version: 66.11
glider: 125
mission: 18
dive: 75
start: 9 1 113 15 35 47
data:
$ID,125
$MISSION,18
$DIVE,75
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,540
$D_ABORT,600
$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,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,400
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,265
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,52433
$MASS_COMP,0
$NAV_MODE,2
$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,-181810.62
$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,2085
$C_ROLL_CLIMB,2070
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,13
$R_STBD_OVSHOOT,14
$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
$GPS1,010913,152624,8201.993,7510.184,36,1.2,36,43.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-49.2
$GPS2,010913,153518,8201.996,7510.021,14,1.2,14,43.9
$SPEED_LIMITS,0.183,0.285
$TGT_NAME,SHELF2
$TGT_LATLONG,8248.000,7845.000
$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,330.5,98737,-15.1,-10.588,-20.35,3719
$D_GRID,592
$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,-1.43,-257.8,509,2079,1265,1009,0.0,0.0,0,149,0.00,0.00,-125.78,0.000,16386,0.000,0.000,509,2080,3223,3281,3166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,153,-1.43,-257.8,509,2080,3282,3167,3.9,-4.4,12,186,10.45,2.78,-14.88,0.000,19204,0.188,0.105,2203,3501,3853,3907,3800,0,0,0,0,0,0,24.16,24.23,24.59
$GC,289,-1.43,-257.8,2203,3501,3907,3803,25.3,-12.1,25,294,0.00,2.70,0.00,0.000,1030,0.000,0.080,2203,2079,3855,3907,3803,0,0,0,0,0,0,28.83,24.32,28.83
$GC,602,-1.43,-257.8,2203,2079,3906,3803,57.0,-9.2,56,607,0.00,2.78,0.00,0.000,516,0.000,0.106,2203,675,3855,3907,3803,0,0,0,0,0,0,28.83,24.32,28.83
$GC,675,-1.43,-257.8,2203,675,3907,3803,63.8,-9.6,63,681,0.00,2.67,0.00,0.000,1030,0.000,0.081,2203,2083,3855,3907,3803,0,0,0,0,0,0,28.83,24.38,28.83
$GC,989,-1.43,-257.8,2202,2083,3907,3803,93.9,-9.6,94,990,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2083,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1288,-1.43,-257.8,2203,2083,3906,3803,122.7,-10.3,124,1294,0.00,2.72,0.00,0.000,260,0.000,0.096,2203,3491,3855,3907,3803,0,0,0,0,0,0,28.83,24.39,28.83
$GC,1345,-1.43,-257.8,1392,3489,3904,3802,128.0,-10.5,129,1352,0.00,2.67,0.00,0.000,1030,0.000,0.080,2203,2075,3854,3906,3803,0,0,0,0,0,0,28.83,24.40,28.83
$GC,1652,-1.43,-257.8,2203,2075,3907,3803,158.4,-10.0,160,1653,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2075,3855,3907,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1951,-1.43,-257.8,2203,2075,3907,3803,188.4,-9.5,190,1952,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2075,3855,3907,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2252,-1.43,-257.8,2203,2075,3908,3803,217.6,-9.7,220,2257,0.00,2.75,0.00,0.000,260,0.000,0.094,2203,3491,3855,3907,3803,0,0,0,0,0,0,28.83,24.41,28.83
$GC,2325,-1.43,-257.8,2203,3491,3906,3803,225.2,-10.4,227,2330,0.00,2.67,0.00,0.000,1030,0.000,0.081,2203,2083,3855,3907,3803,0,0,0,0,0,0,28.83,24.44,28.83
$GC,2638,-1.43,-257.8,2203,2083,3907,3803,256.4,-9.8,255,2639,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2083,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2939,-1.43,-257.8,2202,2083,3907,3803,285.9,-9.7,270,2944,0.00,2.75,0.00,0.000,260,0.000,0.096,2203,3495,3854,3906,3803,0,0,0,0,0,0,28.83,24.43,28.83
$GC,2991,-1.43,-257.8,2203,3495,3907,3803,290.4,-9.9,272,2996,0.00,2.67,0.00,0.000,1030,0.000,0.084,2203,2084,3855,3907,3803,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3304,-1.43,-257.8,2203,2084,3907,3803,321.0,-9.7,288,3305,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2084,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3605,-1.43,-257.8,2203,2082,3907,3803,349.5,-9.4,303,3610,0.00,2.75,0.00,0.000,260,0.000,0.096,2203,3491,3854,3906,3803,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3662,-1.43,-257.8,2203,3491,3906,3803,353.5,-9.3,305,3670,0.00,2.70,0.00,0.000,1030,0.000,0.093,2203,2077,3855,3907,3803,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3968,-1.43,-257.8,2202,2076,3907,3803,381.8,-8.4,321,3974,0.00,2.75,0.00,0.000,260,0.000,0.096,2203,3491,3854,3906,3803,0,0,0,0,0,0,28.83,24.44,28.83
$GC,4026,-1.43,-257.8,2203,3491,3907,3803,385.7,-8.8,323,4032,0.00,2.67,0.00,0.000,1030,0.000,0.082,2203,2081,3855,3907,3803,0,0,0,0,0,0,28.83,24.45,28.83
$GC,4331,-1.43,-257.8,2203,2080,3907,3803,414.3,-9.0,339,4332,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2080,3855,3907,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4632,-1.43,-257.8,2203,2079,3907,3803,442.4,-9.4,354,4638,0.00,2.78,0.00,0.000,260,0.000,0.106,2203,3492,3855,3907,3803,0,0,0,0,0,0,28.83,24.08,28.83
$GC,4700,-1.43,-257.8,2203,3492,3906,3803,448.8,-9.9,357,4705,0.00,2.67,0.00,0.000,1030,0.000,0.083,2203,2090,3855,3907,3803,0,0,0,0,0,0,28.83,24.46,28.83
$GC,5018,-1.43,-257.8,2203,2086,3907,3803,477.6,-8.9,373,5019,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2086,3855,3907,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5318,-1.43,-257.8,2202,2087,3906,3803,503.7,-8.7,388,5324,0.00,2.72,0.00,0.000,260,0.000,0.098,2203,3491,3855,3907,3803,0,0,0,0,0,0,28.83,24.45,28.83
$GC,5391,-1.43,-257.8,2202,3491,3907,3802,509.4,-8.8,391,5396,0.00,2.67,0.00,0.000,1030,0.000,0.084,2203,2092,3855,3909,3802,0,0,0,0,0,0,28.83,24.47,28.83
$GC,5704,-1.43,-257.8,2203,2092,3907,3802,538.4,-9.2,407,5705,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2092,3854,3907,3802,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5722,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5722,begin apogee
$GC,5726,-0.37,0.0,2203,2068,3907,3802,540.2,-9.1,408,5945,1.23,0.00,211.98,1.091,10244,0.122,0.000,2436,2067,2801,2869,2734,0,0,0,0,0,0,24.44,28.83,23.04
$STATE,5948,end apogee,CONTROL_FINISHED_OK
$STATE,5948,begin climb
$GC,5950,1.43,257.8,2435,2068,2867,2732,550.5,0.0,419,6178,2.00,2.95,214.38,1.041,10756,0.089,0.117,2832,665,1748,1848,1648,0,0,0,0,0,0,23.85,23.76,23.01
$GC,6289,1.45,269.1,1888,665,1792,1635,524.8,10.3,436,6307,0.00,2.70,10.38,0.905,9222,0.000,0.086,2833,2067,1702,1805,1599,0,0,0,0,0,0,28.83,24.17,23.27
$GC,6606,1.49,299.9,2832,2067,1804,1594,494.1,9.7,452,6640,0.00,2.95,28.50,1.004,8708,0.000,0.112,2833,659,1576,1687,1466,0,0,0,0,0,0,28.83,23.72,23.14
$GC,6822,1.49,299.9,2832,659,1685,1461,472.4,11.0,462,6828,0.00,2.70,0.00,0.000,1030,0.000,0.083,2833,2070,1573,1685,1461,0,0,0,0,0,0,28.83,24.27,28.83
$GC,7128,1.53,335.0,2832,2070,1685,1459,440.3,9.6,478,7169,0.12,2.85,32.12,1.006,10500,0.087,0.097,2865,3482,1433,1550,1317,0,0,0,0,0,0,24.41,23.76,23.15
$GC,7216,1.53,335.0,2865,3482,1549,1314,430.6,11.5,482,7223,0.00,2.75,0.00,0.000,1030,0.000,0.083,2865,2070,1431,1549,1314,0,0,0,0,0,0,28.83,24.12,28.83
$GC,7535,1.53,335.0,2865,2070,1548,1310,391.4,12.4,498,7540,0.00,2.78,0.00,0.000,260,0.000,0.096,2865,3488,1429,1549,1310,0,0,0,0,0,0,28.83,24.30,28.83
$GC,7557,1.53,335.0,2865,3487,1548,1311,388.6,12.2,499,7563,0.00,2.72,0.00,0.000,1030,0.000,0.083,2865,2073,1429,1549,1310,0,0,0,0,0,0,28.83,24.31,28.83
$GC,7880,1.53,335.0,2865,2073,1547,1309,350.0,11.7,515,7881,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2073,1428,1547,1309,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8181,1.53,335.0,2865,2073,1547,1309,315.9,11.3,530,8182,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2073,1428,1547,1309,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8481,1.53,335.0,2865,2073,1547,1308,281.7,11.0,545,8482,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2073,1427,1547,1308,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8781,1.53,335.0,2865,2073,1547,1308,247.7,11.4,561,8782,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2073,1427,1547,1308,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9080,1.53,335.0,2865,2073,1547,1308,213.9,11.1,591,9082,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2073,1427,1547,1308,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9380,1.53,335.0,2865,2073,1547,1308,179.6,11.5,621,9386,0.00,2.83,0.00,0.000,516,0.000,0.109,2865,655,1427,1547,1308,0,0,0,0,0,0,28.83,24.35,28.83
$GC,9403,1.53,335.0,2865,655,1547,1308,176.9,11.9,623,9408,0.00,2.70,0.00,0.000,1030,0.000,0.079,2866,2083,1427,1547,1308,0,0,0,0,0,0,28.83,24.41,28.83
$GC,9715,1.53,335.0,2865,2083,1547,1307,140.6,11.4,654,9716,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2083,1427,1547,1308,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10015,1.53,335.0,2865,2083,1547,1307,106.4,11.7,684,10021,0.00,2.83,0.00,0.000,516,0.000,0.106,2865,662,1427,1547,1308,0,0,0,0,0,0,28.83,24.37,28.83
$GC,10041,1.53,335.0,1928,661,1511,1304,103.5,12.5,686,10048,0.00,2.67,0.00,0.000,1030,0.000,0.079,2865,2082,1427,1547,1308,0,0,0,0,0,0,28.83,24.43,28.83
$GC,10348,1.53,335.0,2865,2082,1547,1308,66.6,12.1,717,10350,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2082,1427,1547,1308,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10648,1.57,368.6,2865,2082,1547,1307,33.7,9.7,747,10685,0.00,2.90,30.17,0.775,8708,0.000,0.104,2865,661,1296,1421,1172,0,0,0,0,0,0,28.83,23.84,23.39
$GC,10703,1.64,427.0,2865,661,1420,1170,28.7,9.0,752,10765,0.00,2.70,51.40,0.751,9222,0.000,0.078,2865,2069,1058,1196,921,0,0,0,0,0,0,28.83,24.11,23.34
$STATE,11002,end climb,SURFACE_DEPTH_REACHED
$STATE,11002,begin surface coast
$FINISH,0.6,1.026660
$STATE,11022,end surface coast,CONTROL_FINISHED_OK
$STATE,11022,begin surface
$SM_CCo,11102,0.00,0.000,0,0,1051,428.78
$SM_GC,1.10,11.05,0.00,0.00,0.062,0.000,0.000,512,2069,1051,-9.21,-0.45,428.78,0,0,0,0,0,0,24.38,28.83,28.83
$IRIDIUM_FIX,8054.85,7513.04,010913,121223
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.98
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,15.90
$XPDR_PINGS,9
$SC_FREEKB,3995936
$TM_FREEKB,2390080
$24V_AH,23.0,12.190
$10V_AH,9.1,8.196
$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,24.850,87.975,578.925,0.000,0.000,0.000,0.000,333.250,2.250,0.000,16.637,2135.270,6691.982,621.912,2008.406,181.854,0.000,1851.770,0.000,1553.398,0.000,0.544,0.000
$DEVICE_MAMPS,188.190,196.605,1090.890,0.000,0.000,0.000,0.000,146.880,420.000,0.000,32.210,12.760,2.190,12.760,37.480,46.470,0.000,15.700,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11035.000,11023.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.327,13.788,0.000,0.000
$MEM,282176
$DATA_FILE_SIZE,26714,784
$CAP_FILE_SIZE,150639,0
$CFSIZE,260034560,241958912
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.064,173.4,1
$GPS,010913,184206,8203.096,7514.200,36,0.9,36,43.9