version: 66.11
glider: 125
mission: 18
dive: 74
start: 9 1 113 12 18 11
data:
$ID,125
$MISSION,18
$DIVE,74
$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,-181809.38
$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,11
$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
$GPS1,010913,120905,8200.720,7508.296,30,1.0,30,43.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-55.3
$GPS2,010913,121742,8200.729,7508.448,15,1.0,32,43.9
$SPEED_LIMITS,0.183,0.285
$TGT_NAME,SHELF2
$TGT_LATLONG,8248.000,7845.000
$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,303.5,100949,-15.1,-10.588,-20.35,3719
$D_GRID,591
$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,-257.8,509,2089,1420,1182,0.0,0.0,0,138,0.00,0.00,-114.90,0.000,16386,0.000,0.000,509,2089,3150,3208,3093,0,0,0,0,0,0,28.83,28.83,28.83
$GC,142,-1.43,-257.8,509,2089,3208,3094,3.7,-3.8,11,176,10.45,2.83,-17.90,0.000,19204,0.187,0.105,2205,3499,3853,3907,3800,0,0,0,0,0,0,24.18,24.25,24.60
$GC,289,-1.43,-257.8,2205,3499,3907,3802,26.0,-12.5,25,295,0.00,2.70,0.00,0.000,1030,0.000,0.080,2206,2074,3855,3907,3803,0,0,0,0,0,0,28.83,24.34,28.83
$GC,602,-1.43,-257.8,2205,2074,3908,3803,60.8,-10.6,56,608,0.00,2.75,0.00,0.000,260,0.000,0.093,2205,3492,3855,3907,3803,0,0,0,0,0,0,28.83,24.37,28.83
$GC,655,-1.43,-257.8,2205,3492,3907,3804,66.4,-10.9,61,660,0.00,2.65,0.00,0.000,1030,0.000,0.079,2206,2092,3855,3907,3803,0,0,0,0,0,0,28.83,24.39,28.83
$GC,969,-1.43,-257.8,2205,2092,3907,3804,96.2,-9.4,92,974,0.00,2.83,0.00,0.000,516,0.000,0.108,2205,669,3855,3907,3804,0,0,0,0,0,0,28.83,24.35,28.83
$GC,1042,-1.43,-257.8,2205,669,3906,3803,103.6,-10.0,99,1047,0.00,2.72,0.00,0.000,1030,0.000,0.082,2206,2101,3855,3907,3804,0,0,0,0,0,0,28.83,24.41,28.83
$GC,1355,-1.43,-257.8,2205,2101,3907,3803,135.3,-10.5,130,1356,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2101,3855,3907,3804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1656,-1.43,-257.8,2205,2101,3907,3803,165.4,-9.8,160,1661,0.00,2.72,0.00,0.000,260,0.000,0.099,2206,3497,3855,3907,3803,0,0,0,0,0,0,28.83,24.41,28.83
$GC,1719,-1.43,-257.8,2205,3497,3907,3804,171.5,-10.0,166,1725,0.00,2.67,0.00,0.000,1030,0.000,0.082,2206,2094,3854,3906,3803,0,0,0,0,0,0,28.83,24.43,28.83
$GC,2033,-1.43,-257.8,2205,2094,3907,3802,201.2,-9.5,197,2034,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2094,3855,3907,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2332,-1.43,-257.8,2205,2094,3907,3803,228.3,-9.0,227,2333,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2094,3855,3907,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2642,-1.43,-257.8,2205,2094,3907,3803,256.4,-9.2,255,2647,0.00,2.72,0.00,0.000,260,0.000,0.097,2205,3491,3855,3907,3803,0,0,0,0,0,0,28.83,24.43,28.83
$GC,2694,-1.43,-257.8,2205,3492,3907,3803,260.5,-9.3,257,2700,0.00,2.65,0.00,0.000,1030,0.000,0.083,2205,2096,3855,3907,3803,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3007,-1.43,-257.8,2205,2096,3907,3803,290.8,-9.6,273,3008,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2096,3855,3907,3803,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3308,-1.43,-257.8,2205,2096,3907,3803,318.9,-9.0,288,3309,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2096,3854,3907,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3608,-1.43,-257.8,2205,2096,3907,3802,345.1,-8.7,303,3614,0.00,2.72,0.00,0.000,260,0.000,0.097,2206,3492,3855,3908,3802,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3656,-1.43,-257.8,2207,3492,3907,3802,349.3,-9.1,305,3661,0.00,2.65,0.00,0.000,1030,0.000,0.084,2205,2099,3854,3907,3802,0,0,0,0,0,0,28.83,24.45,28.83
$GC,3974,-1.43,-257.8,2205,2099,3906,3801,378.2,-8.9,321,3975,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2099,3854,3907,3802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4275,-1.43,-257.8,2205,2099,3907,3802,404.9,-9.1,336,4280,0.00,2.72,0.00,0.000,260,0.000,0.099,2206,3492,3853,3906,3801,0,0,0,0,0,0,28.83,24.45,28.83
$GC,4353,-1.43,-257.8,2205,3492,3906,3801,410.9,-9.2,339,4359,0.00,2.65,0.00,0.000,1030,0.000,0.086,2206,2102,3854,3907,3802,0,0,0,0,0,0,28.83,24.46,28.83
$GC,4658,-1.43,-257.8,2205,2101,3906,3801,439.6,-9.0,355,4659,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2101,3853,3906,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4958,-1.43,-257.8,2205,2101,3907,3801,465.6,-8.4,370,4960,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2102,3853,3906,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5259,-1.43,-257.8,2205,2101,3907,3801,490.4,-8.2,385,5264,0.00,2.72,0.00,0.000,260,0.000,0.099,2206,3491,3853,3906,3801,0,0,0,0,0,0,28.83,24.46,28.83
$GC,5351,-1.43,-257.8,2206,3491,3906,3801,497.9,-9.0,389,5357,0.00,2.65,0.00,0.000,1030,0.000,0.085,2206,2102,3853,3906,3801,0,0,0,0,0,0,28.83,24.46,28.83
$GC,5665,-1.43,-257.8,2205,2102,3907,3800,526.8,-9.2,405,5666,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2102,3853,3906,3801,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5822,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5822,begin apogee
$GC,5827,-0.37,0.0,2205,2068,3906,3801,540.8,-8.6,413,6049,1.23,0.00,212.50,1.099,10244,0.122,0.000,2438,2068,2799,2866,2733,0,0,0,0,0,0,24.45,28.83,23.03
$STATE,6052,end apogee,CONTROL_FINISHED_OK
$STATE,6052,begin climb
$GC,6053,1.43,257.8,2438,2068,2866,2731,549.8,0.0,424,6279,1.98,2.97,214.65,1.048,10756,0.089,0.119,2832,665,1749,1849,1650,0,0,0,0,0,0,23.87,23.78,22.99
$GC,6380,1.43,257.8,2831,665,1845,1642,524.6,10.8,440,6388,0.00,2.70,0.00,0.000,1030,0.000,0.082,2832,2068,1743,1845,1642,0,0,0,0,0,0,28.83,24.15,28.83
$GC,6686,1.48,295.7,2832,2068,1844,1636,493.1,9.5,456,6727,0.00,2.95,33.65,1.016,8708,0.000,0.115,2832,666,1594,1704,1484,0,0,0,0,0,0,28.83,23.70,23.12
$GC,6924,1.48,295.7,2832,665,1699,1480,469.6,10.7,467,6932,0.00,2.70,0.00,0.000,1030,0.000,0.082,2832,2077,1589,1699,1480,0,0,0,0,0,0,28.83,24.27,28.83
$GC,7231,1.51,316.9,2832,2078,1699,1477,437.5,10.0,483,7252,0.00,0.00,19.38,0.991,8454,0.000,0.000,2832,2078,1509,1621,1397,0,0,0,0,0,0,28.83,28.83,23.21
$GC,7551,1.54,347.2,2832,2079,1618,1392,405.8,9.8,499,7583,0.15,0.00,29.27,0.995,10246,0.084,0.000,2863,2079,1384,1503,1266,0,0,0,0,0,0,24.38,28.83,23.16
$GC,7870,1.54,347.2,2863,2080,1501,1257,369.7,11.8,515,7876,0.00,2.75,0.00,0.000,260,0.000,0.097,2863,3486,1379,1501,1258,0,0,0,0,0,0,28.83,24.28,28.83
$GC,7897,1.54,347.2,2863,3486,1500,1258,366.9,12.0,516,7903,0.00,2.70,0.00,0.000,1030,0.000,0.084,2864,2075,1379,1500,1258,0,0,0,0,0,0,28.83,24.30,28.83
$GC,8215,1.54,347.2,2864,2075,1500,1257,328.3,11.9,532,8216,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2075,1378,1500,1257,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8516,1.54,347.2,2863,2075,1499,1256,294.1,11.1,547,8517,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2075,1377,1499,1256,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8815,1.54,347.2,2864,2075,1499,1256,259.9,11.4,562,8817,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2075,1377,1499,1256,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9115,1.54,347.2,2864,2075,1499,1255,225.1,11.4,587,9116,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2075,1377,1499,1255,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9415,1.54,347.2,2863,2075,1499,1255,190.3,11.5,617,9420,0.00,2.75,0.00,0.000,260,0.000,0.095,2864,3486,1377,1499,1255,0,0,0,0,0,0,28.83,24.38,28.83
$GC,9447,1.54,347.2,2864,3486,1499,1255,186.3,11.9,620,9453,0.00,2.70,0.00,0.000,1030,0.000,0.081,2864,2073,1377,1499,1255,0,0,0,0,0,0,28.83,24.39,28.83
$GC,9760,1.54,347.2,2864,2073,1499,1255,150.3,12.0,651,9766,0.00,2.83,0.00,0.000,516,0.000,0.111,2864,662,1377,1499,1255,0,0,0,0,0,0,28.83,24.35,28.83
$GC,9788,1.54,347.2,2864,662,1499,1255,147.5,12.3,653,9795,0.00,2.67,0.00,0.000,1030,0.000,0.081,2864,2075,1377,1499,1255,0,0,0,0,0,0,28.83,24.41,28.83
$GC,10094,1.54,347.2,2864,2075,1499,1255,110.1,12.4,684,10100,0.00,2.75,0.00,0.000,260,0.000,0.097,2864,3486,1377,1499,1255,0,0,0,0,0,0,28.83,24.39,28.83
$GC,10111,1.54,347.2,2864,3486,1499,1255,108.4,12.5,685,10118,0.00,2.67,0.00,0.000,1030,0.000,0.082,2864,2075,1377,1499,1255,0,0,0,0,0,0,28.83,24.40,28.83
$GC,10417,1.54,347.2,2864,2075,1499,1255,72.2,11.3,716,10419,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2075,1377,1499,1255,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10718,1.59,387.0,2864,2075,1498,1255,39.7,9.5,746,10760,0.00,2.97,35.35,0.790,8708,0.000,0.109,2864,661,1221,1349,1094,0,0,0,0,0,0,28.83,23.81,23.35
$GC,10793,1.62,405.7,2865,661,1349,1093,32.1,10.1,753,10819,0.00,2.72,17.52,0.750,9222,0.000,0.080,2864,2076,1146,1278,1014,0,0,0,0,0,0,28.83,24.15,23.37
$STATE,11115,end climb,SURFACE_DEPTH_REACHED
$STATE,11115,begin surface coast
$FINISH,0.5,1.026663
$STATE,11136,end surface coast,CONTROL_FINISHED_OK
$STATE,11136,begin surface
$SM_CCo,11216,0.00,0.000,0,0,1141,406.95
$SM_GC,1.17,11.07,0.00,0.00,0.063,0.000,0.000,509,2076,1141,-9.23,-0.25,406.95,0,0,0,0,0,0,24.39,28.83,28.83
$IRIDIUM_FIX,8041.36,7513.04,010913,080822
$TT8_MAMPS,0.026215,0.026215
$HUMID,47.32
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,15.50
$XPDR_PINGS,4
$SC_FREEKB,3996256
$TM_FREEKB,2423456
$24V_AH,23.0,12.010
$10V_AH,9.1,8.082
$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,24.875,82.300,562.325,0.000,0.000,0.000,0.000,297.125,1.000,0.000,34.753,2135.129,6839.966,604.190,1975.400,181.032,0.000,1776.395,0.000,1536.120,0.000,0.546,0.000
$DEVICE_MAMPS,187.425,160.650,1098.540,0.000,0.000,0.000,0.000,149.175,420.000,0.000,32.210,12.760,2.190,12.760,37.480,46.470,0.000,15.700,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11153.000,11141.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.250,13.824,0.000,0.000
$MEM,282224
$DATA_FILE_SIZE,26741,787
$CAP_FILE_SIZE,148743,0
$CFSIZE,260034560,242057216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.078,120.7,1
$GPS,010913,152624,8201.993,7510.184,36,1.2,36,43.9