version: 66.11
glider: 125
mission: 18
dive: 60
start: 8 30 113 13 59 0
data:
$ID,125
$MISSION,18
$DIVE,60
$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,-181791.88
$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,13
$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
$GPS1,300813,134736,8132.101,7231.120,36,1.2,36,42.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-52.0
$GPS2,300813,135831,8132.122,7231.099,13,1.5,13,42.2
$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,336.1,64332,-15.1,-10.588,-20.35,3719
$D_GRID,564
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-1.43,-257.8,510,2078,1158,902,0.0,0.0,0,151,0.00,0.00,-127.25,0.000,16386,0.000,0.000,510,2078,3129,3187,3072,0,0,0,0,0,0,28.83,28.83,28.83
$GC,154,-1.43,-257.8,510,2079,3187,3073,3.7,-4.4,12,191,10.35,2.85,-18.08,0.000,19204,0.186,0.111,2206,3494,3854,3906,3802,0,0,0,0,0,0,24.18,24.25,24.60
$GC,260,-1.43,-257.8,2205,3495,3906,3804,19.3,-10.8,22,265,0.00,2.72,0.00,0.000,1030,0.000,0.086,2205,2074,3855,3906,3804,0,0,0,0,0,0,28.83,24.31,28.83
$GC,573,-1.43,-257.8,2205,2074,3906,3804,50.8,-10.6,53,574,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2074,3855,3906,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,873,-1.43,-257.8,2205,2074,3906,3803,82.2,-10.4,83,874,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2074,3855,3906,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1174,-1.43,-257.8,2205,2074,3906,3803,113.1,-9.6,113,1179,0.00,2.80,0.00,0.000,260,0.000,0.099,2206,3501,3854,3906,3803,0,0,0,0,0,0,28.83,24.38,28.83
$GC,1258,-1.43,-257.8,2205,3500,3906,3803,121.4,-9.8,121,1263,0.00,2.72,0.00,0.000,1030,0.000,0.086,2206,2084,3854,3906,3803,0,0,0,0,0,0,28.83,24.41,28.83
$GC,1571,-1.43,-257.8,2205,2084,3906,3803,150.7,-9.2,152,1572,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2084,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1870,-1.43,-257.8,2205,2084,3906,3803,178.6,-9.5,182,1876,0.00,2.78,0.00,0.000,260,0.000,0.099,2205,3502,3854,3906,3803,0,0,0,0,0,0,28.83,24.40,28.83
$GC,1937,-1.43,-257.8,2205,3502,3906,3804,184.8,-10.1,188,1946,0.00,2.72,0.00,0.000,1030,0.000,0.086,2205,2090,3854,3906,3803,0,0,0,0,0,0,28.83,24.43,28.83
$GC,2244,-1.43,-257.8,2205,2090,3906,3804,216.4,-10.3,219,2245,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2090,3855,3906,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2544,-1.43,-257.8,2205,2090,3908,3804,246.0,-9.6,249,2550,0.00,2.75,0.00,0.000,260,0.000,0.099,2206,3495,3855,3906,3804,0,0,0,0,0,0,28.83,24.42,28.83
$GC,2591,-1.43,-257.8,2205,3495,3908,3804,250.3,-9.8,253,2596,0.00,2.70,0.00,0.000,1030,0.000,0.086,2205,2087,3855,3906,3804,0,0,0,0,0,0,28.83,24.44,28.83
$GC,2909,-1.43,-257.8,2205,2087,3906,3804,280.5,-9.2,269,2910,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2087,3854,3905,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3210,-1.43,-257.8,2205,2087,3906,3805,308.6,-9.2,284,3211,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2087,3855,3906,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3510,-1.43,-257.8,2206,2087,3908,3805,336.2,-9.1,299,3515,0.00,2.78,0.00,0.000,260,0.000,0.101,2205,3496,3855,3906,3805,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3597,-1.43,-257.8,2205,3496,3906,3805,344.1,-9.3,303,3602,0.00,2.70,0.00,0.000,1030,0.000,0.089,2206,2092,3855,3906,3805,0,0,0,0,0,0,28.83,24.46,28.83
$GC,3915,-1.43,-257.8,2206,2091,3906,3805,372.0,-8.4,319,3916,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2091,3855,3906,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4215,-1.43,-257.8,2205,2091,3906,3805,398.4,-9.0,334,4221,0.00,2.75,0.00,0.000,260,0.000,0.101,2205,3492,3855,3906,3804,0,0,0,0,0,0,28.83,24.45,28.83
$GC,4259,-1.43,-257.8,2205,3492,3906,3805,402.4,-9.0,336,4265,0.00,2.70,0.00,0.000,1030,0.000,0.090,2206,2093,3855,3906,3805,0,0,0,0,0,0,28.83,24.46,28.83
$GC,4582,-1.43,-257.8,2205,2093,3906,3805,432.2,-9.1,352,4588,0.00,2.88,0.00,0.000,516,0.000,0.120,2206,675,3855,3906,3805,0,0,0,0,0,0,28.83,24.40,28.83
$GC,4639,-1.43,-257.8,2205,675,3906,3805,436.4,-9.4,354,4646,0.00,2.72,0.00,0.000,1030,0.000,0.089,2206,2101,3855,3906,3805,0,0,0,0,0,0,28.83,24.46,28.83
$GC,4945,-1.43,-257.8,2205,2101,3906,3805,467.3,-9.6,370,4947,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2101,3855,3906,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5246,-1.43,-257.8,2205,2101,3906,3805,495.4,-9.3,385,5248,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2101,3855,3906,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5546,-1.43,-257.8,2205,2101,3906,3804,521.9,-8.9,400,5553,0.00,2.75,0.00,0.000,260,0.000,0.106,2205,3493,3856,3907,3805,0,0,0,0,0,0,28.83,24.46,28.83
$GC,5594,-1.43,-257.8,1392,3492,3904,3803,526.0,-9.1,402,5599,0.00,2.70,0.00,0.000,1030,0.000,0.092,2205,2094,3855,3906,3804,0,0,0,0,0,0,28.83,24.47,28.83
$STATE,5750,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5750,begin apogee
$GC,5755,-0.37,0.0,2205,2066,3906,3803,540.5,-9.1,410,5977,1.23,0.00,212.43,1.085,10244,0.122,0.000,2439,2065,2800,2867,2733,0,0,0,0,0,0,24.46,28.83,23.08
$STATE,5979,end apogee,CONTROL_FINISHED_OK
$STATE,5980,begin climb
$GC,5981,1.43,257.8,2439,2066,2867,2732,550.1,0.0,421,6206,1.98,2.95,214.05,1.039,10756,0.088,0.116,2833,658,1749,1846,1653,0,0,0,0,0,0,23.90,23.81,23.05
$GC,6294,1.45,266.6,2833,658,1844,1645,525.6,10.3,437,6308,0.00,2.75,8.30,0.864,9222,0.000,0.086,2834,2076,1713,1813,1614,0,0,0,0,0,0,28.83,24.14,23.32
$GC,6616,1.46,275.4,2833,2076,1812,1609,493.4,10.3,453,6631,0.00,2.95,9.12,0.905,8708,0.000,0.128,2834,662,1676,1779,1574,0,0,0,0,0,0,28.83,23.94,23.41
$GC,6827,1.46,275.4,2833,662,1778,1571,471.2,10.7,463,6832,0.00,2.70,0.00,0.000,1030,0.000,0.086,2833,2066,1674,1778,1571,0,0,0,0,0,0,28.83,24.30,28.83
$GC,7140,1.49,304.2,2833,2066,1777,1570,439.5,9.8,479,7168,0.00,0.00,26.98,1.002,8198,0.000,0.000,2833,2066,1560,1668,1453,0,0,0,0,0,0,28.83,28.83,23.19
$GC,7460,1.51,317.9,2833,2067,1667,1446,406.6,10.2,495,7480,0.00,0.00,13.80,0.950,8198,0.000,0.000,2834,2067,1502,1612,1393,0,0,0,0,0,0,28.83,28.83,23.33
$GC,7779,1.51,317.9,2833,2068,1611,1388,372.8,10.7,511,7781,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2067,1499,1611,1388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8081,1.53,335.5,2834,2068,1611,1387,342.0,10.1,526,8101,0.12,0.00,16.73,0.939,10246,0.089,0.000,2863,2068,1432,1546,1319,0,0,0,0,0,0,24.45,28.83,23.32
$GC,8400,1.53,335.5,2863,2069,1546,1314,305.4,11.7,542,8401,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2069,1430,1546,1314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8700,1.53,335.5,2862,2070,1545,1313,270.3,11.9,557,8706,0.00,2.83,0.00,0.000,516,0.000,0.113,2864,662,1429,1546,1313,0,0,0,0,0,0,28.83,24.32,28.83
$GC,8732,1.53,335.5,2863,662,1545,1313,267.5,12.1,558,8737,0.00,2.70,0.00,0.000,1030,0.000,0.086,2864,2074,1429,1545,1313,0,0,0,0,0,0,28.83,24.37,28.83
$GC,9044,1.53,335.5,2863,2075,1545,1313,229.4,11.6,582,9045,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2075,1429,1545,1313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9345,1.53,335.5,2863,2075,1545,1313,194.4,11.7,612,9346,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2075,1429,1545,1313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9644,1.53,335.5,2863,2075,1545,1312,160.2,11.6,642,9650,0.00,2.85,0.00,0.000,516,0.000,0.112,2863,662,1428,1545,1312,0,0,0,0,0,0,28.83,24.36,28.83
$GC,9672,1.53,335.5,2863,662,1545,1312,157.4,12.0,644,9678,0.00,2.67,0.00,0.000,1030,0.000,0.083,2864,2068,1428,1545,1312,0,0,0,0,0,0,28.83,24.41,28.83
$GC,9977,1.53,335.5,2863,2068,1545,1312,119.3,12.2,675,9978,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2068,1428,1545,1312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10277,1.53,335.5,2863,2068,1545,1312,85.7,10.8,705,10278,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2068,1428,1545,1312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10577,1.53,335.5,2864,2067,1545,1312,54.0,11.7,735,10578,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2068,1428,1545,1312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10877,1.55,352.5,2863,2068,1545,1312,24.4,10.1,765,10900,0.00,2.88,16.23,0.755,8452,0.000,0.099,2863,3477,1362,1479,1245,0,0,0,0,0,0,28.83,24.02,23.57
$GC,10937,1.58,379.1,2863,3478,1478,1242,19.0,9.9,770,10969,0.00,2.70,25.00,0.745,9222,0.000,0.082,2864,2068,1253,1377,1130,0,0,0,0,0,0,28.83,24.22,23.40
$STATE,11124,end climb,SURFACE_DEPTH_REACHED
$STATE,11124,begin surface coast
$FINISH,0.5,1.017948
$STATE,11147,end surface coast,CONTROL_FINISHED_OK
$STATE,11147,begin surface
$SM_CCo,11227,0.00,0.000,0,0,1249,380.46
$SM_GC,1.09,11.02,0.00,0.00,0.062,0.000,0.000,511,2068,1249,-9.22,-0.48,380.46,0,0,0,0,0,0,24.38,28.83,28.83
$IRIDIUM_FIX,8028.18,7243.11,300813,131352
$TT8_MAMPS,0.026215,0.026215
$HUMID,46.65
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,15.70
$XPDR_PINGS,6
$SC_FREEKB,4000736
$TM_FREEKB,2897760
$24V_AH,23.0,9.542
$10V_AH,9.2,6.486
$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,24.700,72.075,542.625,0.000,0.000,0.000,0.000,400.575,1.500,0.000,15.521,2131.757,6948.445,596.438,2037.341,170.583,0.000,1854.376,0.000,1516.002,0.000,0.545,0.000
$DEVICE_MAMPS,185.895,159.120,1084.770,0.000,0.000,0.000,0.000,145.350,420.000,0.000,32.210,12.760,2.190,12.760,37.480,46.470,0.000,15.700,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11162.000,11150.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.372,13.860,0.000,0.000
$MEM,266408
$DATA_FILE_SIZE,26727,791
$CAP_FILE_SIZE,148488,0
$CFSIZE,260034560,243408896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.183, 68.7,1
$GPS,300813,170730,8134.004,7242.300,42,1.0,42,42.3