version: 66.11
glider: 121
mission: 10
dive: 72
start: 3 12 113 17 20 3
data:
$ID,121
$MISSION,10
$DIVE,72
$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,-81367.195
$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,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
$GPS1,120313,170523,1858.123,12001.917,37,0.9,37,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,50.22
$_SM_ANGLEo,-63.5
$GPS2,120313,171936,1858.019,12001.984,18,0.9,18,-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,118.6,68027,-18.4,-9.167,-20.99,2856
$D_GRID,2887
$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,-170.3,79,1941,309,471,0.0,0.0,0,29,0.00,0.00,-8.82,0.000,16386,0.000,0.000,78,1941,619,565,674,0,0,0,0,0,0,28.83,28.83,28.83
$GC,31,-1.11,-170.3,78,1941,565,674,50.3,0.0,1,158,7.93,2.22,-111.18,0.000,19204,0.218,0.041,2095,3367,3492,3414,3570,0,0,0,0,0,0,25.80,26.15,26.41
$GC,250,-1.11,-170.3,2095,3367,3415,3571,74.5,-24.4,16,256,0.00,2.08,0.00,0.000,1030,0.000,0.024,2104,1980,3493,3416,3571,0,0,0,0,0,0,28.83,26.26,28.83
$GC,564,-1.11,-170.3,2103,1980,3419,3571,127.4,-15.4,32,569,0.00,2.12,0.00,0.000,516,0.000,0.037,2113,569,3495,3419,3571,0,0,0,0,0,0,28.83,26.43,28.83
$GC,800,-1.11,-170.3,2113,569,3420,3571,158.6,-13.8,43,806,0.00,2.03,0.00,0.000,1030,0.000,0.015,2105,2002,3495,3420,3571,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1113,-1.11,-170.3,2105,2002,3420,3571,200.8,-12.7,59,1119,0.00,2.17,0.00,0.000,516,0.000,0.036,2114,567,3495,3420,3571,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1181,-1.11,-170.3,1288,567,3404,3569,209.0,-12.8,62,1187,0.00,2.00,0.00,0.000,1030,0.000,0.015,2105,1985,3495,3420,3571,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1501,-1.11,-170.3,2104,1986,3420,3570,247.9,-12.1,78,1507,0.00,2.15,0.00,0.000,516,0.000,0.037,2113,571,3494,3420,3569,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1546,-1.11,-170.3,2112,571,3420,3568,253.4,-12.1,80,1552,0.00,2.03,0.00,0.000,1030,0.000,0.015,2104,1987,3494,3420,3569,0,0,0,0,0,0,28.83,26.71,28.83
$GC,1871,-1.11,-170.3,2105,1987,3420,3564,292.2,-12.4,96,1877,0.00,2.15,0.00,0.000,516,0.000,0.038,2113,572,3491,3420,3563,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1936,-1.11,-170.3,2114,572,3419,3563,300.6,-12.6,99,1943,0.00,1.98,0.00,0.000,1030,0.000,0.015,2105,1975,3490,3418,3563,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2262,-1.11,-170.3,2104,1975,3417,3559,341.1,-11.9,115,2267,0.00,2.12,0.00,0.000,516,0.000,0.038,2113,571,3488,3417,3559,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2361,-1.11,-170.3,2113,571,3415,3559,351.1,-11.6,119,2369,0.00,2.00,0.00,0.000,1030,0.000,0.015,2104,1985,3486,3415,3558,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2667,-1.11,-170.3,2104,1987,3411,3555,383.4,-9.9,135,2673,0.00,2.15,0.00,0.000,516,0.000,0.039,2113,574,3482,3411,3554,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2714,-1.11,-170.3,1296,574,3395,3553,388.0,-10.5,137,2720,0.00,1.98,0.00,0.000,1030,0.000,0.015,2105,1975,3483,3411,3555,0,0,0,0,0,0,28.83,26.79,28.83
$GC,3034,-1.11,-170.3,2104,1976,3409,3552,423.4,-11.6,153,3040,0.00,2.03,0.00,0.000,260,0.000,0.031,2094,3354,3480,3409,3551,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3058,-1.11,-170.3,2094,3355,3409,3551,426.4,-11.9,154,3064,0.00,2.05,0.00,0.000,1030,0.000,0.024,2094,1970,3479,3408,3550,0,0,0,0,0,0,28.83,26.75,28.83
$GC,3383,-1.11,-170.3,2094,1970,3407,3547,462.9,-10.3,170,3389,0.00,2.10,0.00,0.000,516,0.000,0.042,2103,576,3477,3407,3547,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3428,-1.11,-170.3,2103,578,3406,3547,467.5,-10.2,172,3434,0.00,2.00,0.00,0.000,1030,0.000,0.016,2095,1977,3476,3405,3547,0,0,0,0,0,0,28.83,26.80,28.83
$GC,3753,-1.11,-170.3,2094,1977,3403,3544,501.3,-10.7,188,3758,0.00,2.15,0.00,0.000,516,0.000,0.041,2102,574,3473,3403,3544,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3852,-1.11,-170.3,2103,574,3402,3543,510.8,-11.0,192,3860,0.00,2.00,0.00,0.000,1030,0.000,0.016,2094,1980,3472,3401,3544,0,0,0,0,0,0,28.83,26.80,28.83
$GC,4158,-1.11,-170.3,2094,1980,3398,3540,542.6,-9.6,208,4164,0.00,2.03,0.00,0.000,260,0.000,0.031,2084,3354,3469,3398,3540,0,0,0,0,0,0,28.83,26.75,28.83
$GC,4222,-1.11,-170.3,2084,3354,3398,3539,548.9,-9.6,211,4229,0.10,2.05,0.00,0.000,3078,0.164,0.024,2113,1972,3468,3398,3539,0,0,0,0,0,0,26.65,26.77,28.83
$GC,4549,-1.11,-170.3,2112,1972,3396,3536,576.9,-8.4,227,4555,0.00,2.12,0.00,0.000,516,0.000,0.044,2123,571,3466,3396,3536,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4629,-1.11,-170.3,2122,571,3395,3536,582.7,-8.6,230,4637,0.00,2.00,0.00,0.000,1030,0.000,0.016,2114,1979,3465,3395,3536,0,0,0,0,0,0,28.83,26.82,28.83
$GC,4945,-1.11,-170.3,2114,1979,3393,3534,608.2,-7.7,245,4951,0.00,2.15,0.00,0.000,516,0.000,0.042,2123,578,3463,3393,3533,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4980,-1.11,-170.3,2122,578,3393,3533,611.1,-8.0,246,4986,0.00,2.00,0.00,0.000,1030,0.000,0.016,2114,1974,3462,3392,3533,0,0,0,0,0,0,28.83,26.81,28.83
$GC,5314,-1.11,-170.3,2114,1974,3389,3530,640.9,-9.4,257,5316,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,1974,3459,3389,3530,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5614,-1.11,-170.3,2114,1974,3388,3529,666.6,-7.9,267,5620,0.00,2.05,0.00,0.000,260,0.000,0.033,2104,3359,3458,3388,3528,0,0,0,0,0,0,28.83,26.76,28.83
$GC,5682,-1.11,-170.3,2104,3359,3386,3527,671.5,-7.7,269,5689,0.00,2.05,0.00,0.000,1030,0.000,0.026,2104,1979,3456,3386,3527,0,0,0,0,0,0,28.83,26.77,28.83
$GC,6012,-1.11,-170.3,2104,1979,3385,3525,697.7,-8.3,280,6018,0.00,2.08,0.00,0.000,260,0.000,0.032,2096,3355,3454,3384,3525,0,0,0,0,0,0,28.83,26.76,28.83
$GC,6040,-1.11,-170.3,2096,3355,3384,3525,697.7,-8.3,280,6049,0.00,2.05,0.00,0.000,1030,0.000,0.026,2101,1974,3454,3384,3525,0,0,0,0,0,0,28.83,26.77,28.83
$GC,6347,-1.11,-170.3,2101,1973,3382,3523,726.7,-8.6,291,6353,0.00,2.12,0.00,0.000,516,0.000,0.045,2112,577,3452,3382,3523,0,0,0,0,0,0,28.83,26.74,28.83
$GC,6472,-1.11,-170.3,2111,577,3382,3523,737.7,-8.6,295,6478,0.00,2.03,0.00,0.000,1030,0.000,0.017,2104,1983,3452,3382,3523,0,0,0,0,0,0,28.83,26.81,28.83
$GC,6806,-1.11,-170.3,2103,1984,3379,3520,763.2,-7.5,306,6812,0.00,2.05,0.00,0.000,260,0.000,0.034,2093,3361,3450,3379,3521,0,0,0,0,0,0,28.83,26.75,28.83
$GC,6854,-1.11,-170.3,1312,3359,3362,3518,765.9,-7.6,307,6860,0.00,2.08,0.00,0.000,1030,0.000,0.027,2095,1970,3450,3379,3521,0,0,0,0,0,0,28.83,26.77,28.83
$GC,7174,-1.11,-170.3,2095,1970,3378,3519,794.6,-9.1,318,7180,0.00,2.12,0.00,0.000,516,0.000,0.046,2104,578,3448,3378,3518,0,0,0,0,0,0,28.83,26.74,28.83
$GC,7208,-1.11,-170.3,2104,578,3378,3518,797.8,-9.2,319,7214,0.00,2.03,0.00,0.000,1030,0.000,0.017,2097,1978,3448,3378,3518,0,0,0,0,0,0,28.83,26.81,28.83
$GC,7542,-1.11,-170.3,2096,1978,3375,3517,828.8,-9.1,330,7548,0.00,2.05,0.00,0.000,260,0.000,0.034,2086,3354,3445,3375,3516,0,0,0,0,0,0,28.83,26.75,28.83
$GC,7586,-1.11,-170.3,2086,3354,3375,3516,831.9,-9.1,331,7593,0.10,2.08,0.00,0.000,3078,0.166,0.028,2110,1966,3445,3375,3516,0,0,0,0,0,0,26.64,26.77,28.83
$GC,7911,-1.11,-170.3,2110,1966,3374,3515,860.5,-8.3,342,7917,0.00,2.12,0.00,0.000,516,0.000,0.047,2121,577,3444,3373,3515,0,0,0,0,0,0,28.83,26.74,28.83
$GC,7964,-1.11,-170.3,2120,577,3373,3514,863.5,-8.5,343,7970,0.00,2.03,0.00,0.000,1030,0.000,0.017,2112,1974,3444,3374,3514,0,0,0,0,0,0,28.83,26.80,28.83
$GC,8279,-1.11,-170.3,2112,1974,3373,3514,891.4,-8.4,354,8280,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,1975,3443,3372,3514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8579,-1.11,-170.3,2112,1975,3371,3513,915.8,-8.2,364,8580,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,1975,3442,3371,3513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8878,-1.11,-170.3,2112,1975,3370,3512,941.8,-9.0,374,8879,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,1975,3440,3370,3511,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9178,-1.11,-170.3,2112,1975,3369,3510,969.7,-9.3,384,9184,0.00,2.08,0.00,0.000,260,0.000,0.035,2102,3364,3439,3369,3509,0,0,0,0,0,0,28.83,26.75,28.83
$GC,9235,-1.11,-170.3,2102,3364,3368,3509,972.7,-9.3,385,9244,0.00,2.08,0.00,0.000,1030,0.000,0.028,2104,1978,3438,3368,3509,0,0,0,0,0,0,28.83,26.77,28.83
$STATE,9420,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9421,begin apogee
$GC,9425,-0.19,0.0,2103,2297,3368,3508,991.7,-8.8,392,9587,0.62,0.00,155.07,1.164,10246,0.119,0.000,2309,2297,2789,2759,2820,0,0,0,0,0,0,26.65,28.83,24.04
$STATE,9590,end apogee,CONTROL_FINISHED_OK
$STATE,9590,begin climb
$GC,9591,1.11,170.3,2308,2297,2755,2816,998.5,0.0,397,9767,0.82,2.33,163.70,1.198,10500,0.067,0.036,2597,3671,2090,2062,2119,0,0,0,0,0,0,25.02,24.62,23.77
$GC,9927,1.21,213.3,1664,3670,2004,2098,986.4,7.6,407,9977,0.00,2.15,41.60,1.151,9222,0.000,0.025,2608,2301,1917,1897,1938,0,0,0,0,0,0,28.83,25.61,24.09
$GC,10306,1.25,228.1,2607,2301,1894,1923,953.8,8.6,420,10322,0.00,0.00,13.93,1.095,8198,0.000,0.000,2608,2301,1863,1847,1880,0,0,0,0,0,0,28.83,28.83,24.85
$GC,10606,1.31,251.3,2607,2301,1840,1868,928.6,8.3,430,10641,0.10,2.28,24.35,1.096,10756,0.103,0.044,2662,895,1762,1743,1781,0,0,0,0,0,0,26.14,25.58,24.76
$GC,10744,1.31,251.3,2662,894,1741,1778,915.4,10.2,434,10751,0.12,2.12,0.00,0.000,5126,0.176,0.018,2634,2307,1759,1741,1777,0,0,0,0,0,0,25.77,25.94,28.83
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$FREEZE,52.51,26.625,-1.053,0,1,0
$STATE,19804,end climb,NO_VERTICAL_VELOCITY
$STATE,19804,begin surface
$SM_CCo,19807,71.72,0.405,1,0,398,587.49
$SM_GC,53.36,7.00,0.55,0.00,0.028,0.032,0.000,77,1949,398,-10.34,0.88,588.23,0,0,0,0,0,0,26.22,25.86,28.83
$IRIDIUM_FIX,1855.54,11957.99,120313,111130
$TT8_MAMPS,0.026964,0.026964
$HUMID,41.84
$INTERNAL_PRESSURE,9.30222
$TCM_TEMP,23.50
$XPDR_PINGS,12
$SC_FREEKB,3991552
$24V_AH,23.8,13.281
$10V_AH,10.0,9.389
$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,17.550,161.100,616.150,71.725,0.000,0.000,0.000,677.375,3.000,0.000,19.937,3649.135,13268.049,905.540,2882.711,328.741,0.000,2808.167,0.000,2108.179,0.000,1.495,0.000
$DEVICE_MAMPS,218.025,46.665,1197.990,405.450,0.000,0.000,0.000,157.590,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19806.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.047,0.000,0.000,0.000
$MEM,323976
$DATA_FILE_SIZE,30062,826
$CAP_FILE_SIZE,465962,0
$CFSIZE,260034560,241532928
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.085, 99.4,1
$GPS,120313,225807,1856.787,12005.347,40,0.8,40,-2.4