version: 66.11
glider: 121
mission: 10
dive: 56
start: 3 8 113 21 24 52
data:
$ID,121
$MISSION,10
$DIVE,56
$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,-81347
$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,60
$R_STBD_OVSHOOT,67
$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
$GPS1,080313,211552,1950.095,12001.731,38,1.0,38,-2.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-60.3
$GPS2,080313,212424,1950.186,12001.722,18,1.8,18,-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,211.5,92994,-18.4,-9.167,-20.99,2856
$D_GRID,3808
$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,18,-1.11,-170.3,82,1934,894,911,0.0,0.0,0,86,0.00,0.00,-66.28,0.000,16386,0.000,0.000,82,1936,2752,2666,2838,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-1.11,-170.3,82,1936,2666,2840,3.3,-7.5,9,121,8.48,2.15,-12.32,0.000,18948,0.246,0.052,2111,581,3495,3420,3571,0,0,0,0,0,0,25.91,26.15,26.43
$GC,359,-1.11,-170.3,2111,581,3422,3571,60.7,-23.5,38,365,0.00,2.03,0.00,0.000,1030,0.000,0.015,2103,2001,3497,3423,3572,0,0,0,0,0,0,28.83,26.41,28.83
$GC,672,-1.11,-170.3,2103,2002,3428,3573,115.5,-12.9,54,673,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2002,3500,3428,3573,0,0,0,0,0,0,28.83,28.83,28.83
$GC,973,-1.11,-170.3,2102,2002,3429,3573,155.7,-13.3,69,979,0.00,1.98,0.00,0.000,260,0.000,0.028,2093,3338,3501,3430,3573,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1027,-1.11,-170.3,2093,3338,3430,3573,161.7,-13.3,71,1033,0.00,2.00,0.00,0.000,1030,0.000,0.021,2099,1977,3501,3430,3573,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1341,-1.11,-170.3,2100,1976,3430,3573,199.9,-11.1,87,1348,0.00,2.10,0.00,0.000,516,0.000,0.039,2110,580,3501,3430,3573,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1407,-1.11,-170.3,2110,580,3430,3573,207.6,-11.7,90,1413,0.00,1.98,0.00,0.000,1030,0.000,0.015,2102,1979,3501,3429,3573,0,0,0,0,0,0,28.83,26.69,28.83
$GC,1732,-1.11,-170.3,2101,1979,3429,3573,240.2,-9.1,106,1738,0.00,2.00,0.00,0.000,260,0.000,0.029,2092,3342,3500,3428,3573,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1770,-1.11,-170.3,2091,3343,3428,3573,242.2,-9.0,107,1778,0.00,2.03,0.00,0.000,1030,0.000,0.022,2099,1962,3500,3428,3573,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2076,-1.11,-170.3,2098,1962,3426,3572,264.4,-6.4,123,2082,0.00,2.08,0.00,0.000,516,0.000,0.040,2108,579,3498,3426,3571,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2129,-1.11,-170.3,2108,580,3429,3571,267.5,-6.7,125,2136,0.00,1.98,0.00,0.000,1030,0.000,0.015,2100,1977,3498,3426,3571,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2444,-1.11,-170.3,2100,1978,3424,3568,298.0,-11.1,141,2450,0.00,2.00,0.00,0.000,260,0.000,0.030,2090,3340,3495,3424,3567,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2477,-1.11,-170.3,2090,3340,3424,3567,300.8,-11.2,142,2483,0.00,2.00,0.00,0.000,1030,0.000,0.023,2093,1976,3495,3424,3567,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2791,-1.11,-170.3,2093,1976,3422,3566,342.7,-13.7,158,2792,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,1976,3494,3422,3566,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3090,-1.11,-170.3,2093,1976,3420,3563,383.4,-12.9,173,3091,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,1976,3491,3420,3563,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3390,-1.11,-170.3,2093,1976,3418,3561,418.5,-10.9,188,3396,0.00,2.12,0.00,0.000,516,0.000,0.041,2093,571,3489,3418,3560,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3435,-1.11,-170.3,2093,570,3418,3560,423.3,-10.7,190,3441,0.10,2.00,0.00,0.000,3078,0.187,0.016,2108,1977,3489,3418,3560,0,0,0,0,0,0,26.62,26.79,28.83
$GC,3761,-1.11,-170.3,2107,1977,3415,3558,450.0,-7.3,206,3766,0.00,2.03,0.00,0.000,260,0.000,0.031,2099,3351,3486,3415,3558,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3809,-1.11,-170.3,2098,3351,3415,3557,453.2,-7.1,208,3815,0.00,2.03,0.00,0.000,1030,0.000,0.024,2105,1977,3486,3415,3557,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4129,-1.11,-170.3,2105,1977,3413,3556,473.1,-5.8,224,4135,0.00,2.12,0.00,0.000,516,0.000,0.043,2115,574,3484,3413,3556,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4162,-1.11,-170.3,2115,574,3413,3556,474.7,-5.9,225,4168,0.00,2.00,0.00,0.000,1030,0.000,0.016,2107,1983,3484,3413,3556,0,0,0,0,0,0,28.83,26.81,28.83
$GC,4477,-1.11,-170.3,2106,1983,3410,3554,497.0,-7.6,241,4483,0.00,2.17,0.00,0.000,516,0.000,0.041,2115,569,3482,3410,3554,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4511,-1.11,-170.3,2115,569,3410,3554,499.0,-7.7,242,4517,0.00,2.00,0.00,0.000,1030,0.000,0.016,2107,1979,3482,3410,3554,0,0,0,0,0,0,28.83,26.82,28.83
$GC,4825,-1.11,-170.3,2106,1979,3408,3551,530.1,-10.3,258,4831,0.00,2.03,0.00,0.000,260,0.000,0.031,2097,3352,3479,3408,3550,0,0,0,0,0,0,28.83,26.76,28.83
$GC,4872,-1.11,-170.3,1288,3350,3391,3547,534.7,-10.4,260,4878,0.00,2.05,0.00,0.000,1030,0.000,0.025,2098,1967,3479,3408,3550,0,0,0,0,0,0,28.83,26.77,28.83
$GC,5191,-1.11,-170.3,2098,1966,3405,3548,571.5,-11.4,276,5197,0.00,2.12,0.00,0.000,516,0.000,0.044,2108,570,3477,3406,3548,0,0,0,0,0,0,28.83,26.75,28.83
$GC,5240,-1.11,-170.3,2108,570,3405,3548,576.6,-11.2,278,5246,0.00,2.00,0.00,0.000,1030,0.000,0.016,2100,1975,3476,3405,3548,0,0,0,0,0,0,28.83,26.82,28.83
$GC,5569,-1.11,-170.3,2100,1976,3404,3545,609.5,-9.3,293,5574,0.00,2.03,0.00,0.000,260,0.000,0.031,2090,3347,3474,3404,3545,0,0,0,0,0,0,28.83,26.77,28.83
$GC,5622,-1.11,-170.3,2089,3347,3403,3545,612.5,-9.2,294,5627,0.00,2.03,0.00,0.000,1030,0.000,0.025,2092,1974,3474,3403,3545,0,0,0,0,0,0,28.83,26.78,28.83
$GC,5937,-1.11,-170.3,2092,1974,3402,3545,639.7,-7.9,305,5938,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,1974,3472,3402,3543,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6236,-1.11,-170.3,2092,1974,3400,3543,663.5,-7.9,315,6241,0.00,2.12,0.00,0.000,516,0.000,0.045,2102,578,3471,3400,3543,0,0,0,0,0,0,28.83,26.75,28.83
$GC,6289,-1.11,-170.3,2102,578,3400,3543,666.4,-8.1,316,6295,0.00,2.00,0.00,0.000,1030,0.000,0.017,2093,1972,3471,3399,3543,0,0,0,0,0,0,28.83,26.82,28.83
$GC,6605,-1.11,-170.3,2093,1973,3398,3541,695.6,-8.9,327,6611,0.00,2.05,0.00,0.000,260,0.000,0.032,2083,3356,3469,3398,3541,0,0,0,0,0,0,28.83,26.77,28.83
$GC,6669,-1.11,-170.3,2083,3356,3397,3541,701.7,-9.1,329,6676,0.10,2.08,0.00,0.000,3078,0.168,0.025,2112,1964,3469,3397,3541,0,0,0,0,0,0,26.65,26.78,28.83
$GC,7004,-1.11,-170.3,2111,1964,3396,3539,731.7,-9.2,340,7010,0.00,2.10,0.00,0.000,260,0.000,0.031,2103,3356,3467,3396,3539,0,0,0,0,0,0,28.83,26.77,28.83
$GC,7031,-1.11,-170.3,2103,3356,3396,3539,731.7,-9.2,340,7040,0.00,2.05,0.00,0.000,1030,0.000,0.026,2105,1976,3467,3396,3539,0,0,0,0,0,0,28.83,26.79,28.83
$GC,7339,-1.11,-170.3,2104,1976,3395,3537,763.7,-9.4,351,7340,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,1977,3466,3395,3537,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7638,-1.11,-170.3,2105,1976,3393,3536,789.6,-8.3,361,7644,0.00,2.08,0.00,0.000,260,0.000,0.031,2097,3349,3464,3393,3536,0,0,0,0,0,0,28.83,26.77,28.83
$GC,7673,-1.11,-170.3,2097,3349,3393,3536,792.3,-8.1,362,7679,0.00,2.08,0.00,0.000,1030,0.000,0.026,2102,1965,3464,3393,3536,0,0,0,0,0,0,28.83,26.79,28.83
$GC,8007,-1.11,-170.3,2102,1965,3392,3535,817.8,-7.6,373,8008,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,1965,3463,3392,3535,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8307,-1.11,-170.3,2102,1965,3389,3534,841.4,-8.0,383,8308,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,1965,3462,3390,3534,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8607,-1.11,-170.3,2102,1965,3389,3533,865.9,-8.3,393,8608,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,1965,3461,3389,3533,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8907,-1.11,-170.3,2102,1964,3388,3531,892.4,-9.0,403,8908,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,1964,3460,3388,3532,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9207,-1.11,-170.3,2102,1964,3387,3530,919.1,-8.9,413,9213,0.00,2.10,0.00,0.000,260,0.000,0.033,2094,3349,3458,3386,3530,0,0,0,0,0,0,28.83,26.77,28.83
$GC,9260,-1.11,-170.3,2094,3349,3388,3530,922.0,-8.8,414,9266,0.00,2.05,0.00,0.000,1030,0.000,0.027,2095,1975,3458,3386,3530,0,0,0,0,0,0,28.83,26.79,28.83
$GC,9575,-1.11,-170.3,2095,1975,3385,3529,951.0,-8.6,425,9581,0.00,2.15,0.00,0.000,516,0.000,0.047,2102,574,3457,3385,3529,0,0,0,0,0,0,28.83,26.75,28.83
$GC,9609,-1.11,-170.3,2101,574,3385,3529,954.1,-8.7,426,9615,0.00,2.03,0.00,0.000,1030,0.000,0.017,2093,1973,3457,3385,3529,0,0,0,0,0,0,28.83,26.82,28.83
$GC,9944,-1.11,-170.3,2093,1974,3383,3528,981.5,-8.0,437,9950,0.00,2.08,0.00,0.000,260,0.000,0.035,2084,3363,3455,3383,3528,0,0,0,0,0,0,28.83,26.76,28.83
$GC,10002,-1.11,-170.3,2083,3363,3383,3528,984.3,-8.0,438,10012,0.10,2.08,0.00,0.000,3078,0.167,0.028,2110,1974,3455,3383,3528,0,0,0,0,0,0,26.65,26.78,28.83
$STATE,10066,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10066,begin apogee
$GC,10071,-0.19,0.0,2109,2310,3383,3528,991.0,-7.7,441,10238,0.60,0.00,156.82,1.211,10246,0.119,0.000,2308,2310,2790,2753,2827,0,0,0,0,0,0,26.66,28.83,23.94
$STATE,10239,end apogee,CONTROL_FINISHED_OK
$STATE,10239,begin climb
$GC,10241,1.11,170.3,2307,2310,2753,2828,994.9,0.0,446,10413,0.82,2.35,163.23,1.222,10500,0.066,0.036,2595,3679,2095,2061,2129,0,0,0,0,0,0,24.94,24.50,23.66
$GC,10533,1.18,197.8,2594,3679,2055,2119,980.3,8.2,455,10566,0.00,2.17,26.62,1.177,9222,0.000,0.024,2604,2304,1984,1951,2018,0,0,0,0,0,0,28.83,25.40,24.08
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$STATE,19948,end climb,SURFACE_DEPTH_REACHED
$STATE,19948,begin surface coast
$FINISH,0.6,1.022411
$STATE,19976,end surface coast,CONTROL_FINISHED_OK
$STATE,19976,begin surface
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$TT8_MAMPS,0.026964,0.026964
$HUMID,43.97
$INTERNAL_PRESSURE,9.24363
$TCM_TEMP,22.50
$XPDR_PINGS,1
$SC_FREEKB,3997696
$24V_AH,23.7,10.338
$10V_AH,10.1,7.483
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.220,0.000,0.000,0.000
$MEM,323900
$DATA_FILE_SIZE,33355,889
$CAP_FILE_SIZE,466215,0
$CFSIZE,260034560,243888128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.118,155.1,1
$GPS,090313,030005,1946.718,12000.833,26,0.9,26,-2.6