version: 66.11
glider: 125
mission: 18
dive: 68
start: 8 31 113 16 23 53
data:
$ID,125
$MISSION,18
$DIVE,68
$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,-181801.88
$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,12
$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
$GPS1,310813,161436,8147.889,7356.003,38,1.6,38,43.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-54.1
$GPS2,310813,162324,8147.905,7356.179,15,1.6,32,43.1
$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,350.8,27791,-15.1,-10.588,-20.35,3719
$D_GRID,594
$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,-257.8,510,2071,1355,1119,0.0,0.0,0,138,0.00,0.00,-114.50,0.000,16386,0.000,0.000,510,2071,3091,3146,3037,0,0,0,0,0,0,28.83,28.83,28.83
$GC,141,-1.43,-257.8,510,2071,3147,3037,3.5,-3.9,11,179,10.43,2.80,-20.52,0.000,18948,0.187,0.116,2206,669,3853,3907,3800,0,0,0,0,0,0,24.18,24.22,24.60
$GC,431,-1.43,-257.8,2206,669,3908,3803,38.4,-9.7,39,439,0.00,2.70,0.00,0.000,1030,0.000,0.079,2206,2090,3854,3906,3803,0,0,0,0,0,0,28.83,24.38,28.83
$GC,737,-1.43,-257.8,2206,2090,3906,3803,68.4,-9.7,70,743,0.00,2.75,0.00,0.000,260,0.000,0.099,2206,3496,3855,3907,3803,0,0,0,0,0,0,28.83,24.37,28.83
$GC,793,-1.43,-257.8,1408,3495,3904,3801,73.8,-10.3,75,801,0.00,2.70,0.00,0.000,1030,0.000,0.080,2206,2080,3855,3907,3803,0,0,0,0,0,0,28.83,24.39,28.83
$GC,1101,-1.43,-257.8,2206,2080,3906,3803,104.5,-9.4,106,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2080,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1400,-1.43,-257.8,2206,2080,3906,3803,132.9,-9.2,136,1401,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2080,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1701,-1.43,-257.8,2206,2080,3906,3803,161.0,-9.2,166,1702,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2080,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2000,-1.43,-257.8,2206,2080,3906,3803,188.8,-9.3,196,2001,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2080,3855,3907,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2300,-1.43,-257.8,2206,2080,3907,3803,217.5,-9.5,226,2302,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2080,3855,3907,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2600,-1.43,-257.8,2206,2080,3906,3803,245.6,-9.1,256,2606,0.00,2.75,0.00,0.000,260,0.000,0.095,2206,3492,3854,3906,3803,0,0,0,0,0,0,28.83,24.44,28.83
$GC,2667,-1.43,-257.8,2206,3492,3906,3803,251.7,-9.8,262,2674,0.00,2.65,0.00,0.000,1030,0.000,0.080,2206,2089,3855,3907,3803,0,0,0,0,0,0,28.83,24.46,28.83
$GC,2986,-1.43,-257.8,2206,2089,3907,3803,281.6,-9.4,278,2987,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2089,3855,3906,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3288,-1.43,-257.8,2206,2089,3906,3803,309.4,-9.3,293,3289,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2089,3855,3907,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3587,-1.43,-257.8,2206,2089,3906,3803,336.5,-9.0,308,3589,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2089,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3887,-1.43,-257.8,2206,2089,3907,3803,363.1,-8.9,323,3888,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2088,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4187,-1.43,-257.8,2206,2087,3906,3803,389.5,-8.8,338,4193,0.00,2.72,0.00,0.000,260,0.000,0.097,2206,3492,3855,3907,3803,0,0,0,0,0,0,28.83,24.46,28.83
$GC,4245,-1.43,-257.8,2206,3492,3907,3803,393.5,-8.9,340,4251,0.00,2.67,0.00,0.000,1030,0.000,0.083,2206,2087,3854,3906,3803,0,0,0,0,0,0,28.83,24.46,28.83
$GC,4551,-1.43,-257.8,2206,2088,3907,3802,422.3,-9.1,356,4552,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2088,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4851,-1.43,-257.8,2206,2086,3907,3802,450.0,-9.3,371,4852,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2087,3854,3906,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5151,-1.43,-257.8,2206,2084,3906,3801,477.8,-9.3,386,5157,0.00,2.75,0.00,0.000,260,0.000,0.099,2206,3492,3853,3906,3801,0,0,0,0,0,0,28.83,24.46,28.83
$GC,5208,-1.43,-257.8,2206,3493,3906,3801,482.0,-9.4,388,5215,0.00,2.67,0.00,0.000,1030,0.000,0.085,2206,2091,3853,3906,3801,0,0,0,0,0,0,28.83,24.47,28.83
$GC,5514,-1.43,-257.8,2207,2091,3906,3801,510.9,-8.8,404,5516,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2091,3853,3906,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5816,-1.43,-257.8,2206,2090,3906,3800,537.5,-9.2,419,5817,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2090,3854,3907,3801,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5852,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5853,begin apogee
$GC,5857,-0.37,0.0,2206,2090,3907,3801,541.3,-9.2,421,6076,1.20,0.00,212.75,1.094,10244,0.120,0.000,2436,2090,2801,2867,2735,0,0,0,0,0,0,24.46,28.83,23.05
$STATE,6078,end apogee,CONTROL_FINISHED_OK
$STATE,6078,begin climb
$GC,6080,1.43,257.8,2436,2090,2866,2733,551.4,0.0,432,6309,1.98,3.00,215.55,1.043,10756,0.088,0.116,2830,659,1747,1846,1649,0,0,0,0,0,0,23.85,23.76,23.01
$GC,6445,1.44,262.7,2830,660,1844,1642,522.4,10.5,450,6458,0.00,2.72,4.75,0.721,9222,0.000,0.091,2831,2080,1728,1830,1627,0,0,0,0,0,0,28.83,24.19,23.46
$GC,6757,1.47,288.0,2830,2079,1830,1622,491.1,9.9,466,6786,0.00,2.97,23.65,1.001,8708,0.000,0.122,2830,662,1625,1731,1519,0,0,0,0,0,0,28.83,23.75,23.17
$GC,6959,1.47,288.0,2830,662,1729,1516,469.8,10.6,476,6965,0.00,2.70,0.00,0.000,1030,0.000,0.083,2830,2068,1623,1730,1516,0,0,0,0,0,0,28.83,24.27,28.83
$GC,7282,1.51,319.8,2830,2068,1729,1514,438.3,9.7,492,7324,0.12,2.92,29.50,1.004,10500,0.090,0.099,2863,3486,1495,1606,1385,0,0,0,0,0,0,24.41,23.77,23.16
$GC,7346,1.51,319.8,2864,3486,1606,1383,431.0,11.0,495,7352,0.00,2.78,0.00,0.000,1030,0.000,0.084,2863,2066,1494,1606,1383,0,0,0,0,0,0,28.83,24.06,28.83
$GC,7669,1.51,319.8,2863,2067,1605,1380,393.4,11.7,511,7670,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2067,1493,1606,1380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7971,1.51,319.8,2863,2066,1605,1379,358.6,11.4,526,7972,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2066,1492,1605,1379,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8270,1.51,319.8,2863,2066,1605,1378,324.9,11.2,541,8271,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2066,1491,1605,1378,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8570,1.51,319.8,2863,2066,1605,1377,292.3,10.8,556,8571,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2067,1491,1605,1377,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8870,1.51,319.8,2863,2066,1604,1377,260.0,10.9,571,8876,0.00,2.78,0.00,0.000,260,0.000,0.096,2863,3485,1490,1604,1377,0,0,0,0,0,0,28.83,24.37,28.83
$GC,8893,1.51,319.8,2862,3484,1603,1377,257.3,11.0,572,8898,0.00,2.72,0.00,0.000,1030,0.000,0.083,2863,2069,1490,1603,1377,0,0,0,0,0,0,28.83,24.38,28.83
$GC,9205,1.51,319.8,2863,2068,1603,1377,223.6,10.9,599,9207,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2068,1490,1603,1377,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9506,1.52,328.5,2863,2069,1603,1376,191.1,10.3,629,9516,0.00,0.00,8.57,0.823,8198,0.000,0.000,2863,2068,1460,1573,1347,0,0,0,0,0,0,28.83,28.83,23.61
$GC,9816,1.53,337.4,2863,2068,1573,1345,158.5,10.3,660,9832,0.00,2.80,9.65,0.812,8452,0.000,0.093,2863,3486,1423,1539,1308,0,0,0,0,0,0,28.83,24.08,23.58
$GC,9853,1.53,337.4,2863,3486,1539,1308,154.8,10.8,663,9860,0.00,2.70,0.00,0.000,1030,0.000,0.081,2863,2074,1422,1538,1307,0,0,0,0,0,0,28.83,24.20,28.83
$GC,10159,1.53,337.4,2863,2073,1539,1305,119.9,11.3,694,10160,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2073,1422,1539,1305,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10459,1.54,346.8,2863,2073,1539,1304,87.6,10.3,724,10475,0.00,2.78,9.82,0.772,8452,0.000,0.092,2863,3485,1386,1505,1268,0,0,0,0,0,0,28.83,24.11,23.63
$GC,10492,1.54,346.8,2863,3485,1504,1268,84.0,10.7,727,10498,0.00,2.70,0.00,0.000,1030,0.000,0.079,2863,2075,1386,1504,1268,0,0,0,0,0,0,28.83,24.21,28.83
$GC,10805,1.54,346.8,2863,2075,1503,1266,48.8,11.4,758,10806,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2075,1385,1504,1266,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11106,1.61,401.3,2863,2075,1503,1265,18.2,9.1,788,11161,0.00,2.90,49.38,0.767,8708,0.000,0.109,2863,662,1163,1293,1033,0,0,0,0,0,0,28.83,23.80,23.36
$GC,11190,1.67,446.4,2863,661,1292,1031,10.4,9.3,796,11236,0.12,2.75,39.67,0.732,11270,0.090,0.081,2888,2090,980,1120,840,0,0,0,0,0,0,24.15,24.12,23.34
$STATE,11273,end climb,SURFACE_DEPTH_REACHED
$STATE,11273,begin surface coast
$FINISH,0.7,1.026731
$STATE,11284,end surface coast,CONTROL_FINISHED_OK
$STATE,11284,begin surface
$SM_CCo,11364,0.00,0.000,0,0,974,447.67
$SM_GC,1.11,11.23,0.00,0.00,0.061,0.000,0.000,514,2092,974,-9.21,0.17,447.67,0,0,0,0,0,0,24.20,28.83,28.83
$IRIDIUM_FIX,8041.36,7313.73,310813,131319
$TT8_MAMPS,0.026964,0.026964
$HUMID,46.22
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,15.60
$XPDR_PINGS,7
$SC_FREEKB,3998176
$TM_FREEKB,2626752
$24V_AH,23.0,10.959
$10V_AH,9.2,7.396
$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,25.075,66.400,603.300,0.000,0.000,0.000,0.000,314.500,1.750,0.000,34.567,2146.820,6945.889,619.044,2003.517,180.367,0.000,1819.492,0.000,1547.592,0.000,0.546,0.000
$DEVICE_MAMPS,187.425,121.635,1093.950,0.000,0.000,0.000,0.000,146.880,420.000,0.000,32.210,12.760,2.190,12.760,37.480,46.470,0.000,15.700,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11297.000,11282.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.350,13.803,0.000,0.000
$MEM,266424
$DATA_FILE_SIZE,26714,805
$CAP_FILE_SIZE,149173,0
$CFSIZE,260034560,242638848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.206, 39.8,1
$GPS,310813,193436,8150.122,7408.482,38,1.0,38,43.2