version: 66.11
glider: 125
mission: 18
dive: 50
start: 8 29 113 5 7 13
data:
$ID,125
$MISSION,18
$DIVE,50
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,540
$D_ABORT,600
$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,265
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,52433
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,60
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.015
$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,-181779.38
$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
$PITCH_ADJ_DBAND,1
$ROLL_MIN,282
$ROLL_MAX,3810
$ROLL_DEG,40
$C_ROLL_DIVE,2075
$C_ROLL_CLIMB,2046
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,13
$R_STBD_OVSHOOT,12
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.029999999
$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
$GPS1,290813,045835,8121.389,7121.593,33,1.6,33,41.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-51.3
$GPS2,290813,050643,8121.378,7121.441,11,1.6,11,41.5
$SPEED_LIMITS,0.183,0.285
$TGT_NAME,SA2
$TGT_LATLONG,8200.000,7500.000
$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,342.4,91048,-15.1,-10.588,-20.35,3719
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.43,-257.8,508,2078,1077,818,0.0,0.0,0,154,0.00,0.00,-130.30,0.000,16386,0.000,0.000,509,2075,3137,3194,3080,0,0,0,0,0,0,28.83,28.83,28.83
$GC,157,-1.43,-257.8,509,2075,3194,3080,3.7,-4.2,12,192,10.43,0.00,-18.25,0.000,18950,0.188,0.000,2206,2075,3853,3906,3801,0,0,0,0,0,0,24.16,28.83,24.60
$GC,490,-1.43,-257.8,2206,2075,3906,3803,46.3,-11.0,46,495,0.00,2.78,0.00,0.000,260,0.000,0.101,2206,3486,3854,3905,3803,0,0,0,0,0,0,28.83,24.33,28.83
$GC,627,-1.43,-257.8,2205,3486,3906,3803,61.9,-11.7,59,633,0.00,2.72,0.00,0.000,1030,0.000,0.086,2206,2072,3854,3906,3803,0,0,0,0,0,0,28.83,24.37,28.83
$GC,933,-1.43,-257.8,2206,2072,3906,3802,95.9,-11.3,90,935,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2072,3854,3906,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1233,-1.43,-257.8,2205,2072,3906,3802,124.8,-9.0,120,1239,0.00,2.78,0.00,0.000,260,0.000,0.099,2206,3486,3854,3906,3802,0,0,0,0,0,0,28.83,24.38,28.83
$GC,1296,-1.43,-257.8,2206,3486,3906,3802,130.4,-9.1,126,1301,0.00,2.72,0.00,0.000,1030,0.000,0.085,2206,2071,3854,3906,3802,0,0,0,0,0,0,28.83,24.40,28.83
$GC,1609,-1.43,-257.8,2205,2071,3906,3802,157.9,-9.2,157,1610,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2072,3854,3906,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1909,-1.43,-257.8,2205,2072,3906,3802,185.4,-9.5,187,1914,0.00,2.75,0.00,0.000,260,0.000,0.096,2206,3486,3854,3906,3802,0,0,0,0,0,0,28.83,24.40,28.83
$GC,1972,-1.43,-257.8,2205,3486,3906,3802,191.6,-10.1,193,1978,0.00,2.70,0.00,0.000,1030,0.000,0.085,2206,2075,3854,3906,3802,0,0,0,0,0,0,28.83,24.41,28.83
$GC,2286,-1.43,-257.8,2205,2075,3905,3802,221.8,-9.9,224,2287,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2075,3854,3906,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2585,-1.43,-257.8,2205,2075,3905,3803,250.7,-9.6,254,2586,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2075,3854,3906,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2886,-1.43,-257.8,2205,2075,3905,3803,279.0,-9.1,269,2892,0.00,2.75,0.00,0.000,260,0.000,0.098,2206,3487,3854,3906,3803,0,0,0,0,0,0,28.83,24.42,28.83
$GC,2969,-1.43,-257.8,2205,3486,3905,3803,286.8,-9.3,273,2975,0.00,2.70,0.00,0.000,1030,0.000,0.086,2206,2080,3854,3906,3803,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3293,-1.43,-257.8,2205,2080,3906,3804,315.3,-8.9,289,3294,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2080,3854,3905,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3593,-1.43,-257.8,2205,2079,3906,3804,342.0,-8.9,304,3594,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2080,3855,3906,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3893,-1.43,-257.8,2205,2078,3906,3804,368.7,-8.9,319,3898,0.00,2.78,0.00,0.000,260,0.000,0.099,2205,3490,3855,3906,3804,0,0,0,0,0,0,28.83,24.45,28.83
$GC,3956,-1.43,-257.8,2205,3490,3906,3804,374.3,-9.1,322,3961,0.00,2.70,0.00,0.000,1030,0.000,0.088,2206,2089,3855,3906,3804,0,0,0,0,0,0,28.83,24.46,28.83
$GC,4278,-1.43,-257.8,2205,2089,3906,3804,403.1,-9.0,338,4279,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2089,3855,3906,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4580,-1.43,-257.8,2206,2088,3906,3804,429.9,-9.0,353,4581,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2088,3855,3906,3805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4879,-1.43,-257.8,2206,2087,3906,3804,456.8,-8.8,368,4880,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2088,3855,3906,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5179,-1.43,-257.8,2205,2087,3906,3804,484.4,-9.2,383,5181,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2087,3855,3906,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5479,-1.43,-257.8,2205,2087,3906,3804,512.0,-9.1,398,5480,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2087,3855,3906,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5779,-1.43,-257.8,2205,2087,3906,3804,539.6,-9.2,413,5785,0.00,2.72,0.00,0.000,260,0.000,0.100,2206,3487,3855,3907,3804,0,0,0,0,0,0,28.83,24.46,28.83
$STATE,5801,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5801,begin apogee
$GC,5808,-0.37,0.0,2205,2043,3906,3804,541.8,-9.3,414,6027,1.20,0.00,211.98,1.080,10244,0.121,0.000,2435,2043,2800,2867,2734,0,0,0,0,0,0,24.44,28.83,23.10
$STATE,6030,end apogee,CONTROL_FINISHED_OK
$STATE,6030,begin climb
$GC,6032,1.43,257.8,2435,2043,2867,2733,552.3,0.0,425,6257,2.00,3.00,213.90,1.031,10756,0.092,0.125,2833,637,1749,1840,1658,0,0,0,0,0,0,23.89,23.79,23.07
$GC,6409,1.43,257.8,1904,636,1786,1642,520.1,10.9,444,6414,0.00,2.75,0.00,0.000,1030,0.000,0.088,2833,2050,1742,1836,1648,0,0,0,0,0,0,28.83,24.22,28.83
$GC,6726,1.48,297.4,2833,2050,1835,1645,488.8,9.5,460,6767,0.00,3.08,34.78,1.001,8708,0.000,0.120,2833,640,1586,1688,1485,0,0,0,0,0,0,28.83,23.74,23.18
$GC,6951,1.48,297.4,2833,639,1685,1481,464.9,10.9,471,6957,0.00,2.75,0.00,0.000,1030,0.000,0.089,2833,2052,1583,1685,1481,0,0,0,0,0,0,28.83,24.27,28.83
$GC,7274,1.50,309.7,2833,2054,1684,1479,431.9,10.2,487,7288,0.00,0.00,11.35,0.927,8454,0.000,0.000,2833,2053,1537,1640,1435,0,0,0,0,0,0,28.83,28.83,23.39
$GC,7596,1.50,311.1,2833,2054,1639,1431,398.2,10.5,503,7601,0.00,2.78,0.00,0.000,260,0.000,0.103,2833,3461,1535,1639,1431,0,0,0,0,0,0,28.83,24.30,28.83
$GC,7629,1.50,311.1,2833,3461,1639,1431,395.7,10.6,504,7635,0.00,2.75,0.00,0.000,1030,0.000,0.090,2833,2047,1534,1638,1431,0,0,0,0,0,0,28.83,24.32,28.83
$GC,7943,1.51,318.5,2833,2047,1638,1430,361.6,10.4,520,7953,0.00,0.00,9.02,0.882,8198,0.000,0.000,2833,2047,1501,1605,1398,0,0,0,0,0,0,28.83,28.83,23.51
$GC,8242,1.51,320.4,2833,2047,1605,1395,330.6,10.5,535,8243,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2047,1500,1605,1395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8543,1.52,328.2,2833,2047,1605,1396,299.0,10.4,550,8556,0.12,0.00,10.25,0.871,10246,0.086,0.000,2863,2047,1462,1568,1356,0,0,0,0,0,0,24.48,28.83,23.51
$GC,8843,1.52,328.2,2862,2047,1567,1353,263.9,11.8,565,8844,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2047,1460,1567,1354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9144,1.52,328.2,2862,2047,1567,1352,230.1,10.6,588,9145,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2047,1459,1567,1352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9444,1.52,328.2,2863,2047,1567,1352,196.2,11.6,618,9449,0.00,2.75,0.00,0.000,260,0.000,0.096,2864,3457,1459,1567,1352,0,0,0,0,0,0,28.83,24.39,28.83
$GC,9466,1.52,328.2,2863,3456,1567,1352,193.5,11.3,620,9471,0.00,2.72,0.00,0.000,1030,0.000,0.086,2863,2047,1459,1567,1352,0,0,0,0,0,0,28.83,24.39,28.83
$GC,9779,1.52,328.2,2863,2047,1567,1352,157.8,11.4,651,9780,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2047,1459,1567,1352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10079,1.52,328.2,2863,2047,1567,1352,122.0,12.3,681,10080,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2047,1459,1567,1352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10378,1.52,328.2,2863,2047,1567,1352,85.6,12.0,711,10380,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2047,1459,1567,1352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10679,1.53,338.6,2863,2047,1567,1352,53.6,10.3,741,10701,0.00,2.80,10.73,0.747,8452,0.000,0.096,2864,3469,1418,1527,1310,0,0,0,0,0,0,28.83,24.13,23.68
$GC,10718,1.54,341.6,2863,3469,1527,1309,50.0,10.5,744,10730,0.00,2.75,4.22,0.567,9222,0.000,0.084,2864,2043,1407,1517,1297,0,0,0,0,0,0,28.83,24.24,23.63
$GC,11039,1.64,426.8,2863,2042,1517,1295,17.6,8.2,776,11123,0.00,2.90,74.50,0.752,8452,0.000,0.098,2863,3450,1059,1189,929,0,0,0,0,0,0,28.83,23.83,23.38
$GC,11135,1.72,492.9,2863,3450,1189,928,9.5,8.8,785,11203,0.17,2.72,56.22,0.712,11270,0.070,0.087,2903,2055,789,939,640,0,0,0,0,0,0,24.11,24.03,23.37
$STATE,11212,end climb,SURFACE_DEPTH_REACHED
$STATE,11212,begin surface coast
$FINISH,0.4,1.022946
$STATE,11221,end surface coast,CONTROL_FINISHED_OK
$STATE,11221,begin surface
$SM_CCo,11301,0.00,0.000,0,0,786,494.28
$SM_GC,0.98,11.32,0.08,0.00,0.061,0.136,0.000,509,2082,786,-9.23,-0.34,494.28,0,0,0,0,0,0,24.15,24.13,28.83
$IRIDIUM_FIX,8015.30,7124.90,290813,010101
$TT8_MAMPS,0.026964,0.026964
$HUMID,45.70
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,15.70
$XPDR_PINGS,5
$SC_FREEKB,4003936
$TM_FREEKB,3234336
$24V_AH,23.1,7.818
$10V_AH,9.3,5.356
$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,25.250,66.775,636.950,0.000,0.000,0.000,0.000,302.025,1.250,0.000,13.865,2106.087,6915.243,658.523,1955.225,159.140,0.000,1842.524,0.000,1533.069,0.000,0.528,0.000
$DEVICE_MAMPS,188.190,136.170,1080.180,0.000,0.000,0.000,0.000,149.175,420.000,0.000,32.210,12.760,2.190,12.760,37.480,46.470,0.000,15.700,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11237.000,11223.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.397,13.863,0.000,0.000
$MEM,266380
$DATA_FILE_SIZE,26692,794
$CAP_FILE_SIZE,147120,0
$CFSIZE,260034560,244379648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.104,130.9,1
$GPS,290813,081654,8122.331,7129.918,39,1.2,39,41.6