version: 66.11
glider: 125
mission: 18
dive: 78
start: 9 2 113 1 33 5
data:
$ID,125
$MISSION,18
$DIVE,78
$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,-181814.38
$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,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
$GPS1,020913,012335,8205.427,7521.137,39,1.3,39,44.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-50.3
$GPS2,020913,013236,8205.445,7520.710,13,1.3,13,44.0
$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,349.3,91978,-15.1,-10.588,-20.35,3719
$D_GRID,611
$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,19,begin dive
$GC,21,-1.43,-257.8,512,2072,1286,1037,0.0,0.0,0,138,0.00,0.00,-114.30,0.000,16386,0.000,0.000,512,2069,3028,3080,2976,0,0,0,0,0,0,28.83,28.83,28.83
$GC,142,-1.43,-257.8,512,2069,3082,2976,3.1,-3.2,11,181,10.43,0.00,-23.65,0.000,19206,0.187,0.000,2206,2069,3852,3906,3799,0,0,0,0,0,0,24.19,28.83,24.60
$GC,479,-1.43,-257.8,2206,2069,3906,3802,41.9,-10.0,45,485,0.00,2.78,0.00,0.000,260,0.000,0.093,2206,3502,3854,3906,3802,0,0,0,0,0,0,28.83,24.36,28.83
$GC,562,-1.43,-257.8,2206,3502,3906,3802,50.8,-10.3,53,569,0.00,2.67,0.00,0.000,1030,0.000,0.078,2206,2084,3854,3906,3802,0,0,0,0,0,0,28.83,24.39,28.83
$GC,876,-1.43,-257.8,2206,2084,3907,3802,82.3,-10.1,84,883,0.00,2.78,0.00,0.000,516,0.000,0.106,2206,678,3854,3906,3802,0,0,0,0,0,0,28.83,24.35,28.83
$GC,981,-1.43,-257.8,2206,677,3906,3802,92.6,-10.0,94,987,0.00,2.67,0.00,0.000,1030,0.000,0.080,2206,2089,3854,3906,3802,0,0,0,0,0,0,28.83,24.41,28.83
$GC,1294,-1.43,-257.8,2206,2089,3906,3801,122.6,-9.4,125,1300,0.00,2.72,0.00,0.000,260,0.000,0.096,2206,3493,3854,3906,3802,0,0,0,0,0,0,28.83,24.40,28.83
$GC,1358,-1.43,-257.8,2206,3494,3906,3802,128.6,-9.5,131,1365,0.00,2.67,0.00,0.000,1030,0.000,0.080,2206,2077,3854,3906,3802,0,0,0,0,0,0,28.83,24.42,28.83
$GC,1672,-1.43,-257.8,2206,2077,3906,3801,157.8,-9.2,162,1673,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2077,3854,3906,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1972,-1.43,-257.8,2206,2078,3907,3802,186.0,-9.5,192,1978,0.00,2.72,0.00,0.000,260,0.000,0.092,2206,3492,3853,3906,3801,0,0,0,0,0,0,28.83,24.43,28.83
$GC,2030,-1.43,-257.8,2206,3492,3906,3801,191.3,-10.2,197,2037,0.00,2.65,0.00,0.000,1030,0.000,0.078,2206,2083,3854,3907,3802,0,0,0,0,0,0,28.83,24.44,28.83
$GC,2335,-1.43,-257.8,2206,2083,3906,3802,220.9,-9.5,228,2337,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2083,3854,3906,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2635,-1.43,-257.8,2206,2083,3907,3802,249.5,-9.6,258,2640,0.00,2.72,0.00,0.000,260,0.000,0.094,2206,3491,3854,3906,3802,0,0,0,0,0,0,28.83,24.44,28.83
$GC,2748,-1.43,-257.8,2206,3491,3906,3803,259.5,-9.8,264,2755,0.00,2.67,0.00,0.000,1030,0.000,0.080,2206,2085,3854,3906,3803,0,0,0,0,0,0,28.83,24.46,28.83
$GC,3063,-1.43,-257.8,2206,2085,3908,3802,289.8,-9.0,280,3068,0.00,2.75,0.00,0.000,260,0.000,0.095,2206,3499,3854,3906,3803,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3137,-1.43,-257.8,2206,3499,3906,3803,296.0,-9.6,283,3142,0.00,2.67,0.00,0.000,1030,0.000,0.081,2206,2087,3854,3906,3803,0,0,0,0,0,0,28.83,24.46,28.83
$GC,3449,-1.43,-257.8,2206,2087,3906,3803,326.1,-9.2,299,3451,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2087,3855,3907,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3751,-1.43,-257.8,2206,2087,3906,3803,353.9,-9.3,314,3756,0.00,2.72,0.00,0.000,260,0.000,0.095,2206,3492,3854,3906,3803,0,0,0,0,0,0,28.83,24.46,28.83
$GC,3858,-1.43,-257.8,2206,3492,3906,3803,363.8,-9.7,319,3864,0.00,2.65,0.00,0.000,1030,0.000,0.081,2206,2093,3854,3906,3803,0,0,0,0,0,0,28.83,24.47,28.83
$GC,4177,-1.43,-257.8,2206,2093,3907,3803,394.0,-9.3,335,4178,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2092,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4479,-1.43,-257.8,2206,2092,3907,3803,421.9,-9.2,350,4484,0.00,2.72,0.00,0.000,260,0.000,0.095,2206,3498,3854,3906,3803,0,0,0,0,0,0,28.83,24.46,28.83
$GC,4607,-1.43,-257.8,2206,3498,3906,3803,433.7,-9.5,356,4612,0.00,2.65,0.00,0.000,1030,0.000,0.081,2206,2099,3854,3906,3803,0,0,0,0,0,0,28.83,24.48,28.83
$GC,4925,-1.43,-257.8,2206,2098,3907,3803,462.4,-9.0,372,4926,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2098,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5226,-1.43,-257.8,2206,2098,3906,3803,489.1,-8.9,387,5231,0.00,2.72,0.00,0.000,260,0.000,0.106,2206,3501,3854,3906,3802,0,0,0,0,0,0,28.83,24.46,28.83
$GC,5309,-1.43,-257.8,2206,3501,3906,3803,496.8,-9.4,391,5314,0.00,2.65,0.00,0.000,1030,0.000,0.081,2207,2108,3854,3906,3803,0,0,0,0,0,0,28.83,24.49,28.83
$GC,5632,-1.43,-257.8,2206,2108,3906,3803,525.8,-8.9,407,5633,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2109,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5789,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5789,begin apogee
$GC,5794,-0.37,0.0,2206,2061,3906,3803,540.2,-8.9,415,6013,1.20,0.00,211.27,1.072,10244,0.119,0.000,2436,2061,2800,2867,2733,0,0,0,0,0,0,24.47,28.83,23.09
$STATE,6015,end apogee,CONTROL_FINISHED_OK
$STATE,6015,begin climb
$GC,6017,1.43,257.8,2436,2060,2867,2731,549.7,0.0,426,6242,1.98,2.95,213.30,1.027,10756,0.084,0.116,2834,662,1748,1849,1648,0,0,0,0,0,0,23.89,23.80,23.06
$GC,6343,1.43,257.8,2834,662,1846,1642,524.3,10.7,442,6348,0.00,2.70,0.00,0.000,1030,0.000,0.082,2834,2068,1744,1846,1642,0,0,0,0,0,0,28.83,24.17,28.83
$GC,6656,1.45,271.6,2834,2068,1846,1636,491.0,10.2,458,6676,0.00,2.83,12.35,0.931,8452,0.000,0.096,2834,3482,1692,1798,1587,0,0,0,0,0,0,28.83,23.92,23.35
$GC,6888,1.45,271.6,2834,3483,1798,1584,466.1,11.1,469,6893,0.00,2.70,0.00,0.000,1030,0.000,0.083,2834,2070,1691,1798,1584,0,0,0,0,0,0,28.83,24.30,28.83
$GC,7201,1.45,272.3,2834,2070,1798,1583,432.1,10.6,485,7207,0.00,2.85,0.00,0.000,516,0.000,0.113,2834,658,1690,1798,1582,0,0,0,0,0,0,28.83,24.28,28.83
$GC,7247,1.45,272.3,1896,659,1749,1576,427.3,10.9,487,7253,0.00,2.67,0.00,0.000,1030,0.000,0.081,2834,2065,1689,1797,1582,0,0,0,0,0,0,28.83,24.35,28.83
$GC,7566,1.46,278.7,2834,2065,1797,1582,393.5,10.4,503,7575,0.00,0.00,7.62,0.864,8198,0.000,0.000,2834,2065,1663,1771,1556,0,0,0,0,0,0,28.83,28.83,23.54
$GC,7866,1.46,280.4,2834,2065,1770,1553,362.1,10.5,518,7871,0.00,2.83,0.00,0.000,516,0.000,0.112,2834,662,1662,1771,1553,0,0,0,0,0,0,28.83,24.31,28.83
$GC,7898,1.46,280.4,2834,662,1770,1552,359.6,10.7,519,7903,0.00,2.65,0.00,0.000,1030,0.000,0.092,2834,2064,1661,1770,1553,0,0,0,0,0,0,28.83,24.37,28.83
$GC,8210,1.46,280.4,2834,2064,1769,1553,324.7,11.0,535,8211,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2063,1661,1770,1553,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8511,1.47,288.7,2834,2064,1770,1553,292.5,10.4,550,8523,0.00,0.00,10.10,0.867,8198,0.000,0.000,2834,2064,1623,1731,1515,0,0,0,0,0,0,28.83,28.83,23.54
$GC,8811,1.48,296.9,2834,2064,1731,1512,260.9,10.4,565,8826,0.00,2.85,9.25,0.837,8708,0.000,0.113,2834,662,1588,1700,1477,0,0,0,0,0,0,28.83,24.06,23.56
$GC,8848,1.50,308.8,2834,662,1699,1477,258.7,10.3,566,8868,0.00,2.67,12.27,0.847,9222,0.000,0.079,2834,2067,1541,1654,1428,0,0,0,0,0,0,28.83,24.22,23.37
$GC,9177,1.51,315.4,2834,2067,1653,1424,223.8,10.4,595,9186,0.00,0.00,6.95,0.764,8198,0.000,0.000,2834,2067,1515,1628,1402,0,0,0,0,0,0,28.83,28.83,23.64
$GC,9486,1.52,326.3,2834,2067,1628,1399,191.9,10.3,626,9507,0.00,2.90,11.57,0.813,8708,0.000,0.107,2834,664,1468,1583,1353,0,0,0,0,0,0,28.83,24.02,23.54
$GC,9523,1.52,326.3,2834,664,1583,1353,188.2,10.6,629,9530,0.00,2.65,0.00,0.000,1030,0.000,0.078,2834,2060,1468,1583,1353,0,0,0,0,0,0,28.83,24.19,28.83
$GC,9830,1.52,326.3,2834,2060,1583,1351,154.7,10.9,660,9831,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2061,1467,1583,1351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10130,1.52,330.4,2834,2061,1583,1351,122.7,10.5,690,10143,0.10,2.80,4.65,0.626,10756,0.098,0.110,2859,662,1453,1569,1337,0,0,0,0,0,0,24.51,24.25,23.78
$GC,10169,1.52,330.4,2858,662,1569,1337,118.5,11.5,693,10176,0.00,2.62,0.00,0.000,1030,0.000,0.077,2859,2059,1453,1569,1337,0,0,0,0,0,0,28.83,24.34,28.83
$GC,10475,1.52,330.4,2858,2059,1569,1336,83.8,10.8,724,10476,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2059,1452,1569,1336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10775,1.54,345.5,2858,2059,1569,1336,52.5,10.2,754,10797,0.00,2.83,15.05,0.751,8708,0.000,0.103,2859,662,1391,1510,1272,0,0,0,0,0,0,28.83,24.01,23.58
$GC,10830,1.54,345.5,2858,662,1510,1272,46.6,10.7,759,10835,0.00,2.65,0.00,0.000,1030,0.000,0.076,2859,2059,1390,1509,1272,0,0,0,0,0,0,28.83,24.23,28.83
$GC,11143,1.60,390.4,2859,2059,1509,1269,15.9,9.3,790,11186,0.00,0.00,41.03,0.744,8198,0.000,0.000,2859,2059,1208,1338,1078,0,0,0,0,0,0,28.83,28.83,23.41
$STATE,11301,end climb,SURFACE_DEPTH_REACHED
$STATE,11301,begin surface coast
$FINISH,0.6,1.025352
$STATE,11312,end surface coast,CONTROL_FINISHED_OK
$STATE,11313,begin surface
$SM_CCo,11393,0.00,0.000,0,0,1202,391.99
$SM_GC,1.14,10.85,0.00,0.00,0.054,0.000,0.000,512,2063,1202,-9.21,-0.59,391.99,0,0,0,0,0,0,24.35,28.83,28.83
$IRIDIUM_FIX,8054.85,7535.18,010913,222243
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.07
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,15.90
$XPDR_PINGS,8
$SC_FREEKB,3994976
$TM_FREEKB,2287776
$24V_AH,23.1,12.712
$10V_AH,9.1,8.543
$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,24.550,92.875,555.425,0.000,0.000,0.000,0.000,339.350,2.000,0.000,15.642,2255.386,6778.143,622.146,2092.558,187.139,0.000,1881.134,0.000,1628.341,0.000,0.528,0.000
$DEVICE_MAMPS,187.425,139.230,1071.765,0.000,0.000,0.000,0.000,145.350,420.000,0.000,32.210,12.760,2.190,12.760,37.480,46.470,0.000,15.700,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11326.000,11311.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.353,13.762,0.000,0.000
$MEM,282236
$DATA_FILE_SIZE,26681,807
$CAP_FILE_SIZE,156385,0
$CFSIZE,260034560,241655808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.091,236.0,1
$GPS,020913,044406,8206.330,7524.343,27,1.1,27,44.1