version: 66.11
glider: 125
mission: 18
dive: 51
start: 8 29 113 8 26 0
data:
$ID,125
$MISSION,18
$DIVE,51
$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,-181780.62
$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
$GPS1,290813,081654,8122.331,7129.918,39,1.2,39,41.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-47.1
$GPS2,290813,082531,8122.322,7130.051,11,1.2,11,41.6
$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,334.9,88304,-15.1,-10.588,-20.35,3719
$D_GRID,569
$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,-257.8,509,2080,925,634,0.0,0.0,0,161,0.00,0.00,-137.18,0.000,16386,0.000,0.000,509,2077,3066,3124,3008,0,0,0,0,0,0,28.83,28.83,28.83
$GC,164,-1.43,-257.8,510,2077,3124,3008,3.5,-4.6,13,202,10.43,2.88,-21.10,0.000,18948,0.187,0.122,2206,664,3852,3906,3798,0,0,0,0,0,0,24.16,24.21,24.60
$GC,300,-1.43,-257.8,2205,664,3905,3800,23.5,-12.9,26,305,0.00,2.70,0.00,0.000,1030,0.000,0.094,2206,2075,3852,3905,3800,0,0,0,0,0,0,28.83,24.32,28.83
$GC,614,-1.43,-257.8,2205,2075,3906,3800,55.5,-9.4,57,619,0.00,2.80,0.00,0.000,260,0.000,0.105,2206,3488,3853,3906,3800,0,0,0,0,0,0,28.83,24.33,28.83
$GC,726,-1.43,-257.8,2205,3488,3905,3800,66.0,-9.3,68,732,0.00,2.72,0.00,0.000,1030,0.000,0.087,2206,2073,3853,3906,3801,0,0,0,0,0,0,28.83,24.37,28.83
$GC,1039,-1.43,-257.8,2205,2073,3906,3800,96.4,-9.6,99,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2073,3853,3906,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1340,-1.43,-257.8,2205,2073,3906,3800,125.1,-9.4,129,1341,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2073,3853,3906,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1639,-1.43,-257.8,2205,2073,3906,3800,154.7,-10.3,159,1644,0.00,2.78,0.00,0.000,260,0.000,0.098,2206,3488,3853,3906,3800,0,0,0,0,0,0,28.83,24.39,28.83
$GC,1712,-1.43,-257.8,2205,3487,3905,3800,162.4,-10.8,166,1717,0.00,2.70,0.00,0.000,1030,0.000,0.084,2206,2076,3853,3906,3800,0,0,0,0,0,0,28.83,24.41,28.83
$GC,2025,-1.43,-257.8,2205,2075,3906,3800,195.5,-10.6,197,2026,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2076,3853,3906,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2325,-1.43,-257.8,2205,2075,3906,3800,226.0,-10.0,227,2326,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2075,3853,3906,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2635,-1.43,-257.8,2205,2076,3905,3800,256.3,-9.8,255,2636,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2075,3853,3906,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2935,-1.43,-257.8,2205,2075,3906,3800,285.6,-9.7,270,2941,0.00,2.75,0.00,0.000,260,0.000,0.099,2206,3487,3852,3905,3800,0,0,0,0,0,0,28.83,24.42,28.83
$GC,2987,-1.43,-257.8,2205,3486,3906,3800,289.9,-9.9,272,2993,0.00,2.70,0.00,0.000,1030,0.000,0.086,2206,2076,3852,3905,3800,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3301,-1.43,-257.8,2205,2076,3906,3801,320.0,-9.2,288,3302,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2076,3853,3906,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3602,-1.43,-257.8,2205,2076,3905,3801,346.9,-8.8,303,3603,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2076,3853,3905,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3901,-1.43,-257.8,2205,2075,3905,3801,373.1,-8.8,318,3903,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2075,3853,3906,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4202,-1.43,-257.8,2205,2076,3906,3801,399.8,-9.0,333,4207,0.00,2.78,0.00,0.000,260,0.000,0.103,2206,3486,3853,3905,3801,0,0,0,0,0,0,28.83,24.44,28.83
$GC,4259,-1.43,-257.8,2205,3487,3906,3801,404.0,-9.3,335,4266,0.00,2.70,0.00,0.000,1030,0.000,0.088,2206,2081,3853,3905,3801,0,0,0,0,0,0,28.83,24.46,28.83
$GC,4565,-1.43,-257.8,2205,2080,3906,3801,433.3,-9.1,351,4566,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2080,3853,3906,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4865,-1.43,-257.8,2205,2079,3906,3801,460.4,-9.3,366,4866,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2079,3852,3905,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5165,-1.43,-257.8,2205,2078,3906,3801,488.1,-9.4,381,5171,0.00,2.78,0.00,0.000,260,0.000,0.101,2206,3487,3853,3906,3801,0,0,0,0,0,0,28.83,24.45,28.83
$GC,5242,-1.43,-257.8,2205,3486,3906,3801,494.5,-10.0,384,5249,0.00,2.70,0.00,0.000,1030,0.000,0.089,2205,2083,3853,3906,3801,0,0,0,0,0,0,28.83,24.46,28.83
$GC,5548,-1.43,-257.8,2205,2082,3905,3801,525.9,-9.5,400,5554,0.00,2.90,0.00,0.000,516,0.000,0.122,2205,663,3853,3905,3801,0,0,0,0,0,0,28.83,24.41,28.83
$GC,5600,-1.43,-257.8,2205,663,3906,3801,530.0,-9.4,402,5606,0.00,2.72,0.00,0.000,1030,0.000,0.088,2206,2084,3853,3906,3801,0,0,0,0,0,0,28.83,24.47,28.83
$STATE,5711,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5711,begin apogee
$GC,5716,-0.37,0.0,2205,2045,3906,3801,541.1,-8.8,408,5935,1.23,0.00,211.77,1.076,10244,0.123,0.000,2438,2045,2800,2867,2734,0,0,0,0,0,0,24.44,28.83,23.10
$STATE,5937,end apogee,CONTROL_FINISHED_OK
$STATE,5937,begin climb
$GC,5939,1.43,257.8,2437,2045,2867,2732,550.4,0.0,419,6164,2.03,2.88,213.95,1.031,10500,0.099,0.102,2833,3456,1749,1849,1650,0,0,0,0,0,0,23.87,23.83,23.07
$GC,6237,1.45,273.1,2832,3456,1846,1642,527.7,10.2,434,6258,0.00,2.78,14.15,0.931,9222,0.000,0.092,2833,2046,1685,1791,1580,0,0,0,0,0,0,28.83,24.10,23.21
$GC,6556,1.45,273.1,2833,2046,1788,1574,495.0,10.6,450,6563,0.00,2.92,0.00,0.000,516,0.000,0.124,2833,635,1680,1787,1574,0,0,0,0,0,0,28.83,24.20,28.83
$GC,6760,1.45,273.1,2833,635,1785,1574,471.8,11.3,460,6766,0.00,2.75,0.00,0.000,1030,0.000,0.088,2833,2052,1679,1785,1574,0,0,0,0,0,0,28.83,24.32,28.83
$GC,7083,1.48,296.4,2833,2052,1785,1574,439.1,9.9,476,7113,0.00,2.90,20.98,0.981,8452,0.000,0.104,2833,3452,1591,1697,1485,0,0,0,0,0,0,28.83,23.84,23.25
$GC,7149,1.49,302.8,1872,3450,1653,1479,432.6,10.4,479,7166,0.00,2.75,7.35,0.845,9222,0.000,0.098,2833,2052,1565,1672,1458,0,0,0,0,0,0,28.83,24.13,23.37
$GC,7466,1.49,306.1,2833,2052,1670,1455,399.1,10.5,495,7472,0.00,0.00,3.95,0.659,8198,0.000,0.000,2833,2051,1552,1660,1445,0,0,0,0,0,0,28.83,28.83,23.61
$GC,7766,1.54,340.2,2833,2051,1658,1444,369.1,9.6,510,7808,0.12,2.85,32.53,0.965,10500,0.086,0.102,2867,3458,1412,1521,1304,0,0,0,0,0,0,24.44,23.80,23.23
$GC,7840,1.54,340.2,2867,3458,1520,1299,361.8,10.9,513,7846,0.00,2.75,0.00,0.000,1030,0.000,0.090,2867,2056,1409,1520,1299,0,0,0,0,0,0,28.83,24.10,28.83
$GC,8153,1.54,340.2,2867,2056,1519,1295,324.3,11.7,529,8154,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2056,1406,1518,1295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8454,1.54,340.2,2867,2056,1519,1294,289.0,11.7,544,8459,0.00,2.78,0.00,0.000,260,0.000,0.099,2867,3464,1406,1519,1294,0,0,0,0,0,0,28.83,24.34,28.83
$GC,8490,1.54,340.2,2867,3464,1519,1294,286.2,11.8,545,8497,0.00,2.72,0.00,0.000,1030,0.000,0.089,2867,2055,1406,1519,1294,0,0,0,0,0,0,28.83,24.34,28.83
$GC,8796,1.54,340.2,2867,2055,1519,1294,247.5,12.1,562,8797,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2055,1405,1518,1293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9097,1.54,340.2,2867,2054,1518,1293,211.6,11.9,592,9102,0.00,2.75,0.00,0.000,260,0.000,0.109,2867,3458,1405,1518,1293,0,0,0,0,0,0,28.83,24.37,28.83
$GC,9129,1.54,340.2,2867,3458,1518,1293,207.6,12.3,595,9135,0.00,2.70,0.00,0.000,1030,0.000,0.087,2867,2059,1406,1519,1293,0,0,0,0,0,0,28.83,24.37,28.83
$GC,9442,1.54,340.2,2867,2059,1518,1292,170.9,11.5,626,9444,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2059,1405,1518,1292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9743,1.54,340.2,2867,2059,1518,1292,136.7,11.4,656,9748,0.00,2.75,0.00,0.000,260,0.000,0.098,2867,3462,1405,1518,1292,0,0,0,0,0,0,28.83,24.39,28.83
$GC,9775,1.54,340.2,2867,3462,1519,1292,132.7,12.0,659,9780,0.00,2.70,0.00,0.000,1030,0.000,0.086,2867,2059,1405,1518,1292,0,0,0,0,0,0,28.83,24.40,28.83
$GC,10087,1.54,340.2,2867,2059,1518,1292,96.4,11.6,690,10088,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2059,1405,1518,1292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10388,1.54,340.2,2867,2059,1518,1292,61.8,11.6,720,10393,0.00,2.78,0.00,0.000,260,0.000,0.097,2867,3461,1405,1518,1292,0,0,0,0,0,0,28.83,24.40,28.83
$GC,10414,1.54,340.2,1936,3459,1486,1289,59.1,11.7,722,10421,0.00,2.67,0.00,0.000,1030,0.000,0.085,2867,2067,1405,1518,1292,0,0,0,0,0,0,28.83,24.43,28.83
$GC,10721,1.57,366.1,2867,2067,1518,1291,25.8,9.9,753,10752,0.00,2.97,22.88,0.767,8708,0.000,0.117,2867,636,1307,1424,1190,0,0,0,0,0,0,28.83,23.89,23.46
$GC,10778,1.65,430.3,1920,636,1394,1187,20.9,8.8,758,10841,0.00,2.78,56.25,0.749,9222,0.000,0.086,2867,2067,1045,1176,914,0,0,0,0,0,0,28.83,24.18,23.37
$STATE,10986,end climb,SURFACE_DEPTH_REACHED
$STATE,10986,begin surface coast
$FINISH,0.5,1.026285
$STATE,10997,end surface coast,CONTROL_FINISHED_OK
$STATE,10997,begin surface
$SM_CCo,11077,0.00,0.000,0,0,1039,431.97
$SM_GC,1.07,10.95,0.00,0.00,0.057,0.000,0.000,513,2071,1039,-9.21,-0.11,431.97,0,0,0,0,0,0,24.34,28.83,28.83
$IRIDIUM_FIX,8015.30,7106.83,290813,050536
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.51
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,15.70
$XPDR_PINGS,11
$SC_FREEKB,4003616
$TM_FREEKB,3201024
$24V_AH,23.1,7.997
$10V_AH,9.3,5.470
$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,24.750,88.875,583.800,0.000,0.000,0.000,0.000,327.675,2.750,0.000,14.035,2112.314,6693.398,641.531,1988.871,160.666,0.000,1860.657,0.000,1535.541,0.000,0.545,0.000
$DEVICE_MAMPS,187.425,133.110,1076.355,0.000,0.000,0.000,0.000,145.350,420.000,0.000,32.210,12.760,2.190,12.760,37.480,46.470,0.000,15.700,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11009.000,10995.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.423,13.848,0.000,0.000
$MEM,266400
$DATA_FILE_SIZE,26646,780
$CAP_FILE_SIZE,149729,0
$CFSIZE,260034560,244277248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.094,142.2,1
$GPS,290813,113159,8123.352,7135.510,36,1.2,41,41.7