version: 66.11
glider: 121
mission: 10
dive: 71
start: 3 12 113 11 29 9
data:
$ID,121
$MISSION,10
$DIVE,71
$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,-81365.93
$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,51
$R_STBD_OVSHOOT,65
$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
$GPS1,120313,112134,1859.981,11959.201,32,0.8,33,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,11.22
$_SM_ANGLEo,-60.3
$GPS2,120313,112841,1859.935,11959.153,15,1.5,15,-2.4
$SPEED_LIMITS,0.159,0.239
$TGT_NAME,W4
$TGT_LATLONG,1834.500,12031.750
$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,110.3,74119,-18.4,-9.167,-20.99,2856
$D_GRID,3076
$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,-170.3,75,1946,325,467,0.0,0.0,0,29,0.00,0.00,-9.15,0.000,16386,0.000,0.000,74,1950,634,590,678,0,0,0,0,0,0,28.83,28.83,28.83
$GC,31,-1.11,-170.3,74,1948,591,678,11.3,0.0,1,158,7.78,0.00,-109.93,0.000,19206,0.208,0.000,2111,1952,3491,3413,3570,0,0,0,0,0,0,25.98,28.83,26.51
$GC,462,-1.11,-170.3,2111,1952,3417,3571,75.8,-14.2,44,468,0.00,2.10,0.00,0.000,516,0.000,0.037,2122,568,3494,3417,3571,0,0,0,0,0,0,28.83,26.44,28.83
$GC,566,-1.11,-170.3,2121,568,3418,3571,90.5,-14.0,49,572,0.00,2.03,0.00,0.000,1030,0.000,0.015,2112,1998,3494,3418,3571,0,0,0,0,0,0,28.83,26.54,28.83
$GC,891,-1.11,-170.3,2113,1999,3419,3571,130.8,-13.4,65,897,0.00,1.98,0.00,0.000,260,0.000,0.029,2105,3346,3495,3420,3571,0,0,0,0,0,0,28.83,26.58,28.83
$GC,939,-1.11,-170.3,2103,3346,3420,3571,136.8,-13.0,67,945,0.00,2.03,0.00,0.000,1030,0.000,0.023,2104,1971,3495,3420,3571,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1258,-1.11,-170.3,2104,1970,3419,3571,177.1,-11.4,83,1265,0.00,2.10,0.00,0.000,516,0.000,0.039,2114,567,3495,3419,3571,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1348,-1.11,-170.3,2114,567,3419,3571,187.1,-11.5,87,1354,0.00,2.00,0.00,0.000,1030,0.000,0.015,2106,1987,3495,3419,3571,0,0,0,0,0,0,28.83,26.71,28.83
$GC,1667,-1.11,-170.3,2106,1988,3419,3569,223.4,-11.6,103,1673,0.00,2.00,0.00,0.000,260,0.000,0.030,2096,3352,3494,3419,3569,0,0,0,0,0,0,28.83,26.69,28.83
$GC,1705,-1.11,-170.3,1296,3351,3404,3565,226.3,-11.9,104,1713,0.00,2.03,0.00,0.000,1030,0.000,0.024,2097,1973,3493,3419,3568,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2012,-1.11,-170.3,2096,1973,3418,3565,265.1,-11.2,120,2013,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,1974,3491,3418,3565,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2311,-1.11,-170.3,2097,1974,3419,3561,296.4,-10.0,135,2317,0.00,2.10,0.00,0.000,516,0.000,0.041,2106,577,3489,3417,3561,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2438,-1.11,-170.3,1280,577,3400,3558,310.5,-11.4,141,2444,0.00,1.98,0.00,0.000,1030,0.000,0.016,2098,1974,3488,3416,3560,0,0,0,0,0,0,28.83,26.79,28.83
$GC,2763,-1.11,-170.3,2098,1974,3413,3557,347.7,-11.4,157,2769,0.00,2.03,0.00,0.000,260,0.000,0.031,2088,3351,3485,3413,3557,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2812,-1.11,-170.3,2088,3350,3413,3556,352.7,-11.3,159,2818,0.00,2.03,0.00,0.000,1030,0.000,0.024,2089,1976,3484,3413,3556,0,0,0,0,0,0,28.83,26.76,28.83
$GC,3132,-1.11,-170.3,2089,1976,3410,3553,389.5,-11.2,175,3138,0.00,2.12,0.00,0.000,516,0.000,0.042,2099,568,3481,3410,3553,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3251,-1.11,-170.3,2099,568,3409,3552,401.6,-11.4,180,3259,0.00,2.00,0.00,0.000,1030,0.000,0.016,2091,1981,3480,3409,3552,0,0,0,0,0,0,28.83,26.81,28.83
$GC,3557,-1.11,-170.3,2090,1981,3407,3548,437.5,-11.2,196,3563,0.00,2.15,0.00,0.000,516,0.000,0.040,2099,575,3477,3407,3548,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3595,-1.11,-170.3,2098,575,3406,3547,440.2,-11.3,197,3603,0.00,2.00,0.00,0.000,1030,0.000,0.015,2090,1986,3477,3407,3547,0,0,0,0,0,0,28.83,26.81,28.83
$GC,3901,-1.11,-170.3,2090,1987,3404,3545,474.7,-10.4,213,3907,0.00,2.00,0.00,0.000,260,0.000,0.032,2080,3344,3474,3404,3545,0,0,0,0,0,0,28.83,26.76,28.83
$GC,3955,-1.11,-170.3,2080,3344,3402,3545,479.5,-10.4,215,3962,0.12,2.03,0.00,0.000,3078,0.158,0.025,2115,1976,3473,3403,3544,0,0,0,0,0,0,26.65,26.77,28.83
$GC,4270,-1.11,-170.3,2114,1976,3400,3542,510.4,-9.5,231,4277,0.00,2.12,0.00,0.000,516,0.000,0.044,2125,574,3471,3402,3541,0,0,0,0,0,0,28.83,26.75,28.83
$GC,4400,-1.11,-170.3,2125,574,3399,3541,522.9,-9.9,237,4406,0.00,2.00,0.00,0.000,1030,0.000,0.016,2117,1979,3470,3400,3541,0,0,0,0,0,0,28.83,26.82,28.83
$GC,4719,-1.11,-170.3,2116,1980,3397,3538,554.5,-9.8,253,4725,0.00,2.03,0.00,0.000,260,0.000,0.033,2107,3351,3467,3397,3538,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4757,-1.11,-170.3,2106,3351,3397,3538,556.7,-9.6,254,4766,0.00,2.05,0.00,0.000,1030,0.000,0.026,2107,1969,3467,3397,3538,0,0,0,0,0,0,28.83,26.78,28.83
$GC,5063,-1.11,-170.3,2106,1969,3395,3536,587.0,-9.6,270,5069,0.00,2.12,0.00,0.000,516,0.000,0.044,2117,571,3465,3395,3535,0,0,0,0,0,0,28.83,26.75,28.83
$GC,5121,-1.11,-170.3,2116,570,3395,3535,591.3,-9.8,272,5129,0.00,2.00,0.00,0.000,1030,0.000,0.016,2108,1972,3465,3395,3535,0,0,0,0,0,0,28.83,26.82,28.83
$GC,5448,-1.11,-170.3,2108,1971,3393,3533,622.2,-8.9,285,5449,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,1971,3462,3392,3533,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5748,-1.11,-170.3,2108,1972,3390,3530,647.8,-8.3,295,5755,0.00,2.05,0.00,0.000,260,0.000,0.033,2098,3356,3460,3390,3530,0,0,0,0,0,0,28.83,26.77,28.83
$GC,5792,-1.11,-170.3,2098,3354,3389,3530,650.7,-8.3,296,5799,0.00,2.05,0.00,0.000,1030,0.000,0.027,2099,1976,3459,3389,3530,0,0,0,0,0,0,28.83,26.78,28.83
$GC,6117,-1.11,-170.3,2099,1976,3388,3528,678.8,-8.3,307,6123,0.00,2.08,0.00,0.000,260,0.000,0.032,2091,3348,3457,3388,3527,0,0,0,0,0,0,28.83,26.77,28.83
$GC,6169,-1.11,-170.3,2090,3348,3387,3527,681.6,-8.2,308,6176,0.00,2.05,0.00,0.000,1030,0.000,0.028,2096,1973,3457,3387,3527,0,0,0,0,0,0,28.83,26.78,28.83
$GC,6485,-1.11,-170.3,2096,1973,3385,3525,709.2,-8.4,319,6492,0.00,2.12,0.00,0.000,516,0.000,0.046,2106,578,3455,3386,3525,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6593,-1.11,-170.3,2106,578,3385,3525,719.8,-10.5,322,6599,0.00,2.00,0.00,0.000,1030,0.000,0.017,2098,1971,3454,3385,3523,0,0,0,0,0,0,28.83,26.82,28.83
$GC,6912,-1.11,-170.3,2097,1971,3382,3522,755.0,-10.0,333,6918,0.00,2.08,0.00,0.000,260,0.000,0.034,2088,3363,3452,3382,3522,0,0,0,0,0,0,28.83,26.76,28.83
$GC,6984,-1.11,-170.3,2087,3363,3382,3522,765.4,-13.6,335,6991,0.00,2.08,0.00,0.000,1030,0.000,0.028,2089,1972,3452,3382,3523,0,0,0,0,0,0,28.83,26.78,28.83
$GC,7309,-1.11,-170.3,2089,1971,3381,3521,801.2,-9.4,346,7315,0.00,2.15,0.00,0.000,516,0.000,0.047,2099,570,3451,3381,3521,0,0,0,0,0,0,28.83,26.75,28.83
$GC,7396,-1.11,-170.3,2099,570,3380,3520,810.3,-12.1,348,7404,0.00,2.03,0.00,0.000,1030,0.000,0.018,2091,1975,3450,3380,3520,0,0,0,0,0,0,28.83,26.82,28.83
$GC,7703,-1.11,-170.3,2090,1975,3378,3519,844.8,-10.0,359,7709,0.00,2.05,0.00,0.000,260,0.000,0.034,2081,3350,3448,3378,3518,0,0,0,0,0,0,28.83,26.76,28.83
$GC,7781,-1.11,-170.3,2080,3350,3378,3518,851.4,-10.0,361,7788,0.12,2.08,0.00,0.000,3078,0.158,0.028,2113,1962,3448,3378,3518,0,0,0,0,0,0,26.65,26.77,28.83
$GC,8101,-1.11,-170.3,2113,1962,3377,3517,880.4,-8.4,372,8107,0.00,2.12,0.00,0.000,516,0.000,0.048,2124,577,3446,3377,3516,0,0,0,0,0,0,28.83,26.74,28.83
$GC,8179,-1.11,-170.3,2123,577,3377,3518,885.8,-8.5,374,8185,0.00,2.03,0.00,0.000,1030,0.000,0.017,2115,1982,3446,3377,3516,0,0,0,0,0,0,28.83,26.81,28.83
$GC,8498,-1.11,-170.3,2115,1982,3374,3515,913.9,-8.4,385,8499,0.00,0.00,0.00,0.000,6,0.000,0.000,2115,1983,3444,3374,3515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8798,-1.11,-170.3,2115,1982,3373,3514,939.6,-8.4,395,8804,0.00,2.05,0.00,0.000,260,0.000,0.035,2105,3354,3443,3373,3514,0,0,0,0,0,0,28.83,26.75,28.83
$GC,8827,-1.11,-170.3,2105,3354,3373,3513,939.6,-8.4,395,8835,0.00,2.08,0.00,0.000,1030,0.000,0.028,2105,1970,3443,3373,3513,0,0,0,0,0,0,28.83,26.77,28.83
$GC,9134,-1.11,-170.3,2105,1970,3372,3513,968.0,-8.3,406,9135,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,1970,3442,3371,3513,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9431,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9431,begin apogee
$GC,9436,-0.19,0.0,2104,2305,3370,3511,990.5,-7.1,416,9595,0.62,0.00,153.93,1.175,10246,0.116,0.000,2311,2305,2792,2763,2822,0,0,0,0,0,0,26.67,28.83,24.08
$STATE,9598,end apogee,CONTROL_FINISHED_OK
$STATE,9598,begin climb
$GC,9599,1.11,170.3,2311,2305,2757,2816,996.0,0.0,421,9770,0.80,2.35,161.07,1.191,10500,0.065,0.036,2593,3682,2094,2067,2121,0,0,0,0,0,0,25.01,24.61,23.77
$GC,9925,1.17,195.2,2593,3682,2057,2110,985.2,8.3,431,9959,0.00,2.17,23.88,1.136,9222,0.000,0.025,2603,2298,1991,1964,2018,0,0,0,0,0,0,28.83,25.59,24.32
$GC,10283,1.28,237.8,2603,2298,1958,2008,956.7,7.6,443,10328,0.10,0.00,42.38,1.102,10246,0.103,0.000,2647,2298,1823,1804,1843,0,0,0,0,0,0,26.01,28.83,24.41
$GC,10612,1.28,237.8,2646,2298,1795,1825,925.2,9.8,454,10618,0.00,2.22,0.00,0.000,516,0.000,0.044,2657,900,1810,1795,1825,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10684,1.28,237.8,2657,901,1795,1825,918.8,9.8,456,10692,0.12,2.10,0.00,0.000,5126,0.175,0.018,2628,2305,1810,1795,1825,0,0,0,0,0,0,25.96,26.12,28.83
$GC,11010,1.31,250.2,2628,2305,1795,1823,888.9,8.7,467,11027,0.00,2.35,11.10,1.041,8708,0.000,0.043,2637,890,1771,1753,1789,0,0,0,0,0,0,28.83,26.03,25.25
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$FREEZE,49.13,26.821,-1.676,0,1,0
$STATE,19776,end climb,NO_VERTICAL_VELOCITY
$STATE,19776,begin surface
$SM_CCo,20100,0.00,0.000,0,0,391,589.70
$SM_GC,49.99,7.45,0.55,0.00,0.035,0.037,0.000,80,1950,391,-10.32,0.90,589.70,0,0,0,0,0,0,26.19,26.20,28.83
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$TT8_MAMPS,0.026964,0.026964
$HUMID,42.43
$INTERNAL_PRESSURE,9.28269
$TCM_TEMP,22.60
$XPDR_PINGS,11
$SC_FREEKB,3991936
$24V_AH,23.8,13.074
$10V_AH,10.1,9.264
$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,0.000,0.000,0.000,0.000,0.000,0.000,8.279,0.000,0.000,0.000
$MEM,323876
$DATA_FILE_SIZE,30125,859
$CAP_FILE_SIZE,476325,0
$CFSIZE,260034560,241672192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.087,170.2,1
$GPS,120313,170523,1858.123,12001.917,37,0.9,37,-2.4