version: 66.11
glider: 125
mission: 18
dive: 42
start: 8 28 113 3 19 15
data:
$ID,125
$MISSION,18
$DIVE,42
$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,-181717.59
$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,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
$GPS1,280813,031105,8114.443,7029.452,36,1.7,41,41.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-55.5
$GPS2,280813,031849,8114.423,7029.096,14,1.9,14,41.1
$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,358.5,109546,-14.7,-10.000,-20.13,3713
$D_GRID,570
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-1.39,-243.2,506,1895,1506,1304,0.0,0.0,0,125,0.00,0.00,-101.40,0.000,16386,0.000,0.000,507,1892,3157,3213,3101,0,0,0,0,0,0,28.83,28.83,28.83
$GC,128,-1.39,-243.2,507,1894,3213,3101,3.9,-5.1,10,163,10.43,2.85,-16.08,0.000,18692,0.186,0.109,2217,3310,3794,3867,3721,0,0,0,0,0,0,24.18,24.25,24.60
$GC,250,-1.39,-243.2,2216,3311,3867,3722,22.2,-12.3,22,255,0.00,2.72,0.00,0.000,1030,0.000,0.088,2217,1898,3794,3867,3722,0,0,0,0,0,0,28.83,24.32,28.83
$GC,563,-1.39,-243.2,2217,1898,3867,3722,53.2,-9.9,53,568,0.00,2.78,0.00,0.000,260,0.000,0.098,2217,3310,3794,3867,3722,0,0,0,0,0,0,28.83,24.37,28.83
$GC,686,-1.39,-243.2,2217,3310,3867,3722,65.7,-10.3,65,691,0.00,2.72,0.00,0.000,1030,0.000,0.089,2217,1901,3794,3867,3722,0,0,0,0,0,0,28.83,24.39,28.83
$GC,998,-1.39,-243.2,2217,1901,3867,3722,96.4,-9.5,96,1004,0.00,2.78,0.00,0.000,260,0.000,0.098,2216,3310,3794,3867,3722,0,0,0,0,0,0,28.83,24.39,28.83
$GC,1121,-1.39,-243.2,2217,3310,3867,3722,108.2,-9.2,108,1127,0.00,2.70,0.00,0.000,1030,0.000,0.090,2217,1912,3794,3867,3722,0,0,0,0,0,0,28.83,24.41,28.83
$GC,1434,-1.39,-243.2,2216,1912,3867,3722,136.9,-8.9,139,1440,0.00,2.72,0.00,0.000,260,0.000,0.095,2217,3312,3794,3867,3722,0,0,0,0,0,0,28.83,24.41,28.83
$GC,1540,-1.39,-243.2,2216,3312,3867,3722,146.3,-9.2,149,1547,0.00,2.67,0.00,0.000,1030,0.000,0.087,2216,1917,3794,3867,3722,0,0,0,0,0,0,28.83,24.41,28.83
$GC,1847,-1.39,-243.2,2217,1917,3868,3722,174.0,-9.0,180,1852,0.00,2.72,0.00,0.000,260,0.000,0.096,2217,3314,3794,3867,3722,0,0,0,0,0,0,28.83,24.41,28.83
$GC,1953,-1.39,-243.2,2217,3314,3867,3722,183.8,-9.7,190,1960,0.00,2.67,0.00,0.000,1030,0.000,0.087,2217,1918,3794,3867,3722,0,0,0,0,0,0,28.83,24.42,28.83
$GC,2261,-1.39,-243.2,2216,1918,3867,3722,212.7,-9.1,221,2266,0.00,2.72,0.00,0.000,260,0.000,0.096,2217,3315,3795,3867,3723,0,0,0,0,0,0,28.83,24.42,28.83
$GC,2389,-1.39,-243.2,2217,3315,3867,3722,224.4,-9.5,233,2396,0.00,2.65,0.00,0.000,1030,0.000,0.087,2217,1936,3794,3866,3722,0,0,0,0,0,0,28.83,24.44,28.83
$GC,2704,-1.39,-243.2,2216,1935,3867,3722,254.0,-9.1,263,2709,0.00,2.67,0.00,0.000,260,0.000,0.096,2216,3311,3794,3867,3722,0,0,0,0,0,0,28.83,24.44,28.83
$GC,2836,-1.39,-243.2,2217,3311,3867,3722,265.7,-9.5,269,2841,0.00,2.62,0.00,0.000,1030,0.000,0.088,2217,1939,3794,3867,3722,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3149,-1.39,-243.2,2217,1939,3867,3722,295.1,-9.1,285,3154,0.00,2.67,0.00,0.000,260,0.000,0.096,2217,3312,3794,3867,3722,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3267,-1.39,-243.2,2216,3312,3867,3722,304.6,-9.2,290,3274,0.00,2.62,0.00,0.000,1030,0.000,0.089,2217,1943,3794,3867,3722,0,0,0,0,0,0,28.83,24.45,28.83
$GC,3571,-1.39,-243.2,2217,1944,3867,3722,333.4,-9.0,306,3577,0.00,2.67,0.00,0.000,260,0.000,0.107,2217,3311,3795,3867,3723,0,0,0,0,0,0,28.83,24.45,28.83
$GC,3695,-1.39,-243.2,2217,3311,3867,3722,344.9,-9.4,312,3701,0.00,2.62,0.00,0.000,1030,0.000,0.090,2217,1955,3794,3867,3722,0,0,0,0,0,0,28.83,24.46,28.83
$GC,4018,-1.39,-243.2,2217,1954,3867,3723,374.1,-9.1,328,4023,0.00,2.65,0.00,0.000,260,0.000,0.097,2217,3315,3795,3867,3723,0,0,0,0,0,0,28.83,24.46,28.83
$GC,4155,-1.39,-243.2,2216,3315,3867,3722,385.4,-9.1,334,4162,0.00,2.60,0.00,0.000,1030,0.000,0.090,2217,1962,3795,3867,3723,0,0,0,0,0,0,28.83,24.46,28.83
$GC,4462,-1.39,-243.2,2216,1962,3867,3723,411.7,-8.2,350,4467,0.00,2.65,0.00,0.000,260,0.000,0.099,2217,3315,3795,3867,3723,0,0,0,0,0,0,28.83,24.46,28.83
$GC,4569,-1.39,-243.2,2217,3315,3867,3723,420.5,-8.7,355,4574,0.00,2.60,0.00,0.000,1030,0.000,0.091,2217,1967,3795,3867,3723,0,0,0,0,0,0,28.83,24.46,28.83
$GC,4887,-1.39,-243.2,2217,1965,3870,3723,448.3,-8.9,371,4892,0.00,2.65,0.00,0.000,260,0.000,0.100,2217,3316,3795,3867,3723,0,0,0,0,0,0,28.83,24.46,28.83
$GC,5013,-1.39,-243.2,2217,3316,3867,3723,459.2,-9.2,377,5018,0.00,2.60,0.00,0.000,1030,0.000,0.092,2217,1971,3796,3869,3723,0,0,0,0,0,0,28.83,24.46,28.83
$GC,5331,-1.39,-243.2,2217,1970,3867,3723,487.7,-8.7,393,5336,0.00,2.62,0.00,0.000,260,0.000,0.100,2217,3310,3795,3867,3723,0,0,0,0,0,0,28.83,24.46,28.83
$GC,5448,-1.39,-243.2,2216,3311,3867,3723,496.9,-9.1,398,5455,0.00,2.58,0.00,0.000,1030,0.000,0.092,2217,1978,3795,3867,3723,0,0,0,0,0,0,28.83,24.47,28.83
$STATE,5591,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5591,begin apogee
$GC,5596,-0.37,0.0,2217,2050,3867,3723,510.8,-8.6,406,5802,1.15,0.00,200.05,1.057,10244,0.122,0.000,2436,2049,2799,2864,2735,0,0,0,0,0,0,24.45,28.83,23.12
$STATE,5805,end apogee,CONTROL_FINISHED_OK
$STATE,5805,begin climb
$GC,5807,1.39,243.2,2436,2049,2865,2734,519.9,0.0,416,6019,1.92,3.00,201.45,1.014,10756,0.089,0.123,2820,638,1808,1901,1716,0,0,0,0,0,0,23.89,23.80,23.08
$GC,6156,1.39,243.2,2819,638,1897,1707,493.3,10.0,434,6161,0.00,2.72,0.00,0.000,1030,0.000,0.090,2820,2042,1802,1897,1707,0,0,0,0,0,0,28.83,24.20,28.83
$GC,6479,1.44,286.8,2820,2042,1897,1702,463.5,8.8,450,6523,0.00,2.97,38.40,0.991,8708,0.000,0.121,2821,638,1629,1732,1526,0,0,0,0,0,0,28.83,23.73,23.19
$GC,6690,1.44,286.8,2820,638,1729,1523,442.5,10.9,460,6696,0.00,2.75,0.00,0.000,1030,0.000,0.094,2821,2050,1626,1729,1523,0,0,0,0,0,0,28.83,24.26,28.83
$GC,7003,1.48,317.0,2820,2050,1729,1519,412.5,9.2,476,7038,0.12,2.85,27.62,0.973,10500,0.090,0.103,2853,3454,1506,1614,1399,0,0,0,0,0,0,24.40,23.81,23.22
$GC,7065,1.48,317.0,2853,3455,1613,1397,406.0,10.2,479,7070,0.00,2.78,0.00,0.000,1030,0.000,0.093,2854,2052,1505,1613,1397,0,0,0,0,0,0,28.83,24.08,28.83
$GC,7387,1.48,317.0,2853,2052,1612,1393,370.2,11.4,495,7392,0.00,2.80,0.00,0.000,260,0.000,0.103,2853,3464,1502,1612,1393,0,0,0,0,0,0,28.83,24.29,28.83
$GC,7409,1.48,317.0,2854,3464,1612,1393,367.6,11.5,496,7415,0.00,2.78,0.00,0.000,1030,0.000,0.097,2854,2052,1502,1611,1393,0,0,0,0,0,0,28.83,24.30,28.83
$GC,7732,1.48,317.0,2854,2051,1611,1392,329.7,11.6,512,7733,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2051,1501,1610,1392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8032,1.48,317.0,2853,2052,1611,1390,296.1,11.1,527,8033,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2051,1500,1611,1390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8332,1.48,317.0,2853,2052,1611,1389,262.3,11.3,542,8334,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2052,1500,1611,1390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8632,1.48,317.0,2854,2051,1611,1389,229.0,10.8,566,8637,0.00,2.78,0.00,0.000,260,0.000,0.099,2854,3463,1500,1611,1390,0,0,0,0,0,0,28.83,24.37,28.83
$GC,8654,1.48,317.0,2854,3463,1610,1390,226.5,11.0,568,8659,0.00,2.72,0.00,0.000,1030,0.000,0.096,2854,2057,1500,1611,1390,0,0,0,0,0,0,28.83,24.37,28.83
$GC,8967,1.48,317.0,2854,2057,1611,1390,192.2,11.0,599,8968,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2057,1500,1611,1390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9267,1.48,317.0,2854,2056,1611,1389,159.2,11.2,629,9268,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2056,1500,1611,1389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9567,1.48,317.0,2854,2056,1611,1389,126.0,11.3,659,9568,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2056,1500,1611,1389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9866,1.48,317.0,2853,2057,1610,1389,92.6,11.4,689,9872,0.00,2.75,0.00,0.000,260,0.000,0.098,2854,3458,1500,1611,1389,0,0,0,0,0,0,28.83,24.40,28.83
$GC,9899,1.48,317.0,2853,3458,1611,1389,88.7,11.8,692,9904,0.00,2.70,0.00,0.000,1030,0.000,0.086,2854,2055,1500,1611,1389,0,0,0,0,0,0,28.83,24.41,28.83
$GC,10211,1.48,317.0,2854,2054,1610,1390,53.6,11.4,723,10213,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2054,1500,1611,1389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10511,1.48,317.0,2854,2054,1611,1389,21.1,10.3,753,10513,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2054,1500,1611,1389,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10739,end climb,SURFACE_DEPTH_REACHED
$STATE,10740,begin surface coast
$FINISH,0.5,1.013831
$STATE,10761,end surface coast,CONTROL_FINISHED_OK
$STATE,10761,begin surface
$SM_CCo,10781,6.68,0.692,0,0,1475,325.02
$SM_GC,1.57,10.88,0.32,6.68,0.060,0.107,0.692,515,1895,1475,-9.21,0.34,325.02,0,0,0,0,0,0,24.48,24.46,23.76
$IRIDIUM_FIX,8002.69,7035.94,270813,232332
$TT8_MAMPS,0.026964,0.026964
$HUMID,45.94
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,15.80
$XPDR_PINGS,8
$SC_FREEKB,4006336
$TM_FREEKB,3487200
$24V_AH,23.1,6.419
$10V_AH,9.2,4.511
$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,24.500,103.650,467.525,6.675,0.000,0.000,0.000,286.975,2.000,0.000,16.443,2185.960,6263.746,533.162,2108.651,163.509,0.000,1759.248,0.000,1698.743,0.000,0.544,0.000
$DEVICE_MAMPS,185.895,123.165,1057.230,691.560,0.000,0.000,0.000,146.115,420.000,0.000,32.210,12.760,2.190,12.760,37.480,46.470,0.000,15.700,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10772.000,10767.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.921,13.783,0.000,0.000
$MEM,266400
$DATA_FILE_SIZE,26697,778
$CAP_FILE_SIZE,153219,0
$CFSIZE,260034560,245075968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280813,062024,8115.068,7035.685,37,1.4,37,41.2