version: 66.11
glider: 121
mission: 10
dive: 29
start: 3 2 113 6 34 51
data:
$ID,121
$MISSION,10
$DIVE,29
$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,-7
$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,-81312.898
$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,2370
$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,58
$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
$GPS1,020313,062705,2107.683,12003.542,24,1.0,24,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-54.5
$GPS2,020313,063423,2107.757,12003.361,16,0.9,16,-2.9
$SPEED_LIMITS,0.159,0.239
$TGT_NAME,W3
$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,154.5,236678,-18.4,-9.167,-20.99,2856
$D_GRID,3058
$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,17,-1.11,-170.3,80,1938,993,987,0.0,0.0,0,73,0.00,0.00,-53.45,0.000,16386,0.000,0.000,80,1935,2413,2337,2489,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-1.11,-170.3,80,1934,2337,2491,3.3,-4.2,7,115,8.57,2.08,-21.35,0.000,18948,0.246,0.048,2131,583,3491,3417,3565,0,0,0,0,0,0,25.88,26.12,26.39
$GC,325,-1.11,-170.3,2130,583,3419,3566,50.8,-13.6,39,331,0.00,2.03,0.00,0.000,1030,0.000,0.016,2123,1987,3492,3419,3566,0,0,0,0,0,0,28.83,26.36,28.83
$GC,649,-1.11,-170.3,2122,1989,3423,3567,101.4,-14.6,55,655,0.00,2.00,0.00,0.000,260,0.000,0.029,2112,3350,3495,3423,3567,0,0,0,0,0,0,28.83,26.46,28.83
$GC,802,-1.11,-170.3,2112,3350,3423,3567,119.6,-12.5,62,809,0.00,2.03,0.00,0.000,1030,0.000,0.024,2120,1979,3495,3423,3568,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1117,-1.11,-170.3,2120,1979,3424,3568,158.7,-12.0,78,1123,0.00,2.10,0.00,0.000,516,0.000,0.039,2130,578,3496,3425,3568,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1227,-1.11,-170.3,1296,578,3409,3565,171.6,-11.9,83,1233,0.00,2.00,0.00,0.000,1030,0.000,0.017,2122,1992,3496,3424,3568,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1546,-1.11,-170.3,2122,1993,3425,3568,205.1,-8.9,99,1547,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,1993,3496,3424,3568,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1846,-1.11,-170.3,2122,1993,3424,3569,231.6,-8.8,114,1852,0.00,1.98,0.00,0.000,260,0.000,0.030,2111,3344,3496,3424,3568,0,0,0,0,0,0,28.83,26.69,28.83
$GC,1899,-1.11,-170.3,2111,3345,3424,3568,235.8,-9.1,116,1906,0.00,2.03,0.00,0.000,1030,0.000,0.024,2118,1965,3495,3424,3567,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2213,-1.11,-170.3,2118,1965,3424,3567,270.5,-11.5,132,2219,0.00,2.10,0.00,0.000,516,0.000,0.042,2128,570,3495,3424,3566,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2278,-1.11,-170.3,2127,570,3423,3566,278.2,-12.0,135,2284,0.00,2.00,0.00,0.000,1030,0.000,0.017,2120,1982,3494,3423,3566,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2602,-1.11,-170.3,2120,1982,3422,3564,310.9,-9.6,151,2603,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,1982,3493,3422,3564,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2901,-1.11,-170.3,2119,1982,3420,3562,338.4,-9.3,166,2908,0.00,2.15,0.00,0.000,516,0.000,0.041,2128,570,3490,3420,3561,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2950,-1.11,-170.3,2127,570,3420,3561,342.6,-9.3,168,2955,0.00,2.00,0.00,0.000,1030,0.000,0.017,2120,1988,3490,3420,3561,0,0,0,0,0,0,28.83,26.81,28.83
$GC,3269,-1.11,-170.3,2119,1987,3418,3558,373.0,-9.5,184,3270,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,1988,3488,3418,3558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3568,-1.11,-170.3,2119,1988,3415,3558,402.2,-10.3,199,3574,0.00,2.15,0.00,0.000,516,0.000,0.042,2128,578,3485,3415,3556,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3647,-1.11,-170.3,2127,578,3415,3556,409.7,-11.3,202,3654,0.00,1.98,0.00,0.000,1030,0.000,0.017,2120,1979,3485,3414,3556,0,0,0,0,0,0,28.83,26.84,28.83
$GC,3953,-1.11,-170.3,2119,1979,3413,3554,446.3,-11.1,218,3959,0.00,2.00,0.00,0.000,260,0.000,0.031,2109,3344,3483,3413,3553,0,0,0,0,0,0,28.83,26.79,28.83
$GC,4001,-1.11,-170.3,2109,3344,3412,3553,451.1,-10.9,220,4007,0.00,2.03,0.00,0.000,1030,0.000,0.025,2114,1972,3482,3412,3553,0,0,0,0,0,0,28.83,26.80,28.83
$GC,4321,-1.11,-170.3,2114,1971,3410,3552,483.5,-9.7,236,4327,0.00,2.10,0.00,0.000,516,0.000,0.044,2123,578,3479,3410,3549,0,0,0,0,0,0,28.83,26.78,28.83
$GC,4425,-1.11,-170.3,1312,578,3393,3546,493.6,-9.4,241,4432,0.00,1.98,0.00,0.000,1030,0.000,0.017,2116,1978,3479,3409,3549,0,0,0,0,0,0,28.83,26.85,28.83
$GC,4750,-1.11,-170.3,2116,1978,3407,3547,521.4,-8.2,257,4756,0.00,2.03,0.00,0.000,260,0.000,0.031,2105,3354,3476,3407,3546,0,0,0,0,0,0,28.83,26.79,28.83
$GC,4804,-1.11,-170.3,2105,3354,3408,3546,525.0,-8.3,259,4810,0.00,2.05,0.00,0.000,1030,0.000,0.025,2109,1967,3476,3407,3546,0,0,0,0,0,0,28.83,26.82,28.83
$GC,5119,-1.11,-170.3,2109,1967,3405,3545,552.7,-8.7,275,5125,0.00,2.10,0.00,0.000,516,0.000,0.045,2119,579,3475,3405,3545,0,0,0,0,0,0,28.83,26.79,28.83
$GC,5162,-1.11,-170.3,1288,579,3388,3541,556.7,-8.8,277,5168,0.00,2.00,0.00,0.000,1030,0.000,0.017,2111,1981,3475,3405,3545,0,0,0,0,0,0,28.83,26.85,28.83
$GC,5488,-1.11,-170.3,2110,1981,3402,3543,585.3,-8.9,293,5493,0.00,2.03,0.00,0.000,260,0.000,0.032,2101,3355,3472,3403,3542,0,0,0,0,0,0,28.83,26.80,28.83
$GC,5554,-1.11,-170.3,2100,3356,3400,3542,591.0,-8.6,296,5561,0.10,2.08,0.00,0.000,3078,0.161,0.026,2127,1962,3471,3400,3542,0,0,0,0,0,0,26.70,26.82,28.83
$GC,5890,-1.11,-170.3,2127,1963,3399,3541,616.4,-7.3,309,5895,0.00,2.10,0.00,0.000,516,0.000,0.046,2138,580,3470,3399,3541,0,0,0,0,0,0,28.83,26.79,28.83
$GC,5954,-1.11,-170.3,2137,580,3398,3541,621.4,-7.5,311,5960,0.00,2.00,0.00,0.000,1030,0.000,0.017,2130,1981,3469,3398,3540,0,0,0,0,0,0,28.83,26.86,28.83
$GC,6288,-1.11,-170.3,2129,1982,3397,3539,647.4,-8.2,322,6294,0.00,2.03,0.00,0.000,260,0.000,0.032,2120,3355,3467,3396,3538,0,0,0,0,0,0,28.83,26.81,28.83
$GC,6353,-1.11,-170.3,2120,3355,3396,3538,652.7,-8.4,324,6359,0.00,2.05,0.00,0.000,1030,0.000,0.026,2124,1975,3467,3396,3538,0,0,0,0,0,0,28.83,26.82,28.83
$GC,6687,-1.11,-170.3,2123,1975,3395,3537,681.3,-8.6,335,6688,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,1975,3465,3395,3536,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6987,-1.11,-170.3,2123,1975,3393,3536,706.3,-8.1,345,6988,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,1975,3464,3393,3536,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7287,-1.11,-170.3,2123,1975,3391,3534,730.5,-8.1,355,7293,0.00,2.12,0.00,0.000,516,0.000,0.047,2133,579,3462,3391,3534,0,0,0,0,0,0,28.83,26.79,28.83
$GC,7331,-1.11,-170.3,2132,579,3391,3534,733.4,-8.2,356,7337,0.00,2.00,0.00,0.000,1030,0.000,0.018,2125,1978,3462,3391,3534,0,0,0,0,0,0,28.83,26.86,28.83
$GC,7655,-1.11,-170.3,2125,1978,3389,3532,760.5,-8.3,367,7661,0.00,2.05,0.00,0.000,260,0.000,0.034,2116,3363,3460,3389,3532,0,0,0,0,0,0,28.83,26.81,28.83
$GC,7714,-1.11,-170.3,1296,3361,3371,3528,763.4,-8.4,368,7722,0.00,2.05,0.00,0.000,1030,0.000,0.027,2118,1977,3460,3389,3532,0,0,0,0,0,0,28.83,26.82,28.83
$GC,8021,-1.11,-170.3,2118,1977,3388,3532,791.5,-8.3,379,8022,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,1977,3459,3388,3530,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8320,-1.11,-170.3,2118,1977,3386,3530,813.4,-6.7,389,8321,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,1977,3458,3386,3530,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8620,-1.11,-170.3,2118,1976,3385,3528,830.4,-5.3,399,8622,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,1977,3457,3385,3529,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8920,-1.11,-170.3,2118,1977,3384,3527,845.0,-4.9,409,8926,0.00,2.08,0.00,0.000,260,0.000,0.033,2110,3353,3455,3384,3526,0,0,0,0,0,0,28.83,26.81,28.83
$GC,8963,-1.11,-170.3,2110,3353,3383,3526,846.7,-4.9,410,8969,0.00,2.05,0.00,0.000,1030,0.000,0.028,2115,1976,3454,3383,3526,0,0,0,0,0,0,28.83,26.83,28.83
$GC,9288,-1.11,-170.3,2115,1976,3382,3526,866.4,-6.4,421,9293,0.00,2.15,0.00,0.000,516,0.000,0.049,2123,573,3454,3383,3525,0,0,0,0,0,0,28.83,26.79,28.83
$GC,9366,-1.11,-170.3,2123,573,3382,3525,871.1,-7.0,423,9372,0.00,2.03,0.00,0.000,1030,0.000,0.018,2115,1984,3453,3382,3525,0,0,0,0,0,0,28.83,26.86,28.83
$GC,9686,-1.11,-170.3,2115,1984,3382,3524,895.8,-7.6,434,9692,0.00,2.05,0.00,0.000,260,0.000,0.035,2105,3362,3452,3381,3524,0,0,0,0,0,0,28.83,26.81,28.83
$GC,9754,-1.11,-170.3,2105,3361,3381,3524,900.8,-7.5,436,9759,0.00,2.08,0.00,0.000,1030,0.000,0.028,2108,1970,3452,3381,3524,0,0,0,0,0,0,28.83,26.82,28.83
$GC,10083,-1.11,-170.3,2108,1970,3380,3523,927.7,-8.5,447,10084,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,1970,3451,3380,3523,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10383,-1.11,-170.3,2108,1970,3379,3522,951.9,-8.1,457,10384,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,1970,3450,3379,3522,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10683,-1.11,-170.3,2108,1970,3378,3521,975.9,-8.1,467,10684,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,1970,3450,3378,3522,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10861,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10861,begin apogee
$GC,10865,-0.19,0.0,2108,2304,3377,3521,990.0,-7.8,473,11027,0.68,0.00,156.68,1.205,10246,0.120,0.000,2332,2304,2794,2758,2831,0,0,0,0,0,0,26.72,28.83,23.84
$STATE,11029,end apogee,CONTROL_FINISHED_OK
$STATE,11029,begin climb
$GC,11030,1.11,170.3,2332,2304,2753,2827,994.9,0.0,478,11206,0.80,2.33,164.98,1.202,11012,0.057,0.038,2620,3669,2093,2062,2125,0,0,0,0,0,0,24.79,24.51,23.65
$GC,11228,1.39,283.5,1664,3668,2006,2109,989.4,5.1,485,11346,0.15,2.22,110.12,1.186,11270,0.083,0.028,2685,2301,1639,1607,1671,0,0,0,0,0,0,24.93,24.94,23.57
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$STATE,20240,end climb,SURFACE_DEPTH_REACHED
$STATE,20241,begin surface coast
$FINISH,1.1,1.021130
$STATE,20280,end surface coast,CONTROL_FINISHED_OK
$STATE,20281,begin surface
$SM_CCo,20355,0.00,0.000,0,0,1051,427.80
$SM_GC,1.66,6.90,0.47,0.00,0.032,0.038,0.000,93,1961,1051,-10.40,1.13,427.80,0,0,0,0,0,0,26.34,26.40,28.83
$IRIDIUM_FIX,2104.07,12003.90,020313,000050
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.42
$INTERNAL_PRESSURE,9.29246
$TCM_TEMP,23.10
$XPDR_PINGS,0
$SC_FREEKB,4008064
$24V_AH,23.6,5.535
$10V_AH,10.2,4.182
$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,18.000,159.850,562.975,0.000,0.000,0.000,0.000,269.750,0.000,0.000,17.819,3874.445,13339.346,754.615,2546.405,250.747,0.000,2238.396,0.000,2146.802,0.000,1.491,0.000
$DEVICE_MAMPS,245.565,48.960,1204.875,0.000,0.000,0.000,0.000,134.640,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20283.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.426,0.000,0.000,0.000
$MEM,324464
$DATA_FILE_SIZE,33298,928
$CAP_FILE_SIZE,483820,0
$CFSIZE,260034560,247992320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.087,111.2,1
$GPS,020313,121504,2105.064,12005.636,22,0.9,22,-2.9