version: 66.11
glider: 125
mission: 18
dive: 24
start: 8 25 113 22 2 48
data:
$ID,125
$MISSION,18
$DIVE,24
$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,0.0047900002
$HD_B,0.0153
$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,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,-181694.44
$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,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,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
$GPS1,250813,215635,8103.939,7048.537,12,1.6,28,41.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-51.8
$GPS2,250813,220225,8103.934,7048.557,15,1.6,15,41.0
$SPEED_LIMITS,0.173,0.215
$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,231.3,48426,-22.0,-10.000,-24.97,2244
$D_GRID,567
$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,-1.81,-145.9,509,2041,1441,1274,0.0,0.0,0,122,0.00,0.00,-101.12,0.000,16386,0.000,0.000,508,2041,3127,3188,3067,0,0,0,0,0,0,28.83,28.83,28.83
$GC,124,-1.81,-145.9,508,2042,3187,3068,3.6,-4.5,10,152,9.80,2.85,-7.45,0.000,19204,0.187,0.111,2109,3451,3397,3475,3319,0,0,0,0,0,0,24.15,24.21,24.57
$GC,414,-1.81,-145.9,2108,3451,3475,3320,45.9,-12.6,39,419,0.00,2.72,0.00,0.000,1030,0.000,0.091,2109,2046,3397,3475,3320,0,0,0,0,0,0,28.83,24.34,28.83
$GC,726,-1.81,-145.9,2108,2045,3475,3320,84.0,-12.0,70,731,0.00,2.80,0.00,0.000,260,0.000,0.103,2109,3461,3397,3475,3320,0,0,0,0,0,0,28.83,24.32,28.83
$GC,768,-1.81,-145.9,2108,3461,3474,3320,89.3,-12.4,74,773,0.00,2.75,0.00,0.000,1030,0.000,0.093,2109,2045,3397,3475,3320,0,0,0,0,0,0,28.83,24.36,28.83
$GC,1080,-1.81,-145.9,2108,2045,3475,3320,125.5,-11.1,105,1085,0.00,2.80,0.00,0.000,260,0.000,0.103,2109,3464,3397,3475,3320,0,0,0,0,0,0,28.83,24.34,28.83
$GC,1116,-1.81,-145.9,1352,3462,3460,3316,129.1,-11.1,108,1123,0.00,2.75,0.00,0.000,1030,0.000,0.092,2109,2045,3397,3475,3320,0,0,0,0,0,0,28.83,24.37,28.83
$GC,1422,-1.81,-145.9,2108,2045,3475,3320,163.2,-10.9,139,1428,0.00,2.80,0.00,0.000,260,0.000,0.103,2109,3465,3398,3475,3321,0,0,0,0,0,0,28.83,24.36,28.83
$GC,1445,-1.81,-145.9,2108,3465,3475,3320,165.7,-11.3,141,1450,0.00,2.75,0.00,0.000,1030,0.000,0.092,2109,2046,3397,3475,3320,0,0,0,0,0,0,28.83,24.39,28.83
$GC,1757,-1.81,-145.9,2108,2046,3475,3320,200.3,-11.0,172,1762,0.00,2.78,0.00,0.000,260,0.000,0.103,2109,3460,3397,3475,3320,0,0,0,0,0,0,28.83,24.37,28.83
$GC,1773,-1.81,-145.9,2108,3460,3475,3320,201.6,-10.9,173,1780,0.00,2.75,0.00,0.000,1030,0.000,0.100,2109,2041,3397,3475,3320,0,0,0,0,0,0,28.83,24.39,28.83
$GC,2079,-1.81,-145.9,2108,2041,3475,3320,235.7,-10.7,204,2084,0.00,2.80,0.00,0.000,260,0.000,0.104,2109,3460,3397,3475,3320,0,0,0,0,0,0,28.83,24.38,28.83
$GC,2112,-1.81,-145.9,2108,3460,3475,3320,239.2,-10.9,207,2117,0.00,2.75,0.00,0.000,1030,0.000,0.093,2109,2041,3397,3475,3320,0,0,0,0,0,0,28.83,24.40,28.83
$GC,2433,-1.81,-145.9,2108,2041,3475,3320,274.0,-10.5,228,2439,0.00,2.80,0.00,0.000,260,0.000,0.105,2109,3460,3397,3475,3320,0,0,0,0,0,0,28.83,24.39,28.83
$GC,2460,-1.81,-145.9,2108,3460,3475,3320,276.4,-10.7,229,2466,0.00,2.75,0.00,0.000,1030,0.000,0.093,2109,2044,3397,3475,3320,0,0,0,0,0,0,28.83,24.41,28.83
$GC,2777,-1.81,-145.9,2108,2044,3475,3320,310.7,-10.6,245,2778,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2044,3397,3475,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3079,-1.81,-145.9,2108,2044,3475,3320,341.1,-9.9,260,3084,0.00,2.80,0.00,0.000,260,0.000,0.105,2109,3461,3397,3475,3320,0,0,0,0,0,0,28.83,24.41,28.83
$GC,3101,-1.81,-145.9,2108,3461,3475,3321,343.5,-9.9,261,3107,0.00,2.75,0.00,0.000,1030,0.000,0.094,2109,2047,3397,3475,3320,0,0,0,0,0,0,28.83,24.43,28.83
$GC,3424,-1.81,-145.9,2108,2046,3475,3320,376.1,-10.1,277,3425,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2047,3397,3474,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3724,-1.81,-145.9,2108,2047,3475,3320,406.6,-10.1,292,3730,0.00,2.83,0.00,0.000,260,0.000,0.109,2108,3465,3398,3475,3321,0,0,0,0,0,0,28.83,24.41,28.83
$GC,3747,-1.81,-145.9,2108,3465,3475,3321,408.9,-10.0,293,3752,0.00,2.78,0.00,0.000,1030,0.000,0.097,2109,2045,3398,3475,3321,0,0,0,0,0,0,28.83,24.43,28.83
$STATE,3868,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3868,begin apogee
$GC,3871,-0.37,0.0,2108,2045,3475,3320,421.6,-10.4,299,4000,1.73,0.00,120.68,1.007,10246,0.142,0.000,2424,2045,2800,2870,2730,0,0,0,0,0,0,24.40,28.83,23.18
$STATE,4001,end apogee,CONTROL_FINISHED_OK
$STATE,4002,begin climb
$GC,4003,1.81,145.9,2423,2045,2870,2728,425.3,0.0,305,4136,2.42,3.08,120.82,0.968,10756,0.105,0.135,2899,635,2204,2282,2127,0,0,0,0,0,0,23.91,23.68,23.16
$GC,4193,1.91,153.4,2899,635,2281,2120,412.3,9.7,315,4208,0.12,2.78,7.43,0.802,11270,0.070,0.094,2932,2046,2175,2254,2096,0,0,0,0,0,0,24.20,24.12,23.37
$GC,4517,1.99,153.4,2932,2047,2254,2085,376.6,11.0,331,4522,0.00,2.83,0.00,0.000,260,0.000,0.109,2932,3461,2169,2254,2085,0,0,0,0,0,0,28.83,24.25,28.83
$GC,4574,2.04,153.4,2932,3461,2253,2084,371.6,11.2,333,4581,0.10,2.80,0.00,0.000,3078,0.083,0.099,2955,2043,2168,2253,2084,0,0,0,0,0,0,24.35,24.27,28.83
$GC,4879,2.04,153.4,2955,2043,2253,2083,334.6,11.5,349,4880,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2043,2168,2253,2083,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5179,2.04,153.4,2954,2043,2253,2082,299.3,11.7,364,5185,0.00,2.83,0.00,0.000,260,0.000,0.107,2955,3458,2167,2253,2082,0,0,0,0,0,0,28.83,24.31,28.83
$GC,5210,2.04,153.4,2955,3458,2252,2082,296.5,11.7,365,5216,0.00,2.78,0.00,0.000,1030,0.000,0.096,2955,2044,2167,2252,2082,0,0,0,0,0,0,28.83,24.32,28.83
$GC,5522,2.04,153.4,2955,2044,2251,2082,259.1,11.5,381,5524,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2044,2167,2252,2082,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5823,2.04,153.4,2955,2044,2251,2082,224.3,11.7,407,5828,0.00,2.80,0.00,0.000,260,0.000,0.104,2955,3458,2166,2251,2081,0,0,0,0,0,0,28.83,24.34,28.83
$GC,5899,2.04,153.4,2955,3458,2250,2081,215.2,13.0,414,5906,0.00,2.75,0.00,0.000,1030,0.000,0.094,2955,2044,2165,2250,2081,0,0,0,0,0,0,28.83,24.37,28.83
$GC,6205,2.04,153.4,2955,2044,2251,2081,179.4,11.2,445,6206,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2044,2165,2250,2081,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6505,2.04,153.4,2954,2044,2249,2081,145.6,11.0,475,6510,0.00,2.80,0.00,0.000,260,0.000,0.103,2955,3460,2166,2251,2081,0,0,0,0,0,0,28.83,24.37,28.83
$GC,6547,2.04,153.4,2955,3460,2251,2080,140.4,11.8,479,6553,0.00,2.75,0.00,0.000,1030,0.000,0.093,2955,2041,2165,2250,2081,0,0,0,0,0,0,28.83,24.39,28.83
$GC,6859,2.04,153.4,2954,2041,2250,2081,104.6,11.8,510,6860,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2041,2165,2250,2080,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7159,2.04,153.4,2955,2041,2250,2080,69.5,11.1,540,7165,0.00,2.80,0.00,0.000,260,0.000,0.103,2955,3461,2165,2250,2080,0,0,0,0,0,0,28.83,24.39,28.83
$GC,7192,2.04,153.4,2955,3461,2250,2080,65.8,11.6,543,7197,0.00,2.75,0.00,0.000,1030,0.000,0.091,2955,2039,2165,2250,2080,0,0,0,0,0,0,28.83,24.41,28.83
$GC,7505,2.11,153.4,2955,2038,2250,2080,34.8,10.2,574,7510,0.00,2.80,0.00,0.000,260,0.000,0.102,2955,3459,2165,2250,2080,0,0,0,0,0,0,28.83,24.39,28.83
$GC,7577,2.16,153.4,2955,3459,2250,2080,27.1,10.3,581,7583,0.12,2.72,0.00,0.000,3078,0.077,0.092,2989,2047,2165,2251,2080,0,0,0,0,0,0,24.50,24.43,28.83
$STATE,7868,end climb,SURFACE_DEPTH_REACHED
$STATE,7869,begin surface coast
$FINISH,0.4,1.026729
$STATE,7891,end surface coast,CONTROL_FINISHED_OK
$STATE,7891,begin surface
$SM_CCo,7909,121.00,0.669,1,0,1373,350.04
$SM_GC,1.19,11.52,0.00,121.00,0.061,0.000,0.669,515,2047,1373,-9.14,0.03,350.04,0,0,0,0,1,0,24.47,28.83,23.39
$IRIDIUM_FIX,8002.69,7041.29,250813,191915
$TT8_MAMPS,0.026964,0.026964
$HUMID,46.49
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,15.60
$XPDR_PINGS,4
$SC_FREEKB,4012096
$24V_AH,23.2,3.896
$10V_AH,9.3,2.714
$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,25.825,89.250,248.925,121.000,0.000,0.000,0.000,235.450,1.000,0.000,17.249,1602.472,4736.944,486.946,1466.119,101.704,0.000,1374.264,0.000,1164.187,0.000,0.546,0.000
$DEVICE_MAMPS,187.425,134.640,1006.740,669.375,0.000,0.000,0.000,136.170,420.000,0.000,32.210,12.760,2.190,12.760,37.480,46.470,0.000,15.700,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7897.000,13.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.375,8.065,0.000,0.000
$MEM,267376
$DATA_FILE_SIZE,20053,612
$CAP_FILE_SIZE,115509,0
$CFSIZE,260034560,246693888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,260813,001800,8104.135,7040.976,37,1.2,37,41.0