version: 66.11
glider: 121
mission: 10
dive: 63
start: 3 10 113 13 48 28
data:
$ID,121
$MISSION,10
$DIVE,63
$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,-81355.836
$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,52
$R_STBD_OVSHOOT,64
$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
$GPS1,100313,134104,1926.324,11959.468,39,1.0,39,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-66.2
$GPS2,100313,134800,1926.320,11959.460,13,0.8,14,-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,165.5,48753,-18.4,-9.167,-20.99,2856
$D_GRID,4194
$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,16,begin dive
$GC,17,-1.11,-170.3,82,1939,786,797,0.0,0.0,0,86,0.00,0.00,-66.35,0.000,16386,0.000,0.000,82,1940,2680,2596,2764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-1.11,-170.3,82,1940,2598,2764,3.7,-7.7,9,121,8.50,2.15,-13.43,0.000,18948,0.246,0.054,2109,581,3495,3419,3571,0,0,0,0,0,0,25.90,26.15,26.42
$GC,284,-1.11,-170.3,2109,580,3422,3573,46.1,-16.9,34,292,0.00,2.03,0.00,0.000,1030,0.000,0.015,2101,1992,3497,3422,3573,0,0,0,0,0,0,28.83,26.36,28.83
$GC,591,-1.11,-170.3,2101,1992,3426,3573,99.5,-16.4,51,598,0.00,2.03,0.00,0.000,260,0.000,0.030,2091,3351,3499,3426,3573,0,0,0,0,0,0,28.83,26.46,28.83
$GC,660,-1.11,-170.3,2091,3350,3426,3573,110.7,-17.1,54,666,0.00,2.05,0.00,0.000,1030,0.000,0.023,2098,1967,3499,3426,3573,0,0,0,0,0,0,28.83,26.49,28.83
$GC,979,-1.11,-170.3,2098,1967,3428,3573,155.1,-11.5,70,980,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,1967,3500,3428,3573,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1278,-1.11,-170.3,2098,1967,3427,3573,189.1,-12.9,85,1284,0.00,2.12,0.00,0.000,516,0.000,0.041,2109,568,3500,3428,3573,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1472,-1.11,-170.3,2108,568,3428,3573,215.1,-14.3,94,1478,0.00,2.00,0.00,0.000,1030,0.000,0.015,2100,1981,3500,3428,3573,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1787,-1.11,-170.3,2100,1982,3427,3573,257.4,-12.4,110,1792,0.00,2.00,0.00,0.000,260,0.000,0.031,2090,3346,3500,3427,3573,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1825,-1.11,-170.3,2090,3346,3427,3572,260.3,-12.4,111,1833,0.00,2.03,0.00,0.000,1030,0.000,0.024,2092,1972,3500,3427,3573,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2131,-1.11,-170.3,2092,1972,3425,3571,299.2,-11.5,127,2138,0.00,2.10,0.00,0.000,516,0.000,0.041,2103,577,3498,3426,3570,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2205,-1.11,-170.3,2102,577,3425,3570,306.6,-11.3,130,2211,0.00,1.98,0.00,0.000,1030,0.000,0.016,2093,1975,3497,3425,3569,0,0,0,0,0,0,28.83,26.75,28.83
$GC,2519,-1.11,-170.3,2094,1975,3424,3566,340.7,-10.4,146,2520,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,1975,3495,3424,3566,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2819,-1.11,-170.3,2094,1976,3422,3564,372.4,-10.8,161,2820,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,1976,3493,3422,3564,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3120,-1.11,-170.3,2094,1976,3420,3562,404.6,-10.4,176,3121,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,1976,3491,3420,3562,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3419,-1.11,-170.3,2093,1976,3417,3559,435.5,-10.3,191,3426,0.00,2.17,0.00,0.000,516,0.000,0.041,2102,571,3488,3418,3558,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3468,-1.11,-170.3,2102,571,3417,3558,440.2,-10.4,193,3474,0.00,2.00,0.00,0.000,1030,0.000,0.016,2094,1977,3488,3417,3559,0,0,0,0,0,0,28.83,26.80,28.83
$GC,3787,-1.11,-170.3,2094,1977,3415,3557,472.4,-9.6,209,3789,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,1978,3486,3415,3557,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4087,-1.11,-170.3,2094,1978,3413,3555,499.2,-8.4,224,4093,0.00,2.03,0.00,0.000,260,0.000,0.031,2083,3348,3483,3413,3554,0,0,0,0,0,0,28.83,26.76,28.83
$GC,4127,-1.11,-170.3,2083,3348,3413,3554,501.2,-8.4,225,4136,0.10,2.05,0.00,0.000,3078,0.165,0.025,2112,1963,3483,3413,3554,0,0,0,0,0,0,26.65,26.77,28.83
$GC,4432,-1.11,-170.3,2112,1963,3411,3551,525.3,-7.7,241,4438,0.00,2.10,0.00,0.000,516,0.000,0.045,2123,580,3481,3411,3551,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4499,-1.11,-170.3,2122,580,3410,3551,531.1,-8.4,244,4505,0.00,2.00,0.00,0.000,1030,0.000,0.017,2114,1970,3480,3410,3551,0,0,0,0,0,0,28.83,26.81,28.83
$GC,4823,-1.11,-170.3,2114,1972,3408,3548,561.1,-10.1,260,4824,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,1972,3478,3408,3548,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5123,-1.11,-170.3,2114,1972,3406,3546,590.9,-9.8,275,5129,0.00,2.05,0.00,0.000,260,0.000,0.034,2104,3353,3475,3406,3545,0,0,0,0,0,0,28.83,26.76,28.83
$GC,5160,-1.11,-170.3,2104,3353,3406,3545,593.1,-9.7,276,5168,0.00,2.05,0.00,0.000,1030,0.000,0.026,2104,1977,3475,3406,3545,0,0,0,0,0,0,28.83,26.78,28.83
$GC,5467,-1.11,-170.3,2104,1976,3404,3544,622.4,-8.7,288,5468,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,1976,3474,3404,3544,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5767,-1.11,-170.3,2104,1976,3401,3543,646.5,-7.5,298,5774,0.00,2.15,0.00,0.000,516,0.000,0.047,2113,571,3471,3401,3542,0,0,0,0,0,0,28.83,26.75,28.83
$GC,5832,-1.11,-170.3,2113,571,3401,3542,651.5,-7.6,300,5838,0.00,2.03,0.00,0.000,1030,0.000,0.018,2105,1972,3471,3400,3542,0,0,0,0,0,0,28.83,26.82,28.83
$GC,6167,-1.11,-170.3,2104,1973,3398,3540,675.3,-7.1,311,6173,0.00,2.05,0.00,0.000,260,0.000,0.034,2095,3353,3469,3398,3540,0,0,0,0,0,0,28.83,26.76,28.83
$GC,6220,-1.11,-170.3,2094,3353,3398,3540,677.7,-7.2,312,6226,0.00,2.08,0.00,0.000,1030,0.000,0.028,2095,1965,3469,3398,3540,0,0,0,0,0,0,28.83,26.78,28.83
$GC,6534,-1.11,-170.3,2094,1965,3397,3538,704.2,-8.4,323,6540,0.00,2.12,0.00,0.000,516,0.000,0.047,2098,575,3467,3396,3538,0,0,0,0,0,0,28.83,26.75,28.83
$GC,6578,-1.11,-170.3,2098,575,3396,3538,707.4,-8.6,324,6583,0.00,2.03,0.00,0.000,1030,0.000,0.018,2090,1982,3467,3396,3538,0,0,0,0,0,0,28.83,26.81,28.83
$GC,6901,-1.11,-170.3,2090,1982,3394,3536,740.4,-10.1,335,6908,0.00,2.05,0.00,0.000,260,0.000,0.034,2080,3357,3465,3394,3536,0,0,0,0,0,0,28.83,26.76,28.83
$GC,6954,-1.11,-170.3,2080,3357,3393,3536,743.8,-10.0,336,6960,0.12,2.08,0.00,0.000,3078,0.158,0.028,2112,1968,3464,3393,3536,0,0,0,0,0,0,26.65,26.77,28.83
$GC,7268,-1.11,-170.3,2111,1968,3393,3535,774.3,-8.9,347,7274,0.00,2.15,0.00,0.000,516,0.000,0.048,2122,567,3463,3392,3534,0,0,0,0,0,0,28.83,26.74,28.83
$GC,7321,-1.11,-170.3,2122,567,3392,3534,777.4,-8.8,348,7328,0.00,2.03,0.00,0.000,1030,0.000,0.018,2114,1971,3463,3392,3534,0,0,0,0,0,0,28.83,26.81,28.83
$GC,7637,-1.11,-170.3,2114,1971,3389,3533,806.8,-8.5,359,7638,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,1971,3461,3389,3533,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7936,-1.11,-170.3,2114,1972,3389,3532,830.8,-7.9,369,7937,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,1972,3460,3389,3532,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8236,-1.11,-170.3,2114,1972,3388,3531,853.7,-7.7,379,8243,0.00,2.08,0.00,0.000,260,0.000,0.035,2103,3359,3458,3387,3530,0,0,0,0,0,0,28.83,26.76,28.83
$GC,8271,-1.11,-170.3,2104,3359,3386,3530,856.5,-7.8,380,8277,0.00,2.10,0.00,0.000,1030,0.000,0.028,2104,1967,3458,3387,3530,0,0,0,0,0,0,28.83,26.77,28.83
$GC,8605,-1.11,-170.3,2104,1967,3386,3529,883.8,-8.3,391,8606,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,1967,3457,3386,3529,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8905,-1.11,-170.3,2104,1967,3384,3528,907.8,-8.0,401,8911,0.00,2.12,0.00,0.000,260,0.000,0.034,2095,3363,3455,3384,3527,0,0,0,0,0,0,28.83,26.76,28.83
$GC,8943,-1.11,-170.3,1288,3361,3366,3524,910.5,-8.0,402,8949,0.00,2.10,0.00,0.000,1030,0.000,0.029,2099,1967,3456,3384,3528,0,0,0,0,0,0,28.83,26.77,28.83
$GC,9272,-1.11,-170.3,2100,1967,3383,3526,936.1,-7.6,413,9278,0.00,2.15,0.00,0.000,516,0.000,0.049,2105,571,3454,3383,3526,0,0,0,0,0,0,28.83,26.74,28.83
$GC,9336,-1.11,-170.3,2105,571,3382,3526,941.3,-7.9,415,9342,0.00,2.05,0.00,0.000,1030,0.000,0.018,2097,1975,3454,3383,3526,0,0,0,0,0,0,28.83,26.80,28.83
$GC,9670,-1.11,-170.3,2097,1975,3382,3525,966.6,-7.5,426,9676,0.00,2.10,0.00,0.000,260,0.000,0.036,2087,3367,3453,3382,3525,0,0,0,0,0,0,28.83,26.75,28.83
$GC,9704,-1.11,-170.3,2087,3367,3381,3525,969.2,-7.4,427,9711,0.00,2.10,0.00,0.000,1030,0.000,0.030,2088,1976,3453,3381,3525,0,0,0,0,0,0,28.83,26.77,28.83
$STATE,9978,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9978,begin apogee
$GC,9982,-0.19,0.0,2087,2307,3381,3524,990.2,-7.7,436,10144,0.68,0.00,155.23,1.216,10246,0.122,0.000,2309,2307,2792,2757,2827,0,0,0,0,0,0,26.65,28.83,23.96
$STATE,10147,end apogee,CONTROL_FINISHED_OK
$STATE,10147,begin climb
$GC,10148,1.11,170.3,2309,2307,2754,2825,994.3,0.0,441,10322,0.80,2.28,163.00,1.209,10500,0.065,0.036,2591,3677,2093,2060,2127,0,0,0,0,0,0,24.95,24.53,23.68
$GC,10421,1.23,219.5,1640,3676,2002,2107,982.3,7.4,449,10478,0.00,2.17,47.22,1.190,9222,0.000,0.025,2600,2305,1895,1871,1920,0,0,0,0,0,0,28.83,25.37,23.82
$GC,10806,1.23,219.5,2600,2305,1867,1906,944.8,9.6,462,10812,0.00,2.25,0.00,0.000,516,0.000,0.044,2611,902,1886,1867,1906,0,0,0,0,0,0,28.83,25.84,28.83
$GC,10850,1.23,219.5,2611,901,1866,1906,941.5,9.7,463,10856,0.00,2.12,0.00,0.000,1030,0.000,0.018,2611,2301,1886,1867,1906,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11174,1.25,226.7,2611,2301,1866,1904,910.4,8.9,474,11186,0.00,2.25,4.88,0.969,8708,0.000,0.041,2621,899,1869,1848,1890,0,0,0,0,0,0,28.83,26.07,24.99
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$STATE,20132,end climb,SURFACE_DEPTH_REACHED
$STATE,20132,begin surface coast
$FINISH,0.3,1.021939
$STATE,20169,end surface coast,CONTROL_FINISHED_OK
$STATE,20169,begin surface
$SM_CCo,20245,0.00,0.000,0,0,929,457.73
$SM_GC,0.81,6.80,0.52,0.00,0.028,0.031,0.000,84,1948,929,-10.30,1.16,457.73,0,0,0,0,0,0,26.43,26.45,28.83
$IRIDIUM_FIX,1925.22,12000.57,100313,080850
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.06
$INTERNAL_PRESSURE,9.29246
$TCM_TEMP,23.30
$XPDR_PINGS,0
$SC_FREEKB,3995008
$24V_AH,23.7,11.588
$10V_AH,10.1,8.312
$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,17.475,157.250,593.900,0.000,0.000,0.000,0.000,248.375,0.000,0.000,15.538,3747.518,13390.020,773.741,2443.588,280.997,0.000,2214.405,0.000,2071.175,0.000,1.491,0.000
$DEVICE_MAMPS,245.565,53.550,1215.585,0.000,0.000,0.000,0.000,139.230,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20172.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.392,0.000,0.000,0.000
$MEM,323912
$DATA_FILE_SIZE,33367,923
$CAP_FILE_SIZE,473623,0
$CFSIZE,260034560,242851840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.052, 80.0,1
$GPS,100313,192704,1923.985,12000.761,35,0.7,35,-2.5