version: 66.11
glider: 121
mission: 10
dive: 52
start: 3 7 113 22 38 33
data:
$ID,121
$MISSION,10
$DIVE,52
$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,-81341.945
$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,2350
$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,44
$R_STBD_OVSHOOT,77
$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
$GPS1,070313,223059,2002.129,12002.718,38,0.9,38,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-65.0
$GPS2,070313,223805,2002.121,12002.651,13,1.5,13,-2.6
$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,209.8,115143,-18.4,-9.167,-20.99,2856
$D_GRID,3623
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.11,-170.3,81,2016,938,950,0.0,0.0,0,66,0.00,0.00,-46.35,0.000,16386,0.000,0.000,81,2016,2136,2083,2190,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-1.11,-170.3,81,2016,2084,2192,3.0,-3.1,6,115,8.40,2.33,-30.17,0.000,18948,0.242,0.050,2109,563,3493,3420,3566,0,0,0,0,0,0,25.86,26.12,26.38
$GC,346,-1.11,-170.3,2109,563,3421,3568,53.9,-18.8,41,353,0.00,2.03,0.00,0.000,1030,0.000,0.015,2101,1988,3495,3422,3568,0,0,0,0,0,0,28.83,26.37,28.83
$GC,671,-1.11,-170.3,2100,1989,3426,3569,104.6,-14.4,57,677,0.00,2.17,0.00,0.000,516,0.000,0.036,2109,566,3497,3426,3569,0,0,0,0,0,0,28.83,26.46,28.83
$GC,906,-1.11,-170.3,2109,566,3426,3570,134.8,-12.8,68,912,0.00,2.00,0.00,0.000,1030,0.000,0.016,2101,1986,3498,3426,3570,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1220,-1.11,-170.3,2100,1986,3426,3571,174.5,-12.3,84,1226,0.00,2.17,0.00,0.000,516,0.000,0.036,2109,564,3499,3427,3571,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1299,-1.11,-170.3,2108,564,3427,3570,182.5,-12.3,87,1307,0.00,2.00,0.00,0.000,1030,0.000,0.016,2100,1987,3499,3427,3571,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1606,-1.11,-170.3,2100,1987,3427,3570,220.4,-11.8,103,1612,0.00,1.98,0.00,0.000,260,0.000,0.029,2090,3336,3498,3427,3570,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1633,-1.11,-170.3,2090,3336,3427,3571,223.1,-11.7,104,1639,0.00,2.03,0.00,0.000,1030,0.000,0.022,2093,1952,3499,3427,3571,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1953,-1.11,-170.3,2093,1952,3426,3570,259.5,-11.4,120,1959,0.00,2.08,0.00,0.000,260,0.000,0.028,2085,3345,3497,3425,3570,0,0,0,0,0,0,28.83,26.68,28.83
$GC,1986,-1.11,-170.3,2084,3345,3425,3570,262.3,-11.4,121,1992,0.00,2.00,0.00,0.000,1030,0.000,0.022,2092,1977,3498,3426,3570,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2300,-1.11,-170.3,2091,1976,3423,3567,299.5,-11.5,137,2306,0.00,2.10,0.00,0.000,516,0.000,0.040,2102,577,3495,3423,3567,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2337,-1.11,-170.3,1300,577,3408,3564,302.3,-11.4,138,2345,0.00,1.98,0.00,0.000,1030,0.000,0.016,2094,1984,3495,3423,3567,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2644,-1.11,-170.3,2093,1984,3422,3566,336.2,-10.2,154,2649,0.00,2.00,0.00,0.000,260,0.000,0.029,2083,3340,3493,3421,3566,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2710,-1.11,-170.3,1280,3338,3405,3562,342.5,-9.9,157,2717,0.10,2.00,0.00,0.000,3078,0.168,0.023,2110,1971,3493,3421,3565,0,0,0,0,0,0,26.61,26.74,28.83
$GC,3031,-1.11,-170.3,2110,1971,3419,3562,370.1,-8.5,173,3037,0.00,2.10,0.00,0.000,516,0.000,0.041,2121,575,3490,3419,3562,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3107,-1.11,-170.3,2121,575,3418,3562,375.9,-8.5,176,3113,0.00,1.98,0.00,0.000,1030,0.000,0.016,2112,1977,3490,3418,3562,0,0,0,0,0,0,28.83,26.80,28.83
$GC,3421,-1.11,-170.3,2112,1977,3416,3559,403.4,-8.7,192,3428,0.00,2.00,0.00,0.000,260,0.000,0.030,2102,3334,3487,3416,3558,0,0,0,0,0,0,28.83,26.75,28.83
$GC,3512,-1.11,-170.3,2102,3334,3415,3558,411.0,-8.9,196,3518,0.00,2.00,0.00,0.000,1030,0.000,0.023,2102,1979,3486,3415,3558,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3831,-1.11,-170.3,2103,1979,3414,3557,441.9,-9.8,212,3832,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,1979,3485,3413,3557,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4131,-1.11,-170.3,2102,1980,3410,3554,471.1,-9.7,227,4137,0.00,2.12,0.00,0.000,516,0.000,0.041,2112,572,3482,3411,3554,0,0,0,0,0,0,28.83,26.75,28.83
$GC,4163,-1.11,-170.3,2112,571,3410,3554,473.6,-10.0,228,4170,0.00,1.98,0.00,0.000,1030,0.000,0.016,2104,1972,3482,3410,3554,0,0,0,0,0,0,28.83,26.82,28.83
$GC,4478,-1.11,-170.3,2104,1973,3408,3552,506.0,-10.2,244,4479,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,1973,3480,3408,3552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4779,-1.11,-170.3,2104,1973,3407,3550,536.2,-9.9,259,4785,0.00,2.03,0.00,0.000,260,0.000,0.031,2094,3338,3478,3407,3549,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4833,-1.11,-170.3,2094,3338,3406,3548,540.7,-9.9,261,4839,0.00,2.00,0.00,0.000,1030,0.000,0.024,2094,1978,3477,3406,3548,0,0,0,0,0,0,28.83,26.79,28.83
$GC,5146,-1.11,-170.3,2094,1978,3404,3547,572.8,-9.8,277,5148,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,1978,3475,3404,3547,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5446,-1.11,-170.3,2094,1978,3402,3545,601.8,-9.4,292,5452,0.00,2.05,0.00,0.000,260,0.000,0.030,2085,3347,3474,3403,3545,0,0,0,0,0,0,28.83,26.77,28.83
$GC,5484,-1.11,-170.3,2085,3346,3402,3545,605.0,-9.5,293,5491,0.10,2.03,0.00,0.000,3078,0.167,0.024,2112,1971,3473,3402,3545,0,0,0,0,0,0,26.66,26.79,28.83
$GC,5815,-1.11,-170.3,2112,1971,3401,3543,632.7,-8.0,304,5821,0.00,2.10,0.00,0.000,516,0.000,0.044,2122,582,3472,3401,3543,0,0,0,0,0,0,28.83,26.76,28.83
$GC,5859,-1.11,-170.3,2122,582,3401,3543,635.6,-7.9,305,5865,0.00,1.98,0.00,0.000,1030,0.000,0.016,2114,1974,3471,3400,3543,0,0,0,0,0,0,28.83,26.83,28.83
$GC,6183,-1.11,-170.3,2114,1975,3398,3541,660.9,-7.7,316,6189,0.00,2.03,0.00,0.000,260,0.000,0.032,2104,3342,3469,3398,3541,0,0,0,0,0,0,28.83,26.77,28.83
$GC,6286,-1.11,-170.3,2104,3342,3398,3540,668.0,-7.6,319,6292,0.00,2.03,0.00,0.000,1030,0.000,0.025,2104,1973,3468,3397,3540,0,0,0,0,0,0,28.83,26.79,28.83
$GC,6610,-1.11,-170.3,2104,1974,3396,3539,695.5,-8.4,330,6611,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,1974,3467,3396,3539,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6909,-1.11,-170.3,2103,1974,3395,3538,722.5,-9.3,340,6915,0.00,2.12,0.00,0.000,516,0.000,0.044,2114,576,3466,3395,3537,0,0,0,0,0,0,28.83,26.77,28.83
$GC,6947,-1.11,-170.3,2114,576,3395,3536,725.9,-9.5,341,6953,0.00,2.00,0.00,0.000,1030,0.000,0.017,2106,1979,3466,3395,3537,0,0,0,0,0,0,28.83,26.83,28.83
$GC,7275,-1.11,-170.3,2105,1979,3393,3536,758.0,-9.7,352,7282,0.00,2.03,0.00,0.000,260,0.000,0.032,2096,3344,3464,3393,3536,0,0,0,0,0,0,28.83,26.77,28.83
$GC,7334,-1.11,-170.3,2095,3344,3393,3535,761.3,-9.7,353,7342,0.00,2.03,0.00,0.000,1030,0.000,0.025,2101,1977,3464,3393,3535,0,0,0,0,0,0,28.83,26.79,28.83
$GC,7642,-1.11,-170.3,2100,1977,3391,3535,792.2,-8.4,364,7648,0.00,2.08,0.00,0.000,260,0.000,0.032,2092,3354,3462,3391,3534,0,0,0,0,0,0,28.83,26.77,28.83
$GC,7811,-1.11,-170.3,2092,3354,3390,3533,804.5,-7.9,369,7817,0.00,2.05,0.00,0.000,1030,0.000,0.024,2094,1968,3461,3390,3533,0,0,0,0,0,0,28.83,26.80,28.83
$GC,8130,-1.11,-170.3,2094,1968,3389,3532,828.0,-6.8,380,8137,0.00,2.12,0.00,0.000,516,0.000,0.044,2099,575,3460,3389,3532,0,0,0,0,0,0,28.83,26.77,28.83
$GC,8178,-1.11,-170.3,1300,575,3371,3529,830.4,-6.8,381,8184,0.00,2.00,0.00,0.000,1030,0.000,0.016,2091,1984,3460,3389,3532,0,0,0,0,0,0,28.83,26.84,28.83
$GC,8498,-1.11,-170.3,2091,1984,3386,3530,855.7,-7.4,392,8503,0.00,2.00,0.00,0.000,260,0.000,0.032,2081,3339,3459,3387,3531,0,0,0,0,0,0,28.83,26.77,28.83
$GC,8733,-1.11,-170.3,2080,3340,3386,3530,871.4,-7.2,399,8740,0.10,2.03,0.00,0.000,3078,0.171,0.026,2107,1973,3458,3386,3530,0,0,0,0,0,0,26.66,26.79,28.83
$GC,9049,-1.11,-170.3,2107,1973,3385,3529,894.4,-7.0,410,9055,0.00,2.12,0.00,0.000,516,0.000,0.047,2118,582,3457,3385,3529,0,0,0,0,0,0,28.83,26.76,28.83
$GC,9283,-1.11,-170.3,2117,582,3384,3529,911.1,-8.0,417,9289,0.00,2.00,0.00,0.000,1030,0.000,0.018,2109,1979,3456,3383,3529,0,0,0,0,0,0,28.83,26.83,28.83
$GC,9598,-1.11,-170.3,2109,1979,3383,3527,937.9,-8.2,428,9604,0.00,2.05,0.00,0.000,260,0.000,0.034,2099,3356,3456,3386,3526,0,0,0,0,0,0,28.83,26.77,28.83
$GC,9833,-1.11,-170.3,2099,3356,3382,3526,955.8,-8.3,435,9840,0.00,2.05,0.00,0.000,1030,0.000,0.027,2100,1978,3454,3382,3526,0,0,0,0,0,0,28.83,26.79,28.83
$GC,10149,-1.11,-170.3,2100,1978,3381,3525,984.4,-8.6,446,10155,0.00,2.08,0.00,0.000,260,0.000,0.034,2092,3349,3453,3381,3525,0,0,0,0,0,0,28.83,26.77,28.83
$STATE,10242,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10242,begin apogee
$GC,10247,-0.19,0.0,2093,2292,3381,3525,992.4,-8.5,449,10413,0.65,0.00,157.25,1.213,10246,0.121,0.000,2308,2292,2791,2751,2831,0,0,0,0,0,0,26.67,28.83,23.93
$STATE,10415,end apogee,CONTROL_FINISHED_OK
$STATE,10415,begin climb
$GC,10416,1.11,170.3,2308,2292,2750,2828,999.0,0.0,454,10593,0.82,2.40,163.85,1.209,10756,0.066,0.044,2605,908,2092,2056,2129,0,0,0,0,0,0,24.91,24.51,23.68
$GC,10707,1.32,254.8,2605,908,2050,2123,989.6,6.1,463,10796,0.12,2.12,82.07,1.180,11270,0.090,0.017,2655,2289,1755,1728,1783,0,0,0,0,0,0,25.40,25.45,23.70
$GC,11088,1.32,254.8,2654,2289,1720,1767,952.8,10.0,476,11094,0.00,2.25,0.00,0.000,516,0.000,0.042,2665,908,1744,1720,1768,0,0,0,0,0,0,28.83,25.72,28.83
$GC,11248,1.32,254.8,2665,908,1718,1768,936.0,10.9,481,11255,0.12,2.10,0.00,0.000,5126,0.183,0.018,2636,2308,1742,1718,1767,0,0,0,0,0,0,25.82,25.99,28.83
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$STATE,20626,end climb,SURFACE_DEPTH_REACHED
$STATE,20626,begin surface coast
$FINISH,1.0,1.020274
$STATE,20664,end surface coast,CONTROL_FINISHED_OK
$STATE,20664,begin surface
$SM_CCo,20738,0.00,0.000,0,0,860,474.66
$SM_GC,1.65,6.88,0.52,0.00,0.025,0.038,0.000,83,1969,860,-10.32,1.33,474.66,0,0,0,0,0,0,26.28,26.29,28.83
$IRIDIUM_FIX,1955.00,12002.34,070313,161653
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.21
$INTERNAL_PRESSURE,9.25339
$TCM_TEMP,21.70
$XPDR_PINGS,0
$SC_FREEKB,3999232
$24V_AH,23.7,9.604
$10V_AH,10.1,7.016
$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,18.050,180.425,601.775,0.000,0.000,0.000,0.000,254.100,0.000,0.000,14.184,4491.058,12474.968,803.536,3061.127,304.745,0.000,2515.549,0.000,2659.914,0.000,1.491,0.000
$DEVICE_MAMPS,241.740,50.490,1213.290,0.000,0.000,0.000,0.000,139.230,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20674.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.417,0.000,0.000,0.000
$MEM,323912
$DATA_FILE_SIZE,33370,933
$CAP_FILE_SIZE,542111,0
$CFSIZE,260034560,244420608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.116,156.8,1
$GPS,080313,042522,1959.429,12001.527,35,0.7,35,-2.6