version: 66.11
glider: 125
mission: 18
dive: 81
start: 9 2 113 11 20 54
data:
$ID,125
$MISSION,18
$DIVE,81
$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,-181818.12
$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,12
$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
$GPS1,020913,111135,8208.016,7535.437,32,1.0,32,44.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-52.5
$GPS2,020913,112025,8208.015,7535.115,14,1.2,14,44.2
$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,340.7,86178,-15.1,-10.588,-20.35,3719
$D_GRID,673
$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,21,-1.43,-257.8,509,2066,1550,1340,0.0,0.0,0,117,0.00,0.00,-93.90,0.000,16386,0.000,0.000,509,2065,3000,3051,2949,0,0,0,0,0,0,28.83,28.83,28.83
$GC,120,-1.43,-257.8,509,2065,3051,2948,3.0,-3.5,9,164,10.38,2.78,-25.58,0.000,19204,0.185,0.103,2205,3492,3852,3906,3798,0,0,0,0,0,0,24.20,24.28,24.63
$GC,231,-1.43,-257.8,2205,3492,3906,3800,16.5,-11.8,19,239,0.00,2.67,0.00,0.000,1030,0.000,0.078,2206,2076,3853,3906,3800,0,0,0,0,0,0,28.83,24.34,28.83
$GC,538,-1.43,-257.8,2205,2076,3906,3800,46.6,-9.6,50,539,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2076,3853,3906,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,838,-1.43,-257.8,2205,2076,3906,3799,74.7,-9.3,80,839,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2076,3853,3906,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1137,-1.43,-257.8,2205,2076,3906,3799,102.3,-8.8,110,1139,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2076,3852,3906,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1438,-1.43,-257.8,2205,2076,3906,3799,129.1,-9.1,140,1439,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2076,3852,3906,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1737,-1.43,-257.8,2205,2076,3906,3799,157.1,-9.4,170,1743,0.00,2.75,0.00,0.000,516,0.000,0.105,2205,679,3852,3906,3799,0,0,0,0,0,0,28.83,24.41,28.83
$GC,1805,-1.43,-257.8,2205,679,3906,3799,163.4,-10.3,176,1812,0.00,2.65,0.00,0.000,1030,0.000,0.079,2206,2089,3852,3906,3799,0,0,0,0,0,0,28.83,24.46,28.83
$GC,2111,-1.43,-257.8,2205,2089,3906,3798,192.8,-9.1,207,2112,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2089,3852,3906,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2411,-1.43,-257.8,2205,2089,3906,3799,221.3,-9.4,237,2412,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2089,3852,3906,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2711,-1.43,-257.8,2207,2089,3906,3799,249.9,-9.4,267,2712,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2089,3852,3906,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3022,-1.43,-257.8,2205,2089,3906,3799,279.1,-9.2,283,3028,0.00,2.80,0.00,0.000,516,0.000,0.106,2205,674,3852,3906,3799,0,0,0,0,0,0,28.83,24.43,28.83
$GC,3095,-1.43,-257.8,2205,674,3906,3800,285.3,-9.6,286,3100,0.00,2.65,0.00,0.000,1030,0.000,0.077,2206,2089,3852,3906,3799,0,0,0,0,0,0,28.83,24.49,28.83
$GC,3408,-1.43,-257.8,2205,2089,3906,3800,316.4,-9.7,302,3409,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2089,3853,3906,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3709,-1.43,-257.8,2206,2089,3906,3800,345.4,-9.7,317,3711,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2090,3853,3906,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4008,-1.43,-257.8,2205,2090,3906,3801,374.4,-9.6,332,4015,0.00,2.80,0.00,0.000,516,0.000,0.107,2205,678,3853,3906,3801,0,0,0,0,0,0,28.83,24.44,28.83
$GC,4082,-1.43,-257.8,2205,678,3906,3801,381.0,-10.1,335,4087,0.00,2.62,0.00,0.000,1030,0.000,0.078,2206,2080,3853,3906,3801,0,0,0,0,0,0,28.83,24.50,28.83
$GC,4395,-1.43,-257.8,2205,2080,3906,3801,411.9,-9.6,351,4400,0.00,2.72,0.00,0.000,260,0.000,0.096,2206,3492,3853,3906,3800,0,0,0,0,0,0,28.83,24.48,28.83
$GC,4452,-1.43,-257.8,2205,3492,3906,3801,416.3,-10.0,353,4459,0.00,2.67,0.00,0.000,1030,0.000,0.080,2206,2076,3853,3905,3801,0,0,0,0,0,0,28.83,24.49,28.83
$GC,4758,-1.43,-257.8,2205,2076,3906,3801,447.5,-9.9,369,4759,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2076,3853,3906,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5059,-1.43,-257.8,2205,2076,3906,3801,476.7,-9.6,384,5060,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2076,3853,3906,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5359,-1.43,-257.8,2205,2075,3906,3801,505.0,-9.6,399,5360,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2075,3853,3906,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5659,-1.43,-257.8,2205,2074,3906,3801,534.3,-9.6,414,5660,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2074,3853,3906,3801,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5716,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5716,begin apogee
$GC,5720,-0.37,0.0,2205,2074,3906,3801,540.1,-9.7,417,5939,1.20,0.00,210.35,1.065,10244,0.119,0.000,2436,2073,2800,2867,2733,0,0,0,0,0,0,24.48,28.83,23.11
$STATE,5941,end apogee,CONTROL_FINISHED_OK
$STATE,5941,begin climb
$GC,5943,1.43,257.8,2436,2074,2867,2730,551.3,0.0,428,6167,2.00,0.00,214.07,1.021,11270,0.102,0.000,2832,2074,1749,1856,1642,0,0,0,0,0,0,23.88,28.83,23.08
$GC,6480,1.48,294.5,2832,2074,1853,1630,508.5,9.6,455,6521,0.00,2.83,32.50,0.981,8452,0.000,0.093,2832,3486,1598,1712,1485,0,0,0,0,0,0,28.83,23.77,23.18
$GC,6628,1.48,294.5,1856,3484,1666,1477,493.4,11.1,462,6634,0.00,2.67,0.00,0.000,1030,0.000,0.082,2832,2089,1596,1710,1482,0,0,0,0,0,0,28.83,24.22,28.83
$GC,6946,1.49,302.2,2832,2088,1710,1480,459.3,10.4,478,6956,0.00,0.00,7.80,0.858,8198,0.000,0.000,2832,2088,1568,1683,1453,0,0,0,0,0,0,28.83,28.83,23.51
$GC,7246,1.50,310.1,2832,2088,1684,1449,428.4,10.4,493,7261,0.00,2.75,8.80,0.877,8452,0.000,0.093,2832,3479,1535,1650,1420,0,0,0,0,0,0,28.83,24.05,23.49
$GC,7293,1.50,310.6,2832,3479,1650,1419,423.9,10.6,495,7298,0.00,2.67,0.00,0.000,1030,0.000,0.081,2832,2085,1534,1650,1419,0,0,0,0,0,0,28.83,24.20,28.83
$GC,7610,1.50,310.6,2832,2085,1650,1416,390.0,10.6,511,7612,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2085,1533,1650,1416,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7911,1.51,318.2,2832,2085,1650,1416,358.8,10.4,526,7926,0.00,2.75,8.35,0.855,8452,0.000,0.093,2832,3477,1502,1618,1387,0,0,0,0,0,0,28.83,24.10,23.55
$GC,7943,1.52,325.5,2832,3477,1618,1386,356.4,10.4,527,7959,0.10,2.67,8.62,0.843,11270,0.097,0.082,2857,2084,1473,1590,1356,0,0,0,0,0,0,24.25,24.20,23.41
$GC,8277,1.52,325.5,2855,2084,1589,1352,315.9,12.0,544,8278,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2084,1470,1589,1352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8578,1.52,325.5,2855,2084,1589,1352,281.4,11.5,559,8579,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2084,1470,1589,1351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8878,1.52,325.5,2856,2084,1589,1352,247.2,11.2,575,8879,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2084,1470,1589,1351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9177,1.52,325.5,2856,2084,1588,1351,212.9,11.2,605,9184,0.00,2.70,0.00,0.000,260,0.000,0.093,2856,3477,1470,1589,1351,0,0,0,0,0,0,28.83,24.41,28.83
$GC,9201,1.52,325.5,2856,3477,1589,1351,210.0,11.3,607,9207,0.00,2.62,0.00,0.000,1030,0.000,0.080,2857,2091,1470,1589,1351,0,0,0,0,0,0,28.83,24.42,28.83
$GC,9514,1.52,325.5,2856,2091,1589,1351,175.0,11.2,638,9516,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2091,1470,1589,1351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9815,1.52,325.5,2856,2091,1589,1351,141.7,11.0,668,9816,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2091,1470,1589,1351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10115,1.52,330.4,2856,2091,1589,1350,109.5,10.5,698,10126,0.00,2.78,5.20,0.656,8452,0.000,0.091,2857,3482,1454,1572,1336,0,0,0,0,0,0,28.83,24.30,23.80
$GC,10142,1.52,330.4,1920,3481,1534,1332,106.9,10.7,700,10150,0.00,2.62,0.00,0.000,1030,0.000,0.077,2857,2092,1454,1572,1336,0,0,0,0,0,0,28.83,24.35,28.83
$GC,10449,1.54,339.6,2857,2092,1571,1335,74.2,10.3,731,10461,0.00,0.00,10.12,0.743,8198,0.000,0.000,2857,2092,1415,1534,1296,0,0,0,0,0,0,28.83,28.83,23.69
$GC,10759,1.57,370.5,2856,2092,1535,1294,42.4,9.7,762,10795,0.00,2.92,29.02,0.760,8708,0.000,0.106,2856,654,1289,1415,1163,0,0,0,0,0,0,28.83,23.87,23.44
$GC,10813,1.62,407.3,2856,654,1414,1162,37.1,9.6,767,10855,0.00,2.75,33.55,0.737,9222,0.000,0.084,2857,2092,1138,1272,1005,0,0,0,0,0,0,28.83,24.14,23.39
$GC,11152,1.66,439.6,2857,2092,1272,994,4.1,9.7,801,11184,0.12,0.43,27.77,0.729,11011,0.096,0.096,2884,1889,1008,1152,864,0,0,0,0,0,0,24.43,28.83,23.44
$STATE,11185,end climb,SURFACE_DEPTH_REACHED
$STATE,11185,begin surface coast
$FINISH,0.7,1.026795
$STATE,11203,end surface coast,CONTROL_FINISHED_OK
$STATE,11203,begin surface
$SM_CCo,11283,0.00,0.000,0,0,1004,440.56
$SM_GC,1.19,11.10,0.40,0.00,0.056,0.084,0.000,509,2088,1004,-9.23,-0.51,440.56,0,0,0,0,0,0,24.21,24.14,28.83
$IRIDIUM_FIX,8054.85,7512.19,020913,070715
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.07
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,15.80
$XPDR_PINGS,7
$SC_FREEKB,3994016
$TM_FREEKB,2187712
$24V_AH,23.1,13.204
$10V_AH,9.2,8.880
$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,24.900,60.700,596.175,0.000,0.000,0.000,0.000,327.975,1.750,0.000,16.374,2094.583,6988.053,611.502,1925.822,196.011,0.000,1784.065,0.000,1482.594,0.000,0.528,0.000
$DEVICE_MAMPS,185.130,107.100,1064.880,0.000,0.000,0.000,0.000,145.350,420.000,0.000,32.210,12.760,2.190,12.760,37.480,46.470,0.000,15.700,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11218.000,11200.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.401,13.779,0.000,0.000
$MEM,282184
$DATA_FILE_SIZE,26711,806
$CAP_FILE_SIZE,147556,0
$CFSIZE,260034560,241369088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.085,135.7,1
$GPS,020913,143006,8209.255,7541.949,27,1.1,27,44.2