0.00,0.057,0.000,0.000,510,2066,1450,-9.23,-0.57,331.40,0,0,0,0,0,0,24.34,28.83,28.83
$IRIDIUM_FIX,8054.85,7531.29,020913,040429
$TT8_MAMPS,0.026964,0.026964
$HUMID,46.41
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,15.80
$XPDR_PINGS,13
$SC_FREEKB,3994336
$TM_FREEKB,2221632
$24V_AH,23.1,13.027
$10V_AH,9.2,8.766
$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,24.650,60.250,490.375,0.000,0.000,0.000,0.000,322.650,3.250,0.000,14.783,2078.042,6959.692,517.941,1897.842,187.624,0.000,1660.525,0.000,1456.859,0.000,0.528,0.000
$DEVICE_MAMPS,186.660,119.340,1067.940,0.000,0.000,0.000,0.000,144.585,420.000,0.000,32.210,12.760,2.190,12.760,37.480,46.470,0.000,15.700,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11050.000,11033.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.322,13.760,0.000,0.000
$MEM,282224
$DATA_FILE_SIZE,26737,787
$CAP_FILE_SIZE,142476,0
$CFSIZE,260034560,241471488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.070,186.3,1
$GPS,020913,111135,8208.016,7535.437,32,1.0,32,44.2