version: 66.11
glider: 125
mission: 18
dive: 54
start: 8 29 113 18 12 42
data:
$ID,125
$MISSION,18
$DIVE,54
$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,-181784.38
$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,2085
$C_ROLL_CLIMB,2070
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,15
$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
$GPS1,290813,180335,8125.834,7148.649,28,0.9,28,41.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-52.0
$GPS2,290813,181213,8125.852,7148.549,16,1.3,16,41.8
$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,347.7,80216,-15.1,-10.588,-20.35,3719
$D_GRID,561
$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,-257.8,511,2074,1143,891,0.0,0.0,0,150,0.00,0.00,-126.65,0.000,16386,0.000,0.000,511,2071,3095,3152,3038,0,0,0,0,0,0,28.83,28.83,28.83
$GC,153,-1.43,-257.8,511,2071,3152,3039,3.3,-3.6,12,190,10.40,2.85,-19.35,0.000,18948,0.188,0.125,2206,678,3853,3906,3801,0,0,0,0,0,0,24.17,24.20,24.60
$GC,308,-1.43,-257.8,2206,678,3906,3803,26.2,-11.4,27,313,0.00,2.70,0.00,0.000,1030,0.000,0.088,2206,2084,3854,3906,3803,0,0,0,0,0,0,28.83,24.32,28.83
$GC,621,-1.43,-257.8,2206,2084,3906,3803,58.4,-9.7,58,626,0.00,2.80,0.00,0.000,260,0.000,0.105,2206,3495,3854,3906,3803,0,0,0,0,0,0,28.83,24.34,28.83
$GC,717,-1.43,-257.8,1392,3493,3903,3802,67.9,-10.3,67,724,0.00,2.72,0.00,0.000,1030,0.000,0.087,2206,2080,3854,3906,3803,0,0,0,0,0,0,28.83,24.37,28.83
$GC,1024,-1.43,-257.8,2206,2080,3906,3803,97.7,-10.0,98,1025,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2080,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1323,-1.43,-257.8,2206,2080,3906,3802,127.8,-9.9,128,1329,0.00,2.78,0.00,0.000,260,0.000,0.100,2206,3491,3854,3906,3802,0,0,0,0,0,0,28.83,24.38,28.83
$GC,1377,-1.43,-257.8,2206,3491,3906,3802,133.2,-10.1,133,1382,0.00,2.70,0.00,0.000,1030,0.000,0.088,2206,2092,3854,3906,3802,0,0,0,0,0,0,28.83,24.40,28.83
$GC,1690,-1.43,-257.8,2206,2092,3906,3803,163.3,-9.2,164,1691,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2092,3855,3906,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1990,-1.43,-257.8,2206,2092,3906,3803,191.1,-9.3,194,1991,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2092,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2290,-1.43,-257.8,2206,2092,3906,3803,219.0,-9.4,224,2291,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2092,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2590,-1.43,-257.8,2206,2092,3906,3803,246.6,-9.3,254,2591,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2092,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2890,-1.43,-257.8,2206,2092,3906,3803,273.3,-8.7,271,2896,0.00,2.75,0.00,0.000,260,0.000,0.099,2206,3496,3854,3906,3803,0,0,0,0,0,0,28.83,24.43,28.83
$GC,2953,-1.43,-257.8,2206,3496,3906,3803,279.1,-8.9,274,2959,0.00,2.70,0.00,0.000,1030,0.000,0.086,2206,2092,3855,3906,3804,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3276,-1.43,-257.8,2206,2092,3906,3804,308.3,-9.1,290,3278,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2092,3855,3906,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3578,-1.43,-257.8,2206,2092,3906,3805,335.8,-9.3,305,3579,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2092,3855,3906,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3878,-1.43,-257.8,2206,2093,3906,3804,363.6,-9.5,320,3879,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2092,3855,3906,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4177,-1.43,-257.8,2206,2092,3906,3804,391.8,-9.3,335,4179,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2092,3855,3906,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4478,-1.43,-257.8,2206,2091,3906,3805,419.6,-9.3,350,4483,0.00,2.75,0.00,0.000,260,0.000,0.103,2206,3490,3855,3906,3805,0,0,0,0,0,0,28.83,24.45,28.83
$GC,4554,-1.43,-257.8,2206,3491,3906,3805,425.7,-9.6,353,4561,0.00,2.70,0.00,0.000,1030,0.000,0.090,2206,2090,3855,3906,3805,0,0,0,0,0,0,28.83,24.46,28.83
$GC,4860,-1.43,-257.8,2206,2090,3906,3805,455.8,-9.4,369,4866,0.00,2.88,0.00,0.000,516,0.000,0.120,2206,676,3855,3906,3804,0,0,0,0,0,0,28.83,24.40,28.83
$GC,4907,-1.43,-257.8,2206,675,3906,3804,459.9,-9.6,371,4913,0.00,2.72,0.00,0.000,1030,0.000,0.089,2206,2090,3855,3905,3805,0,0,0,0,0,0,28.83,24.48,28.83
$GC,5226,-1.43,-257.8,2206,2090,3906,3804,490.1,-9.4,387,5231,0.00,2.78,0.00,0.000,260,0.000,0.104,2206,3500,3855,3906,3804,0,0,0,0,0,0,28.83,24.45,28.83
$GC,5289,-1.43,-257.8,2206,3500,3906,3804,496.3,-9.6,390,5294,0.00,2.72,0.00,0.000,1030,0.000,0.091,2206,2093,3855,3906,3804,0,0,0,0,0,0,28.83,24.46,28.83
$GC,5611,-1.43,-257.8,2207,2093,3906,3804,525.5,-8.7,406,5613,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2093,3855,3906,3804,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5790,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5790,begin apogee
$GC,5794,-0.37,0.0,2206,2064,3906,3803,540.8,-8.4,415,6016,1.23,0.00,212.60,1.084,10244,0.123,0.000,2438,2064,2799,2866,2733,0,0,0,0,0,0,24.45,28.83,23.09
$STATE,6019,end apogee,CONTROL_FINISHED_OK
$STATE,6019,begin climb
$GC,6021,1.43,257.8,2438,2064,2867,2731,549.8,0.0,426,6246,2.03,2.90,214.50,1.032,10500,0.105,0.102,2830,3482,1749,1851,1648,0,0,0,0,0,0,23.89,23.84,23.06
$GC,6304,1.43,257.8,2830,3482,1850,1642,528.8,10.6,440,6310,0.00,2.80,0.00,0.000,1030,0.000,0.093,2831,2070,1746,1850,1642,0,0,0,0,0,0,28.83,24.06,28.83
$GC,6617,1.46,280.8,2830,2070,1850,1634,496.8,10.0,456,6643,0.00,2.95,20.48,0.985,8452,0.000,0.102,2830,3482,1655,1764,1546,0,0,0,0,0,0,28.83,23.80,23.21
$GC,6854,1.46,280.8,2830,3482,1761,1543,472.1,11.1,467,6861,0.00,2.78,0.00,0.000,1030,0.000,0.093,2830,2066,1651,1761,1542,0,0,0,0,0,0,28.83,24.27,28.83
$GC,7161,1.50,313.6,2830,2066,1760,1541,440.2,9.7,483,7194,0.10,0.00,30.58,1.001,10246,0.089,0.000,2853,2066,1521,1631,1412,0,0,0,0,0,0,24.44,28.83,23.19
$GC,7481,1.50,313.6,2853,2065,1628,1406,404.3,11.2,499,7482,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2066,1517,1627,1407,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7782,1.50,313.6,2853,2066,1628,1406,370.7,11.1,514,7783,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2066,1516,1628,1405,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8082,1.50,313.6,2853,2066,1627,1404,337.8,11.0,529,8083,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2066,1516,1627,1405,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8382,1.50,313.6,2853,2066,1628,1404,304.3,11.2,544,8388,0.00,2.80,0.00,0.000,260,0.000,0.099,2854,3486,1515,1626,1404,0,0,0,0,0,0,28.83,24.35,28.83
$GC,8414,1.50,313.6,2854,3487,1626,1404,301.5,11.2,545,8420,0.00,2.75,0.00,0.000,1030,0.000,0.093,2854,2068,1515,1626,1404,0,0,0,0,0,0,28.83,24.36,28.83
$GC,8727,1.50,313.6,2854,2068,1625,1404,264.8,11.5,561,8728,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2068,1514,1625,1404,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9027,1.50,313.6,2854,2069,1625,1404,231.2,11.0,584,9028,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2068,1514,1625,1404,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9327,1.50,313.6,2854,2069,1625,1404,198.4,10.9,614,9328,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2068,1514,1625,1403,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9627,1.51,315.4,2854,2068,1625,1403,166.2,10.5,644,9628,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2068,1514,1625,1403,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9927,1.53,336.0,2854,2068,1625,1404,135.4,10.0,674,9949,0.00,0.00,20.15,0.838,8454,0.000,0.000,2854,2068,1432,1546,1318,0,0,0,0,0,0,28.83,28.83,23.42
$GC,10247,1.53,336.0,2854,2068,1541,1313,101.1,11.0,706,10253,0.00,2.78,0.00,0.000,260,0.000,0.097,2854,3486,1427,1542,1313,0,0,0,0,0,0,28.83,24.34,28.83
$GC,10280,1.53,336.0,2854,3486,1542,1313,97.2,11.4,709,10286,0.00,2.72,0.00,0.000,1030,0.000,0.084,2854,2070,1427,1542,1313,0,0,0,0,0,0,28.83,24.38,28.83
$GC,10593,1.53,336.0,2854,2070,1541,1312,63.2,11.0,740,10594,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2070,1427,1542,1312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10894,1.60,389.7,2854,2070,1541,1312,30.9,9.1,770,10944,0.00,0.00,48.05,0.773,8710,0.000,0.000,2854,2070,1212,1336,1088,0,0,0,0,0,0,28.83,28.83,23.38
$STATE,11243,end climb,SURFACE_DEPTH_REACHED
$STATE,11243,begin surface coast
$FINISH,0.5,1.026580
$STATE,11263,end surface coast,CONTROL_FINISHED_OK
$STATE,11263,begin surface
$SM_CCo,11342,0.00,0.000,0,0,1204,391.25
$SM_GC,1.10,10.77,0.00,0.00,0.053,0.000,0.000,512,2070,1204,-9.22,-0.42,391.25,0,0,0,0,0,0,24.40,28.83,28.83
$IRIDIUM_FIX,8015.30,7129.36,290813,141449
$TT8_MAMPS,0.026215,0.026215
$HUMID,46.14
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,15.70
$XPDR_PINGS,5
$SC_FREEKB,4002656
$TM_FREEKB,3099936
$24V_AH,23.1,8.507
$10V_AH,9.2,5.809
$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,24.525,61.100,546.350,0.000,0.000,0.000,0.000,325.925,1.250,0.000,18.456,2149.832,6991.959,587.019,1978.229,156.644,0.000,1766.573,0.000,1526.663,0.000,0.546,0.000
$DEVICE_MAMPS,188.190,157.590,1084.005,0.000,0.000,0.000,0.000,146.115,420.000,0.000,32.210,12.760,2.190,12.760,37.480,46.470,0.000,15.700,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11279.000,11266.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.416,13.831,0.000,0.000
$MEM,266384
$DATA_FILE_SIZE,26770,807
$CAP_FILE_SIZE,145662,0
$CFSIZE,260034560,243990528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.090,139.8,1
$GPS,290813,212259,8126.838,7156.048,34,1.6,34,41.9