version: 66.11
glider: 125
mission: 18
dive: 77
start: 9 1 113 22 15 12
data:
$ID,125
$MISSION,18
$DIVE,77
$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,-181813.12
$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,14
$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
$GPS1,010913,220223,8204.354,7518.574,24,1.5,41,44.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-46.9
$GPS2,010913,221443,8204.356,7518.080,13,1.6,13,44.0
$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,341.6,94021,-15.1,-10.588,-20.35,3719
$D_GRID,601
$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,-257.8,512,2078,1191,933,0.0,0.0,0,149,0.00,0.00,-125.30,0.000,16386,0.000,0.000,512,2075,3144,3202,3087,0,0,0,0,0,0,28.83,28.83,28.83
$GC,152,-1.43,-257.8,512,2075,3202,3087,3.8,-5.1,12,189,10.40,2.83,-17.98,0.000,19204,0.187,0.104,2204,3495,3853,3906,3801,0,0,0,0,0,0,24.17,24.25,24.60
$GC,251,-1.43,-257.8,1408,3494,3904,3801,18.6,-11.8,21,259,0.00,2.67,0.00,0.000,1030,0.000,0.078,2204,2086,3854,3906,3803,0,0,0,0,0,0,28.83,24.32,28.83
$GC,558,-1.43,-257.8,2204,2086,3906,3803,49.9,-10.0,52,559,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2087,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,858,-1.43,-257.8,2204,2086,3906,3803,81.3,-10.5,82,863,0.00,2.80,0.00,0.000,516,0.000,0.108,2204,675,3854,3906,3803,0,0,0,0,0,0,28.83,24.34,28.83
$GC,911,-1.43,-257.8,2204,675,3906,3803,86.7,-10.5,87,917,0.00,2.70,0.00,0.000,1030,0.000,0.080,2204,2092,3854,3906,3803,0,0,0,0,0,0,28.83,24.41,28.83
$GC,1224,-1.43,-257.8,2204,2093,3906,3803,117.6,-9.5,118,1225,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2093,3855,3907,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1525,-1.43,-257.8,2204,2093,3907,3803,146.4,-9.8,148,1526,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2093,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1824,-1.43,-257.8,2204,2093,3906,3803,174.7,-9.4,178,1825,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2093,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2124,-1.43,-257.8,2203,2092,3906,3803,203.3,-9.4,208,2130,0.00,2.72,0.00,0.000,260,0.000,0.095,2204,3502,3854,3906,3803,0,0,0,0,0,0,28.83,24.41,28.83
$GC,2177,-1.43,-257.8,2204,3502,3906,3803,208.4,-10.0,213,2183,0.00,2.67,0.00,0.000,1030,0.000,0.079,2204,2089,3854,3906,3803,0,0,0,0,0,0,28.83,24.44,28.83
$GC,2491,-1.43,-257.8,2203,2089,3906,3803,239.1,-9.8,244,2492,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2089,3855,3906,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2791,-1.43,-257.8,2204,2089,3906,3803,268.2,-9.6,265,2792,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2089,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3091,-1.43,-257.8,2204,2089,3906,3803,296.9,-9.5,280,3092,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2089,3855,3907,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3391,-1.43,-257.8,2204,2089,3906,3804,326.0,-9.7,295,3393,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2089,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3691,-1.43,-257.8,2204,2089,3906,3803,355.1,-9.5,310,3693,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2089,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3991,-1.43,-257.8,2204,2088,3906,3804,382.1,-8.8,325,3993,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2088,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4291,-1.43,-257.8,2204,2087,3906,3803,409.1,-9.2,340,4296,0.00,2.85,0.00,0.000,516,0.000,0.115,2204,669,3855,3907,3804,0,0,0,0,0,0,28.83,24.42,28.83
$GC,4348,-1.43,-257.8,2204,668,3906,3803,413.2,-9.5,342,4355,0.00,2.70,0.00,0.000,1030,0.000,0.093,2204,2095,3855,3906,3804,0,0,0,0,0,0,28.83,24.48,28.83
$GC,4654,-1.43,-257.8,2204,2095,3906,3804,442.7,-9.2,358,4659,0.00,2.72,0.00,0.000,260,0.000,0.097,2204,3503,3855,3907,3804,0,0,0,0,0,0,28.83,24.45,28.83
$GC,4717,-1.43,-257.8,2204,3502,3906,3804,448.6,-9.4,361,4722,0.00,2.70,0.00,0.000,1030,0.000,0.081,2204,2088,3855,3907,3803,0,0,0,0,0,0,28.83,24.47,28.83
$GC,5040,-1.43,-257.8,2204,2087,3906,3804,477.4,-8.7,377,5041,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2087,3855,3906,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5341,-1.43,-257.8,2204,2087,3907,3804,503.7,-9.0,392,5342,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2087,3855,3907,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5641,-1.43,-257.8,2204,2087,3906,3804,530.6,-8.7,407,5646,0.00,2.75,0.00,0.000,260,0.000,0.097,2204,3498,3855,3907,3804,0,0,0,0,0,0,28.83,24.46,28.83
$GC,5708,-1.43,-257.8,1392,3496,3903,3802,536.3,-8.9,410,5714,0.00,2.67,0.00,0.000,1030,0.000,0.083,2204,2090,3855,3907,3804,0,0,0,0,0,0,28.83,24.49,28.83
$STATE,5744,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5744,begin apogee
$GC,5748,-0.37,0.0,2203,2090,3906,3804,540.2,-9.2,412,5967,1.23,0.00,211.43,1.073,10244,0.120,0.000,2437,2089,2800,2867,2733,0,0,0,0,0,0,24.44,28.83,23.08
$STATE,5970,end apogee,CONTROL_FINISHED_OK
$STATE,5970,begin climb
$GC,5971,1.43,257.8,2437,2090,2867,2731,550.1,0.0,423,6196,1.98,3.00,213.60,1.027,10756,0.087,0.114,2833,656,1749,1849,1649,0,0,0,0,0,0,23.88,23.78,23.06
$GC,6279,1.45,268.1,2834,656,1845,1642,527.5,10.3,438,6295,0.00,2.72,9.57,0.881,9222,0.000,0.080,2834,2078,1708,1811,1605,0,0,0,0,0,0,28.83,24.14,23.30
$GC,6612,1.48,293.5,2834,2077,1810,1598,493.2,9.9,455,6642,0.00,2.80,23.73,0.980,8452,0.000,0.096,2834,3474,1602,1712,1493,0,0,0,0,0,0,28.83,23.80,23.20
$GC,6855,1.48,293.5,2834,3475,1712,1488,466.7,11.1,467,6861,0.00,2.72,0.00,0.000,1030,0.000,0.084,2834,2064,1599,1712,1487,0,0,0,0,0,0,28.83,24.28,28.83
$GC,7178,1.49,305.4,2834,2064,1711,1484,433.4,10.3,483,7199,0.00,2.90,11.50,0.929,8708,0.000,0.115,2834,659,1553,1667,1440,0,0,0,0,0,0,28.83,23.93,23.39
$GC,7215,1.50,308.3,2833,659,1667,1440,431.3,10.5,484,7227,0.00,2.72,4.22,0.672,9222,0.000,0.082,2834,2072,1542,1656,1429,0,0,0,0,0,0,28.83,24.13,23.44
$GC,7544,1.51,318.2,2834,2073,1656,1427,395.3,10.3,501,7556,0.00,0.00,10.35,0.905,8198,0.000,0.000,2834,2073,1503,1617,1389,0,0,0,0,0,0,28.83,28.83,23.45
$GC,7844,1.51,318.2,2834,2073,1616,1386,363.5,10.8,516,7850,0.00,2.85,0.00,0.000,516,0.000,0.112,2834,662,1500,1616,1385,0,0,0,0,0,0,28.83,24.29,28.83
$GC,7861,1.51,318.2,2833,663,1615,1385,363.5,10.8,516,7868,0.00,2.67,0.00,0.000,1030,0.000,0.081,2834,2071,1500,1615,1385,0,0,0,0,0,0,28.83,24.35,28.83
$GC,8167,1.51,318.2,2834,2071,1615,1385,329.5,10.7,532,8168,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2071,1500,1615,1385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8468,1.51,318.2,2834,2070,1615,1384,297.5,10.8,547,8469,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2071,1499,1615,1384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8769,1.53,332.7,2834,2072,1615,1384,266.6,10.2,562,8790,0.12,2.95,14.38,0.884,10756,0.086,0.109,2867,664,1443,1560,1326,0,0,0,0,0,0,24.50,23.94,23.44
$GC,8816,1.53,332.7,1920,664,1524,1322,261.3,10.8,564,8821,0.00,2.67,0.00,0.000,1030,0.000,0.079,2866,2068,1442,1559,1325,0,0,0,0,0,0,28.83,24.18,28.83
$GC,9124,1.53,332.7,2866,2069,1559,1322,224.6,11.8,590,9125,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2067,1440,1559,1322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9424,1.53,332.7,2866,2068,1559,1321,189.6,11.5,620,9429,0.00,2.72,0.00,0.000,260,0.000,0.096,2867,3478,1440,1559,1322,0,0,0,0,0,0,28.83,24.39,28.83
$GC,9450,1.53,332.7,1928,3477,1525,1318,187.0,11.7,622,9457,0.00,2.67,0.00,0.000,1030,0.000,0.080,2866,2066,1440,1559,1322,0,0,0,0,0,0,28.83,24.40,28.83
$GC,9757,1.53,332.7,2866,2066,1559,1321,150.9,12.0,653,9762,0.00,2.80,0.00,0.000,516,0.000,0.109,2867,656,1440,1558,1322,0,0,0,0,0,0,28.83,24.36,28.83
$GC,9783,1.53,332.7,1936,656,1525,1318,148.3,12.0,655,9789,0.00,2.67,0.00,0.000,1030,0.000,0.079,2866,2069,1440,1559,1321,0,0,0,0,0,0,28.83,24.43,28.83
$GC,10090,1.53,332.7,2866,2069,1559,1321,112.1,11.5,686,10095,0.00,2.72,0.00,0.000,260,0.000,0.094,2867,3479,1440,1559,1321,0,0,0,0,0,0,28.83,24.41,28.83
$GC,10113,1.53,332.7,2866,3479,1559,1321,109.5,11.4,688,10119,0.00,2.70,0.00,0.000,1030,0.000,0.080,2867,2057,1439,1558,1321,0,0,0,0,0,0,28.83,24.42,28.83
$GC,10427,1.53,332.7,2866,2057,1559,1321,73.5,11.4,719,10432,0.00,2.75,0.00,0.000,516,0.000,0.107,2867,664,1440,1559,1321,0,0,0,0,0,0,28.83,24.39,28.83
$GC,10450,1.53,332.7,2867,664,1559,1321,70.9,11.3,721,10455,0.00,2.65,0.00,0.000,1030,0.000,0.079,2867,2068,1440,1559,1321,0,0,0,0,0,0,28.83,24.44,28.83
$GC,10763,1.53,332.7,2866,2068,1559,1321,35.5,11.4,752,10764,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2068,1439,1558,1321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11063,1.63,413.8,2866,2068,1558,1321,6.5,8.3,782,11124,0.00,0.00,59.35,0.756,8194,0.000,0.000,2866,2068,1172,1305,1040,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11125,end climb,SURFACE_DEPTH_REACHED
$STATE,11125,begin surface coast
$FINISH,0.7,1.026717
$STATE,11142,end surface coast,CONTROL_FINISHED_OK
$STATE,11142,begin surface
$SM_CCo,11223,0.00,0.000,0,0,1169,400.08
$SM_GC,1.23,11.10,0.00,0.00,0.060,0.000,0.000,513,2068,1169,-9.21,-0.48,400.08,0,0,0,0,0,0,24.18,28.83,28.83
$IRIDIUM_FIX,8054.85,7516.18,010913,222244
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.43
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,15.80
$XPDR_PINGS,9
$SC_FREEKB,3995296
$TM_FREEKB,2322016
$24V_AH,23.1,12.543
$10V_AH,9.2,8.426
$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,24.825,82.525,558.125,0.000,0.000,0.000,0.000,478.550,2.250,0.000,15.184,2120.192,6929.389,615.343,2106.901,193.671,0.000,1961.908,0.000,1511.493,0.000,0.545,0.000
$DEVICE_MAMPS,187.425,114.750,1073.295,0.000,0.000,0.000,0.000,136.935,420.000,0.000,32.210,12.760,2.190,12.760,37.480,46.470,0.000,15.700,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11156.000,11144.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.303,13.746,0.000,0.000
$MEM,282156
$DATA_FILE_SIZE,26715,790
$CAP_FILE_SIZE,152347,0
$CFSIZE,260034560,241758208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.068,220.3,1
$GPS,020913,012335,8205.427,7521.137,39,1.3,39,44.0