version: 66.11
glider: 125
mission: 18
dive: 66
start: 8 31 113 9 48 18
data:
$ID,125
$MISSION,18
$DIVE,66
$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,-181799.38
$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,11
$R_STBD_OVSHOOT,10
$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
$GPS1,310813,093906,8144.264,7334.580,42,0.9,42,42.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-53.5
$GPS2,310813,094749,8144.263,7334.633,14,1.2,14,42.9
$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,355.6,36519,-15.1,-10.588,-20.35,3719
$D_GRID,590
$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,-257.8,510,2092,1226,972,0.0,0.0,0,150,0.00,0.00,-126.53,0.000,16386,0.000,0.000,510,2091,3164,3221,3107,0,0,0,0,0,0,28.83,28.83,28.83
$GC,153,-1.43,-257.8,510,2091,3221,3108,3.6,-3.7,12,190,10.40,2.90,-17.45,0.000,18948,0.188,0.116,2205,674,3853,3906,3801,0,0,0,0,0,0,24.17,24.21,24.59
$GC,301,-1.43,-257.8,2205,674,3906,3802,25.1,-12.8,26,308,0.00,2.70,0.00,0.000,1030,0.000,0.080,2205,2091,3854,3906,3803,0,0,0,0,0,0,28.83,24.34,28.83
$GC,609,-1.43,-257.8,2205,2091,3906,3803,57.6,-9.6,57,615,0.00,2.75,0.00,0.000,260,0.000,0.099,2205,3498,3855,3907,3803,0,0,0,0,0,0,28.83,24.35,28.83
$GC,682,-1.43,-257.8,2205,3498,3906,3803,65.0,-10.1,64,687,0.00,2.70,0.00,0.000,1030,0.000,0.080,2205,2079,3855,3907,3803,0,0,0,0,0,0,28.83,24.38,28.83
$GC,995,-1.43,-257.8,2205,2079,3906,3803,94.8,-9.2,95,1000,0.00,2.78,0.00,0.000,516,0.000,0.107,2205,679,3854,3906,3803,0,0,0,0,0,0,28.83,24.34,28.83
$GC,1058,-1.43,-257.8,2205,679,3906,3803,100.9,-9.7,101,1063,0.00,2.70,0.00,0.000,1030,0.000,0.082,2205,2093,3854,3906,3803,0,0,0,0,0,0,28.83,24.41,28.83
$GC,1371,-1.43,-257.8,2204,2093,3907,3803,130.7,-9.6,132,1376,0.00,2.72,0.00,0.000,260,0.000,0.098,2205,3496,3854,3906,3803,0,0,0,0,0,0,28.83,24.39,28.83
$GC,1455,-1.43,-257.8,2205,3496,3906,3803,139.0,-10.0,140,1460,0.00,2.67,0.00,0.000,1030,0.000,0.080,2205,2091,3854,3906,3803,0,0,0,0,0,0,28.83,24.41,28.83
$GC,1768,-1.43,-257.8,2205,2091,3906,3803,168.6,-9.5,171,1769,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2091,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2068,-1.43,-257.8,2205,2091,3906,3803,195.9,-9.1,201,2069,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2091,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2368,-1.43,-257.8,2205,2091,3907,3803,224.0,-9.5,231,2373,0.00,2.72,0.00,0.000,260,0.000,0.094,2205,3497,3854,3906,3803,0,0,0,0,0,0,28.83,24.42,28.83
$GC,2424,-1.43,-257.8,1384,3496,3904,3801,229.2,-10.1,236,2431,0.00,2.67,0.00,0.000,1030,0.000,0.080,2205,2091,3854,3906,3803,0,0,0,0,0,0,28.83,24.44,28.83
$GC,2741,-1.43,-257.8,2205,2091,3906,3803,260.1,-9.6,263,2742,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2092,3855,3907,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3042,-1.43,-257.8,2205,2091,3906,3803,288.9,-9.6,278,3048,0.00,2.72,0.00,0.000,260,0.000,0.106,2205,3498,3854,3906,3803,0,0,0,0,0,0,28.83,24.43,28.83
$GC,3090,-1.43,-257.8,2205,3498,3906,3803,293.2,-9.7,280,3095,0.00,2.67,0.00,0.000,1030,0.000,0.084,2205,2091,3854,3906,3803,0,0,0,0,0,0,28.83,24.45,28.83
$GC,3407,-1.43,-257.8,2205,2090,3906,3803,322.6,-9.1,296,3408,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2090,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3708,-1.43,-257.8,2205,2090,3906,3803,350.1,-9.3,311,3710,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2090,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4008,-1.43,-257.8,2204,2090,3906,3803,377.5,-9.0,326,4014,0.00,2.75,0.00,0.000,260,0.000,0.096,2205,3503,3854,3906,3803,0,0,0,0,0,0,28.83,24.44,28.83
$GC,4055,-1.43,-257.8,1392,3502,3904,3801,381.6,-9.3,328,4060,0.00,2.67,0.00,0.000,1030,0.000,0.083,2205,2096,3854,3906,3803,0,0,0,0,0,0,28.83,24.46,28.83
$GC,4373,-1.43,-257.8,2205,2096,3906,3803,412.4,-9.8,344,4374,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2096,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4674,-1.43,-257.8,2205,2095,3907,3803,441.7,-9.6,359,4675,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2095,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4973,-1.43,-257.8,2205,2094,3906,3802,469.3,-9.0,374,4975,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2094,3854,3906,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5274,-1.43,-257.8,2205,2094,3906,3802,495.6,-8.7,389,5279,0.00,2.75,0.00,0.000,260,0.000,0.099,2205,3502,3854,3906,3802,0,0,0,0,0,0,28.83,24.46,28.83
$GC,5331,-1.43,-257.8,2205,3502,3906,3801,499.5,-8.7,391,5338,0.00,2.67,0.00,0.000,1030,0.000,0.085,2205,2099,3854,3906,3802,0,0,0,0,0,0,28.83,24.47,28.83
$GC,5637,-1.43,-257.8,2205,2099,3906,3801,528.2,-8.9,407,5638,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2099,3854,3907,3801,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5775,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5775,begin apogee
$GC,5780,-0.37,0.0,2204,2067,3906,3801,541.2,-9.2,414,5999,1.23,0.00,212.35,1.096,10244,0.122,0.000,2437,2067,2800,2867,2734,0,0,0,0,0,0,24.46,28.83,23.06
$STATE,6001,end apogee,CONTROL_FINISHED_OK
$STATE,6001,begin climb
$GC,6003,1.43,257.8,2437,2067,2867,2733,550.8,0.0,425,6231,1.98,2.97,214.65,1.043,10756,0.089,0.117,2831,662,1748,1846,1650,0,0,0,0,0,0,23.85,23.77,23.02
$GC,6353,1.43,257.8,2831,662,1844,1643,523.2,11.1,442,6360,0.00,2.72,0.00,0.000,1030,0.000,0.083,2831,2076,1743,1844,1642,0,0,0,0,0,0,28.83,24.18,28.83
$GC,6659,1.47,283.5,2831,2076,1844,1638,491.2,9.9,458,6688,0.00,2.97,22.48,0.998,8708,0.000,0.116,2831,660,1644,1749,1539,0,0,1,0,0,0,28.83,23.75,23.18
$GC,6886,1.47,288.4,2831,659,1747,1535,467.4,10.5,469,6902,0.00,2.70,5.45,0.791,9222,0.000,0.083,2832,2067,1624,1730,1519,0,0,0,0,0,0,28.83,24.28,23.50
$GC,7201,1.49,305.7,2831,2067,1730,1517,435.3,10.1,485,7222,0.00,0.00,17.55,0.987,8198,0.000,0.000,2831,2067,1552,1662,1443,0,0,0,0,0,0,28.83,28.83,23.24
$GC,7521,1.50,308.4,2831,2068,1661,1438,400.9,10.5,501,7523,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2068,1549,1661,1438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7822,1.52,329.2,2831,2068,1661,1437,370.4,10.0,516,7847,0.12,0.00,22.25,0.978,10246,0.094,0.000,2857,2068,1458,1571,1346,0,0,0,0,0,0,24.42,28.83,23.22
$GC,8141,1.52,329.2,2857,2069,1570,1339,333.4,11.8,532,8146,0.00,2.85,0.00,0.000,516,0.000,0.113,2858,662,1454,1570,1339,0,0,0,0,0,0,28.83,24.27,28.83
$GC,8167,1.52,329.2,2858,662,1569,1339,330.7,11.9,533,8172,0.00,2.67,0.00,0.000,1030,0.000,0.083,2858,2068,1454,1569,1339,0,0,0,0,0,0,28.83,24.33,28.83
$GC,8485,1.52,329.2,2858,2068,1569,1338,292.4,11.8,549,8486,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2067,1453,1569,1338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8785,1.52,329.2,2858,2068,1568,1338,257.3,11.6,564,8791,0.00,2.83,0.00,0.000,516,0.000,0.112,2858,665,1453,1569,1338,0,0,0,0,0,0,28.83,24.32,28.83
$GC,8809,1.52,329.2,2858,665,1569,1337,254.5,11.7,565,8815,0.00,2.67,0.00,0.000,1030,0.000,0.082,2858,2068,1453,1569,1338,0,0,0,0,0,0,28.83,24.39,28.83
$GC,9122,1.52,329.2,2858,2068,1568,1337,219.3,10.9,594,9123,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2068,1452,1568,1337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9422,1.52,329.2,2858,2068,1568,1337,186.3,10.6,624,9423,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2068,1452,1568,1337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9722,1.53,337.7,2858,2068,1568,1338,153.8,10.4,654,9738,0.00,2.90,8.25,0.796,8708,0.000,0.112,2858,664,1423,1539,1308,0,0,0,0,0,0,28.83,24.12,23.63
$GC,9756,1.54,340.0,2858,664,1539,1308,150.2,10.5,657,9767,0.00,2.70,3.95,0.593,9222,0.000,0.080,2858,2073,1413,1529,1298,0,0,0,0,0,0,28.83,24.24,23.58
$GC,10067,1.54,341.6,2858,2074,1529,1295,117.4,10.5,688,10068,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2074,1412,1529,1295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10366,1.54,341.6,2858,2074,1529,1295,83.6,12.0,718,10367,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2074,1412,1529,1295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10666,1.54,341.6,2858,2074,1529,1295,47.8,11.0,748,10671,0.00,2.83,0.00,0.000,516,0.000,0.109,2858,662,1412,1529,1295,0,0,0,0,0,0,28.83,24.37,28.83
$GC,10712,1.54,341.6,1920,662,1495,1292,42.9,11.4,752,10719,0.00,2.65,0.00,0.000,1030,0.000,0.080,2858,2065,1412,1529,1295,0,0,0,0,0,0,28.83,24.44,28.83
$GC,11019,1.60,391.0,2858,2065,1529,1295,12.6,9.2,783,11069,0.00,0.00,46.60,0.763,8198,0.000,0.000,2858,2065,1206,1334,1078,0,0,0,0,0,0,28.83,28.83,23.37
$STATE,11137,end climb,SURFACE_DEPTH_REACHED
$STATE,11137,begin surface coast
$FINISH,0.5,1.026743
$STATE,11158,end surface coast,CONTROL_FINISHED_OK
$STATE,11158,begin surface
$SM_CCo,11238,0.00,0.000,0,0,1201,392.23
$SM_GC,1.17,10.88,0.00,0.00,0.054,0.000,0.000,514,2069,1201,-9.21,-0.45,392.23,0,0,0,0,0,0,24.30,28.83,28.83
$IRIDIUM_FIX,8028.18,7336.63,310813,060646
$TT8_MAMPS,0.026215,0.026215
$HUMID,47.08
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,15.70
$XPDR_PINGS,4
$SC_FREEKB,3998816
$TM_FREEKB,2694656
$24V_AH,23.0,10.605
$10V_AH,9.1,7.167
$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,24.600,77.125,553.525,0.000,0.000,0.000,0.000,324.150,1.000,0.000,16.927,2142.957,6847.221,616.380,1981.495,175.399,0.000,1809.060,0.000,1534.614,0.000,0.546,0.000
$DEVICE_MAMPS,188.190,164.475,1096.245,0.000,0.000,0.000,0.000,147.645,420.000,0.000,32.210,12.760,2.190,12.760,37.480,46.470,0.000,15.700,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11172.000,11158.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.376,13.802,0.000,0.000
$MEM,266412
$DATA_FILE_SIZE,26707,797
$CAP_FILE_SIZE,148904,0
$CFSIZE,260034560,242831360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.111, 42.1,1
$GPS,310813,125654,8145.923,7345.388,37,1.1,37,43.0