version: 66.11
glider: 125
mission: 18
dive: 17
start: 8 25 113 4 20 21
data:
$ID,125
$MISSION,18
$DIVE,17
$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,-181685.69
$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,12
$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,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
$GPS1,250813,041507,8104.277,7140.703,7,1.9,7,41.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-53.5
$GPS2,250813,041943,8104.257,7140.716,9,2.0,9,41.3
$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,229.9,63373,-17.4,-10.000,-20.87,2243
$D_GRID,570
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,17,-1.47,-145.9,510,2039,1255,1051,0.0,0.0,0,131,0.00,0.00,-111.30,0.000,16386,0.000,0.000,511,2036,3065,3124,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,135,-1.47,-145.9,510,2036,3125,3006,3.0,-4.5,11,161,10.20,2.88,-9.88,0.000,18948,0.187,0.127,2183,633,3395,3475,3316,0,0,0,0,0,0,24.16,24.18,24.59
$GC,359,-1.41,-145.9,2182,633,3474,3317,29.8,-10.3,33,364,0.00,2.72,0.00,0.000,1030,0.000,0.090,2182,2047,3396,3475,3317,0,0,0,0,0,0,28.83,24.34,28.83
$GC,672,-1.41,-145.9,2182,2047,3475,3317,55.2,-7.8,64,677,0.00,2.80,0.00,0.000,260,0.000,0.105,2183,3464,3396,3475,3318,0,0,0,0,0,0,28.83,24.32,28.83
$GC,698,-1.41,-145.9,2183,3464,3474,3317,57.0,-7.9,66,705,0.00,2.75,0.00,0.000,1030,0.000,0.092,2183,2048,3396,3475,3317,0,0,0,0,0,0,28.83,24.35,28.83
$GC,1004,-1.41,-145.9,2183,2048,3475,3317,82.3,-8.2,97,1009,0.00,2.80,0.00,0.000,260,0.000,0.104,2183,3464,3396,3475,3317,0,0,0,0,0,0,28.83,24.34,28.83
$GC,1027,-1.41,-145.9,2182,3464,3475,3318,84.2,-8.0,99,1032,0.00,2.78,0.00,0.000,1030,0.000,0.093,2183,2045,3396,3475,3318,0,0,0,0,0,0,28.83,24.37,28.83
$GC,1339,-1.41,-145.9,2182,2045,3475,3317,110.4,-8.4,130,1345,0.00,2.80,0.00,0.000,260,0.000,0.103,2183,3465,3396,3475,3317,0,0,0,0,0,0,28.83,24.37,28.83
$GC,1412,-1.41,-145.9,2182,3465,3475,3318,117.0,-9.3,137,1417,0.00,2.75,0.00,0.000,1030,0.000,0.093,2183,2044,3396,3475,3317,0,0,0,0,0,0,28.83,24.39,28.83
$GC,1725,-1.41,-145.9,2183,2044,3475,3317,145.3,-8.9,168,1731,0.00,2.80,0.00,0.000,260,0.000,0.103,2183,3465,3396,3475,3317,0,0,0,0,0,0,28.83,24.37,28.83
$GC,1758,-1.41,-145.9,2182,3465,3475,3320,148.3,-9.1,171,1763,0.00,2.75,0.00,0.000,1030,0.000,0.092,2183,2042,3396,3475,3317,0,0,0,0,0,0,28.83,24.40,28.83
$GC,2071,-1.41,-145.9,2182,2042,3475,3317,175.7,-8.4,202,2076,0.00,2.80,0.00,0.000,260,0.000,0.103,2183,3459,3396,3475,3317,0,0,0,0,0,0,28.83,24.38,28.83
$GC,2128,-1.41,-145.9,2182,3460,3475,3318,180.4,-9.0,207,2135,0.00,2.75,0.00,0.000,1030,0.000,0.093,2183,2038,3396,3475,3317,0,0,0,0,0,0,28.83,24.41,28.83
$GC,2434,-1.41,-145.9,2183,2037,3475,3318,206.5,-8.8,238,2439,0.00,2.80,0.00,0.000,260,0.000,0.104,2183,3459,3395,3474,3317,0,0,0,0,0,0,28.83,24.39,28.83
$GC,2486,-1.41,-145.9,2182,3460,3475,3317,211.1,-8.8,243,2492,0.00,2.72,0.00,0.000,1030,0.000,0.093,2183,2049,3396,3475,3317,0,0,0,0,0,0,28.83,24.42,28.83
$GC,2799,-1.41,-145.9,2183,2049,3475,3317,236.6,-8.0,274,2804,0.00,2.78,0.00,0.000,260,0.000,0.105,2183,3460,3396,3475,3317,0,0,0,0,0,0,28.83,24.40,28.83
$GC,2892,-1.41,-145.9,2182,3460,3475,3317,244.5,-8.4,283,2897,0.00,2.75,0.00,0.000,1030,0.000,0.093,2183,2035,3396,3475,3317,0,0,0,0,0,0,28.83,24.43,28.83
$GC,3205,-1.41,-145.9,2182,2035,3475,3318,269.9,-8.3,302,3210,0.00,2.83,0.00,0.000,260,0.000,0.104,2183,3465,3396,3475,3317,0,0,0,0,0,0,28.83,24.41,28.83
$GC,3271,-1.41,-145.9,2183,3465,3475,3317,275.5,-8.9,305,3277,0.00,2.75,0.00,0.000,1030,0.000,0.094,2183,2047,3396,3475,3317,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3589,-1.41,-145.9,2183,2048,3475,3318,303.0,-8.7,321,3595,0.00,2.80,0.00,0.000,260,0.000,0.106,2183,3464,3396,3475,3317,0,0,0,0,0,0,28.83,24.42,28.83
$GC,3646,-1.41,-145.9,2182,3464,3475,3317,306.7,-8.5,323,3653,0.00,2.75,0.00,0.000,1030,0.000,0.094,2183,2046,3396,3475,3318,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3952,-1.41,-145.9,2184,2046,3475,3317,332.6,-8.0,339,3957,0.00,2.78,0.00,0.000,260,0.000,0.106,2183,3460,3396,3475,3317,0,0,0,0,0,0,28.83,24.42,28.83
$GC,3995,-1.41,-145.9,2183,3460,3475,3318,336.1,-7.9,341,4000,0.00,2.75,0.00,0.000,1030,0.000,0.095,2183,2043,3396,3474,3318,0,0,0,0,0,0,28.83,24.45,28.83
$GC,4317,-1.41,-145.9,2182,2043,3475,3317,362.0,-8.0,357,4322,0.00,2.83,0.00,0.000,260,0.000,0.109,2183,3465,3396,3475,3318,0,0,0,0,0,0,28.83,24.43,28.83
$GC,4363,-1.41,-145.9,1376,3463,3459,3313,365.6,-8.2,359,4369,0.00,2.78,0.00,0.000,1030,0.000,0.107,2182,2043,3396,3475,3318,0,0,0,0,0,0,28.83,24.44,28.83
$GC,4681,-1.41,-145.9,2182,2043,3475,3318,391.9,-8.0,375,4686,0.00,2.85,0.00,0.000,260,0.000,0.110,2183,3466,3396,3475,3318,0,0,0,0,0,0,28.83,24.43,28.83
$GC,4724,-1.41,-145.9,2182,3465,3475,3318,395.5,-8.2,377,4729,0.00,2.78,0.00,0.000,1030,0.000,0.098,2185,2045,3396,3475,3318,0,0,0,0,0,0,28.83,24.45,28.83
$STATE,4805,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,4805,begin apogee
$GC,4808,-0.37,0.0,2183,2045,3475,3317,402.3,-8.2,381,4937,1.27,0.00,119.75,0.995,10246,0.153,0.000,2420,2045,2799,2870,2729,0,0,0,0,0,0,24.42,28.83,23.22
$STATE,4938,end apogee,CONTROL_FINISHED_OK
$STATE,4938,begin climb
$GC,4940,1.47,145.9,2419,2045,2870,2728,405.6,0.0,387,5073,2.08,3.10,120.18,0.951,10756,0.111,0.132,2824,644,2204,2282,2127,0,0,0,0,0,0,23.94,23.72,23.20
$GC,5095,1.61,219.7,2823,644,2281,2123,398.1,6.6,395,5165,0.17,2.78,61.55,0.923,11270,0.073,0.103,2863,2046,1903,1987,1819,0,0,0,0,0,0,24.12,24.05,23.20
$GC,5472,1.68,219.7,2863,2046,1985,1807,359.7,10.1,414,5478,0.00,2.85,0.00,0.000,260,0.000,0.110,2863,3458,1896,1985,1807,0,0,0,0,0,0,28.83,24.24,28.83
$GC,5499,1.73,220.4,2863,3458,1985,1806,357.3,10.0,415,5505,0.10,2.80,0.00,0.000,3078,0.093,0.099,2892,2042,1895,1985,1806,0,0,0,0,0,0,24.34,24.25,28.83
$GC,5818,1.73,220.4,2891,2042,1984,1804,321.2,11.5,431,5819,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2042,1895,1985,1805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6118,1.73,220.4,2892,2042,1984,1804,286.7,11.5,446,6119,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2042,1894,1984,1804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6418,1.73,220.4,2892,2042,1984,1803,252.6,11.6,461,6420,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2042,1893,1984,1803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6717,1.73,220.4,2892,2042,1984,1803,218.0,11.4,489,6723,0.00,2.83,0.00,0.000,260,0.000,0.106,2891,3459,1893,1984,1803,0,0,0,0,0,0,28.83,24.33,28.83
$GC,6750,1.73,220.4,2892,3460,1983,1803,214.2,11.8,492,6755,0.00,2.78,0.00,0.000,1030,0.000,0.100,2892,2040,1893,1983,1803,0,0,0,0,0,0,28.83,24.35,28.83
$GC,7062,1.73,220.4,2891,2040,1983,1803,179.1,11.0,523,7063,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2040,1894,1986,1803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7362,1.73,220.4,2891,2040,1983,1803,145.0,11.6,553,7363,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2040,1893,1983,1803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7662,1.73,220.4,2892,2040,1983,1803,112.0,10.8,583,7668,0.00,2.83,0.00,0.000,260,0.000,0.103,2892,3462,1893,1983,1803,0,0,0,0,0,0,28.83,24.37,28.83
$GC,7684,1.73,220.4,2892,3462,1983,1802,109.5,11.0,585,7690,0.00,2.75,0.00,0.000,1030,0.000,0.092,2892,2047,1892,1983,1802,0,0,0,0,0,0,28.83,24.39,28.83
$GC,7997,1.73,220.4,2892,2047,1983,1802,75.5,11.1,616,7998,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2047,1892,1983,1802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8297,1.73,220.4,2892,2047,1983,1802,42.4,11.0,646,8298,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2047,1892,1982,1802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8597,1.87,260.1,2891,2047,1983,1802,12.0,8.2,676,8638,0.12,2.95,33.67,0.749,10756,0.080,0.120,2930,632,1737,1832,1643,0,0,0,0,0,0,24.56,23.87,23.44
$GC,8661,1.87,260.9,2930,633,1831,1642,5.8,10.0,682,8666,0.00,2.78,0.00,0.000,1030,0.000,0.091,2930,2056,1736,1831,1642,0,0,0,0,0,0,28.83,24.15,28.83
$STATE,8702,end climb,SURFACE_DEPTH_REACHED
$STATE,8702,begin surface coast
$FINISH,0.3,1.026661
$STATE,8713,end surface coast,CONTROL_FINISHED_OK
$STATE,8713,begin surface
$SM_CCo,8731,96.15,0.644,1,0,1169,400.08
$SM_GC,0.93,11.25,0.00,96.15,0.057,0.000,0.644,512,2056,1169,-9.15,0.28,400.08,0,0,0,0,1,0,24.31,28.83,23.40
$IRIDIUM_FIX,8002.69,7142.65,250813,030337
$TT8_MAMPS,0.026964,0.026964
$HUMID,47.00
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,15.90
$XPDR_PINGS,12
$SC_FREEKB,4014336
$24V_AH,23.2,3.121
$10V_AH,9.3,2.340
$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,25.200,100.725,335.150,96.150,0.000,0.000,0.000,210.300,3.000,0.000,11.951,1797.616,5126.226,538.467,1574.085,111.186,0.000,1492.909,0.000,1318.394,0.000,0.528,0.000
$DEVICE_MAMPS,186.660,131.580,995.265,644.130,0.000,0.000,0.000,140.760,420.000,0.000,32.210,12.760,2.190,12.760,37.480,46.470,0.000,15.700,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8693.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.582,0.000,0.000,0.000
$MEM,267788
$DATA_FILE_SIZE,23378,687
$CAP_FILE_SIZE,129711,0
$CFSIZE,260034560,247107584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,250813,064836,8103.895,7133.726,23,1.7,23,41.3