version: 66.11
glider: 125
mission: 18
dive: 82
start: 9 2 113 14 38 54
data:
$ID,125
$MISSION,18
$DIVE,82
$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,-4
$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,-181819.38
$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,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
$GPS1,020913,143006,8209.255,7541.949,27,1.1,27,44.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-48.9
$GPS2,020913,143825,8209.256,7541.832,13,1.2,13,44.2
$SPEED_LIMITS,0.183,0.285
$TGT_NAME,SHELF2
$TGT_LATLONG,8248.000,7845.000
$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,329.8,83405,-15.1,-10.588,-20.35,3719
$D_GRID,763
$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,21,-1.43,-257.8,508,2089,1137,860,0.0,0.0,0,149,0.00,0.00,-125.50,0.000,16386,0.000,0.000,509,2089,3095,3149,3041,0,0,0,0,0,0,28.83,28.83,28.83
$GC,153,-1.43,-257.8,508,2088,3150,3041,3.2,-3.6,12,191,10.35,0.00,-20.55,0.000,18950,0.186,0.000,2204,2089,3852,3906,3798,0,0,0,0,0,0,24.19,28.83,24.62
$GC,489,-1.43,-257.8,2203,2088,3906,3799,41.3,-10.4,46,494,0.00,2.72,0.00,0.000,260,0.000,0.095,2203,3491,3853,3906,3800,0,0,0,0,0,0,28.83,24.37,28.83
$GC,555,-1.43,-257.8,2203,3492,3906,3799,48.3,-10.9,52,563,0.00,2.67,0.00,0.000,1030,0.000,0.078,2204,2075,3852,3906,3799,0,0,0,0,0,0,28.83,24.39,28.83
$GC,862,-1.43,-257.8,2203,2075,3906,3799,79.9,-9.9,83,863,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2075,3852,3906,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1162,-1.43,-257.8,2203,2075,3906,3799,109.7,-9.8,113,1163,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2075,3852,3906,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1462,-1.43,-257.8,2203,2075,3906,3798,139.0,-9.9,143,1463,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2075,3852,3906,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1762,-1.43,-257.8,2203,2075,3906,3798,168.4,-9.7,173,1763,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2075,3852,3906,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2062,-1.43,-257.8,2203,2075,3907,3799,198.7,-10.0,203,2063,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2075,3852,3906,3798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2362,-1.43,-257.8,2203,2075,3906,3799,228.4,-9.6,233,2363,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2074,3852,3906,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2672,-1.43,-257.8,2203,2074,3906,3799,258.2,-9.6,260,2673,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2075,3852,3906,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2973,-1.43,-257.8,2203,2075,3906,3800,286.4,-9.5,275,2978,0.00,2.75,0.00,0.000,260,0.000,0.093,2203,3498,3852,3906,3799,0,0,0,0,0,0,28.83,24.46,28.83
$GC,3050,-1.43,-257.8,2203,3498,3906,3799,292.6,-9.6,278,3057,0.00,2.65,0.00,0.000,1030,0.000,0.079,2203,2089,3852,3906,3799,0,0,0,0,0,0,28.83,24.48,28.83
$GC,3356,-1.43,-257.8,2203,2091,3907,3800,323.2,-9.7,294,3357,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2090,3853,3907,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3656,-1.43,-257.8,2203,2090,3907,3800,351.8,-9.4,309,3658,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2090,3853,3907,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3957,-1.43,-257.8,2203,2090,3907,3801,379.6,-9.2,324,3958,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2090,3854,3907,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4256,-1.43,-257.8,2203,2089,3907,3801,406.4,-8.9,339,4258,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2089,3854,3907,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4557,-1.43,-257.8,2203,2087,3907,3801,432.4,-8.7,354,4563,0.00,2.83,0.00,0.000,516,0.000,0.114,2203,675,3854,3907,3801,0,0,0,0,0,0,28.83,24.44,28.83
$GC,4609,-1.43,-257.8,2203,675,3907,3801,436.6,-9.1,356,4615,0.00,2.65,0.00,0.000,1030,0.000,0.081,2203,2085,3854,3907,3801,0,0,0,0,0,0,28.83,24.49,28.83
$GC,4922,-1.43,-257.8,2203,2085,3907,3801,466.5,-9.3,372,4928,0.00,2.72,0.00,0.000,260,0.000,0.096,2203,3501,3854,3907,3801,0,0,0,0,0,0,28.83,24.48,28.83
$GC,4980,-1.43,-257.8,2203,3501,3907,3801,470.8,-9.5,374,4987,0.00,2.67,0.00,0.000,1030,0.000,0.081,2203,2084,3853,3906,3801,0,0,0,0,0,0,28.83,24.49,28.83
$GC,5286,-1.43,-257.8,2203,2083,3907,3801,499.5,-9.1,390,5287,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2084,3854,3907,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5588,-1.43,-257.8,2203,2083,3907,3801,527.3,-9.3,405,5589,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2082,3854,3907,3801,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5724,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5724,begin apogee
$GC,5728,-0.37,0.0,2203,2082,3907,3801,540.8,-9.7,412,5947,1.23,0.00,211.02,1.065,10244,0.119,0.000,2437,2082,2800,2868,2732,0,0,0,0,0,0,24.48,28.83,23.12
$STATE,5949,end apogee,CONTROL_FINISHED_OK
$STATE,5949,begin climb
$GC,5951,1.43,257.8,2437,2082,2868,2730,551.3,0.0,423,6176,1.98,2.95,213.18,1.021,10756,0.088,0.112,2832,658,1749,1850,1648,0,0,0,0,0,0,23.90,23.81,23.08
$GC,6309,1.43,257.8,2832,658,1848,1641,522.3,10.8,441,6314,0.00,2.70,0.00,0.000,1030,0.000,0.080,2832,2072,1745,1848,1642,0,0,0,0,0,0,28.83,24.22,28.83
$GC,6632,1.43,257.8,2832,2072,1847,1637,487.9,10.9,457,6638,0.00,2.85,0.00,0.000,516,0.000,0.111,2832,662,1741,1847,1636,0,0,0,0,0,0,28.83,24.27,28.83
$GC,6856,1.43,257.8,2832,662,1847,1635,463.4,10.7,468,6862,0.00,2.67,0.00,0.000,1030,0.000,0.090,2832,2068,1741,1847,1636,0,0,0,0,0,0,28.83,24.36,28.83
$GC,7180,1.45,269.0,2832,2069,1846,1635,430.6,10.3,484,7192,0.00,0.00,10.12,0.905,8198,0.000,0.000,2832,2069,1703,1808,1598,0,0,0,0,0,0,28.83,28.83,23.47
$GC,7479,1.45,270.1,2832,2069,1807,1596,398.0,10.6,499,7480,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2069,1701,1807,1596,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7781,1.46,281.6,2832,2069,1807,1595,366.5,10.3,514,7799,0.00,0.00,12.65,0.911,8198,0.000,0.000,2832,2069,1651,1759,1543,0,0,0,0,0,0,28.83,28.83,23.44
$GC,8100,1.48,290.9,2832,2069,1759,1539,333.7,10.3,530,8111,0.00,0.00,9.55,0.861,8198,0.000,0.000,2832,2069,1614,1724,1505,0,0,0,0,0,0,28.83,28.83,23.53
$GC,8399,1.48,291.2,2832,2071,1724,1502,302.2,10.6,545,8400,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2070,1612,1723,1502,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8701,1.48,293.0,2832,2071,1723,1501,270.5,10.5,560,8702,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2071,1612,1723,1502,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8999,1.49,301.6,2832,2071,1724,1501,238.8,10.4,580,9012,0.00,0.00,11.18,0.836,8198,0.000,0.000,2832,2071,1570,1683,1458,0,0,0,0,0,0,28.83,28.83,23.56
$GC,9310,1.51,319.5,2832,2071,1683,1454,207.2,10.1,611,9330,0.00,0.00,17.17,0.838,8198,0.000,0.000,2832,2071,1497,1611,1384,0,0,0,0,0,0,28.83,28.83,23.44
$GC,9630,1.54,340.4,2832,2071,1611,1380,175.3,10.0,643,9657,0.12,2.88,19.83,0.820,11012,0.087,0.106,2865,662,1412,1531,1294,0,0,0,0,0,0,24.47,23.90,23.42
$GC,9678,1.54,340.4,2865,662,1530,1293,170.4,11.0,647,9685,0.00,2.67,0.00,0.000,1030,0.000,0.077,2866,2071,1411,1530,1293,0,0,0,0,0,0,28.83,24.16,28.83
$GC,9985,1.54,340.4,2865,2071,1530,1289,135.1,11.1,678,9986,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2071,1409,1530,1289,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10284,1.54,340.4,2865,2071,1530,1290,102.2,11.2,708,10291,0.00,2.80,0.00,0.000,516,0.000,0.105,2866,660,1409,1530,1289,0,0,0,0,0,0,28.83,24.37,28.83
$GC,10318,1.54,340.4,2865,659,1530,1288,98.3,11.8,711,10323,0.00,2.67,0.00,0.000,1030,0.000,0.077,2866,2079,1409,1530,1289,0,0,0,0,0,0,28.83,24.42,28.83
$GC,10631,1.54,340.4,2865,2079,1530,1288,62.4,11.5,742,10632,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2079,1408,1530,1287,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10931,1.54,340.4,2865,2079,1530,1287,27.7,11.5,772,10937,0.00,2.83,0.00,0.000,516,0.000,0.106,2866,657,1409,1530,1288,0,0,0,0,0,0,28.83,24.39,28.83
$GC,10964,1.54,340.4,2865,656,1530,1287,23.4,12.3,775,10969,0.00,2.67,0.00,0.000,1030,0.000,0.078,2866,2074,1408,1530,1287,0,0,0,0,0,0,28.83,24.45,28.83
$STATE,11185,end climb,SURFACE_DEPTH_REACHED
$STATE,11185,begin surface coast
$FINISH,0.5,1.025774
$STATE,11206,end surface coast,CONTROL_FINISHED_OK
$STATE,11206,begin surface
$SM_CCo,11286,0.00,0.000,0,0,1405,341.95
$SM_GC,1.24,10.82,0.00,0.00,0.055,0.000,0.000,513,2078,1405,-9.21,-0.20,341.95,0,0,0,0,0,0,24.49,28.83,28.83
$IRIDIUM_FIX,8054.85,7527.37,020913,111157
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.74
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,15.90
$XPDR_PINGS,4
$SC_FREEKB,3993696
$TM_FREEKB,2153760
$24V_AH,23.1,13.360
$10V_AH,9.2,8.992
$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,24.500,49.375,504.700,0.000,0.000,0.000,0.000,297.175,1.000,0.000,15.953,2107.669,7038.881,556.056,1894.550,189.309,0.000,1677.112,0.000,1482.590,0.000,0.528,0.000
$DEVICE_MAMPS,185.895,113.985,1064.880,0.000,0.000,0.000,0.000,146.880,420.000,0.000,32.210,12.760,2.190,12.760,37.480,46.470,0.000,15.700,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11221.000,11204.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.306,13.768,0.000,0.000
$MEM,282232
$DATA_FILE_SIZE,26680,799
$CAP_FILE_SIZE,142768,0
$CFSIZE,260034560,241278976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.077,122.4,1
$GPS,020913,174806,8210.486,7547.736,25,1.6,25,44.3