version: 66.11
glider: 125
mission: 18
dive: 12
start: 8 24 113 17 44 5
data:
$ID,125
$MISSION,18
$DIVE,12
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,420
$D_ABORT,450
$D_NO_BLEED,200
$D_BOOST,3
$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,140
$T_MISSION,160
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,52433
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,60
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,3.0000001e-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,400
$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,-181679.97
$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,2510
$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,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,282
$ROLL_MAX,3810
$ROLL_DEG,40
$C_ROLL_DIVE,2046
$C_ROLL_CLIMB,2046
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,10
$R_STBD_OVSHOOT,10
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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,4
$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,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$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
$GPS1,240813,173735,8104.036,7206.031,9,1.2,25,41.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-52.1
$GPS2,240813,174342,8104.040,7206.040,10,1.3,27,41.5
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,SA1
$TGT_LATLONG,8105.000,6800.000
$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,229.9,70649,-17.4,-10.000,-20.87,2243
$D_GRID,553
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.47,-145.9,513,2043,1257,1055,0.0,0.0,0,143,0.00,0.00,-121.25,0.000,16386,0.000,0.000,513,2042,3297,3359,3235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,146,-1.47,-145.9,513,2042,3360,3235,4.1,-5.7,12,167,10.18,2.88,-2.42,0.000,18948,0.187,0.129,2181,636,3396,3471,3321,0,0,0,0,0,0,24.15,24.18,24.56
$GC,400,-1.41,-145.9,2180,635,3472,3322,35.9,-9.6,37,406,0.12,2.72,0.00,0.000,3078,0.173,0.091,2198,2046,3397,3472,3322,0,0,0,0,0,0,24.30,24.35,28.83
$GC,713,-1.41,-145.9,2198,2047,3472,3322,62.3,-8.2,68,718,0.00,2.80,0.00,0.000,260,0.000,0.107,2198,3458,3398,3474,3322,0,0,0,0,0,0,28.83,24.33,28.83
$GC,790,-1.41,-145.9,2198,3458,3472,3322,68.9,-9.4,75,797,0.00,2.78,0.00,0.000,1030,0.000,0.093,2198,2034,3397,3472,3322,0,0,0,0,0,0,28.83,24.37,28.83
$GC,1096,-1.41,-145.9,2198,2035,3472,3322,95.3,-8.6,106,1101,0.00,2.83,0.00,0.000,260,0.000,0.103,2198,3466,3396,3471,3322,0,0,0,0,0,0,28.83,24.36,28.83
$GC,1142,-1.41,-145.9,2198,3465,3472,3322,99.1,-9.0,110,1149,0.00,2.75,0.00,0.000,1030,0.000,0.093,2198,2048,3397,3472,3322,0,0,0,0,0,0,28.83,24.39,28.83
$GC,1448,-1.41,-145.9,2198,2048,3471,3322,125.8,-7.9,141,1453,0.00,2.78,0.00,0.000,260,0.000,0.103,2198,3459,3397,3472,3322,0,0,0,0,0,0,28.83,24.37,28.83
$GC,1480,-1.41,-145.9,2198,3459,3471,3322,128.5,-8.2,144,1486,0.00,2.75,0.00,0.000,1030,0.000,0.092,2198,2035,3397,3472,3322,0,0,0,0,0,0,28.83,24.40,28.83
$GC,1793,-1.41,-145.9,2198,2035,3472,3322,154.2,-8.1,175,1794,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2035,3397,3472,3322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2093,-1.41,-145.9,2198,2035,3472,3322,177.6,-8.0,205,2098,0.00,2.80,0.00,0.000,260,0.000,0.103,2198,3460,3397,3472,3322,0,0,0,0,0,0,28.83,24.39,28.83
$GC,2136,-1.41,-145.9,2198,3460,3472,3322,181.1,-8.3,209,2141,0.00,2.72,0.00,0.000,1030,0.000,0.092,2198,2049,3397,3472,3322,0,0,0,0,0,0,28.83,24.43,28.83
$GC,2448,-1.41,-145.9,2198,2049,3472,3322,206.3,-7.9,240,2454,0.00,2.78,0.00,0.000,260,0.000,0.103,2198,3460,3397,3472,3322,0,0,0,0,0,0,28.83,24.40,28.83
$GC,2501,-1.41,-145.9,2198,3460,3471,3322,210.6,-8.6,245,2506,0.00,2.72,0.00,0.000,1030,0.000,0.092,2198,2046,3396,3471,3322,0,0,0,0,0,0,28.83,24.44,28.83
$GC,2813,-1.41,-145.9,2198,2046,3472,3323,235.3,-7.9,276,2814,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,2046,3397,3472,3322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3123,-1.41,-145.9,2198,2046,3472,3322,259.6,-7.9,301,3128,0.00,2.78,0.00,0.000,260,0.000,0.104,2198,3460,3397,3472,3322,0,0,0,0,0,0,28.83,24.43,28.83
$GC,3165,-1.41,-145.9,2198,3460,3472,3322,263.0,-7.9,303,3171,0.00,2.75,0.00,0.000,1030,0.000,0.097,2198,2040,3397,3472,3322,0,0,0,0,0,0,28.83,24.45,28.83
$GC,3488,-1.41,-145.9,2198,2040,3472,3322,288.5,-7.9,319,3493,0.00,2.80,0.00,0.000,260,0.000,0.106,2198,3458,3397,3472,3322,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3519,-1.41,-145.9,2198,3458,3472,3322,290.2,-7.7,320,3525,0.00,2.72,0.00,0.000,1030,0.000,0.093,2198,2048,3397,3472,3322,0,0,0,0,0,0,28.83,24.46,28.83
$GC,3832,-1.45,-145.9,2198,2048,3472,3322,314.9,-7.3,336,3838,0.00,2.80,0.00,0.000,260,0.000,0.106,2198,3464,3397,3472,3323,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3849,-1.50,-145.9,2198,3464,3472,3323,314.9,-7.3,336,3856,0.00,2.78,0.00,0.000,1030,0.000,0.096,2198,2039,3397,3472,3322,0,0,0,0,0,0,28.83,24.45,28.83
$GC,4155,-1.55,-145.9,2198,2039,3472,3322,339.6,-7.6,352,4157,0.12,0.00,0.00,0.000,4102,0.086,0.000,2171,2038,3397,3472,3322,0,0,0,0,0,0,24.60,28.83,28.83
$GC,4455,-1.55,-145.9,2171,2038,3473,3322,363.8,-8.1,367,4460,0.00,2.83,0.00,0.000,260,0.000,0.108,2171,3458,3396,3471,3322,0,0,0,0,0,0,28.83,24.45,28.83
$GC,4486,-1.55,-145.9,2171,3458,3472,3322,365.6,-8.0,368,4492,0.00,2.75,0.00,0.000,1030,0.000,0.096,2171,2046,3397,3472,3322,0,0,0,0,0,0,28.83,24.47,28.83
$GC,4799,-1.55,-145.9,2171,2046,3472,3322,392.3,-8.3,384,4804,0.00,2.80,0.00,0.000,260,0.000,0.109,2171,3458,3397,3472,3322,0,0,0,0,0,0,28.83,24.45,28.83
$STATE,4820,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,4820,begin apogee
$GC,4826,-0.37,0.0,2170,2046,3472,3322,394.1,-8.3,385,4956,1.33,0.00,120.03,0.997,10246,0.130,0.000,2419,2046,2799,2869,2730,0,0,0,0,0,0,24.44,28.83,23.23
$STATE,4957,end apogee,CONTROL_FINISHED_OK
$STATE,4957,begin climb
$GC,4959,1.47,145.9,2420,2046,2869,2728,397.5,0.0,391,5091,2.08,3.08,120.07,0.955,10756,0.107,0.132,2827,643,2204,2282,2127,0,0,0,0,0,0,23.96,23.75,23.22
$GC,5113,1.59,206.9,2827,643,2281,2123,389.4,7.2,399,5174,0.15,2.78,51.05,0.925,11270,0.090,0.093,2860,2052,1955,2039,1872,0,0,0,0,0,0,24.11,24.06,23.22
$GC,5486,1.65,206.9,2860,2052,2036,1861,351.2,10.3,418,5487,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2052,1950,2040,1861,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5787,1.72,206.9,2860,2052,2036,1859,320.7,10.2,433,5789,0.12,0.00,0.00,0.000,2054,0.092,0.000,2888,2052,1947,2036,1859,0,0,0,0,0,0,24.44,28.83,28.83
$GC,6086,1.72,206.9,2887,2052,2035,1858,287.6,10.9,448,6087,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2052,1946,2035,1858,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6386,1.72,206.9,2888,2052,2035,1857,254.6,10.9,463,6387,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2052,1945,2035,1856,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6685,1.72,206.9,2888,2052,2035,1857,223.2,10.1,490,6691,0.00,2.78,0.00,0.000,260,0.000,0.105,2888,3461,1946,2035,1857,0,0,0,0,0,0,28.83,24.34,28.83
$GC,6717,1.72,206.9,2888,3460,2032,1857,219.7,10.9,493,6723,0.00,2.75,0.00,0.000,1030,0.000,0.093,2889,2045,1945,2033,1857,0,0,0,0,0,0,28.83,24.37,28.83
$GC,7030,1.72,206.9,2889,2044,2033,1857,187.8,10.1,524,7035,0.00,2.80,0.00,0.000,260,0.000,0.103,2889,3463,1945,2034,1856,0,0,0,0,0,0,28.83,24.36,28.83
$GC,7056,1.72,206.9,2889,3463,2032,1857,185.4,10.5,526,7063,0.00,2.78,0.00,0.000,1030,0.000,0.093,2889,2039,1945,2033,1857,0,0,0,0,0,0,28.83,24.37,28.83
$GC,7362,1.72,207.6,2889,2039,2033,1856,154.3,10.0,557,7364,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2039,1944,2033,1856,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7662,1.72,209.7,2889,2039,2033,1856,124.1,9.9,587,7667,0.00,2.80,0.00,0.000,260,0.000,0.102,2889,3459,1944,2033,1856,0,0,0,0,0,0,28.83,24.38,28.83
$GC,7684,1.72,209.7,2889,3460,2033,1856,121.7,10.3,589,7690,0.00,2.75,0.00,0.000,1030,0.000,0.092,2889,2040,1944,2033,1856,0,0,0,0,0,0,28.83,24.40,28.83
$GC,7997,1.72,209.7,2889,2039,2033,1856,88.7,11.0,620,7998,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2039,1944,2033,1856,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8297,1.72,209.7,2889,2040,2033,1856,55.5,11.4,650,8302,0.00,2.80,0.00,0.000,260,0.000,0.101,2889,3465,1944,2033,1856,0,0,0,0,0,0,28.83,24.40,28.83
$GC,8319,1.72,209.7,2889,3465,2033,1856,52.9,11.7,652,8324,0.00,2.75,0.00,0.000,1030,0.000,0.092,2889,2041,1944,2033,1856,0,0,0,0,0,0,28.83,24.42,28.83
$GC,8632,1.84,240.8,2889,2041,2033,1856,21.2,8.6,683,8662,0.00,0.00,28.15,0.756,8198,0.000,0.000,2889,2041,1818,1909,1727,0,0,0,0,0,0,28.83,28.83,23.48
$STATE,8850,end climb,SURFACE_DEPTH_REACHED
$STATE,8850,begin surface coast
$FINISH,0.2,1.004478
$STATE,8871,end surface coast,CONTROL_FINISHED_OK
$STATE,8871,begin surface
$SM_CCo,8889,104.95,0.652,1,0,1169,400.08
$SM_GC,0.71,11.20,0.00,104.95,0.067,0.000,0.652,515,2041,1169,-9.14,-0.14,400.08,0,0,0,0,1,0,24.41,28.83,23.42
$IRIDIUM_FIX,8002.69,7226.38,240813,151522
$TT8_MAMPS,0.026215,0.026215
$HUMID,48.03
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,15.90
$XPDR_PINGS,6
$SC_FREEKB,4015616
$24V_AH,23.2,2.655
$10V_AH,9.3,2.109
$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,25.300,89.175,319.300,104.950,0.000,0.000,0.000,232.650,1.500,0.000,30.130,1797.392,5322.208,537.335,1621.741,92.924,0.000,1494.011,0.000,1296.624,0.000,0.545,0.000
$DEVICE_MAMPS,187.425,131.580,996.795,651.780,0.000,0.000,0.000,138.465,420.000,0.000,32.210,12.760,2.190,12.760,37.480,46.470,0.000,15.700,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8885.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.559,0.000,0.000,0.000
$MEM,265008
$DATA_FILE_SIZE,23373,707
$CAP_FILE_SIZE,130006,0
$CFSIZE,260034560,247349248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,240813,201524,8103.851,7158.854,40,0.9,40,41.4