version: 66.11
glider: 121
mission: 10
dive: 60
start: 3 9 113 20 21 16
data:
$ID,121
$MISSION,10
$DIVE,60
$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,-81352.055
$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,47
$R_STBD_OVSHOOT,66
$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
$GPS1,090313,201358,1937.275,12001.493,34,0.8,34,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-63.8
$GPS2,090313,202048,1937.336,12001.509,17,1.0,17,-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,211.5,69196,-18.4,-9.167,-20.99,2856
$D_GRID,4055
$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,-170.3,85,1946,740,759,0.0,0.0,0,87,0.00,0.00,-67.45,0.000,16386,0.000,0.000,85,1947,2620,2539,2701,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-1.11,-170.3,85,1947,2539,2702,3.3,-6.3,9,122,8.55,2.12,-15.02,0.000,18948,0.248,0.049,2114,565,3493,3417,3569,0,0,0,0,0,0,25.94,26.17,26.45
$GC,301,-1.11,-170.3,1320,565,3405,3568,51.8,-21.5,34,309,0.00,2.05,0.00,0.000,1030,0.000,0.015,2106,1999,3495,3420,3570,0,0,0,0,0,0,28.83,26.39,28.83
$GC,608,-1.11,-170.3,2105,2001,3424,3570,110.1,-15.8,50,614,0.00,2.20,0.00,0.000,516,0.000,0.036,2114,563,3497,3424,3570,0,0,0,0,0,0,28.83,26.47,28.83
$GC,813,-1.11,-170.3,2114,563,3425,3571,138.8,-12.9,60,819,0.00,2.00,0.00,0.000,1030,0.000,0.016,2106,1986,3498,3425,3571,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1138,-1.11,-170.3,2105,1986,3426,3571,177.8,-12.8,76,1144,0.00,2.00,0.00,0.000,260,0.000,0.029,2095,3341,3500,3429,3571,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1192,-1.11,-170.3,2095,3341,3425,3571,183.7,-12.8,78,1198,0.00,2.03,0.00,0.000,1030,0.000,0.023,2103,1963,3498,3426,3571,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1506,-1.11,-170.3,2103,1963,3427,3571,223.7,-11.7,94,1507,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,1963,3499,3427,3571,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1806,-1.11,-170.3,2103,1963,3427,3571,255.6,-10.5,109,1811,0.00,2.08,0.00,0.000,516,0.000,0.039,2113,577,3498,3426,3571,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1859,-1.11,-170.3,2113,577,3426,3571,260.5,-11.0,111,1865,0.00,1.98,0.00,0.000,1030,0.000,0.016,2105,1984,3498,3426,3571,0,0,0,0,0,0,28.83,26.75,28.83
$GC,2173,-1.11,-170.3,2105,1985,3424,3569,294.1,-10.3,127,2179,0.00,1.98,0.00,0.000,260,0.000,0.029,2095,3333,3496,3424,3569,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2232,-1.11,-170.3,2094,3333,3424,3568,298.4,-10.2,129,2240,0.00,2.00,0.00,0.000,1030,0.000,0.023,2102,1972,3496,3424,3568,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2537,-1.11,-170.3,2101,1972,3422,3566,333.5,-11.4,145,2543,0.00,2.10,0.00,0.000,516,0.000,0.041,2112,577,3494,3422,3566,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2576,-1.11,-170.3,2112,577,3422,3565,336.3,-11.4,146,2584,0.00,1.98,0.00,0.000,1030,0.000,0.016,2104,1980,3494,3422,3566,0,0,0,0,0,0,28.83,26.79,28.83
$GC,2881,-1.11,-170.3,2104,1981,3419,3563,369.7,-10.0,162,2882,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,1981,3491,3419,3563,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3181,-1.11,-170.3,2103,1980,3417,3561,399.6,-10.1,177,3182,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,1981,3489,3417,3561,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3481,-1.11,-170.3,2104,1981,3414,3558,428.8,-9.1,192,3483,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,1980,3486,3415,3558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3782,-1.11,-170.3,2103,1981,3413,3556,453.1,-7.8,207,3783,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,1981,3484,3413,3556,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4082,-1.11,-170.3,2103,1981,3410,3553,475.5,-7.6,222,4083,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,1981,3482,3410,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4381,-1.11,-170.3,2103,1981,3408,3551,498.9,-8.4,237,4383,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,1981,3479,3408,3551,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4681,-1.11,-170.3,2103,1981,3406,3548,526.1,-9.3,252,4683,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,1981,3477,3406,3548,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4982,-1.11,-170.3,2103,1981,3404,3546,555.1,-9.9,267,4988,0.00,2.00,0.00,0.000,260,0.000,0.031,2093,3334,3474,3403,3546,0,0,0,0,0,0,28.83,26.77,28.83
$GC,5042,-1.11,-170.3,2093,3333,3404,3546,559.5,-9.8,269,5051,0.00,2.03,0.00,0.000,1030,0.000,0.025,2094,1968,3474,3403,3545,0,0,0,0,0,0,28.83,26.79,28.83
$GC,5348,-1.11,-170.3,2094,1968,3402,3544,593.3,-10.8,285,5354,0.00,2.12,0.00,0.000,516,0.000,0.044,2104,572,3472,3402,3543,0,0,0,0,0,0,28.83,26.76,28.83
$GC,5452,-1.11,-170.3,2104,571,3401,3544,603.8,-10.9,289,5458,0.00,2.00,0.00,0.000,1030,0.000,0.017,2096,1974,3472,3400,3544,0,0,0,0,0,0,28.83,26.82,28.83
$GC,5776,-1.11,-170.3,2096,1974,3398,3542,638.7,-10.4,300,5782,0.00,2.03,0.00,0.000,260,0.000,0.032,2086,3345,3470,3398,3542,0,0,0,0,0,0,28.83,26.77,28.83
$GC,5843,-1.11,-170.3,2086,3345,3398,3541,645.1,-10.1,302,5849,0.10,2.05,0.00,0.000,3078,0.164,0.026,2110,1966,3469,3398,3541,0,0,0,0,0,0,26.67,26.79,28.83
$GC,6172,-1.11,-170.3,2110,1966,3396,3539,675.0,-8.6,313,6178,0.00,2.12,0.00,0.000,516,0.000,0.045,2121,572,3468,3397,3539,0,0,0,0,0,0,28.83,26.77,28.83
$GC,6271,-1.11,-170.3,2120,572,3396,3539,682.6,-8.1,316,6277,0.00,2.00,0.00,0.000,1030,0.000,0.016,2112,1972,3467,3396,3539,0,0,0,0,0,0,28.83,26.82,28.83
$GC,6600,-1.11,-170.3,2112,1972,3394,3537,707.5,-7.3,327,6607,0.00,2.05,0.00,0.000,260,0.000,0.033,2103,3353,3465,3394,3537,0,0,0,0,0,0,28.83,26.77,28.83
$GC,6644,-1.11,-170.3,2102,3353,3393,3537,709.8,-7.1,328,6651,0.00,2.05,0.00,0.000,1030,0.000,0.026,2104,1975,3465,3393,3537,0,0,0,0,0,0,28.83,26.79,28.83
$GC,6969,-1.11,-170.3,2104,1975,3392,3535,734.0,-7.2,339,6970,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,1975,3463,3392,3535,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7269,-1.11,-170.3,2104,1975,3390,3534,756.5,-7.6,349,7276,0.00,2.08,0.00,0.000,260,0.000,0.032,2096,3346,3461,3390,3533,0,0,0,0,0,0,28.83,26.77,28.83
$GC,7299,-1.11,-170.3,2096,3346,3390,3533,756.5,-7.6,349,7307,0.00,2.05,0.00,0.000,1030,0.000,0.028,2098,1973,3461,3390,3533,0,0,0,0,0,0,28.83,26.79,28.83
$GC,7605,-1.11,-170.3,2097,1973,3389,3531,783.0,-8.2,360,7606,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,1973,3460,3389,3531,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7904,-1.11,-170.3,2097,1973,3388,3530,807.1,-8.0,370,7905,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,1973,3459,3388,3530,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8204,-1.11,-170.3,2097,1970,3384,3529,830.2,-7.5,380,8205,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,1970,3457,3385,3530,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8504,-1.11,-170.3,2097,1970,3384,3529,851.8,-7.0,390,8505,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,1970,3456,3384,3529,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8804,-1.11,-170.3,2097,1970,3383,3528,872.5,-7.0,400,8805,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,1970,3455,3383,3528,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9104,-1.11,-170.3,2097,1970,3382,3527,895.4,-7.9,410,9105,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,1970,3454,3382,3527,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9404,-1.11,-170.3,2097,1970,3381,3526,920.6,-8.6,420,9411,0.00,2.10,0.00,0.000,260,0.000,0.034,2089,3350,3453,3380,3526,0,0,0,0,0,0,28.83,26.77,28.83
$GC,9443,-1.11,-170.3,2089,3350,3380,3525,923.6,-8.6,421,9449,0.00,2.08,0.00,0.000,1030,0.000,0.028,2090,1968,3452,3380,3525,0,0,0,0,0,0,28.83,26.79,28.83
$GC,9771,-1.11,-170.3,2090,1969,3379,3525,953.4,-9.2,432,9773,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,1968,3452,3379,3525,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10072,-1.11,-170.3,2090,1968,3379,3524,981.6,-9.5,442,10073,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,1968,3451,3378,3524,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10160,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10160,begin apogee
$GC,10164,-0.19,0.0,2089,2301,3378,3523,990.1,-9.5,445,10328,0.68,0.00,155.75,1.209,10246,0.120,0.000,2312,2301,2792,2757,2828,0,0,0,0,0,0,26.66,28.83,23.94
$STATE,10329,end apogee,CONTROL_FINISHED_OK
$STATE,10329,begin climb
$GC,10331,1.11,170.3,2312,2301,2755,2826,997.1,0.0,450,10504,0.80,2.38,163.48,1.197,10500,0.064,0.037,2594,3680,2095,2062,2128,0,0,0,0,0,0,24.94,24.53,23.68
$GC,10663,1.28,240.9,2594,3681,2055,2118,986.1,6.6,460,10740,0.10,2.17,68.30,1.169,11270,0.103,0.026,2644,2302,1808,1784,1832,0,0,0,0,0,0,25.51,25.53,23.81
$GC,11048,1.28,240.9,2644,2302,1778,1820,950.2,9.5,473,11054,0.00,2.25,0.00,0.000,516,0.000,0.045,2654,903,1799,1778,1820,0,0,0,0,0,0,28.83,25.82,28.83
$GC,11116,1.28,240.9,2654,903,1777,1820,943.6,9.9,475,11122,0.12,2.10,0.00,0.000,5126,0.178,0.018,2626,2291,1798,1777,1820,0,0,0,0,0,0,25.78,25.95,28.83
$GC,11446,1.28,240.9,2626,2291,1776,1818,911.5,9.9,486,11447,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2291,1797,1777,1818,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11745,1.28,240.9,2626,2291,1777,1817,881.0,10.2,496,11751,0.00,2.22,0.00,0.000,516,0.000,0.044,2635,899,1798,1779,1817,0,0,0,0,0,0,28.83,26.30,28.83
$GC,11792,1.28,240.9,1712,898,1737,1808,877.5,10.1,497,11799,0.00,2.10,0.00,0.000,1030,0.000,0.018,2635,2307,1796,1776,1817,0,0,0,0,0,0,28.83,26.38,28.83
$GC,12112,1.28,240.9,2635,2307,1776,1816,844.0,9.8,508,12113,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2307,1796,1776,1816,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,20985,end climb,SURFACE_DEPTH_REACHED
$STATE,20985,begin surface coast
$FINISH,0.1,1.021919
$STATE,21017,end surface coast,CONTROL_FINISHED_OK
$STATE,21017,begin surface
$SM_CCo,21092,0.00,0.000,0,0,913,461.90
$SM_GC,0.90,6.97,0.47,0.00,0.035,0.046,0.000,87,1972,913,-10.32,1.27,461.90,0,0,0,0,0,0,26.34,26.38,28.83
$IRIDIUM_FIX,1934.38,11959.74,090313,141459
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.14
$INTERNAL_PRESSURE,9.27292
$TCM_TEMP,23.00
$XPDR_PINGS,2
$SC_FREEKB,3996160
$24V_AH,23.7,11.046
$10V_AH,10.1,7.956
$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,17.800,140.375,581.575,0.000,0.000,0.000,0.000,235.200,0.500,0.000,18.948,3871.930,14077.042,754.865,2493.582,277.330,0.000,2191.133,0.000,2130.325,0.000,1.491,0.000
$DEVICE_MAMPS,247.860,48.960,1208.700,0.000,0.000,0.000,0.000,139.230,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21022.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.330,0.000,0.000,0.000
$MEM,323892
$DATA_FILE_SIZE,33375,957
$CAP_FILE_SIZE,484576,0
$CFSIZE,260034560,243290112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.097,135.0,1
$GPS,100313,021403,1934.233,12000.953,37,1.1,39,-2.5