version: 66.11
glider: 121
mission: 10
dive: 51
start: 3 7 113 16 28 53
data:
$ID,121
$MISSION,10
$DIVE,51
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,5
$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,360
$T_MISSION,420
$T_ABORT,1440
$T_TURN,225
$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,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51800
$NAV_MODE,2
$FERRY_MAX,40
$KALMAN_USE,2
$HD_A,0.0056599998
$HD_B,0.0135
$HD_C,6.2300001e-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,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$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,-81340.688
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,100
$PITCH_MAX,4069
$C_PITCH,2360
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,526
$ROLL_MAX,3878
$ROLL_DEG,40
$C_ROLL_DIVE,1975
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,65
$R_STBD_OVSHOOT,74
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3600
$C_VBD,2795
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0024999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$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,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-34.938694
$PRESSURE_SLOPE,9.0818496e-05
$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,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.3
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$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,0.0042823856
$SEABIRD_T_H,0.00062054652
$SEABIRD_T_I,2.2746239e-05
$SEABIRD_T_J,2.4072633e-06
$SEABIRD_C_G,-9.8275757
$SEABIRD_C_H,1.1041691
$SEABIRD_C_I,-0.0015209455
$SEABIRD_C_J,0.00020302966
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,070313,162105,2004.561,12001.990,36,0.7,36,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-60.5
$GPS2,070313,162824,2004.531,12001.965,15,1.0,15,-2.7
$SPEED_LIMITS,0.159,0.239
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,4000.000
$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,194.7,119561,-18.4,-9.167,-20.99,2856
$D_GRID,3581
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,17,-1.11,-170.3,84,1944,386,523,0.0,0.0,0,88,0.00,0.00,-67.72,0.000,16386,0.000,0.000,85,1937,2251,2189,2314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-1.11,-170.3,84,1938,2190,2315,3.3,-3.9,9,131,8.55,2.15,-25.95,0.000,18948,0.244,0.052,2124,589,3493,3419,3567,0,0,0,0,0,0,25.84,26.08,26.35
$GC,366,-1.11,-170.3,2124,589,3421,3571,52.5,-16.5,44,372,0.00,2.00,0.00,0.000,1030,0.000,0.016,2116,1990,3496,3421,3571,0,0,0,0,0,0,28.83,26.36,28.83
$GC,685,-1.11,-170.3,2116,1991,3425,3571,98.0,-12.7,60,691,0.00,2.15,0.00,0.000,516,0.000,0.036,2124,586,3498,3425,3571,0,0,0,0,0,0,28.83,26.44,28.83
$GC,920,-1.11,-170.3,2124,586,3426,3572,124.1,-12.2,71,926,0.00,1.98,0.00,0.000,1030,0.000,0.016,2116,1985,3499,3426,3572,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1234,-1.11,-170.3,2116,1986,3426,3572,161.0,-10.4,87,1240,0.00,2.12,0.00,0.000,516,0.000,0.036,2124,589,3499,3426,3572,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1368,-1.11,-170.3,2124,589,3426,3572,172.7,-9.3,93,1374,0.00,1.95,0.00,0.000,1030,0.000,0.016,2116,1979,3499,3426,3572,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1682,-1.11,-170.3,2116,1981,3426,3571,201.5,-9.0,109,1688,0.00,2.00,0.00,0.000,260,0.000,0.029,2106,3338,3498,3426,3571,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1756,-1.11,-170.3,2106,3338,3426,3571,207.2,-8.8,112,1763,0.00,1.98,0.00,0.000,1030,0.000,0.021,2112,1985,3498,3426,3571,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2071,-1.11,-170.3,2112,1985,3426,3570,238.6,-10.0,128,2077,0.00,2.12,0.00,0.000,516,0.000,0.038,2122,570,3497,3425,3570,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2104,-1.11,-170.3,2122,570,3425,3570,241.2,-10.3,129,2110,0.00,1.98,0.00,0.000,1030,0.000,0.016,2114,1979,3498,3426,3570,0,0,0,0,0,0,28.83,26.75,28.83
$GC,2417,-1.11,-170.3,2114,1979,3424,3567,275.1,-10.4,145,2418,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,1979,3495,3424,3567,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2717,-1.11,-170.3,2114,1980,3422,3565,306.2,-10.2,160,2723,0.00,1.98,0.00,0.000,260,0.000,0.029,2104,3334,3493,3422,3565,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2785,-1.11,-170.3,2104,3334,3421,3563,312.6,-9.8,163,2792,0.00,2.00,0.00,0.000,1030,0.000,0.022,2106,1969,3492,3421,3563,0,0,0,0,0,0,28.83,26.76,28.83
$GC,3105,-1.11,-170.3,2106,1968,3419,3562,344.4,-9.6,179,3111,0.00,2.05,0.00,0.000,260,0.000,0.028,2098,3342,3490,3419,3561,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3149,-1.11,-170.3,2098,3342,3418,3561,348.6,-9.5,181,3155,0.00,2.00,0.00,0.000,1030,0.000,0.023,2105,1974,3489,3418,3561,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3474,-1.11,-170.3,2104,1974,3417,3558,378.0,-9.0,197,3480,0.00,2.10,0.00,0.000,516,0.000,0.041,2114,576,3487,3417,3558,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3519,-1.11,-170.3,2114,576,3416,3558,382.3,-9.2,199,3525,0.00,1.98,0.00,0.000,1030,0.000,0.016,2106,1982,3487,3416,3558,0,0,0,0,0,0,28.83,26.82,28.83
$GC,3845,-1.11,-170.3,2106,1982,3413,3556,411.7,-9.0,215,3846,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,1982,3485,3413,3557,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4143,-1.11,-170.3,2106,1982,3411,3554,438.6,-9.0,230,4145,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,1982,3482,3411,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4443,-1.11,-170.3,2108,1982,3409,3552,466.3,-9.4,245,4444,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,1983,3480,3409,3552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4743,-1.11,-170.3,2106,1983,3408,3549,495.3,-9.9,260,4744,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,1983,3478,3407,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5043,-1.11,-170.3,2106,1983,3406,3547,525.3,-9.8,275,5050,0.00,2.00,0.00,0.000,260,0.000,0.031,2097,3344,3475,3405,3546,0,0,0,0,0,0,28.83,26.78,28.83
$GC,5123,-1.11,-170.3,2096,3343,3405,3546,531.4,-9.5,278,5131,0.00,2.03,0.00,0.000,1030,0.000,0.024,2100,1968,3475,3404,3546,0,0,0,0,0,0,28.83,26.80,28.83
$GC,5429,-1.11,-170.3,2100,1968,3403,3545,559.5,-8.4,294,5430,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,1968,3474,3403,3545,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5728,-1.11,-170.3,2100,1968,3401,3543,582.6,-7.4,309,5730,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,1968,3472,3401,3543,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6029,-1.11,-170.3,2100,1968,3399,3542,605.9,-8.0,323,6030,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,1968,3470,3399,3541,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6329,-1.11,-170.3,2100,1967,3397,3540,630.7,-8.6,333,6335,0.00,2.08,0.00,0.000,260,0.000,0.031,2092,3338,3468,3397,3540,0,0,0,0,0,0,28.83,26.79,28.83
$GC,6387,-1.11,-170.3,2092,3338,3397,3539,633.7,-8.6,334,6396,0.10,2.03,0.00,0.000,3078,0.161,0.024,2119,1965,3468,3397,3539,0,0,0,0,0,0,26.68,26.81,28.83
$GC,6694,-1.11,-170.3,2119,1965,3396,3537,661.9,-8.6,345,6695,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,1965,3466,3396,3537,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6993,-1.11,-170.3,2119,1965,3394,3536,687.4,-8.5,355,6999,0.00,2.05,0.00,0.000,260,0.000,0.031,2111,3333,3465,3394,3536,0,0,0,0,0,0,28.83,26.79,28.83
$GC,7040,-1.11,-170.3,1328,3331,3377,3533,690.2,-8.4,356,7046,0.00,2.00,0.00,0.000,1030,0.000,0.025,2113,1979,3464,3393,3536,0,0,0,0,0,0,28.83,26.81,28.83
$GC,7359,-1.11,-170.3,2113,1979,3392,3534,718.1,-8.2,367,7361,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,1979,3463,3392,3534,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7659,-1.11,-170.3,2113,1979,3390,3533,741.2,-7.5,377,7660,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,1979,3461,3390,3533,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7959,-1.11,-170.3,2113,1978,3389,3532,763.5,-7.3,387,7960,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,1978,3460,3389,3532,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8259,-1.11,-170.3,2113,1978,3388,3530,783.4,-6.3,397,8265,0.00,2.05,0.00,0.000,260,0.000,0.031,2105,3337,3459,3388,3530,0,0,0,0,0,0,28.83,26.79,28.83
$GC,8312,-1.11,-170.3,2105,3337,3388,3530,785.5,-6.2,398,8318,0.00,2.03,0.00,0.000,1030,0.000,0.026,2105,1973,3458,3387,3530,0,0,0,0,0,0,28.83,26.80,28.83
$GC,8627,-1.11,-170.3,2105,1973,3386,3530,807.4,-6.5,409,8628,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,1973,3457,3386,3529,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8926,-1.11,-170.3,2105,1973,3385,3528,827.0,-6.6,419,8932,0.00,2.12,0.00,0.000,516,0.000,0.046,2115,580,3456,3385,3527,0,0,0,0,0,0,28.83,26.77,28.83
$GC,8965,-1.11,-170.3,2115,579,3385,3527,829.3,-6.6,420,8971,0.00,1.98,0.00,0.000,1030,0.000,0.017,2107,1961,3456,3385,3527,0,0,0,0,0,0,28.83,26.84,28.83
$GC,9293,-1.11,-170.3,2107,1961,3384,3526,851.3,-6.6,431,9300,0.00,2.08,0.00,0.000,260,0.000,0.034,2097,3357,3454,3383,3526,0,0,0,0,0,0,28.83,26.78,28.83
$GC,9337,-1.11,-170.3,2097,3357,3383,3526,853.6,-6.6,432,9344,0.00,2.05,0.00,0.000,1030,0.000,0.026,2101,1977,3454,3383,3526,0,0,0,0,0,0,28.83,26.80,28.83
$GC,9662,-1.11,-170.3,2100,1977,3382,3524,877.1,-7.3,443,9668,0.00,2.08,0.00,0.000,260,0.000,0.033,2092,3348,3453,3382,3525,0,0,0,0,0,0,28.83,26.78,28.83
$GC,9705,-1.11,-170.3,2092,3348,3382,3525,879.6,-7.2,444,9712,0.10,2.05,0.00,0.000,3078,0.161,0.027,2120,1971,3453,3382,3525,0,0,0,0,0,0,26.67,26.79,28.83
$GC,10030,-1.11,-170.3,2120,1971,3382,3524,901.6,-6.5,455,10036,0.00,2.10,0.00,0.000,260,0.000,0.033,2112,3356,3453,3382,3524,0,0,0,0,0,0,28.83,26.77,28.83
$GC,10065,-1.11,-170.3,1288,3354,3363,3520,903.9,-6.6,456,10071,0.00,2.08,0.00,0.000,1030,0.000,0.027,2114,1971,3452,3381,3523,0,0,0,0,0,0,28.83,26.80,28.83
$GC,10399,-1.11,-170.3,2114,1972,3380,3523,926.3,-6.8,467,10400,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,1972,3451,3380,3523,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10699,-1.11,-170.3,2114,1972,3379,3522,947.4,-7.1,477,10700,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,1972,3450,3379,3522,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10999,-1.11,-170.3,2113,1972,3378,3522,968.8,-7.1,487,11005,0.00,2.10,0.00,0.000,260,0.000,0.034,2106,3353,3449,3378,3521,0,0,0,0,0,0,28.83,26.77,28.83
$GC,11051,-1.11,-170.3,2106,3353,3379,3521,971.1,-7.1,488,11058,0.00,2.08,0.00,0.000,1030,0.000,0.028,2109,1967,3449,3378,3521,0,0,0,0,0,0,28.83,26.79,28.83
$STATE,11304,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11304,begin apogee
$GC,11308,-0.19,0.0,2108,2302,3377,3521,990.4,-7.0,497,11478,0.62,0.00,160.15,1.187,10246,0.116,0.000,2318,2311,2788,2750,2827,0,0,0,0,0,0,26.68,28.83,23.99
$STATE,11480,end apogee,CONTROL_FINISHED_OK
$STATE,11480,begin climb
$GC,11481,1.11,170.3,2318,2311,2749,2823,994.9,0.0,502,11659,0.82,2.33,165.95,1.179,10500,0.060,0.037,2609,3666,2091,2055,2127,0,0,0,0,0,0,24.96,24.53,23.70
$GC,11807,1.13,180.8,1680,3665,1998,2106,979.0,8.8,512,11822,0.00,2.15,8.50,1.121,9222,0.000,0.025,2619,2306,2057,2023,2092,0,0,0,0,0,0,28.83,25.51,24.46
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$STATE,21547,end climb,SURFACE_DEPTH_REACHED
$STATE,21547,begin surface coast
$FINISH,1.1,1.022467
$STATE,21575,end surface coast,CONTROL_FINISHED_OK
$STATE,21576,begin surface
$SM_CCo,21652,0.00,0.000,0,0,947,453.31
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$TT8_MAMPS,0.026964,0.026964
$HUMID,42.75
$INTERNAL_PRESSURE,9.27292
$TCM_TEMP,22.90
$XPDR_PINGS,1
$SC_FREEKB,3999616
$24V_AH,23.7,9.424
$10V_AH,10.2,6.883
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.465,0.000,0.000,0.000
$MEM,323892
$DATA_FILE_SIZE,36737,978
$CAP_FILE_SIZE,503656,0
$CFSIZE,260034560,244613120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.102, 83.1,1
$GPS,070313,223059,2002.129,12002.718,38,0.9,38,-2.6