version: 66.11
glider: 125
mission: 18
dive: 61
start: 8 30 113 17 16 42
data:
$ID,125
$MISSION,18
$DIVE,61
$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,-181793.12
$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,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
$GPS1,300813,170730,8134.004,7242.300,42,1.0,42,42.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-53.1
$GPS2,300813,171613,8134.025,7242.560,13,1.1,13,42.3
$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,333.9,59742,-15.1,-10.588,-20.35,3719
$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,-1.43,-257.8,510,2067,1365,1126,0.0,0.0,0,138,0.00,0.00,-114.25,0.000,16386,0.000,0.000,510,2064,3082,3138,3026,0,0,0,0,0,0,28.83,28.83,28.83
$GC,141,-1.43,-257.8,510,2064,3137,3027,3.2,-2.8,11,179,10.40,2.80,-20.77,0.000,18948,0.187,0.129,2206,674,3853,3906,3801,0,0,0,0,0,0,24.17,24.21,24.60
$GC,271,-1.43,-257.8,2206,674,3906,3803,22.9,-13.2,23,278,0.00,2.67,0.00,0.000,1030,0.000,0.082,2207,2086,3854,3906,3803,0,0,0,0,0,0,28.83,24.33,28.83
$GC,578,-1.43,-257.8,2206,2086,3906,3803,54.1,-9.8,54,583,0.00,2.75,0.00,0.000,260,0.000,0.099,2206,3493,3854,3906,3803,0,0,0,0,0,0,28.83,24.37,28.83
$GC,700,-1.43,-257.8,2206,3493,3906,3803,67.7,-11.7,66,706,0.00,2.67,0.00,0.000,1030,0.000,0.082,2206,2086,3854,3906,3803,0,0,0,0,0,0,28.83,24.39,28.83
$GC,1013,-1.43,-257.8,2206,2086,3906,3803,98.9,-8.8,97,1019,0.00,2.80,0.00,0.000,516,0.000,0.109,2206,676,3854,3906,3803,0,0,0,0,0,0,28.83,24.34,28.83
$GC,1080,-1.43,-257.8,2206,677,3906,3803,104.4,-9.0,103,1088,0.00,2.67,0.00,0.000,1030,0.000,0.083,2206,2089,3854,3906,3803,0,0,0,0,0,0,28.83,24.41,28.83
$GC,1386,-1.43,-257.8,2206,2089,3906,3803,130.8,-8.8,134,1387,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2089,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1687,-1.43,-257.8,2206,2089,3906,3803,160.6,-10.5,164,1692,0.00,2.75,0.00,0.000,260,0.000,0.099,2206,3501,3854,3906,3803,0,0,0,0,0,0,28.83,24.41,28.83
$GC,1750,-1.43,-257.8,2206,3501,3906,3803,167.4,-10.8,170,1755,0.00,2.70,0.00,0.000,1030,0.000,0.081,2206,2082,3854,3906,3803,0,0,0,0,0,0,28.83,24.43,28.83
$GC,2063,-1.43,-257.8,2206,2081,3906,3802,198.3,-9.6,201,2064,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2081,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2362,-1.43,-257.8,2206,2081,3906,3802,226.0,-9.2,231,2368,0.00,2.80,0.00,0.000,516,0.000,0.110,2206,675,3854,3906,3803,0,0,0,0,0,0,28.83,24.39,28.83
$GC,2416,-1.43,-257.8,2206,675,3906,3803,231.0,-9.8,236,2421,0.00,2.70,0.00,0.000,1030,0.000,0.083,2207,2091,3854,3906,3803,0,0,0,0,0,0,28.83,24.45,28.83
$GC,2740,-1.43,-257.8,2206,2090,3906,3803,259.6,-8.8,263,2745,0.00,2.72,0.00,0.000,260,0.000,0.098,2207,3494,3854,3906,3803,0,0,0,0,0,0,28.83,24.44,28.83
$GC,2823,-1.43,-257.8,2206,3494,3906,3803,267.0,-8.7,267,2829,0.00,2.67,0.00,0.000,1030,0.000,0.082,2207,2091,3854,3906,3803,0,0,0,0,0,0,28.83,24.45,28.83
$GC,3146,-1.43,-257.8,2206,2091,3906,3802,294.9,-8.8,283,3147,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2091,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3447,-1.43,-257.8,2206,2091,3906,3803,321.1,-8.6,298,3448,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2091,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3747,-1.43,-257.8,2206,2092,3906,3803,346.9,-8.5,313,3748,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2091,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4047,-1.43,-257.8,2206,2090,3906,3803,371.6,-8.3,328,4048,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2090,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4347,-1.43,-257.8,2206,2090,3906,3803,397.3,-8.8,343,4348,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2090,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4647,-1.43,-257.8,2206,2090,3906,3802,424.8,-9.1,358,4648,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2089,3854,3906,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4947,-1.43,-257.8,2206,2089,3906,3802,453.2,-9.7,373,4948,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2089,3854,3906,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5247,-1.43,-257.8,2206,2089,3906,3802,480.8,-8.8,388,5249,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2089,3854,3906,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5547,-1.43,-257.8,2206,2089,3906,3801,507.6,-8.8,403,5548,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2089,3853,3906,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5847,-1.43,-257.8,2206,2089,3906,3801,533.2,-8.8,418,5848,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2089,3853,3906,3801,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5924,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5924,begin apogee
$GC,5928,-0.37,0.0,2206,2089,3906,3801,540.3,-8.9,422,6147,1.20,0.00,212.43,1.087,10244,0.122,0.000,2436,2089,2800,2867,2734,0,0,0,0,0,0,24.47,28.83,23.08
$STATE,6150,end apogee,CONTROL_FINISHED_OK
$STATE,6150,begin climb
$GC,6151,1.43,257.8,2435,2089,2866,2732,550.4,0.0,433,6380,1.98,3.03,214.93,1.040,10756,0.089,0.118,2830,658,1748,1845,1651,0,0,0,0,0,0,23.88,23.77,23.04
$GC,6429,1.47,290.8,2830,658,1844,1645,531.0,9.7,447,6470,0.00,2.75,29.45,0.991,9222,0.000,0.083,2830,2075,1613,1718,1509,0,0,0,0,0,0,28.83,24.06,23.09
$GC,6768,1.50,308.3,2830,2075,1716,1501,496.2,10.1,464,6794,0.00,3.03,16.40,0.969,8708,0.000,0.116,2830,665,1543,1654,1433,0,0,0,0,0,0,28.83,23.80,23.25
$GC,6956,1.50,308.3,2830,664,1649,1430,477.0,10.6,473,6962,0.00,2.70,0.00,0.000,1030,0.000,0.084,2830,2067,1539,1649,1429,0,0,0,0,0,0,28.83,24.27,28.83
$GC,7274,1.54,345.3,2830,2068,1649,1428,445.8,9.6,489,7314,0.12,0.00,34.30,1.007,10502,0.087,0.000,2866,2068,1391,1508,1275,0,0,0,0,0,0,24.41,28.83,23.17
$GC,7614,1.54,345.3,2866,2068,1507,1269,405.0,12.2,506,7615,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2068,1388,1507,1269,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7915,1.54,345.3,2866,2068,1506,1268,368.7,12.0,521,7917,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2067,1387,1506,1268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8214,1.54,345.3,2866,2069,1506,1268,333.3,11.7,536,8216,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2069,1387,1506,1268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8515,1.54,345.3,2866,2070,1506,1267,298.6,11.3,551,8516,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2070,1386,1506,1267,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8814,1.54,345.3,2866,2070,1505,1267,264.4,11.5,566,8816,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2071,1386,1505,1267,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9114,1.54,345.3,2866,2070,1505,1267,230.3,11.6,589,9115,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2070,1386,1505,1267,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9414,1.54,345.3,2866,2071,1505,1267,194.9,11.8,619,9415,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2071,1385,1504,1267,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9715,1.54,345.3,2866,2070,1505,1267,160.2,11.7,649,9716,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2071,1386,1505,1267,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10014,1.54,345.3,2866,2070,1505,1267,125.4,11.9,679,10015,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2070,1386,1505,1267,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10315,1.54,345.3,2866,2070,1505,1268,90.4,11.6,709,10316,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2071,1386,1505,1267,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10614,1.59,380.9,2866,2071,1505,1267,58.6,9.6,739,10653,0.00,0.00,32.00,0.791,8198,0.000,0.000,2866,2070,1247,1371,1123,0,0,0,0,0,0,28.83,28.83,23.38
$GC,10955,1.59,383.9,2866,2070,1370,1116,24.8,10.5,773,10967,0.00,2.78,4.10,0.570,8452,0.000,0.094,2866,3487,1233,1360,1106,0,0,0,0,0,0,28.83,24.26,23.77
$GC,10980,1.61,396.7,2866,3487,1360,1106,22.1,10.2,775,11001,0.00,2.72,12.73,0.736,9222,0.000,0.080,2867,2065,1182,1310,1054,0,0,0,0,0,0,28.83,24.30,23.52
$STATE,11207,end climb,SURFACE_DEPTH_REACHED
$STATE,11208,begin surface coast
$FINISH,0.4,1.026591
$STATE,11229,end surface coast,CONTROL_FINISHED_OK
$STATE,11229,begin surface
$SM_CCo,11310,0.00,0.000,0,0,1178,397.88
$SM_GC,1.03,10.90,0.08,0.00,0.055,0.141,0.000,510,2094,1178,-9.22,-0.34,397.88,0,0,0,0,0,0,24.41,24.44,28.83
$IRIDIUM_FIX,8028.18,7233.56,300813,131322
$TT8_MAMPS,0.026215,0.026215
$HUMID,46.85
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,15.50
$XPDR_PINGS,6
$SC_FREEKB,4000416
$TM_FREEKB,2863744
$24V_AH,23.0,9.717
$10V_AH,9.2,6.600
$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,24.600,49.800,556.325,0.000,0.000,0.000,0.000,329.825,1.500,0.000,15.410,2089.078,7062.340,580.242,1935.257,169.697,0.000,1750.890,0.000,1482.634,0.000,0.546,0.000
$DEVICE_MAMPS,186.660,140.760,1087.065,0.000,0.000,0.000,0.000,145.350,420.000,0.000,32.210,12.760,2.190,12.760,37.480,46.470,0.000,15.700,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11242.000,11229.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.371,13.830,0.000,0.000
$MEM,266376
$DATA_FILE_SIZE,26690,800
$CAP_FILE_SIZE,142795,0
$CFSIZE,260034560,243318784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.215, 63.4,1
$GPS,300813,202630,8136.117,7254.164,37,1.7,37,42.4