version: 66.11
glider: 125
mission: 18
dive: 65
start: 8 31 113 6 30 29
data:
$ID,125
$MISSION,18
$DIVE,65
$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,-181798.12
$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,12
$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
$GPS1,310813,062136,8142.730,7323.955,25,1.5,25,42.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-52.3
$GPS2,310813,063001,8142.761,7324.007,12,1.6,12,42.8
$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,4.3,40392,-15.1,-10.588,-20.35,3719
$D_GRID,588
$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,-257.8,510,2085,1357,1115,0.0,0.0,0,140,0.00,0.00,-115.85,0.000,16386,0.000,0.000,510,2085,3116,3174,3058,0,0,0,0,0,0,28.83,28.83,28.83
$GC,143,-1.43,-257.8,510,2085,3174,3059,3.8,-4.9,11,182,10.43,2.88,-19.23,0.000,18948,0.187,0.116,2207,677,3854,3906,3802,0,0,0,0,0,0,24.17,24.22,24.60
$GC,259,-1.43,-257.8,2207,677,3906,3803,21.4,-12.8,22,265,0.00,2.67,0.00,0.000,1030,0.000,0.080,2207,2087,3854,3906,3803,0,0,0,0,0,0,28.83,24.32,28.83
$GC,573,-1.43,-257.8,2207,2087,3906,3804,52.4,-9.9,53,574,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2086,3855,3906,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,872,-1.43,-257.8,2207,2086,3906,3805,82.2,-10.0,83,873,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2086,3855,3907,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1173,-1.43,-257.8,2207,2086,3906,3804,111.3,-9.4,113,1178,0.00,2.75,0.00,0.000,260,0.000,0.100,2208,3491,3855,3906,3804,0,0,0,0,0,0,28.83,24.39,28.83
$GC,1260,-1.43,-257.8,2207,3491,3906,3804,119.3,-9.7,121,1266,0.00,2.67,0.00,0.000,1030,0.000,0.080,2207,2076,3855,3906,3804,0,0,0,0,0,0,28.83,24.41,28.83
$GC,1566,-1.43,-257.8,2207,2076,3906,3804,147.7,-9.5,152,1567,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2075,3855,3906,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1865,-1.43,-257.8,2207,2076,3906,3804,175.2,-9.5,182,1871,0.00,2.75,0.00,0.000,260,0.000,0.094,2207,3492,3855,3906,3805,0,0,0,0,0,0,28.83,24.42,28.83
$GC,1919,-1.43,-257.8,2207,3492,3906,3804,180.3,-9.7,187,1924,0.00,2.65,0.00,0.000,1030,0.000,0.080,2208,2091,3855,3906,3804,0,0,0,0,0,0,28.83,24.44,28.83
$GC,2233,-1.43,-257.8,2207,2091,3906,3805,209.2,-9.2,218,2234,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2091,3855,3906,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2531,-1.43,-257.8,2207,2091,3906,3804,239.4,-10.1,248,2537,0.00,2.72,0.00,0.000,260,0.000,0.093,2207,3497,3855,3906,3805,0,0,0,0,0,0,28.83,24.43,28.83
$GC,2598,-1.43,-257.8,2207,3496,3906,3805,245.7,-10.0,254,2606,0.00,2.67,0.00,0.000,1030,0.000,0.081,2207,2085,3855,3906,3804,0,0,0,0,0,0,28.83,24.45,28.83
$GC,2904,-1.43,-257.8,2207,2085,3906,3805,273.8,-8.3,272,2905,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2085,3855,3906,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3206,-1.43,-257.8,2207,2085,3906,3804,299.3,-8.7,287,3211,0.00,2.72,0.00,0.000,260,0.000,0.096,2207,3492,3855,3906,3805,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3269,-1.43,-257.8,2207,3492,3906,3805,305.2,-9.1,290,3274,0.00,2.67,0.00,0.000,1030,0.000,0.083,2207,2093,3855,3906,3805,0,0,0,0,0,0,28.83,24.46,28.83
$GC,3592,-1.43,-257.8,2207,2093,3906,3804,336.4,-9.8,306,3593,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2093,3855,3906,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3893,-1.43,-257.8,2207,2093,3908,3805,364.2,-8.4,321,3898,0.00,2.72,0.00,0.000,260,0.000,0.096,2207,3491,3855,3906,3805,0,0,0,0,0,0,28.83,24.45,28.83
$GC,3950,-1.43,-257.8,2207,3491,3906,3805,367.8,-8.3,323,3957,0.00,2.67,0.00,0.000,1030,0.000,0.083,2207,2093,3855,3906,3805,0,0,0,0,0,0,28.83,24.46,28.83
$GC,4256,-1.43,-257.8,2207,2094,3906,3805,395.1,-9.8,339,4257,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2094,3855,3906,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4557,-1.43,-257.8,2207,2093,3906,3805,425.1,-8.5,354,4562,0.00,2.72,0.00,0.000,260,0.000,0.097,2207,3492,3855,3906,3804,0,0,0,0,0,0,28.83,24.46,28.83
$GC,4614,-1.43,-257.8,2207,3492,3907,3805,428.8,-8.4,356,4622,0.00,2.65,0.00,0.000,1030,0.000,0.084,2208,2102,3855,3906,3805,0,0,0,0,0,0,28.83,24.46,28.83
$GC,4920,-1.43,-257.8,2207,2101,3906,3804,454.7,-8.2,372,4921,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2101,3855,3906,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5221,-1.43,-257.8,2207,2100,3906,3804,481.1,-9.5,387,5222,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2101,3855,3906,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5521,-1.43,-257.8,2207,2099,3906,3803,511.0,-9.9,402,5522,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2099,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5822,-1.43,-257.8,2207,2097,3907,3803,538.7,-9.1,417,5827,0.00,2.72,0.00,0.000,260,0.000,0.100,2208,3492,3855,3907,3803,0,0,0,0,0,0,28.83,24.46,28.83
$STATE,5843,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5843,begin apogee
$GC,5850,-0.37,0.0,2207,2072,3907,3803,541.0,-9.3,418,6069,1.20,0.00,212.27,1.092,10244,0.120,0.000,2436,2071,2800,2867,2734,0,0,0,0,0,0,24.44,28.83,23.06
$STATE,6072,end apogee,CONTROL_FINISHED_OK
$STATE,6072,begin climb
$GC,6074,1.43,257.8,2436,2072,2867,2732,551.2,0.0,429,6299,1.98,2.97,214.57,1.043,10756,0.090,0.118,2830,658,1748,1846,1651,0,0,0,0,0,0,23.87,23.77,23.02
$GC,6407,1.43,257.8,2830,658,1844,1643,524.8,11.0,445,6412,0.00,2.72,0.00,0.000,1030,0.000,0.083,2830,2068,1743,1843,1643,0,0,0,0,0,0,28.83,24.16,28.83
$GC,6724,1.46,282.3,2830,2067,1844,1639,492.9,9.9,461,6754,0.00,2.90,21.35,0.993,8964,0.000,0.099,2830,3474,1648,1754,1543,0,0,0,0,0,0,28.83,23.80,23.18
$GC,6761,1.49,299.8,2830,3474,1753,1543,490.8,10.1,462,6787,0.00,2.75,17.75,0.963,9222,0.000,0.085,2830,2067,1576,1685,1468,0,0,0,0,0,0,28.83,23.97,23.14
$GC,7087,1.49,299.8,2830,2067,1683,1460,454.1,10.6,479,7092,0.00,2.78,0.00,0.000,260,0.000,0.097,2830,3480,1572,1684,1460,0,0,0,0,0,0,28.83,24.27,28.83
$GC,7304,1.49,299.8,2830,3480,1682,1459,430.5,11.6,489,7311,0.00,2.75,0.00,0.000,1030,0.000,0.090,2830,2057,1570,1682,1459,0,0,0,0,0,0,28.83,24.31,28.83
$GC,7611,1.52,329.9,2830,2057,1682,1458,396.7,9.8,505,7645,0.12,2.92,27.40,0.991,10756,0.091,0.116,2862,661,1454,1567,1341,0,0,0,0,0,0,24.42,23.76,23.20
$GC,7673,1.52,329.9,2862,661,1566,1340,389.5,11.1,508,7678,0.00,2.72,0.00,0.000,1030,0.000,0.085,2862,2060,1452,1566,1339,0,0,0,0,0,0,28.83,24.09,28.83
$GC,7995,1.52,329.9,2862,2060,1566,1336,350.6,11.9,524,8001,0.00,2.85,0.00,0.000,516,0.000,0.115,2863,661,1451,1566,1336,0,0,0,0,0,0,28.83,24.27,28.83
$GC,8027,1.52,329.9,2862,661,1566,1336,347.6,12.1,525,8033,0.00,2.67,0.00,0.000,1030,0.000,0.083,2862,2060,1450,1565,1336,0,0,0,0,0,0,28.83,24.33,28.83
$GC,8340,1.52,329.9,2862,2061,1565,1335,309.0,11.9,541,8345,0.00,2.85,0.00,0.000,516,0.000,0.114,2862,659,1450,1565,1335,0,0,0,0,0,0,28.83,24.30,28.83
$GC,8366,1.52,329.9,2862,659,1565,1335,306.2,12.1,542,8372,0.00,2.65,0.00,0.000,1030,0.000,0.083,2862,2046,1450,1565,1335,0,0,0,0,0,0,28.83,24.37,28.83
$GC,8684,1.52,329.9,2862,2046,1565,1334,270.2,10.8,558,8690,0.00,2.80,0.00,0.000,516,0.000,0.113,2862,662,1449,1565,1334,0,0,0,0,0,0,28.83,24.32,28.83
$GC,8716,1.52,329.9,2862,662,1565,1334,267.6,10.9,559,8722,0.00,2.65,0.00,0.000,1030,0.000,0.083,2862,2052,1449,1565,1334,0,0,0,0,0,0,28.83,24.39,28.83
$GC,9030,1.52,329.9,2862,2052,1564,1333,230.6,11.2,583,9035,0.00,2.83,0.00,0.000,516,0.000,0.112,2862,661,1449,1565,1333,0,0,0,0,0,0,28.83,24.33,28.83
$GC,9056,1.52,329.9,1928,661,1531,1330,227.9,11.3,585,9062,0.00,2.65,0.00,0.000,1030,0.000,0.083,2862,2047,1449,1565,1333,0,0,0,0,0,0,28.83,24.40,28.83
$GC,9363,1.52,329.9,2862,2047,1565,1333,192.9,11.4,616,9364,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2047,1448,1565,1332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9662,1.52,329.9,2862,2048,1565,1333,157.8,11.2,646,9663,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2048,1449,1565,1333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9963,1.52,329.9,2862,2048,1565,1333,123.0,11.8,676,9964,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2048,1449,1565,1333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10262,1.52,329.9,2862,2048,1565,1333,88.7,11.5,706,10263,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2048,1448,1565,1332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10563,1.52,329.9,2862,2048,1565,1333,54.4,11.7,736,10565,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2048,1449,1565,1333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10863,1.63,414.3,2862,2048,1565,1333,24.6,8.3,766,10942,0.00,0.00,74.15,0.771,8710,0.000,0.000,2863,2048,1109,1241,978,0,0,0,0,0,0,28.83,28.83,23.33
$STATE,11131,end climb,SURFACE_DEPTH_REACHED
$STATE,11131,begin surface coast
$FINISH,0.4,1.026618
$STATE,11153,end surface coast,CONTROL_FINISHED_OK
$STATE,11153,begin surface
$SM_CCo,11234,0.00,0.000,0,0,1103,416.03
$SM_GC,1.07,10.90,0.10,0.00,0.055,0.116,0.000,510,2094,1103,-9.22,-0.17,416.03,0,0,0,0,0,0,24.36,24.37,28.83
$IRIDIUM_FIX,8028.18,7330.79,310813,030355
$TT8_MAMPS,0.026215,0.026215
$HUMID,46.73
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,15.60
$XPDR_PINGS,6
$SC_FREEKB,3999136
$TM_FREEKB,2728448
$24V_AH,23.0,10.431
$10V_AH,9.2,7.053
$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,24.625,88.025,567.500,0.000,0.000,0.000,0.000,310.850,1.500,0.000,14.462,2145.648,6819.742,619.316,1977.960,179.211,0.000,1815.452,0.000,1544.634,0.000,0.546,0.000
$DEVICE_MAMPS,187.425,117.810,1091.655,0.000,0.000,0.000,0.000,148.410,420.000,0.000,32.210,12.760,2.190,12.760,37.480,46.470,0.000,15.700,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11170.000,11158.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.349,13.801,0.000,0.000
$MEM,266376
$DATA_FILE_SIZE,26701,795
$CAP_FILE_SIZE,149955,0
$CFSIZE,260034560,242929664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.117, 33.4,1
$GPS,310813,093906,8144.264,7334.580,42,0.9,42,42.9