version: 66.11
glider: 125
mission: 18
dive: 76
start: 9 1 113 18 50 54
data:
$ID,125
$MISSION,18
$DIVE,76
$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,-181811.88
$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,11
$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
$GPS1,010913,184206,8203.096,7514.200,36,0.9,36,43.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-48.3
$GPS2,010913,185025,8203.093,7513.900,10,1.3,10,43.9
$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,338.9,96530,-15.1,-10.588,-20.35,3719
$D_GRID,595
$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,-257.8,511,2070,1183,912,0.0,0.0,0,139,0.00,0.00,-115.62,0.000,16386,0.000,0.000,511,2069,2916,2967,2865,0,0,0,0,0,0,28.83,28.83,28.83
$GC,143,-1.43,-257.8,511,2070,2968,2865,3.0,-4.5,11,190,10.38,2.80,-29.75,0.000,19204,0.184,0.104,2208,3503,3852,3906,3798,0,0,0,0,0,0,24.17,24.25,24.60
$GC,308,-1.43,-257.8,2207,3503,3906,3801,22.1,-11.5,27,313,0.00,2.67,0.00,0.000,1030,0.000,0.077,2207,2082,3853,3906,3801,0,0,0,0,0,0,28.83,24.34,28.83
$GC,621,-1.43,-257.8,2207,2081,3906,3801,51.7,-9.7,58,626,0.00,2.78,0.00,0.000,516,0.000,0.104,2207,672,3853,3906,3801,0,0,0,0,0,0,28.83,24.33,28.83
$GC,694,-1.43,-257.8,2207,671,3906,3801,59.0,-9.9,65,699,0.00,2.67,0.00,0.000,1030,0.000,0.079,2207,2090,3853,3906,3801,0,0,0,0,0,0,28.83,24.39,28.83
$GC,1007,-1.43,-257.8,2207,2090,3906,3801,89.4,-9.7,96,1013,0.00,2.72,0.00,0.000,260,0.000,0.096,2207,3492,3853,3906,3801,0,0,0,0,0,0,28.83,24.38,28.83
$GC,1101,-1.43,-257.8,2207,3492,3906,3801,98.8,-10.0,105,1106,0.00,2.65,0.00,0.000,1030,0.000,0.078,2207,2091,3853,3906,3801,0,0,0,0,0,0,28.83,24.41,28.83
$GC,1414,-1.43,-257.8,2207,2091,3906,3801,129.8,-9.6,136,1415,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2091,3853,3906,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1714,-1.43,-257.8,2207,2091,3906,3801,158.3,-9.3,166,1716,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2091,3853,3906,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2014,-1.43,-257.8,2207,2091,3906,3801,187.0,-9.6,196,2015,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2091,3853,3906,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2314,-1.43,-257.8,2207,2091,3907,3801,215.8,-9.6,226,2316,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2091,3853,3906,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2614,-1.43,-257.8,2206,2091,3905,3801,243.8,-9.3,256,2619,0.00,2.70,0.00,0.000,260,0.000,0.091,2207,3493,3853,3906,3801,0,0,0,0,0,0,28.83,24.43,28.83
$GC,2660,-1.43,-257.8,1408,3492,3904,3799,247.9,-9.9,260,2668,0.00,2.65,0.00,0.000,1030,0.000,0.077,2207,2083,3853,3906,3801,0,0,0,0,0,0,28.83,24.45,28.83
$GC,2968,-1.43,-257.8,2207,2084,3906,3801,276.4,-9.2,277,2969,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2084,3853,3906,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3268,-1.43,-257.8,2207,2083,3906,3801,305.3,-9.5,292,3269,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2083,3853,3906,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3568,-1.43,-257.8,2207,2083,3907,3801,333.6,-9.2,307,3569,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2083,3853,3906,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3868,-1.43,-257.8,2207,2082,3906,3801,360.8,-9.0,322,3873,0.00,2.75,0.00,0.000,260,0.000,0.096,2207,3495,3853,3906,3801,0,0,0,0,0,0,28.83,24.45,28.83
$GC,3940,-1.43,-257.8,2206,3495,3906,3801,366.7,-9.0,325,3946,0.00,2.67,0.00,0.000,1030,0.000,0.080,2207,2086,3853,3906,3801,0,0,0,0,0,0,28.83,24.46,28.83
$GC,4254,-1.43,-257.8,2207,2084,3906,3801,395.3,-9.1,341,4255,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2084,3853,3906,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4555,-1.43,-257.8,2207,2083,3907,3801,422.6,-9.1,356,4556,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2083,3854,3907,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4855,-1.43,-257.8,2207,2082,3906,3801,448.9,-8.6,371,4860,0.00,2.75,0.00,0.000,260,0.000,0.096,2207,3494,3854,3908,3801,0,0,0,0,0,0,28.83,24.46,28.83
$GC,4907,-1.43,-257.8,2207,3493,3907,3801,452.7,-8.5,373,4912,0.00,2.67,0.00,0.000,1030,0.000,0.083,2207,2085,3854,3907,3801,0,0,0,0,0,0,28.83,24.48,28.83
$GC,5220,-1.43,-257.8,2207,2085,3907,3800,480.1,-8.4,389,5221,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2084,3854,3907,3801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5521,-1.43,-257.8,2207,2084,3907,3799,507.0,-9.2,404,5522,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2084,3853,3906,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5821,-1.43,-257.8,2207,2083,3907,3800,535.3,-9.8,419,5827,0.00,2.75,0.00,0.000,260,0.000,0.096,2207,3494,3853,3907,3800,0,0,0,0,0,0,28.83,24.46,28.83
$STATE,5882,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5883,begin apogee
$GC,5889,-0.37,0.0,2207,2068,3907,3800,541.8,-9.8,422,6110,1.20,0.00,211.10,1.082,10244,0.119,0.000,2436,2068,2799,2867,2732,0,0,0,0,0,0,24.44,28.83,23.06
$STATE,6112,end apogee,CONTROL_FINISHED_OK
$STATE,6112,begin climb
$GC,6114,1.43,257.8,2436,2068,2867,2731,552.7,0.0,433,6338,2.03,0.00,213.32,1.035,11270,0.100,0.000,2835,2068,1749,1855,1643,0,0,0,0,0,0,23.86,28.83,23.03
$GC,6646,1.46,276.0,2835,2068,1852,1632,509.1,10.1,460,6671,0.00,2.85,16.30,0.965,8452,0.000,0.096,2834,3478,1673,1784,1563,0,0,0,0,0,0,28.83,23.84,23.24
$GC,6722,1.47,286.9,2835,3478,1783,1562,502.4,10.3,463,6739,0.00,2.72,11.05,0.915,9222,0.000,0.083,2835,2073,1630,1742,1518,0,0,0,0,0,0,28.83,24.15,23.27
$GC,7051,1.47,286.9,2835,2074,1741,1513,466.6,10.6,480,7057,0.00,2.75,0.00,0.000,260,0.000,0.094,2835,3482,1627,1741,1513,0,0,0,0,0,0,28.83,24.28,28.83
$GC,7074,1.47,286.9,2835,3482,1741,1513,464.1,10.6,481,7079,0.00,2.72,0.00,0.000,1030,0.000,0.083,2835,2071,1627,1741,1513,0,0,0,0,0,0,28.83,24.30,28.83
$GC,7397,1.48,294.6,2835,2072,1740,1512,430.1,10.4,497,7407,0.00,0.00,7.88,0.885,8198,0.000,0.000,2835,2071,1598,1713,1484,0,0,0,0,0,0,28.83,28.83,23.50
$GC,7697,1.51,318.7,2835,2071,1713,1483,399.4,9.9,512,7726,0.00,2.83,23.33,0.977,8452,0.000,0.093,2835,3482,1500,1614,1386,0,0,0,0,0,0,28.83,23.82,23.22
$GC,7763,1.51,318.9,1872,3480,1575,1379,392.7,10.6,515,7768,0.00,2.72,0.00,0.000,1030,0.000,0.083,2835,2073,1498,1613,1384,0,0,0,0,0,0,28.83,24.12,28.83
$GC,8081,1.53,338.8,2835,2074,1613,1380,360.4,10.0,531,8102,0.12,0.00,19.05,0.945,10246,0.100,0.000,2864,2073,1420,1538,1302,0,0,0,0,0,0,24.40,28.83,23.27
$GC,8400,1.53,338.8,2864,2074,1537,1296,323.5,11.6,547,8406,0.00,2.75,0.00,0.000,260,0.000,0.093,2864,3486,1416,1537,1296,0,0,0,0,0,0,28.83,24.32,28.83
$GC,8432,1.53,338.8,2864,3486,1537,1295,320.7,11.8,548,8437,0.00,2.70,0.00,0.000,1030,0.000,0.082,2865,2074,1416,1537,1296,0,0,0,0,0,0,28.83,24.33,28.83
$GC,8744,1.53,338.8,2864,2074,1536,1294,284.3,11.1,564,8746,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2074,1415,1536,1295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9046,1.53,338.8,2864,2074,1536,1294,249.6,11.8,579,9051,0.00,2.72,0.00,0.000,260,0.000,0.093,2865,3480,1415,1537,1294,0,0,0,0,0,0,28.83,24.37,28.83
$GC,9068,1.53,338.8,2865,3479,1536,1294,246.7,11.9,581,9074,0.00,2.67,0.00,0.000,1030,0.000,0.081,2865,2078,1415,1537,1294,0,0,0,0,0,0,28.83,24.37,28.83
$GC,9381,1.53,338.8,2864,2078,1537,1294,210.3,10.9,612,9382,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2078,1415,1536,1294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9681,1.53,338.8,2865,2078,1536,1293,176.7,11.2,642,9687,0.00,2.72,0.00,0.000,260,0.000,0.093,2865,3482,1415,1536,1294,0,0,0,0,0,0,28.83,24.39,28.83
$GC,9714,1.53,338.8,2865,3482,1536,1294,172.8,12.0,645,9720,0.00,2.65,0.00,0.000,1030,0.000,0.086,2865,2083,1414,1536,1293,0,0,0,0,0,0,28.83,24.41,28.83
$GC,10027,1.53,338.8,2864,2083,1536,1294,137.9,11.2,676,10028,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2083,1415,1537,1294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10327,1.53,338.8,2864,2083,1536,1293,104.7,11.3,706,10328,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2083,1414,1536,1293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10627,1.53,338.8,2865,2083,1536,1293,70.3,11.8,736,10628,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2083,1415,1537,1293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10927,1.57,369.5,2864,2083,1537,1293,37.7,9.7,766,10958,0.00,0.00,28.20,0.771,8198,0.000,0.000,2865,2083,1293,1418,1168,0,0,0,0,0,0,28.83,28.83,23.42
$GC,11259,1.66,438.4,2864,2083,1418,1162,6.1,8.7,799,11309,0.00,0.00,47.70,0.745,8706,0.000,0.000,2864,2083,1073,1209,937,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11310,end climb,SURFACE_DEPTH_REACHED
$STATE,11310,begin surface coast
$FINISH,0.7,1.026764
$STATE,11326,end surface coast,CONTROL_FINISHED_OK
$STATE,11326,begin surface
$SM_CCo,11407,0.00,0.000,0,0,1069,424.61
$SM_GC,1.05,11.00,0.00,0.00,0.054,0.000,0.000,513,2076,1069,-9.21,-0.25,424.61,0,0,0,0,0,0,24.18,28.83,28.83
$IRIDIUM_FIX,8054.85,7450.13,010913,151543
$TT8_MAMPS,0.026215,0.026215
$HUMID,46.02
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,15.70
$XPDR_PINGS,5
$SC_FREEKB,3995616
$TM_FREEKB,2355776
$24V_AH,23.0,12.366
$10V_AH,9.1,8.310
$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,24.725,70.850,577.925,0.000,0.000,0.000,0.000,300.450,1.250,0.000,12.343,2118.821,7068.565,615.789,1921.724,182.626,0.000,1777.066,0.000,1502.901,0.000,0.547,0.000
$DEVICE_MAMPS,184.365,104.040,1081.710,0.000,0.000,0.000,0.000,148.410,420.000,0.000,32.210,12.760,2.190,12.760,37.480,46.470,0.000,15.700,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11344.000,11331.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.328,13.766,0.000,0.000
$MEM,282216
$DATA_FILE_SIZE,26730,806
$CAP_FILE_SIZE,148383,0
$CFSIZE,260034560,241860608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.055,183.3,1
$GPS,010913,220223,8204.354,7518.574,24,1.5,41,44.0