version: 66.11
glider: 125
mission: 18
dive: 35
start: 8 27 113 4 38 14
data:
$ID,125
$MISSION,18
$DIVE,35
$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,-181708.38
$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,1900
$C_ROLL_CLIMB,2046
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,12
$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
$GPS1,270813,042936,8106.070,6957.994,40,1.7,40,40.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-51.9
$GPS2,270813,043748,8106.091,6957.700,9,1.8,14,40.8
$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,357.2,126645,-14.7,-10.000,-20.13,3713
$D_GRID,545
$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,-243.2,511,1894,1235,995,0.0,0.0,0,135,0.00,0.00,-111.80,0.000,16386,0.000,0.000,511,1892,2980,3035,2925,0,0,0,0,0,0,28.83,28.83,28.83
$GC,138,-1.39,-243.2,511,1892,3036,2925,3.1,-4.2,11,179,10.38,2.88,-24.05,0.000,18692,0.185,0.110,2214,3310,3793,3869,3718,0,0,0,0,0,0,24.17,24.24,24.60
$GC,385,-1.39,-243.2,1408,3308,3866,3718,31.3,-9.9,35,392,0.00,2.72,0.00,0.000,1030,0.000,0.088,2214,1901,3794,3868,3721,0,0,0,0,0,0,28.83,24.34,28.83
$GC,692,-1.39,-243.2,2214,1901,3869,3721,61.2,-9.7,66,697,0.00,2.78,0.00,0.000,260,0.000,0.099,2214,3309,3795,3869,3721,0,0,0,0,0,0,28.83,24.35,28.83
$GC,838,-1.39,-243.2,2214,3309,3869,3721,75.2,-9.3,80,845,0.00,2.70,0.00,0.000,1030,0.000,0.090,2214,1911,3795,3869,3721,0,0,0,0,0,0,28.83,24.37,28.83
$GC,1145,-1.39,-243.2,2213,1911,3869,3721,102.9,-8.6,111,1150,0.00,2.75,0.00,0.000,260,0.000,0.099,2214,3311,3795,3869,3721,0,0,0,0,0,0,28.83,24.38,28.83
$GC,1217,-1.39,-243.2,2214,3312,3869,3721,109.5,-8.9,118,1222,0.00,2.72,0.00,0.000,1030,0.000,0.091,2213,1910,3795,3869,3721,0,0,0,0,0,0,28.83,24.39,28.83
$GC,1530,-1.39,-243.2,2214,1910,3869,3721,137.7,-9.0,149,1535,0.00,2.75,0.00,0.000,260,0.000,0.097,2214,3314,3794,3868,3721,0,0,0,0,0,0,28.83,24.39,28.83
$GC,1586,-1.39,-243.2,2214,3314,3869,3721,142.4,-9.2,154,1593,0.00,2.70,0.00,0.000,1030,0.000,0.090,2214,1915,3795,3869,3721,0,0,0,0,0,0,28.83,24.39,28.83
$GC,1893,-1.39,-243.2,2214,1913,3869,3721,170.8,-9.3,185,1894,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,1913,3795,3869,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2193,-1.39,-243.2,2214,1913,3869,3721,199.5,-9.2,215,2198,0.00,2.72,0.00,0.000,260,0.000,0.099,2214,3311,3795,3869,3721,0,0,0,0,0,0,28.83,24.41,28.83
$GC,2296,-1.39,-243.2,2214,3311,3869,3721,209.2,-9.3,225,2301,0.00,2.70,0.00,0.000,1030,0.000,0.090,2214,1913,3794,3868,3720,0,0,0,0,0,0,28.83,24.41,28.83
$GC,2609,-1.39,-243.2,2214,1913,3869,3721,235.8,-8.6,256,2614,0.00,2.75,0.00,0.000,260,0.000,0.099,2214,3317,3794,3868,3721,0,0,0,0,0,0,28.83,24.41,28.83
$GC,2676,-1.39,-243.2,2214,3317,3869,3721,241.3,-8.7,262,2683,0.00,2.70,0.00,0.000,1030,0.000,0.092,2213,1922,3795,3869,3721,0,0,0,0,0,0,28.83,24.42,28.83
$GC,2984,-1.39,-243.2,2214,1922,3871,3721,268.6,-8.9,283,2989,0.00,2.72,0.00,0.000,260,0.000,0.099,2214,3311,3794,3868,3721,0,0,0,0,0,0,28.83,24.43,28.83
$GC,3050,-1.39,-243.2,2213,3311,3869,3721,274.5,-9.1,286,3056,0.00,2.67,0.00,0.000,1030,0.000,0.091,2214,1927,3795,3869,3721,0,0,0,0,0,0,28.83,24.43,28.83
$GC,3368,-1.39,-243.2,2214,1927,3869,3721,303.4,-8.7,302,3374,0.00,2.72,0.00,0.000,260,0.000,0.100,2214,3311,3795,3869,3721,0,0,0,0,0,0,28.83,24.43,28.83
$GC,3420,-1.39,-243.2,2214,3311,3869,3721,307.3,-8.9,304,3425,0.00,2.67,0.00,0.000,1030,0.000,0.093,2214,1930,3795,3869,3721,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3733,-1.39,-243.2,2214,1930,3869,3721,335.1,-8.4,320,3734,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,1930,3795,3869,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4033,-1.39,-243.2,2214,1930,3869,3721,360.5,-8.4,335,4038,0.00,2.72,0.00,0.000,260,0.000,0.103,2214,3312,3795,3869,3721,0,0,0,0,0,0,28.83,24.44,28.83
$GC,4119,-1.39,-243.2,1408,3310,3866,3719,367.8,-8.7,339,4125,0.00,2.67,0.00,0.000,1030,0.000,0.093,2214,1935,3795,3869,3721,0,0,0,0,0,0,28.83,24.45,28.83
$GC,4438,-1.39,-243.2,2213,1934,3869,3721,395.6,-8.4,355,4439,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,1934,3795,3869,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4738,-1.39,-243.2,2214,1933,3869,3721,420.2,-8.2,370,4743,0.00,2.70,0.00,0.000,260,0.000,0.102,2214,3312,3795,3869,3721,0,0,0,0,0,0,28.83,24.46,28.83
$GC,4835,-1.39,-243.2,2214,3311,3869,3721,427.2,-8.4,374,4842,0.00,2.67,0.00,0.000,1030,0.000,0.095,2214,1935,3795,3869,3721,0,0,0,0,0,0,28.83,24.46,28.83
$GC,5141,-1.39,-243.2,2214,1935,3869,3720,454.3,-8.4,390,5146,0.00,2.70,0.00,0.000,260,0.000,0.102,2214,3311,3794,3868,3721,0,0,0,0,0,0,28.83,24.46,28.83
$GC,5192,-1.39,-243.2,2214,3311,3869,3721,457.9,-8.4,392,5197,0.00,2.67,0.00,0.000,1030,0.000,0.095,2214,1936,3795,3869,3721,0,0,0,0,0,0,28.83,24.46,28.83
$GC,5505,-1.39,-243.2,2214,1936,3869,3720,484.0,-8.4,408,5506,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,1936,3794,3868,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5806,-1.39,-243.2,2214,1935,3868,3720,509.6,-8.5,423,5811,0.00,2.70,0.00,0.000,260,0.000,0.102,2214,3311,3794,3869,3720,0,0,0,0,0,0,28.83,24.46,28.83
$STATE,5826,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5827,begin apogee
$GC,5833,-0.37,0.0,2214,2043,3869,3720,511.5,-8.3,424,6042,1.17,0.00,200.00,1.074,10244,0.122,0.000,2437,2043,2799,2864,2734,0,0,0,0,0,0,24.44,28.83,23.11
$STATE,6045,end apogee,CONTROL_FINISHED_OK
$STATE,6045,begin climb
$GC,6046,1.39,243.2,2437,2043,2864,2733,519.9,0.0,434,6262,1.92,3.03,201.52,1.023,10756,0.090,0.128,2822,632,1807,1898,1716,0,0,0,0,0,0,23.91,23.80,23.08
$GC,6379,1.39,243.2,2822,632,1894,1709,494.6,10.1,451,6384,0.00,2.78,0.00,0.000,1030,0.000,0.093,2822,2047,1801,1894,1709,0,0,0,0,0,0,28.83,24.18,28.83
$GC,6691,1.43,280.2,2822,2047,1894,1704,464.9,9.0,467,6732,0.00,3.03,32.42,0.994,8708,0.000,0.125,2822,635,1657,1756,1558,0,0,0,0,0,0,28.83,23.73,23.18
$GC,6863,1.43,280.2,2823,635,1752,1553,447.9,10.7,475,6868,0.00,2.75,0.00,0.000,1030,0.000,0.091,2823,2047,1652,1752,1553,0,0,0,0,0,0,28.83,24.23,28.83
$GC,7176,1.43,280.4,2822,2047,1751,1550,416.0,10.0,491,7181,0.00,2.80,0.00,0.000,260,0.000,0.106,2822,3457,1651,1753,1550,0,0,0,0,0,0,28.83,24.27,28.83
$GC,7207,1.44,283.7,2825,3458,1751,1550,413.7,9.9,492,7212,0.00,2.78,0.00,0.000,1030,0.000,0.093,2822,2047,1651,1752,1550,0,0,0,0,0,0,28.83,24.29,28.83
$GC,7520,1.46,304.5,2822,2047,1751,1549,383.0,9.4,508,7544,0.00,0.00,22.40,0.978,8198,0.000,0.000,2822,2047,1558,1663,1454,0,0,0,0,0,0,28.83,28.83,23.25
$GC,7840,1.47,311.1,2822,2046,1660,1447,352.0,9.8,524,7854,0.12,2.85,6.93,0.844,10500,0.090,0.103,2854,3459,1531,1637,1426,0,0,0,0,0,0,24.39,24.08,23.51
$GC,7871,1.47,314.2,2854,3459,1636,1426,349.9,9.9,525,7882,0.00,2.78,4.47,0.701,9222,0.000,0.094,2854,2049,1519,1626,1413,0,0,0,0,0,0,28.83,24.17,23.46
$GC,8181,1.47,314.2,2854,2049,1624,1410,313.8,11.1,541,8183,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2049,1517,1624,1410,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8482,1.47,314.2,2854,2049,1623,1410,280.9,10.8,556,8487,0.00,2.78,0.00,0.000,260,0.000,0.102,2854,3458,1517,1624,1410,0,0,0,0,0,0,28.83,24.33,28.83
$GC,8508,1.47,314.2,2854,3458,1624,1410,278.2,10.9,557,8514,0.00,2.75,0.00,0.000,1030,0.000,0.093,2854,2046,1517,1624,1410,0,0,0,0,0,0,28.83,24.34,28.83
$GC,8815,1.47,314.2,2854,2046,1624,1409,245.1,10.5,574,8817,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2046,1516,1623,1409,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9115,1.47,314.2,2854,2047,1623,1409,213.3,10.7,604,9117,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2046,1516,1623,1409,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9415,1.47,314.2,2854,2046,1623,1408,181.2,10.9,634,9421,0.00,2.78,0.00,0.000,260,0.000,0.102,2854,3458,1515,1623,1408,0,0,0,0,0,0,28.83,24.37,28.83
$GC,9447,1.47,314.2,2854,3458,1623,1408,177.4,11.0,637,9453,0.00,2.72,0.00,0.000,1030,0.000,0.090,2854,2053,1515,1623,1408,0,0,0,0,0,0,28.83,24.38,28.83
$GC,9760,1.47,314.2,2854,2053,1623,1408,143.3,11.1,668,9761,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2053,1516,1624,1408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10060,1.47,314.2,2854,2053,1623,1408,108.7,11.6,698,10065,0.00,2.78,0.00,0.000,260,0.000,0.102,2854,3461,1515,1623,1408,0,0,0,0,0,0,28.83,24.38,28.83
$GC,10086,1.47,314.2,2854,3461,1623,1408,106.0,12.2,700,10093,0.00,2.70,0.00,0.000,1030,0.000,0.089,2854,2056,1515,1623,1408,0,0,0,0,0,0,28.83,24.39,28.83
$GC,10393,1.47,314.2,2854,2057,1623,1409,71.4,10.7,731,10394,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2057,1515,1623,1408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10692,1.47,314.2,2854,2057,1623,1408,40.2,10.4,761,10694,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2057,1515,1623,1408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10993,1.55,373.2,2853,2057,1623,1407,12.1,8.4,791,11053,0.00,2.85,52.65,0.776,8452,0.000,0.100,2854,3457,1277,1397,1157,0,0,0,0,0,0,28.83,23.84,23.37
$GC,11076,1.58,402.2,2854,3456,1397,1156,4.9,9.2,799,11110,0.00,2.75,25.80,0.734,9222,0.000,0.090,2854,2062,1159,1286,1032,0,0,0,0,0,0,28.83,24.10,23.37
$STATE,11116,end climb,SURFACE_DEPTH_REACHED
$STATE,11116,begin surface coast
$FINISH,0.4,1.014091
$STATE,11138,end surface coast,CONTROL_FINISHED_OK
$STATE,11139,begin surface
$SM_CCo,11218,0.00,0.000,0,0,1156,403.27
$SM_GC,1.00,11.00,0.35,0.00,0.057,0.110,0.000,510,1894,1156,-9.23,0.31,403.27,0,0,0,0,0,0,24.19,24.10,28.83
$IRIDIUM_FIX,8002.69,6957.46,270813,010123
$TT8_MAMPS,0.026964,0.026964
$HUMID,46.77
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,15.50
$XPDR_PINGS,1
$SC_FREEKB,4008576
$TM_FREEKB,3719424
$24V_AH,23.1,5.308
$10V_AH,9.2,3.743
$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,24.600,110.275,546.200,0.000,0.000,0.000,0.000,312.775,0.250,0.000,16.921,2131.759,6747.459,614.940,2075.094,141.592,0.000,1860.984,0.000,1633.248,0.000,0.546,0.000
$DEVICE_MAMPS,185.130,127.755,1074.060,0.000,0.000,0.000,0.000,146.115,420.000,0.000,32.210,12.760,2.190,12.760,37.480,46.470,0.000,15.700,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11155.000,11150.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.943,13.793,0.000,0.000
$MEM,266420
$DATA_FILE_SIZE,26681,805
$CAP_FILE_SIZE,157459,0
$CFSIZE,260034560,245719040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270813,074630,8106.896,7003.509,38,1.5,38,40.8