version: 66.11
glider: 125
mission: 18
dive: 69
start: 8 31 113 19 43 33
data:
$ID,125
$MISSION,18
$DIVE,69
$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,-181803.12
$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,15
$R_STBD_OVSHOOT,14
$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
$GPS1,310813,193436,8150.122,7408.482,38,1.0,38,43.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-51.2
$GPS2,310813,194305,8150.120,7408.578,15,1.5,25,43.2
$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,349.9,22594,-15.1,-10.588,-20.35,3719
$D_GRID,592
$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,-257.8,514,2090,1104,832,0.0,0.0,0,160,0.00,0.00,-134.82,0.000,16386,0.000,0.000,514,2090,3216,3275,3158,0,0,0,0,0,0,28.83,28.83,28.83
$GC,162,-1.43,-257.8,514,2090,3275,3159,4.2,-5.3,13,196,10.40,2.83,-15.27,0.000,18948,0.187,0.113,2206,678,3852,3906,3798,0,0,0,0,0,0,24.16,24.20,24.59
$GC,449,-1.43,-257.8,2206,679,3906,3799,41.0,-11.4,41,454,0.00,2.65,0.00,0.000,1030,0.000,0.079,2206,2085,3853,3906,3800,0,0,0,0,0,0,28.83,24.36,28.83
$GC,761,-1.43,-257.8,2206,2085,3906,3800,72.4,-10.0,72,767,0.00,2.75,0.00,0.000,260,0.000,0.098,2206,3499,3853,3906,3800,0,0,0,0,0,0,28.83,24.36,28.83
$GC,859,-1.43,-257.8,2206,3499,3906,3800,81.9,-10.3,81,866,0.00,2.67,0.00,0.000,1030,0.000,0.080,2206,2086,3853,3906,3800,0,0,0,0,0,0,28.83,24.39,28.83
$GC,1165,-1.43,-257.8,2206,2086,3906,3800,110.6,-9.0,112,1166,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2086,3853,3906,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1464,-1.43,-257.8,2207,2086,3906,3799,137.8,-8.9,142,1470,0.00,2.75,0.00,0.000,260,0.000,0.095,2206,3501,3853,3906,3800,0,0,0,0,0,0,28.83,24.39,28.83
$GC,1552,-1.43,-257.8,2206,3501,3906,3800,145.5,-9.4,150,1559,0.00,2.67,0.00,0.000,1030,0.000,0.080,2206,2087,3852,3906,3799,0,0,0,0,0,0,28.83,24.41,28.83
$GC,1857,-1.43,-257.8,2206,2087,3906,3801,174.2,-9.5,181,1858,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2087,3853,3906,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2158,-1.43,-257.8,2206,2087,3906,3800,202.9,-9.7,211,2163,0.00,2.72,0.00,0.000,260,0.000,0.094,2206,3492,3853,3906,3800,0,0,0,0,0,0,28.83,24.41,28.83
$GC,2245,-1.43,-257.8,1376,3490,3903,3798,211.2,-9.8,219,2251,0.00,2.65,0.00,0.000,1030,0.000,0.080,2206,2094,3853,3906,3800,0,0,0,0,0,0,28.83,24.43,28.83
$GC,2551,-1.43,-257.8,2206,2094,3906,3800,240.4,-9.3,250,2552,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2093,3853,3906,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2861,-1.43,-257.8,2206,2094,3906,3799,269.6,-9.4,271,2866,0.00,2.72,0.00,0.000,260,0.000,0.095,2206,3497,3853,3906,3800,0,0,0,0,0,0,28.83,24.42,28.83
$GC,2938,-1.43,-257.8,2206,3497,3906,3799,275.8,-9.6,274,2945,0.00,2.65,0.00,0.000,1030,0.000,0.082,2206,2097,3853,3906,3800,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3245,-1.43,-257.8,2206,2096,3906,3799,306.7,-9.8,290,3246,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2096,3853,3906,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3544,-1.43,-257.8,2206,2096,3906,3800,336.1,-9.9,305,3551,0.00,2.72,0.00,0.000,260,0.000,0.097,2206,3494,3852,3905,3800,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3622,-1.43,-257.8,2206,3494,3906,3800,342.4,-9.8,308,3629,0.00,2.65,0.00,0.000,1030,0.000,0.083,2206,2101,3852,3906,3799,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3928,-1.43,-257.8,2206,2101,3906,3799,372.2,-9.0,324,3929,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2101,3852,3906,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4229,-1.43,-257.8,2206,2101,3906,3799,398.3,-8.5,339,4234,0.00,2.72,0.00,0.000,260,0.000,0.098,2206,3492,3852,3906,3799,0,0,0,0,0,0,28.83,24.44,28.83
$GC,4301,-1.43,-257.8,2207,3492,3906,3799,404.1,-8.9,342,4307,0.00,2.65,0.00,0.000,1030,0.000,0.084,2206,2103,3852,3906,3799,0,0,0,0,0,0,28.83,24.45,28.83
$GC,4615,-1.43,-257.8,2207,2102,3906,3798,431.8,-8.6,358,4616,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2102,3852,3906,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4915,-1.43,-257.8,2206,2101,3907,3798,456.8,-8.4,373,4921,0.00,2.72,0.00,0.000,260,0.000,0.099,2206,3493,3852,3907,3798,0,0,0,0,0,0,28.83,24.45,28.83
$GC,5003,-1.43,-257.8,1380,3491,3904,3797,464.4,-9.0,377,5008,0.00,2.65,0.00,0.000,1030,0.000,0.085,2206,2103,3852,3907,3798,0,0,0,0,0,0,28.83,24.46,28.83
$GC,5321,-1.43,-257.8,2206,2103,3907,3798,492.7,-9.1,393,5322,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2104,3852,3907,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5621,-1.43,-257.8,2206,2103,3907,3797,520.4,-9.0,408,5623,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2103,3852,3907,3797,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5839,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5839,begin apogee
$GC,5844,-0.37,0.0,2206,2069,3907,3797,540.2,-9.4,419,6066,1.23,0.00,212.50,1.092,10244,0.122,0.000,2439,2069,2799,2866,2733,0,0,0,0,0,0,24.45,28.83,23.05
$STATE,6068,end apogee,CONTROL_FINISHED_OK
$STATE,6068,begin climb
$GC,6070,1.43,257.8,2439,2069,2866,2731,548.1,0.0,430,6295,2.00,0.00,214.62,1.043,11270,0.104,0.000,2833,2069,1748,1853,1644,0,0,0,0,0,0,23.84,28.83,23.01
$GC,6603,1.47,290.4,2833,2069,1850,1634,508.4,9.7,457,6634,0.00,0.00,29.17,1.004,8198,0.000,0.000,2833,2069,1615,1725,1506,0,0,0,0,0,0,28.83,28.83,23.14
$GC,6922,1.49,304.9,2833,2069,1721,1500,475.9,10.2,473,6943,0.00,0.00,14.05,0.962,8198,0.000,0.000,2833,2069,1556,1668,1444,0,0,0,0,0,0,28.83,28.83,23.28
$GC,7242,1.51,319.3,2833,2069,1667,1440,443.5,10.2,489,7263,0.00,0.00,14.30,0.969,8198,0.000,0.000,2833,2069,1497,1609,1385,0,0,0,0,0,0,28.83,28.83,23.30
$GC,7562,1.53,338.7,2833,2069,1610,1381,410.9,10.1,505,7584,0.12,0.00,18.92,0.978,10246,0.096,0.000,2860,2069,1419,1535,1303,0,0,0,0,0,0,24.39,28.83,23.23
$GC,7882,1.53,338.7,2859,2070,1535,1297,375.0,11.2,521,7884,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2070,1416,1535,1297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8183,1.53,338.7,2859,2070,1535,1296,341.5,11.0,536,8188,0.00,2.75,0.00,0.000,260,0.000,0.096,2860,3483,1415,1535,1296,0,0,0,0,0,0,28.83,24.32,28.83
$GC,8205,1.53,338.7,2860,3483,1535,1296,338.9,11.1,537,8210,0.00,2.72,0.00,0.000,1030,0.000,0.085,2860,2073,1415,1535,1296,0,0,0,0,0,0,28.83,24.34,28.83
$GC,8527,1.53,338.7,2860,2073,1534,1295,303.1,11.0,553,8528,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2073,1415,1534,1296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8829,1.53,338.7,2860,2073,1533,1295,269.0,11.5,568,8830,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2073,1414,1533,1295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9127,1.53,338.7,2860,2073,1533,1295,234.6,11.6,589,9128,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2073,1414,1534,1295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9427,1.53,338.7,2860,2073,1533,1295,199.9,11.6,619,9428,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2073,1414,1533,1295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9727,1.53,338.7,2860,2073,1533,1294,165.3,11.6,649,9729,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2073,1413,1533,1294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10027,1.53,338.7,2860,2073,1534,1294,131.2,11.0,679,10033,0.00,2.75,0.00,0.000,260,0.000,0.096,2860,3486,1414,1533,1295,0,0,0,0,0,0,28.83,24.40,28.83
$GC,10064,1.53,338.7,1920,3484,1500,1291,127.4,11.7,682,10071,0.00,2.70,0.00,0.000,1030,0.000,0.081,2861,2069,1413,1533,1294,0,0,0,0,0,0,28.83,24.41,28.83
$GC,10371,1.53,338.7,2861,2069,1533,1294,93.0,11.3,713,10372,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2069,1413,1533,1294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10670,1.53,338.7,2860,2069,1533,1294,59.5,10.6,743,10672,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2069,1413,1533,1294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10971,1.55,349.9,2860,2069,1533,1294,26.8,10.3,773,10984,0.00,0.00,10.85,0.755,8198,0.000,0.000,2861,2069,1373,1493,1254,0,0,0,0,0,0,28.83,28.83,23.66
$STATE,11249,end climb,SURFACE_DEPTH_REACHED
$STATE,11250,begin surface coast
$FINISH,0.3,1.013011
$STATE,11271,end surface coast,CONTROL_FINISHED_OK
$STATE,11271,begin surface
$SM_CCo,11351,0.00,0.000,0,0,1369,351.02
$SM_GC,1.17,10.98,0.00,0.00,0.062,0.000,0.000,515,2069,1369,-9.21,-0.45,351.02,0,0,0,0,0,0,24.44,28.83,28.83
$IRIDIUM_FIX,8041.36,7328.14,310813,161649
$TT8_MAMPS,0.026215,0.026215
$HUMID,46.65
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,15.60
$XPDR_PINGS,3
$SC_FREEKB,3997856
$TM_FREEKB,2592608
$24V_AH,23.0,11.124
$10V_AH,9.2,7.509
$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,24.725,54.200,514.425,0.000,0.000,0.000,0.000,297.925,0.750,0.000,27.881,2127.564,7051.836,584.964,1929.698,167.850,0.000,1715.053,0.000,1502.800,0.000,0.546,0.000
$DEVICE_MAMPS,186.660,156.060,1092.420,0.000,0.000,0.000,0.000,149.940,420.000,0.000,32.210,12.760,2.190,12.760,37.480,46.470,0.000,15.700,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11288.000,11275.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.350,13.795,0.000,0.000
$MEM,266388
$DATA_FILE_SIZE,26699,803
$CAP_FILE_SIZE,143505,0
$CFSIZE,260034560,242544640
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.228, 52.0,1
$GPS,310813,225405,8152.373,7423.438,35,1.3,40,43.4