version: 66.11
glider: 125
mission: 18
dive: 37
start: 8 27 113 11 8 29
data:
$ID,125
$MISSION,18
$DIVE,37
$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,-181710.97
$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,15
$R_STBD_OVSHOOT,13
$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
$GPS1,270813,110006,8108.183,7005.817,24,2.0,24,40.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-55.8
$GPS2,270813,110803,8108.204,7005.809,13,3.1,32,40.8
$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,357.5,122277,-14.7,-10.000,-20.13,3713
$D_GRID,547
$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,-243.2,510,1898,1395,1174,0.0,0.0,0,135,0.00,0.00,-111.68,0.000,16386,0.000,0.000,510,1898,3188,3247,3130,0,0,0,0,0,0,28.83,28.83,28.83
$GC,138,-1.39,-243.2,510,1898,3248,3130,3.9,-4.4,11,170,10.38,2.88,-14.77,0.000,18692,0.186,0.112,2213,3309,3793,3868,3719,0,0,0,0,0,0,24.16,24.23,24.60
$GC,352,-1.39,-243.2,2213,3309,3868,3721,31.8,-9.6,32,358,0.00,2.72,0.00,0.000,1030,0.000,0.089,2214,1899,3794,3867,3721,0,0,0,0,0,0,28.83,24.33,28.83
$GC,665,-1.39,-243.2,2213,1898,3868,3721,60.6,-9.7,63,666,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,1899,3794,3868,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,965,-1.39,-243.2,2213,1899,3868,3721,89.8,-9.6,93,971,0.00,2.78,0.00,0.000,260,0.000,0.101,2213,3309,3795,3868,3722,0,0,0,0,0,0,28.83,24.37,28.83
$GC,1128,-1.39,-243.2,2213,3309,3868,3721,105.9,-9.8,109,1133,0.00,2.72,0.00,0.000,1030,0.000,0.090,2213,1908,3794,3868,3721,0,0,0,0,0,0,28.83,24.39,28.83
$GC,1442,-1.39,-243.2,2213,1908,3868,3721,134.7,-9.1,140,1447,0.00,2.75,0.00,0.000,260,0.000,0.098,2213,3310,3794,3868,3721,0,0,0,0,0,0,28.83,24.39,28.83
$GC,1560,-1.39,-243.2,2213,3311,3868,3721,145.7,-9.6,151,1567,0.00,2.70,0.00,0.000,1030,0.000,0.090,2213,1910,3795,3868,3722,0,0,0,0,0,0,28.83,24.41,28.83
$GC,1865,-1.39,-243.2,2213,1910,3868,3721,174.5,-9.6,182,1870,0.00,2.72,0.00,0.000,260,0.000,0.096,2213,3311,3794,3868,3721,0,0,0,0,0,0,28.83,24.40,28.83
$GC,1981,-1.39,-243.2,1408,3307,3865,3719,185.5,-10.0,193,1987,0.00,2.67,0.00,0.000,1030,0.000,0.089,2214,1917,3794,3868,3721,0,0,0,0,0,0,28.83,24.41,28.83
$GC,2288,-1.39,-243.2,2213,1917,3868,3721,214.5,-9.1,224,2293,0.00,2.75,0.00,0.000,260,0.000,0.099,2213,3309,3795,3868,3722,0,0,0,0,0,0,28.83,24.41,28.83
$GC,2371,-1.39,-243.2,2213,3309,3868,3721,222.6,-10.0,232,2376,0.00,2.67,0.00,0.000,1030,0.000,0.090,2213,1926,3795,3868,3722,0,0,0,0,0,0,28.83,24.42,28.83
$GC,2694,-1.39,-243.2,2213,1926,3868,3721,252.5,-8.8,263,2699,0.00,2.72,0.00,0.000,260,0.000,0.099,2213,3311,3794,3868,3721,0,0,0,0,0,0,28.83,24.42,28.83
$GC,2757,-1.39,-243.2,2213,3312,3868,3721,258.2,-8.9,266,2762,0.00,2.67,0.00,0.000,1030,0.000,0.090,2213,1932,3795,3868,3722,0,0,0,0,0,0,28.83,24.43,28.83
$GC,3080,-1.39,-243.2,2213,1932,3868,3722,285.6,-8.5,282,3086,0.00,2.70,0.00,0.000,260,0.000,0.099,2213,3310,3795,3868,3722,0,0,0,0,0,0,28.83,24.43,28.83
$GC,3146,-1.39,-243.2,1408,3309,3865,3719,291.3,-8.9,285,3152,0.00,2.65,0.00,0.000,1030,0.000,0.097,2213,1937,3795,3868,3722,0,0,0,0,0,0,28.83,24.43,28.83
$GC,3464,-1.39,-243.2,2213,1937,3868,3722,319.3,-8.9,301,3470,0.00,2.70,0.00,0.000,260,0.000,0.099,2213,3314,3795,3868,3722,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3561,-1.39,-243.2,2213,3314,3868,3722,326.8,-9.2,305,3568,0.00,2.65,0.00,0.000,1030,0.000,0.091,2213,1942,3795,3868,3722,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3867,-1.39,-243.2,2213,1942,3868,3722,355.6,-9.1,321,3872,0.00,2.70,0.00,0.000,260,0.000,0.101,2213,3314,3795,3868,3723,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3953,-1.39,-243.2,2213,3314,3868,3722,363.3,-9.3,325,3959,0.00,2.62,0.00,0.000,1030,0.000,0.092,2213,1955,3795,3868,3722,0,0,0,0,0,0,28.83,24.44,28.83
$GC,4271,-1.39,-243.2,2213,1956,3868,3722,392.6,-8.9,341,4276,0.00,2.65,0.00,0.000,260,0.000,0.101,2213,3309,3795,3868,3722,0,0,0,0,0,0,28.83,24.44,28.83
$GC,4357,-1.39,-243.2,1408,3307,3865,3720,400.3,-9.3,345,4363,0.00,2.62,0.00,0.000,1030,0.000,0.093,2213,1959,3795,3868,3722,0,0,0,0,0,0,28.83,24.45,28.83
$GC,4675,-1.39,-243.2,2213,1959,3868,3722,427.8,-8.5,361,4680,0.00,2.65,0.00,0.000,260,0.000,0.102,2213,3309,3795,3868,3722,0,0,0,0,0,0,28.83,24.44,28.83
$GC,4741,-1.39,-243.2,1408,3307,3865,3721,433.4,-8.9,364,4747,0.00,2.60,0.00,0.000,1030,0.000,0.093,2213,1967,3795,3868,3722,0,0,0,0,0,0,28.83,24.44,28.83
$GC,5059,-1.39,-243.2,2213,1965,3868,3722,461.4,-8.5,380,5060,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,1965,3795,3868,3722,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5360,-1.39,-243.2,2213,1965,3868,3722,487.3,-8.7,395,5365,0.00,2.65,0.00,0.000,260,0.000,0.103,2213,3309,3795,3868,3722,0,0,0,0,0,0,28.83,24.46,28.83
$GC,5446,-1.39,-243.2,2213,3309,3868,3722,494.6,-8.8,399,5452,0.00,2.60,0.00,0.000,1030,0.000,0.093,2213,1968,3794,3868,3721,0,0,0,0,0,0,28.83,24.45,28.83
$STATE,5623,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5623,begin apogee
$GC,5627,-0.37,0.0,2213,2049,3868,3722,510.7,-8.8,408,5837,1.17,0.00,200.62,1.069,10244,0.122,0.000,2437,2049,2799,2864,2734,0,0,0,0,0,0,24.44,28.83,23.10
$STATE,5840,end apogee,CONTROL_FINISHED_OK
$STATE,5840,begin climb
$GC,5842,1.39,243.2,2436,2049,2865,2733,520.1,0.0,418,6058,2.00,2.88,202.23,1.022,10500,0.106,0.103,2822,3460,1808,1903,1713,0,0,0,0,0,0,23.89,23.85,23.07
$GC,6094,1.41,266.6,2822,3459,1902,1708,504.3,9.4,431,6126,0.00,2.80,21.33,0.955,9222,0.000,0.094,2823,2049,1712,1813,1612,0,0,0,0,0,0,28.83,24.01,23.13
$GC,6426,1.43,280.4,2822,2049,1811,1604,472.0,9.6,448,6446,0.00,3.00,13.10,0.936,8708,0.000,0.127,2823,635,1655,1760,1550,0,0,0,0,0,0,28.83,23.83,23.32
$GC,6608,1.43,280.4,2822,635,1756,1549,453.3,10.3,457,6614,0.00,2.78,0.00,0.000,1030,0.000,0.091,2822,2054,1652,1756,1549,0,0,0,0,0,0,28.83,24.25,28.83
$GC,6931,1.46,306.1,2822,2054,1755,1547,422.7,9.3,473,6960,0.00,2.88,23.80,0.982,8452,0.000,0.106,2823,3462,1552,1659,1445,0,0,0,0,0,0,28.83,23.81,23.22
$GC,7017,1.48,317.8,1856,3460,1614,1438,414.7,9.7,477,7038,0.12,2.78,12.12,0.920,11270,0.087,0.094,2849,2056,1503,1611,1396,0,0,0,0,0,0,24.21,24.15,23.28
$GC,7355,1.48,317.8,2849,2056,1609,1390,377.6,10.6,494,7360,0.00,2.80,0.00,0.000,260,0.000,0.105,2849,3458,1499,1609,1390,0,0,0,0,0,0,28.83,24.27,28.83
$GC,7381,1.48,317.8,1896,3455,1570,1386,375.0,10.9,495,7387,0.00,2.75,0.00,0.000,1030,0.000,0.094,2850,2057,1499,1609,1390,0,0,0,0,0,0,28.83,24.28,28.83
$GC,7698,1.48,317.8,2850,2057,1608,1389,340.8,10.6,511,7704,0.00,2.80,0.00,0.000,260,0.000,0.105,2850,3460,1498,1608,1389,0,0,0,0,0,0,28.83,24.30,28.83
$GC,7730,1.48,317.8,2850,3460,1608,1389,338.2,10.9,512,7735,0.00,2.72,0.00,0.000,1030,0.000,0.093,2850,2069,1498,1608,1389,0,0,0,0,0,0,28.83,24.32,28.83
$GC,8042,1.48,317.8,2850,2068,1608,1389,301.9,11.5,528,8043,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2068,1498,1608,1388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8343,1.48,317.8,2850,2068,1608,1388,268.2,11.1,543,8348,0.00,2.72,0.00,0.000,260,0.000,0.100,2850,3456,1497,1608,1387,0,0,0,0,0,0,28.83,24.34,28.83
$GC,8385,1.48,317.8,2850,3456,1608,1388,263.2,11.4,545,8390,0.00,2.70,0.00,0.000,1030,0.000,0.091,2850,2070,1498,1608,1388,0,0,0,0,0,0,28.83,24.36,28.83
$GC,8698,1.48,317.8,2850,2070,1608,1388,229.4,10.6,570,8699,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2070,1498,1608,1388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8997,1.48,317.8,2850,2070,1608,1388,197.9,10.3,600,9003,0.00,2.72,0.00,0.000,260,0.000,0.100,2850,3456,1498,1608,1388,0,0,0,0,0,0,28.83,24.37,28.83
$GC,9030,1.48,317.8,2850,3456,1607,1388,194.3,11.0,603,9035,0.00,2.70,0.00,0.000,1030,0.000,0.090,2850,2066,1497,1607,1388,0,0,0,0,0,0,28.83,24.38,28.83
$GC,9342,1.48,317.8,2850,2066,1607,1387,159.4,11.3,634,9347,0.00,2.75,0.00,0.000,260,0.000,0.101,2850,3461,1498,1608,1388,0,0,0,0,0,0,28.83,24.37,28.83
$GC,9367,1.48,317.8,1920,3459,1571,1384,156.7,12.0,636,9374,0.00,2.67,0.00,0.000,1030,0.000,0.088,2850,2073,1497,1607,1388,0,0,0,0,0,0,28.83,24.39,28.83
$GC,9674,1.48,317.8,2850,2073,1607,1390,121.9,10.8,667,9680,0.00,2.72,0.00,0.000,260,0.000,0.101,2850,3458,1497,1608,1387,0,0,0,0,0,0,28.83,24.38,28.83
$GC,9697,1.48,317.8,2850,3458,1608,1387,119.2,11.2,669,9702,0.00,2.67,0.00,0.000,1030,0.000,0.088,2850,2074,1497,1607,1387,0,0,0,0,0,0,28.83,24.39,28.83
$GC,10009,1.48,317.8,2850,2074,1607,1387,83.8,11.2,700,10015,0.00,2.72,0.00,0.000,260,0.000,0.100,2851,3462,1498,1608,1388,0,0,0,0,0,0,28.83,24.39,28.83
$GC,10042,1.48,317.8,2850,3462,1607,1387,79.9,11.9,703,10047,0.00,2.67,0.00,0.000,1030,0.000,0.088,2850,2076,1497,1607,1388,0,0,0,0,0,0,28.83,24.40,28.83
$GC,10355,1.48,317.8,2850,2076,1607,1387,46.3,10.6,734,10356,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2076,1497,1607,1388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10654,1.53,361.9,2850,2076,1608,1387,16.0,8.8,764,10704,0.00,3.00,39.33,0.773,8708,0.000,0.119,2850,644,1322,1441,1204,0,0,0,0,0,0,28.83,23.83,23.39
$GC,10731,1.60,415.7,1888,642,1409,1200,9.8,8.5,771,10788,0.12,2.83,47.33,0.737,11270,0.093,0.089,2877,2089,1105,1234,976,0,0,0,0,0,0,24.18,24.15,23.37
$STATE,10815,end climb,SURFACE_DEPTH_REACHED
$STATE,10815,begin surface coast
$FINISH,0.5,1.014064
$STATE,10836,end surface coast,CONTROL_FINISHED_OK
$STATE,10836,begin surface
$SM_CCo,10916,0.00,0.000,0,0,1100,417.01
$SM_GC,1.21,11.07,0.40,0.00,0.057,0.105,0.000,514,1903,1100,-9.21,0.54,417.01,0,0,0,0,0,0,24.21,24.16,28.83
$IRIDIUM_FIX,8002.69,6957.46,270813,070725
$TT8_MAMPS,0.026215,0.026215
$HUMID,46.57
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,15.50
$XPDR_PINGS,4
$SC_FREEKB,4007936
$TM_FREEKB,3653760
$24V_AH,23.1,5.642
$10V_AH,9.2,3.961
$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,24.875,126.225,559.850,0.000,0.000,0.000,0.000,283.500,1.000,0.000,35.685,2145.475,6367.446,626.050,2108.865,147.288,0.000,1877.052,0.000,1678.340,0.000,0.547,0.000
$DEVICE_MAMPS,185.895,126.990,1068.705,0.000,0.000,0.000,0.000,147.645,420.000,0.000,32.210,12.760,2.190,12.760,37.480,46.470,0.000,15.700,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10851.000,10847.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.944,13.782,0.000,0.000
$MEM,266464
$DATA_FILE_SIZE,26669,782
$CAP_FILE_SIZE,159736,0
$CFSIZE,260034560,245534720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270813,141136,8109.896,7008.860,31,0.9,31,40.9