version: 66.11
glider: 121
mission: 10
dive: 73
start: 3 12 113 23 12 21
data:
$ID,121
$MISSION,10
$DIVE,73
$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,-81368.461
$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,53
$R_STBD_OVSHOOT,67
$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
$GPS1,120313,225807,1856.787,12005.347,40,0.8,40,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,53.53
$_SM_ANGLEo,-64.8
$GPS2,120313,231153,1856.847,12005.261,17,0.9,17,-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,145.0,62253,-18.4,-9.167,-20.99,2856
$D_GRID,2332
$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,-170.3,76,1941,314,481,0.0,0.0,0,28,0.00,0.00,-8.50,0.000,16386,0.000,0.000,76,1941,619,566,673,0,0,0,0,0,0,28.83,28.83,28.83
$GC,30,-1.11,-170.3,76,1941,566,673,53.6,0.0,1,159,7.93,2.12,-107.85,0.000,18692,0.216,0.039,2102,3363,3491,3412,3570,0,0,0,0,0,0,25.82,26.17,26.43
$GC,291,-1.11,-170.3,2101,3363,3413,3570,85.2,-20.2,13,296,0.00,2.08,0.00,0.000,1030,0.000,0.022,2109,1965,3491,3413,3570,0,0,0,0,0,0,28.83,26.32,28.83
$GC,609,-1.11,-170.3,2109,1965,3416,3570,134.7,-14.2,29,616,0.00,2.08,0.00,0.000,516,0.000,0.037,2119,578,3493,3416,3570,0,0,0,0,0,0,28.83,26.46,28.83
$GC,789,-1.11,-170.3,2119,578,3417,3570,159.3,-15.4,37,797,0.00,2.00,0.00,0.000,1030,0.000,0.015,2111,1992,3493,3417,3570,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1095,-1.11,-170.3,2111,1993,3417,3570,200.2,-11.4,53,1096,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,1993,3493,3417,3570,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1396,-1.11,-170.3,2111,1993,3416,3570,234.1,-11.7,68,1397,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,1993,3493,3417,3570,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1696,-1.11,-170.3,2111,1993,3416,3565,266.0,-10.7,83,1702,0.00,2.15,0.00,0.000,516,0.000,0.037,2119,571,3490,3416,3565,0,0,0,0,0,0,28.83,26.69,28.83
$GC,1787,-1.11,-170.3,2119,571,3416,3564,275.1,-10.5,87,1793,0.00,1.98,0.00,0.000,1030,0.000,0.015,2111,1979,3489,3415,3564,0,0,0,0,0,0,28.83,26.75,28.83
$GC,2106,-1.11,-170.3,2111,1979,3415,3559,308.2,-10.9,103,2113,0.00,2.12,0.00,0.000,516,0.000,0.037,2119,575,3487,3415,3559,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2201,-1.11,-170.3,2118,575,3414,3558,318.5,-12.0,107,2207,0.00,1.98,0.00,0.000,1030,0.000,0.015,2110,1979,3486,3414,3558,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2515,-1.11,-170.3,2110,1979,3412,3555,354.8,-10.5,123,2516,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,1979,3484,3413,3556,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2815,-1.11,-170.3,2110,1979,3409,3553,383.9,-9.2,138,2820,0.00,2.00,0.00,0.000,260,0.000,0.030,2101,3345,3480,3409,3551,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2854,-1.11,-170.3,2100,3345,3409,3551,385.9,-9.1,139,2862,0.00,2.03,0.00,0.000,1030,0.000,0.023,2102,1965,3480,3409,3552,0,0,0,0,0,0,28.83,26.76,28.83
$GC,3159,-1.11,-170.3,2101,1965,3407,3548,415.8,-9.3,155,3164,0.00,2.08,0.00,0.000,516,0.000,0.041,2111,578,3477,3407,3548,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3266,-1.11,-170.3,2111,578,3406,3548,425.8,-9.3,160,3272,0.00,2.00,0.00,0.000,1030,0.000,0.016,2103,1988,3476,3405,3548,0,0,0,0,0,0,28.83,26.81,28.83
$GC,3590,-1.11,-170.3,2103,1987,3403,3545,456.4,-9.8,176,3597,0.00,2.00,0.00,0.000,260,0.000,0.031,2093,3348,3473,3403,3544,0,0,0,0,0,0,28.83,26.76,28.83
$GC,3624,-1.11,-170.3,2092,3347,3403,3544,458.8,-10.0,177,3629,0.00,2.03,0.00,0.000,1030,0.000,0.024,2093,1971,3473,3403,3544,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3937,-1.11,-170.3,2093,1971,3400,3541,492.6,-10.4,193,3939,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,1971,3471,3400,3542,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4237,-1.11,-170.3,2093,1971,3397,3539,523.1,-9.7,208,4243,0.00,2.10,0.00,0.000,516,0.000,0.041,2102,577,3467,3397,3538,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4296,-1.11,-170.3,2102,577,3397,3538,527.5,-9.8,210,4304,0.00,1.98,0.00,0.000,1030,0.000,0.016,2094,1972,3466,3396,3537,0,0,0,0,0,0,28.83,26.82,28.83
$GC,4602,-1.11,-170.3,2094,1972,3394,3536,557.8,-9.5,226,4604,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,1972,3464,3394,3535,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4902,-1.11,-170.3,2094,1972,3392,3533,586.2,-9.3,241,4903,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,1972,3463,3392,3534,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5213,-1.11,-170.3,2093,1972,3389,3531,613.7,-8.7,254,5219,0.00,2.03,0.00,0.000,260,0.000,0.031,2084,3345,3459,3389,3530,0,0,0,0,0,0,28.83,26.77,28.83
$GC,5272,-1.11,-170.3,2083,3345,3389,3530,616.9,-8.8,255,5281,0.10,2.03,0.00,0.000,3078,0.167,0.024,2109,1973,3459,3388,3530,0,0,0,0,0,0,26.65,26.78,28.83
$GC,5578,-1.11,-170.3,2109,1973,3387,3528,647.0,-9.3,266,5579,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,1973,3458,3387,3529,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5878,-1.11,-170.3,2109,1973,3385,3526,673.8,-8.7,276,5884,0.00,2.12,0.00,0.000,516,0.000,0.044,2119,574,3455,3385,3526,0,0,0,0,0,0,28.83,26.75,28.83
$GC,5923,-1.11,-170.3,2119,574,3385,3525,676.9,-8.7,277,5929,0.00,2.00,0.00,0.000,1030,0.000,0.016,2111,1976,3455,3385,3525,0,0,0,0,0,0,28.83,26.82,28.83
$GC,6248,-1.11,-170.3,2111,1976,3382,3523,704.7,-8.3,288,6254,0.00,2.03,0.00,0.000,260,0.000,0.032,2101,3346,3452,3382,3523,0,0,0,0,0,0,28.83,26.77,28.83
$GC,6331,-1.11,-170.3,2101,3346,3382,3522,709.9,-8.1,290,6337,0.00,2.03,0.00,0.000,1030,0.000,0.026,2101,1979,3452,3382,3522,0,0,0,0,0,0,28.83,26.78,28.83
$GC,6646,-1.11,-170.3,2101,1979,3380,3521,738.9,-8.9,301,6652,0.00,2.12,0.00,0.000,516,0.000,0.044,2110,578,3450,3380,3521,0,0,0,0,0,0,28.83,26.75,28.83
$GC,6715,-1.11,-170.3,2111,578,3380,3521,745.0,-9.0,303,6722,0.00,2.00,0.00,0.000,1030,0.000,0.016,2103,1978,3450,3380,3521,0,0,0,0,0,0,28.83,26.82,28.83
$GC,7045,-1.11,-170.3,2103,1978,3378,3518,774.4,-8.6,314,7051,0.00,2.17,0.00,0.000,516,0.000,0.042,2111,568,3448,3378,3519,0,0,0,0,0,0,28.83,26.75,28.83
$GC,7110,-1.11,-170.3,2110,569,3377,3519,780.0,-8.6,316,7116,0.00,2.03,0.00,0.000,1030,0.000,0.017,2103,1974,3448,3377,3519,0,0,0,0,0,0,28.83,26.82,28.83
$GC,7444,-1.11,-170.3,2102,1974,3375,3517,808.9,-8.9,327,7450,0.00,2.05,0.00,0.000,260,0.000,0.034,2092,3354,3445,3374,3516,0,0,0,0,0,0,28.83,26.76,28.83
$GC,7522,-1.11,-170.3,1300,3353,3355,3513,814.5,-8.8,329,7528,0.00,2.05,0.00,0.000,1030,0.000,0.027,2093,1977,3445,3374,3516,0,0,0,0,0,0,28.83,26.77,28.83
$GC,7841,-1.11,-170.3,2092,1977,3373,3515,842.1,-8.2,340,7842,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,1977,3443,3373,3514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8141,-1.11,-170.3,2092,1977,3372,3514,866.2,-7.9,350,8147,0.00,2.15,0.00,0.000,516,0.000,0.046,2101,569,3442,3372,3513,0,0,0,0,0,0,28.83,26.74,28.83
$GC,8185,-1.11,-170.3,2101,570,3372,3513,868.8,-7.9,351,8191,0.00,2.03,0.00,0.000,1030,0.000,0.018,2093,1978,3442,3372,3513,0,0,0,0,0,0,28.83,26.81,28.83
$GC,8509,-1.11,-170.3,2093,1978,3370,3512,895.5,-8.1,362,8515,0.00,2.05,0.00,0.000,260,0.000,0.034,2083,3354,3441,3370,3512,0,0,0,0,0,0,28.83,26.75,28.83
$GC,8614,-1.11,-170.3,2082,3353,3369,3512,903.2,-8.0,365,8621,0.10,2.08,0.00,0.000,3078,0.164,0.028,2111,1968,3439,3369,3510,0,0,0,0,0,0,26.64,26.77,28.83
$GC,8939,-1.11,-170.3,2110,1967,3368,3510,927.9,-7.5,376,8940,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,1968,3439,3368,3510,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9239,-1.11,-170.3,2110,1968,3367,3508,950.0,-7.4,386,9240,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,1967,3437,3367,3508,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9539,-1.11,-170.3,2110,1967,3366,3507,972.5,-7.5,396,9540,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,1967,3436,3366,3507,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9777,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9778,begin apogee
$GC,9782,-0.19,0.0,2110,2303,3365,3505,992.2,-8.0,404,9944,0.60,0.00,156.30,1.160,10246,0.119,0.000,2308,2303,2791,2761,2822,0,0,0,0,0,0,26.65,28.83,24.06
$STATE,9947,end apogee,CONTROL_FINISHED_OK
$STATE,9947,begin climb
$GC,9948,1.11,170.3,2308,2303,2754,2816,1000.1,0.0,409,10122,0.82,2.33,163.52,1.193,10500,0.066,0.036,2598,3677,2094,2066,2122,0,0,0,0,0,0,25.01,24.63,23.80
$GC,10292,1.32,254.3,2598,3677,2055,2109,989.9,6.1,421,10382,0.10,2.15,81.32,1.160,11270,0.100,0.024,2649,2306,1752,1733,1772,0,0,0,0,0,0,25.62,25.65,23.89
$GC,10690,1.32,254.3,2649,2306,1726,1757,952.7,9.8,434,10696,0.00,2.25,0.00,0.000,516,0.000,0.044,2659,901,1741,1726,1757,0,0,0,0,0,0,28.83,25.89,28.83
$GC,10759,1.32,254.3,2659,901,1725,1757,946.3,9.9,436,10766,0.10,2.10,0.00,0.000,5126,0.184,0.017,2639,2307,1741,1725,1757,0,0,0,0,0,0,25.86,26.04,28.83
$GC,11089,1.32,254.3,2639,2308,1724,1755,914.3,9.4,447,11095,0.00,2.25,0.00,0.000,516,0.000,0.043,2648,900,1739,1724,1755,0,0,0,0,0,0,28.83,26.23,28.83
$GC,11136,1.32,254.3,1728,900,1687,1747,911.1,9.3,448,11143,0.00,2.08,0.00,0.000,1030,0.000,0.018,2648,2297,1739,1724,1755,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11456,1.32,254.3,2647,2297,1723,1755,879.0,9.9,459,11462,0.00,2.12,0.00,0.000,260,0.000,0.036,2648,3686,1739,1723,1755,0,0,0,0,0,0,28.83,26.40,28.83
$GC,11503,1.32,254.3,1728,3685,1686,1746,875.4,10.1,460,11509,0.00,2.10,0.00,0.000,1030,0.000,0.026,2657,2302,1738,1723,1754,0,0,0,0,0,0,28.83,26.43,28.83
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$FREEZE,53.52,28.673,-0.995,0,1,0
$STATE,20394,end climb,NO_VERTICAL_VELOCITY
$STATE,20395,begin surface
$SM_CCo,20719,0.00,0.000,0,0,392,589.46
$SM_GC,54.33,7.53,0.47,0.00,0.034,0.049,0.000,84,1961,392,-10.31,1.27,589.46,0,0,0,0,0,0,26.22,24.99,28.83
$IRIDIUM_FIX,1850.98,12015.22,120313,171715
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.47
$INTERNAL_PRESSURE,9.32175
$TCM_TEMP,23.60
$XPDR_PINGS,4
$SC_FREEKB,3991168
$24V_AH,23.8,13.486
$10V_AH,10.0,9.515
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.973,0.000,0.000,0.000
$MEM,324016
$DATA_FILE_SIZE,30066,852
$CAP_FILE_SIZE,466100,0
$CFSIZE,260034560,241389568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.112,153.2,1
$GPS,130313,045852,1853.676,12007.464,36,0.8,36,-2.4