version: 66.11
glider: 125
mission: 18
dive: 73
start: 9 1 113 8 57 48
data:
$ID,125
$MISSION,18
$DIVE,73
$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,-4
$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,-181808.12
$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,13
$R_STBD_OVSHOOT,14
$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
$GPS1,010913,084906,8159.105,7457.211,28,0.9,28,43.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-51.4
$GPS2,010913,085719,8159.119,7457.342,14,1.7,14,43.8
$SPEED_LIMITS,0.183,0.285
$TGT_NAME,SHELF2
$TGT_LATLONG,8248.000,7845.000
$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,318.3,104822,-15.1,-10.588,-20.35,3719
$D_GRID,590
$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,21,-1.43,-257.8,514,2084,1035,749,0.0,0.0,0,160,0.00,0.00,-135.52,0.000,16386,0.000,0.000,514,2083,3095,3151,3040,0,0,0,0,0,0,28.83,28.83,28.83
$GC,163,-1.43,-257.8,514,2083,3152,3041,3.2,-3.1,13,201,10.43,2.78,-20.48,0.000,19204,0.188,0.106,2206,3501,3852,3906,3799,0,0,0,0,0,0,24.15,24.23,24.59
$GC,359,-1.43,-257.8,2205,3501,3907,3801,29.2,-12.0,32,365,0.00,2.70,0.00,0.000,1030,0.000,0.080,2206,2076,3853,3906,3801,0,0,0,0,0,0,28.83,24.34,28.83
$GC,672,-1.43,-257.8,2205,2076,3907,3802,64.2,-11.8,63,674,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2076,3854,3907,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,972,-1.43,-257.8,2205,2076,3906,3802,94.1,-8.9,93,977,0.00,2.78,0.00,0.000,260,0.000,0.095,2205,3502,3854,3907,3802,0,0,0,0,0,0,28.83,24.37,28.83
$GC,1038,-1.43,-257.8,1408,3501,3904,3801,100.0,-9.6,99,1046,0.00,2.70,0.00,0.000,1030,0.000,0.080,2206,2082,3854,3906,3802,0,0,0,0,0,0,28.83,24.39,28.83
$GC,1345,-1.43,-257.8,2205,2082,3906,3802,129.0,-9.4,130,1346,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2081,3854,3906,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1645,-1.43,-257.8,2205,2082,3907,3802,157.5,-9.7,160,1647,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2082,3854,3906,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1945,-1.43,-257.8,2205,2081,3907,3802,185.5,-9.2,190,1946,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2082,3854,3907,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2245,-1.43,-257.8,2205,2081,3906,3802,213.1,-9.6,220,2247,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2081,3854,3906,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2545,-1.43,-257.8,2205,2081,3906,3802,240.9,-8.6,250,2546,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2081,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2845,-1.43,-257.8,2205,2081,3906,3803,267.8,-8.9,270,2850,0.00,2.75,0.00,0.000,260,0.000,0.097,2205,3491,3854,3906,3803,0,0,0,0,0,0,28.83,24.42,28.83
$GC,2897,-1.43,-257.8,2205,3491,3906,3802,271.6,-9.0,272,2902,0.00,2.67,0.00,0.000,1030,0.000,0.083,2206,2086,3854,3906,3803,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3211,-1.43,-257.8,2205,2087,3907,3802,300.4,-9.0,288,3212,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2087,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3512,-1.43,-257.8,2205,2086,3906,3802,327.8,-9.8,303,3513,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2086,3854,3907,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3811,-1.43,-257.8,2205,2086,3906,3801,355.7,-9.1,318,3813,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2086,3854,3907,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4111,-1.43,-257.8,2205,2085,3906,3801,383.3,-8.8,333,4112,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2085,3854,3907,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4411,-1.43,-257.8,2205,2084,3906,3801,410.2,-9.2,348,4412,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2084,3854,3907,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4712,-1.43,-257.8,2205,2081,3907,3800,437.6,-8.9,363,4713,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2081,3854,3907,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5011,-1.43,-257.8,2205,2081,3907,3800,464.3,-8.9,378,5017,0.00,2.78,0.00,0.000,260,0.000,0.101,2206,3498,3853,3907,3800,0,0,0,0,0,0,28.83,24.45,28.83
$GC,5068,-1.43,-257.8,2206,3498,3907,3800,468.5,-9.0,380,5075,0.00,2.70,0.00,0.000,1030,0.000,0.086,2205,2088,3853,3907,3800,0,0,0,0,0,0,28.83,24.46,28.83
$GC,5375,-1.43,-257.8,2205,2088,3907,3799,497.5,-9.0,396,5376,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2088,3853,3907,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5676,-1.43,-257.8,2206,2088,3907,3799,524.0,-9.0,411,5677,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2088,3853,3907,3799,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5852,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5852,begin apogee
$GC,5856,-0.37,0.0,2206,2088,3907,3799,540.3,-9.2,420,6075,1.23,0.00,211.75,1.100,10244,0.122,0.000,2438,2087,2800,2867,2733,0,0,0,0,0,0,24.45,28.83,23.04
$STATE,6077,end apogee,CONTROL_FINISHED_OK
$STATE,6077,begin climb
$GC,6079,1.43,257.8,2437,2087,2867,2731,542.7,0.0,431,6304,1.98,3.03,214.02,1.043,10756,0.087,0.119,2833,661,1749,1848,1650,0,0,0,0,0,0,23.85,23.75,23.01
$GC,6466,1.43,258.2,2832,661,1844,1641,511.9,10.6,450,6472,0.00,2.72,0.00,0.000,1030,0.000,0.085,2833,2074,1743,1844,1642,0,0,0,0,0,0,28.83,24.21,28.83
$GC,6780,1.46,278.6,2832,2074,1844,1637,479.8,10.0,466,6805,0.00,2.97,18.25,0.986,8708,0.000,0.116,2832,655,1663,1769,1558,0,0,0,0,0,0,28.83,23.77,23.22
$GC,7006,1.46,278.6,1888,655,1720,1550,455.5,10.9,477,7012,0.00,2.72,0.00,0.000,1030,0.000,0.095,2833,2073,1661,1766,1556,0,0,0,0,0,0,28.83,24.29,28.83
$GC,7324,1.48,298.0,2833,2073,1766,1553,422.9,10.1,493,7344,0.00,0.00,18.42,0.988,8198,0.000,0.000,2833,2074,1585,1694,1477,0,0,0,0,0,0,28.83,28.83,23.23
$GC,7644,1.50,314.0,2833,2074,1693,1471,390.3,10.1,509,7664,0.00,0.00,15.77,0.966,8198,0.000,0.000,2833,2074,1519,1630,1408,0,0,0,0,0,0,28.83,28.83,23.27
$GC,7964,1.50,314.0,2832,2075,1629,1402,357.7,10.6,525,7965,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2075,1516,1629,1403,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8265,1.54,340.5,2833,2075,1629,1402,327.6,9.9,540,8293,0.12,0.00,25.00,0.967,10246,0.085,0.000,2862,2076,1412,1529,1295,0,0,0,0,0,0,24.46,28.83,23.22
$GC,8584,1.54,340.5,2862,2076,1528,1289,293.5,10.9,556,8585,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2076,1408,1528,1289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8885,1.54,340.5,2861,2077,1528,1288,260.5,11.0,571,8886,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2077,1407,1527,1288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9184,1.54,340.5,2861,2077,1527,1287,226.1,11.7,596,9185,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2077,1407,1527,1287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9484,1.54,340.5,2861,2077,1527,1286,192.7,10.7,626,9485,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2077,1407,1528,1286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9784,1.54,340.5,2861,2077,1527,1286,159.7,11.1,656,9785,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2077,1406,1527,1286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10084,1.54,340.5,2861,2077,1527,1286,127.2,10.7,686,10090,0.00,2.75,0.00,0.000,260,0.000,0.106,2862,3482,1406,1527,1286,0,0,0,0,0,0,28.83,24.38,28.83
$GC,10121,1.54,340.5,2862,3482,1527,1286,123.4,10.9,689,10128,0.00,2.70,0.00,0.000,1030,0.000,0.083,2863,2067,1406,1527,1286,0,0,0,0,0,0,28.83,24.41,28.83
$GC,10427,1.54,340.5,2862,2067,1526,1286,87.8,11.5,720,10429,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2067,1406,1527,1286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10728,1.57,365.2,2862,2067,1526,1286,56.6,9.9,750,10757,0.00,0.00,22.92,0.817,8198,0.000,0.000,2863,2067,1310,1434,1186,0,0,0,0,0,0,28.83,28.83,23.39
$GC,11059,1.57,365.2,2862,2067,1434,1181,24.6,10.7,783,11060,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2067,1307,1433,1181,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11305,end climb,SURFACE_DEPTH_REACHED
$STATE,11305,begin surface coast
$FINISH,0.5,1.026579
$STATE,11327,end surface coast,CONTROL_FINISHED_OK
$STATE,11327,begin surface
$SM_CCo,11407,0.00,0.000,0,0,1304,366.97
$SM_GC,1.11,11.07,0.05,0.00,0.064,0.203,0.000,510,2088,1304,-9.23,-0.48,366.97,0,0,0,0,0,0,24.44,24.50,28.83
$IRIDIUM_FIX,8041.36,7447.37,010913,050558
$TT8_MAMPS,0.026964,0.026964
$HUMID,48.30
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,15.30
$XPDR_PINGS,3
$SC_FREEKB,3996576
$TM_FREEKB,2457216
$24V_AH,23.0,11.833
$10V_AH,9.1,7.969
$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,24.825,38.800,526.150,0.000,0.000,0.000,0.000,293.700,0.750,0.000,16.193,2128.210,7119.662,568.854,1909.896,175.733,0.000,1689.722,0.000,1495.998,0.000,0.546,0.000
$DEVICE_MAMPS,188.190,202.725,1100.070,0.000,0.000,0.000,0.000,149.175,420.000,0.000,32.210,12.760,2.190,12.760,37.480,46.470,0.000,15.700,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11340.000,11325.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.346,13.818,0.000,0.000
$MEM,282232
$DATA_FILE_SIZE,26741,810
$CAP_FILE_SIZE,141370,0
$CFSIZE,260034560,242163712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.234, 85.0,1
$GPS,010913,120905,8200.720,7508.296,30,1.0,30,43.8