version: 66.11
glider: 125
mission: 18
dive: 70
start: 8 31 113 23 3 35
data:
$ID,125
$MISSION,18
$DIVE,70
$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,-181804.38
$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,10
$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
$GPS1,310813,225405,8152.373,7423.438,35,1.3,40,43.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-56.4
$GPS2,310813,230236,8152.418,7423.648,14,1.2,14,43.4
$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,335.8,16881,-15.1,-10.588,-20.35,3719
$D_GRID,570
$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,-257.8,514,2066,1479,1255,0.0,0.0,0,137,0.00,0.00,-114.10,0.000,16386,0.000,0.000,514,2065,3271,3330,3212,0,0,0,0,0,0,28.83,28.83,28.83
$GC,141,-1.43,-257.8,514,2065,3329,3213,4.4,-5.1,11,175,10.38,2.78,-13.25,0.000,18948,0.187,0.118,2205,674,3853,3906,3800,0,0,0,0,0,0,24.18,24.22,24.61
$GC,479,-1.43,-257.8,2205,674,3907,3802,48.0,-9.2,44,484,0.00,2.67,0.00,0.000,1030,0.000,0.079,2205,2090,3854,3907,3802,0,0,0,0,0,0,28.83,24.39,28.83
$GC,792,-1.43,-257.8,2205,2091,3907,3802,78.4,-9.3,75,797,0.00,2.83,0.00,0.000,516,0.000,0.106,2205,667,3854,3907,3802,0,0,0,0,0,0,28.83,24.36,28.83
$GC,885,-1.43,-257.8,2206,667,3907,3803,87.8,-10.0,84,891,0.00,2.67,0.00,0.000,1030,0.000,0.079,2205,2087,3854,3906,3802,0,0,0,0,0,0,28.83,24.41,28.83
$GC,1198,-1.43,-257.8,2205,2086,3906,3803,118.4,-9.4,115,1203,0.00,2.75,0.00,0.000,260,0.000,0.099,2205,3499,3855,3907,3803,0,0,0,0,0,0,28.83,24.39,28.83
$GC,1274,-1.43,-257.8,2205,3499,3906,3802,125.7,-10.0,122,1281,0.00,2.67,0.00,0.000,1030,0.000,0.079,2205,2081,3854,3907,3802,0,0,0,0,0,0,28.83,24.42,28.83
$GC,1581,-1.43,-257.8,2205,2081,3906,3803,154.6,-9.1,153,1583,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2081,3855,3907,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1881,-1.43,-257.8,2205,2081,3907,3803,183.3,-9.5,183,1882,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2081,3855,3907,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2181,-1.43,-257.8,2205,2081,3907,3803,212.6,-9.7,213,2182,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2081,3855,3907,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2481,-1.43,-257.8,2205,2081,3906,3803,239.9,-8.9,243,2482,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2081,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2781,-1.43,-257.8,2206,2081,3906,3803,267.1,-9.1,264,2787,0.00,2.75,0.00,0.000,260,0.000,0.096,2205,3492,3854,3906,3802,0,0,0,0,0,0,28.83,24.44,28.83
$GC,2833,-1.43,-257.8,2205,3492,3906,3803,271.2,-9.3,266,2839,0.00,2.67,0.00,0.000,1030,0.000,0.090,2205,2085,3854,3906,3803,0,0,0,0,0,0,28.83,24.45,28.83
$GC,3146,-1.43,-257.8,2205,2085,3907,3803,301.3,-9.3,282,3152,0.00,2.83,0.00,0.000,516,0.000,0.115,2205,676,3855,3907,3803,0,0,0,0,0,0,28.83,24.39,28.83
$GC,3199,-1.43,-257.8,2205,675,3907,3803,305.3,-9.4,284,3204,0.00,2.70,0.00,0.000,1030,0.000,0.082,2205,2091,3854,3906,3803,0,0,0,0,0,0,28.83,24.46,28.83
$GC,3512,-1.43,-257.8,2205,2091,3907,3803,335.2,-9.1,300,3513,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2092,3855,3907,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3814,-1.43,-257.8,2205,2091,3906,3803,362.6,-9.4,315,3819,0.00,2.72,0.00,0.000,260,0.000,0.106,2205,3494,3855,3907,3803,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3870,-1.43,-257.8,2205,3494,3908,3803,367.0,-9.7,317,3878,0.00,2.67,0.00,0.000,1030,0.000,0.083,2205,2089,3855,3907,3803,0,0,0,0,0,0,28.83,24.46,28.83
$GC,4176,-1.43,-257.8,2205,2089,3906,3802,396.7,-9.2,333,4183,0.00,2.85,0.00,0.000,516,0.000,0.116,2205,675,3854,3907,3802,0,0,0,0,0,0,28.83,24.40,28.83
$GC,4234,-1.43,-257.8,2205,675,3906,3802,401.0,-9.5,335,4241,0.00,2.67,0.00,0.000,1030,0.000,0.083,2206,2089,3854,3907,3802,0,0,0,0,0,0,28.83,24.47,28.83
$GC,4540,-1.43,-257.8,2205,2089,3906,3801,429.5,-8.9,351,4545,0.00,2.75,0.00,0.000,260,0.000,0.099,2205,3503,3854,3907,3801,0,0,0,0,0,0,28.83,24.44,28.83
$GC,4592,-1.43,-257.8,2205,3505,3906,3802,433.4,-9.2,353,4598,0.00,2.70,0.00,0.000,1030,0.000,0.084,2206,2088,3854,3906,3802,0,0,0,0,0,0,28.83,24.46,28.83
$GC,4905,-1.43,-257.8,2205,2088,3906,3801,462.7,-8.9,369,4906,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2088,3853,3906,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5206,-1.43,-257.8,2205,2088,3906,3801,489.9,-8.8,384,5207,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2088,3853,3906,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5506,-1.43,-257.8,2205,2087,3906,3801,517.8,-9.7,399,5507,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2087,3853,3906,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5806,-1.43,-257.8,2205,2087,3907,3800,538.8,-0.4,414,5811,0.00,2.85,0.00,0.000,516,0.000,0.118,2205,676,3853,3906,3800,0,0,0,0,0,0,28.83,24.42,28.83
$STATE,5928,end dive,NO_VERTICAL_VELOCITY
$STATE,5928,begin apogee
$GC,5935,-0.37,0.0,2205,2077,3906,3800,538.9,0.0,420,6154,1.15,0.00,212.27,1.086,10244,0.097,0.000,2437,2076,2800,2867,2734,0,0,0,0,0,0,24.46,28.83,23.06
$STATE,6157,end apogee,CONTROL_FINISHED_OK
$STATE,6157,begin climb
$GC,6158,1.43,257.8,2436,2076,2867,2732,538.2,0.0,431,6390,2.05,2.83,214.55,1.034,10500,0.101,0.099,2832,3476,1748,1855,1642,0,0,0,0,0,0,23.84,23.81,23.02
$GC,6476,1.43,258.1,1888,3475,1805,1628,513.4,10.6,447,6481,0.00,2.75,0.00,0.000,1030,0.000,0.086,2833,2067,1744,1855,1634,0,0,0,0,0,0,28.83,24.12,28.83
$GC,6793,1.50,308.5,2834,2067,1853,1628,481.2,9.2,463,6841,0.00,0.00,45.53,1.009,8198,0.000,0.000,2833,2067,1543,1657,1430,0,0,0,0,0,0,28.83,28.83,23.12
$GC,7134,1.50,313.3,2833,2067,1652,1422,446.8,10.5,480,7148,0.00,2.78,5.00,0.760,8452,0.000,0.096,2833,3473,1522,1636,1408,0,0,0,0,0,0,28.83,24.13,23.53
$GC,7169,1.50,313.3,2832,3473,1635,1408,444.6,10.6,481,7176,0.00,2.72,0.00,0.000,1030,0.000,0.095,2833,2070,1521,1635,1408,0,0,0,0,0,0,28.83,24.19,28.83
$GC,7475,1.51,322.5,2832,2070,1635,1405,410.8,10.3,497,7487,0.00,0.00,9.77,0.919,8198,0.000,0.000,2833,2070,1485,1600,1371,0,0,0,0,0,0,28.83,28.83,23.42
$GC,7775,1.53,334.9,2832,2070,1601,1368,379.7,10.2,512,7795,0.12,0.00,12.98,0.946,10246,0.088,0.000,2861,2070,1434,1551,1317,0,0,0,0,0,0,24.41,28.83,23.34
$GC,8095,1.53,334.9,2861,2069,1550,1313,341.3,11.9,528,8100,0.00,2.75,0.00,0.000,260,0.000,0.096,2862,3480,1431,1550,1313,0,0,0,0,0,0,28.83,24.30,28.83
$GC,8121,1.53,334.9,2861,3481,1550,1313,338.5,11.9,529,8127,0.00,2.70,0.00,0.000,1030,0.000,0.085,2862,2074,1431,1550,1313,0,0,0,0,0,0,28.83,24.32,28.83
$GC,8440,1.53,334.9,2862,2074,1550,1311,299.6,12.4,545,8441,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2074,1430,1550,1311,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8741,1.53,334.9,2862,2074,1550,1311,264.1,11.6,560,8747,0.00,2.75,0.00,0.000,260,0.000,0.096,2862,3480,1430,1550,1311,0,0,0,0,0,0,28.83,24.35,28.83
$GC,8778,1.53,334.9,2862,3480,1550,1311,261.3,11.5,561,8785,0.00,2.67,0.00,0.000,1030,0.000,0.084,2862,2080,1430,1550,1311,0,0,0,0,0,0,28.83,24.37,28.83
$GC,9084,1.53,334.9,2862,2080,1549,1311,225.1,11.3,588,9085,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2080,1430,1549,1311,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9385,1.53,334.9,2862,2079,1548,1311,190.8,11.4,618,9390,0.00,2.75,0.00,0.000,260,0.000,0.097,2862,3485,1429,1548,1311,0,0,0,0,0,0,28.83,24.37,28.83
$GC,9418,1.53,334.9,2862,3485,1548,1311,186.8,12.1,621,9423,0.00,2.70,0.00,0.000,1030,0.000,0.083,2862,2075,1430,1549,1311,0,0,0,0,0,0,28.83,24.39,28.83
$GC,9731,1.53,334.9,2862,2075,1548,1311,150.1,11.7,652,9732,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2075,1429,1548,1311,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10031,1.53,334.9,2862,2075,1548,1311,116.5,11.0,682,10032,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2075,1429,1548,1311,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10330,1.53,334.9,2861,2074,1548,1311,82.7,11.3,712,10331,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2075,1429,1548,1310,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10631,1.55,348.6,2862,2075,1548,1311,51.2,10.2,742,10653,0.00,2.78,13.30,0.777,8452,0.000,0.101,2862,3475,1377,1496,1258,0,0,0,0,0,0,28.83,24.05,23.58
$GC,10668,1.55,352.4,1920,3473,1463,1254,47.7,10.5,745,10682,0.00,2.67,5.00,0.623,9222,0.000,0.091,2862,2081,1362,1483,1242,0,0,0,0,0,0,28.83,24.18,23.56
$GC,10990,1.68,454.3,2862,2081,1483,1240,16.7,7.8,777,11083,0.12,0.00,88.80,0.757,10758,0.092,0.000,2893,2081,948,1092,804,0,0,0,0,0,0,24.47,28.83,23.33
$STATE,11139,end climb,SURFACE_DEPTH_REACHED
$STATE,11139,begin surface coast
$FINISH,0.4,1.015249
$STATE,11150,end surface coast,CONTROL_FINISHED_OK
$STATE,11151,begin surface
$SM_CCo,11230,0.00,0.000,0,0,942,455.77
$SM_GC,1.12,11.20,0.00,0.00,0.060,0.000,0.000,513,2081,942,-9.22,-0.11,455.77,0,0,0,0,0,0,24.22,28.83,28.83
$IRIDIUM_FIX,8041.36,7357.06,310813,191953
$TT8_MAMPS,0.026964,0.026964
$HUMID,46.37
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,15.70
$XPDR_PINGS,10
$SC_FREEKB,3997536
$TM_FREEKB,2558816
$24V_AH,23.0,11.307
$10V_AH,9.2,7.624
$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,25.025,82.125,607.200,0.000,0.000,0.000,0.000,312.825,2.500,0.000,16.712,2158.905,6781.902,656.378,1983.522,194.365,0.000,1852.151,0.000,1544.658,0.000,0.545,0.000
$DEVICE_MAMPS,186.660,117.810,1086.300,0.000,0.000,0.000,0.000,147.645,420.000,0.000,32.210,12.760,2.190,12.760,37.480,46.470,0.000,15.700,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11168.000,11155.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.333,13.810,0.000,0.000
$MEM,282656
$DATA_FILE_SIZE,26742,793
$CAP_FILE_SIZE,150765,0
$CFSIZE,260034560,242446336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.249, 53.4,1
$GPS,010913,021206,8154.795,7434.979,40,1.3,40,43.5