version: 66.11
glider: 125
mission: 18
dive: 45
start: 8 28 113 12 57 33
data:
$ID,125
$MISSION,18
$DIVE,45
$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,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,-181721.88
$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,2020
$C_ROLL_CLIMB,2046
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,10
$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
$GPS1,280813,124906,8116.336,7047.620,33,1.7,33,41.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-53.4
$GPS2,280813,125705,8116.296,7047.940,14,1.6,24,41.2
$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,343.3,103788,-14.7,-10.000,-20.13,3713
$D_GRID,568
$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,-243.2,511,2021,1182,931,0.0,0.0,0,139,0.00,0.00,-116.22,0.000,16386,0.000,0.000,511,2021,3018,3072,2965,0,0,0,0,0,0,28.83,28.83,28.83
$GC,143,-1.39,-243.2,511,2021,3073,2965,3.1,-3.3,11,186,10.43,2.75,-22.27,0.000,19204,0.186,0.108,2216,3427,3792,3867,3718,0,0,0,0,0,0,24.18,24.25,24.61
$GC,299,-1.39,-243.2,2216,3427,3866,3720,23.7,-12.4,26,305,0.00,2.72,0.00,0.000,1030,0.000,0.087,2216,2010,3793,3866,3721,0,0,0,0,0,0,28.83,24.33,28.83
$GC,612,-1.39,-243.2,2216,2009,3866,3721,56.3,-10.6,57,618,0.00,2.83,0.00,0.000,516,0.000,0.118,2216,616,3793,3866,3720,0,0,0,0,0,0,28.83,24.30,28.83
$GC,685,-1.39,-243.2,2216,616,3866,3721,64.5,-11.2,64,691,0.00,2.72,0.00,0.000,1030,0.000,0.088,2216,2028,3793,3866,3721,0,0,0,0,0,0,28.83,24.38,28.83
$GC,998,-1.39,-243.2,2216,2028,3866,3720,96.3,-9.9,95,1003,0.00,2.78,0.00,0.000,260,0.000,0.105,2216,3429,3793,3866,3721,0,0,0,0,0,0,28.83,24.36,28.83
$GC,1101,-1.39,-243.2,2216,3429,3866,3721,106.7,-10.2,105,1106,0.00,2.72,0.00,0.000,1030,0.000,0.089,2217,2023,3793,3866,3720,0,0,0,0,0,0,28.83,24.40,28.83
$GC,1414,-1.39,-243.2,2216,2023,3866,3720,137.1,-9.5,136,1415,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2023,3793,3866,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1715,-1.39,-243.2,2216,2023,3865,3720,163.5,-8.6,166,1720,0.00,2.75,0.00,0.000,260,0.000,0.097,2218,3430,3793,3866,3720,0,0,0,0,0,0,28.83,24.40,28.83
$GC,1781,-1.39,-243.2,2216,3430,3866,3720,169.2,-9.0,172,1787,0.00,2.70,0.00,0.000,1030,0.000,0.086,2216,2024,3793,3866,3720,0,0,0,0,0,0,28.83,24.42,28.83
$GC,2088,-1.39,-243.2,2216,2024,3866,3720,196.9,-8.8,203,2090,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2024,3793,3867,3719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2388,-1.39,-243.2,2216,2024,3867,3720,222.9,-8.5,233,2393,0.00,2.75,0.00,0.000,260,0.000,0.098,2216,3430,3793,3866,3720,0,0,0,0,0,0,28.83,24.42,28.83
$GC,2464,-1.39,-243.2,1408,3428,3863,3718,229.3,-8.8,240,2471,0.00,2.70,0.00,0.000,1030,0.000,0.096,2218,2027,3793,3866,3720,0,0,0,0,0,0,28.83,24.44,28.83
$GC,2770,-1.39,-243.2,2216,2027,3866,3720,255.7,-8.5,268,2772,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2026,3793,3866,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3072,-1.39,-243.2,2216,2027,3866,3720,281.7,-8.8,283,3077,0.00,2.75,0.00,0.000,260,0.000,0.098,2216,3437,3793,3866,3720,0,0,0,0,0,0,28.83,24.43,28.83
$GC,3149,-1.39,-243.2,2216,3437,3866,3720,287.3,-8.9,286,3156,0.00,2.70,0.00,0.000,1030,0.000,0.087,2217,2029,3793,3866,3720,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3455,-1.39,-243.2,2216,2029,3866,3720,315.5,-8.9,302,3456,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2029,3793,3866,3720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3756,-1.39,-243.2,2216,2028,3866,3720,341.9,-8.9,317,3761,0.00,2.75,0.00,0.000,260,0.000,0.110,2216,3430,3794,3866,3722,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3838,-1.39,-243.2,2216,3430,3866,3722,349.3,-8.9,321,3843,0.00,2.70,0.00,0.000,1030,0.000,0.090,2216,2033,3793,3866,3721,0,0,0,0,0,0,28.83,24.45,28.83
$GC,4161,-1.39,-243.2,2216,2031,3866,3720,377.4,-8.8,337,4162,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2031,3793,3866,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4462,-1.39,-243.2,2216,2031,3868,3720,404.9,-9.1,352,4468,0.00,2.75,0.00,0.000,260,0.000,0.101,2216,3429,3793,3866,3721,0,0,0,0,0,0,28.83,24.46,28.83
$GC,4567,-1.39,-243.2,2216,3429,3866,3721,414.5,-9.2,357,4572,0.00,2.70,0.00,0.000,1030,0.000,0.090,2216,2036,3793,3866,3721,0,0,0,0,0,0,28.83,24.46,28.83
$GC,4890,-1.39,-243.2,2216,2036,3866,3721,443.3,-8.7,373,4891,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2036,3793,3866,3721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5190,-1.39,-243.2,2216,2034,3866,3721,469.9,-8.8,388,5195,0.00,2.75,0.00,0.000,260,0.000,0.102,2216,3429,3793,3866,3721,0,0,0,0,0,0,28.83,24.46,28.83
$GC,5253,-1.39,-243.2,2216,3429,3867,3721,475.7,-9.1,391,5258,0.00,2.67,0.00,0.000,1030,0.000,0.091,2216,2046,3793,3866,3721,0,0,0,0,0,0,28.83,24.48,28.83
$GC,5576,-1.39,-243.2,2216,2045,3865,3721,503.5,-8.5,407,5577,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2045,3793,3866,3720,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5654,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5654,begin apogee
$GC,5658,-0.37,0.0,2216,2044,3866,3721,510.3,-8.5,411,5865,1.15,0.00,199.68,1.053,10244,0.148,0.000,2435,2045,2799,2865,2734,0,0,0,0,0,0,24.46,28.83,23.13
$STATE,5868,end apogee,CONTROL_FINISHED_OK
$STATE,5868,begin climb
$GC,5869,1.39,243.2,2435,2045,2865,2733,518.5,0.0,421,6082,2.00,2.88,201.12,1.005,10500,0.105,0.101,2822,3458,1808,1904,1712,0,0,0,0,0,0,23.89,23.85,23.10
$GC,6149,1.39,248.3,2821,3458,1903,1704,498.5,9.9,435,6161,0.00,2.80,5.47,0.738,9222,0.000,0.093,2822,2042,1788,1887,1689,0,0,0,0,0,0,28.83,24.09,23.41
$GC,6460,1.40,255.9,2822,2042,1887,1682,467.4,9.8,451,6475,0.00,2.97,7.72,0.852,8708,0.000,0.127,2822,635,1756,1859,1654,0,0,0,0,0,0,28.83,23.98,23.48
$GC,6667,1.40,255.9,2822,633,1858,1652,446.4,10.5,461,6672,0.00,2.75,0.00,0.000,1030,0.000,0.089,2822,2057,1755,1858,1652,0,0,0,0,0,0,28.83,24.30,28.83
$GC,6984,1.41,263.2,2822,2056,1858,1651,415.6,9.8,477,6999,0.00,2.80,7.70,0.864,8452,0.000,0.105,2822,3452,1728,1831,1625,0,0,0,0,0,0,28.83,24.07,23.51
$GC,7030,1.41,264.7,2822,3452,1830,1625,411.4,10.0,479,7036,0.00,2.75,0.00,0.000,1030,0.000,0.092,2822,2049,1727,1830,1624,0,0,0,0,0,0,28.83,24.20,28.83
$GC,7348,1.41,264.7,2822,2049,1830,1622,379.3,10.0,495,7349,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2049,1726,1830,1622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7649,1.41,264.7,2822,2049,1830,1621,349.5,10.2,510,7655,0.00,2.78,0.00,0.000,260,0.000,0.099,2822,3459,1726,1830,1622,0,0,0,0,0,0,28.83,24.34,28.83
$GC,7681,1.41,264.7,2821,3459,1830,1621,347.2,10.1,511,7686,0.00,2.70,0.00,0.000,1030,0.000,0.089,2822,2057,1726,1830,1622,0,0,0,0,0,0,28.83,24.34,28.83
$GC,7994,1.43,276.7,2822,2057,1830,1621,315.4,9.7,527,8015,0.00,0.00,13.88,0.907,8198,0.000,0.000,2822,2057,1670,1776,1565,0,0,0,0,0,0,28.83,28.83,23.43
$GC,8314,1.44,289.1,2822,2057,1776,1561,284.1,9.7,543,8334,0.00,2.83,12.20,0.874,8452,0.000,0.099,2822,3457,1621,1728,1514,0,0,0,0,0,0,28.83,24.00,23.46
$GC,8366,1.45,296.1,2822,3457,1727,1513,279.9,9.8,545,8382,0.00,2.72,8.02,0.806,9222,0.000,0.089,2822,2058,1592,1701,1484,0,0,0,0,0,0,28.83,24.18,23.44
$GC,8689,1.46,300.2,2822,2058,1701,1480,247.3,9.9,562,8699,0.00,0.00,4.95,0.698,8198,0.000,0.000,2822,2058,1576,1686,1466,0,0,0,0,0,0,28.83,28.83,23.66
$GC,8999,1.47,309.0,2822,2058,1686,1464,216.6,9.8,593,9016,0.10,2.80,9.43,0.812,10500,0.093,0.099,2845,3459,1540,1650,1430,0,0,0,0,0,0,24.48,24.08,23.58
$GC,9033,1.47,309.0,2845,3459,1649,1429,212.9,10.6,596,9040,0.00,2.72,0.00,0.000,1030,0.000,0.087,2845,2063,1539,1649,1429,0,0,0,0,0,0,28.83,24.18,28.83
$GC,9347,1.47,309.0,2845,2063,1650,1428,179.4,10.9,627,9348,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2063,1539,1650,1428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9647,1.47,309.0,2845,2063,1650,1428,146.5,10.9,657,9648,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2062,1539,1650,1428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9947,1.47,309.0,2845,2062,1649,1427,114.3,10.3,687,9953,0.00,2.75,0.00,0.000,260,0.000,0.100,2845,3461,1538,1649,1427,0,0,0,0,0,0,28.83,24.38,28.83
$GC,9975,1.47,309.0,2847,3461,1650,1427,111.6,11.0,689,9982,0.00,2.70,0.00,0.000,1030,0.000,0.086,2845,2058,1538,1650,1427,0,0,0,0,0,0,28.83,24.40,28.83
$GC,10281,1.47,311.9,2845,2058,1649,1427,80.3,9.9,720,10291,0.00,0.00,4.00,0.575,8198,0.000,0.000,2846,2058,1527,1638,1417,0,0,0,0,0,0,28.83,28.83,23.80
$GC,10591,1.48,323.5,2845,2058,1638,1417,50.2,9.7,751,10612,0.00,2.85,12.00,0.755,8452,0.000,0.099,2845,3449,1481,1593,1369,0,0,0,0,0,0,28.83,24.08,23.63
$GC,10644,1.48,323.5,2845,3449,1593,1368,44.8,10.0,756,10650,0.00,2.70,0.00,0.000,1030,0.000,0.088,2845,2063,1480,1593,1368,0,0,0,0,0,0,28.83,24.24,28.83
$GC,10958,1.57,390.3,2845,2063,1593,1367,15.4,8.1,787,11025,0.00,2.83,59.92,0.757,8452,0.000,0.099,2845,3455,1207,1335,1080,0,0,0,0,0,0,28.83,23.84,23.39
$GC,11063,1.61,424.1,2845,3455,1334,1076,6.2,9.1,797,11099,0.15,2.72,29.00,0.721,11270,0.078,0.090,2877,2071,1071,1205,937,0,0,0,0,0,0,24.20,24.14,23.39
$STATE,11115,end climb,SURFACE_DEPTH_REACHED
$STATE,11115,begin surface coast
$FINISH,0.5,1.026378
$STATE,11136,end surface coast,CONTROL_FINISHED_OK
$STATE,11136,begin surface
$SM_CCo,11217,0.00,0.000,0,0,1067,425.10
$SM_GC,1.16,10.98,0.12,0.00,0.052,0.129,0.000,512,2014,1067,-9.22,0.34,425.10,0,0,0,0,0,0,24.22,24.16,28.83
$IRIDIUM_FIX,8002.69,7035.94,280813,090902
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.11
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,15.60
$XPDR_PINGS,6
$SC_FREEKB,4005376
$TM_FREEKB,3386656
$24V_AH,23.1,6.907
$10V_AH,9.2,4.837
$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,24.800,99.375,575.100,0.000,0.000,0.000,0.000,289.850,1.500,0.000,27.422,2219.857,6639.118,644.715,2035.590,158.910,0.000,1860.733,0.000,1612.251,0.000,0.547,0.000
$DEVICE_MAMPS,185.895,128.520,1053.405,0.000,0.000,0.000,0.000,145.350,420.000,0.000,32.210,12.760,2.190,12.760,37.480,46.470,0.000,15.700,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11148.000,11143.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.871,13.818,0.000,0.000
$MEM,266432
$DATA_FILE_SIZE,26749,804
$CAP_FILE_SIZE,156908,0
$CFSIZE,260034560,244801536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.072,125.4,1
$GPS,280813,160553,8117.408,7054.543,24,2.0,42,41.3