version: 66.11
glider: 125
mission: 18
dive: 38
start: 8 27 113 14 20 15
data:
$ID,125
$MISSION,18
$DIVE,38
$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,-181712.31
$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,11
$R_STBD_OVSHOOT,12
$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
$GPS1,270813,141136,8109.896,7008.860,31,0.9,31,40.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-54.1
$GPS2,270813,141948,8109.886,7008.693,10,1.1,10,40.9
$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,358.1,119380,-14.7,-10.000,-20.13,3713
$D_GRID,554
$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,-243.2,513,1899,1215,975,0.0,0.0,0,145,0.00,0.00,-121.25,0.000,16386,0.000,0.000,514,1901,3122,3181,3064,0,0,0,0,0,0,28.83,28.83,28.83
$GC,148,-1.39,-243.2,514,1901,3181,3065,3.6,-3.7,12,183,10.38,2.83,-17.55,0.000,18692,0.186,0.112,2216,3310,3794,3868,3721,0,0,0,0,0,0,24.16,24.22,24.58
$GC,304,-1.39,-243.2,1416,3308,3865,3720,23.9,-10.2,27,311,0.00,2.75,0.00,0.000,1030,0.000,0.096,2216,1897,3795,3868,3722,0,0,0,0,0,0,28.83,24.30,28.83
$GC,612,-1.39,-243.2,2215,1897,3867,3722,53.4,-9.1,58,617,0.00,2.92,0.00,0.000,516,0.000,0.129,2216,490,3795,3868,3722,0,0,0,0,0,0,28.83,24.25,28.83
$GC,678,-1.39,-243.2,2216,490,3868,3722,59.3,-9.4,64,685,0.00,2.75,0.00,0.000,1030,0.000,0.090,2216,1910,3795,3868,3722,0,0,0,0,0,0,28.83,24.37,28.83
$GC,984,-1.39,-243.2,2216,1910,3868,3722,88.1,-9.1,95,989,0.00,2.78,0.00,0.000,260,0.000,0.104,2216,3311,3796,3870,3722,0,0,0,0,0,0,28.83,24.36,28.83
$GC,1126,-1.39,-243.2,2215,3311,3868,3722,101.1,-8.9,109,1132,0.00,2.72,0.00,0.000,1030,0.000,0.090,2216,1910,3795,3868,3722,0,0,0,0,0,0,28.83,24.39,28.83
$GC,1440,-1.39,-243.2,2215,1910,3868,3722,129.1,-9.7,140,1445,0.00,2.75,0.00,0.000,260,0.000,0.099,2216,3311,3795,3868,3722,0,0,0,0,0,0,28.83,24.38,28.83
$GC,1513,-1.39,-243.2,2215,3311,3868,3722,135.8,-9.2,147,1518,0.00,2.72,0.00,0.000,1030,0.000,0.090,2216,1908,3795,3868,3722,0,0,0,0,0,0,28.83,24.39,28.83
$GC,1825,-1.39,-243.2,2215,1908,3868,3722,163.9,-8.9,178,1830,0.00,2.75,0.00,0.000,260,0.000,0.097,2216,3312,3795,3868,3722,0,0,0,0,0,0,28.83,24.39,28.83
$GC,1891,-1.39,-243.2,1408,3310,3865,3720,169.5,-8.9,184,1898,0.00,2.70,0.00,0.000,1030,0.000,0.089,2216,1912,3794,3868,3721,0,0,0,0,0,0,28.83,24.40,28.83
$GC,2198,-1.39,-243.2,2215,1912,3868,3721,197.6,-8.6,215,2203,0.00,2.72,0.00,0.000,260,0.000,0.096,2216,3311,3795,3868,3722,0,0,0,0,0,0,28.83,24.41,28.83
$GC,2285,-1.39,-243.2,1392,3309,3865,3719,205.1,-9.2,223,2291,0.00,2.67,0.00,0.000,1030,0.000,0.089,2216,1917,3795,3869,3722,0,0,0,0,0,0,28.83,24.41,28.83
$GC,2591,-1.39,-243.2,2215,1917,3868,3721,232.9,-9.0,254,2596,0.00,2.72,0.00,0.000,260,0.000,0.097,2216,3311,3795,3868,3722,0,0,0,0,0,0,28.83,24.41,28.83
$GC,2664,-1.39,-243.2,2215,3311,3868,3722,239.7,-9.4,261,2669,0.00,2.67,0.00,0.000,1030,0.000,0.090,2215,1929,3795,3868,3722,0,0,0,0,0,0,28.83,24.42,28.83
$GC,2977,-1.39,-243.2,2215,1929,3868,3722,269.0,-9.3,282,2983,0.00,2.70,0.00,0.000,260,0.000,0.109,2216,3311,3795,3868,3722,0,0,0,0,0,0,28.83,24.42,28.83
$GC,3060,-1.39,-243.2,2215,3311,3868,3722,276.7,-9.4,286,3065,0.00,2.67,0.00,0.000,1030,0.000,0.090,2216,1928,3794,3868,3721,0,0,0,0,0,0,28.83,24.42,28.83
$GC,3382,-1.39,-243.2,2216,1928,3869,3722,305.6,-8.9,302,3387,0.00,2.72,0.00,0.000,260,0.000,0.099,2216,3316,3795,3868,3722,0,0,0,0,0,0,28.83,24.42,28.83
$GC,3448,-1.39,-243.2,1408,3314,3865,3720,311.1,-8.8,305,3454,0.00,2.67,0.00,0.000,1030,0.000,0.091,2216,1934,3795,3868,3722,0,0,0,0,0,0,28.83,24.43,28.83
$GC,3766,-1.39,-243.2,2215,1934,3868,3722,338.2,-8.4,321,3767,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,1934,3796,3868,3724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4066,-1.39,-243.2,2215,1934,3868,3722,364.7,-9.0,336,4072,0.00,2.70,0.00,0.000,260,0.000,0.099,2216,3312,3795,3868,3722,0,0,0,0,0,0,28.83,24.44,28.83
$GC,4218,-1.39,-243.2,2215,3312,3868,3722,377.9,-9.1,343,4224,0.00,2.65,0.00,0.000,1030,0.000,0.091,2216,1937,3795,3868,3723,0,0,0,0,0,0,28.83,24.44,28.83
$GC,4531,-1.39,-243.2,2215,1937,3867,3723,405.4,-8.8,359,4536,0.00,2.70,0.00,0.000,260,0.000,0.100,2215,3312,3795,3868,3723,0,0,0,0,0,0,28.83,24.45,28.83
$GC,4598,-1.39,-243.2,2216,3312,3868,3723,411.1,-9.0,362,4603,0.00,2.65,0.00,0.000,1030,0.000,0.092,2216,1942,3795,3868,3723,0,0,0,0,0,0,28.83,24.44,28.83
$GC,4915,-1.39,-243.2,2215,1942,3868,3722,439.2,-8.8,378,4920,0.00,2.70,0.00,0.000,260,0.000,0.104,2216,3313,3795,3867,3723,0,0,0,0,0,0,28.83,24.44,28.83
$GC,5012,-1.39,-243.2,2215,3314,3868,3723,446.7,-9.1,382,5019,0.00,2.65,0.00,0.000,1030,0.000,0.093,2216,1946,3795,3868,3723,0,0,0,0,0,0,28.83,24.44,28.83
$GC,5318,-1.39,-243.2,2216,1945,3868,3723,475.0,-8.9,398,5323,0.00,2.70,0.00,0.000,260,0.000,0.105,2215,3314,3795,3868,3723,0,0,0,0,0,0,28.83,24.45,28.83
$GC,5421,-1.39,-243.2,2216,3314,3868,3723,484.4,-9.1,403,5426,0.00,2.65,0.00,0.000,1030,0.000,0.094,2216,1956,3795,3868,3722,0,0,0,0,0,0,28.83,24.46,28.83
$STATE,5742,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5742,begin apogee
$GC,5746,-0.37,0.0,2216,2050,3868,3723,511.1,-8.5,419,5953,1.15,0.00,200.60,1.064,10244,0.122,0.000,2435,2049,2800,2865,2735,0,0,0,0,0,0,24.44,28.83,23.11
$STATE,5956,end apogee,CONTROL_FINISHED_OK
$STATE,5956,begin climb
$GC,5957,1.39,243.2,2435,2049,2865,2733,520.4,0.0,429,6173,1.95,3.03,201.55,1.020,10756,0.090,0.125,2822,637,1807,1899,1716,0,0,0,0,0,0,23.87,23.77,23.07
$GC,6279,1.39,243.2,2822,636,1895,1709,497.5,10.3,445,6286,0.00,2.75,0.00,0.000,1030,0.000,0.090,2822,2044,1801,1894,1708,0,0,0,0,0,0,28.83,24.17,28.83
$GC,6585,1.44,291.4,2822,2044,1895,1703,468.8,8.7,461,6635,0.00,3.03,42.40,0.996,8708,0.000,0.122,2822,632,1610,1714,1507,0,0,0,0,0,0,28.83,23.71,23.16
$GC,6787,1.44,291.4,2821,632,1709,1504,447.4,11.2,471,6792,0.00,2.78,0.00,0.000,1030,0.000,0.090,2822,2050,1606,1709,1503,0,0,0,0,0,0,28.83,24.24,28.83
$GC,7110,1.45,293.7,2822,2050,1709,1501,416.2,9.9,487,7115,0.00,2.80,0.00,0.000,260,0.000,0.105,2822,3462,1605,1709,1501,0,0,0,0,0,0,28.83,24.27,28.83
$GC,7146,1.45,294.7,2822,3462,1708,1500,413.9,10.0,488,7153,0.00,2.78,0.00,0.000,1030,0.000,0.097,2822,2049,1604,1708,1500,0,0,0,0,0,0,28.83,24.29,28.83
$GC,7453,1.46,304.1,2822,2049,1708,1499,382.2,9.7,504,7466,0.00,0.00,11.57,0.927,8198,0.000,0.000,2822,2049,1560,1666,1454,0,0,0,0,0,0,28.83,28.83,23.41
$GC,7753,1.48,317.9,2822,2049,1665,1451,353.5,9.6,519,7775,0.12,2.85,13.98,0.928,10500,0.084,0.101,2855,3459,1502,1609,1396,0,0,0,0,0,0,24.42,23.91,23.36
$GC,7806,1.48,317.9,2855,3459,1608,1395,348.8,10.1,521,7811,0.00,2.78,0.00,0.000,1030,0.000,0.092,2855,2049,1502,1609,1395,0,0,0,0,0,0,28.83,24.14,28.83
$GC,8120,1.48,317.9,2855,2049,1608,1392,312.6,11.3,537,8125,0.00,2.78,0.00,0.000,260,0.000,0.101,2855,3455,1500,1608,1392,0,0,0,0,0,0,28.83,24.31,28.83
$GC,8142,1.48,317.9,2854,3456,1611,1392,309.9,11.3,538,8147,0.00,2.72,0.00,0.000,1030,0.000,0.092,2855,2057,1500,1608,1392,0,0,0,0,0,0,28.83,24.32,28.83
$GC,8464,1.48,317.9,2855,2056,1608,1390,274.0,11.0,554,8465,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2057,1500,1609,1391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8764,1.48,317.9,2855,2057,1608,1390,240.7,11.0,573,8769,0.00,2.78,0.00,0.000,260,0.000,0.101,2855,3461,1499,1608,1390,0,0,0,0,0,0,28.83,24.34,28.83
$GC,8796,1.48,317.9,2855,3461,1608,1390,237.1,11.4,576,8801,0.00,2.72,0.00,0.000,1030,0.000,0.090,2855,2059,1499,1608,1390,0,0,0,0,0,0,28.83,24.36,28.83
$GC,9108,1.48,317.9,2855,2058,1608,1389,203.4,10.7,607,9110,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2058,1499,1608,1390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9408,1.48,317.9,2855,2058,1608,1389,170.2,11.2,637,9414,0.00,2.78,0.00,0.000,260,0.000,0.102,2855,3466,1499,1608,1390,0,0,0,0,0,0,28.83,24.37,28.83
$GC,9440,1.48,317.9,2855,3463,1608,1389,166.2,12.0,640,9446,0.00,2.72,0.00,0.000,1030,0.000,0.089,2855,2057,1498,1608,1389,0,0,0,0,0,0,28.83,24.38,28.83
$GC,9753,1.48,317.9,2854,2057,1608,1389,130.9,10.9,671,9754,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2057,1498,1608,1389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10053,1.48,317.9,2855,2057,1608,1389,98.7,10.9,701,10058,0.00,2.75,0.00,0.000,260,0.000,0.099,2855,3458,1498,1608,1389,0,0,0,0,0,0,28.83,24.39,28.83
$GC,10085,1.48,317.9,2855,3458,1609,1389,95.1,10.8,704,10091,0.00,2.70,0.00,0.000,1030,0.000,0.087,2855,2058,1498,1608,1389,0,0,0,0,0,0,28.83,24.40,28.83
$GC,10398,1.48,317.9,2855,2058,1608,1392,61.0,10.9,735,10399,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2058,1499,1609,1389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10697,1.48,317.9,2855,2058,1608,1390,29.1,11.2,765,10703,0.00,2.75,0.00,0.000,260,0.000,0.099,2855,3458,1498,1608,1389,0,0,0,0,0,0,28.83,24.40,28.83
$GC,10760,1.48,317.9,2854,3458,1609,1389,22.3,10.8,771,10766,0.00,2.70,0.00,0.000,1030,0.000,0.089,2855,2070,1498,1608,1389,0,0,0,0,0,0,28.83,24.43,28.83
$STATE,11001,end climb,SURFACE_DEPTH_REACHED
$STATE,11001,begin surface coast
$FINISH,0.5,1.022829
$STATE,11022,end surface coast,CONTROL_FINISHED_OK
$STATE,11023,begin surface
$SM_CCo,11043,6.40,0.685,0,0,1475,325.02
$SM_GC,1.73,10.88,0.35,6.40,0.059,0.106,0.685,511,1897,1475,-9.22,0.42,325.02,0,0,0,0,0,0,24.47,24.45,23.75
$IRIDIUM_FIX,8002.69,6947.89,270813,111155
$TT8_MAMPS,0.026215,0.026215
$HUMID,46.61
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,15.70
$XPDR_PINGS,7
$SC_FREEKB,4007616
$TM_FREEKB,3620352
$24V_AH,23.1,5.795
$10V_AH,9.2,4.071
$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,24.475,121.375,470.100,6.400,0.000,0.000,0.000,316.475,1.750,0.000,12.823,2187.594,6523.054,572.169,2117.884,145.070,0.000,1831.259,0.000,1678.208,0.000,0.545,0.000
$DEVICE_MAMPS,185.895,128.520,1064.115,684.675,0.000,0.000,0.000,143.820,420.000,0.000,32.210,12.760,2.190,12.760,37.480,46.470,0.000,15.700,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11034.000,11030.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.974,13.775,0.000,0.000
$MEM,266404
$DATA_FILE_SIZE,26747,797
$CAP_FILE_SIZE,158929,0
$CFSIZE,260034560,245440512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270813,172536,8111.496,7013.395,29,0.9,29,41.0