version: 66.11
glider: 125
mission: 18
dive: 46
start: 8 28 113 16 14 34
data:
$ID,125
$MISSION,18
$DIVE,46
$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,-181723.12
$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,2060
$C_ROLL_CLIMB,2046
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,19
$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
$GPS1,280813,160553,8117.408,7054.543,24,2.0,42,41.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-53.1
$GPS2,280813,161405,8117.389,7054.289,15,1.7,31,41.3
$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,342.2,101186,-14.7,-10.000,-20.13,3713
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.39,-243.2,511,2062,1184,936,0.0,0.0,0,150,0.00,0.00,-126.55,0.000,16386,0.000,0.000,511,2062,3225,3283,3167,0,0,0,0,0,0,28.83,28.83,28.83
$GC,154,-1.39,-243.2,511,2062,3283,3167,4.0,-4.5,12,186,10.43,2.78,-13.40,0.000,19204,0.188,0.111,2214,3465,3793,3866,3721,0,0,0,0,0,0,24.18,24.23,24.60
$GC,283,-1.39,-243.2,1424,3463,3864,3720,23.3,-10.8,24,290,0.00,2.70,0.00,0.000,1030,0.000,0.086,2214,2062,3794,3867,3722,0,0,0,0,0,0,28.83,24.32,28.83
$GC,591,-1.39,-243.2,2214,2061,3866,3722,53.6,-9.7,55,592,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2061,3795,3867,3723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,890,-1.39,-243.2,2214,2061,3869,3722,83.1,-10.3,85,895,0.00,2.78,0.00,0.000,260,0.000,0.103,2214,3464,3794,3867,3722,0,0,0,0,0,0,28.83,24.36,28.83
$GC,972,-1.39,-243.2,2213,3464,3867,3723,91.5,-10.3,93,977,0.00,2.72,0.00,0.000,1030,0.000,0.088,2214,2055,3794,3867,3722,0,0,0,0,0,0,28.83,24.38,28.83
$GC,1285,-1.39,-243.2,2214,2055,3867,3722,122.1,-9.6,124,1286,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2055,3794,3867,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1585,-1.39,-243.2,2213,2054,3867,3722,150.5,-9.8,154,1586,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2055,3794,3866,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1885,-1.39,-243.2,2214,2055,3867,3722,177.6,-9.0,184,1890,0.00,2.78,0.00,0.000,260,0.000,0.099,2214,3468,3794,3867,3722,0,0,0,0,0,0,28.83,24.40,28.83
$GC,1948,-1.39,-243.2,2214,3468,3867,3722,183.3,-9.3,190,1953,0.00,2.70,0.00,0.000,1030,0.000,0.086,2214,2067,3794,3867,3722,0,0,0,0,0,0,28.83,24.43,28.83
$GC,2261,-1.39,-243.2,2214,2066,3867,3722,210.9,-8.7,221,2262,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2068,3794,3867,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2561,-1.39,-243.2,2214,2067,3867,3722,238.1,-9.2,251,2562,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2067,3794,3867,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2860,-1.39,-243.2,2214,2067,3867,3722,265.8,-9.3,273,2866,0.00,2.75,0.00,0.000,260,0.000,0.099,2214,3470,3794,3867,3722,0,0,0,0,0,0,28.83,24.43,28.83
$GC,2932,-1.39,-243.2,2214,3470,3866,3722,271.8,-9.5,276,2938,0.00,2.70,0.00,0.000,1030,0.000,0.088,2214,2064,3794,3866,3722,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3245,-1.39,-243.2,2213,2063,3867,3722,301.6,-9.0,292,3246,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2063,3794,3867,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3546,-1.39,-243.2,2214,2063,3867,3722,328.5,-9.0,307,3552,0.00,2.75,0.00,0.000,260,0.000,0.101,2214,3465,3795,3869,3722,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3593,-1.39,-243.2,2214,3465,3867,3722,332.6,-9.2,309,3599,0.00,2.70,0.00,0.000,1030,0.000,0.092,2214,2060,3795,3867,3723,0,0,0,0,0,0,28.83,24.45,28.83
$GC,3911,-1.39,-243.2,2214,2060,3866,3722,362.9,-9.5,325,3912,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2060,3794,3867,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4212,-1.39,-243.2,2213,2059,3867,3723,390.8,-9.2,340,4217,0.00,2.78,0.00,0.000,260,0.000,0.101,2214,3468,3795,3867,3723,0,0,0,0,0,0,28.83,24.45,28.83
$GC,4268,-1.39,-243.2,2214,3468,3867,3723,394.9,-9.5,342,4275,0.00,2.70,0.00,0.000,1030,0.000,0.090,2214,2067,3795,3868,3723,0,0,0,0,0,0,28.83,24.46,28.83
$GC,4574,-1.39,-243.2,2214,2067,3867,3723,423.9,-8.7,358,4575,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2067,3795,3867,3723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4876,-1.39,-243.2,2215,2066,3867,3723,450.3,-8.8,373,4881,0.00,2.75,0.00,0.000,260,0.000,0.101,2214,3468,3795,3867,3723,0,0,0,0,0,0,28.83,24.46,28.83
$GC,4927,-1.39,-243.2,2214,3468,3867,3723,454.3,-8.9,375,4933,0.00,2.70,0.00,0.000,1030,0.000,0.090,2214,2068,3795,3867,3723,0,0,0,0,0,0,28.83,24.47,28.83
$GC,5240,-1.39,-243.2,2214,2068,3867,3723,481.5,-8.2,391,5241,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2068,3795,3867,3723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5541,-1.39,-243.2,2215,2066,3867,3723,506.6,-8.4,406,5546,0.00,2.75,0.00,0.000,260,0.000,0.102,2214,3467,3795,3867,3723,0,0,0,0,0,0,28.83,24.46,28.83
$STATE,5581,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5582,begin apogee
$GC,5589,-0.37,0.0,2214,2037,3867,3723,510.3,-8.5,408,5797,1.17,0.00,200.38,1.053,10244,0.121,0.000,2438,2037,2800,2866,2734,0,0,0,0,0,0,24.44,28.83,23.12
$STATE,5800,end apogee,CONTROL_FINISHED_OK
$STATE,5800,begin climb
$GC,5802,1.39,243.2,2438,2037,2866,2733,518.7,0.0,418,6017,1.92,2.97,201.65,1.008,10756,0.090,0.125,2823,638,1807,1900,1715,0,0,0,0,0,0,23.91,23.81,23.10
$GC,6149,1.39,243.2,2822,638,1898,1707,491.4,10.3,436,6154,0.00,2.72,0.00,0.000,1030,0.000,0.089,2823,2042,1802,1898,1706,0,0,0,0,0,0,28.83,24.20,28.83
$GC,6467,1.41,266.7,2822,2042,1898,1702,461.1,9.3,452,6496,0.00,3.03,20.67,0.960,8708,0.000,0.120,2823,639,1712,1812,1612,0,0,0,0,0,0,28.83,23.79,23.25
$GC,6693,1.41,266.7,2822,639,1810,1610,438.4,10.3,463,6698,0.00,2.72,0.00,0.000,1030,0.000,0.090,2823,2047,1710,1810,1610,0,0,0,0,0,0,28.83,24.29,28.83
$GC,7010,1.44,287.2,2822,2047,1810,1610,407.9,9.4,479,7035,0.00,2.85,19.00,0.953,8452,0.000,0.100,2823,3458,1628,1732,1525,0,0,0,0,0,0,28.83,23.85,23.28
$GC,7056,1.47,309.9,1872,3456,1685,1519,403.8,9.4,481,7087,0.00,2.78,22.45,0.943,9222,0.000,0.091,2823,2043,1535,1643,1428,0,0,0,0,0,0,28.83,24.08,23.22
$GC,7395,1.48,320.5,2822,2043,1640,1422,370.8,9.7,498,7407,0.12,0.00,10.12,0.879,10246,0.096,0.000,2849,2043,1495,1603,1387,0,0,0,0,0,0,24.38,28.83,23.45
$GC,7695,1.48,320.5,2849,2043,1602,1381,338.3,11.0,513,7696,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2044,1491,1602,1381,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7995,1.48,320.5,2848,2042,1602,1380,305.6,11.0,528,7996,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2043,1491,1602,1380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8295,1.48,320.5,2849,2044,1602,1379,272.7,11.0,543,8300,0.00,2.80,0.00,0.000,260,0.000,0.099,2849,3465,1490,1602,1379,0,0,0,0,0,0,28.83,24.34,28.83
$GC,8321,1.48,320.5,2849,3465,1602,1379,270.1,11.1,544,8328,0.00,2.75,0.00,0.000,1030,0.000,0.089,2850,2045,1490,1601,1380,0,0,0,0,0,0,28.83,24.37,28.83
$GC,8629,1.48,320.5,2849,2045,1601,1379,234.7,11.6,566,8631,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2044,1490,1602,1379,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8930,1.48,320.5,2849,2044,1601,1379,200.5,11.6,596,8931,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2045,1490,1601,1379,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9229,1.48,320.5,2849,2044,1601,1379,167.5,10.7,626,9231,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2045,1490,1601,1379,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9529,1.48,320.5,2849,2045,1601,1379,135.1,11.0,656,9535,0.00,2.78,0.00,0.000,260,0.000,0.099,2850,3461,1490,1601,1379,0,0,0,0,0,0,28.83,24.39,28.83
$GC,9552,1.48,320.5,2850,3462,1601,1379,132.5,11.3,658,9557,0.00,2.72,0.00,0.000,1030,0.000,0.086,2850,2047,1490,1601,1379,0,0,0,0,0,0,28.83,24.41,28.83
$GC,9864,1.48,320.5,2850,2047,1601,1378,97.9,10.8,689,9865,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2047,1490,1601,1379,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10164,1.48,320.5,2849,2047,1601,1379,66.0,10.2,719,10165,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2047,1489,1601,1378,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10465,1.48,320.5,2849,2047,1601,1379,35.5,10.3,749,10466,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2047,1489,1601,1378,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10764,1.56,384.9,2849,2047,1601,1379,9.2,8.2,779,10831,0.00,2.88,57.20,0.750,8452,0.000,0.097,2850,3449,1229,1354,1104,0,0,0,0,0,0,28.83,23.86,23.40
$GC,10852,1.62,431.6,2850,3449,1355,1102,2.0,8.7,787,10861,0.12,2.72,2.65,0.337,11266,0.073,0.088,2884,2051,1220,1346,1094,0,0,0,0,0,0,24.18,24.10,28.83
$STATE,10862,end climb,SURFACE_DEPTH_REACHED
$STATE,10863,begin surface coast
$FINISH,0.4,1.013547
$STATE,10883,end surface coast,CONTROL_FINISHED_OK
$STATE,10884,begin surface
$SM_CCo,10963,0.00,0.000,0,0,1217,388.31
$SM_GC,1.20,11.10,0.00,0.00,0.058,0.000,0.000,516,2050,1217,-9.21,-0.28,388.31,0,0,0,0,0,0,24.24,28.83,28.83
$IRIDIUM_FIX,8015.30,7031.24,280813,121205
$TT8_MAMPS,0.026215,0.026215
$HUMID,46.02
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,15.80
$XPDR_PINGS,4
$SC_FREEKB,4005056
$TM_FREEKB,3353664
$24V_AH,23.1,7.068
$10V_AH,9.3,4.945
$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,24.875,77.675,534.125,0.000,0.000,0.000,0.000,295.050,1.000,0.000,33.696,2142.966,6618.580,582.104,1967.770,145.785,0.000,1746.772,0.000,1532.242,0.000,0.530,0.000
$DEVICE_MAMPS,188.190,133.875,1053.405,0.000,0.000,0.000,0.000,144.585,420.000,0.000,32.210,12.760,2.190,12.760,37.480,46.470,0.000,15.700,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10899.000,10893.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.993,13.819,0.000,0.000
$MEM,266400
$DATA_FILE_SIZE,26712,790
$CAP_FILE_SIZE,147420,0
$CFSIZE,260034560,244719616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.073,120.2,1
$GPS,280813,191836,8118.481,7101.146,39,0.8,39,41.4