version: 66.11
glider: 125
mission: 18
dive: 23
start: 8 25 113 19 45 0
data:
$ID,125
$MISSION,18
$DIVE,23
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,420
$D_ABORT,450
$D_NO_BLEED,200
$D_BOOST,3
$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,140
$T_MISSION,160
$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,350
$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,-181693.19
$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,2510
$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,2046
$C_ROLL_CLIMB,2046
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,11
$R_STBD_OVSHOOT,10
$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,4
$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,1
$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
$GPS1,250813,193829,8103.812,7056.129,40,1.3,40,41.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-54.5
$GPS2,250813,194437,8103.818,7055.963,13,1.6,13,41.1
$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,231.4,50559,-22.0,-10.000,-24.97,2244
$D_GRID,568
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.81,-145.9,511,2034,1446,1272,0.0,0.0,0,121,0.00,0.00,-101.07,0.000,16386,0.000,0.000,512,2033,3098,3157,3039,0,0,0,0,0,0,28.83,28.83,28.83
$GC,124,-1.81,-145.9,511,2033,3157,3039,3.3,-3.9,10,150,9.68,2.85,-8.68,0.000,19204,0.184,0.114,2109,3464,3396,3475,3317,0,0,0,0,0,0,24.15,24.20,24.58
$GC,451,-1.81,-145.9,1344,3462,3460,3314,47.4,-11.4,42,458,0.00,2.75,0.00,0.000,1030,0.000,0.091,2109,2047,3396,3475,3318,0,0,0,0,0,0,28.83,24.34,28.83
$GC,757,-1.81,-145.9,2108,2048,3475,3318,81.6,-11.4,73,762,0.00,2.80,0.00,0.000,260,0.000,0.103,2108,3465,3396,3475,3318,0,0,0,0,0,0,28.83,24.34,28.83
$GC,899,-1.81,-145.9,2108,3465,3474,3318,98.3,-11.9,87,904,0.00,2.75,0.00,0.000,1030,0.000,0.093,2109,2047,3396,3475,3318,0,0,0,0,0,0,28.83,24.37,28.83
$GC,1211,-1.81,-145.9,2108,2047,3475,3318,132.9,-11.4,118,1216,0.00,2.78,0.00,0.000,260,0.000,0.101,2109,3460,3396,3475,3318,0,0,0,0,0,0,28.83,24.36,28.83
$GC,1273,-1.81,-145.9,2108,3460,3475,3318,139.8,-11.4,124,1278,0.00,2.75,0.00,0.000,1030,0.000,0.092,2109,2041,3396,3475,3318,0,0,0,0,0,0,28.83,24.38,28.83
$GC,1585,-1.81,-145.9,2108,2041,3474,3318,174.4,-11.3,155,1591,0.00,2.80,0.00,0.000,260,0.000,0.103,2109,3460,3396,3475,3318,0,0,0,0,0,0,28.83,24.37,28.83
$GC,1638,-1.81,-145.9,2109,3460,3475,3318,180.5,-11.7,160,1643,0.00,2.75,0.00,0.000,1030,0.000,0.092,2109,2038,3396,3475,3318,0,0,0,0,0,0,28.83,24.39,28.83
$GC,1950,-1.81,-145.9,2108,2038,3475,3318,215.3,-11.1,191,1955,0.00,2.80,0.00,0.000,260,0.000,0.103,2109,3460,3396,3475,3318,0,0,0,0,0,0,28.83,24.38,28.83
$GC,2012,-1.81,-145.9,2108,3460,3475,3318,222.4,-11.6,197,2018,0.00,2.75,0.00,0.000,1030,0.000,0.092,2109,2046,3396,3475,3318,0,0,0,0,0,0,28.83,24.41,28.83
$GC,2325,-1.81,-145.9,2108,2045,3475,3318,256.9,-11.0,225,2330,0.00,2.80,0.00,0.000,260,0.000,0.103,2109,3465,3396,3475,3318,0,0,0,0,0,0,28.83,24.39,28.83
$GC,2351,-1.81,-145.9,2108,3465,3475,3318,259.4,-11.1,226,2356,0.00,2.75,0.00,0.000,1030,0.000,0.092,2109,2046,3396,3474,3318,0,0,0,0,0,0,28.83,24.41,28.83
$GC,2668,-1.81,-145.9,2108,2046,3475,3318,294.6,-10.8,242,2673,0.00,2.78,0.00,0.000,260,0.000,0.103,2108,3459,3396,3475,3318,0,0,0,0,0,0,28.83,24.40,28.83
$GC,2719,-1.81,-145.9,2108,3460,3475,3319,299.2,-11.0,244,2724,0.00,2.75,0.00,0.000,1030,0.000,0.093,2109,2043,3396,3475,3318,0,0,0,0,0,0,28.83,24.42,28.83
$GC,3031,-1.81,-145.9,2108,2043,3475,3318,333.2,-10.5,260,3037,0.00,2.80,0.00,0.000,260,0.000,0.104,2109,3461,3396,3474,3319,0,0,0,0,0,0,28.83,24.41,28.83
$GC,3118,-1.81,-145.9,2108,3461,3475,3319,342.3,-11.0,264,3123,0.00,2.75,0.00,0.000,1030,0.000,0.094,2108,2048,3397,3475,3319,0,0,0,0,0,0,28.83,24.43,28.83
$GC,3435,-1.81,-145.9,2108,2047,3475,3318,375.7,-10.3,280,3440,0.00,2.80,0.00,0.000,260,0.000,0.106,2108,3462,3396,3475,3318,0,0,0,0,0,0,28.83,24.41,28.83
$GC,3466,-1.81,-145.9,2110,3462,3475,3319,378.0,-10.3,281,3472,0.00,2.78,0.00,0.000,1030,0.000,0.101,2108,2040,3397,3475,3319,0,0,0,0,0,0,28.83,24.42,28.83
$GC,3779,-1.81,-145.9,2108,2040,3475,3318,411.1,-10.2,297,3784,0.00,2.85,0.00,0.000,260,0.000,0.119,2109,3464,3397,3475,3319,0,0,0,0,0,0,28.83,24.41,28.83
$GC,3830,-1.81,-145.9,2109,3464,3475,3319,415.6,-10.6,299,3835,0.00,2.78,0.00,0.000,1030,0.000,0.099,2109,2045,3397,3475,3319,0,0,0,0,0,0,28.83,24.43,28.83
$STATE,3881,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3881,begin apogee
$GC,3884,-0.37,0.0,2108,2045,3475,3318,422.1,-10.6,302,4012,1.67,0.00,120.35,1.008,10246,0.140,0.000,2424,2045,2800,2871,2730,0,0,0,0,0,0,24.39,28.83,23.18
$STATE,4014,end apogee,CONTROL_FINISHED_OK
$STATE,4014,begin climb
$GC,4015,1.81,145.9,2424,2045,2871,2729,425.6,0.0,308,4149,2.42,3.12,120.75,0.965,10756,0.105,0.135,2903,640,2204,2282,2127,0,0,0,0,0,0,23.90,23.68,23.17
$GC,4200,1.91,162.0,2902,640,2281,2121,414.3,9.3,317,4221,0.12,2.78,14.52,0.887,11270,0.072,0.093,2933,2046,2139,2220,2058,0,0,0,0,0,0,24.20,24.11,23.26
$GC,4521,1.99,162.0,2933,2047,2218,2048,376.4,11.5,333,4527,0.00,2.85,0.00,0.000,260,0.000,0.117,2933,3464,2133,2219,2048,0,0,0,0,0,0,28.83,24.25,28.83
$GC,4553,2.07,162.0,2933,3464,2217,2048,373.7,11.6,334,4559,0.12,2.80,0.00,0.000,3078,0.078,0.101,2961,2047,2132,2217,2047,0,0,0,0,0,0,24.34,24.26,28.83
$GC,4866,2.07,162.0,2961,2046,2217,2046,333.6,12.3,350,4867,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2046,2132,2217,2047,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5167,2.07,162.0,2961,2048,2217,2045,296.2,12.3,365,5169,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2046,2131,2217,2045,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5467,2.07,162.0,2961,2046,2216,2045,259.2,12.4,380,5468,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2046,2130,2216,2045,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5766,2.07,162.0,2961,2046,2216,2045,221.7,12.3,406,5767,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2046,2130,2216,2045,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6066,2.07,162.0,2961,2046,2216,2045,184.7,12.5,436,6068,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2046,2130,2216,2045,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6367,2.07,162.0,2961,2046,2216,2045,148.3,12.1,466,6368,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2046,2130,2216,2045,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6666,2.07,162.0,2961,2047,2216,2045,112.5,11.7,496,6668,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2046,2130,2216,2045,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6966,2.07,162.0,2961,2046,2216,2045,76.9,12.2,526,6968,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2046,2130,2216,2045,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7266,2.07,162.0,2961,2046,2216,2045,42.4,11.0,556,7267,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2046,2130,2215,2045,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7567,2.19,177.6,2961,2046,2216,2045,11.7,9.3,586,7587,0.12,0.00,13.10,0.751,10246,0.073,0.000,2996,2046,2074,2158,1990,0,0,0,0,0,0,24.58,28.83,23.63
$STATE,7675,end climb,SURFACE_DEPTH_REACHED
$STATE,7676,begin surface coast
$FINISH,0.5,1.026788
$STATE,7696,end surface coast,CONTROL_FINISHED_OK
$STATE,7696,begin surface
$SM_CCo,7715,107.70,0.659,1,0,1374,350.04
$SM_GC,0.98,11.73,0.00,107.70,0.066,0.000,0.659,509,2042,1374,-9.16,-0.14,350.04,0,0,0,0,1,0,24.40,28.83,23.39
$IRIDIUM_FIX,8002.69,7103.40,250813,171706
$TT8_MAMPS,0.026215,0.026215
$HUMID,46.65
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,15.60
$XPDR_PINGS,10
$SC_FREEKB,4012416
$24V_AH,23.2,3.793
$10V_AH,9.3,2.664
$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,25.875,67.150,268.725,107.700,0.000,0.000,0.000,257.500,2.500,0.000,16.132,1583.252,4568.954,469.764,1463.083,120.379,0.000,1370.205,0.000,1167.522,0.000,0.545,0.000
$DEVICE_MAMPS,184.365,135.405,1007.505,659.430,0.000,0.000,0.000,136.935,420.000,0.000,32.210,12.760,2.190,12.760,37.480,46.470,0.000,15.700,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7700.000,14.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.446,7.023,0.000,0.000
$MEM,267444
$DATA_FILE_SIZE,20100,599
$CAP_FILE_SIZE,110772,0
$CFSIZE,260034560,246759424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,250813,215635,8103.939,7048.537,12,1.6,28,41.0