version: 66.11
glider: 125
mission: 18
dive: 55
start: 8 29 113 21 32 1
data:
$ID,125
$MISSION,18
$DIVE,55
$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,-181785.62
$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,2085
$C_ROLL_CLIMB,2070
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,10
$R_STBD_OVSHOOT,16
$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
$GPS1,290813,212259,8126.838,7156.048,34,1.6,34,41.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-53.3
$GPS2,290813,213131,8126.806,7156.140,16,1.6,16,41.9
$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,337.7,77621,-15.1,-10.588,-20.35,3719
$D_GRID,556
$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,-257.8,512,2088,1321,1081,0.0,0.0,0,134,0.00,0.00,-111.00,0.000,16386,0.000,0.000,512,2088,2989,3043,2936,0,0,0,0,0,0,28.83,28.83,28.83
$GC,137,-1.43,-257.8,512,2088,3043,2936,3.1,-4.1,10,176,10.38,0.00,-24.92,0.000,18950,0.187,0.000,2206,2089,3852,3906,3799,0,0,0,0,0,0,24.18,28.83,24.61
$GC,473,-1.43,-257.8,2206,2088,3906,3801,43.2,-10.9,44,479,0.00,2.85,0.00,0.000,516,0.000,0.112,2206,674,3854,3906,3802,0,0,0,0,0,0,28.83,24.31,28.83
$GC,556,-1.43,-257.8,2205,674,3906,3801,53.0,-11.8,52,563,0.00,2.70,0.00,0.000,1030,0.000,0.087,2206,2083,3853,3906,3801,0,0,0,0,0,0,28.83,24.37,28.83
$GC,870,-1.43,-257.8,2205,2083,3906,3801,87.1,-9.9,83,876,0.00,2.80,0.00,0.000,260,0.000,0.105,2206,3498,3853,3905,3801,0,0,0,0,0,0,28.83,24.37,28.83
$GC,944,-1.43,-257.8,2205,3498,3906,3801,94.7,-10.3,90,949,0.00,2.72,0.00,0.000,1030,0.000,0.088,2206,2080,3853,3906,3801,0,0,0,0,0,0,28.83,24.39,28.83
$GC,1257,-1.43,-257.8,2206,2080,3906,3801,125.4,-9.5,121,1258,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2080,3853,3906,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1557,-1.43,-257.8,2206,2080,3906,3801,154.1,-9.8,151,1558,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2080,3853,3906,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1857,-1.43,-257.8,2205,2080,3906,3801,183.0,-9.8,181,1858,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2079,3853,3906,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2157,-1.43,-257.8,2206,2080,3906,3801,212.7,-10.1,211,2163,0.00,2.78,0.00,0.000,260,0.000,0.099,2206,3493,3853,3906,3801,0,0,0,0,0,0,28.83,24.41,28.83
$GC,2214,-1.43,-257.8,1408,3492,3903,3799,218.0,-9.9,216,2221,0.00,2.70,0.00,0.000,1030,0.000,0.086,2206,2081,3853,3906,3801,0,0,0,0,0,0,28.83,24.43,28.83
$GC,2521,-1.43,-257.8,2205,2081,3906,3802,248.0,-9.6,247,2522,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2081,3853,3906,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2831,-1.43,-257.8,2205,2081,3906,3802,278.3,-9.7,264,2832,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2081,3854,3907,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3132,-1.43,-257.8,2205,2081,3906,3802,307.1,-9.6,279,3133,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2080,3854,3906,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3432,-1.43,-257.8,2205,2081,3906,3803,336.0,-9.6,294,3437,0.00,2.78,0.00,0.000,260,0.000,0.101,2206,3491,3854,3906,3803,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3498,-1.43,-257.8,1392,3489,3903,3801,342.4,-10.1,297,3504,0.00,2.70,0.00,0.000,1030,0.000,0.088,2205,2089,3854,3906,3803,0,0,0,0,0,0,28.83,24.45,28.83
$GC,3816,-1.43,-257.8,2205,2087,3906,3803,372.7,-9.5,313,3817,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2087,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4117,-1.43,-257.8,2205,2087,3906,3803,401.3,-9.5,328,4119,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2087,3854,3905,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4417,-1.43,-257.8,2206,2087,3905,3803,429.2,-9.1,343,4418,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2087,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4718,-1.43,-257.8,2205,2087,3906,3803,457.0,-9.3,358,4723,0.00,2.78,0.00,0.000,260,0.000,0.103,2206,3492,3854,3906,3803,0,0,0,0,0,0,28.83,24.46,28.83
$GC,4789,-1.43,-257.8,2205,3492,3905,3803,463.2,-9.5,361,4795,0.00,2.72,0.00,0.000,1030,0.000,0.090,2206,2080,3854,3906,3803,0,0,0,0,0,0,28.83,24.46,28.83
$GC,5102,-1.43,-257.8,2206,2079,3906,3803,493.2,-9.1,377,5103,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2079,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5403,-1.43,-257.8,2206,2079,3905,3802,519.8,-9.0,392,5404,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2079,3854,3906,3802,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5640,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5640,begin apogee
$GC,5644,-0.37,0.0,2206,2078,3906,3802,541.3,-8.9,404,5867,1.23,0.00,213.62,1.083,10244,0.123,0.000,2438,2078,2799,2866,2733,0,0,0,0,0,0,24.46,28.83,23.09
$STATE,5870,end apogee,CONTROL_FINISHED_OK
$STATE,5870,begin climb
$GC,5871,1.43,257.8,2438,2078,2866,2731,549.9,0.0,415,6097,2.00,3.03,215.07,1.035,10756,0.090,0.124,2835,662,1749,1845,1654,0,0,0,0,0,0,23.90,23.80,23.05
$GC,6223,1.43,257.8,1872,662,1788,1638,519.5,11.4,432,6229,0.00,2.72,0.00,0.000,1030,0.000,0.088,2835,2066,1742,1840,1645,0,0,0,0,0,0,28.83,24.18,28.83
$GC,6541,1.44,263.1,2835,2066,1840,1642,485.6,10.4,448,6553,0.00,2.92,4.78,0.741,8708,0.000,0.129,2835,664,1727,1827,1628,0,0,0,0,0,0,28.83,24.10,23.56
$GC,6759,1.44,263.1,2835,663,1826,1627,463.0,11.1,458,6766,0.00,2.72,0.00,0.000,1030,0.000,0.088,2835,2074,1726,1826,1626,0,0,0,0,0,0,28.83,24.31,28.83
$GC,7065,1.46,280.0,2835,2074,1826,1626,430.2,10.1,474,7086,0.00,0.00,16.85,0.981,8198,0.000,0.000,2835,2074,1658,1759,1557,0,0,0,0,0,0,28.83,28.83,23.27
$GC,7385,1.48,294.1,2835,2074,1758,1551,397.6,10.2,490,7405,0.00,0.00,14.25,0.957,8198,0.000,0.000,2835,2075,1600,1705,1495,0,0,0,0,0,0,28.83,28.83,23.33
$GC,7705,1.49,301.1,2835,2075,1705,1489,365.1,10.4,506,7714,0.00,0.00,7.50,0.861,8198,0.000,0.000,2835,2075,1572,1680,1465,0,0,0,0,0,0,28.83,28.83,23.51
$GC,8006,1.50,312.8,2835,2075,1678,1461,334.2,10.3,521,8025,0.00,0.00,12.12,0.911,8198,0.000,0.000,2835,2076,1524,1632,1416,0,0,0,0,0,0,28.83,28.83,23.42
$GC,8326,1.53,335.0,2834,2076,1631,1412,302.0,10.0,537,8355,0.10,3.03,21.27,0.920,10756,0.099,0.117,2861,664,1434,1546,1323,0,0,0,0,0,0,24.44,23.82,23.30
$GC,8371,1.53,335.0,1920,663,1510,1318,297.1,10.6,539,8376,0.00,2.75,0.00,0.000,1030,0.000,0.087,2861,2071,1433,1545,1322,0,0,0,0,0,0,28.83,24.08,28.83
$GC,8688,1.53,335.0,2861,2071,1546,1318,259.9,11.6,555,8690,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2071,1432,1546,1318,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8989,1.53,335.0,2861,2072,1545,1317,225.9,11.3,580,8994,0.00,2.88,0.00,0.000,516,0.000,0.116,2861,661,1431,1546,1317,0,0,0,0,0,0,28.83,24.32,28.83
$GC,9032,1.53,335.0,2861,661,1545,1317,221.0,11.8,584,9037,0.00,2.72,0.00,0.000,1030,0.000,0.087,2861,2072,1431,1545,1317,0,0,0,0,0,0,28.83,24.37,28.83
$GC,9345,1.53,335.0,2861,2072,1545,1317,185.7,11.5,615,9346,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2072,1431,1545,1317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9644,1.53,335.0,2861,2072,1545,1316,150.7,11.7,645,9649,0.00,2.85,0.00,0.000,516,0.000,0.115,2861,664,1431,1545,1317,0,0,0,0,0,0,28.83,24.34,28.83
$GC,9680,1.53,335.0,1920,663,1510,1313,146.8,12.1,648,9686,0.00,2.70,0.00,0.000,1030,0.000,0.086,2861,2070,1430,1545,1316,0,0,0,0,0,0,28.83,24.40,28.83
$GC,9987,1.53,335.0,2861,2070,1545,1316,111.2,11.4,679,9988,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2070,1430,1545,1316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10286,1.53,335.0,2861,2070,1545,1316,76.2,11.8,709,10291,0.00,2.83,0.00,0.000,516,0.000,0.114,2861,663,1430,1545,1316,0,0,0,0,0,0,28.83,24.37,28.83
$GC,10319,1.53,335.0,2861,663,1545,1316,72.2,12.0,712,10325,0.00,2.70,0.00,0.000,1030,0.000,0.086,2861,2072,1430,1545,1316,0,0,0,0,0,0,28.83,24.43,28.83
$GC,10632,1.53,335.0,2861,2071,1545,1316,36.2,10.6,743,10633,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2071,1430,1545,1316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10932,1.63,417.3,2861,2071,1545,1316,8.9,8.3,773,11013,0.00,2.95,73.15,0.750,8708,0.000,0.116,2861,663,1098,1229,968,0,0,0,0,0,0,28.83,23.80,23.38
$STATE,11019,end climb,SURFACE_DEPTH_REACHED
$STATE,11019,begin surface coast
$FINISH,0.4,1.026586
$STATE,11025,end surface coast,CONTROL_FINISHED_OK
$STATE,11025,begin surface
$SM_CCo,11108,0.00,0.000,0,0,1095,418.24
$SM_GC,0.98,11.02,2.85,0.00,0.057,0.089,0.000,512,2085,1095,-9.21,-0.48,418.24,0,0,0,0,0,0,24.15,24.04,28.83
$IRIDIUM_FIX,8015.30,7156.67,290813,181840
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.74
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,15.60
$XPDR_PINGS,4
$SC_FREEKB,4002336
$TM_FREEKB,3066528
$24V_AH,23.0,8.684
$10V_AH,9.2,5.921
$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,24.725,67.225,578.625,0.000,0.000,0.000,0.000,316.425,1.000,0.000,18.793,2081.127,6840.995,618.167,1930.253,154.168,0.000,1780.304,0.000,1487.909,0.000,0.546,0.000
$DEVICE_MAMPS,186.660,185.130,1083.240,0.000,0.000,0.000,0.000,146.880,420.000,0.000,32.210,12.760,2.190,12.760,37.480,46.470,0.000,15.700,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11042.000,11030.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.349,13.859,0.000,0.000
$MEM,266364
$DATA_FILE_SIZE,26669,782
$CAP_FILE_SIZE,143877,0
$CFSIZE,260034560,243892224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.053,193.7,1
$GPS,300813,003829,8127.888,7200.331,34,1.3,39,41.9