version: 66.11
glider: 125
mission: 18
dive: 30
start: 8 26 113 13 16 36
data:
$ID,125
$MISSION,18
$DIVE,30
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,510
$D_ABORT,550
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,52433
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,60
$KALMAN_USE,2
$HD_A,0.0047900002
$HD_B,0.0153
$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,-181702.03
$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,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,282
$ROLL_MAX,3810
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2046
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,12
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,260813,130636,8104.313,7000.017,40,1.0,40,40.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-53.9
$GPS2,260813,131612,8104.304,6959.997,11,1.7,16,40.7
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,SA1
$TGT_LATLONG,8105.000,6800.000
$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,231.4,34470,-22.0,-10.000,-24.97,2244
$D_GRID,553
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,19,-1.81,-145.9,512,2205,1531,1382,0.0,0.0,0,114,0.00,0.00,-91.50,0.000,16386,0.000,0.000,511,2205,3031,3091,2972,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-1.81,-145.9,510,2205,3091,2972,3.0,-3.5,9,147,9.90,2.90,-10.93,0.000,18948,0.188,0.119,2125,791,3395,3475,3316,0,0,0,0,0,0,24.15,24.18,24.57
$GC,160,-0.94,-145.9,2125,791,3475,3316,10.3,-15.2,13,171,1.10,2.72,0.00,0.000,3078,0.151,0.088,2316,2202,3396,3476,3316,0,0,0,0,0,0,24.18,24.25,28.83
$GC,471,-1.45,-145.9,2316,2202,3475,3317,32.4,-6.2,44,477,0.47,2.80,0.00,0.000,4356,0.050,0.105,2208,3609,3396,3475,3317,0,0,0,0,0,0,24.41,24.31,28.83
$GC,779,-1.69,-145.9,2207,3609,3475,3317,60.0,-8.3,74,786,0.22,2.72,0.00,0.000,5126,0.059,0.089,2155,2196,3396,3475,3317,0,0,0,0,0,0,24.45,24.37,28.83
$GC,1085,-1.81,-145.9,2155,2196,3475,3317,89.1,-9.4,105,1091,0.12,2.83,0.00,0.000,4356,0.076,0.105,2120,3610,3396,3475,3317,0,0,0,0,0,0,24.50,24.34,28.83
$GC,1173,-1.81,-145.9,2120,3610,3475,3317,98.2,-11.1,113,1179,0.00,2.72,0.00,0.000,1030,0.000,0.090,2120,2206,3396,3475,3317,0,0,0,0,0,0,28.83,24.39,28.83
$GC,1478,-1.81,-145.9,2120,2206,3474,3317,130.5,-10.3,144,1483,0.00,2.83,0.00,0.000,516,0.000,0.111,2120,786,3395,3474,3316,0,0,0,0,0,0,28.83,24.35,28.83
$GC,1501,-1.81,-145.9,2119,786,3475,3317,132.9,-10.4,146,1506,0.00,2.72,0.00,0.000,1030,0.000,0.089,2119,2202,3396,3475,3317,0,0,0,0,0,0,28.83,24.39,28.83
$GC,1813,-1.81,-145.9,2119,2202,3475,3317,165.4,-10.3,177,1819,0.00,2.83,0.00,0.000,516,0.000,0.109,2120,785,3396,3475,3317,0,0,0,0,0,0,28.83,24.37,28.83
$GC,1865,-1.81,-145.9,2119,785,3475,3317,171.1,-10.8,182,1871,0.00,2.70,0.00,0.000,1030,0.000,0.086,2120,2202,3396,3476,3317,0,0,0,0,0,0,28.83,24.40,28.83
$GC,2178,-1.81,-145.9,2119,2202,3475,3317,204.1,-10.4,213,2183,0.00,2.83,0.00,0.000,516,0.000,0.109,2120,785,3396,3475,3317,0,0,0,0,0,0,28.83,24.37,28.83
$GC,2224,-1.81,-145.9,1352,785,3460,3312,208.7,-11.1,217,2231,0.00,2.72,0.00,0.000,1030,0.000,0.098,2120,2204,3396,3476,3317,0,0,0,0,0,0,28.83,24.41,28.83
$GC,2531,-1.85,-145.9,2119,2204,3475,3317,241.0,-10.2,248,2536,0.00,2.83,0.00,0.000,516,0.000,0.119,2120,786,3396,3475,3317,0,0,0,0,0,0,28.83,24.38,28.83
$GC,2583,-1.85,-145.9,2119,785,3475,3317,246.6,-10.8,253,2589,0.00,2.70,0.00,0.000,1030,0.000,0.087,2120,2202,3396,3475,3317,0,0,0,0,0,0,28.83,24.42,28.83
$GC,2896,-1.85,-145.9,2119,2202,3474,3317,278.0,-9.7,270,2901,0.00,2.83,0.00,0.000,516,0.000,0.110,2120,786,3396,3475,3317,0,0,0,0,0,0,28.83,24.39,28.83
$GC,2933,-1.85,-145.9,2119,785,3476,3317,280.2,-9.9,271,2939,0.00,2.70,0.00,0.000,1030,0.000,0.087,2119,2199,3396,3475,3317,0,0,0,0,0,0,28.83,24.42,28.83
$GC,3239,-1.90,-145.9,2119,2199,3475,3317,312.1,-9.8,287,3244,0.00,2.85,0.00,0.000,516,0.000,0.112,2120,780,3396,3475,3317,0,0,0,0,0,0,28.83,24.40,28.83
$GC,3262,-1.95,-145.9,2119,780,3475,3317,314.4,-9.9,288,3268,0.00,2.70,0.00,0.000,1030,0.000,0.088,2120,2199,3396,3475,3317,0,0,0,0,0,0,28.83,24.43,28.83
$GC,3585,-2.00,-145.9,2119,2199,3475,3317,346.1,-9.6,304,3591,0.12,2.85,0.00,0.000,4612,0.078,0.111,2086,783,3396,3475,3317,0,0,0,0,0,0,24.57,24.40,28.83
$GC,3652,-2.00,-145.9,1328,782,3459,3313,352.9,-10.4,307,3657,0.00,2.72,0.00,0.000,1030,0.000,0.096,2086,2206,3396,3475,3317,0,0,0,0,0,0,28.83,24.45,28.83
$GC,3969,-2.00,-145.9,2086,2206,3475,3318,386.6,-10.5,323,3975,0.00,2.85,0.00,0.000,516,0.000,0.112,2086,782,3396,3475,3317,0,0,0,0,0,0,28.83,24.41,28.83
$GC,4006,-2.00,-145.9,2086,782,3475,3317,389.0,-10.6,324,4012,0.00,2.72,0.00,0.000,1030,0.000,0.088,2086,2206,3396,3475,3317,0,0,0,0,0,0,28.83,24.45,28.83
$GC,4311,-2.00,-145.9,2086,2206,3475,3317,424.0,-11.2,340,4317,0.00,2.85,0.00,0.000,516,0.000,0.112,2086,783,3396,3475,3317,0,0,0,0,0,0,28.83,24.41,28.83
$GC,4354,-2.00,-145.9,2086,783,3475,3319,428.6,-11.2,342,4359,0.00,2.70,0.00,0.000,1030,0.000,0.088,2086,2201,3396,3475,3318,0,0,0,0,0,0,28.83,24.45,28.83
$GC,4676,-2.00,-145.9,2086,2201,3475,3317,463.6,-10.8,358,4681,0.00,2.85,0.00,0.000,516,0.000,0.113,2086,784,3395,3474,3317,0,0,0,0,0,0,28.83,24.41,28.83
$GC,4713,-2.00,-145.9,2086,784,3475,3317,465.9,-10.7,359,4719,0.00,2.72,0.00,0.000,1030,0.000,0.090,2086,2202,3396,3476,3317,0,0,0,0,0,0,28.83,24.46,28.83
$GC,5018,-2.00,-145.9,2086,2203,3475,3317,499.9,-10.7,375,5023,0.00,2.85,0.00,0.000,516,0.000,0.114,2086,786,3396,3475,3317,0,0,0,0,0,0,28.83,24.41,28.83
$GC,5070,-2.00,-145.9,2086,785,3475,3317,504.5,-10.6,377,5075,0.00,2.72,0.00,0.000,1030,0.000,0.090,2086,2202,3396,3475,3317,0,0,0,0,0,0,28.83,24.46,28.83
$STATE,5120,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5120,begin apogee
$GC,5125,-0.37,0.0,2086,2033,3475,3317,511.2,-11.0,380,5256,1.85,0.00,121.55,1.066,10246,0.131,0.000,2440,2033,2800,2871,2729,0,0,0,0,0,0,24.39,28.83,23.14
$STATE,5259,end apogee,CONTROL_FINISHED_OK
$STATE,5259,begin climb
$GC,5260,1.81,145.9,2440,2033,2871,2728,514.3,0.0,386,5397,2.38,2.97,122.35,1.027,10756,0.100,0.122,2913,644,2203,2282,2124,0,0,0,0,0,0,23.94,23.67,23.11
$GC,5425,1.86,153.0,2912,643,2281,2121,502.7,9.7,395,5438,0.00,2.75,6.85,0.822,9222,0.000,0.091,2913,2046,2176,2256,2096,0,0,0,0,0,0,28.83,24.04,23.30
$GC,5747,1.97,153.0,2913,2046,2256,2088,468.3,10.7,411,5753,0.17,2.83,0.00,0.000,2308,0.063,0.105,2959,3464,2171,2256,2087,0,0,0,0,0,0,24.39,24.25,28.83
$GC,5800,2.02,153.0,2959,3464,2256,2087,462.9,11.5,413,5805,0.00,2.78,0.00,0.000,1030,0.000,0.093,2959,2047,2171,2256,2087,0,0,0,0,0,0,28.83,24.27,28.83
$GC,6112,2.02,153.0,2959,2047,2256,2086,423.1,12.1,429,6113,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2047,2170,2256,2085,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6413,2.02,153.0,2959,2047,2256,2084,386.3,11.9,444,6418,0.00,2.80,0.00,0.000,260,0.000,0.103,2959,3461,2170,2256,2084,0,0,0,0,0,0,28.83,24.32,28.83
$GC,6464,2.02,153.0,2959,3461,2255,2084,381.1,12.0,446,6469,0.00,2.78,0.00,0.000,1030,0.000,0.093,2958,2041,2169,2255,2084,0,0,0,0,0,0,28.83,24.32,28.83
$GC,6776,2.02,153.0,2959,2041,2255,2083,343.3,11.6,462,6782,0.00,2.83,0.00,0.000,260,0.000,0.103,2959,3462,2169,2255,2083,0,0,0,0,0,0,28.83,24.32,28.83
$GC,6803,2.02,153.0,2959,3462,2254,2083,340.6,11.7,463,6808,0.00,2.78,0.00,0.000,1030,0.000,0.093,2959,2047,2169,2255,2083,0,0,0,0,0,0,28.83,24.34,28.83
$GC,7120,2.02,153.0,2958,2046,2254,2084,302.2,12.0,479,7121,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2046,2168,2254,2083,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7421,2.02,153.0,2959,2047,2254,2083,267.0,11.9,494,7426,0.00,2.78,0.00,0.000,260,0.000,0.099,2959,3458,2168,2254,2083,0,0,0,0,0,0,28.83,24.37,28.83
$GC,7457,2.02,153.0,2959,3458,2254,2083,264.2,12.0,495,7464,0.00,2.75,0.00,0.000,1030,0.000,0.091,2959,2039,2168,2254,2082,0,0,0,0,0,0,28.83,24.37,28.83
$GC,7763,2.02,153.0,2959,2039,2254,2082,225.7,11.8,521,7764,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2039,2168,2254,2083,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8063,2.02,153.0,2959,2039,2254,2082,190.0,11.9,551,8068,0.00,2.80,0.00,0.000,260,0.000,0.099,2959,3456,2168,2254,2082,0,0,0,0,0,0,28.83,24.39,28.83
$GC,8095,2.02,153.0,2959,3456,2254,2082,186.0,12.3,554,8101,0.00,2.72,0.00,0.000,1030,0.000,0.090,2959,2044,2168,2254,2082,0,0,0,0,0,0,28.83,24.40,28.83
$GC,8408,2.02,153.0,2958,2044,2254,2082,148.8,12.0,585,8413,0.00,2.78,0.00,0.000,260,0.000,0.100,2959,3460,2168,2254,2082,0,0,0,0,0,0,28.83,24.39,28.83
$GC,8440,2.02,153.0,2959,3459,2253,2082,144.8,12.6,588,8446,0.00,2.72,0.00,0.000,1030,0.000,0.090,2959,2046,2168,2254,2082,0,0,0,0,0,0,28.83,24.41,28.83
$GC,8753,2.02,153.0,2959,2046,2254,2082,106.5,12.6,619,8758,0.00,2.78,0.00,0.000,260,0.000,0.099,2959,3462,2168,2254,2082,0,0,0,0,0,0,28.83,24.39,28.83
$GC,8789,2.02,153.0,2048,3461,2190,2072,102.2,13.3,622,8796,0.00,2.75,0.00,0.000,1030,0.000,0.088,2959,2036,2168,2254,2082,0,0,0,0,0,0,28.83,24.41,28.83
$GC,9096,2.02,153.0,2959,2036,2254,2082,63.0,11.9,653,9101,0.00,2.80,0.00,0.000,260,0.000,0.100,2959,3461,2168,2254,2082,0,0,0,0,0,0,28.83,24.40,28.83
$GC,9118,2.02,153.0,2959,3461,2254,2082,60.1,12.1,655,9123,0.00,2.72,0.00,0.000,1030,0.000,0.087,2959,2041,2168,2254,2082,0,0,0,0,0,0,28.83,24.42,28.83
$GC,9431,2.12,178.3,2959,2041,2254,2082,26.7,8.8,686,9455,0.12,0.00,21.15,0.767,10246,0.076,0.000,2991,2041,2073,2157,1990,0,0,0,0,0,0,24.56,28.83,23.49
$STATE,9691,end climb,SURFACE_DEPTH_REACHED
$STATE,9691,begin surface coast
$FINISH,0.5,1.014176
$STATE,9712,end surface coast,CONTROL_FINISHED_OK
$STATE,9713,begin surface
$SM_CCo,9734,102.15,0.722,0,0,1475,325.02
$SM_GC,1.05,11.82,0.32,102.15,0.072,0.094,0.722,511,2205,1475,-9.23,-0.57,325.02,0,0,0,0,0,0,24.40,24.40,23.39
$IRIDIUM_FIX,8002.69,7024.46,260813,131323
$TT8_MAMPS,0.026964,0.026964
$HUMID,45.66
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,15.80
$XPDR_PINGS,5
$SC_FREEKB,4010176
$TM_FREEKB,3881120
$24V_AH,23.1,4.575
$10V_AH,9.3,3.213
$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,28.300,128.550,271.900,102.150,0.000,0.000,0.000,351.050,1.250,0.000,18.439,1922.746,5979.776,519.748,1861.672,133.966,0.000,1655.875,0.000,1397.370,0.000,0.547,0.000
$DEVICE_MAMPS,188.190,122.400,1066.410,722.160,0.000,0.000,0.000,143.820,420.000,0.000,32.210,12.760,2.190,12.760,37.480,46.470,0.000,15.700,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9725.000,9721.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.172,13.860,0.000,0.000
$MEM,267204
$DATA_FILE_SIZE,23387,714
$CAP_FILE_SIZE,145808,0
$CFSIZE,260034560,246185984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260813,160153,8104.318,6954.780,38,0.9,38,40.7