version: 66.11
glider: 125
mission: 18
dive: 79
start: 9 2 113 4 53 12
data:
$ID,125
$MISSION,18
$DIVE,79
$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,-181815.62
$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,12
$R_STBD_OVSHOOT,16
$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
$GPS1,020913,044406,8206.330,7524.343,27,1.1,27,44.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-45.6
$GPS2,020913,045243,8206.337,7524.031,10,1.5,10,44.1
$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,354.8,90166,-15.1,-10.588,-20.35,3719
$D_GRID,620
$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,-257.8,512,2063,1324,1073,0.0,0.0,0,138,0.00,0.00,-115.05,0.000,16386,0.000,0.000,512,2063,3133,3188,3078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,142,-1.43,-257.8,512,2062,3188,3079,3.7,-4.3,11,182,10.43,2.83,-18.50,0.000,19204,0.187,0.104,2206,3486,3853,3906,3801,0,0,0,0,0,0,24.19,24.26,24.61
$GC,220,-1.43,-257.8,2205,3486,3906,3802,15.2,-12.1,18,226,0.00,2.65,0.00,0.000,1030,0.000,0.077,2205,2081,3854,3906,3803,0,0,0,0,0,0,28.83,24.32,28.83
$GC,524,-1.43,-257.8,2205,2082,3906,3803,46.6,-9.6,49,525,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2082,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,824,-1.43,-257.8,2205,2082,3906,3803,75.6,-9.4,79,825,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2082,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1124,-1.43,-257.8,2205,2082,3906,3803,103.6,-9.4,109,1125,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2082,3854,3906,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1424,-1.43,-257.8,2205,2082,3906,3802,132.4,-9.7,139,1429,0.00,2.72,0.00,0.000,260,0.000,0.093,2206,3491,3854,3906,3802,0,0,0,0,0,0,28.83,24.41,28.83
$GC,1481,-1.43,-257.8,1376,3489,3904,3800,137.7,-10.2,144,1488,0.00,2.65,0.00,0.000,1030,0.000,0.077,2205,2086,3854,3906,3802,0,0,0,0,0,0,28.83,24.44,28.83
$GC,1787,-1.43,-257.8,2205,2086,3906,3802,168.7,-10.2,175,1788,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2087,3854,3907,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2087,-1.43,-257.8,2205,2086,3906,3802,199.3,-10.3,205,2093,0.00,2.72,0.00,0.000,260,0.000,0.092,2206,3496,3854,3906,3802,0,0,0,0,0,0,28.83,24.43,28.83
$GC,2154,-1.43,-257.8,2205,3495,3906,3802,206.1,-10.6,211,2161,0.00,2.67,0.00,0.000,1030,0.000,0.077,2205,2080,3854,3906,3802,0,0,0,0,0,0,28.83,24.45,28.83
$GC,2460,-1.43,-257.8,2205,2080,3907,3802,237.3,-10.0,242,2462,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2080,3854,3906,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2770,-1.43,-257.8,2205,2080,3906,3802,267.5,-9.6,264,2776,0.00,2.72,0.00,0.000,260,0.000,0.092,2205,3491,3854,3906,3803,0,0,0,0,0,0,28.83,24.45,28.83
$GC,2890,-1.43,-257.8,2205,3491,3906,3803,277.6,-9.9,269,2897,0.00,2.62,0.00,0.000,1030,0.000,0.078,2205,2095,3854,3906,3803,0,0,0,0,0,0,28.83,24.47,28.83
$GC,3194,-1.43,-257.8,2205,2094,3906,3803,307.5,-9.2,285,3195,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2095,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3495,-1.43,-257.8,2205,2095,3906,3803,335.3,-9.5,300,3500,0.00,2.70,0.00,0.000,260,0.000,0.102,2205,3494,3854,3906,3803,0,0,0,0,0,0,28.83,24.46,28.83
$GC,3577,-1.43,-257.8,2205,3494,3906,3803,343.6,-9.9,304,3583,0.00,2.65,0.00,0.000,1030,0.000,0.079,2205,2094,3854,3906,3803,0,0,0,0,0,0,28.83,24.47,28.83
$GC,3901,-1.43,-257.8,2205,2093,3906,3803,374.6,-9.6,320,3902,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2094,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4202,-1.43,-257.8,2205,2093,3906,3804,402.2,-9.3,335,4208,0.00,2.70,0.00,0.000,260,0.000,0.093,2206,3491,3855,3906,3804,0,0,0,0,0,0,28.83,24.47,28.83
$GC,4315,-1.43,-257.8,2205,3491,3906,3804,412.4,-9.8,340,4321,0.00,2.62,0.00,0.000,1030,0.000,0.081,2205,2102,3855,3906,3804,0,0,0,0,0,0,28.83,24.48,28.83
$GC,4629,-1.43,-257.8,2205,2103,3906,3804,442.5,-9.3,356,4630,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2102,3855,3906,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4929,-1.43,-257.8,2205,2101,3906,3804,469.6,-8.7,371,4935,0.00,2.70,0.00,0.000,260,0.000,0.094,2205,3493,3855,3906,3804,0,0,0,0,0,0,28.83,24.48,28.83
$GC,5022,-1.43,-257.8,2205,3492,3906,3804,477.2,-9.1,375,5028,0.00,2.62,0.00,0.000,1030,0.000,0.080,2205,2103,3855,3906,3804,0,0,0,0,0,0,28.83,24.49,28.83
$GC,5336,-1.43,-257.8,2205,2103,3906,3804,506.0,-9.2,391,5337,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2103,3855,3906,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5637,-1.43,-257.8,2205,2102,3906,3804,532.9,-9.0,406,5638,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2102,3855,3906,3804,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5714,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5714,begin apogee
$GC,5718,-0.37,0.0,2205,2068,3906,3804,540.1,-8.9,410,5937,1.20,0.00,210.93,1.069,10244,0.120,0.000,2435,2068,2800,2867,2734,0,0,0,0,0,0,24.47,28.83,23.11
$STATE,5939,end apogee,CONTROL_FINISHED_OK
$STATE,5939,begin climb
$GC,5941,1.43,257.8,2435,2067,2867,2732,549.7,0.0,421,6166,2.03,2.83,213.70,1.021,10500,0.100,0.093,2829,3475,1748,1854,1643,0,0,0,0,0,0,23.89,23.85,23.08
$GC,6202,1.47,289.1,1856,3473,1801,1631,530.7,9.7,434,6240,0.00,2.72,28.10,0.965,9222,0.000,0.083,2830,2074,1620,1732,1508,0,0,0,0,0,0,28.83,24.02,23.12
$GC,6539,1.51,320.9,2830,2074,1730,1501,498.1,9.7,451,6580,0.12,3.03,28.95,0.979,10756,0.083,0.115,2867,661,1490,1605,1376,0,0,0,0,0,0,24.39,23.75,23.19
$GC,6747,1.51,320.9,2867,661,1603,1373,473.1,12.7,461,6752,0.00,2.70,0.00,0.000,1030,0.000,0.080,2867,2072,1487,1602,1373,0,0,0,0,0,0,28.83,24.28,28.83
$GC,7065,1.51,320.9,2867,2072,1603,1370,434.3,12.1,477,7070,0.00,2.72,0.00,0.000,260,0.000,0.093,2867,3480,1486,1602,1370,0,0,0,0,0,0,28.83,24.32,28.83
$GC,7132,1.51,320.9,2867,3480,1602,1370,426.4,12.3,480,7138,0.00,2.67,0.00,0.000,1030,0.000,0.082,2867,2077,1486,1602,1370,0,0,0,0,0,0,28.83,24.34,28.83
$GC,7451,1.51,320.9,2867,2078,1601,1369,387.9,11.8,496,7456,0.00,2.72,0.00,0.000,260,0.000,0.093,2867,3480,1485,1602,1369,0,0,0,0,0,0,28.83,24.34,28.83
$GC,7493,1.51,320.9,2867,3481,1601,1369,382.6,12.1,498,7498,0.00,2.67,0.00,0.000,1030,0.000,0.080,2866,2083,1485,1602,1369,0,0,0,0,0,0,28.83,24.35,28.83
$GC,7816,1.51,320.9,2867,2083,1601,1369,343.4,12.3,514,7822,0.00,2.72,0.00,0.000,260,0.000,0.093,2867,3485,1485,1601,1369,0,0,0,0,0,0,28.83,24.36,28.83
$GC,7848,1.51,320.9,2866,3485,1601,1369,340.5,12.3,515,7853,0.00,2.65,0.00,0.000,1030,0.000,0.080,2867,2092,1485,1601,1369,0,0,0,0,0,0,28.83,24.38,28.83
$GC,8161,1.51,320.9,2866,2091,1601,1368,300.8,12.0,531,8167,0.00,2.67,0.00,0.000,260,0.000,0.091,2867,3482,1485,1601,1369,0,0,0,0,0,0,28.83,24.38,28.83
$GC,8198,1.51,320.9,2867,3482,1601,1369,297.8,12.1,532,8205,0.00,2.62,0.00,0.000,1030,0.000,0.081,2867,2096,1485,1601,1369,0,0,0,0,0,0,28.83,24.39,28.83
$GC,8504,1.51,320.9,2867,2096,1601,1368,259.2,12.3,548,8510,0.00,2.67,0.00,0.000,260,0.000,0.090,2867,3482,1484,1601,1368,0,0,0,0,0,0,28.83,24.39,28.83
$GC,8527,1.51,320.9,2867,3482,1601,1369,256.4,12.3,549,8533,0.00,2.62,0.00,0.000,1030,0.000,0.079,2867,2096,1485,1602,1369,0,0,0,0,0,0,28.83,24.40,28.83
$GC,8840,1.51,320.9,2866,2096,1601,1368,217.6,12.1,577,8846,0.00,2.67,0.00,0.000,260,0.000,0.091,2867,3482,1484,1601,1368,0,0,0,0,0,0,28.83,24.40,28.83
$GC,8877,1.51,320.9,2867,3482,1601,1369,213.5,11.9,580,8885,0.00,2.62,0.00,0.000,1030,0.000,0.079,2867,2101,1485,1601,1369,0,0,0,0,0,0,28.83,24.41,28.83
$GC,9183,1.51,320.9,2867,2101,1601,1368,176.0,11.8,611,9190,0.00,2.67,0.00,0.000,260,0.000,0.093,2866,3483,1484,1601,1368,0,0,0,0,0,0,28.83,24.40,28.83
$GC,9211,1.51,320.9,2867,3483,1601,1369,173.0,12.4,613,9218,0.00,2.60,0.00,0.000,1030,0.000,0.077,2867,2103,1485,1601,1369,0,0,0,0,0,0,28.83,24.42,28.83
$GC,9517,1.51,320.9,2867,2103,1601,1368,137.7,11.2,644,9518,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2103,1484,1601,1368,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9817,1.51,320.9,2867,2103,1601,1369,105.4,10.8,674,9822,0.00,2.67,0.00,0.000,260,0.000,0.092,2867,3486,1484,1601,1368,0,0,0,0,0,0,28.83,24.43,28.83
$GC,9849,1.51,320.9,2866,3486,1601,1368,101.7,11.0,677,9855,0.00,2.60,0.00,0.000,1030,0.000,0.077,2867,2103,1484,1601,1368,0,0,0,0,0,0,28.83,24.44,28.83
$GC,10163,1.52,331.1,2867,2103,1601,1368,69.1,10.3,708,10174,0.00,0.00,9.25,0.736,8198,0.000,0.000,2867,2103,1450,1566,1334,0,0,0,0,0,0,28.83,28.83,23.72
$GC,10473,1.52,331.1,2866,2103,1566,1332,33.6,12.2,739,10474,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2103,1449,1566,1332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10773,1.58,379.9,2867,2103,1566,1333,2.5,9.2,769,10784,0.00,0.00,8.40,0.699,8194,0.000,0.000,2866,2101,1419,1538,1301,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10785,end climb,SURFACE_DEPTH_REACHED
$STATE,10785,begin surface coast
$FINISH,0.6,1.008398
$STATE,10802,end surface coast,CONTROL_FINISHED_OK
$STATE,10802,begin surface
$SM_CCo,10882,0.00,0.000,0,0,1416,339.50
$SM_GC,1.25,11.00,0.00,0.00,0.060,0.000,0.000,514,2100,1416,-9.21,0.42,339.50,0,0,0,0,0,0,24.34,28.83,28.83
$IRIDIUM_FIX,8054.85,7527.37,020913,010155
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.33
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,15.90
$XPDR_PINGS,7
$SC_FREEKB,3994656
$TM_FREEKB,2255040
$24V_AH,23.1,12.871
$10V_AH,9.2,8.655
$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,24.775,91.575,499.325,0.000,0.000,0.000,0.000,316.950,1.750,0.000,12.414,2134.455,6527.976,574.842,1969.861,193.173,0.000,1768.396,0.000,1533.040,0.000,0.527,0.000
$DEVICE_MAMPS,187.425,149.940,1068.705,0.000,0.000,0.000,0.000,147.645,420.000,0.000,32.210,12.760,2.190,12.760,37.480,46.470,0.000,15.700,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10818.000,10801.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.422,13.752,0.000,0.000
$MEM,282220
$DATA_FILE_SIZE,26703,772
$CAP_FILE_SIZE,149385,0
$CFSIZE,260034560,241561600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.074,217.9,1
$GPS,020913,075554,8207.175,7529.191,39,1.3,39,44.1