version: 66.11
glider: 125
mission: 18
dive: 57
start: 8 30 113 4 7 24
data:
$ID,125
$MISSION,18
$DIVE,57
$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,-181788.12
$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,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
$GPS1,300813,035819,8128.837,7206.291,34,1.4,34,42.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-54.7
$GPS2,300813,040655,8128.853,7206.146,12,1.1,12,42.0
$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,353.5,73045,-15.1,-10.588,-20.35,3719
$D_GRID,560
$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,-257.8,510,2071,1289,1042,0.0,0.0,0,138,0.00,0.00,-114.85,0.000,16386,0.000,0.000,510,2071,3013,3067,2959,0,0,0,0,0,0,28.83,28.83,28.83
$GC,141,-1.43,-257.8,510,2071,3067,2959,3.1,-3.2,11,185,10.38,2.88,-23.52,0.000,18692,0.187,0.112,2205,3516,3853,3906,3801,0,0,0,0,0,0,24.18,24.25,24.61
$GC,307,-1.43,-257.8,2205,3516,3906,3803,26.9,-12.5,27,313,0.00,2.78,0.00,0.000,1030,0.000,0.091,2205,2075,3854,3906,3802,0,0,0,0,0,0,28.83,24.33,28.83
$GC,620,-1.43,-257.8,2205,2075,3906,3803,59.7,-10.0,58,625,0.00,2.83,0.00,0.000,516,0.000,0.115,2205,674,3854,3906,3803,0,0,0,0,0,0,28.83,24.32,28.83
$GC,686,-1.43,-257.8,1408,674,3904,3801,66.1,-10.3,64,694,0.00,2.72,0.00,0.000,1030,0.000,0.089,2205,2088,3854,3906,3803,0,0,0,0,0,0,28.83,24.38,28.83
$GC,993,-1.43,-257.8,2205,2088,3906,3802,97.4,-10.3,95,998,0.00,2.78,0.00,0.000,260,0.000,0.103,2205,3494,3854,3906,3802,0,0,0,0,0,0,28.83,24.38,28.83
$GC,1066,-1.43,-257.8,2205,3493,3906,3802,105.1,-10.6,102,1072,0.00,2.70,0.00,0.000,1030,0.000,0.086,2206,2092,3853,3905,3802,0,0,0,0,0,0,28.83,24.40,28.83
$GC,1380,-1.43,-257.8,2205,2092,3906,3802,136.1,-9.7,133,1381,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2092,3853,3906,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1679,-1.43,-257.8,2205,2091,3906,3802,165.5,-9.7,163,1680,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2092,3854,3906,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1980,-1.43,-257.8,2205,2091,3906,3802,194.2,-9.5,193,1981,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2091,3854,3906,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2279,-1.43,-257.8,2205,2091,3906,3802,223.0,-9.8,223,2280,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2091,3854,3906,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2590,-1.43,-257.8,2205,2091,3906,3803,252.8,-9.4,253,2595,0.00,2.75,0.00,0.000,260,0.000,0.097,2205,3494,3854,3906,3803,0,0,0,0,0,0,28.83,24.44,28.83
$GC,2647,-1.43,-257.8,2205,3494,3906,3803,257.2,-9.7,255,2655,0.00,2.70,0.00,0.000,1030,0.000,0.085,2205,2079,3855,3906,3805,0,0,0,0,0,0,28.83,24.44,28.83
$GC,2953,-1.43,-257.8,2205,2079,3906,3803,288.0,-9.6,271,2954,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2079,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3254,-1.43,-257.8,2205,2079,3906,3804,317.3,-9.8,286,3255,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2079,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3554,-1.43,-257.8,2205,2079,3906,3803,346.1,-9.8,301,3555,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2079,3855,3906,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3854,-1.43,-257.8,2205,2077,3906,3805,374.5,-9.4,316,3855,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2077,3855,3906,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4154,-1.43,-257.8,2205,2076,3906,3804,401.8,-9.0,331,4160,0.00,2.80,0.00,0.000,260,0.000,0.109,2205,3499,3855,3906,3804,0,0,0,0,0,0,28.83,24.46,28.83
$GC,4251,-1.43,-257.8,2205,3499,3906,3804,409.5,-9.1,335,4258,0.00,2.70,0.00,0.000,1030,0.000,0.089,2206,2094,3855,3906,3804,0,0,0,0,0,0,28.83,24.46,28.83
$GC,4557,-1.43,-257.8,2205,2095,3906,3804,439.0,-9.2,351,4563,0.00,2.88,0.00,0.000,516,0.000,0.119,2205,675,3855,3906,3804,0,0,0,0,0,0,28.83,24.41,28.83
$GC,4614,-1.43,-257.8,2205,675,3906,3804,443.2,-9.5,353,4621,0.00,2.72,0.00,0.000,1030,0.000,0.089,2205,2095,3855,3906,3804,0,0,0,0,0,0,28.83,24.47,28.83
$GC,4920,-1.43,-257.8,2205,2095,3906,3804,473.2,-9.2,369,4921,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2095,3855,3906,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5222,-1.43,-257.8,2205,2095,3907,3804,500.8,-9.3,384,5223,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2095,3855,3906,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5521,-1.43,-257.8,2205,2095,3906,3804,529.5,-9.3,399,5522,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2095,3855,3906,3804,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5638,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5638,begin apogee
$GC,5643,-0.37,0.0,2205,2068,3906,3803,540.4,-9.0,405,5865,1.23,0.00,213.38,1.079,10244,0.122,0.000,2438,2068,2799,2866,2733,0,0,0,0,0,0,24.46,28.83,23.08
$STATE,5868,end apogee,CONTROL_FINISHED_OK
$STATE,5868,begin climb
$GC,5870,1.43,257.8,2438,2067,2866,2732,549.8,0.0,416,6095,1.98,2.97,214.50,1.036,10756,0.088,0.119,2833,663,1749,1845,1653,0,0,0,0,0,0,23.89,23.81,23.05
$GC,6213,1.45,267.4,2833,663,1842,1644,524.0,10.3,432,6229,0.00,2.75,9.18,0.882,9222,0.000,0.089,2833,2078,1708,1807,1610,0,0,0,0,0,0,28.83,24.17,23.33
$GC,6541,1.50,307.1,2833,2078,1806,1605,491.1,9.5,449,6586,0.00,3.05,36.15,1.005,8708,0.000,0.121,2833,665,1548,1656,1440,0,0,1,0,0,0,28.83,23.71,23.16
$GC,6773,1.50,307.1,2833,665,1652,1437,467.9,10.8,460,6778,0.00,2.72,0.00,0.000,1030,0.000,0.098,2833,2067,1544,1653,1436,0,0,0,0,0,0,28.83,24.27,28.83
$GC,7086,1.51,315.8,2833,2068,1650,1434,434.7,10.3,476,7096,0.00,0.00,8.38,0.893,8198,0.000,0.000,2833,2068,1511,1619,1404,0,0,0,0,0,0,28.83,28.83,23.47
$GC,7385,1.51,315.8,2833,2068,1619,1402,402.7,10.8,491,7387,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2068,1511,1620,1402,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7686,1.51,315.8,2833,2069,1619,1401,369.2,11.2,506,7687,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2069,1510,1619,1401,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7986,1.51,315.8,2833,2069,1618,1400,335.8,11.1,521,7991,0.00,2.78,0.00,0.000,260,0.000,0.102,2833,3483,1509,1619,1400,0,0,0,0,0,0,28.83,24.34,28.83
$GC,8008,1.51,315.8,2833,3483,1618,1400,333.0,11.3,522,8014,0.00,2.72,0.00,0.000,1030,0.000,0.089,2833,2073,1509,1618,1400,0,0,0,0,0,0,28.83,24.36,28.83
$GC,8331,1.51,315.8,2833,2072,1617,1400,297.8,10.7,538,8332,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2072,1509,1618,1400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8632,1.51,315.8,2833,2072,1618,1400,265.7,10.7,553,8637,0.00,2.88,0.00,0.000,516,0.000,0.118,2833,654,1509,1618,1400,0,0,0,0,0,0,28.83,24.32,28.83
$GC,8656,1.51,315.8,2833,654,1618,1400,263.1,10.9,554,8661,0.00,2.72,0.00,0.000,1030,0.000,0.087,2833,2072,1509,1618,1400,0,0,0,0,0,0,28.83,24.39,28.83
$GC,8968,1.51,315.8,2833,2073,1618,1400,228.6,10.9,579,8970,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2073,1508,1617,1400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9268,1.51,317.9,2833,2073,1618,1400,196.8,10.5,609,9270,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2072,1508,1617,1399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9569,1.53,334.4,2833,2073,1617,1400,166.1,10.1,639,9589,0.12,0.00,17.88,0.836,10246,0.090,0.000,2861,2073,1436,1548,1325,0,0,0,0,0,0,24.52,28.83,23.46
$GC,9889,1.53,334.4,2861,2073,1547,1321,129.4,11.4,671,9890,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2073,1433,1547,1320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10188,1.53,334.4,2861,2073,1547,1319,95.6,11.1,701,10189,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2073,1433,1547,1319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10489,1.53,335.5,2861,2073,1547,1319,62.4,10.6,731,10494,0.00,2.85,0.00,0.000,516,0.000,0.112,2862,658,1433,1547,1319,0,0,0,0,0,0,28.83,24.37,28.83
$GC,10512,1.53,335.5,2862,658,1547,1319,59.8,10.7,733,10517,0.00,2.70,0.00,0.000,1030,0.000,0.085,2862,2074,1433,1547,1319,0,0,0,0,0,0,28.83,24.43,28.83
$GC,10825,1.54,340.2,2862,2074,1547,1319,25.3,10.5,764,10840,0.00,2.85,6.20,0.669,8452,0.000,0.104,2862,3480,1413,1527,1299,0,0,0,0,0,0,28.83,24.24,23.78
$GC,10852,1.54,342.1,2861,3480,1527,1299,22.9,10.5,766,10859,0.00,2.72,0.00,0.000,1030,0.000,0.086,2862,2068,1413,1527,1299,0,0,0,0,0,0,28.83,24.30,28.83
$STATE,11086,end climb,SURFACE_DEPTH_REACHED
$STATE,11086,begin surface coast
$FINISH,0.4,1.025420
$STATE,11107,end surface coast,CONTROL_FINISHED_OK
$STATE,11107,begin surface
$SM_CCo,11187,0.00,0.000,0,0,1410,340.72
$SM_GC,1.01,10.88,0.00,0.00,0.058,0.000,0.000,514,2068,1410,-9.21,-0.48,340.72,0,0,0,0,0,0,24.46,28.83,28.83
$IRIDIUM_FIX,8015.30,7224.12,300813,000040
$TT8_MAMPS,0.026215,0.026215
$HUMID,46.41
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,15.70
$XPDR_PINGS,6
$SC_FREEKB,4001696
$TM_FREEKB,2998720
$24V_AH,23.0,9.018
$10V_AH,9.2,6.148
$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,24.575,67.025,505.650,0.000,0.000,0.000,0.000,325.000,1.500,0.000,14.214,2125.260,6907.769,557.207,1956.707,159.325,0.000,1730.513,0.000,1511.087,0.000,0.546,0.000
$DEVICE_MAMPS,187.425,157.590,1078.650,0.000,0.000,0.000,0.000,146.115,420.000,0.000,32.210,12.760,2.190,12.760,37.480,46.470,0.000,15.700,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11123.000,11110.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.328,13.846,0.000,0.000
$MEM,266412
$DATA_FILE_SIZE,26679,792
$CAP_FILE_SIZE,145631,0
$CFSIZE,260034560,243699712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.063,159.3,1
$GPS,300813,071505,8129.753,7213.893,33,1.0,33,42.0