version: 66.11
glider: 125
mission: 18
dive: 41
start: 8 28 113 0 4 38
data:
$ID,125
$MISSION,18
$DIVE,41
$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,-181716.34
$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
$GPS1,270813,235635,8113.518,7023.654,34,1.1,34,41.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-56.7
$GPS2,280813,000412,8113.508,7023.848,10,1.1,10,41.0
$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,358.6,111714,-14.7,-10.000,-20.13,3713
$D_GRID,567
$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,-243.2,510,1894,1538,1335,0.0,0.0,0,125,0.00,0.00,-101.97,0.000,16386,0.000,0.000,510,1893,3178,3235,3122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,128,-1.39,-243.2,509,1893,3235,3122,3.7,-3.8,10,156,10.40,0.00,-15.45,0.000,19206,0.186,0.000,2216,1894,3793,3867,3720,0,0,0,0,0,0,24.17,28.83,24.60
$GC,455,-1.39,-243.2,2215,1895,3867,3722,43.5,-9.7,43,460,0.00,2.90,0.00,0.000,516,0.000,0.128,2216,494,3794,3867,3722,0,0,0,0,0,0,28.83,24.25,28.83
$GC,507,-1.39,-243.2,2215,494,3867,3722,48.8,-9.9,48,513,0.00,2.72,0.00,0.000,1030,0.000,0.090,2216,1908,3794,3867,3722,0,0,0,0,0,0,28.83,24.38,28.83
$GC,820,-1.39,-243.2,2215,1908,3867,3722,79.0,-9.9,79,825,0.00,2.78,0.00,0.000,260,0.000,0.103,2216,3315,3794,3867,3722,0,0,0,0,0,0,28.83,24.37,28.83
$GC,983,-1.39,-243.2,2215,3315,3867,3722,95.0,-9.8,95,988,0.00,2.72,0.00,0.000,1030,0.000,0.090,2218,1910,3794,3867,3722,0,0,0,0,0,0,28.83,24.41,28.83
$GC,1296,-1.39,-243.2,2215,1910,3867,3722,122.7,-8.3,126,1301,0.00,2.75,0.00,0.000,260,0.000,0.099,2215,3313,3794,3867,3722,0,0,0,0,0,0,28.83,24.40,28.83
$GC,1372,-1.39,-243.2,2216,3314,3867,3722,128.9,-8.7,133,1379,0.00,2.70,0.00,0.000,1030,0.000,0.089,2216,1910,3794,3867,3722,0,0,0,0,0,0,28.83,24.41,28.83
$GC,1679,-1.39,-243.2,2215,1910,3867,3722,155.0,-8.9,164,1684,0.00,2.72,0.00,0.000,260,0.000,0.096,2216,3311,3794,3867,3722,0,0,0,0,0,0,28.83,24.41,28.83
$GC,1751,-1.39,-243.2,2216,3311,3867,3722,161.7,-9.4,171,1757,0.00,2.70,0.00,0.000,1030,0.000,0.087,2215,1910,3794,3867,3722,0,0,0,0,0,0,28.83,24.42,28.83
$GC,2064,-1.39,-243.2,2215,1910,3867,3722,189.8,-9.2,202,2070,0.00,2.72,0.00,0.000,260,0.000,0.095,2216,3311,3794,3867,3722,0,0,0,0,0,0,28.83,24.42,28.83
$GC,2151,-1.39,-243.2,1384,3309,3864,3720,197.7,-9.5,210,2158,0.00,2.67,0.00,0.000,1030,0.000,0.087,2216,1915,3794,3866,3722,0,0,0,0,0,0,28.83,24.43,28.83
$GC,2457,-1.39,-243.2,2215,1915,3866,3722,225.8,-8.9,241,2463,0.00,2.72,0.00,0.000,260,0.000,0.096,2216,3313,3794,3867,3722,0,0,0,0,0,0,28.83,24.43,28.83
$GC,2541,-1.39,-243.2,2216,3313,3867,3722,233.5,-9.2,249,2546,0.00,2.67,0.00,0.000,1030,0.000,0.088,2216,1925,3794,3867,3722,0,0,0,0,0,0,28.83,24.44,28.83
$GC,2863,-1.39,-243.2,2215,1925,3867,3722,263.0,-9.3,274,2869,0.00,2.70,0.00,0.000,260,0.000,0.096,2216,3311,3794,3867,3722,0,0,0,0,0,0,28.83,24.44,28.83
$GC,2946,-1.39,-243.2,2215,3310,3867,3722,270.6,-9.3,278,2951,0.00,2.67,0.00,0.000,1030,0.000,0.089,2216,1925,3794,3867,3722,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3269,-1.39,-243.2,2215,1925,3866,3723,300.0,-9.1,294,3274,0.00,2.70,0.00,0.000,260,0.000,0.098,2215,3311,3795,3867,3723,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3372,-1.39,-243.2,2215,3311,3867,3723,309.5,-9.4,299,3377,0.00,2.67,0.00,0.000,1030,0.000,0.090,2216,1930,3795,3867,3723,0,0,0,0,0,0,28.83,24.45,28.83
$GC,3695,-1.39,-243.2,2216,1929,3866,3723,337.5,-8.7,315,3700,0.00,2.70,0.00,0.000,260,0.000,0.098,2216,3311,3795,3867,3723,0,0,0,0,0,0,28.83,24.45,28.83
$GC,3792,-1.39,-243.2,2215,3311,3867,3722,345.1,-9.2,319,3798,0.00,2.65,0.00,0.000,1030,0.000,0.090,2216,1937,3795,3867,3723,0,0,0,0,0,0,28.83,24.45,28.83
$GC,4098,-1.39,-243.2,2215,1937,3867,3723,374.9,-9.3,335,4103,0.00,2.70,0.00,0.000,260,0.000,0.099,2216,3317,3794,3867,3722,0,0,0,0,0,0,28.83,24.45,28.83
$GC,4184,-1.39,-243.2,2215,3317,3867,3723,382.9,-9.6,339,4190,0.00,2.65,0.00,0.000,1030,0.000,0.102,2216,1942,3795,3867,3723,0,0,0,0,0,0,28.83,24.45,28.83
$GC,4504,-1.39,-243.2,2216,1942,3867,3723,411.5,-8.8,355,4509,0.00,2.67,0.00,0.000,260,0.000,0.109,2216,3311,3795,3867,3723,0,0,0,0,0,0,28.83,24.45,28.83
$GC,4580,-1.39,-243.2,2215,3311,3866,3723,417.4,-9.2,358,4587,0.00,2.62,0.00,0.000,1030,0.000,0.090,2216,1948,3795,3867,3723,0,0,0,0,0,0,28.83,24.46,28.83
$GC,4887,-1.39,-243.2,2215,1947,3867,3724,446.1,-8.8,374,4892,0.00,2.67,0.00,0.000,260,0.000,0.099,2215,3311,3795,3867,3723,0,0,0,0,0,0,28.83,24.46,28.83
$GC,4978,-1.39,-243.2,2215,3311,3867,3723,453.7,-9.3,378,4984,0.00,2.62,0.00,0.000,1030,0.000,0.091,2216,1952,3795,3867,3723,0,0,0,0,0,0,28.83,24.46,28.83
$GC,5291,-1.39,-243.2,2215,1951,3867,3723,482.3,-8.6,394,5297,0.00,2.67,0.00,0.000,260,0.000,0.105,2216,3312,3795,3867,3723,0,0,0,0,0,0,28.83,24.46,28.83
$GC,5363,-1.39,-243.2,2215,3312,3867,3723,488.0,-8.8,397,5369,0.00,2.62,0.00,0.000,1030,0.000,0.092,2216,1956,3795,3867,3724,0,0,0,0,0,0,28.83,24.46,28.83
$STATE,5615,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5615,begin apogee
$GC,5620,-0.37,0.0,2215,2050,3867,3723,511.0,-8.8,410,5829,1.17,0.00,200.10,1.056,10244,0.122,0.000,2439,2050,2799,2865,2734,0,0,0,0,0,0,24.45,28.83,23.11
$STATE,5832,end apogee,CONTROL_FINISHED_OK
$STATE,5832,begin climb
$GC,5834,1.39,243.2,2439,2050,2865,2733,520.3,0.0,420,6050,1.92,3.00,201.82,1.015,10756,0.089,0.122,2825,639,1807,1899,1715,0,0,0,0,0,0,23.92,23.82,23.09
$GC,6201,1.39,243.2,2824,639,1896,1706,491.5,10.1,439,6206,0.00,2.72,0.00,0.000,1030,0.000,0.090,2825,2043,1801,1896,1706,0,0,0,0,0,0,28.83,24.21,28.83
$GC,6518,1.42,268.3,2824,2043,1896,1702,461.2,9.3,455,6548,0.00,3.00,22.02,0.972,8708,0.000,0.129,2825,639,1705,1804,1607,0,0,0,0,0,0,28.83,23.78,23.23
$GC,6714,1.42,268.3,2824,639,1801,1603,442.7,10.2,464,6721,0.00,2.75,0.00,0.000,1030,0.000,0.095,2825,2046,1702,1801,1603,0,0,0,0,0,0,28.83,24.27,28.83
$GC,7020,1.42,271.1,2825,2046,1801,1601,410.9,9.9,480,7025,0.00,2.78,0.00,0.000,260,0.000,0.103,2825,3457,1701,1801,1601,0,0,0,0,0,0,28.83,24.30,28.83
$GC,7062,1.42,271.1,2824,3456,1801,1601,406.5,10.3,482,7068,0.00,2.75,0.00,0.000,1030,0.000,0.092,2825,2049,1701,1801,1602,0,0,0,0,0,0,28.83,24.31,28.83
$GC,7385,1.42,271.1,2824,2049,1801,1600,374.5,10.1,498,7386,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2049,1701,1801,1601,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7686,1.42,271.1,2824,2049,1801,1600,344.1,10.1,513,7691,0.00,2.78,0.00,0.000,260,0.000,0.101,2825,3456,1700,1801,1600,0,0,0,0,0,0,28.83,24.34,28.83
$GC,7728,1.42,271.1,2824,3456,1801,1600,339.5,10.2,515,7733,0.00,2.75,0.00,0.000,1030,0.000,0.091,2824,2047,1700,1800,1600,0,0,0,0,0,0,28.83,24.35,28.83
$GC,8050,1.44,283.8,2824,2047,1801,1599,307.9,9.6,531,8070,0.00,0.00,14.50,0.913,8198,0.000,0.000,2825,2047,1643,1746,1540,0,0,0,0,0,0,28.83,28.83,23.41
$GC,8370,1.45,298.2,2824,2047,1745,1536,276.8,9.6,547,8391,0.00,2.83,14.48,0.887,8452,0.000,0.099,2825,3455,1583,1689,1477,0,0,0,0,0,0,28.83,23.95,23.42
$GC,8437,1.46,301.6,1872,3454,1645,1471,270.5,9.9,550,8448,0.00,2.75,4.60,0.672,9222,0.000,0.090,2825,2049,1570,1676,1464,0,0,0,0,0,0,28.83,24.20,23.52
$GC,8756,1.48,319.9,2824,2049,1676,1460,240.2,9.5,571,8781,0.10,2.85,17.70,0.874,10500,0.103,0.099,2846,3458,1495,1603,1387,0,0,0,0,0,0,24.44,23.91,23.38
$GC,8802,1.48,319.9,1920,3456,1563,1382,235.6,10.6,575,8809,0.00,2.75,0.00,0.000,1030,0.000,0.089,2846,2056,1494,1603,1386,0,0,0,0,0,0,28.83,24.11,28.83
$GC,9108,1.48,319.9,2847,2056,1603,1382,202.7,10.6,606,9110,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2056,1492,1602,1382,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9408,1.48,319.9,2847,2056,1603,1382,171.0,10.5,636,9413,0.00,2.75,0.00,0.000,260,0.000,0.099,2847,3457,1492,1603,1382,0,0,0,0,0,0,28.83,24.36,28.83
$GC,9440,1.48,319.9,2847,3457,1603,1382,167.3,11.3,639,9446,0.00,2.72,0.00,0.000,1030,0.000,0.087,2847,2049,1492,1603,1382,0,0,0,0,0,0,28.83,24.37,28.83
$GC,9752,1.48,319.9,2847,2049,1604,1381,133.9,10.7,670,9754,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2049,1492,1603,1381,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10052,1.48,319.9,2847,2049,1603,1381,101.5,10.7,700,10054,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2049,1492,1603,1381,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10353,1.48,319.9,2847,2049,1603,1381,69.2,10.8,730,10358,0.00,2.75,0.00,0.000,260,0.000,0.097,2847,3459,1492,1603,1381,0,0,0,0,0,0,28.83,24.39,28.83
$GC,10380,1.48,319.9,2847,3459,1603,1381,66.7,11.1,732,10386,0.00,2.67,0.00,0.000,1030,0.000,0.086,2847,2058,1493,1604,1382,0,0,0,0,0,0,28.83,24.41,28.83
$GC,10685,1.48,319.9,2847,2057,1603,1381,31.5,10.7,763,10687,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2057,1492,1603,1381,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10985,1.58,399.3,2846,2057,1603,1382,3.5,7.8,793,11006,0.00,0.00,18.48,0.746,8194,0.000,0.000,2847,2057,1414,1528,1301,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11007,end climb,SURFACE_DEPTH_REACHED
$STATE,11007,begin surface coast
$FINISH,0.5,1.026772
$STATE,11025,end surface coast,CONTROL_FINISHED_OK
$STATE,11025,begin surface
$SM_CCo,11105,0.00,0.000,0,0,1411,340.72
$SM_GC,1.07,11.00,0.32,0.00,0.061,0.106,0.000,507,1896,1411,-9.23,0.40,340.72,0,0,0,0,0,0,24.25,24.17,28.83
$IRIDIUM_FIX,8002.69,7014.18,270813,202028
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.98
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,15.90
$XPDR_PINGS,12
$SC_FREEKB,4006656
$TM_FREEKB,3519808
$24V_AH,23.1,6.269
$10V_AH,9.2,4.403
$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,24.600,115.275,493.700,0.000,0.000,0.000,0.000,283.325,3.000,0.000,12.846,2185.673,6571.216,569.770,2083.974,153.171,0.000,1795.077,0.000,1678.825,0.000,0.546,0.000
$DEVICE_MAMPS,185.895,129.285,1056.465,0.000,0.000,0.000,0.000,145.350,420.000,0.000,32.210,12.760,2.190,12.760,37.480,46.470,0.000,15.700,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11040.000,11035.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.876,13.796,0.000,0.000
$MEM,266412
$DATA_FILE_SIZE,26672,797
$CAP_FILE_SIZE,158367,0
$CFSIZE,260034560,245161984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280813,031105,8114.443,7029.452,36,1.7,41,41.1