version: 66.11
glider: 125
mission: 18
dive: 59
start: 8 30 113 10 39 53
data:
$ID,125
$MISSION,18
$DIVE,59
$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,-181790.62
$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,13
$R_STBD_OVSHOOT,13
$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
$GPS1,300813,103105,8130.710,7222.332,26,0.9,26,42.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-53.3
$GPS2,300813,103925,8130.675,7222.440,9,1.7,9,42.1
$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,336.9,67814,-15.1,-10.588,-20.35,3719
$D_GRID,559
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-1.43,-257.8,510,2067,1261,1013,0.0,0.0,0,140,0.00,0.00,-115.45,0.000,16386,0.000,0.000,510,2067,2995,3049,2941,0,0,0,0,0,0,28.83,28.83,28.83
$GC,143,-1.43,-257.8,510,2067,3049,2941,3.1,-3.5,11,187,10.30,2.85,-24.20,0.000,19204,0.184,0.112,2206,3495,3853,3906,3801,0,0,0,0,0,0,24.18,24.25,24.61
$GC,223,-1.43,-257.8,2205,3495,3906,3802,14.5,-12.9,18,230,0.00,2.72,0.00,0.000,1030,0.000,0.085,2206,2077,3854,3906,3802,0,0,0,0,0,0,28.83,24.30,28.83
$GC,530,-1.43,-257.8,2205,2077,3906,3803,47.1,-9.7,49,531,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2077,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,829,-1.43,-257.8,2206,2077,3906,3803,77.0,-10.2,79,831,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2077,3854,3906,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1130,-1.43,-257.8,2205,2077,3906,3802,106.7,-9.5,109,1131,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2077,3854,3906,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1429,-1.43,-257.8,2205,2078,3906,3801,134.5,-9.3,139,1435,0.00,2.80,0.00,0.000,260,0.000,0.100,2205,3500,3853,3906,3801,0,0,0,0,0,0,28.83,24.39,28.83
$GC,1495,-1.43,-257.8,1408,3499,3903,3800,140.5,-9.8,145,1503,0.00,2.70,0.00,0.000,1030,0.000,0.086,2206,2091,3853,3906,3801,0,0,0,0,0,0,28.83,24.41,28.83
$GC,1802,-1.43,-257.8,2205,2091,3906,3801,170.8,-9.7,176,1804,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2091,3853,3906,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2103,-1.43,-257.8,2205,2091,3907,3802,200.2,-9.2,206,2104,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2091,3853,3906,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2402,-1.43,-257.8,2205,2091,3906,3802,228.0,-9.3,236,2403,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2091,3854,3906,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2712,-1.43,-257.8,2205,2091,3906,3802,256.4,-9.2,264,2714,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2092,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3013,-1.43,-257.8,2205,2091,3906,3803,284.8,-9.5,279,3014,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2091,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3313,-1.43,-257.8,2206,2091,3906,3803,312.9,-9.4,294,3315,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2091,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3613,-1.43,-257.8,2206,2091,3906,3803,341.1,-9.3,309,3614,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2091,3855,3906,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3913,-1.43,-257.8,2205,2091,3906,3804,369.0,-9.3,324,3914,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2091,3855,3906,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4212,-1.43,-257.8,2206,2089,3905,3804,396.8,-9.5,339,4214,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2089,3855,3906,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4513,-1.43,-257.8,2205,2089,3906,3804,425.4,-9.6,354,4514,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2088,3854,3905,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4813,-1.43,-257.8,2205,2088,3906,3804,454.3,-9.6,369,4814,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2089,3854,3905,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5113,-1.43,-257.8,2206,2089,3906,3804,481.9,-9.1,384,5114,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2088,3855,3906,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5413,-1.43,-257.8,2205,2089,3906,3804,509.8,-9.3,399,5414,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2088,3855,3906,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5713,-1.43,-257.8,2206,2088,3906,3803,537.2,-9.1,414,5714,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2088,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5750,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5750,begin apogee
$GC,5754,-0.37,0.0,2205,2089,3906,3803,540.7,-8.9,416,5973,1.20,0.00,212.32,1.082,10244,0.121,0.000,2436,2088,2800,2867,2734,0,0,0,0,0,0,24.47,28.83,23.08
$STATE,5975,end apogee,CONTROL_FINISHED_OK
$STATE,5976,begin climb
$GC,5977,1.43,257.8,2435,2088,2867,2733,550.1,0.0,427,6206,1.98,3.05,214.77,1.031,10756,0.086,0.122,2832,661,1748,1845,1651,0,0,0,0,0,0,23.88,23.78,23.06
$GC,6314,1.43,257.8,2832,661,1843,1644,521.8,10.9,444,6319,0.00,2.75,0.00,0.000,1030,0.000,0.091,2832,2071,1743,1843,1643,0,0,0,0,0,0,28.83,24.17,28.83
$GC,6637,1.44,265.8,2832,2071,1842,1640,488.8,10.4,460,6651,0.00,3.00,6.95,0.852,8708,0.000,0.131,2834,668,1716,1817,1616,0,0,0,0,0,0,28.83,24.03,23.49
$GC,6853,1.44,265.8,2832,668,1815,1614,465.7,11.6,470,6860,0.00,2.72,0.00,0.000,1030,0.000,0.090,2833,2075,1715,1816,1614,0,0,0,0,0,0,28.83,24.30,28.83
$GC,7159,1.45,269.1,2832,2075,1815,1613,431.3,10.5,486,7170,0.00,2.80,4.40,0.724,8452,0.000,0.103,2832,3482,1702,1803,1602,0,0,0,0,0,0,28.83,24.18,23.60
$GC,7192,1.45,272.7,2832,3482,1803,1602,428.7,10.5,487,7204,0.00,2.75,5.12,0.769,9222,0.000,0.091,2832,2071,1688,1789,1587,0,0,0,0,0,0,28.83,24.24,23.49
$GC,7503,1.48,293.5,2832,2071,1790,1585,395.3,10.0,503,7525,0.00,0.00,20.55,0.975,8198,0.000,0.000,2833,2071,1603,1709,1498,0,0,0,0,0,0,28.83,28.83,23.25
$GC,7822,1.51,320.8,2832,2071,1707,1492,363.8,9.8,519,7850,0.00,0.00,25.80,0.964,8198,0.000,0.000,2833,2071,1492,1602,1383,0,0,0,0,0,0,28.83,28.83,23.23
$GC,8142,1.55,350.1,2832,2071,1601,1377,331.6,9.8,535,8173,0.12,0.00,27.77,0.940,10246,0.080,0.000,2864,2071,1372,1487,1257,0,0,0,0,0,0,24.43,28.83,23.24
$GC,8462,1.55,350.1,2864,2071,1487,1250,295.5,11.4,551,8468,0.00,2.90,0.00,0.000,516,0.000,0.120,2865,661,1368,1487,1250,0,0,0,0,0,0,28.83,24.25,28.83
$GC,8494,1.55,350.1,2864,661,1487,1250,292.9,11.5,552,8500,0.00,2.72,0.00,0.000,1030,0.000,0.090,2865,2072,1368,1487,1250,0,0,0,0,0,0,28.83,24.32,28.83
$GC,8808,1.55,350.1,2865,2072,1486,1248,255.4,11.7,568,8809,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2072,1367,1486,1248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9108,1.55,350.1,2865,2072,1486,1247,219.2,12.2,595,9114,0.00,2.88,0.00,0.000,516,0.000,0.117,2865,662,1366,1486,1247,0,0,0,0,0,0,28.83,24.32,28.83
$GC,9141,1.55,350.1,2865,662,1486,1247,214.9,12.9,598,9147,0.00,2.72,0.00,0.000,1030,0.000,0.087,2865,2077,1366,1486,1247,0,0,0,0,0,0,28.83,24.37,28.83
$GC,9454,1.55,350.1,2864,2077,1486,1246,177.0,11.9,629,9455,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2077,1366,1486,1246,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9754,1.55,350.1,2865,2077,1486,1246,142.3,11.5,659,9755,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2077,1366,1486,1246,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10054,1.55,350.1,2864,2077,1486,1246,108.4,11.1,689,10055,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2078,1366,1487,1246,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10354,1.55,350.1,2865,2077,1486,1246,74.5,11.7,719,10360,0.00,2.88,0.00,0.000,516,0.000,0.114,2865,660,1366,1486,1246,0,0,0,0,0,0,28.83,24.37,28.83
$GC,10382,1.55,350.1,1920,660,1454,1242,71.5,12.1,721,10388,0.00,2.70,0.00,0.000,1030,0.000,0.086,2865,2073,1365,1485,1246,0,0,0,0,0,0,28.83,24.42,28.83
$GC,10688,1.56,357.2,2865,2072,1486,1246,36.9,10.4,752,10699,0.00,0.00,6.60,0.685,8454,0.000,0.000,2865,2073,1343,1463,1223,0,0,0,0,0,0,28.83,28.83,23.77
$GC,10998,1.65,431.0,2864,2072,1463,1222,8.9,8.5,783,11070,0.00,2.92,65.35,0.748,8452,0.000,0.103,2865,3478,1041,1176,906,0,0,0,0,0,0,28.83,23.82,23.38
$STATE,11082,end climb,SURFACE_DEPTH_REACHED
$STATE,11082,begin surface coast
$FINISH,0.4,1.017989
$STATE,11103,end surface coast,CONTROL_FINISHED_OK
$STATE,11103,begin surface
$SM_CCo,11186,0.00,0.000,0,0,1037,432.46
$SM_GC,0.96,10.98,2.78,0.00,0.055,0.087,0.000,511,2086,1037,-9.21,0.54,432.46,0,0,0,0,0,0,24.23,24.12,28.83
$IRIDIUM_FIX,8015.30,7237.90,300813,070715
$TT8_MAMPS,0.026215,0.026215
$HUMID,46.06
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,15.80
$XPDR_PINGS,9
$SC_FREEKB,4001056
$TM_FREEKB,2931552
$24V_AH,23.1,9.370
$10V_AH,9.2,6.372
$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,24.575,50.650,589.650,0.000,0.000,0.000,0.000,313.250,2.250,0.000,12.160,2051.253,6977.730,617.133,1878.577,165.176,0.000,1752.152,0.000,1448.410,0.000,0.546,0.000
$DEVICE_MAMPS,184.365,130.815,1082.475,0.000,0.000,0.000,0.000,147.645,420.000,0.000,32.210,12.760,2.190,12.760,37.480,46.470,0.000,15.700,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11115.000,11102.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.397,13.841,0.000,0.000
$MEM,266416
$DATA_FILE_SIZE,26686,793
$CAP_FILE_SIZE,141947,0
$CFSIZE,260034560,243511296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.108, 92.4,1
$GPS,300813,134736,8132.101,7231.120,36,1.2,36,42.2