version: 66.11
glider: 125
mission: 18
dive: 33
start: 8 26 113 22 8 11
data:
$ID,125
$MISSION,18
$DIVE,33
$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,-1
$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,-181705.78
$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,2200
$C_ROLL_CLIMB,2046
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,9
$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
$GPS1,260813,215905,8103.743,6941.574,39,1.0,39,40.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-55.2
$GPS2,260813,220713,8103.764,6941.607,11,1.4,11,40.6
$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,357.6,132596,-14.7,-10.000,-20.13,3713
$D_GRID,554
$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,-1.39,-243.2,512,2203,1534,1384,0.0,0.0,0,113,0.00,0.00,-91.12,0.000,16386,0.000,0.000,512,2201,3035,3095,2976,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-1.39,-243.2,513,2200,3095,2976,3.2,-4.0,9,157,10.40,2.83,-21.85,0.000,18692,0.187,0.112,2216,3616,3794,3872,3716,0,0,0,0,0,0,24.15,24.22,24.59
$GC,269,-1.39,-243.2,2216,3616,3870,3717,23.3,-12.6,24,274,0.00,2.75,0.00,0.000,1030,0.000,0.088,2216,2194,3793,3870,3717,0,0,0,0,0,0,28.83,24.32,28.83
$GC,582,-1.39,-243.2,2216,2193,3870,3717,55.8,-10.4,55,587,0.00,2.83,0.00,0.000,516,0.000,0.112,2216,786,3793,3870,3717,0,0,0,0,0,0,28.83,24.31,28.83
$GC,668,-1.39,-243.2,2216,787,3870,3717,64.4,-10.3,63,674,0.00,2.72,0.00,0.000,1030,0.000,0.090,2216,2199,3793,3870,3717,0,0,0,0,0,0,28.83,24.36,28.83
$GC,974,-1.39,-243.2,2216,2199,3870,3717,93.8,-9.2,94,976,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2199,3793,3870,3717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1274,-1.39,-243.2,2216,2199,3870,3717,121.1,-9.0,124,1280,0.00,2.83,0.00,0.000,516,0.000,0.109,2216,789,3793,3870,3717,0,0,0,0,0,0,28.83,24.34,28.83
$GC,1347,-1.39,-243.2,2216,789,3870,3717,128.2,-9.7,131,1352,0.00,2.70,0.00,0.000,1030,0.000,0.087,2216,2192,3793,3870,3717,0,0,0,0,0,0,28.83,24.40,28.83
$GC,1660,-1.39,-243.2,2216,2192,3870,3717,156.4,-8.9,162,1661,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2192,3793,3870,3717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1960,-1.39,-243.2,2215,2192,3870,3717,182.6,-8.5,192,1965,0.00,2.80,0.00,0.000,516,0.000,0.110,2216,794,3793,3870,3717,0,0,0,0,0,0,28.83,24.38,28.83
$GC,2036,-1.39,-243.2,2216,793,3870,3717,189.5,-9.6,199,2043,0.00,2.67,0.00,0.000,1030,0.000,0.087,2216,2192,3793,3870,3717,0,0,0,0,0,0,28.83,24.42,28.83
$GC,2343,-1.39,-243.2,2216,2192,3870,3717,217.2,-9.0,230,2344,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2192,3794,3870,3718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2642,-1.39,-243.2,2216,2192,3870,3717,243.8,-8.8,260,2647,0.00,2.80,0.00,0.000,516,0.000,0.110,2216,793,3793,3870,3717,0,0,0,0,0,0,28.83,24.39,28.83
$GC,2729,-1.39,-243.2,1384,792,3866,3715,251.2,-9.0,268,2734,0.00,2.67,0.00,0.000,1030,0.000,0.087,2216,2195,3793,3870,3717,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3047,-1.39,-243.2,2216,2195,3870,3717,280.4,-9.1,284,3048,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2197,3794,3872,3717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3349,-1.39,-243.2,2216,2195,3870,3717,307.5,-9.0,299,3354,0.00,2.83,0.00,0.000,516,0.000,0.116,2216,791,3793,3870,3717,0,0,0,0,0,0,28.83,24.41,28.83
$GC,3441,-1.39,-243.2,2216,791,3870,3717,315.4,-9.3,303,3446,0.00,2.67,0.00,0.000,1030,0.000,0.089,2216,2187,3793,3870,3717,0,0,0,0,0,0,28.83,24.46,28.83
$GC,3753,-1.39,-243.2,2216,2187,3870,3717,343.9,-8.7,319,3754,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2187,3794,3870,3718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4054,-1.39,-243.2,2215,2187,3870,3717,369.6,-8.7,334,4059,0.00,2.80,0.00,0.000,516,0.000,0.115,2216,793,3793,3870,3717,0,0,0,0,0,0,28.83,24.42,28.83
$GC,4130,-1.39,-243.2,2216,793,3870,3717,375.5,-9.2,337,4137,0.00,2.67,0.00,0.000,1030,0.000,0.089,2216,2189,3793,3870,3717,0,0,0,0,0,0,28.83,24.47,28.83
$GC,4437,-1.39,-243.2,2216,2189,3870,3718,404.2,-9.0,353,4438,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2189,3793,3870,3717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4737,-1.39,-243.2,2216,2189,3870,3717,430.9,-8.7,368,4742,0.00,2.83,0.00,0.000,516,0.000,0.120,2216,787,3793,3870,3717,0,0,0,0,0,0,28.83,24.43,28.83
$GC,4834,-1.39,-243.2,2216,787,3870,3718,438.3,-8.8,372,4841,0.00,2.67,0.00,0.000,1030,0.000,0.090,2216,2181,3793,3870,3717,0,0,0,0,0,0,28.83,24.49,28.83
$GC,5140,-1.39,-243.2,2215,2181,3870,3717,466.0,-8.6,388,5141,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2181,3793,3869,3717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5441,-1.39,-243.2,2215,2181,3870,3717,491.7,-8.4,403,5446,0.00,2.80,0.00,0.000,516,0.000,0.117,2216,791,3793,3870,3717,0,0,0,0,0,0,28.83,24.44,28.83
$GC,5497,-1.39,-243.2,2215,791,3869,3717,495.5,-8.6,405,5504,0.00,2.67,0.00,0.000,1030,0.000,0.090,2216,2179,3793,3870,3717,0,0,0,0,0,0,28.83,24.49,28.83
$STATE,5661,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5661,begin apogee
$GC,5666,-0.37,0.0,2215,2038,3870,3717,511.2,-8.6,414,5872,1.17,0.00,200.00,1.061,10244,0.122,0.000,2439,2038,2800,2865,2735,0,0,0,0,0,0,24.45,28.83,23.13
$STATE,5875,end apogee,CONTROL_FINISHED_OK
$STATE,5875,begin climb
$GC,5877,1.39,243.2,2439,2037,2865,2733,520.4,0.0,424,6093,1.98,2.92,202.23,1.017,10500,0.106,0.106,2820,3461,1807,1900,1714,0,0,0,0,0,0,23.89,23.84,23.10
$GC,6159,1.40,254.6,2820,3461,1898,1708,501.8,9.7,438,6179,0.00,2.80,10.52,0.887,9222,0.000,0.095,2820,2049,1761,1858,1665,0,0,0,0,0,0,28.83,24.10,23.29
$GC,6487,1.42,272.3,2820,2049,1858,1659,470.0,9.5,455,6511,0.00,3.03,16.80,0.956,8708,0.000,0.125,2822,632,1688,1789,1588,0,0,0,0,0,0,28.83,23.80,23.27
$GC,6677,1.42,272.3,2820,632,1786,1586,451.5,10.3,464,6682,0.00,2.75,0.00,0.000,1030,0.000,0.090,2820,2050,1686,1786,1586,0,0,0,0,0,0,28.83,24.27,28.83
$GC,6990,1.45,293.9,2820,2048,1786,1584,421.0,9.4,480,7019,0.00,2.92,20.40,0.971,8452,0.000,0.106,2820,3456,1600,1704,1497,0,0,0,0,0,0,28.83,23.84,23.25
$GC,7051,1.45,296.1,2820,3457,1704,1495,414.9,9.9,483,7057,0.00,2.80,0.00,0.000,1030,0.000,0.094,2820,2044,1599,1704,1495,0,0,0,0,0,0,28.83,24.12,28.83
$GC,7374,1.45,296.1,2820,2044,1703,1492,382.9,10.2,499,7375,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2045,1597,1703,1492,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7675,1.47,312.5,2820,2044,1702,1490,353.7,9.5,514,7700,0.12,2.88,17.12,0.941,10500,0.085,0.103,2854,3457,1526,1631,1421,0,0,0,0,0,0,24.44,23.89,23.33
$GC,7736,1.47,312.5,2854,3457,1630,1419,346.8,10.6,517,7742,0.00,2.78,0.00,0.000,1030,0.000,0.093,2853,2052,1524,1630,1419,0,0,0,0,0,0,28.83,24.15,28.83
$GC,8059,1.47,312.5,2854,2051,1629,1416,311.4,11.0,533,8060,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2051,1523,1630,1417,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8359,1.47,312.5,2854,2051,1629,1414,278.3,11.0,548,8365,0.00,2.78,0.00,0.000,260,0.000,0.101,2854,3460,1521,1629,1414,0,0,0,0,0,0,28.83,24.33,28.83
$GC,8396,1.47,312.5,2854,3459,1629,1414,275.7,11.1,549,8402,0.00,2.72,0.00,0.000,1030,0.000,0.090,2854,2057,1522,1629,1415,0,0,0,0,0,0,28.83,24.34,28.83
$GC,8702,1.47,312.5,2854,2057,1629,1414,240.7,10.8,569,8703,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2057,1522,1629,1415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9002,1.47,312.5,2854,2057,1629,1413,208.5,10.7,599,9007,0.00,2.78,0.00,0.000,260,0.000,0.102,2854,3462,1521,1629,1414,0,0,0,0,0,0,28.83,24.37,28.83
$GC,9034,1.47,312.5,2854,3462,1629,1413,204.7,11.6,602,9039,0.00,2.72,0.00,0.000,1030,0.000,0.090,2854,2059,1521,1629,1413,0,0,0,0,0,0,28.83,24.37,28.83
$GC,9347,1.47,312.5,2854,2059,1629,1413,170.2,10.9,633,9348,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2059,1521,1630,1413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9646,1.47,312.5,2853,2059,1629,1413,136.8,11.3,663,9652,0.00,2.75,0.00,0.000,260,0.000,0.101,2854,3458,1521,1629,1413,0,0,0,0,0,0,28.83,24.38,28.83
$GC,9683,1.47,312.5,2854,3458,1629,1413,132.9,11.7,666,9689,0.00,2.70,0.00,0.000,1030,0.000,0.090,2854,2057,1521,1629,1413,0,0,0,0,0,0,28.83,24.39,28.83
$GC,9989,1.47,312.5,2854,2059,1629,1413,96.8,11.6,697,9995,0.00,2.75,0.00,0.000,260,0.000,0.100,2854,3458,1521,1629,1413,0,0,0,0,0,0,28.83,24.39,28.83
$GC,10015,1.47,312.5,1920,3456,1589,1409,94.1,11.6,699,10022,0.00,2.67,0.00,0.000,1030,0.000,0.088,2854,2067,1521,1629,1413,0,0,0,0,0,0,28.83,24.41,28.83
$GC,10322,1.47,312.5,2854,2066,1629,1413,60.7,10.3,730,10323,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2066,1521,1629,1413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10622,1.54,364.7,2854,2066,1629,1413,32.1,8.6,760,10677,0.00,2.85,46.30,0.766,8452,0.000,0.100,2854,3449,1313,1430,1196,0,0,0,0,0,0,28.83,23.87,23.39
$GC,10695,1.58,402.2,2853,3449,1430,1193,25.7,9.0,767,10735,0.00,2.72,33.40,0.734,9222,0.000,0.090,2854,2064,1160,1286,1035,0,0,0,0,0,0,28.83,24.10,23.38
$STATE,10952,end climb,SURFACE_DEPTH_REACHED
$STATE,10952,begin surface coast
$FINISH,0.6,1.026725
$STATE,10975,end surface coast,CONTROL_FINISHED_OK
$STATE,10975,begin surface
$SM_CCo,11055,0.00,0.000,0,0,1154,403.76
$SM_GC,1.14,11.00,0.30,0.00,0.063,0.099,0.000,510,2205,1154,-9.22,-0.31,403.76,0,0,0,0,0,0,24.37,24.34,28.83
$IRIDIUM_FIX,8002.69,6939.65,260813,181814
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.70
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,15.80
$XPDR_PINGS,7
$SC_FREEKB,4009216
$TM_FREEKB,3786816
$24V_AH,23.1,4.971
$10V_AH,9.3,3.522
$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,24.675,100.900,546.775,0.000,0.000,0.000,0.000,317.725,1.750,0.000,13.189,2084.317,6716.889,586.378,2017.740,169.648,0.000,1813.865,0.000,1585.346,0.000,0.545,0.000
$DEVICE_MAMPS,187.425,143.820,1061.055,0.000,0.000,0.000,0.000,143.055,420.000,0.000,32.210,12.760,2.190,12.760,37.480,46.470,0.000,15.700,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10986.000,10981.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.922,13.790,0.000,0.000
$MEM,267508
$DATA_FILE_SIZE,26699,795
$CAP_FILE_SIZE,153878,0
$CFSIZE,260034560,245907456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270813,011336,8105.000,6949.128,30,1.7,30,40.7