version: 66.11
glider: 125
mission: 18
dive: 72
start: 9 1 113 5 43 12
data:
$ID,125
$MISSION,18
$DIVE,72
$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,-181806.88
$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,2085
$C_ROLL_CLIMB,2070
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,13
$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
$GPS1,010913,053030,8156.880,7448.066,39,1.1,39,43.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-55.8
$GPS2,010913,054243,8156.889,7448.336,11,1.6,11,43.6
$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,316.8,6499,-15.1,-10.588,-20.35,3719
$D_GRID,589
$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,-257.8,511,2088,1403,1167,0.0,0.0,0,138,0.00,0.00,-115.20,0.000,16386,0.000,0.000,511,2087,3167,3225,3110,0,0,0,0,0,0,28.83,28.83,28.83
$GC,142,-1.43,-257.8,511,2087,3225,3110,3.6,-3.7,11,177,10.45,2.83,-17.45,0.000,19204,0.187,0.105,2208,3498,3853,3906,3800,0,0,0,0,0,0,24.15,24.23,24.60
$GC,482,-1.43,-257.8,2207,3498,3907,3803,46.5,-10.4,44,487,0.00,2.67,0.00,0.000,1030,0.000,0.080,2208,2083,3855,3907,3804,0,0,0,0,0,0,28.83,24.37,28.83
$GC,795,-1.43,-257.8,2208,2083,3907,3804,77.1,-9.6,75,800,0.00,2.80,0.00,0.000,516,0.000,0.109,2208,677,3855,3906,3804,0,0,0,0,0,0,28.83,24.33,28.83
$GC,859,-1.43,-257.8,2207,677,3907,3803,83.6,-10.4,81,864,0.00,2.67,0.00,0.000,1030,0.000,0.082,2208,2088,3855,3907,3804,0,0,0,0,0,0,28.83,24.39,28.83
$GC,1172,-1.43,-257.8,2208,2088,3907,3804,114.4,-9.4,112,1173,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2088,3855,3907,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1471,-1.43,-257.8,2207,2088,3907,3804,143.8,-9.8,142,1473,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2088,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1772,-1.43,-257.8,2208,2088,3907,3804,174.7,-10.4,172,1773,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2088,3855,3907,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2071,-1.43,-257.8,2208,2088,3907,3804,205.8,-9.7,202,2077,0.00,2.80,0.00,0.000,516,0.000,0.115,2208,678,3855,3906,3804,0,0,0,0,0,0,28.83,24.37,28.83
$GC,2139,-1.43,-257.8,2208,678,3906,3804,212.1,-10.1,208,2146,0.00,2.67,0.00,0.000,1030,0.000,0.081,2208,2089,3855,3907,3804,0,0,0,0,0,0,28.83,24.44,28.83
$GC,2444,-1.43,-257.8,2207,2088,3906,3804,241.6,-9.4,239,2446,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2089,3855,3907,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2754,-1.43,-257.8,2207,2089,3907,3804,270.6,-9.4,259,2755,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2089,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3055,-1.43,-257.8,2208,2088,3907,3804,298.7,-9.1,274,3060,0.00,2.83,0.00,0.000,516,0.000,0.112,2208,679,3855,3907,3804,0,0,0,0,0,0,28.83,24.39,28.83
$GC,3107,-1.43,-257.8,2208,679,3907,3804,302.8,-9.3,276,3113,0.00,2.67,0.00,0.000,1030,0.000,0.083,2208,2084,3855,3907,3804,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3421,-1.43,-257.8,2207,2084,3907,3804,334.0,-9.4,292,3422,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2084,3855,3906,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3722,-1.43,-257.8,2207,2084,3907,3804,361.5,-9.1,307,3728,0.00,2.83,0.00,0.000,516,0.000,0.112,2208,679,3855,3907,3804,0,0,0,0,0,0,28.83,24.40,28.83
$GC,3770,-1.43,-257.8,2208,678,3907,3804,365.7,-9.4,309,3775,0.00,2.65,0.00,0.000,1030,0.000,0.095,2208,2082,3854,3906,3803,0,0,0,0,0,0,28.83,24.46,28.83
$GC,4088,-1.43,-257.8,2208,2082,3907,3803,395.9,-9.1,325,4089,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2082,3855,3907,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4389,-1.43,-257.8,2208,2082,3906,3803,422.7,-8.8,340,4390,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2082,3854,3906,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4690,-1.43,-257.8,2208,2084,3907,3802,449.0,-8.8,355,4691,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2084,3855,3907,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4989,-1.43,-257.8,2208,2084,3907,3802,475.6,-8.8,370,4995,0.00,2.83,0.00,0.000,516,0.000,0.113,2208,678,3855,3907,3803,0,0,0,0,0,0,28.83,24.41,28.83
$GC,5077,-1.43,-257.8,2208,678,3907,3801,483.6,-9.4,374,5083,0.00,2.65,0.00,0.000,1030,0.000,0.083,2208,2078,3854,3907,3801,0,0,0,0,0,0,28.83,24.48,28.83
$GC,5396,-1.43,-257.8,2208,2078,3907,3801,511.5,-8.9,390,5397,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2078,3854,3907,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5696,-1.43,-257.8,2208,2078,3907,3801,531.1,0.1,405,5702,0.00,2.83,0.00,0.000,516,0.000,0.115,2208,678,3853,3906,3801,0,0,0,0,0,0,28.83,24.42,28.83
$STATE,5799,end dive,NO_VERTICAL_VELOCITY
$STATE,5799,begin apogee
$GC,5805,-0.37,0.0,2208,2073,3907,3800,531.2,0.0,410,6024,1.15,0.00,211.38,1.092,10244,0.099,0.000,2438,2074,2800,2867,2734,0,0,0,0,0,0,24.46,28.83,23.05
$STATE,6027,end apogee,CONTROL_FINISHED_OK
$STATE,6027,begin climb
$GC,6029,1.43,257.8,2437,2073,2867,2732,531.0,0.0,421,6253,2.00,0.00,214.05,1.034,11270,0.103,0.000,2832,2073,1748,1854,1643,0,0,0,0,0,0,23.82,28.83,23.02
$GC,6561,1.46,281.3,2831,2073,1850,1633,487.5,9.9,448,6590,0.00,2.90,20.73,0.985,8452,0.000,0.106,2832,3481,1652,1762,1543,0,0,0,0,0,0,28.83,23.77,23.18
$GC,6623,1.48,291.3,2832,3481,1761,1541,481.0,10.3,451,6643,0.00,2.75,10.50,0.911,9222,0.000,0.086,2832,2074,1611,1722,1501,0,0,0,0,0,0,28.83,24.08,23.24
$GC,6943,1.50,307.7,2832,2074,1721,1495,448.3,10.1,467,6963,0.00,0.00,15.93,0.968,8198,0.000,0.000,2832,2074,1545,1658,1432,0,0,0,0,0,0,28.83,28.83,23.25
$GC,7262,1.53,333.9,2832,2074,1657,1428,416.4,9.9,483,7292,0.12,0.00,24.80,0.991,10502,0.090,0.000,2864,2074,1438,1555,1321,0,0,0,0,0,0,24.39,28.83,23.18
$GC,7605,1.53,333.9,2863,2074,1553,1315,377.1,11.4,500,7610,0.00,2.75,0.00,0.000,260,0.000,0.096,2864,3476,1434,1553,1315,0,0,0,0,0,0,28.83,24.29,28.83
$GC,7647,1.53,333.9,2864,3477,1552,1315,371.9,11.8,502,7652,0.00,2.72,0.00,0.000,1030,0.000,0.086,2864,2070,1433,1552,1315,0,0,0,0,0,0,28.83,24.31,28.83
$GC,7970,1.53,333.9,2864,2070,1552,1314,332.8,12.0,518,7976,0.00,2.75,0.00,0.000,260,0.000,0.096,2864,3484,1433,1552,1314,0,0,0,0,0,0,28.83,24.32,28.83
$GC,7993,1.53,333.9,2864,3485,1552,1314,330.0,12.0,519,7999,0.00,2.72,0.00,0.000,1030,0.000,0.083,2864,2071,1433,1552,1314,0,0,0,0,0,0,28.83,24.34,28.83
$GC,8316,1.53,333.9,2864,2070,1552,1313,292.0,11.4,535,8317,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2070,1432,1552,1313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8616,1.53,333.9,2864,2070,1552,1313,259.7,10.8,550,8622,0.00,2.75,0.00,0.000,260,0.000,0.095,2864,3482,1432,1552,1313,0,0,0,0,0,0,28.83,24.36,28.83
$GC,8653,1.53,333.9,2864,3483,1551,1313,257.1,10.8,551,8660,0.00,2.67,0.00,0.000,1030,0.000,0.083,2864,2078,1432,1552,1313,0,0,0,0,0,0,28.83,24.37,28.83
$GC,8959,1.53,333.9,2864,2078,1551,1313,221.2,11.2,579,8960,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2078,1432,1551,1313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9259,1.53,333.9,2864,2078,1551,1313,187.9,11.1,609,9265,0.00,2.75,0.00,0.000,260,0.000,0.097,2864,3485,1432,1551,1313,0,0,0,0,0,0,28.83,24.37,28.83
$GC,9302,1.53,333.9,2864,3485,1551,1313,182.6,12.3,613,9308,0.00,2.67,0.00,0.000,1030,0.000,0.083,2865,2084,1432,1551,1313,0,0,0,0,0,0,28.83,24.39,28.83
$GC,9616,1.53,333.9,2864,2084,1551,1313,147.0,11.2,644,9617,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2084,1431,1551,1312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9915,1.53,333.9,2864,2084,1551,1312,112.0,11.9,674,9917,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2084,1431,1551,1312,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10215,1.53,333.9,2864,2084,1551,1313,77.6,11.4,704,10222,0.00,2.72,0.00,0.000,260,0.000,0.096,2865,3483,1432,1551,1313,0,0,0,0,0,0,28.83,24.40,28.83
$GC,10243,1.53,333.9,1896,3481,1515,1309,74.9,11.4,706,10250,0.00,2.65,0.00,0.000,1030,0.000,0.080,2864,2084,1432,1551,1313,0,0,0,0,0,0,28.83,24.43,28.83
$GC,10549,1.58,375.7,2864,2084,1551,1313,42.1,9.4,737,10589,0.00,0.00,37.50,0.792,8198,0.000,0.000,2865,2084,1268,1393,1144,0,0,0,0,0,0,28.83,28.83,23.35
$GC,10890,1.69,465.7,2864,2084,1393,1136,12.5,8.1,771,10975,0.15,2.80,77.35,0.753,10500,0.086,0.093,2897,3477,901,1050,753,0,0,0,0,0,0,24.43,23.79,23.33
$GC,10983,1.69,467.1,2897,3477,1049,751,3.0,10.6,780,10988,0.00,2.70,0.00,0.000,1030,0.000,0.080,2898,2088,900,1049,751,0,0,0,0,0,0,28.83,23.97,28.83
$STATE,10993,end climb,SURFACE_DEPTH_REACHED
$STATE,10993,begin surface coast
$FINISH,0.5,1.026715
$STATE,11005,end surface coast,CONTROL_FINISHED_OK
$STATE,11005,begin surface
$SM_CCo,11085,0.00,0.000,0,0,898,466.56
$SM_GC,1.10,11.30,0.00,0.00,0.062,0.000,0.000,514,2085,898,-9.21,0.00,466.56,0,0,0,0,0,0,24.15,28.83,28.83
$IRIDIUM_FIX,8041.36,7443.35,010913,050549
$TT8_MAMPS,0.026215,0.026215
$HUMID,46.69
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,15.60
$XPDR_PINGS,12
$SC_FREEKB,3996896
$TM_FREEKB,2491520
$24V_AH,23.0,11.666
$10V_AH,9.1,7.855
$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,25.175,76.750,612.225,0.000,0.000,0.000,0.000,474.700,3.000,0.000,14.133,2089.805,6799.377,642.649,2103.482,184.926,0.000,1987.790,0.000,1509.995,0.000,0.547,0.000
$DEVICE_MAMPS,187.425,114.750,1091.655,0.000,0.000,0.000,0.000,139.995,420.000,0.000,32.210,12.760,2.190,12.760,37.480,46.470,0.000,15.700,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11022.000,11009.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.387,13.794,0.000,0.000
$MEM,282140
$DATA_FILE_SIZE,26716,782
$CAP_FILE_SIZE,149466,0
$CFSIZE,260034560,242249728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.249, 62.9,1
$GPS,010913,084906,8159.105,7457.211,28,0.9,28,43.8