version: 66.11
glider: 125
mission: 18
dive: 62
start: 8 30 113 20 35 35
data:
$ID,125
$MISSION,18
$DIVE,62
$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,-181794.38
$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,13
$R_STBD_OVSHOOT,16
$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
$GPS1,300813,202630,8136.117,7254.164,37,1.7,37,42.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-53.0
$GPS2,300813,203506,8136.110,7254.342,12,1.3,12,42.4
$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,333.6,54832,-15.1,-10.588,-20.35,3719
$D_GRID,592
$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,-257.8,509,2091,1299,1052,0.0,0.0,0,149,0.00,0.00,-125.50,0.000,16386,0.000,0.000,509,2091,3246,3305,3188,0,0,0,0,0,0,28.83,28.83,28.83
$GC,152,-1.43,-257.8,509,2091,3305,3188,4.1,-4.6,12,185,10.38,2.83,-14.07,0.000,18948,0.187,0.122,2204,677,3853,3906,3800,0,0,0,0,0,0,24.18,24.20,24.60
$GC,258,-1.43,-257.8,2204,677,3906,3801,20.1,-9.1,22,263,0.00,2.67,0.00,0.000,1030,0.000,0.080,2204,2086,3854,3906,3802,0,0,0,0,0,0,28.83,24.32,28.83
$GC,571,-1.43,-257.8,2205,2086,3906,3804,49.1,-9.3,53,577,0.00,2.75,0.00,0.000,260,0.000,0.100,2204,3492,3854,3906,3802,0,0,0,0,0,0,28.83,24.37,28.83
$GC,655,-1.43,-257.8,2204,3492,3906,3803,57.7,-10.2,61,660,0.00,2.65,0.00,0.000,1030,0.000,0.080,2204,2091,3854,3907,3802,0,0,0,0,0,0,28.83,24.39,28.83
$GC,968,-1.43,-257.8,2204,2091,3906,3803,90.6,-10.3,92,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2091,3854,3906,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1267,-1.43,-257.8,2204,2091,3906,3802,120.1,-10.3,122,1273,0.00,2.72,0.00,0.000,260,0.000,0.094,2205,3492,3854,3906,3802,0,0,0,0,0,0,28.83,24.40,28.83
$GC,1333,-1.43,-257.8,1408,3491,3903,3801,127.1,-11.1,128,1341,0.00,2.67,0.00,0.000,1030,0.000,0.081,2204,2086,3854,3906,3802,0,0,0,0,0,0,28.83,24.42,28.83
$GC,1640,-1.43,-257.8,2204,2086,3906,3802,160.2,-10.4,159,1641,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2086,3854,3906,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1941,-1.43,-257.8,2204,2085,3906,3803,190.2,-9.7,189,1942,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2086,3854,3906,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2240,-1.43,-257.8,2204,2086,3906,3802,218.5,-9.5,219,2245,0.00,2.75,0.00,0.000,260,0.000,0.096,2204,3498,3854,3906,3802,0,0,0,0,0,0,28.83,24.42,28.83
$GC,2293,-1.43,-257.8,2204,3498,3906,3802,223.7,-10.0,224,2299,0.00,2.67,0.00,0.000,1030,0.000,0.081,2204,2093,3854,3906,3803,0,0,0,0,0,0,28.83,24.44,28.83
$GC,2616,-1.43,-257.8,2204,2092,3906,3802,256.8,-10.3,253,2618,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2093,3854,3906,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2917,-1.43,-257.8,2204,2093,3906,3803,286.2,-9.7,268,2918,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2093,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3218,-1.43,-257.8,2204,2093,3906,3803,314.5,-9.3,283,3223,0.00,2.72,0.00,0.000,260,0.000,0.096,2204,3495,3854,3906,3803,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3275,-1.43,-257.8,2204,3495,3906,3802,318.7,-9.4,285,3283,0.00,2.65,0.00,0.000,1030,0.000,0.083,2204,2098,3854,3906,3803,0,0,0,0,0,0,28.83,24.46,28.83
$GC,3581,-1.43,-257.8,2204,2098,3906,3803,347.1,-8.8,301,3582,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2098,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3882,-1.43,-257.8,2204,2096,3906,3803,374.5,-9.3,316,3883,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2096,3855,3907,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4182,-1.43,-257.8,2205,2096,3906,3803,402.7,-9.6,331,4183,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2096,3854,3906,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4483,-1.43,-257.8,2204,2094,3906,3803,430.8,-9.0,346,4488,0.00,2.75,0.00,0.000,260,0.000,0.098,2204,3495,3854,3906,3803,0,0,0,0,0,0,28.83,24.46,28.83
$GC,4540,-1.43,-257.8,2204,3495,3906,3803,434.8,-9.2,348,4547,0.00,2.67,0.00,0.000,1030,0.000,0.084,2204,2094,3854,3906,3803,0,0,0,0,0,0,28.83,24.48,28.83
$GC,4846,-1.43,-257.8,2204,2093,3906,3802,461.7,-8.4,364,4847,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2093,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5147,-1.43,-257.8,2204,2093,3906,3802,487.0,-8.6,379,5148,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2093,3853,3905,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5447,-1.43,-257.8,2204,2091,3906,3801,514.1,-9.2,394,5448,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2091,3853,3906,3801,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5724,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5725,begin apogee
$GC,5729,-0.37,0.0,2204,2091,3906,3801,540.1,-9.1,408,5947,1.23,0.00,211.68,1.093,10244,0.122,0.000,2437,2091,2800,2867,2734,0,0,0,0,0,0,24.46,28.83,23.07
$STATE,5949,end apogee,CONTROL_FINISHED_OK
$STATE,5950,begin climb
$GC,5951,1.43,257.8,2437,2091,2867,2732,549.4,0.0,419,6176,1.98,3.03,214.43,1.039,10756,0.088,0.117,2831,661,1749,1847,1652,0,0,0,0,0,0,23.87,23.77,23.03
$GC,6230,1.44,264.8,2830,660,1844,1644,528.3,10.4,433,6244,0.00,2.75,6.90,0.823,9222,0.000,0.084,2831,2068,1720,1820,1621,0,0,0,0,0,0,28.83,24.07,23.30
$GC,6551,1.50,314.3,2832,2068,1819,1613,497.0,9.2,449,6605,0.00,2.90,44.85,1.012,8964,0.000,0.099,2831,3476,1517,1627,1408,0,0,0,0,0,0,28.83,23.73,23.13
$GC,6801,1.50,314.3,2831,3476,1625,1401,471.6,10.8,461,6807,0.00,2.72,0.00,0.000,1030,0.000,0.086,2831,2067,1513,1625,1401,0,0,0,0,0,0,28.83,24.25,28.83
$GC,7114,1.55,350.4,2831,2067,1624,1398,440.3,9.6,477,7155,0.12,2.95,32.88,1.001,10756,0.092,0.118,2860,661,1370,1488,1253,0,0,0,0,0,0,24.39,23.73,23.17
$GC,7193,1.55,350.4,2860,661,1487,1252,433.2,10.8,480,7199,0.00,2.72,0.00,0.000,1030,0.000,0.085,2860,2066,1369,1487,1251,0,0,0,0,0,0,28.83,24.11,28.83
$GC,7498,1.55,350.4,2860,2066,1487,1246,397.2,11.1,496,7499,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2066,1366,1487,1246,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7799,1.55,350.4,2860,2066,1486,1246,364.2,10.9,511,7804,0.00,2.88,0.00,0.000,516,0.000,0.116,2860,653,1366,1486,1246,0,0,0,0,0,0,28.83,24.28,28.83
$GC,7835,1.55,350.4,2860,653,1485,1246,361.5,10.9,512,7843,0.00,2.70,0.00,0.000,1030,0.000,0.085,2860,2062,1365,1485,1246,0,0,0,0,0,0,28.83,24.34,28.83
$GC,8142,1.55,350.4,2860,2062,1485,1245,325.2,11.5,528,8143,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2062,1365,1485,1245,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8442,1.55,350.4,2860,2063,1485,1245,292.0,11.2,543,8447,0.00,2.85,0.00,0.000,516,0.000,0.113,2860,656,1365,1485,1245,0,0,0,0,0,0,28.83,24.31,28.83
$GC,8484,1.55,350.4,2860,655,1485,1245,286.9,11.5,545,8490,0.00,2.67,0.00,0.000,1030,0.000,0.083,2860,2054,1365,1486,1245,0,0,0,0,0,0,28.83,24.39,28.83
$GC,8806,1.55,350.4,2860,2055,1485,1244,251.3,10.9,561,8808,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2055,1365,1485,1245,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9107,1.55,350.4,2860,2055,1485,1244,218.3,11.2,590,9112,0.00,2.83,0.00,0.000,516,0.000,0.112,2860,654,1364,1485,1244,0,0,0,0,0,0,28.83,24.34,28.83
$GC,9133,1.55,350.4,2860,654,1485,1244,215.8,11.3,592,9141,0.00,2.65,0.00,0.000,1030,0.000,0.083,2860,2051,1364,1485,1244,0,0,0,0,0,0,28.83,24.41,28.83
$GC,9439,1.55,350.4,2860,2051,1485,1244,180.4,11.5,623,9440,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2051,1364,1485,1244,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9739,1.55,350.4,2860,2051,1485,1244,145.2,11.8,653,9741,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2051,1364,1485,1244,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10039,1.55,350.4,2860,2051,1485,1244,109.3,11.9,683,10040,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2051,1364,1485,1244,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10339,1.55,350.4,2860,2051,1484,1244,75.4,10.7,713,10345,0.00,2.80,0.00,0.000,516,0.000,0.109,2860,661,1364,1485,1244,0,0,0,0,0,0,28.83,24.38,28.83
$GC,10365,1.55,350.4,1920,660,1454,1241,72.8,10.8,715,10372,0.00,2.65,0.00,0.000,1030,0.000,0.082,2860,2056,1364,1485,1244,0,0,0,0,0,0,28.83,24.44,28.83
$GC,10673,1.59,380.7,2860,2056,1485,1244,40.9,9.8,746,10703,0.00,0.00,27.08,0.781,8198,0.000,0.000,2860,2056,1248,1372,1125,0,0,0,0,0,0,28.83,28.83,23.41
$GC,11003,1.65,432.7,2860,2056,1372,1118,6.1,9.2,779,11055,0.12,2.92,45.55,0.754,10500,0.099,0.098,2889,3479,1034,1170,899,0,0,0,0,0,0,24.44,23.84,23.37
$STATE,11060,end climb,SURFACE_DEPTH_REACHED
$STATE,11060,begin surface coast
$FINISH,0.4,1.026681
$STATE,11071,end surface coast,CONTROL_FINISHED_OK
$STATE,11071,begin surface
$SM_CCo,11153,0.00,0.000,0,0,1031,433.69
$SM_GC,1.00,11.15,2.78,0.00,0.056,0.082,0.000,509,2079,1031,-9.23,0.34,433.69,0,0,0,0,0,0,24.17,24.08,28.83
$IRIDIUM_FIX,8028.18,7234.37,300813,171743
$TT8_MAMPS,0.026215,0.026215
$HUMID,46.25
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,16.30
$XPDR_PINGS,3
$SC_FREEKB,4000096
$TM_FREEKB,2830208
$24V_AH,23.0,9.898
$10V_AH,9.2,6.713
$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,24.975,77.325,583.350,0.000,0.000,0.000,0.000,320.575,0.750,0.000,14.704,2083.884,6859.740,619.786,1943.219,165.353,0.000,1803.275,0.000,1500.965,0.000,0.546,0.000
$DEVICE_MAMPS,187.425,122.400,1093.185,0.000,0.000,0.000,0.000,147.645,420.000,0.000,32.210,12.760,2.190,12.760,37.480,46.470,0.000,15.700,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11086.000,11072.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.301,13.822,0.000,0.000
$MEM,266416
$DATA_FILE_SIZE,26674,785
$CAP_FILE_SIZE,146434,0
$CFSIZE,260034560,243220480
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.188, 58.5,1
$GPS,300813,234235,8138.196,7304.220,26,1.3,26,42.5