version: 66.11
glider: 125
mission: 18
dive: 43
start: 8 28 113 6 28 22
data:
$ID,125
$MISSION,18
$DIVE,43
$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,250
$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,-181718.84
$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,2020
$C_ROLL_CLIMB,2046
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,14
$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
$GPS1,280813,062024,8115.068,7035.685,37,1.4,37,41.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-58.3
$GPS2,280813,062755,8115.104,7035.480,14,1.6,14,41.1
$SPEED_LIMITS,0.173,0.273
$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,358.3,107526,-14.7,-10.000,-20.13,3713
$D_GRID,571
$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,-1.39,-243.2,515,2023,1567,1377,0.0,0.0,0,118,0.00,0.00,-94.82,0.000,16386,0.000,0.000,514,2023,3083,3140,3027,0,0,0,0,0,0,28.83,28.83,28.83
$GC,121,-1.39,-243.2,515,2023,3140,3028,3.4,-3.7,9,159,10.40,2.80,-19.33,0.000,18692,0.187,0.109,2216,3419,3794,3867,3721,0,0,0,0,0,0,24.18,24.25,24.62
$GC,380,-1.39,-243.2,1424,3417,3864,3720,34.7,-10.5,34,387,0.00,2.70,0.00,0.000,1030,0.000,0.086,2215,2013,3794,3867,3722,0,0,0,0,0,0,28.83,24.37,28.83
$GC,688,-1.39,-243.2,2215,2013,3866,3722,65.1,-9.3,65,689,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2013,3794,3866,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,988,-1.39,-243.2,2216,2013,3866,3722,94.1,-10.2,95,993,0.00,2.78,0.00,0.000,260,0.000,0.099,2216,3426,3794,3866,3722,0,0,0,0,0,0,28.83,24.39,28.83
$GC,1054,-1.39,-243.2,2216,3426,3866,3722,100.3,-10.0,101,1061,0.00,2.70,0.00,0.000,1030,0.000,0.088,2216,2026,3794,3867,3722,0,0,0,0,0,0,28.83,24.41,28.83
$GC,1360,-1.39,-243.2,2216,2026,3867,3722,130.4,-9.5,132,1362,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2025,3794,3866,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1660,-1.39,-243.2,2216,2026,3866,3722,159.1,-9.6,162,1666,0.00,2.75,0.00,0.000,260,0.000,0.096,2216,3435,3794,3867,3722,0,0,0,0,0,0,28.83,24.41,28.83
$GC,1717,-1.39,-243.2,2215,3435,3867,3722,164.3,-9.9,167,1725,0.00,2.70,0.00,0.000,1030,0.000,0.086,2216,2027,3794,3867,3722,0,0,0,0,0,0,28.83,24.44,28.83
$GC,2024,-1.39,-243.2,2215,2027,3867,3722,195.6,-9.9,198,2025,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2026,3794,3867,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2324,-1.39,-243.2,2216,2026,3867,3722,225.5,-10.0,228,2329,0.00,2.72,0.00,0.000,260,0.000,0.097,2216,3427,3794,3866,3722,0,0,0,0,0,0,28.83,24.43,28.83
$GC,2400,-1.39,-243.2,1416,3426,3864,3720,232.8,-10.1,235,2408,0.00,2.70,0.00,0.000,1030,0.000,0.087,2216,2020,3794,3866,3722,0,0,0,0,0,0,28.83,24.45,28.83
$GC,2717,-1.39,-243.2,2216,2020,3867,3722,263.3,-9.3,260,2718,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2020,3794,3867,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3017,-1.39,-243.2,2216,2020,3866,3722,291.4,-9.2,275,3023,0.00,2.75,0.00,0.000,260,0.000,0.098,2216,3426,3794,3866,3722,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3101,-1.39,-243.2,2215,3426,3866,3723,299.4,-9.5,279,3107,0.00,2.70,0.00,0.000,1030,0.000,0.089,2216,2029,3794,3867,3722,0,0,0,0,0,0,28.83,24.45,28.83
$GC,3425,-1.39,-243.2,2216,2029,3867,3722,328.3,-8.6,295,3426,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2028,3794,3866,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3725,-1.39,-243.2,2215,2029,3866,3722,353.6,-8.3,310,3730,0.00,2.75,0.00,0.000,260,0.000,0.099,2216,3433,3794,3866,3723,0,0,0,0,0,0,28.83,24.45,28.83
$GC,3817,-1.39,-243.2,2216,3433,3866,3722,360.7,-8.5,314,3823,0.00,2.70,0.00,0.000,1030,0.000,0.090,2216,2032,3794,3867,3722,0,0,0,0,0,0,28.83,24.46,28.83
$GC,4131,-1.39,-243.2,2216,2032,3867,3722,387.9,-8.5,330,4132,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2032,3794,3866,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4431,-1.39,-243.2,2216,2031,3866,3722,413.0,-8.4,345,4437,0.00,2.75,0.00,0.000,260,0.000,0.101,2216,3429,3795,3867,3723,0,0,0,0,0,0,28.83,24.46,28.83
$GC,4519,-1.39,-243.2,2216,3429,3866,3722,420.6,-9.0,349,4524,0.00,2.70,0.00,0.000,1030,0.000,0.091,2216,2031,3794,3866,3723,0,0,0,0,0,0,28.83,24.46,28.83
$GC,4837,-1.39,-243.2,2216,2031,3867,3722,448.6,-8.6,365,4838,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2031,3794,3867,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5138,-1.39,-243.2,2216,2030,3867,3723,474.8,-8.9,380,5143,0.00,2.75,0.00,0.000,260,0.000,0.102,2216,3429,3795,3867,3723,0,0,0,0,0,0,28.83,24.46,28.83
$GC,5209,-1.39,-243.2,2216,3429,3866,3723,480.6,-9.0,383,5215,0.00,2.70,0.00,0.000,1030,0.000,0.092,2216,2037,3795,3867,3723,0,0,0,0,0,0,28.83,24.46,28.83
$GC,5523,-1.39,-243.2,2216,2037,3867,3722,507.9,-8.3,399,5525,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2037,3794,3866,3723,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5561,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5561,begin apogee
$GC,5564,-0.37,0.0,2216,2037,3866,3723,511.2,-8.1,401,5772,1.15,0.00,199.30,1.058,10244,0.119,0.000,2437,2036,2799,2864,2734,0,0,0,0,0,0,24.46,28.83,23.12
$STATE,5774,end apogee,CONTROL_FINISHED_OK
$STATE,5774,begin climb
$GC,5776,1.39,243.2,2437,2036,2864,2733,518.9,0.0,411,5989,1.92,2.97,201.60,1.014,10756,0.088,0.124,2821,639,1808,1901,1715,0,0,0,0,0,0,23.91,23.81,23.09
$GC,6151,1.39,243.2,2821,640,1898,1705,488.2,10.4,430,6157,0.00,2.72,0.00,0.000,1030,0.000,0.088,2821,2044,1801,1897,1705,0,0,0,0,0,0,28.83,24.22,28.83
$GC,6469,1.41,262.3,2821,2044,1897,1701,457.6,9.5,446,6495,0.00,3.03,16.90,0.957,8708,0.000,0.121,2821,640,1730,1830,1631,0,0,0,0,0,0,28.83,23.82,23.28
$GC,6666,1.41,262.3,2821,641,1828,1628,438.0,10.9,455,6673,0.00,2.72,0.00,0.000,1030,0.000,0.091,2821,2049,1727,1828,1627,0,0,0,0,0,0,28.83,24.28,28.83
$GC,6972,1.41,262.3,2821,2049,1828,1626,405.3,10.2,471,6977,0.00,2.78,0.00,0.000,260,0.000,0.103,2821,3456,1727,1828,1626,0,0,0,0,0,0,28.83,24.30,28.83
$GC,7014,1.41,262.3,2821,3456,1827,1626,400.6,10.7,473,7019,0.00,2.75,0.00,0.000,1030,0.000,0.091,2821,2049,1726,1826,1626,0,0,0,0,0,0,28.83,24.32,28.83
$GC,7336,1.41,262.3,2821,2049,1827,1625,367.2,10.1,489,7338,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2049,1726,1827,1625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7638,1.41,263.0,2821,2049,1827,1625,336.6,10.0,504,7643,0.00,2.78,0.00,0.000,260,0.000,0.099,2821,3460,1726,1827,1625,0,0,0,0,0,0,28.83,24.34,28.83
$GC,7674,1.41,263.0,2821,3460,1827,1625,334.2,10.0,505,7682,0.00,2.72,0.00,0.000,1030,0.000,0.089,2821,2052,1726,1827,1625,0,0,0,0,0,0,28.83,24.35,28.83
$GC,7980,1.42,271.8,2821,2052,1827,1625,302.4,9.8,521,7992,0.00,0.00,9.45,0.871,8198,0.000,0.000,2821,2052,1691,1792,1590,0,0,0,0,0,0,28.83,28.83,23.53
$GC,8280,1.46,301.1,2821,2052,1793,1588,274.2,9.2,536,8315,0.00,2.85,27.62,0.912,8452,0.000,0.099,2821,3455,1571,1678,1465,0,0,0,0,0,0,28.83,23.85,23.30
$GC,8351,1.47,309.0,2821,3455,1678,1461,268.0,9.8,539,8368,0.10,2.72,8.38,0.805,11270,0.087,0.090,2848,2060,1540,1648,1432,0,0,0,0,0,0,24.20,24.14,23.41
$GC,8675,1.47,309.0,2847,2060,1647,1427,233.2,10.4,563,8676,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2060,1537,1647,1427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8975,1.47,309.0,2847,2060,1646,1426,202.6,10.1,593,8976,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2060,1536,1646,1426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9275,1.47,309.0,2847,2060,1646,1425,171.8,10.4,623,9277,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2060,1535,1646,1425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9575,1.47,309.0,2848,2060,1646,1425,140.1,10.8,653,9576,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2060,1535,1646,1424,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9875,1.47,309.0,2847,2060,1646,1424,107.4,10.9,683,9880,0.00,2.75,0.00,0.000,260,0.000,0.099,2848,3461,1535,1646,1425,0,0,0,0,0,0,28.83,24.39,28.83
$GC,9901,1.47,309.0,1920,3459,1606,1420,104.7,11.3,685,9908,0.00,2.67,0.00,0.000,1030,0.000,0.086,2849,2064,1535,1646,1424,0,0,0,0,0,0,28.83,24.41,28.83
$GC,10208,1.47,309.0,2848,2063,1646,1424,71.6,10.1,716,10210,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2063,1535,1646,1424,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10508,1.47,309.0,2848,2063,1646,1424,40.3,10.2,746,10513,0.00,2.72,0.00,0.000,260,0.000,0.097,2848,3456,1535,1646,1424,0,0,0,0,0,0,28.83,24.41,28.83
$GC,10534,1.47,309.0,2848,3456,1646,1424,37.8,10.5,748,10541,0.00,2.67,0.00,0.000,1030,0.000,0.094,2848,2058,1535,1646,1424,0,0,0,0,0,0,28.83,24.42,28.83
$GC,10841,1.51,344.5,2848,2058,1646,1424,7.7,9.0,779,10882,0.00,2.88,31.40,0.754,8452,0.000,0.098,2848,3453,1395,1510,1280,0,0,0,0,0,0,28.83,23.91,23.44
$GC,10909,1.57,391.5,1888,3451,1474,1275,2.1,8.7,785,10919,0.00,2.70,4.35,0.547,9218,0.000,0.089,2848,2070,1379,1495,1263,0,0,0,0,0,0,28.83,24.16,28.83
$STATE,10919,end climb,SURFACE_DEPTH_REACHED
$STATE,10920,begin surface coast
$FINISH,1.3,1.026688
$STATE,10924,end surface coast,CONTROL_FINISHED_OK
$STATE,10924,begin surface
$SM_CCo,11005,0.00,0.000,0,0,1376,349.31
$SM_GC,1.17,10.90,0.12,0.00,0.056,0.129,0.000,512,2014,1376,-9.22,0.28,349.31,0,0,0,0,0,0,24.22,24.17,28.83
$IRIDIUM_FIX,8015.30,7035.94,280813,030302
$TT8_MAMPS,0.026215,0.026215
$HUMID,46.33
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,16.40
$XPDR_PINGS,9
$SC_FREEKB,4006016
$TM_FREEKB,3454080
$24V_AH,23.1,6.572
$10V_AH,9.2,4.618
$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,24.475,88.500,499.000,0.000,0.000,0.000,0.000,273.725,2.250,0.000,17.127,2194.174,6580.266,562.372,1976.431,144.518,0.000,1721.353,0.000,1579.525,0.000,0.538,0.000
$DEVICE_MAMPS,186.660,182.835,1057.995,0.000,0.000,0.000,0.000,146.880,420.000,0.000,32.210,12.760,2.190,12.760,37.480,46.470,0.000,15.700,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10935.000,10930.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.898,13.785,0.000,0.000
$MEM,266424
$DATA_FILE_SIZE,26704,786
$CAP_FILE_SIZE,150064,0
$CFSIZE,260034560,244989952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.128,177.3,1
$GPS,280813,093305,8115.417,7042.123,37,1.1,37,41.2