version: 66.11
glider: 125
mission: 18
dive: 71
start: 9 1 113 2 21 12
data:
$ID,125
$MISSION,18
$DIVE,71
$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,-181805.62
$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,14
$R_STBD_OVSHOOT,15
$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
$GPS1,010913,021206,8154.795,7434.979,40,1.3,40,43.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-52.6
$GPS2,010913,022043,8154.813,7435.351,10,1.3,10,43.5
$SPEED_LIMITS,0.183,0.285
$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,332.6,11516,-15.1,-10.588,-20.35,3719
$D_GRID,581
$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,21,-1.43,-257.8,512,2074,1075,799,0.0,0.0,0,160,0.00,0.00,-135.88,0.000,16386,0.000,0.000,512,2074,3157,3214,3100,0,0,0,0,0,0,28.83,28.83,28.83
$GC,163,-1.43,-257.8,513,2074,3214,3100,3.4,-3.0,13,198,10.40,2.85,-17.85,0.000,19204,0.187,0.106,2205,3491,3853,3907,3799,0,0,0,0,0,0,24.16,24.23,24.59
$GC,501,-1.43,-257.8,2205,3491,3906,3801,46.2,-10.9,46,507,0.00,2.67,0.00,0.000,1030,0.000,0.079,2205,2077,3854,3906,3802,0,0,0,0,0,0,28.83,24.37,28.83
$GC,815,-1.43,-257.8,2205,2077,3906,3802,78.2,-10.4,77,820,0.00,2.78,0.00,0.000,260,0.000,0.095,2205,3501,3854,3906,3802,0,0,0,0,0,0,28.83,24.36,28.83
$GC,998,-1.43,-257.8,2205,3501,3906,3802,97.2,-10.6,95,1003,0.00,2.67,0.00,0.000,1030,0.000,0.081,2205,2091,3854,3906,3802,0,0,0,0,0,0,28.83,24.40,28.83
$GC,1312,-1.43,-257.8,2205,2091,3906,3802,127.5,-9.1,126,1313,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2091,3854,3906,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1611,-1.43,-257.8,2205,2091,3906,3802,154.7,-9.2,156,1616,0.00,2.72,0.00,0.000,260,0.000,0.093,2205,3495,3854,3907,3802,0,0,0,0,0,0,28.83,24.40,28.83
$GC,1674,-1.43,-257.8,2205,3495,3906,3802,160.6,-9.3,162,1679,0.00,2.67,0.00,0.000,1030,0.000,0.080,2205,2081,3854,3906,3802,0,0,0,0,0,0,28.83,24.41,28.83
$GC,1988,-1.43,-257.8,2205,2081,3906,3802,189.0,-9.2,193,1989,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2081,3854,3907,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2288,-1.43,-257.8,2205,2081,3906,3802,216.3,-9.5,223,2293,0.00,2.75,0.00,0.000,260,0.000,0.095,2205,3491,3854,3906,3802,0,0,0,0,0,0,28.83,24.41,28.83
$GC,2354,-1.43,-257.8,1408,3490,3903,3800,222.4,-9.6,229,2361,0.00,2.67,0.00,0.000,1030,0.000,0.081,2205,2092,3854,3906,3802,0,0,0,0,0,0,28.83,24.44,28.83
$GC,2661,-1.43,-257.8,2205,2091,3906,3802,250.9,-9.0,260,2663,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2091,3854,3906,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2962,-1.43,-257.8,2205,2092,3906,3802,278.6,-9.4,275,2968,0.00,2.72,0.00,0.000,260,0.000,0.103,2205,3491,3854,3906,3802,0,0,0,0,0,0,28.83,24.43,28.83
$GC,3035,-1.43,-257.8,2205,3491,3906,3802,284.8,-9.6,278,3040,0.00,2.67,0.00,0.000,1030,0.000,0.083,2206,2087,3854,3906,3802,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3348,-1.43,-257.8,2205,2087,3906,3802,314.1,-8.9,294,3349,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2087,3854,3907,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3649,-1.43,-257.8,2205,2086,3907,3802,340.9,-8.8,309,3654,0.00,2.75,0.00,0.000,260,0.000,0.099,2205,3491,3854,3906,3802,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3712,-1.43,-257.8,2205,3491,3906,3802,346.6,-8.9,312,3717,0.00,2.67,0.00,0.000,1030,0.000,0.085,2205,2093,3854,3907,3802,0,0,0,0,0,0,28.83,24.45,28.83
$GC,4035,-1.43,-257.8,2205,2093,3906,3801,374.8,-8.7,328,4036,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2093,3853,3906,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4336,-1.43,-257.8,2205,2093,3906,3801,401.4,-9.1,343,4342,0.00,2.75,0.00,0.000,260,0.000,0.109,2205,3496,3854,3907,3801,0,0,0,0,0,0,28.83,24.38,28.83
$GC,4399,-1.43,-257.8,2205,3496,3907,3801,407.3,-9.2,346,4405,0.00,2.70,0.00,0.000,1030,0.000,0.086,2205,2090,3853,3907,3800,0,0,0,0,0,0,28.83,24.46,28.83
$GC,4723,-1.43,-257.8,2205,2089,3907,3800,435.2,-9.0,362,4724,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2089,3853,3907,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5024,-1.43,-257.8,2205,2089,3907,3800,462.7,-9.1,377,5029,0.00,2.75,0.00,0.000,260,0.000,0.103,2206,3494,3853,3907,3800,0,0,0,0,0,0,28.83,24.42,28.83
$GC,5101,-1.43,-257.8,2205,3494,3907,3800,468.8,-9.3,380,5109,0.00,2.67,0.00,0.000,1030,0.000,0.086,2206,2095,3853,3907,3800,0,0,0,0,0,0,28.83,24.46,28.83
$GC,5407,-1.43,-257.8,2205,2096,3906,3799,498.0,-9.5,396,5409,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2096,3853,3907,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5708,-1.43,-257.8,2205,2095,3907,3799,526.3,-8.6,411,5714,0.00,2.88,0.00,0.000,516,0.000,0.119,2205,675,3853,3907,3799,0,0,0,0,0,0,28.83,24.41,28.83
$GC,5766,-1.43,-257.8,2205,675,3907,3799,530.4,-8.5,413,5773,0.00,2.72,0.00,0.000,1030,0.000,0.086,2205,2096,3853,3907,3799,0,0,0,0,0,0,28.83,24.48,28.83
$STATE,5970,end dive,NO_VERTICAL_VELOCITY
$STATE,5970,begin apogee
$GC,5975,-0.37,0.0,2205,2067,3907,3798,532.4,0.0,424,6197,1.15,0.00,212.25,1.088,10244,0.098,0.000,2436,2067,2798,2866,2731,0,0,0,0,0,0,24.47,28.83,23.05
$STATE,6199,end apogee,CONTROL_FINISHED_OK
$STATE,6199,begin climb
$GC,6201,1.43,257.8,2436,2067,2867,2729,532.3,0.0,435,6426,2.05,2.85,213.62,1.034,10500,0.103,0.098,2833,3482,1748,1853,1644,0,0,0,0,0,0,23.87,23.82,23.02
$GC,6475,1.44,262.9,2832,3482,1854,1638,511.3,10.4,449,6489,0.00,2.78,5.72,0.767,9222,0.000,0.088,2833,2072,1727,1835,1619,0,0,0,0,0,0,28.83,24.03,23.31
$GC,6796,1.48,293.6,2832,2071,1835,1612,480.2,9.7,465,6831,0.00,3.00,27.88,0.995,8708,0.000,0.120,2833,655,1602,1715,1489,0,0,0,0,0,0,28.83,23.71,23.15
$GC,7003,1.48,293.6,2833,655,1710,1488,458.0,11.3,475,7008,0.00,2.72,0.00,0.000,1030,0.000,0.084,2833,2075,1598,1709,1488,0,0,0,0,0,0,28.83,24.26,28.83
$GC,7320,1.48,298.7,2832,2076,1708,1484,424.4,10.4,491,7328,0.00,0.00,5.28,0.786,8198,0.000,0.000,2833,2076,1582,1693,1471,0,0,0,0,0,0,28.83,28.83,23.56
$GC,7620,1.52,326.3,2833,2076,1693,1470,394.5,9.8,506,7650,0.12,0.00,26.80,0.990,10246,0.089,0.000,2860,2076,1469,1583,1355,0,0,0,0,0,0,24.41,28.83,23.18
$GC,7940,1.52,326.3,2860,2078,1581,1350,357.0,11.7,522,7946,0.00,2.75,0.00,0.000,260,0.000,0.099,2861,3481,1466,1582,1350,0,0,0,0,0,0,28.83,24.29,28.83
$GC,7992,1.52,326.3,2861,3480,1580,1350,351.7,12.0,524,7998,0.00,2.72,0.00,0.000,1030,0.000,0.086,2861,2069,1465,1580,1350,0,0,0,0,0,0,28.83,24.32,28.83
$GC,8306,1.52,326.3,2861,2069,1580,1349,314.4,11.7,540,8311,0.00,2.78,0.00,0.000,260,0.000,0.099,2861,3485,1464,1580,1349,0,0,0,0,0,0,28.83,24.33,28.83
$GC,8331,1.52,326.3,1928,3484,1544,1345,311.6,11.8,541,8337,0.00,2.72,0.00,0.000,1030,0.000,0.096,2861,2075,1464,1580,1349,0,0,0,0,0,0,28.83,24.34,28.83
$GC,8649,1.52,326.3,2861,2076,1580,1348,274.8,11.3,557,8655,0.00,2.75,0.00,0.000,260,0.000,0.103,2861,3480,1464,1580,1348,0,0,0,0,0,0,28.83,24.34,28.83
$GC,8673,1.52,326.3,2861,3480,1580,1348,272.1,11.3,558,8679,0.00,2.70,0.00,0.000,1030,0.000,0.084,2861,2078,1464,1581,1348,0,0,0,0,0,0,28.83,24.35,28.83
$GC,8986,1.52,326.3,2861,2078,1579,1348,236.7,11.5,579,8992,0.00,2.75,0.00,0.000,260,0.000,0.097,2861,3484,1464,1580,1348,0,0,0,0,0,0,28.83,24.36,28.83
$GC,9013,1.52,326.3,1904,3483,1543,1344,234.0,11.6,581,9020,0.00,2.67,0.00,0.000,1030,0.000,0.083,2861,2085,1464,1580,1348,0,0,0,0,0,0,28.83,24.37,28.83
$GC,9320,1.52,326.3,2861,2084,1580,1347,198.7,11.2,612,9321,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2085,1463,1579,1347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9619,1.52,326.3,2861,2084,1579,1347,165.1,11.4,642,9625,0.00,2.75,0.00,0.000,260,0.000,0.099,2861,3486,1463,1579,1347,0,0,0,0,0,0,28.83,24.38,28.83
$GC,9666,1.52,326.3,2861,3486,1579,1347,160.0,12.1,646,9673,0.00,2.67,0.00,0.000,1030,0.000,0.083,2861,2085,1463,1579,1347,0,0,0,0,0,0,28.83,24.40,28.83
$GC,9972,1.52,326.3,2861,2086,1579,1347,124.2,11.3,677,9973,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2086,1463,1579,1347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10272,1.52,326.3,2861,2085,1579,1347,91.0,11.4,707,10278,0.00,2.72,0.00,0.000,260,0.000,0.096,2861,3479,1463,1579,1348,0,0,0,0,0,0,28.83,24.39,28.83
$GC,10305,1.52,326.3,2861,3479,1579,1347,87.0,11.4,710,10311,0.00,2.65,0.00,0.000,1030,0.000,0.081,2861,2092,1463,1579,1347,0,0,0,0,0,0,28.83,24.42,28.83
$GC,10618,1.52,327.3,2860,2092,1579,1347,54.5,10.6,741,10619,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2092,1463,1579,1347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10918,1.57,369.3,2861,2092,1579,1346,24.8,9.4,771,10959,0.00,0.00,38.20,0.784,8454,0.000,0.000,2861,2092,1294,1418,1171,0,0,0,0,0,0,28.83,28.83,23.36
$STATE,11176,end climb,SURFACE_DEPTH_REACHED
$STATE,11176,begin surface coast
$FINISH,0.4,1.015027
$STATE,11197,end surface coast,CONTROL_FINISHED_OK
$STATE,11199,begin surface
$SM_CCo,11278,0.00,0.000,0,0,1288,370.89
$SM_GC,1.18,10.93,0.00,0.00,0.057,0.000,0.000,512,2092,1288,-9.23,0.20,370.89,0,0,0,0,0,0,24.37,28.83,28.83
$IRIDIUM_FIX,8028.18,7110.52,310813,222215
$TT8_MAMPS,0.026215,0.026215
$HUMID,47.71
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,15.60
$XPDR_PINGS,11
$SC_FREEKB,3997216
$TM_FREEKB,2524864
$24V_AH,23.0,11.475
$10V_AH,9.1,7.740
$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,24.650,93.175,529.750,0.000,0.000,0.000,0.000,323.250,2.750,0.000,13.137,2231.971,6723.494,608.671,2056.558,177.225,0.000,1844.005,0.000,1614.457,0.000,0.546,0.000
$DEVICE_MAMPS,186.660,154.530,1087.830,0.000,0.000,0.000,0.000,144.585,420.000,0.000,32.210,12.760,2.190,12.760,37.480,46.470,0.000,15.700,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11216.000,11200.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.332,13.831,0.000,0.000
$MEM,282192
$DATA_FILE_SIZE,26733,799
$CAP_FILE_SIZE,153531,0
$CFSIZE,260034560,242343936
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.253, 58.7,1
$GPS,010913,053030,8156.880,7448.066,39,1.1,39,43.6