version: 66.11
glider: 125
mission: 18
dive: 52
start: 8 29 113 11 40 59
data:
$ID,125
$MISSION,18
$DIVE,52
$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,-181781.88
$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,2075
$C_ROLL_CLIMB,2046
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,11
$R_STBD_OVSHOOT,11
$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
$GPS1,290813,113159,8123.352,7135.510,36,1.2,41,41.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-53.5
$GPS2,290813,114030,8123.296,7135.623,10,1.2,10,41.7
$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,337.4,85998,-15.1,-10.588,-20.35,3719
$D_GRID,569
$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,-257.8,512,2072,1162,908,0.0,0.0,0,149,0.00,0.00,-125.95,0.000,16386,0.000,0.000,512,2069,3133,3190,3077,0,0,0,0,0,0,28.83,28.83,28.83
$GC,153,-1.43,-257.8,512,2069,3191,3078,3.7,-4.8,12,190,10.43,2.90,-17.95,0.000,18948,0.190,0.131,2206,670,3854,3906,3802,0,0,0,0,0,0,24.16,24.21,24.60
$GC,247,-1.43,-257.8,2206,669,3906,3804,19.2,-12.9,21,252,0.00,2.70,0.00,0.000,1030,0.000,0.086,2206,2076,3855,3906,3804,0,0,0,0,0,0,28.83,24.31,28.83
$GC,559,-1.43,-257.8,2206,2076,3906,3804,50.7,-8.9,52,561,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2077,3855,3906,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,860,-1.43,-257.8,2206,2077,3906,3804,79.3,-10.0,82,861,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2077,3855,3906,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1160,-1.43,-257.8,2206,2077,3907,3804,108.8,-10.0,112,1161,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2077,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1460,-1.43,-257.8,2206,2076,3906,3803,138.4,-9.7,142,1461,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2077,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1759,-1.43,-257.8,2206,2076,3906,3803,166.8,-9.2,172,1760,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2076,3855,3907,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2060,-1.43,-257.8,2206,2077,3906,3803,194.5,-9.2,202,2065,0.00,2.78,0.00,0.000,260,0.000,0.103,2206,3487,3855,3906,3804,0,0,0,0,0,0,28.83,24.40,28.83
$GC,2117,-1.43,-257.8,1392,3485,3904,3802,199.6,-9.7,207,2124,0.00,2.70,0.00,0.000,1030,0.000,0.085,2207,2074,3855,3906,3804,0,0,0,0,0,0,28.83,24.43,28.83
$GC,2423,-1.43,-257.8,2206,2074,3906,3804,228.5,-9.5,238,2424,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2074,3855,3906,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2723,-1.43,-257.8,2206,2074,3906,3804,256.1,-9.2,265,2725,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2074,3855,3906,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3024,-1.43,-257.8,2206,2074,3905,3805,284.0,-9.3,280,3029,0.00,2.78,0.00,0.000,260,0.000,0.099,2206,3489,3855,3906,3805,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3081,-1.43,-257.8,2206,3489,3906,3805,288.0,-9.2,282,3089,0.00,2.70,0.00,0.000,1030,0.000,0.086,2206,2079,3855,3906,3805,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3387,-1.43,-257.8,2206,2078,3906,3805,317.5,-9.2,298,3388,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2079,3856,3907,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3688,-1.43,-257.8,2206,2078,3906,3805,345.3,-9.3,313,3689,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2079,3856,3906,3807,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3987,-1.43,-257.8,2206,2077,3906,3805,373.5,-9.3,328,3988,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2079,3855,3906,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4288,-1.43,-257.8,2206,2077,3906,3805,400.4,-8.7,343,4289,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2076,3855,3906,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4587,-1.43,-257.8,2206,2075,3906,3805,428.1,-9.3,358,4589,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2075,3855,3906,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4888,-1.43,-257.8,2206,2074,3908,3805,455.8,-9.3,373,4889,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2074,3855,3906,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5188,-1.43,-257.8,2206,2074,3906,3805,483.4,-9.2,388,5189,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2074,3855,3906,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5488,-1.43,-257.8,2206,2074,3906,3805,510.7,-9.0,403,5493,0.00,2.78,0.00,0.000,260,0.000,0.103,2206,3486,3855,3906,3805,0,0,0,0,0,0,28.83,24.46,28.83
$GC,5545,-1.43,-257.8,2206,3486,3906,3805,514.9,-9.3,405,5553,0.00,2.72,0.00,0.000,1030,0.000,0.093,2206,2073,3855,3906,3805,0,0,0,0,0,0,28.83,24.47,28.83
$STATE,5810,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5810,begin apogee
$GC,5814,-0.37,0.0,2206,2043,3906,3805,540.1,-8.9,419,6036,1.20,0.00,212.30,1.080,10244,0.122,0.000,2435,2043,2799,2866,2733,0,0,0,0,0,0,24.46,28.83,23.10
$STATE,6038,end apogee,CONTROL_FINISHED_OK
$STATE,6038,begin climb
$GC,6040,1.43,257.8,2435,2043,2866,2731,550.1,0.0,430,6265,1.98,3.00,214.65,1.032,10756,0.089,0.124,2831,635,1749,1843,1656,0,0,0,0,0,0,23.91,23.80,23.06
$GC,6376,1.43,257.8,1888,635,1786,1641,523.3,10.9,447,6382,0.00,2.78,0.00,0.000,1030,0.000,0.088,2830,2051,1742,1838,1647,0,0,0,0,0,0,28.83,24.18,28.83
$GC,6694,1.47,287.9,2831,2051,1838,1643,491.7,9.8,463,6728,0.00,3.03,26.30,0.991,8708,0.000,0.121,2831,635,1626,1727,1525,0,0,0,0,0,0,28.83,23.75,23.19
$GC,6905,1.47,287.9,2831,635,1723,1522,469.8,11.1,473,6910,0.00,2.75,0.00,0.000,1030,0.000,0.090,2831,2050,1622,1723,1522,0,0,0,0,0,0,28.83,24.27,28.83
$GC,7217,1.50,308.0,2831,2050,1722,1520,437.6,10.0,489,7242,0.00,2.85,19.00,0.974,8452,0.000,0.103,2831,3457,1544,1649,1439,0,0,0,0,0,0,28.83,23.84,23.26
$GC,7269,1.51,323.2,2831,3457,1649,1438,433.2,10.2,491,7291,0.12,2.78,15.30,0.945,11270,0.080,0.091,2864,2049,1482,1588,1376,0,0,0,0,0,0,24.18,24.10,23.22
$GC,7603,1.51,323.2,2864,2049,1586,1369,393.0,11.8,508,7604,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2049,1478,1587,1369,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7905,1.51,323.2,2864,2049,1586,1368,357.6,11.8,523,7906,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2049,1477,1586,1369,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8204,1.51,323.2,2864,2049,1586,1368,322.3,11.7,538,8206,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2049,1477,1586,1368,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8504,1.51,323.2,2864,2049,1586,1368,288.2,11.2,553,8505,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2049,1476,1585,1368,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8805,1.53,339.0,2864,2049,1585,1368,255.1,10.2,568,8825,0.00,2.90,14.45,0.882,8452,0.000,0.096,2864,3463,1418,1529,1307,0,0,0,0,0,0,28.83,23.97,23.44
$GC,8898,1.53,339.0,2864,3463,1528,1306,244.6,11.4,574,8905,0.00,2.75,0.00,0.000,1030,0.000,0.087,2865,2052,1416,1528,1305,0,0,0,0,0,0,28.83,24.25,28.83
$GC,9212,1.53,339.0,2865,2052,1528,1303,208.0,11.8,605,9213,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2052,1415,1528,1302,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9512,1.53,339.0,2865,2052,1528,1303,173.1,11.4,635,9513,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2052,1415,1528,1302,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9812,1.53,339.0,2865,2052,1528,1302,137.8,12.3,665,9813,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2052,1415,1528,1302,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10112,1.53,339.0,2865,2052,1528,1301,102.4,12.0,695,10117,0.00,2.75,0.00,0.000,260,0.000,0.097,2865,3460,1415,1528,1302,0,0,0,0,0,0,28.83,24.39,28.83
$GC,10134,1.53,339.0,2865,3459,1528,1302,99.8,11.4,697,10140,0.00,2.70,0.00,0.000,1030,0.000,0.085,2865,2053,1415,1528,1302,0,0,0,0,0,0,28.83,24.41,28.83
$GC,10447,1.53,339.0,2865,2053,1528,1301,65.4,10.8,728,10452,0.00,2.88,0.00,0.000,516,0.000,0.115,2865,634,1415,1528,1302,0,0,0,0,0,0,28.83,24.36,28.83
$GC,10470,1.53,339.0,2864,634,1527,1301,62.9,10.8,730,10475,0.00,2.72,0.00,0.000,1030,0.000,0.085,2865,2060,1414,1528,1301,0,0,0,0,0,0,28.83,24.42,28.83
$GC,10783,1.53,339.0,2865,2060,1527,1301,28.4,10.8,761,10788,0.00,2.90,0.00,0.000,516,0.000,0.116,2865,633,1414,1528,1301,0,0,0,0,0,0,28.83,24.37,28.83
$GC,10815,1.53,339.0,2865,634,1528,1302,24.8,10.9,764,10822,0.00,2.75,0.00,0.000,1030,0.000,0.086,2865,2055,1414,1527,1301,0,0,0,0,0,0,28.83,24.44,28.83
$STATE,11077,end climb,SURFACE_DEPTH_REACHED
$STATE,11077,begin surface coast
$FINISH,0.4,1.026660
$STATE,11099,end surface coast,CONTROL_FINISHED_OK
$STATE,11099,begin surface
$SM_CCo,11179,0.00,0.000,0,0,1412,340.48
$SM_GC,1.19,10.82,0.00,0.00,0.055,0.000,0.000,512,2055,1412,-9.22,-0.57,340.48,0,0,0,0,0,0,24.49,28.83,28.83
$IRIDIUM_FIX,8015.30,7138.41,290813,080806
$TT8_MAMPS,0.026215,0.026215
$HUMID,46.73
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,15.70
$XPDR_PINGS,3
$SC_FREEKB,4003296
$TM_FREEKB,3167360
$24V_AH,23.1,8.157
$10V_AH,9.2,5.582
$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,24.550,61.650,502.000,0.000,0.000,0.000,0.000,323.200,0.750,0.000,12.635,2098.222,6967.053,541.351,1926.677,159.828,0.000,1703.419,0.000,1477.471,0.000,0.547,0.000
$DEVICE_MAMPS,189.720,157.590,1080.180,0.000,0.000,0.000,0.000,146.115,420.000,0.000,32.210,12.760,2.190,12.760,37.480,46.470,0.000,15.700,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11116.000,11103.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.375,13.860,0.000,0.000
$MEM,266340
$DATA_FILE_SIZE,26683,792
$CAP_FILE_SIZE,143469,0
$CFSIZE,260034560,244183040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.028, 96.7,1
$GPS,290813,144836,8124.698,7140.624,37,0.9,37,41.7