version: 66.11
glider: 125
mission: 18
dive: 40
start: 8 27 113 20 50 3
data:
$ID,125
$MISSION,18
$DIVE,40
$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,-3
$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,-181715
$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,1900
$C_ROLL_CLIMB,2046
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,13
$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
$GPS1,270813,204130,8112.562,7018.359,36,1.9,36,41.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-54.0
$GPS2,270813,204937,8112.629,7018.329,14,1.0,14,41.0
$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,358.6,113875,-14.7,-10.000,-20.13,3713
$D_GRID,564
$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,-243.2,512,1894,1242,1007,0.0,0.0,0,139,0.00,0.00,-116.70,0.000,16386,0.000,0.000,512,1895,3084,3142,3027,0,0,0,0,0,0,28.83,28.83,28.83
$GC,143,-1.39,-243.2,512,1895,3142,3028,3.1,-2.7,12,183,10.38,2.85,-19.45,0.000,18692,0.186,0.109,2215,3308,3794,3867,3721,0,0,0,0,0,0,24.17,24.24,24.59
$GC,326,-1.39,-243.2,2214,3308,3867,3722,26.4,-10.5,30,331,0.00,2.72,0.00,0.000,1030,0.000,0.089,2215,1897,3794,3867,3722,0,0,0,0,0,0,28.83,24.32,28.83
$GC,638,-1.39,-243.2,2215,1897,3867,3722,58.3,-10.0,61,644,0.00,2.78,0.00,0.000,260,0.000,0.099,2215,3309,3794,3867,3722,0,0,0,0,0,0,28.83,24.34,28.83
$GC,745,-1.39,-243.2,2215,3309,3867,3722,68.6,-9.9,71,752,0.00,2.72,0.00,0.000,1030,0.000,0.090,2215,1899,3794,3867,3722,0,0,0,0,0,0,28.83,24.36,28.83
$GC,1051,-1.39,-243.2,2215,1899,3867,3722,97.8,-9.2,102,1056,0.00,2.78,0.00,0.000,260,0.000,0.099,2215,3309,3794,3867,3722,0,0,0,0,0,0,28.83,24.37,28.83
$GC,1148,-1.39,-243.2,1392,3308,3864,3720,106.7,-9.8,111,1155,0.00,2.70,0.00,0.000,1030,0.000,0.089,2215,1911,3794,3867,3722,0,0,0,0,0,0,28.83,24.39,28.83
$GC,1454,-1.39,-243.2,2215,1911,3867,3721,135.6,-9.1,142,1460,0.00,2.72,0.00,0.000,260,0.000,0.096,2215,3309,3794,3867,3722,0,0,0,0,0,0,28.83,24.39,28.83
$GC,1526,-1.39,-243.2,2214,3309,3866,3721,142.9,-10.1,149,1532,0.00,2.70,0.00,0.000,1030,0.000,0.087,2215,1912,3794,3867,3721,0,0,0,0,0,0,28.83,24.40,28.83
$GC,1840,-1.39,-243.2,2215,1912,3867,3721,172.6,-9.5,180,1845,0.00,2.72,0.00,0.000,260,0.000,0.103,2215,3312,3794,3867,3721,0,0,0,0,0,0,28.83,24.40,28.83
$GC,1923,-1.39,-243.2,2215,3312,3867,3721,180.7,-9.5,188,1929,0.00,2.67,0.00,0.000,1030,0.000,0.088,2215,1920,3794,3867,3721,0,0,0,0,0,0,28.83,24.41,28.83
$GC,2236,-1.39,-243.2,2215,1921,3867,3722,208.7,-8.8,219,2241,0.00,2.72,0.00,0.000,260,0.000,0.096,2215,3315,3794,3867,3721,0,0,0,0,0,0,28.83,24.41,28.83
$GC,2349,-1.39,-243.2,2215,3315,3867,3722,218.8,-8.9,230,2354,0.00,2.67,0.00,0.000,1030,0.000,0.088,2215,1927,3794,3867,3721,0,0,0,0,0,0,28.83,24.42,28.83
$GC,2662,-1.39,-243.2,2215,1927,3867,3721,246.0,-8.7,261,2667,0.00,2.70,0.00,0.000,260,0.000,0.097,2215,3309,3794,3867,3722,0,0,0,0,0,0,28.83,24.41,28.83
$GC,2779,-1.39,-243.2,2215,3309,3867,3722,255.1,-8.9,269,2786,0.00,2.65,0.00,0.000,1030,0.000,0.089,2215,1934,3794,3867,3722,0,0,0,0,0,0,28.83,24.43,28.83
$GC,3085,-1.39,-243.2,2215,1934,3867,3722,282.5,-8.6,285,3090,0.00,2.67,0.00,0.000,260,0.000,0.096,2215,3309,3794,3867,3721,0,0,0,0,0,0,28.83,24.43,28.83
$GC,3157,-1.39,-243.2,2215,3309,3867,3722,288.0,-8.6,288,3162,0.00,2.65,0.00,0.000,1030,0.000,0.089,2215,1934,3794,3867,3722,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3469,-1.39,-243.2,2215,1934,3867,3722,316.9,-8.8,304,3475,0.00,2.67,0.00,0.000,260,0.000,0.097,2215,3309,3794,3866,3722,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3586,-1.39,-243.2,2215,3310,3867,3722,326.3,-9.3,309,3593,0.00,2.65,0.00,0.000,1030,0.000,0.090,2215,1939,3794,3866,3722,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3892,-1.39,-243.2,2215,1940,3867,3722,355.1,-9.0,325,3897,0.00,2.67,0.00,0.000,260,0.000,0.098,2215,3309,3794,3867,3722,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3995,-1.39,-243.2,2214,3309,3867,3722,364.5,-9.2,330,4000,0.00,2.62,0.00,0.000,1030,0.000,0.090,2215,1948,3794,3867,3722,0,0,0,0,0,0,28.83,24.45,28.83
$GC,4318,-1.39,-243.2,2214,1949,3867,3722,391.7,-8.3,346,4323,0.00,2.67,0.00,0.000,260,0.000,0.099,2215,3312,3794,3867,3722,0,0,0,0,0,0,28.83,24.45,28.83
$GC,4421,-1.39,-243.2,2215,3312,3867,3722,400.7,-8.8,351,4427,0.00,2.62,0.00,0.000,1030,0.000,0.091,2215,1956,3794,3867,3722,0,0,0,0,0,0,28.83,24.46,28.83
$GC,4744,-1.39,-243.2,2215,1956,3867,3722,428.8,-8.6,367,4749,0.00,2.65,0.00,0.000,260,0.000,0.098,2215,3311,3794,3867,3722,0,0,0,0,0,0,28.83,24.45,28.83
$GC,4836,-1.39,-243.2,2215,3311,3867,3722,435.9,-8.5,371,4841,0.00,2.60,0.00,0.000,1030,0.000,0.091,2215,1960,3794,3867,3722,0,0,0,0,0,0,28.83,24.46,28.83
$GC,5149,-1.39,-243.2,2215,1960,3867,3722,462.8,-8.5,387,5154,0.00,2.65,0.00,0.000,260,0.000,0.102,2216,3311,3794,3867,3722,0,0,0,0,0,0,28.83,24.46,28.83
$GC,5205,-1.39,-243.2,2215,3311,3867,3722,466.5,-8.6,389,5212,0.00,2.62,0.00,0.000,1030,0.000,0.092,2215,1960,3794,3867,3722,0,0,0,0,0,0,28.83,24.46,28.83
$GC,5512,-1.39,-243.2,2215,1960,3866,3722,493.5,-8.4,405,5517,0.00,2.65,0.00,0.000,260,0.000,0.101,2215,3309,3794,3867,3722,0,0,0,0,0,0,28.83,24.46,28.83
$GC,5624,-1.39,-243.2,2215,3310,3867,3722,502.6,-9.0,410,5629,0.00,2.60,0.00,0.000,1030,0.000,0.092,2214,1967,3794,3867,3722,0,0,0,0,0,0,28.83,24.46,28.83
$STATE,5714,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5714,begin apogee
$GC,5719,-0.37,0.0,2215,2055,3867,3722,511.4,-8.5,415,5925,1.17,0.00,200.23,1.059,10244,0.122,0.000,2438,2055,2800,2865,2735,0,0,0,0,0,0,24.44,28.83,23.11
$STATE,5928,end apogee,CONTROL_FINISHED_OK
$STATE,5928,begin climb
$GC,5930,1.39,243.2,2438,2055,2865,2733,520.0,0.0,425,6146,1.92,3.03,201.95,1.013,10756,0.090,0.125,2821,635,1807,1899,1715,0,0,0,0,0,0,23.89,23.78,23.08
$GC,6287,1.39,243.2,2821,635,1895,1707,493.4,10.2,443,6292,0.00,2.75,0.00,0.000,1030,0.000,0.090,2821,2045,1801,1895,1707,0,0,0,0,0,0,28.83,24.20,28.83
$GC,6600,1.42,268.3,2821,2044,1895,1704,463.5,9.3,459,6629,0.00,3.00,22.00,0.973,8708,0.000,0.123,2822,633,1705,1803,1607,0,0,0,0,0,0,28.83,23.77,23.23
$GC,6795,1.42,273.3,2821,633,1801,1604,445.7,9.9,468,6807,0.00,2.75,5.68,0.787,9222,0.000,0.090,2822,2046,1685,1785,1586,0,0,0,0,0,0,28.83,24.27,23.50
$GC,7124,1.46,305.4,2821,2046,1784,1583,413.9,9.1,485,7165,0.10,2.92,30.10,0.982,10500,0.099,0.103,2843,3456,1553,1660,1447,0,0,0,0,0,0,24.41,23.80,23.21
$GC,7197,1.46,305.4,2843,3456,1659,1446,407.3,10.0,488,7202,0.00,2.78,0.00,0.000,1030,0.000,0.093,2844,2049,1551,1658,1445,0,0,0,0,0,0,28.83,24.10,28.83
$GC,7511,1.46,305.4,2843,2049,1658,1441,371.1,10.9,504,7516,0.00,2.80,0.00,0.000,260,0.000,0.103,2844,3461,1549,1658,1441,0,0,0,0,0,0,28.83,24.28,28.83
$GC,7533,1.46,305.4,2843,3461,1658,1442,368.4,10.9,505,7538,0.00,2.75,0.00,0.000,1030,0.000,0.092,2844,2053,1550,1658,1442,0,0,0,0,0,0,28.83,24.30,28.83
$GC,7855,1.46,305.4,2843,2053,1658,1440,332.6,11.0,521,7857,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2053,1549,1658,1440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8156,1.46,305.4,2844,2052,1658,1441,300.0,10.9,536,8157,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2053,1548,1658,1439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8456,1.46,305.4,2844,2053,1657,1440,266.4,11.3,551,8461,0.00,2.78,0.00,0.000,260,0.000,0.101,2844,3461,1548,1657,1439,0,0,0,0,0,0,28.83,24.34,28.83
$GC,8498,1.46,305.4,2844,3461,1657,1439,261.3,11.5,553,8504,0.00,2.75,0.00,0.000,1030,0.000,0.090,2844,2048,1548,1657,1439,0,0,0,0,0,0,28.83,24.37,28.83
$GC,8810,1.46,305.4,2844,2047,1657,1439,226.4,11.0,579,8812,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2048,1548,1657,1439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9111,1.46,305.4,2843,2047,1657,1438,194.1,10.5,609,9112,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2048,1547,1657,1438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9410,1.46,305.4,2843,2048,1657,1439,162.6,10.2,639,9416,0.00,2.75,0.00,0.000,260,0.000,0.098,2844,3458,1547,1657,1438,0,0,0,0,0,0,28.83,24.39,28.83
$GC,9447,1.46,305.4,2844,3458,1657,1439,159.0,11.2,642,9454,0.00,2.70,0.00,0.000,1030,0.000,0.087,2844,2053,1547,1657,1438,0,0,0,0,0,0,28.83,24.39,28.83
$GC,9753,1.46,305.4,2844,2053,1657,1438,125.6,10.6,673,9754,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2053,1547,1657,1438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10053,1.46,305.4,2844,2053,1657,1438,94.0,10.5,703,10054,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2053,1547,1657,1438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10353,1.46,305.4,2844,2053,1657,1438,62.5,10.6,733,10358,0.00,2.75,0.00,0.000,260,0.000,0.099,2844,3458,1548,1657,1439,0,0,0,0,0,0,28.83,24.40,28.83
$GC,10375,1.46,305.4,2844,3458,1657,1438,59.8,10.9,735,10381,0.00,2.70,0.00,0.000,1030,0.000,0.086,2844,2058,1548,1657,1439,0,0,0,0,0,0,28.83,24.42,28.83
$GC,10688,1.49,331.9,2844,2058,1657,1439,27.5,9.3,766,10718,0.00,0.00,23.75,0.757,8198,0.000,0.000,2844,2058,1445,1557,1334,0,0,0,0,0,0,28.83,28.83,23.48
$STATE,11017,end climb,SURFACE_DEPTH_REACHED
$STATE,11017,begin surface coast
$FINISH,0.4,1.023658
$STATE,11037,end surface coast,CONTROL_FINISHED_OK
$STATE,11037,begin surface
$SM_CCo,11118,0.00,0.000,0,0,1441,333.36
$SM_GC,1.02,10.80,0.32,0.00,0.057,0.109,0.000,510,1895,1441,-9.22,0.40,333.36,0,0,0,0,0,0,24.45,24.40,28.83
$IRIDIUM_FIX,8002.69,7022.67,270813,171733
$TT8_MAMPS,0.026215,0.026215
$HUMID,46.53
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,15.70
$XPDR_PINGS,6
$SC_FREEKB,4006976
$TM_FREEKB,3553248
$24V_AH,23.1,6.115
$10V_AH,9.2,4.294
$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,24.375,114.875,483.700,0.000,0.000,0.000,0.000,306.050,1.500,0.000,17.044,2213.451,6510.182,574.023,2154.933,152.908,0.000,1840.831,0.000,1717.973,0.000,0.546,0.000
$DEVICE_MAMPS,185.895,125.460,1058.760,0.000,0.000,0.000,0.000,145.350,420.000,0.000,32.210,12.760,2.190,12.760,37.480,46.470,0.000,15.700,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11051.000,11045.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.936,13.799,0.000,0.000
$MEM,266428
$DATA_FILE_SIZE,26669,801
$CAP_FILE_SIZE,158454,0
$CFSIZE,260034560,245252096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270813,235635,8113.518,7023.654,34,1.1,34,41.0