version: 66.11
glider: 125
mission: 18
dive: 34
start: 8 27 113 1 22 3
data:
$ID,125
$MISSION,18
$DIVE,34
$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,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,400
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$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,0.003
$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,-181707.03
$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
$PITCH_ADJ_DBAND,1
$ROLL_MIN,282
$ROLL_MAX,3810
$ROLL_DEG,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2046
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,11
$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
$GPS1,270813,011336,8105.000,6949.128,30,1.7,30,40.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-50.3
$GPS2,270813,012137,8104.979,6949.174,14,1.9,14,40.7
$SPEED_LIMITS,0.173,0.273
$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,357.5,129622,-14.7,-10.000,-20.13,3713
$D_GRID,551
$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,-1.39,-243.2,510,1894,1269,1028,0.0,0.0,0,134,0.00,0.00,-111.72,0.000,16386,0.000,0.000,510,1892,3034,3091,2977,0,0,0,0,0,0,28.83,28.83,28.83
$GC,138,-1.39,-243.2,509,1892,3092,2978,3.0,-3.6,11,178,10.43,2.80,-21.88,0.000,18692,0.186,0.108,2215,3312,3792,3868,3717,0,0,0,0,0,0,24.15,24.24,24.60
$GC,280,-1.39,-243.2,2215,3312,3868,3719,22.3,-13.2,25,285,0.00,2.72,0.00,0.000,1030,0.000,0.089,2215,1902,3793,3868,3718,0,0,0,0,0,0,28.83,24.32,28.83
$GC,593,-1.39,-243.2,2215,1902,3868,3720,53.7,-9.0,56,598,0.00,2.78,0.00,0.000,260,0.000,0.099,2215,3311,3793,3868,3719,0,0,0,0,0,0,28.83,24.34,28.83
$GC,675,-1.39,-243.2,2215,3311,3868,3719,61.5,-9.3,64,681,0.00,2.75,0.00,0.000,1030,0.000,0.091,2215,1897,3793,3868,3719,0,0,0,0,0,0,28.83,24.37,28.83
$GC,988,-1.39,-243.2,2214,1898,3869,3719,91.1,-9.3,95,993,0.00,2.80,0.00,0.000,260,0.000,0.101,2215,3315,3794,3869,3719,0,0,0,0,0,0,28.83,24.37,28.83
$GC,1091,-1.39,-243.2,2215,3315,3868,3719,100.8,-9.7,105,1097,0.00,2.72,0.00,0.000,1030,0.000,0.091,2215,1910,3793,3868,3719,0,0,0,0,0,0,28.83,24.39,28.83
$GC,1405,-1.39,-243.2,2215,1910,3868,3719,129.3,-9.0,136,1410,0.00,2.75,0.00,0.000,260,0.000,0.098,2215,3314,3793,3868,3719,0,0,0,0,0,0,28.83,24.39,28.83
$GC,1488,-1.39,-243.2,2214,3314,3868,3719,137.1,-9.5,144,1493,0.00,2.72,0.00,0.000,1030,0.000,0.090,2215,1910,3793,3868,3719,0,0,0,0,0,0,28.83,24.40,28.83
$GC,1800,-1.39,-243.2,2215,1910,3869,3719,166.4,-9.3,175,1806,0.00,2.75,0.00,0.000,260,0.000,0.098,2215,3317,3793,3868,3719,0,0,0,0,0,0,28.83,24.39,28.83
$GC,1877,-1.39,-243.2,2214,3317,3868,3719,173.4,-9.5,182,1884,0.00,2.70,0.00,0.000,1030,0.000,0.090,2215,1913,3793,3868,3719,0,0,0,0,0,0,28.83,24.41,28.83
$GC,2184,-1.39,-243.2,2215,1913,3868,3719,202.3,-9.1,213,2189,0.00,2.72,0.00,0.000,260,0.000,0.098,2215,3311,3793,3868,3719,0,0,0,0,0,0,28.83,24.41,28.83
$GC,2260,-1.39,-243.2,2214,3311,3868,3719,209.1,-9.2,220,2267,0.00,2.67,0.00,0.000,1030,0.000,0.090,2215,1922,3794,3870,3719,0,0,0,0,0,0,28.83,24.41,28.83
$GC,2566,-1.39,-243.2,2215,1922,3868,3719,237.2,-8.9,251,2572,0.00,2.72,0.00,0.000,260,0.000,0.099,2214,3313,3793,3868,3719,0,0,0,0,0,0,28.83,24.41,28.83
$GC,2654,-1.39,-243.2,2215,3313,3868,3719,244.9,-9.5,259,2661,0.00,2.67,0.00,0.000,1030,0.000,0.092,2215,1931,3793,3868,3719,0,0,0,0,0,0,28.83,24.43,28.83
$GC,2969,-1.39,-243.2,2214,1930,3868,3719,273.7,-8.8,278,2975,0.00,2.70,0.00,0.000,260,0.000,0.099,2215,3311,3793,3868,3719,0,0,0,0,0,0,28.83,24.43,28.83
$GC,3061,-1.39,-243.2,2214,3311,3868,3719,281.1,-9.0,282,3066,0.00,2.67,0.00,0.000,1030,0.000,0.092,2215,1930,3793,3868,3719,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3373,-1.39,-243.2,2214,1930,3868,3719,310.4,-9.2,298,3379,0.00,2.72,0.00,0.000,260,0.000,0.100,2215,3317,3793,3868,3719,0,0,0,0,0,0,28.83,24.43,28.83
$GC,3456,-1.39,-243.2,2215,3317,3868,3719,318.2,-9.5,302,3461,0.00,2.70,0.00,0.000,1030,0.000,0.093,2215,1933,3793,3868,3719,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3779,-1.39,-243.2,2215,1933,3868,3719,347.1,-8.9,318,3784,0.00,2.70,0.00,0.000,260,0.000,0.100,2215,3311,3794,3869,3719,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3865,-1.39,-243.2,2215,3311,3868,3719,354.8,-9.3,322,3871,0.00,2.67,0.00,0.000,1030,0.000,0.104,2215,1937,3793,3868,3719,0,0,0,0,0,0,28.83,24.45,28.83
$GC,4183,-1.39,-243.2,2215,1937,3868,3719,383.3,-8.7,338,4188,0.00,2.70,0.00,0.000,260,0.000,0.100,2215,3312,3793,3868,3719,0,0,0,0,0,0,28.83,24.44,28.83
$GC,4266,-1.39,-243.2,2214,3312,3868,3719,390.6,-8.8,342,4271,0.00,2.65,0.00,0.000,1030,0.000,0.093,2215,1949,3793,3868,3719,0,0,0,0,0,0,28.83,24.45,28.83
$GC,4590,-1.39,-243.2,2214,1948,3868,3719,418.7,-8.7,358,4595,0.00,2.70,0.00,0.000,260,0.000,0.103,2215,3317,3793,3868,3719,0,0,0,0,0,0,28.83,24.45,28.83
$GC,4647,-1.39,-243.2,2215,3317,3868,3719,422.6,-8.8,360,4653,0.00,2.65,0.00,0.000,1030,0.000,0.095,2215,1955,3793,3868,3719,0,0,0,0,0,0,28.83,24.46,28.83
$GC,4952,-1.39,-243.2,2215,1955,3868,3719,450.6,-8.5,376,4958,0.00,2.67,0.00,0.000,260,0.000,0.103,2215,3312,3793,3868,3719,0,0,0,0,0,0,28.83,24.46,28.83
$GC,5020,-1.39,-243.2,2214,3312,3868,3719,456.1,-8.8,379,5025,0.00,2.62,0.00,0.000,1030,0.000,0.106,2214,1959,3793,3868,3719,0,0,0,0,0,0,28.83,24.45,28.83
$GC,5338,-1.39,-243.2,2215,1959,3868,3718,484.0,-8.7,395,5343,0.00,2.67,0.00,0.000,260,0.000,0.103,2215,3315,3793,3868,3719,0,0,0,0,0,0,28.83,24.46,28.83
$GC,5414,-1.39,-243.2,2215,3316,3868,3719,489.6,-8.9,398,5421,0.00,2.62,0.00,0.000,1030,0.000,0.096,2215,1965,3793,3868,3719,0,0,0,0,0,0,28.83,24.45,28.83
$STATE,5658,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5659,begin apogee
$GC,5663,-0.37,0.0,2214,2053,3868,3719,511.6,-8.4,411,5869,1.17,0.00,199.60,1.070,10244,0.124,0.000,2437,2053,2800,2865,2736,0,0,0,0,0,0,24.45,28.83,23.11
$STATE,5872,end apogee,CONTROL_FINISHED_OK
$STATE,5872,begin climb
$GC,5873,1.39,243.2,2437,2053,2864,2734,520.4,0.0,421,6086,1.92,3.05,201.77,1.022,10756,0.091,0.127,2820,635,1808,1898,1718,0,0,0,0,0,0,23.89,23.78,23.10
$GC,6204,1.39,246.2,2820,635,1894,1708,496.1,9.9,438,6209,0.00,2.75,0.00,0.000,1030,0.000,0.092,2820,2044,1801,1894,1709,0,0,0,0,0,0,28.83,24.19,28.83
$GC,6526,1.41,266.9,2820,2044,1894,1704,466.5,9.4,454,6555,0.00,3.05,20.70,0.975,8708,0.000,0.124,2819,640,1711,1808,1614,0,0,0,0,0,0,28.83,23.78,23.23
$GC,6716,1.41,266.9,2820,639,1805,1611,447.4,10.8,463,6722,0.00,2.75,0.00,0.000,1030,0.000,0.099,2820,2050,1708,1805,1611,0,0,0,0,0,0,28.83,24.27,28.83
$GC,7029,1.44,288.9,2820,2050,1805,1610,416.3,9.4,479,7053,0.00,0.00,20.27,0.973,8454,0.000,0.000,2820,2050,1622,1722,1523,0,0,0,0,0,0,28.83,28.83,23.26
$GC,7370,1.45,294.6,2820,2051,1721,1516,382.5,9.8,496,7384,0.00,2.88,6.35,0.828,8452,0.000,0.106,2820,3453,1599,1703,1496,0,0,0,0,0,0,28.83,24.10,23.53
$GC,7420,1.46,300.6,2820,3453,1702,1495,378.5,9.8,498,7436,0.00,2.78,7.47,0.849,9222,0.000,0.094,2820,2043,1573,1678,1469,0,0,0,0,0,0,28.83,24.21,23.42
$GC,7753,1.46,300.6,2820,2043,1678,1465,344.8,10.1,515,7754,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2043,1571,1677,1465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8054,1.48,323.7,2820,2043,1677,1464,315.5,9.4,530,8083,0.12,2.90,21.77,0.938,10500,0.087,0.102,2850,3462,1480,1587,1373,0,0,0,0,0,0,24.45,23.86,23.30
$GC,8099,1.48,323.7,2850,3462,1587,1372,311.0,10.1,532,8105,0.00,2.80,0.00,0.000,1030,0.000,0.093,2850,2046,1479,1587,1372,0,0,0,0,0,0,28.83,24.08,28.83
$GC,8417,1.48,323.7,2850,2046,1586,1368,276.6,10.6,548,8418,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2046,1477,1586,1368,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8717,1.48,323.7,2850,2046,1586,1367,244.2,10.9,565,8718,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2046,1476,1586,1367,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9017,1.48,323.7,2850,2046,1586,1367,211.8,10.9,595,9022,0.00,2.78,0.00,0.000,260,0.000,0.100,2851,3462,1476,1586,1366,0,0,0,0,0,0,28.83,24.35,28.83
$GC,9043,1.48,323.7,2850,3462,1586,1367,209.2,11.2,597,9050,0.00,2.75,0.00,0.000,1030,0.000,0.090,2851,2045,1475,1585,1366,0,0,0,0,0,0,28.83,24.37,28.83
$GC,9350,1.48,323.7,2850,2044,1586,1366,175.1,10.9,628,9351,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2044,1476,1586,1366,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9649,1.48,323.7,2850,2044,1586,1366,142.8,10.2,658,9655,0.00,2.78,0.00,0.000,260,0.000,0.100,2851,3458,1476,1586,1366,0,0,0,0,0,0,28.83,24.37,28.83
$GC,9681,1.48,323.7,2850,3458,1586,1366,139.4,10.7,661,9687,0.00,2.72,0.00,0.000,1030,0.000,0.090,2850,2051,1476,1586,1366,0,0,0,0,0,0,28.83,24.39,28.83
$GC,9994,1.48,323.7,2850,2052,1585,1365,106.7,10.8,692,9995,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2052,1475,1586,1365,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10294,1.49,325.6,2850,2051,1586,1365,76.1,9.9,722,10299,0.00,2.78,0.00,0.000,260,0.000,0.101,2851,3463,1475,1586,1365,0,0,0,0,0,0,28.83,24.39,28.83
$GC,10320,1.49,325.6,1920,3462,1549,1361,73.7,10.2,724,10327,0.00,2.70,0.00,0.000,1030,0.000,0.088,2851,2055,1475,1586,1365,0,0,0,0,0,0,28.83,24.41,28.83
$GC,10627,1.51,346.2,2850,2056,1586,1365,42.5,9.4,755,10657,0.00,2.88,20.55,0.777,8452,0.000,0.100,2851,3453,1387,1501,1274,0,0,0,0,0,0,28.83,23.95,23.49
$GC,10680,1.52,353.4,2850,3453,1501,1272,37.3,9.8,760,10695,0.00,2.72,7.93,0.691,9222,0.000,0.090,2851,2063,1358,1473,1244,0,0,0,0,0,0,28.83,24.16,23.53
$GC,11003,1.59,410.7,2851,2063,1473,1239,7.6,8.4,792,11061,0.00,0.00,50.72,0.749,8454,0.000,0.000,2850,2063,1124,1252,996,0,0,0,0,0,0,28.83,28.83,23.39
$STATE,11071,end climb,SURFACE_DEPTH_REACHED
$STATE,11071,begin surface coast
$FINISH,0.5,1.026704
$STATE,11093,end surface coast,CONTROL_FINISHED_OK
$STATE,11093,begin surface
$SM_CCo,11173,0.00,0.000,0,0,1120,411.86
$SM_GC,1.00,10.98,0.35,0.00,0.058,0.107,0.000,512,1897,1120,-9.22,0.34,411.86,0,0,0,0,0,0,24.20,24.13,28.83
$IRIDIUM_FIX,8002.69,7010.50,260813,222205
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.94
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,15.70
$XPDR_PINGS,6
$SC_FREEKB,4008896
$TM_FREEKB,3753184
$24V_AH,23.1,5.140
$10V_AH,9.2,3.632
$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,24.625,122.000,557.150,0.000,0.000,0.000,0.000,306.625,1.500,0.000,16.734,2167.280,6590.504,630.884,2113.678,152.519,0.000,1903.489,0.000,1686.593,0.000,0.546,0.000
$DEVICE_MAMPS,185.895,126.990,1070.235,0.000,0.000,0.000,0.000,145.350,420.000,0.000,32.210,12.760,2.190,12.760,37.480,46.470,0.000,15.700,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11104.000,11100.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.946,13.772,0.000,0.000
$MEM,266864
$DATA_FILE_SIZE,26772,801
$CAP_FILE_SIZE,161246,0
$CFSIZE,260034560,245809152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270813,042936,8106.070,6957.994,40,1.7,40,40.8