version: 66.11
glider: 125
mission: 18
dive: 58
start: 8 30 113 7 24 12
data:
$ID,125
$MISSION,18
$DIVE,58
$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,-181789.38
$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,11
$R_STBD_OVSHOOT,15
$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
$GPS1,300813,071505,8129.753,7213.893,33,1.0,33,42.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-57.5
$GPS2,300813,072342,8129.743,7213.938,11,1.8,28,42.0
$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,344.6,70513,-15.1,-10.588,-20.35,3719
$D_GRID,558
$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,-257.8,513,2087,1512,1301,0.0,0.0,0,129,0.00,0.00,-105.72,0.000,16386,0.000,0.000,513,2088,3165,3222,3109,0,0,0,0,0,0,28.83,28.83,28.83
$GC,131,-1.43,-257.8,513,2088,3222,3109,3.7,-4.1,10,163,10.32,0.00,-16.83,0.000,19206,0.187,0.000,2204,2088,3853,3906,3801,0,0,0,0,0,0,24.18,28.83,24.61
$GC,461,-1.43,-257.8,2205,2088,3906,3804,47.0,-11.4,43,467,0.00,2.75,0.00,0.000,260,0.000,0.099,2205,3491,3855,3906,3804,0,0,0,0,0,0,28.83,24.37,28.83
$GC,559,-1.43,-257.8,2205,3491,3906,3804,57.5,-11.0,52,566,0.00,2.70,0.00,0.000,1030,0.000,0.086,2205,2082,3855,3906,3804,0,0,0,0,0,0,28.83,24.39,28.83
$GC,864,-1.43,-257.8,2205,2082,3906,3804,90.8,-11.0,83,869,0.00,2.83,0.00,0.000,516,0.000,0.115,2205,678,3855,3906,3804,0,0,0,0,0,0,28.83,24.34,28.83
$GC,937,-1.43,-257.8,2204,678,3906,3804,98.8,-11.1,90,942,0.00,2.70,0.00,0.000,1030,0.000,0.098,2205,2086,3855,3906,3804,0,0,0,0,0,0,28.83,24.40,28.83
$GC,1250,-1.43,-257.8,2204,2087,3906,3803,129.7,-9.4,121,1256,0.00,2.78,0.00,0.000,260,0.000,0.103,2205,3499,3854,3906,3803,0,0,0,0,0,0,28.83,24.39,28.83
$GC,1323,-1.43,-257.8,2205,3499,3906,3803,136.7,-9.5,128,1329,0.00,2.70,0.00,0.000,1030,0.000,0.086,2205,2089,3854,3906,3803,0,0,0,0,0,0,28.83,24.42,28.83
$GC,1637,-1.43,-257.8,2205,2089,3906,3805,166.2,-9.3,159,1638,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2089,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1937,-1.43,-257.8,2205,2089,3906,3803,195.4,-10.0,189,1938,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2089,3855,3906,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2236,-1.43,-257.8,2205,2089,3906,3804,224.6,-9.5,219,2237,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2089,3855,3906,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2546,-1.43,-257.8,2205,2089,3906,3804,254.1,-9.4,248,2547,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2089,3855,3906,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2847,-1.43,-257.8,2205,2088,3906,3805,281.9,-9.3,263,2848,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2089,3855,3906,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3147,-1.43,-257.8,2204,2088,3906,3805,310.2,-9.4,278,3148,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2089,3855,3906,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3447,-1.43,-257.8,2205,2088,3906,3805,338.5,-9.4,293,3453,0.00,2.78,0.00,0.000,260,0.000,0.102,2205,3500,3855,3906,3805,0,0,0,0,0,0,28.83,24.45,28.83
$GC,3519,-1.43,-257.8,2205,3500,3906,3805,344.7,-9.7,296,3525,0.00,2.72,0.00,0.000,1030,0.000,0.088,2205,2080,3855,3906,3805,0,0,0,0,0,0,28.83,24.46,28.83
$GC,3832,-1.43,-257.8,2204,2079,3906,3805,375.1,-9.3,312,3834,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2079,3855,3906,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4134,-1.43,-257.8,2205,2078,3906,3805,402.6,-8.9,327,4135,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2078,3855,3906,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4433,-1.43,-257.8,2205,2077,3906,3805,429.8,-9.1,342,4434,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2077,3855,3906,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4734,-1.43,-257.8,2204,2076,3906,3805,457.5,-9.2,357,4735,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2076,3855,3906,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5033,-1.43,-257.8,2206,2075,3906,3805,485.1,-9.2,372,5034,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2075,3855,3906,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5333,-1.43,-257.8,2205,2074,3906,3805,512.6,-9.0,387,5339,0.00,2.80,0.00,0.000,260,0.000,0.115,2205,3491,3855,3906,3805,0,0,0,0,0,0,28.83,24.46,28.83
$GC,5406,-1.43,-257.8,2205,3491,3906,3805,518.9,-9.5,390,5411,0.00,2.70,0.00,0.000,1030,0.000,0.091,2205,2090,3855,3906,3805,0,0,0,0,0,0,28.83,24.48,28.83
$STATE,5637,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5637,begin apogee
$GC,5642,-0.37,0.0,2205,2090,3906,3805,540.9,-8.9,402,5864,1.23,0.00,212.90,1.081,10244,0.120,0.000,2439,2090,2799,2866,2733,0,0,0,0,0,0,24.46,28.83,23.09
$STATE,5866,end apogee,CONTROL_FINISHED_OK
$STATE,5866,begin climb
$GC,5868,1.43,257.8,2438,2090,2866,2731,550.3,0.0,413,6093,1.95,3.05,214.95,1.033,10756,0.087,0.122,2830,661,1749,1846,1653,0,0,0,0,0,0,23.89,23.80,23.06
$GC,6211,1.43,257.8,2830,661,1843,1644,522.6,11.1,430,6216,0.00,2.75,0.00,0.000,1030,0.000,0.090,2830,2073,1743,1843,1644,0,0,0,0,0,0,28.83,24.18,28.83
$GC,6524,1.46,274.9,2830,2073,1842,1642,489.6,10.1,446,6545,0.00,3.05,15.00,0.961,8708,0.000,0.122,2830,664,1679,1782,1577,0,0,0,0,0,0,28.83,23.83,23.28
$GC,6762,1.46,274.9,2830,663,1779,1575,464.8,11.0,457,6769,0.00,2.72,0.00,0.000,1030,0.000,0.089,2830,2067,1677,1779,1575,0,0,0,0,0,0,28.83,24.30,28.83
$GC,7067,1.50,309.8,2830,2067,1779,1574,432.7,9.6,473,7108,0.00,0.00,32.90,1.000,8198,0.000,0.000,2830,2068,1536,1645,1428,0,0,0,0,0,0,28.83,28.83,23.18
$GC,7407,1.50,313.1,2830,2068,1641,1422,397.9,10.5,490,7413,0.00,0.00,3.70,0.633,8198,0.000,0.000,2830,2068,1523,1633,1414,0,0,0,0,0,0,28.83,28.83,23.60
$GC,7708,1.52,331.1,2830,2068,1632,1412,366.5,10.1,505,7729,0.12,0.00,18.27,0.949,10246,0.092,0.000,2859,2068,1450,1562,1338,0,0,0,0,0,0,24.44,28.83,23.30
$GC,8027,1.52,331.1,2859,2069,1561,1332,329.6,11.8,521,8028,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2069,1446,1561,1332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8328,1.52,331.1,2858,2070,1561,1331,295.8,11.2,536,8334,0.00,2.88,0.00,0.000,516,0.000,0.117,2860,657,1446,1561,1331,0,0,0,0,0,0,28.83,24.30,28.83
$GC,8360,1.52,331.1,2859,657,1559,1330,293.0,11.2,537,8366,0.00,2.70,0.00,0.000,1030,0.000,0.088,2860,2063,1445,1559,1331,0,0,0,0,0,0,28.83,24.36,28.83
$GC,8673,1.52,331.1,2859,2064,1561,1331,256.3,11.2,553,8675,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2063,1445,1559,1331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8973,1.52,331.1,2859,2063,1559,1330,222.7,11.3,580,8974,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2063,1444,1559,1330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9273,1.52,331.1,2859,2065,1558,1330,189.2,11.3,610,9274,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2065,1445,1560,1330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9573,1.52,331.1,2859,2064,1559,1330,155.6,11.0,640,9579,0.00,2.83,0.00,0.000,516,0.000,0.114,2859,663,1444,1559,1330,0,0,0,0,0,0,28.83,24.36,28.83
$GC,9600,1.52,331.1,1888,663,1523,1326,152.9,11.4,642,9607,0.00,2.67,0.00,0.000,1030,0.000,0.085,2860,2065,1444,1559,1330,0,0,0,0,0,0,28.83,24.41,28.83
$GC,9906,1.52,331.1,2859,2065,1559,1330,118.2,11.3,673,9907,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2065,1444,1559,1330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10206,1.52,331.1,2859,2065,1559,1330,84.1,10.7,703,10208,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2065,1444,1559,1330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10506,1.52,331.1,2859,2065,1559,1329,51.3,10.7,733,10508,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2065,1444,1559,1330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10807,1.62,405.3,2859,2065,1559,1330,22.4,8.5,763,10878,0.00,0.00,65.47,0.758,8198,0.000,0.000,2860,2065,1147,1277,1017,0,0,0,0,0,0,28.83,28.83,23.37
$STATE,11044,end climb,SURFACE_DEPTH_REACHED
$STATE,11045,begin surface coast
$FINISH,0.3,1.026498
$STATE,11066,end surface coast,CONTROL_FINISHED_OK
$STATE,11066,begin surface
$SM_CCo,11146,0.00,0.000,0,0,1141,406.71
$SM_GC,0.93,10.93,0.00,0.00,0.057,0.000,0.000,510,2069,1141,-9.22,-0.45,406.71,0,0,0,0,0,0,24.37,28.83,28.83
$IRIDIUM_FIX,8015.30,7205.94,300813,040431
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.51
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,15.70
$XPDR_PINGS,6
$SC_FREEKB,4001376
$TM_FREEKB,2965184
$24V_AH,23.1,9.191
$10V_AH,9.2,6.260
$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,24.550,50.150,563.200,0.000,0.000,0.000,0.000,308.625,1.500,0.000,30.959,2084.232,6912.626,589.758,1918.795,162.235,0.000,1717.662,0.000,1472.117,0.000,0.546,0.000
$DEVICE_MAMPS,186.660,195.075,1080.945,0.000,0.000,0.000,0.000,149.175,420.000,0.000,32.210,12.760,2.190,12.760,37.480,46.470,0.000,15.700,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11083.000,11070.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.348,13.848,0.000,0.000
$MEM,266376
$DATA_FILE_SIZE,26685,789
$CAP_FILE_SIZE,140300,0
$CFSIZE,260034560,243609600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.088,132.6,1
$GPS,300813,103105,8130.710,7222.332,26,0.9,26,42.1