version: 66.11
glider: 125
mission: 18
dive: 20
start: 8 25 113 12 11 7
data:
$ID,125
$MISSION,18
$DIVE,20
$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,350
$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,-181689.44
$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
$GPS1,250813,120453,8103.929,7118.684,25,1.2,42,41.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-55.3
$GPS2,250813,121043,8103.920,7118.637,11,1.5,11,41.2
$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,230.8,57055,-17.4,-10.000,-20.87,2243
$D_GRID,574
$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,-145.9,510,2039,1444,1274,0.0,0.0,0,128,0.00,0.00,-106.88,0.000,16386,0.000,0.000,510,2038,3272,3336,3208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,131,-1.47,-145.9,510,2038,3336,3209,4.2,-5.5,11,153,10.25,2.88,-3.03,0.000,19204,0.189,0.115,2181,3449,3396,3471,3321,0,0,0,0,0,0,24.14,24.20,24.55
$GC,454,-1.47,-145.9,2181,3450,3472,3321,44.4,-10.2,43,461,0.00,2.72,0.00,0.000,1030,0.000,0.104,2181,2047,3396,3472,3321,0,0,0,0,0,0,28.83,24.34,28.83
$GC,760,-1.47,-145.9,2181,2047,3472,3321,74.8,-10.0,74,765,0.00,2.80,0.00,0.000,260,0.000,0.104,2181,3462,3396,3472,3321,0,0,0,0,0,0,28.83,24.33,28.83
$GC,863,-1.47,-145.9,2180,3462,3472,3321,85.0,-10.0,84,868,0.00,2.75,0.00,0.000,1030,0.000,0.093,2181,2047,3396,3472,3321,0,0,0,0,0,0,28.83,24.37,28.83
$GC,1176,-1.47,-145.9,2180,2047,3472,3321,113.3,-9.0,115,1177,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2047,3396,3472,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1476,-1.47,-145.9,2181,2047,3472,3321,139.2,-8.3,145,1477,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2047,3396,3472,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1776,-1.47,-145.9,2181,2046,3472,3321,163.9,-8.2,175,1777,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2047,3396,3472,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2076,-1.47,-145.9,2181,2046,3472,3322,188.8,-8.1,205,2077,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2046,3396,3472,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2376,-1.47,-145.9,2181,2047,3472,3322,214.0,-8.5,235,2377,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2046,3396,3472,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2676,-1.47,-145.9,2181,2046,3472,3322,239.6,-8.6,265,2677,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2046,3397,3472,3322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2985,-1.47,-145.9,2181,2046,3472,3322,265.4,-8.2,287,2991,0.00,2.85,0.00,0.000,516,0.000,0.120,2181,635,3397,3472,3322,0,0,0,0,0,0,28.83,24.37,28.83
$GC,3012,-1.47,-145.9,2181,635,3472,3322,267.4,-8.4,288,3018,0.00,2.72,0.00,0.000,1030,0.000,0.091,2181,2051,3396,3471,3322,0,0,0,0,0,0,28.83,24.45,28.83
$GC,3330,-1.47,-145.9,2181,2051,3472,3322,293.9,-8.1,304,3331,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2050,3397,3472,3322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3631,-1.47,-145.9,2181,2051,3472,3322,318.6,-8.1,319,3632,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2051,3397,3472,3322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3930,-1.47,-145.9,2181,2051,3472,3322,343.7,-8.4,334,3936,0.00,2.90,0.00,0.000,516,0.000,0.122,2181,635,3397,3472,3322,0,0,0,0,0,0,28.83,24.39,28.83
$GC,3987,-1.47,-145.9,2180,635,3472,3322,347.5,-8.6,336,3994,0.00,2.72,0.00,0.000,1030,0.000,0.093,2181,2049,3397,3472,3322,0,0,0,0,0,0,28.83,24.47,28.83
$GC,4293,-1.47,-145.9,2181,2048,3472,3322,373.7,-8.0,352,4298,0.00,2.90,0.00,0.000,516,0.000,0.126,2181,635,3397,3472,3322,0,0,0,0,0,0,28.83,24.39,28.83
$GC,4320,-1.47,-145.9,2181,635,3472,3322,375.6,-8.2,353,4325,0.00,2.72,0.00,0.000,1030,0.000,0.093,2181,2046,3397,3472,3322,0,0,0,0,0,0,28.83,24.46,28.83
$GC,4637,-1.47,-145.9,2181,2046,3472,3322,401.4,-8.0,369,4638,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2046,3397,3472,3322,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4816,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,4816,begin apogee
$GC,4820,-0.37,0.0,2181,2046,3472,3322,416.1,-8.2,378,4948,1.30,0.00,120.30,1.004,10246,0.132,0.000,2423,2046,2800,2870,2730,0,0,0,0,0,0,24.44,28.83,23.20
$STATE,4949,end apogee,CONTROL_FINISHED_OK
$STATE,4949,begin climb
$GC,4951,1.47,145.9,2423,2046,2870,2729,420.0,0.0,384,5083,2.08,2.92,121.80,0.962,11012,0.109,0.112,2826,3455,2204,2284,2124,0,0,0,0,0,0,23.91,23.74,23.18
$GC,5101,1.64,220.6,2826,3455,2283,2120,412.9,6.6,392,5174,0.20,2.83,62.60,0.936,11270,0.073,0.099,2872,2045,1899,1985,1814,0,0,0,0,0,0,24.08,23.99,23.18
$GC,5481,1.64,220.6,2872,2044,1983,1804,375.0,10.1,411,5486,0.00,2.85,0.00,0.000,260,0.000,0.109,2873,3459,1892,1982,1803,0,0,0,0,0,0,28.83,24.23,28.83
$GC,5507,1.64,220.6,2873,3459,1982,1803,372.6,10.3,412,5513,0.00,2.80,0.00,0.000,1030,0.000,0.099,2873,2045,1892,1982,1803,0,0,0,0,0,0,28.83,24.25,28.83
$GC,5825,1.64,221.9,2873,2046,1982,1800,339.8,9.9,428,5826,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2045,1891,1982,1800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6125,1.64,221.9,2873,2045,1981,1800,309.0,10.4,443,6130,0.00,2.83,0.00,0.000,260,0.000,0.108,2873,3458,1890,1981,1800,0,0,0,0,0,0,28.83,24.30,28.83
$GC,6167,1.64,221.9,2873,3458,1980,1800,304.4,10.6,445,6172,0.00,2.80,0.00,0.000,1030,0.000,0.098,2873,2042,1890,1980,1800,0,0,0,0,0,0,28.83,24.31,28.83
$GC,6489,1.64,221.9,2873,2042,1980,1799,271.2,10.5,461,6490,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2042,1890,1981,1800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6790,1.69,221.9,2873,2042,1980,1799,239.3,10.4,481,6795,0.00,2.83,0.00,0.000,260,0.000,0.106,2873,3458,1889,1980,1799,0,0,0,0,0,0,28.83,24.33,28.83
$GC,6832,1.69,221.9,2873,3458,1980,1799,234.6,11.3,485,6837,0.00,2.78,0.00,0.000,1030,0.000,0.096,2873,2037,1889,1980,1799,0,0,0,0,0,0,28.83,24.34,28.83
$GC,7144,1.69,221.9,2873,2037,1980,1799,201.9,10.1,516,7150,0.00,2.83,0.00,0.000,260,0.000,0.106,2873,3456,1889,1980,1799,0,0,0,0,0,0,28.83,24.34,28.83
$GC,7167,1.69,221.9,2873,3456,1980,1799,199.5,10.6,518,7172,0.00,2.75,0.00,0.000,1030,0.000,0.095,2873,2047,1889,1980,1799,0,0,0,0,0,0,28.83,24.37,28.83
$GC,7479,1.69,221.9,2873,2047,1980,1799,167.7,10.2,549,7480,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2047,1889,1980,1799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7779,1.69,221.9,2873,2047,1980,1799,136.6,10.5,579,7784,0.00,2.80,0.00,0.000,260,0.000,0.105,2873,3461,1889,1980,1799,0,0,0,0,0,0,28.83,24.37,28.83
$GC,7811,1.69,221.9,2873,3461,1980,1798,132.9,11.2,582,7817,0.00,2.75,0.00,0.000,1030,0.000,0.093,2873,2043,1889,1979,1799,0,0,0,0,0,0,28.83,24.39,28.83
$GC,8125,1.74,226.4,2873,2044,1979,1799,100.6,9.8,613,8134,0.00,0.00,4.35,0.619,8198,0.000,0.000,2873,2044,1877,1968,1786,0,0,0,0,0,0,28.83,28.83,23.75
$GC,8434,1.80,236.4,2873,2043,1968,1786,70.4,9.5,644,8455,0.12,2.80,10.35,0.763,10500,0.086,0.100,2910,3453,1836,1927,1746,0,0,0,0,0,0,24.53,24.11,23.65
$GC,8492,1.75,236.4,1936,3452,1870,1737,64.4,11.3,649,8499,0.00,2.75,0.00,0.000,1030,0.000,0.092,2910,2045,1835,1927,1744,0,0,0,0,0,0,28.83,24.27,28.83
$GC,8797,1.75,236.4,2910,2045,1927,1743,30.0,10.2,680,8803,0.00,2.78,0.00,0.000,260,0.000,0.102,2910,3456,1836,1929,1743,0,0,0,0,0,0,28.83,24.37,28.83
$GC,8844,1.75,239.6,2910,3457,1927,1743,25.8,9.9,684,8855,0.00,2.72,4.40,0.585,9222,0.000,0.092,2910,2046,1823,1916,1731,0,0,0,0,0,0,28.83,24.39,23.76
$STATE,9121,end climb,SURFACE_DEPTH_REACHED
$STATE,9121,begin surface coast
$FINISH,0.3,1.026724
$STATE,9143,end surface coast,CONTROL_FINISHED_OK
$STATE,9143,begin surface
$SM_CCo,9161,79.35,0.643,1,0,1373,350.04
$SM_GC,0.92,11.20,0.00,79.35,0.062,0.000,0.643,510,2043,1373,-9.16,-0.08,350.04,0,0,0,0,1,0,24.44,28.83,23.40
$IRIDIUM_FIX,8002.69,7112.01,250813,090944
$TT8_MAMPS,0.026964,0.026964
$HUMID,47.12
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,15.80
$XPDR_PINGS,5
$SC_FREEKB,4013376
$24V_AH,23.2,3.457
$10V_AH,9.3,2.508
$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,25.150,72.775,323.800,79.350,0.000,0.000,0.000,231.400,1.250,0.000,13.606,1815.325,5563.835,516.836,1597.875,109.411,0.000,1447.531,0.000,1294.267,0.000,0.546,0.000
$DEVICE_MAMPS,188.955,126.225,1003.680,643.365,0.000,0.000,0.000,137.700,420.000,0.000,32.210,12.760,2.190,12.760,37.480,46.470,0.000,15.700,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9154.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.368,0.000,0.000,0.000
$MEM,267216
$DATA_FILE_SIZE,23420,714
$CAP_FILE_SIZE,126566,0
$CFSIZE,260034560,246935552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,250813,144630,8104.009,7111.595,38,1.8,38,41.2