version: 66.11
glider: 121
mission: 10
dive: 62
start: 3 10 113 8 9 39
data:
$ID,121
$MISSION,10
$DIVE,62
$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,-81354.578
$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,45
$R_STBD_OVSHOOT,60
$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
$GPS1,100313,080203,1930.253,12000.233,36,1.4,40,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-65.8
$GPS2,100313,080912,1930.193,12000.284,18,1.1,18,-2.5
$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,184.9,55919,-18.4,-9.167,-20.99,2856
$D_GRID,4165
$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,-170.3,85,1946,764,782,0.0,0.0,0,87,0.00,0.00,-66.80,0.000,16386,0.000,0.000,85,1946,2674,2593,2756,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-1.11,-170.3,85,1947,2593,2757,3.8,-8.0,9,122,8.57,2.12,-13.52,0.000,18948,0.247,0.053,2114,574,3493,3417,3570,0,0,0,0,0,0,25.87,26.12,26.39
$GC,296,-1.11,-170.3,2115,574,3421,3571,50.9,-22.1,33,302,0.00,2.05,0.00,0.000,1030,0.000,0.015,2106,2002,3496,3421,3572,0,0,0,0,0,0,28.83,26.34,28.83
$GC,610,-1.11,-170.3,2106,2003,3426,3572,100.1,-13.8,49,616,0.00,2.00,0.00,0.000,260,0.000,0.029,2096,3348,3499,3426,3572,0,0,0,0,0,0,28.83,26.45,28.83
$GC,663,-1.11,-170.3,2096,3348,3425,3572,106.0,-13.4,51,669,0.00,2.05,0.00,0.000,1030,0.000,0.024,2104,1968,3499,3426,3572,0,0,0,0,0,0,28.83,26.48,28.83
$GC,978,-1.11,-170.3,2104,1968,3427,3572,144.0,-12.0,67,984,0.00,2.12,0.00,0.000,516,0.000,0.041,2114,570,3499,3427,3572,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1068,-1.11,-170.3,2114,570,3427,3572,155.5,-13.3,71,1074,0.00,2.00,0.00,0.000,1030,0.000,0.015,2106,1982,3501,3430,3572,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1388,-1.11,-170.3,2105,1981,3427,3572,194.6,-11.5,87,1394,0.00,2.03,0.00,0.000,260,0.000,0.031,2096,3346,3499,3426,3572,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1483,-1.11,-170.3,2096,3347,3427,3572,204.5,-11.4,91,1488,0.00,2.03,0.00,0.000,1030,0.000,0.024,2103,1975,3499,3427,3572,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1796,-1.11,-170.3,2103,1975,3426,3572,239.0,-10.7,107,1802,0.00,2.12,0.00,0.000,516,0.000,0.041,2114,570,3499,3426,3572,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1829,-1.11,-170.3,2113,570,3426,3572,241.6,-10.7,108,1835,0.00,2.00,0.00,0.000,1030,0.000,0.016,2105,1979,3499,3426,3572,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2143,-1.11,-170.3,2105,1979,3424,3571,276.2,-11.0,124,2148,0.00,2.15,0.00,0.000,516,0.000,0.040,2113,574,3497,3424,3570,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2175,-1.11,-170.3,2113,574,3424,3570,278.7,-11.0,125,2181,0.00,1.98,0.00,0.000,1030,0.000,0.015,2105,1974,3497,3424,3570,0,0,0,0,0,0,28.83,26.75,28.83
$GC,2490,-1.11,-170.3,2105,1975,3422,3567,313.8,-10.6,141,2491,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,1975,3494,3422,3567,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2789,-1.11,-170.3,2105,1975,3420,3565,348.3,-12.0,156,2795,0.00,2.12,0.00,0.000,516,0.000,0.041,2114,575,3492,3420,3565,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2854,-1.11,-170.3,2113,575,3420,3565,356.7,-12.6,159,2861,0.00,2.00,0.00,0.000,1030,0.000,0.015,2105,1981,3492,3419,3565,0,0,0,0,0,0,28.83,26.78,28.83
$GC,3180,-1.11,-170.3,2105,1980,3417,3562,397.7,-12.3,175,3186,0.00,2.15,0.00,0.000,516,0.000,0.041,2113,575,3490,3418,3562,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3254,-1.11,-170.3,2113,575,3417,3562,405.4,-12.0,178,3260,0.00,2.00,0.00,0.000,1030,0.000,0.016,2105,1982,3489,3416,3562,0,0,0,0,0,0,28.83,26.79,28.83
$GC,3568,-1.11,-170.3,2105,1983,3415,3559,440.7,-10.4,194,3574,0.00,2.03,0.00,0.000,260,0.000,0.031,2095,3355,3487,3415,3559,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3600,-1.11,-170.3,2095,3354,3414,3559,443.2,-10.4,195,3607,0.00,2.05,0.00,0.000,1030,0.000,0.025,2095,1971,3486,3414,3559,0,0,0,0,0,0,28.83,26.76,28.83
$GC,3915,-1.11,-170.3,2094,1971,3412,3557,476.7,-10.3,211,3921,0.00,2.12,0.00,0.000,516,0.000,0.044,2104,570,3485,3413,3557,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4011,-1.11,-170.3,2103,570,3412,3557,486.1,-10.9,215,4017,0.00,2.00,0.00,0.000,1030,0.000,0.017,2095,1972,3484,3411,3557,0,0,0,0,0,0,28.83,26.80,28.83
$GC,4325,-1.11,-170.3,2095,1973,3409,3555,520.0,-10.5,231,4332,0.00,2.05,0.00,0.000,260,0.000,0.032,2085,3357,3481,3409,3554,0,0,0,0,0,0,28.83,26.75,28.83
$GC,4370,-1.11,-170.3,2085,3357,3408,3554,524.6,-10.3,233,4378,0.10,2.05,0.00,0.000,3078,0.166,0.026,2112,1974,3481,3408,3554,0,0,0,0,0,0,26.65,26.77,28.83
$GC,4697,-1.11,-170.3,2112,1976,3408,3551,552.9,-8.2,249,4702,0.00,2.12,0.00,0.000,516,0.000,0.045,2123,578,3478,3408,3549,0,0,0,0,0,0,28.83,26.75,28.83
$GC,4792,-1.11,-170.3,2122,578,3408,3549,560.4,-8.7,253,4798,0.00,2.00,0.00,0.000,1030,0.000,0.017,2115,1976,3478,3407,3549,0,0,0,0,0,0,28.83,26.82,28.83
$GC,5106,-1.11,-170.3,2114,1976,3406,3547,588.8,-8.9,269,5112,0.00,2.17,0.00,0.000,516,0.000,0.044,2123,570,3476,3405,3547,0,0,0,0,0,0,28.83,26.75,28.83
$GC,5145,-1.11,-170.3,2123,570,3405,3547,590.9,-8.8,270,5153,0.00,2.03,0.00,0.000,1030,0.000,0.017,2114,1984,3475,3405,3546,0,0,0,0,0,0,28.83,26.81,28.83
$GC,5460,-1.11,-170.3,2114,1985,3403,3545,618.4,-8.0,283,5466,0.00,2.05,0.00,0.000,260,0.000,0.034,2104,3364,3474,3403,3545,0,0,0,0,0,0,28.83,26.76,28.83
$GC,5499,-1.11,-170.3,2104,3364,3403,3545,621.1,-8.0,284,5505,0.00,2.08,0.00,0.000,1030,0.000,0.028,2104,1975,3474,3403,3545,0,0,0,0,0,0,28.83,26.77,28.83
$GC,5827,-1.11,-170.3,2104,1975,3401,3543,649.8,-8.6,295,5834,0.00,2.15,0.00,0.000,516,0.000,0.047,2113,570,3471,3401,3542,0,0,0,0,0,0,28.83,26.75,28.83
$GC,5892,-1.11,-170.3,2113,570,3401,3542,655.6,-8.8,297,5899,0.00,2.03,0.00,0.000,1030,0.000,0.017,2105,1972,3472,3402,3542,0,0,0,0,0,0,28.83,26.81,28.83
$GC,6227,-1.11,-170.3,2105,1972,3398,3540,683.9,-8.4,308,6234,0.00,2.08,0.00,0.000,260,0.000,0.034,2095,3367,3469,3398,3540,0,0,0,0,0,0,28.83,26.76,28.83
$GC,6296,-1.11,-170.3,2094,3367,3396,3541,689.5,-8.6,310,6302,0.00,2.10,0.00,0.000,1030,0.000,0.028,2101,1965,3468,3396,3540,0,0,0,0,0,0,28.83,26.77,28.83
$GC,6625,-1.11,-170.3,2101,1965,3396,3538,717.4,-8.2,321,6631,0.00,2.12,0.00,0.000,516,0.000,0.047,2111,576,3467,3396,3538,0,0,0,0,0,0,28.83,26.74,28.83
$GC,6714,-1.11,-170.3,2110,575,3395,3538,722.8,-8.3,323,6722,0.00,2.03,0.00,0.000,1030,0.000,0.018,2102,1979,3466,3395,3538,0,0,0,0,0,0,28.83,26.81,28.83
$GC,7020,-1.11,-170.3,2103,1980,3394,3535,749.0,-8.1,334,7027,0.00,2.05,0.00,0.000,260,0.000,0.034,2093,3356,3465,3394,3536,0,0,0,0,0,0,28.83,26.76,28.83
$GC,7068,-1.11,-170.3,1304,3354,3377,3533,751.8,-8.0,335,7074,0.00,2.08,0.00,0.000,1030,0.000,0.028,2093,1971,3464,3393,3535,0,0,0,0,0,0,28.83,26.77,28.83
$GC,7388,-1.11,-170.3,2093,1971,3392,3534,777.8,-7.7,346,7389,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,1971,3463,3392,3534,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7687,-1.11,-170.3,2093,1971,3390,3533,800.4,-7.5,356,7688,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,1971,3461,3390,3533,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7987,-1.11,-170.3,2093,1970,3389,3532,823.2,-7.6,366,7993,0.00,2.15,0.00,0.000,516,0.000,0.047,2099,570,3460,3389,3531,0,0,0,0,0,0,28.83,26.75,28.83
$GC,8051,-1.11,-170.3,2099,571,3389,3530,828.5,-8.0,368,8057,0.00,2.05,0.00,0.000,1030,0.000,0.018,2091,1974,3459,3389,3530,0,0,0,0,0,0,28.83,26.81,28.83
$GC,8385,-1.11,-170.3,2091,1974,3389,3530,854.4,-7.8,379,8391,0.00,2.17,0.00,0.000,516,0.000,0.046,2099,576,3458,3387,3530,0,0,0,0,0,0,28.83,26.75,28.83
$GC,8438,-1.11,-170.3,2099,575,3387,3530,857.1,-7.9,380,8444,0.00,2.03,0.00,0.000,1030,0.000,0.018,2091,1976,3458,3387,3530,0,0,0,0,0,0,28.83,26.81,28.83
$GC,8753,-1.11,-170.3,2091,1976,3386,3529,882.9,-7.6,391,8754,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,1976,3457,3386,3529,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9053,-1.11,-170.3,2091,1976,3384,3528,907.5,-8.6,401,9058,0.00,2.08,0.00,0.000,260,0.000,0.036,2081,3364,3455,3384,3526,0,0,0,0,0,0,28.83,26.76,28.83
$GC,9125,-1.11,-170.3,2080,3364,3384,3526,912.9,-8.5,403,9133,0.12,2.10,0.00,0.000,3078,0.158,0.030,2113,1971,3455,3384,3526,0,0,0,0,0,0,26.65,26.77,28.83
$GC,9451,-1.11,-170.3,2113,1971,3383,3526,939.5,-7.8,414,9457,0.00,2.15,0.00,0.000,516,0.000,0.050,2124,575,3454,3383,3526,0,0,0,0,0,0,28.83,26.74,28.83
$GC,9533,-1.11,-170.3,1328,575,3365,3522,944.7,-7.9,416,9539,0.00,2.05,0.00,0.000,1030,0.000,0.018,2115,1985,3454,3383,3525,0,0,0,0,0,0,28.83,26.81,28.83
$GC,9847,-1.11,-170.3,2115,1985,3382,3525,969.4,-7.1,427,9848,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,1985,3453,3382,3525,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10145,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10145,begin apogee
$GC,10149,-0.19,0.0,2113,2298,3381,3524,990.3,-7.0,437,10312,0.60,0.00,155.38,1.208,10246,0.117,0.000,2312,2298,2792,2756,2828,0,0,0,0,0,0,26.66,28.83,23.97
$STATE,10313,end apogee,CONTROL_FINISHED_OK
$STATE,10313,begin climb
$GC,10315,1.11,170.3,2312,2298,2753,2825,995.2,0.0,442,10488,0.80,2.30,162.43,1.209,10500,0.064,0.037,2594,3682,2093,2059,2127,0,0,0,0,0,0,24.94,24.54,23.68
$GC,10634,1.24,222.9,2593,3683,2053,2118,981.7,7.3,452,10693,0.00,2.20,49.97,1.170,9222,0.000,0.026,2604,2298,1882,1857,1907,0,0,0,0,0,0,28.83,25.52,23.89
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$STATE,19701,end climb,SURFACE_DEPTH_REACHED
$STATE,19701,begin surface coast
$FINISH,0.2,1.020935
$STATE,19735,end surface coast,CONTROL_FINISHED_OK
$STATE,19736,begin surface
$SM_CCo,19810,0.00,0.000,0,0,794,490.85
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$IRIDIUM_FIX,1927.51,12001.72,100313,020253
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.06
$INTERNAL_PRESSURE,9.28269
$TCM_TEMP,23.30
$XPDR_PINGS,0
$SC_FREEKB,3995392
$24V_AH,23.7,11.409
$10V_AH,10.0,8.193
$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,18.475,174.275,615.175,0.000,0.000,0.000,0.000,256.925,0.000,0.000,19.985,3768.826,12835.952,801.965,2521.713,285.081,0.000,2294.978,0.000,2135.464,0.000,1.490,0.000
$DEVICE_MAMPS,247.095,52.785,1208.700,0.000,0.000,0.000,0.000,138.465,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19738.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.331,0.000,0.000,0.000
$MEM,323932
$DATA_FILE_SIZE,33321,890
$CAP_FILE_SIZE,477571,0
$CFSIZE,260034560,242999296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.133,208.6,1
$GPS,100313,134104,1926.324,11959.468,39,1.0,39,-2.5