version: 66.11
glider: 125
mission: 18
dive: 36
start: 8 27 113 7 57 34
data:
$ID,125
$MISSION,18
$DIVE,36
$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,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,-181709.62
$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
$GPS1,270813,074630,8106.896,7003.509,38,1.5,38,40.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-52.4
$GPS2,270813,075637,8106.925,7003.248,14,1.5,14,40.8
$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,357.1,124549,-14.7,-10.000,-20.13,3713
$D_GRID,546
$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,-243.2,509,1893,1266,1031,0.0,0.0,0,144,0.00,0.00,-121.30,0.000,16386,0.000,0.000,510,1891,3199,3259,3140,0,0,0,0,0,0,28.83,28.83,28.83
$GC,148,-1.39,-243.2,509,1891,3259,3141,4.0,-5.0,12,179,10.38,2.88,-14.35,0.000,18692,0.186,0.109,2217,3311,3794,3869,3720,0,0,0,0,0,0,24.17,24.23,24.59
$GC,352,-1.39,-243.2,2216,3311,3869,3722,32.0,-11.1,32,357,0.00,2.72,0.00,0.000,1030,0.000,0.090,2216,1899,3795,3869,3722,0,0,0,0,0,0,28.83,24.32,28.83
$GC,664,-1.39,-243.2,2216,1899,3869,3722,64.9,-10.3,63,669,0.00,2.78,0.00,0.000,260,0.000,0.099,2216,3311,3796,3870,3722,0,0,0,0,0,0,28.83,24.34,28.83
$GC,740,-1.39,-243.2,1408,3308,3866,3720,72.1,-9.9,70,747,0.00,2.72,0.00,0.000,1030,0.000,0.090,2216,1899,3795,3869,3722,0,0,0,0,0,0,28.83,24.36,28.83
$GC,1047,-1.39,-243.2,2216,1899,3869,3722,100.2,-9.1,101,1052,0.00,2.80,0.00,0.000,260,0.000,0.101,2216,3317,3796,3870,3722,0,0,0,0,0,0,28.83,24.36,28.83
$GC,1120,-1.39,-243.2,2215,3317,3869,3722,106.9,-9.4,108,1125,0.00,2.75,0.00,0.000,1030,0.000,0.093,2216,1910,3795,3869,3722,0,0,0,0,0,0,28.83,24.38,28.83
$GC,1433,-1.39,-243.2,2216,1910,3869,3722,136.0,-9.4,139,1438,0.00,2.75,0.00,0.000,260,0.000,0.099,2216,3311,3795,3869,3722,0,0,0,0,0,0,28.83,24.38,28.83
$GC,1509,-1.39,-243.2,1408,3309,3866,3720,142.8,-9.4,146,1516,0.00,2.70,0.00,0.000,1030,0.000,0.090,2216,1912,3795,3869,3722,0,0,0,0,0,0,28.83,24.39,28.83
$GC,1816,-1.39,-243.2,2216,1912,3870,3722,171.5,-9.6,177,1822,0.00,2.75,0.00,0.000,260,0.000,0.099,2216,3312,3795,3869,3722,0,0,0,0,0,0,28.83,24.39,28.83
$GC,1904,-1.39,-243.2,2216,3312,3869,3722,179.3,-9.4,185,1911,0.00,2.70,0.00,0.000,1030,0.000,0.090,2216,1913,3795,3869,3722,0,0,0,0,0,0,28.83,24.40,28.83
$GC,2209,-1.39,-243.2,2216,1913,3869,3722,208.7,-9.5,216,2215,0.00,2.75,0.00,0.000,260,0.000,0.099,2216,3311,3795,3869,3722,0,0,0,0,0,0,28.83,24.41,28.83
$GC,2297,-1.39,-243.2,2216,3311,3869,3722,216.9,-9.7,224,2304,0.00,2.67,0.00,0.000,1030,0.000,0.091,2216,1926,3795,3869,3722,0,0,0,0,0,0,28.83,24.41,28.83
$GC,2603,-1.39,-243.2,2216,1926,3869,3722,246.0,-9.3,255,2608,0.00,2.72,0.00,0.000,260,0.000,0.099,2216,3311,3795,3869,3722,0,0,0,0,0,0,28.83,24.41,28.83
$GC,2689,-1.39,-243.2,2216,3311,3869,3722,254.1,-9.6,261,2695,0.00,2.67,0.00,0.000,1030,0.000,0.092,2217,1928,3795,3869,3721,0,0,0,0,0,0,28.83,24.42,28.83
$GC,3007,-1.39,-243.2,2216,1928,3869,3722,283.4,-9.1,277,3013,0.00,2.72,0.00,0.000,260,0.000,0.099,2216,3314,3795,3869,3722,0,0,0,0,0,0,28.83,24.41,28.83
$GC,3079,-1.39,-243.2,2216,3314,3870,3722,289.4,-9.3,280,3084,0.00,2.67,0.00,0.000,1030,0.000,0.093,2216,1934,3795,3869,3722,0,0,0,0,0,0,28.83,24.43,28.83
$GC,3392,-1.39,-243.2,2216,1934,3869,3722,319.4,-9.1,296,3397,0.00,2.70,0.00,0.000,260,0.000,0.100,2216,3311,3795,3869,3721,0,0,0,0,0,0,28.83,24.43,28.83
$GC,3484,-1.39,-243.2,2216,3312,3869,3722,327.0,-9.2,300,3489,0.00,2.65,0.00,0.000,1030,0.000,0.093,2216,1938,3795,3869,3722,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3796,-1.39,-243.2,2216,1938,3869,3722,356.2,-9.0,316,3801,0.00,2.70,0.00,0.000,260,0.000,0.101,2216,3311,3795,3869,3722,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3893,-1.39,-243.2,2216,3311,3869,3722,364.0,-9.3,320,3899,0.00,2.65,0.00,0.000,1030,0.000,0.093,2216,1942,3796,3870,3722,0,0,0,0,0,0,28.83,24.43,28.83
$GC,4199,-1.39,-243.2,2216,1941,3869,3722,392.3,-8.8,336,4204,0.00,2.70,0.00,0.000,260,0.000,0.102,2216,3311,3796,3870,3722,0,0,0,0,0,0,28.83,24.44,28.83
$GC,4256,-1.39,-243.2,2216,3311,3870,3725,396.3,-9.0,338,4263,0.00,2.65,0.00,0.000,1030,0.000,0.094,2216,1948,3795,3869,3722,0,0,0,0,0,0,28.83,24.44,28.83
$GC,4561,-1.39,-243.2,2216,1947,3869,3722,424.1,-8.5,354,4567,0.00,2.70,0.00,0.000,260,0.000,0.103,2216,3313,3795,3869,3722,0,0,0,0,0,0,28.83,24.44,28.83
$GC,4658,-1.39,-243.2,2216,3313,3869,3722,431.2,-8.6,358,4665,0.00,2.65,0.00,0.000,1030,0.000,0.095,2216,1953,3795,3869,3722,0,0,0,0,0,0,28.83,24.44,28.83
$GC,4965,-1.39,-243.2,2216,1952,3870,3722,459.1,-8.6,374,4970,0.00,2.67,0.00,0.000,260,0.000,0.103,2216,3311,3795,3869,3722,0,0,0,0,0,0,28.83,24.45,28.83
$GC,5021,-1.39,-243.2,2216,3311,3869,3722,463.0,-8.7,376,5029,0.00,2.65,0.00,0.000,1030,0.000,0.096,2216,1952,3795,3869,3722,0,0,0,0,0,0,28.83,24.44,28.83
$GC,5327,-1.39,-243.2,2216,1951,3869,3722,490.7,-8.5,392,5332,0.00,2.70,0.00,0.000,260,0.000,0.105,2216,3313,3796,3870,3722,0,0,0,0,0,0,28.83,24.44,28.83
$GC,5338,-1.39,-243.2,2216,3314,3869,3722,490.7,-8.5,392,5344,0.00,2.65,0.00,0.000,1030,0.000,0.095,2216,1957,3795,3869,3722,0,0,0,0,0,0,28.83,24.44,28.83
$STATE,5569,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5570,begin apogee
$GC,5574,-0.37,0.0,2216,2050,3869,3722,510.5,-8.1,404,5784,1.17,0.00,200.35,1.076,10244,0.123,0.000,2440,2050,2800,2865,2735,0,0,0,0,0,0,24.44,28.83,23.10
$STATE,5787,end apogee,CONTROL_FINISHED_OK
$STATE,5787,begin climb
$GC,5788,1.39,243.2,2439,2050,2865,2733,519.0,0.0,414,6001,1.92,3.03,202.23,1.024,10756,0.090,0.127,2823,636,1808,1898,1718,0,0,0,0,0,0,23.90,23.80,23.06
$GC,6163,1.39,248.8,2823,636,1894,1708,490.7,9.8,433,6175,0.00,2.75,5.30,0.752,9222,0.000,0.091,2823,2043,1785,1879,1692,0,0,0,0,0,0,28.83,24.20,23.47
$GC,6474,1.42,268.0,2823,2043,1879,1689,460.8,9.5,449,6499,0.00,3.00,18.30,0.969,8708,0.000,0.124,2823,637,1707,1804,1610,0,0,0,0,0,0,28.83,23.78,23.25
$GC,6645,1.42,268.0,2823,636,1801,1607,444.6,10.3,457,6650,0.00,2.75,0.00,0.000,1030,0.000,0.093,2824,2047,1704,1801,1607,0,0,0,0,0,0,28.83,24.25,28.83
$GC,6958,1.45,292.8,2823,2047,1803,1605,413.9,9.3,473,6987,0.00,2.88,23.23,0.981,8452,0.000,0.105,2824,3459,1605,1707,1503,0,0,0,0,0,0,28.83,23.81,23.23
$GC,7019,1.45,292.8,2823,3459,1706,1501,407.7,10.0,476,7024,0.00,2.80,0.00,0.000,1030,0.000,0.094,2824,2051,1604,1707,1501,0,0,0,0,0,0,28.83,24.09,28.83
$GC,7341,1.46,306.8,2823,2051,1706,1497,376.7,9.6,492,7361,0.00,0.00,13.82,0.940,8198,0.000,0.000,2823,2051,1548,1655,1442,0,0,0,0,0,0,28.83,28.83,23.34
$GC,7661,1.48,320.2,2823,2051,1655,1437,346.6,9.6,508,7682,0.12,2.88,13.30,0.927,10500,0.087,0.103,2857,3465,1493,1600,1386,0,0,0,0,0,0,24.40,23.91,23.36
$GC,7708,1.48,320.2,1920,3464,1562,1381,341.7,10.5,510,7714,0.00,2.80,0.00,0.000,1030,0.000,0.093,2857,2049,1493,1600,1386,0,0,0,0,0,0,28.83,24.12,28.83
$GC,8027,1.48,320.2,2857,2050,1599,1382,305.1,11.2,526,8028,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2049,1491,1600,1382,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8327,1.48,320.2,2857,2049,1600,1382,272.4,10.8,541,8332,0.00,2.80,0.00,0.000,260,0.000,0.103,2857,3463,1491,1600,1382,0,0,0,0,0,0,28.83,24.32,28.83
$GC,8358,1.48,320.2,2857,3463,1599,1382,269.8,10.7,542,8363,0.00,2.75,0.00,0.000,1030,0.000,0.093,2857,2052,1490,1599,1382,0,0,0,0,0,0,28.83,24.34,28.83
$GC,8670,1.48,320.2,2857,2054,1598,1381,234.7,10.9,565,8676,0.00,2.90,0.00,0.000,516,0.000,0.123,2857,636,1489,1598,1381,0,0,0,0,0,0,28.83,24.29,28.83
$GC,8692,1.48,320.2,2857,637,1597,1381,232.2,11.1,567,8698,0.00,2.78,0.00,0.000,1030,0.000,0.091,2857,2064,1489,1597,1381,0,0,0,0,0,0,28.83,24.36,28.83
$GC,9005,1.48,320.2,2857,2064,1597,1381,196.8,11.2,598,9010,0.00,2.75,0.00,0.000,260,0.000,0.104,2857,3458,1489,1597,1381,0,0,0,0,0,0,28.83,24.36,28.83
$GC,9028,1.48,320.2,2857,3458,1597,1381,194.2,11.9,600,9033,0.00,2.72,0.00,0.000,1030,0.000,0.091,2857,2053,1489,1597,1381,0,0,0,0,0,0,28.83,24.36,28.83
$GC,9340,1.48,320.2,2857,2053,1597,1381,157.6,11.4,631,9341,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2053,1488,1596,1381,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9640,1.48,320.2,2857,2054,1597,1380,123.5,11.6,661,9645,0.00,2.78,0.00,0.000,260,0.000,0.101,2857,3459,1489,1597,1381,0,0,0,0,0,0,28.83,24.37,28.83
$GC,9662,1.48,320.2,2857,3460,1597,1381,120.8,12.2,663,9668,0.00,2.72,0.00,0.000,1030,0.000,0.089,2857,2053,1489,1597,1381,0,0,0,0,0,0,28.83,24.39,28.83
$GC,9975,1.48,320.2,2857,2053,1597,1381,84.4,11.7,694,9976,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2052,1489,1597,1381,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10275,1.48,320.2,2857,2053,1596,1381,51.7,11.0,724,10276,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2053,1488,1597,1380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10575,1.50,337.0,2857,2053,1597,1381,20.2,9.5,754,10596,0.00,3.00,15.43,0.760,8708,0.000,0.118,2858,640,1426,1538,1314,0,0,0,0,0,0,28.83,23.99,23.56
$GC,10628,1.54,369.3,2857,639,1536,1314,15.2,9.1,759,10669,0.00,2.75,30.08,0.750,9222,0.000,0.089,2857,2051,1293,1411,1175,0,0,0,0,0,0,28.83,24.21,23.39
$STATE,10787,end climb,SURFACE_DEPTH_REACHED
$STATE,10787,begin surface coast
$FINISH,0.4,1.026717
$STATE,10808,end surface coast,CONTROL_FINISHED_OK
$STATE,10808,begin surface
$SM_CCo,10888,0.00,0.000,0,0,1288,370.89
$SM_GC,1.13,11.05,0.32,0.00,0.063,0.106,0.000,511,1898,1288,-9.23,0.48,370.89,0,0,0,0,0,0,24.33,24.30,28.83
$IRIDIUM_FIX,8002.69,6957.46,270813,040430
$TT8_MAMPS,0.026215,0.026215
$HUMID,47.16
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,15.70
$XPDR_PINGS,5
$SC_FREEKB,4008256
$TM_FREEKB,3686624
$24V_AH,23.1,5.473
$10V_AH,9.1,3.852
$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,24.650,127.200,522.025,0.000,0.000,0.000,0.000,370.050,1.250,0.000,16.662,2127.214,6484.675,610.002,2135.824,168.700,0.000,1923.319,0.000,1644.180,0.000,0.547,0.000
$DEVICE_MAMPS,185.895,126.990,1075.590,0.000,0.000,0.000,0.000,143.820,420.000,0.000,32.210,12.760,2.190,12.760,37.480,46.470,0.000,15.700,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10824.000,10820.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.923,13.784,0.000,0.000
$MEM,266912
$DATA_FILE_SIZE,26761,777
$CAP_FILE_SIZE,158808,0
$CFSIZE,260034560,245628928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270813,110006,8108.183,7005.817,24,2.0,24,40.8