version: 66.11
glider: 121
mission: 10
dive: 76
start: 3 13 113 16 49 37
data:
$ID,121
$MISSION,10
$DIVE,76
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,970
$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,-81435.484
$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,49
$R_STBD_OVSHOOT,72
$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
$GPS1,130313,164106,1851.227,12013.354,25,1.0,26,-2.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,26.28
$_SM_ANGLEo,-64.5
$GPS2,130313,164911,1851.220,12013.499,17,1.0,17,-2.4
$SPEED_LIMITS,0.156,0.237
$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,124.5,44559,-18.1,-8.981,-20.72,2916
$D_GRID,1592
$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,15,begin dive
$GC,17,-1.10,-170.3,85,1942,316,478,0.0,0.0,0,28,0.00,0.00,-8.60,0.000,16386,0.000,0.000,85,1942,619,566,673,0,0,0,0,0,0,28.83,28.83,28.83
$GC,30,-1.10,-170.3,85,1942,566,674,26.3,0.0,1,166,7.95,2.17,-117.85,0.000,18948,0.220,0.051,2119,566,3492,3413,3572,0,0,0,0,0,0,25.97,26.28,26.55
$GC,397,-1.10,-170.3,2119,566,3415,3573,81.5,-18.3,28,403,0.00,2.03,0.00,0.000,1030,0.000,0.015,2111,1999,3494,3415,3573,0,0,0,0,0,0,28.83,26.51,28.83
$GC,721,-1.10,-170.3,2110,2000,3419,3573,128.7,-13.2,44,727,0.00,1.95,0.00,0.000,260,0.000,0.027,2101,3338,3496,3419,3573,0,0,0,0,0,0,28.83,26.57,28.83
$GC,748,-1.10,-170.3,2101,3338,3419,3573,131.9,-13.7,45,754,0.00,2.00,0.00,0.000,1030,0.000,0.021,2101,1967,3496,3419,3573,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1068,-1.10,-170.3,2101,1967,3419,3573,179.3,-14.8,61,1074,0.00,2.08,0.00,0.000,516,0.000,0.037,2111,573,3495,3419,3572,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1113,-1.10,-170.3,2111,573,3419,3573,185.8,-14.5,63,1119,0.00,1.98,0.00,0.000,1030,0.000,0.015,2103,1990,3496,3419,3573,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1439,-1.10,-170.3,2103,1991,3419,3573,225.0,-12.2,79,1440,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,1991,3496,3419,3573,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1737,-1.10,-170.3,2103,1991,3419,3569,261.3,-11.5,94,1743,0.00,2.15,0.00,0.000,516,0.000,0.036,2111,570,3494,3419,3569,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1802,-1.10,-170.3,2110,569,3419,3568,269.0,-11.7,97,1808,0.00,1.98,0.00,0.000,1030,0.000,0.015,2103,1976,3493,3419,3568,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2126,-1.10,-170.3,2102,1978,3417,3563,303.7,-9.8,113,2132,0.00,2.12,0.00,0.000,516,0.000,0.037,2111,572,3490,3417,3563,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2165,-1.10,-170.3,2111,572,3417,3563,306.2,-9.9,114,2172,0.00,1.98,0.00,0.000,1030,0.000,0.015,2103,1986,3490,3418,3563,0,0,0,0,0,0,28.83,26.79,28.83
$GC,2470,-1.10,-170.3,2102,1986,3416,3559,338.4,-11.0,130,2476,0.00,2.12,0.00,0.000,516,0.000,0.037,2111,581,3487,3416,3559,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2580,-1.10,-170.3,1296,581,3398,3556,351.3,-12.2,135,2586,0.00,1.95,0.00,0.000,1030,0.000,0.016,2103,1974,3486,3415,3558,0,0,0,0,0,0,28.83,26.80,28.83
$GC,2899,-1.10,-170.3,2102,1975,3412,3555,388.3,-11.1,151,2906,0.00,2.00,0.00,0.000,260,0.000,0.028,2093,3344,3483,3411,3555,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2933,-1.10,-170.3,2092,3344,3411,3555,391.2,-11.1,152,2938,0.00,2.00,0.00,0.000,1030,0.000,0.022,2093,1977,3483,3411,3555,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3246,-1.10,-170.3,2092,1978,3409,3551,427.4,-11.4,168,3253,0.00,2.10,0.00,0.000,516,0.000,0.039,2102,577,3480,3409,3551,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3406,-1.10,-170.3,2102,577,3407,3550,445.3,-12.4,175,3414,0.00,1.98,0.00,0.000,1030,0.000,0.016,2093,1979,3479,3409,3550,0,0,0,0,0,0,28.83,26.81,28.83
$GC,3712,-1.10,-170.3,2094,1979,3404,3546,481.5,-10.5,191,3718,0.00,2.00,0.00,0.000,260,0.000,0.029,2084,3343,3475,3404,3546,0,0,0,0,0,0,28.83,26.76,28.83
$GC,3735,-1.10,-170.3,2082,3343,3404,3545,483.9,-10.3,192,3742,0.10,2.03,0.00,0.000,3078,0.163,0.023,2110,1968,3475,3404,3546,0,0,0,0,0,0,26.63,26.77,28.83
$GC,4062,-1.10,-170.3,2110,1968,3402,3543,510.4,-7.6,208,4067,0.00,2.10,0.00,0.000,516,0.000,0.041,2120,574,3472,3402,3543,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4128,-1.10,-170.3,2120,574,3401,3543,515.8,-8.0,211,4134,0.00,2.00,0.00,0.000,1030,0.000,0.016,2112,1981,3472,3401,3543,0,0,0,0,0,0,28.83,26.82,28.83
$GC,4453,-1.10,-170.3,2112,1981,3398,3540,541.5,-8.2,227,4460,0.00,2.00,0.00,0.000,260,0.000,0.031,2102,3341,3468,3398,3539,0,0,0,0,0,0,28.83,26.76,28.83
$GC,4492,-1.10,-170.3,2102,3341,3397,3539,543.6,-8.2,228,4500,0.00,2.03,0.00,0.000,1030,0.000,0.024,2102,1967,3468,3397,3539,0,0,0,0,0,0,28.83,26.78,28.83
$GC,4798,-1.10,-170.3,2102,1967,3395,3536,571.9,-9.2,244,4804,0.00,2.10,0.00,0.000,516,0.000,0.042,2110,578,3465,3395,3536,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4886,-1.10,-170.3,2110,577,3394,3536,580.2,-9.8,248,4893,0.00,1.98,0.00,0.000,1030,0.000,0.016,2102,1974,3465,3394,3536,0,0,0,0,0,0,28.83,26.82,28.83
$GC,5206,-1.10,-170.3,2102,1975,3392,3533,612.3,-10.1,262,5213,0.00,2.03,0.00,0.000,260,0.000,0.031,2092,3350,3461,3391,3532,0,0,0,0,0,0,28.83,26.76,28.83
$GC,5250,-1.10,-170.3,2092,3349,3391,3532,615.9,-10.1,263,5257,0.00,2.05,0.00,0.000,1030,0.000,0.024,2092,1966,3461,3390,3532,0,0,0,0,0,0,28.83,26.77,28.83
$GC,5575,-1.10,-170.3,2092,1965,3388,3530,646.2,-8.3,274,5582,0.00,2.10,0.00,0.000,516,0.000,0.043,2101,578,3459,3388,3530,0,0,0,0,0,0,28.83,26.74,28.83
$GC,5634,-1.10,-170.3,2101,578,3388,3530,649.0,-8.2,275,5642,0.00,2.00,0.00,0.000,1030,0.000,0.016,2093,1981,3459,3388,3530,0,0,0,0,0,0,28.83,26.82,28.83
$GC,5941,-1.10,-170.3,2093,1981,3385,3528,674.4,-7.9,286,5947,0.00,2.03,0.00,0.000,260,0.000,0.031,2082,3350,3456,3385,3527,0,0,0,0,0,0,28.83,26.75,28.83
$GC,6025,-1.10,-170.3,2083,3350,3384,3526,679.6,-8.0,288,6032,0.12,2.05,0.00,0.000,3078,0.153,0.025,2116,1967,3455,3384,3526,0,0,0,0,0,0,26.63,26.77,28.83
$GC,6340,-1.10,-170.3,2116,1967,3383,3525,706.5,-8.3,299,6341,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,1967,3453,3383,3524,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6641,-1.10,-170.3,2116,1967,3382,3523,732.5,-8.5,309,6642,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,1967,3452,3382,3523,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6940,-1.10,-170.3,2116,1967,3380,3522,756.9,-8.0,319,6947,0.00,2.08,0.00,0.000,260,0.000,0.031,2108,3344,3450,3379,3521,0,0,0,0,0,0,28.83,26.76,28.83
$GC,6976,-1.10,-170.3,2108,3344,3379,3521,759.5,-7.8,320,6981,0.00,2.05,0.00,0.000,1030,0.000,0.025,2109,1973,3450,3380,3521,0,0,0,0,0,0,28.83,26.77,28.83
$GC,7309,-1.10,-170.3,2109,1973,3378,3520,785.6,-7.7,331,7310,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,1973,3449,3378,3520,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7610,-1.10,-170.3,2109,1973,3376,3518,808.4,-7.7,341,7616,0.00,2.12,0.00,0.000,516,0.000,0.045,2116,581,3446,3376,3517,0,0,0,0,0,0,28.83,26.74,28.83
$GC,7648,-1.10,-170.3,2116,581,3375,3517,811.0,-7.7,342,7654,0.00,2.00,0.00,0.000,1030,0.000,0.017,2108,1970,3446,3375,3517,0,0,0,0,0,0,28.83,26.80,28.83
$GC,7977,-1.10,-170.3,2107,1970,3373,3516,837.6,-8.0,353,7979,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,1970,3444,3373,3516,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8277,-1.10,-170.3,2107,1970,3373,3515,863.5,-9.0,363,8278,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,1969,3444,3373,3515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8578,-1.10,-170.3,2108,1970,3371,3514,890.0,-8.7,373,8584,0.00,2.15,0.00,0.000,516,0.000,0.044,2116,579,3443,3372,3514,0,0,0,0,0,0,28.83,26.73,28.83
$GC,8612,-1.10,-170.3,2116,579,3371,3514,892.9,-8.6,374,8619,0.00,2.03,0.00,0.000,1030,0.000,0.017,2108,1976,3442,3371,3514,0,0,0,0,0,0,28.83,26.81,28.83
$GC,8947,-1.10,-170.3,2107,1976,3369,3513,917.8,-6.8,385,8954,0.00,2.17,0.00,0.000,516,0.000,0.046,2115,578,3441,3369,3513,0,0,0,0,0,0,28.83,26.73,28.83
$GC,9081,-1.10,-170.3,2115,578,3368,3513,926.2,-6.8,389,9087,0.00,2.03,0.00,0.000,1030,0.000,0.017,2107,1986,3440,3368,3512,0,0,0,0,0,0,28.83,26.80,28.83
$GC,9405,-1.10,-170.3,2107,1985,3368,3511,946.6,-6.2,400,9411,0.00,2.03,0.00,0.000,260,0.000,0.034,2098,3348,3439,3367,3511,0,0,0,0,0,0,28.83,26.74,28.83
$GC,9443,-1.10,-170.3,2097,3348,3367,3511,948.8,-6.2,401,9449,0.00,2.05,0.00,0.000,1030,0.000,0.027,2099,1974,3439,3367,3511,0,0,0,0,0,0,28.83,26.76,28.83
$STATE,9741,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9741,begin apogee
$GC,9745,-0.19,0.0,2099,2295,3366,3509,970.6,-7.5,411,9913,0.62,0.00,159.43,1.142,10246,0.119,0.000,2305,2296,2787,2757,2818,0,0,0,0,0,0,26.62,28.83,24.08
$STATE,9914,end apogee,CONTROL_FINISHED_OK
$STATE,9915,begin climb
$GC,9916,1.10,170.3,2305,2296,2753,2814,974.5,0.0,416,10093,0.82,2.28,165.90,1.167,10500,0.067,0.034,2592,3676,2091,2063,2120,0,0,0,0,0,0,25.03,24.63,23.81
$GC,10262,1.22,220.5,2592,3676,2054,2108,958.9,7.2,427,10323,0.00,2.15,48.75,1.158,9222,0.000,0.024,2602,2298,1886,1870,1903,0,0,0,0,0,0,28.83,25.65,24.06
$GC,10621,1.36,274.5,2601,2298,1864,1892,933.4,7.1,439,10687,0.12,2.30,54.55,1.095,10756,0.090,0.042,2673,904,1667,1646,1688,0,0,0,0,0,0,25.96,25.04,24.27
$GC,10714,1.42,301.1,2674,904,1643,1686,927.9,8.0,441,10748,0.00,2.15,27.12,1.083,9222,0.000,0.017,2673,2297,1564,1529,1599,0,0,0,0,0,0,28.83,25.42,24.24
$GC,11056,1.42,301.1,2673,2297,1520,1585,884.8,12.0,453,11062,0.00,2.25,0.00,0.000,516,0.000,0.041,2683,901,1553,1520,1586,0,0,0,0,0,0,28.83,25.97,28.83
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$FREEZE,18.38,27.934,-0.683,0,1,0
$STATE,19930,end climb,NO_VERTICAL_VELOCITY
$STATE,19931,begin surface
$SM_CCo,19933,28.75,0.051,0,0,398,587.49
$SM_GC,19.14,6.90,0.52,0.00,0.026,0.042,0.000,83,1961,397,-10.32,1.10,588.23,0,0,0,0,0,0,26.39,26.40,28.83
$IRIDIUM_FIX,1846.42,12012.11,130313,111146
$TT8_MAMPS,0.026964,0.026964
$HUMID,41.45
$INTERNAL_PRESSURE,9.32175
$TCM_TEMP,24.20
$XPDR_PINGS,14
$SC_FREEKB,3990208
$24V_AH,23.8,14.178
$10V_AH,10.0,9.831
$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,17.250,159.325,647.050,28.750,0.000,0.000,0.000,265.350,3.500,0.000,18.542,3749.618,13306.145,864.248,2529.680,299.152,0.000,2380.871,0.000,2141.877,0.000,1.493,0.000
$DEVICE_MAMPS,219.555,51.255,1166.625,51.255,0.000,0.000,0.000,136.170,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19929.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.373,0.000,0.000,0.000
$MEM,323880
$DATA_FILE_SIZE,33380,888
$CAP_FILE_SIZE,476110,0
$CFSIZE,260034560,241012736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.151,102.8,1
$GPS,130313,222859,1849.558,12017.629,40,1.0,40,-2.4