version: 66.11
glider: 125
mission: 18
dive: 28
start: 8 26 113 7 49 54
data:
$ID,125
$MISSION,18
$DIVE,28
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,510
$D_ABORT,550
$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,-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,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,-181699.44
$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,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,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,282
$ROLL_MAX,3810
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2046
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,12
$R_STBD_OVSHOOT,14
$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,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
$GPS1,260813,074236,8104.565,7016.090,34,1.0,34,40.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-55.1
$GPS2,260813,074931,8104.569,7015.974,13,1.3,13,40.8
$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,230.4,39040,-22.0,-10.000,-24.97,2244
$D_GRID,554
$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,20,-1.81,-145.9,512,2205,1532,1385,0.0,0.0,0,114,0.00,0.00,-91.95,0.000,16386,0.000,0.000,512,2207,3012,3069,2956,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-1.81,-145.9,512,2205,3070,2955,3.3,-4.6,9,146,9.93,2.88,-11.62,0.000,18692,0.189,0.116,2123,3606,3395,3475,3316,0,0,0,0,0,0,24.14,24.20,24.56
$GC,417,-1.81,-145.9,2122,3607,3476,3317,45.6,-11.7,39,423,0.00,2.75,0.00,0.000,1030,0.000,0.090,2122,2192,3396,3476,3317,0,0,0,0,0,0,28.83,24.33,28.83
$GC,730,-1.81,-145.9,2122,2191,3475,3317,79.3,-11.3,70,731,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2191,3396,3476,3317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1030,-1.81,-145.9,2122,2191,3476,3317,111.5,-10.9,100,1036,0.00,2.83,0.00,0.000,516,0.000,0.115,2123,789,3398,3476,3320,0,0,0,0,0,0,28.83,24.32,28.83
$GC,1048,-1.81,-145.9,2122,789,3476,3317,112.7,-10.8,101,1054,0.00,2.72,0.00,0.000,1030,0.000,0.093,2123,2199,3396,3475,3317,0,0,0,0,0,0,28.83,24.36,28.83
$GC,1353,-1.86,-145.9,2123,2199,3476,3317,146.6,-10.7,132,1354,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2199,3396,3476,3317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1652,-1.86,-145.9,2123,2199,3476,3317,178.5,-10.4,162,1658,0.00,2.83,0.00,0.000,516,0.000,0.113,2123,794,3396,3476,3317,0,0,0,0,0,0,28.83,24.36,28.83
$GC,1679,-1.86,-145.9,2122,794,3475,3317,180.9,-10.2,164,1685,0.00,2.70,0.00,0.000,1030,0.000,0.091,2122,2199,3396,3476,3317,0,0,0,0,0,0,28.83,24.39,28.83
$GC,1985,-1.91,-145.9,2122,2199,3476,3317,213.1,-10.1,195,1991,0.00,2.85,0.00,0.000,516,0.000,0.114,2123,790,3396,3476,3317,0,0,0,0,0,0,28.83,24.36,28.83
$GC,2018,-1.91,-145.9,2122,790,3475,3317,216.6,-10.8,198,2023,0.00,2.72,0.00,0.000,1030,0.000,0.091,2123,2200,3396,3475,3317,0,0,0,0,0,0,28.83,24.39,28.83
$GC,2332,-1.96,-145.9,2122,2200,3475,3317,247.7,-10.0,229,2334,0.12,0.00,0.00,0.000,4102,0.089,0.000,2098,2200,3396,3476,3317,0,0,0,0,0,0,24.51,28.83,28.83
$GC,2641,-1.96,-145.9,2097,2199,3475,3317,280.8,-10.6,246,2646,0.00,2.83,0.00,0.000,516,0.000,0.114,2098,794,3396,3476,3317,0,0,0,0,0,0,28.83,24.38,28.83
$GC,2663,-1.96,-145.9,2097,794,3476,3317,283.5,-10.9,247,2668,0.00,2.70,0.00,0.000,1030,0.000,0.094,2098,2200,3396,3475,3317,0,0,0,0,0,0,28.83,24.41,28.83
$GC,2985,-1.96,-145.9,2097,2200,3475,3317,318.0,-10.8,263,2986,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2200,3396,3476,3317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3286,-1.96,-145.9,2097,2200,3476,3318,350.5,-10.7,278,3291,0.00,2.85,0.00,0.000,516,0.000,0.117,2098,789,3396,3476,3317,0,0,0,0,0,0,28.83,24.39,28.83
$GC,3317,-1.96,-145.9,2097,790,3476,3317,353.2,-11.0,279,3323,0.00,2.72,0.00,0.000,1030,0.000,0.091,2098,2202,3397,3476,3318,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3630,-1.96,-145.9,2097,2202,3476,3317,388.4,-11.0,295,3635,0.00,2.85,0.00,0.000,516,0.000,0.117,2098,794,3396,3475,3318,0,0,0,0,0,0,28.83,24.39,28.83
$GC,3656,-1.96,-145.9,2097,794,3476,3318,391.0,-10.9,296,3661,0.00,2.72,0.00,0.000,1030,0.000,0.093,2098,2204,3396,3475,3318,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3973,-1.96,-145.9,2098,2203,3476,3318,425.7,-10.7,312,3974,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2204,3397,3476,3318,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4274,-1.96,-145.9,2097,2203,3476,3317,457.2,-10.7,327,4279,0.00,2.88,0.00,0.000,516,0.000,0.119,2098,787,3397,3476,3318,0,0,0,0,0,0,28.83,24.40,28.83
$GC,4305,-1.96,-145.9,2097,787,3476,3318,459.6,-10.7,328,4310,0.00,2.72,0.00,0.000,1030,0.000,0.093,2098,2200,3397,3476,3318,0,0,0,0,0,0,28.83,24.44,28.83
$GC,4617,-1.96,-145.9,2097,2201,3476,3319,493.4,-10.7,344,4622,0.00,2.85,0.00,0.000,516,0.000,0.119,2097,794,3396,3475,3318,0,0,0,0,0,0,28.83,24.41,28.83
$GC,4633,-1.96,-145.9,2097,794,3474,3318,493.4,-10.7,344,4640,0.00,2.72,0.00,0.000,1030,0.000,0.094,2098,2201,3397,3476,3318,0,0,0,0,0,0,28.83,24.44,28.83
$STATE,4778,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4778,begin apogee
$GC,4782,-0.37,0.0,2097,2049,3475,3318,510.6,-10.7,352,4914,1.83,0.00,121.93,1.070,10246,0.141,0.000,2440,2048,2800,2871,2729,0,0,0,0,0,0,24.40,28.83,23.13
$STATE,4916,end apogee,CONTROL_FINISHED_OK
$STATE,4916,begin climb
$GC,4918,1.81,145.9,2440,2048,2871,2728,513.9,0.0,358,5055,2.40,3.10,122.70,1.027,10756,0.102,0.128,2917,640,2204,2282,2127,0,0,0,0,0,0,23.93,23.66,23.11
$GC,5076,1.85,179.2,2916,640,2281,2123,504.8,8.5,366,5111,0.00,2.78,29.15,0.979,9222,0.000,0.093,2916,2045,2069,2150,1989,0,0,0,0,0,0,28.83,24.01,23.13
$GC,5424,1.96,179.2,2916,2045,2148,1975,463.0,11.2,384,5430,0.12,2.83,0.00,0.000,2308,0.075,0.108,2952,3455,2061,2148,1975,0,0,0,0,0,0,24.38,24.23,28.83
$GC,5471,2.02,179.2,2952,3455,2147,1975,457.4,11.9,386,5477,0.00,2.78,0.00,0.000,1030,0.000,0.107,2952,2048,2061,2147,1975,0,0,0,0,0,0,28.83,24.26,28.83
$GC,5789,2.02,179.2,2952,2047,2147,1974,415.9,13.2,402,5790,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2047,2060,2147,1974,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6090,2.02,179.2,2952,2047,2147,1973,377.4,12.8,417,6091,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2047,2059,2146,1973,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6390,2.06,179.2,2952,2047,2146,1973,339.6,12.6,432,6395,0.00,2.80,0.00,0.000,260,0.000,0.104,2952,3456,2059,2146,1973,0,0,0,0,0,0,28.83,24.32,28.83
$GC,6426,2.06,179.2,2952,3457,2145,1973,336.6,12.6,433,6433,0.00,2.78,0.00,0.000,1030,0.000,0.096,2952,2040,2059,2145,1973,0,0,0,0,0,0,28.83,24.33,28.83
$GC,6732,2.06,179.2,2952,2040,2145,1973,296.7,12.3,449,6733,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2040,2059,2145,1973,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7033,2.06,179.2,2951,2040,2145,1973,258.9,12.6,464,7038,0.00,2.83,0.00,0.000,260,0.000,0.105,2952,3455,2059,2145,1973,0,0,0,0,0,0,28.83,24.34,28.83
$GC,7075,2.06,179.2,2952,3455,2144,1973,253.2,12.9,466,7080,0.00,2.75,0.00,0.000,1030,0.000,0.104,2951,2044,2058,2144,1973,0,0,0,0,0,0,28.83,24.37,28.83
$GC,7388,2.11,179.2,2951,2044,2144,1973,215.6,11.9,495,7390,0.15,0.00,0.00,0.000,2054,0.071,0.000,2992,2044,2058,2144,1973,0,0,0,0,0,0,24.51,28.83,28.83
$GC,7687,2.11,179.2,2992,2044,2144,1972,175.5,13.5,525,7692,0.00,2.80,0.00,0.000,260,0.000,0.103,2993,3456,2058,2144,1972,0,0,0,0,0,0,28.83,24.37,28.83
$GC,7720,2.05,179.2,2992,3456,2144,1972,170.9,14.5,528,7726,0.12,2.75,0.00,0.000,5126,0.148,0.093,2974,2038,2058,2144,1972,0,0,0,0,0,0,24.38,24.38,28.83
$GC,8033,2.05,179.2,2973,2038,2144,1972,130.1,12.8,559,8034,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2038,2058,2144,1973,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8333,2.05,179.2,2973,2037,2144,1972,91.8,12.4,589,8338,0.00,2.80,0.00,0.000,260,0.000,0.103,2974,3456,2058,2144,1972,0,0,0,0,0,0,28.83,24.39,28.83
$GC,8359,2.05,179.2,2973,3457,2144,1973,88.9,12.5,591,8366,0.00,2.72,0.00,0.000,1030,0.000,0.091,2973,2046,2058,2144,1972,0,0,0,0,0,0,28.83,24.41,28.83
$GC,8665,2.05,179.2,2973,2046,2144,1972,50.4,11.7,622,8670,0.00,2.78,0.00,0.000,260,0.000,0.101,2973,3456,2058,2144,1972,0,0,0,0,0,0,28.83,24.39,28.83
$GC,8681,2.05,179.2,2974,3456,2144,1972,49.0,11.9,623,8688,0.00,2.72,0.00,0.000,1030,0.000,0.091,2973,2045,2058,2144,1973,0,0,0,0,0,0,28.83,24.41,28.83
$GC,8988,2.15,187.7,2973,2045,2143,1972,15.3,9.6,654,8997,0.00,0.00,6.68,0.697,8198,0.000,0.000,2973,2045,2034,2121,1948,0,0,0,0,0,0,28.83,28.83,23.75
$STATE,9136,end climb,SURFACE_DEPTH_REACHED
$STATE,9136,begin surface coast
$FINISH,0.6,1.026792
$STATE,9157,end surface coast,CONTROL_FINISHED_OK
$STATE,9157,begin surface
$SM_CCo,9177,95.88,0.738,0,0,1475,325.02
$SM_GC,1.11,11.65,0.32,95.88,0.069,0.103,0.738,511,2203,1475,-9.23,-0.45,325.02,0,0,0,0,0,0,24.41,24.40,23.37
$IRIDIUM_FIX,8002.69,7028.22,260813,040444
$TT8_MAMPS,0.026215,0.026215
$HUMID,46.61
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,15.60
$XPDR_PINGS,7
$SC_FREEKB,4010816
$TM_FREEKB,3937984
$24V_AH,23.1,4.345
$10V_AH,9.2,3.024
$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,26.325,89.975,280.450,95.875,0.000,0.000,0.000,252.525,1.750,0.000,15.346,1732.537,5759.496,486.469,1597.487,115.461,0.000,1430.179,0.000,1236.005,0.000,0.547,0.000
$DEVICE_MAMPS,188.955,127.755,1070.235,738.225,0.000,0.000,0.000,146.115,420.000,0.000,32.210,12.760,2.190,12.760,37.480,46.470,0.000,15.700,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9169.000,9165.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.015,13.774,0.000,0.000
$MEM,267180
$DATA_FILE_SIZE,23438,671
$CAP_FILE_SIZE,128451,0
$CFSIZE,260034560,246374400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260813,102535,8104.274,7006.888,25,0.9,25,40.8