version: 66.11
glider: 121
mission: 10
dive: 79
start: 3 14 113 7 12 57
data:
$ID,121
$MISSION,10
$DIVE,79
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,800
$D_ABORT,950
$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,270
$T_MISSION,310
$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,-81439.273
$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,54
$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
$GPS1,140313,070604,1852.251,12014.140,465,1.1,465,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-66.5
$GPS2,140313,071230,1852.314,12014.148,15,0.9,16,-2.4
$SPEED_LIMITS,0.171,0.245
$TGT_NAME,W3A
$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,282.0,28573,-19.6,-9.877,-21.99,2652
$D_GRID,1809
$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,-1.15,-170.3,82,1941,1117,1198,0.0,0.0,0,86,0.00,0.00,-64.90,0.000,16390,0.000,0.000,82,1938,3493,3398,3588,0,0,0,0,0,0,28.83,28.83,26.45
$GC,89,-1.15,-170.3,82,1938,3398,3589,-23.9,-0.0,9,106,8.40,2.17,0.00,0.000,2308,0.240,0.024,2088,3377,3497,3405,3589,0,0,0,0,0,0,25.87,26.16,28.83
$GC,252,-1.15,-170.3,1232,3375,3394,3587,-23.9,0.0,38,260,0.00,2.10,0.00,0.000,1030,0.000,0.023,2096,1974,3500,3411,3589,0,0,0,0,0,0,28.83,26.30,28.83
$GC,574,-1.15,-170.3,1232,1971,3399,3586,-7.9,-14.5,99,582,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,1974,3503,3417,3589,0,0,0,0,0,0,28.83,28.83,28.83
$GC,897,-1.15,-170.3,2095,1973,3419,3589,38.7,-15.0,152,903,0.00,2.12,0.00,0.000,516,0.000,0.038,2106,572,3503,3418,3589,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1137,-1.15,-170.3,2105,572,3419,3589,72.6,-14.4,167,1143,0.00,2.03,0.00,0.000,1030,0.000,0.015,2098,2007,3504,3419,3589,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1451,-1.15,-170.3,2098,2006,3419,3589,113.3,-12.1,183,1458,0.00,2.20,0.00,0.000,516,0.000,0.037,2106,574,3504,3419,3589,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1517,-1.15,-170.3,2105,574,3419,3589,121.0,-11.7,186,1523,0.00,2.00,0.00,0.000,1030,0.000,0.015,2098,1988,3504,3419,3589,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1842,-1.15,-170.3,2097,1988,3419,3588,157.0,-10.9,202,1847,0.00,2.00,0.00,0.000,260,0.000,0.029,2088,3345,3503,3419,3587,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1889,-1.15,-170.3,2087,3345,3419,3586,161.4,-10.3,204,1896,0.00,2.03,0.00,0.000,1030,0.000,0.022,2089,1965,3502,3419,3586,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2209,-1.15,-170.3,2088,1965,3418,3584,196.1,-11.1,220,2215,0.00,2.10,0.00,0.000,516,0.000,0.040,2098,575,3501,3419,3584,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2323,-1.15,-170.3,2099,574,3420,3582,208.1,-11.6,225,2330,0.00,1.98,0.00,0.000,1030,0.000,0.015,2090,1981,3500,3419,3582,0,0,0,0,0,0,28.83,26.76,28.83
$GC,2639,-1.15,-170.3,2090,1981,3420,3578,241.0,-9.8,241,2640,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,1981,3498,3419,3578,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2938,-1.15,-170.3,2090,1983,3419,3575,269.5,-9.4,256,2945,0.00,2.00,0.00,0.000,260,0.000,0.030,2080,3342,3496,3419,3574,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2963,-1.15,-170.3,2080,3343,3418,3574,271.7,-9.3,257,2970,0.00,2.03,0.00,0.000,1030,0.000,0.023,2080,1972,3495,3418,3573,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3289,-1.15,-170.3,2080,1972,3416,3573,302.9,-9.9,273,3290,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,1972,3494,3416,3573,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3588,-1.15,-170.3,2080,1972,3414,3570,332.8,-10.0,288,3593,0.00,2.10,0.00,0.000,516,0.000,0.041,2090,580,3492,3414,3570,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3640,-1.15,-170.3,2089,580,3414,3570,337.1,-9.9,290,3647,0.00,1.98,0.00,0.000,1030,0.000,0.016,2081,1974,3492,3414,3570,0,0,0,0,0,0,28.83,26.79,28.83
$GC,3955,-1.15,-170.3,2081,1974,3411,3567,370.9,-10.8,306,3961,0.00,2.15,0.00,0.000,516,0.000,0.040,2090,572,3489,3411,3567,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3983,-1.15,-170.3,2090,573,3410,3567,373.3,-10.6,307,3989,0.00,2.00,0.00,0.000,1030,0.000,0.016,2081,1981,3488,3410,3567,0,0,0,0,0,0,28.83,26.80,28.83
$GC,4303,-1.15,-170.3,2081,1981,3409,3565,408.0,-10.6,323,4310,0.00,2.15,0.00,0.000,516,0.000,0.041,2090,579,3487,3409,3565,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4348,-1.15,-170.3,2089,580,3409,3565,412.7,-10.4,325,4355,0.00,2.00,0.00,0.000,1030,0.000,0.016,2081,1978,3487,3409,3565,0,0,0,0,0,0,28.83,26.79,28.83
$GC,4674,-1.15,-170.3,2081,1978,3407,3562,447.8,-11.1,341,4675,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,1978,3484,3407,3562,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4973,-1.15,-170.3,2081,1978,3405,3561,480.1,-10.6,356,4979,0.00,2.15,0.00,0.000,516,0.000,0.041,2089,578,3482,3405,3560,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5042,-1.15,-170.3,2089,578,3404,3559,487.2,-10.9,359,5048,0.00,2.00,0.00,0.000,1030,0.000,0.016,2081,1979,3482,3404,3560,0,0,0,0,0,0,28.83,26.79,28.83
$GC,5364,-1.15,-170.3,2081,1979,3402,3557,521.0,-10.7,375,5365,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,1979,3480,3403,3558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5661,-1.15,-170.3,2081,1979,3400,3557,553.1,-10.7,390,5667,0.00,2.03,0.00,0.000,260,0.000,0.031,2071,3348,3478,3401,3556,0,0,0,0,0,0,28.83,26.74,28.83
$GC,5720,-1.15,-170.3,2070,3348,3400,3556,557.6,-10.2,392,5729,0.10,2.03,0.00,0.000,3078,0.168,0.025,2099,1978,3478,3400,3556,0,0,0,0,0,0,26.60,26.76,28.83
$GC,6028,-1.15,-170.3,2098,1978,3398,3554,589.4,-10.4,408,6029,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,1978,3476,3398,3554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6328,-1.15,-170.3,2098,1978,3397,3552,620.4,-10.1,420,6329,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,1978,3474,3397,3552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6628,-1.15,-170.3,2099,1978,3395,3550,648.8,-9.2,430,6634,0.00,2.12,0.00,0.000,516,0.000,0.044,2109,581,3472,3395,3550,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6714,-1.15,-170.3,2108,581,3395,3549,654.5,-8.9,432,6720,0.00,2.00,0.00,0.000,1030,0.000,0.016,2101,1974,3472,3395,3549,0,0,0,0,0,0,28.83,26.80,28.83
$GC,7030,-1.15,-170.3,2101,1975,3393,3548,681.8,-8.1,443,7035,0.00,2.05,0.00,0.000,260,0.000,0.033,2090,3353,3470,3393,3548,0,0,0,0,0,0,28.83,26.73,28.83
$GC,7118,-1.15,-170.3,2090,3353,3393,3547,686.9,-7.9,445,7126,0.00,2.05,0.00,0.000,1030,0.000,0.026,2091,1976,3470,3393,3547,0,0,0,0,0,0,28.83,26.75,28.83
$GC,7426,-1.15,-170.3,2090,1976,3392,3546,712.8,-7.9,456,7427,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,1976,3469,3392,3546,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7724,-1.15,-170.3,2090,1977,3390,3545,733.3,-6.3,466,7730,0.00,2.15,0.00,0.000,516,0.000,0.046,2101,576,3467,3389,3545,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7803,-1.15,-170.3,2100,576,3389,3545,737.4,-6.2,468,7809,0.00,2.03,0.00,0.000,1030,0.000,0.017,2092,1980,3467,3389,3545,0,0,0,0,0,0,28.83,26.79,28.83
$GC,8122,-1.15,-170.3,2092,1980,3388,3544,758.9,-6.6,479,8128,0.00,2.05,0.00,0.000,260,0.000,0.034,2082,3351,3465,3388,3543,0,0,0,0,0,0,28.83,26.73,28.83
$GC,8157,-1.15,-170.3,2082,3351,3388,3543,761.3,-6.7,480,8163,0.00,2.08,0.00,0.000,1030,0.000,0.027,2084,1969,3466,3388,3544,0,0,0,0,0,0,28.83,26.75,28.83
$GC,8491,-1.15,-170.3,2084,1970,3387,3542,787.0,-7.9,491,8497,0.00,2.12,0.00,0.000,516,0.000,0.047,2095,580,3464,3386,3542,0,0,0,0,0,0,28.83,26.71,28.83
$GC,8549,-1.15,-170.3,2094,580,3386,3542,789.6,-7.8,492,8558,0.00,2.03,0.00,0.000,1030,0.000,0.018,2086,1978,3464,3386,3542,0,0,0,0,0,0,28.83,26.78,28.83
$STATE,8676,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8676,begin apogee
$GC,8680,-0.19,0.0,2084,2298,3386,3541,801.9,-8.2,497,8843,0.68,0.00,157.12,1.180,10246,0.122,0.000,2306,2298,2792,2754,2831,0,0,0,0,0,0,26.60,28.83,24.01
$STATE,8845,end apogee,CONTROL_FINISHED_OK
$STATE,8845,begin climb
$GC,8847,1.15,170.3,2305,2298,2753,2827,790.9,0.0,502,9019,0.85,2.35,163.18,1.167,10500,0.067,0.036,2602,3677,2094,2060,2129,0,0,0,0,0,0,24.96,24.55,23.71
$GC,9194,1.31,234.8,2602,3677,2053,2118,694.2,7.4,513,9266,0.10,2.17,62.58,1.128,11270,0.097,0.024,2653,2297,1832,1805,1859,0,0,0,0,0,0,25.56,25.58,23.93
$GC,9574,1.31,234.8,2653,2297,1800,1847,563.7,10.4,530,9580,0.00,2.22,0.00,0.000,516,0.000,0.043,2664,900,1823,1800,1846,0,0,0,0,0,0,28.83,25.86,28.83
$GC,9725,1.31,234.8,2664,900,1798,1849,536.7,12.2,537,9731,0.12,2.10,0.00,0.000,5126,0.180,0.018,2636,2302,1823,1799,1847,0,0,0,0,0,0,25.90,26.10,28.83
$GC,10052,1.36,255.3,2636,2302,1798,1844,496.6,9.1,553,10081,0.00,2.33,19.45,1.041,8708,0.000,0.041,2645,900,1751,1724,1778,0,0,0,0,0,0,28.83,25.83,25.01
$GC,10112,1.36,255.3,2644,899,1723,1776,430.8,81.8,555,10121,0.00,2.10,0.00,0.000,1030,0.000,0.018,2645,2291,1749,1723,1775,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10419,1.36,255.3,2644,2291,1723,1772,374.8,9.9,571,10420,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2291,1747,1722,1772,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10719,1.37,256.7,2644,2291,1723,1771,344.8,9.8,586,10725,0.00,2.20,0.00,0.000,516,0.000,0.042,2654,899,1746,1723,1770,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10779,1.37,256.7,2654,899,1723,1771,332.1,21.7,588,10788,0.00,2.10,0.00,0.000,1030,0.000,0.018,2654,2309,1747,1723,1771,0,0,0,0,0,0,28.83,26.43,28.83
$GC,11085,1.40,268.5,2654,2309,1723,1769,268.1,9.4,604,11107,0.00,0.00,14.50,0.979,8198,0.000,0.000,2654,2309,1695,1667,1723,0,0,0,0,0,0,28.83,28.83,25.32
$GC,11406,1.45,288.3,2653,2309,1667,1718,133.1,9.1,620,11437,0.00,2.20,20.98,0.956,8452,0.000,0.038,2654,3685,1615,1578,1653,0,0,0,0,0,0,28.83,25.93,25.13
$STATE,11445,end climb,SURFACE_DEPTH_REACHED
$STATE,11445,begin surface coast
$FINISH,-23.9,1.027570
$STATE,11453,end surface coast,CONTROL_FINISHED_OK
$STATE,11453,begin surface
$SM_CCo,11470,128.80,1.025,12,0,1164,400.08
$SM_GC,-23.93,7.38,2.72,128.80,0.075,0.028,1.025,90,1974,1164,-10.30,1.30,400.08,0,0,0,0,12,0,25.98,25.99,24.02
$IRIDIUM_FIX,1841.87,12016.04,140313,020213
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.25
$INTERNAL_PRESSURE,8.96041
$TCM_TEMP,15.20
$XPDR_PINGS,0
$SC_FREEKB,3989056
$24V_AH,23.7,14.683
$10V_AH,10.3,10.112
$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,17.625,88.925,437.800,128.800,0.000,0.000,0.000,231.100,0.000,0.000,17.516,2512.745,6820.953,737.924,1749.450,211.000,0.000,1784.674,0.000,1429.743,0.000,1.490,0.000
$DEVICE_MAMPS,240.210,47.430,1179.630,1025.100,0.000,0.000,0.000,135.405,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11449.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.145,0.000,0.000,0.000
$MEM,323896
$DATA_FILE_SIZE,23400,624
$CAP_FILE_SIZE,327650,214
$CFSIZE,260034560,240783360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,12,1,0
$CURRENT,75.579,275.2,1
$GPS,140313,071230,1852.314,12014.148,901,99.0,901,-2.4