version: 66.11
glider: 121
mission: 10
dive: 67
start: 3 11 113 12 32 45
data:
$ID,121
$MISSION,10
$DIVE,67
$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,-81360.875
$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,41
$R_STBD_OVSHOOT,70
$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
$GPS1,110313,122534,1912.554,11958.998,26,1.0,26,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-13.51
$_SM_ANGLEo,-57.9
$GPS2,110313,123218,1912.550,11958.833,16,1.0,16,-2.5
$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,153.7,23332,-18.4,-9.167,-20.99,2856
$D_GRID,4104
$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,-170.3,88,2009,786,804,0.0,0.0,0,109,0.00,0.00,-82.40,0.000,16390,0.000,0.000,88,2011,3492,3395,3589,0,0,0,0,0,0,28.83,28.83,26.41
$GC,111,-1.11,-170.3,88,2011,3396,3589,-3.4,-30.0,12,128,8.45,2.20,0.00,0.000,2564,0.242,0.027,2111,559,3495,3401,3589,0,0,0,0,0,0,25.88,26.13,28.83
$GC,238,-1.11,-170.3,2110,559,3406,3589,37.1,-21.4,29,247,0.00,2.05,0.00,0.000,1030,0.000,0.015,2103,1993,3497,3406,3589,0,0,0,0,0,0,28.83,26.30,28.83
$GC,545,-1.11,-170.3,2102,1993,3411,3589,89.3,-15.5,48,551,0.00,2.20,0.00,0.000,516,0.000,0.036,2111,568,3499,3411,3588,0,0,0,0,0,0,28.83,26.41,28.83
$GC,674,-1.11,-170.3,2110,568,3413,3589,106.4,-13.6,54,681,0.00,2.00,0.00,0.000,1030,0.000,0.015,2102,1986,3501,3413,3589,0,0,0,0,0,0,28.83,26.53,28.83
$GC,993,-1.11,-170.3,2102,1987,3415,3589,147.3,-11.7,70,995,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,1987,3502,3415,3589,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1294,-1.11,-170.3,2103,1987,3415,3589,185.1,-13.0,85,1295,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,1987,3502,3415,3589,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1593,-1.11,-170.3,2102,1987,3415,3588,220.6,-11.3,100,1600,0.00,2.17,0.00,0.000,516,0.000,0.037,2111,559,3501,3415,3588,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1703,-1.11,-170.3,2110,559,3415,3587,232.7,-11.5,105,1709,0.00,2.00,0.00,0.000,1030,0.000,0.015,2102,1985,3501,3415,3587,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2022,-1.11,-170.3,2102,1986,3416,3582,266.1,-9.7,121,2023,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,1986,3499,3416,3582,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2322,-1.11,-170.3,2102,1986,3416,3578,293.3,-9.1,136,2327,0.00,2.15,0.00,0.000,516,0.000,0.037,2110,569,3497,3416,3578,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2368,-1.11,-170.3,1288,569,3400,3575,297.8,-9.9,138,2374,0.00,1.98,0.00,0.000,1030,0.000,0.015,2102,1981,3497,3416,3578,0,0,0,0,0,0,28.83,26.78,28.83
$GC,2688,-1.11,-170.3,2102,1981,3416,3573,332.7,-11.0,154,2694,0.00,1.98,0.00,0.000,260,0.000,0.029,2092,3331,3494,3416,3573,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2742,-1.11,-170.3,2092,3331,3416,3572,337.6,-10.9,156,2748,0.00,2.03,0.00,0.000,1030,0.000,0.023,2093,1952,3494,3416,3572,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3056,-1.11,-170.3,2093,1952,3414,3570,372.8,-10.8,172,3057,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,1952,3492,3414,3570,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3356,-1.11,-170.3,2093,1952,3412,3567,405.6,-10.8,187,3362,0.00,2.08,0.00,0.000,516,0.000,0.041,2103,574,3489,3412,3566,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3415,-1.11,-170.3,2103,573,3411,3567,410.5,-11.1,189,3423,0.00,1.98,0.00,0.000,1030,0.000,0.016,2095,1978,3489,3411,3567,0,0,0,0,0,0,28.83,26.80,28.83
$GC,3721,-1.11,-170.3,2094,1978,3409,3565,443.6,-10.0,205,3727,0.00,2.00,0.00,0.000,260,0.000,0.030,2085,3341,3486,3409,3564,0,0,0,0,0,0,28.83,26.75,28.83
$GC,3747,-1.11,-170.3,1280,3339,3392,3561,445.9,-10.1,206,3754,0.10,2.03,0.00,0.000,3078,0.163,0.024,2114,1963,3486,3408,3564,0,0,0,0,0,0,26.63,26.77,28.83
$GC,4068,-1.11,-170.3,2111,1963,3407,3562,475.4,-9.3,222,4074,0.00,2.10,0.00,0.000,516,0.000,0.042,2122,573,3484,3407,3562,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4204,-1.11,-170.3,2123,572,3405,3561,487.6,-9.7,228,4210,0.00,1.98,0.00,0.000,1030,0.000,0.016,2114,1973,3483,3406,3561,0,0,0,0,0,0,28.83,26.82,28.83
$GC,4518,-1.11,-170.3,2114,1974,3403,3558,517.1,-8.7,244,4520,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,1974,3480,3403,3558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4818,-1.11,-170.3,2113,1974,3402,3557,543.8,-9.1,259,4824,0.00,2.03,0.00,0.000,260,0.000,0.031,2104,3345,3479,3401,3557,0,0,0,0,0,0,28.83,26.76,28.83
$GC,4872,-1.11,-170.3,2104,3345,3401,3556,548.0,-9.4,261,4878,0.00,2.03,0.00,0.000,1030,0.000,0.024,2105,1976,3478,3401,3556,0,0,0,0,0,0,28.83,26.77,28.83
$GC,5186,-1.11,-170.3,2105,1975,3399,3554,580.0,-9.5,277,5192,0.00,2.12,0.00,0.000,516,0.000,0.044,2115,575,3476,3398,3554,0,0,0,0,0,0,28.83,26.75,28.83
$GC,5218,-1.11,-170.3,2115,575,3398,3554,582.3,-9.6,278,5225,0.00,1.98,0.00,0.000,1030,0.000,0.016,2107,1973,3475,3398,3553,0,0,0,0,0,0,28.83,26.83,28.83
$GC,5533,-1.11,-170.3,2107,1973,3399,3552,609.8,-7.9,292,5534,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,1973,3474,3397,3552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5833,-1.11,-170.3,2107,1974,3395,3549,632.9,-7.8,302,5839,0.00,2.03,0.00,0.000,260,0.000,0.031,2097,3343,3471,3394,3549,0,0,0,0,0,0,28.83,26.76,28.83
$GC,5872,-1.11,-170.3,2097,3342,3394,3548,635.8,-7.9,303,5878,0.00,2.03,0.00,0.000,1030,0.000,0.024,2099,1976,3471,3394,3548,0,0,0,0,0,0,28.83,26.78,28.83
$GC,6201,-1.11,-170.3,2099,1975,3393,3546,665.0,-8.9,314,6202,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,1975,3470,3393,3547,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6501,-1.11,-170.3,2099,1975,3391,3545,693.3,-9.3,324,6507,0.00,2.12,0.00,0.000,516,0.000,0.044,2110,578,3469,3391,3547,0,0,0,0,0,0,28.83,26.75,28.83
$GC,6535,-1.11,-170.3,2109,578,3391,3545,696.5,-9.3,325,6541,0.00,2.00,0.00,0.000,1030,0.000,0.016,2101,1976,3468,3391,3545,0,0,0,0,0,0,28.83,26.82,28.83
$GC,6869,-1.11,-170.3,2101,1978,3389,3543,725.4,-8.2,336,6870,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,1978,3466,3389,3543,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7170,-1.11,-170.3,2101,1978,3387,3542,746.5,-7.1,346,7171,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,1978,3464,3387,3542,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7469,-1.11,-170.3,2101,1978,3386,3541,768.7,-7.7,356,7475,0.00,2.17,0.00,0.000,516,0.000,0.043,2109,571,3463,3386,3540,0,0,0,0,0,0,28.83,26.75,28.83
$GC,7523,-1.11,-170.3,2109,571,3386,3540,771.5,-7.9,357,7529,0.00,2.00,0.00,0.000,1030,0.000,0.016,2101,1974,3463,3386,3540,0,0,0,0,0,0,28.83,26.82,28.83
$GC,7838,-1.11,-170.3,2101,1973,3384,3539,798.1,-7.9,368,7844,0.00,2.03,0.00,0.000,260,0.000,0.033,2091,3341,3461,3384,3538,0,0,0,0,0,0,28.83,26.76,28.83
$GC,7903,-1.11,-170.3,2091,3341,3383,3538,803.3,-7.9,370,7909,0.00,2.05,0.00,0.000,1030,0.000,0.026,2093,1970,3460,3383,3538,0,0,0,0,0,0,28.83,26.78,28.83
$GC,8237,-1.11,-170.3,2092,1970,3382,3536,829.5,-7.6,381,8243,0.00,2.12,0.00,0.000,516,0.000,0.054,2103,579,3460,3383,3537,0,0,0,0,0,0,28.83,26.74,28.83
$GC,8265,-1.11,-170.3,2102,579,3382,3537,829.5,-7.6,381,8273,0.00,2.00,0.00,0.000,1030,0.000,0.017,2094,1975,3459,3382,3536,0,0,0,0,0,0,28.83,26.82,28.83
$GC,8572,-1.11,-170.3,2094,1975,3382,3536,852.9,-6.6,392,8574,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,1975,3458,3382,3535,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8871,-1.11,-170.3,2094,1975,3380,3535,874.1,-7.3,402,8877,0.00,2.05,0.00,0.000,260,0.000,0.034,2084,3351,3457,3380,3535,0,0,0,0,0,0,28.83,26.75,28.83
$GC,8915,-1.11,-170.3,2084,3351,3380,3534,876.7,-7.4,403,8922,0.10,2.05,0.00,0.000,3078,0.161,0.027,2111,1975,3457,3380,3534,0,0,0,0,0,0,26.65,26.77,28.83
$GC,9240,-1.11,-170.3,2111,1975,3379,3534,901.7,-7.5,414,9246,0.00,2.15,0.00,0.000,516,0.000,0.047,2121,574,3456,3379,3533,0,0,0,0,0,0,28.83,26.74,28.83
$GC,9305,-1.11,-170.3,2121,574,3379,3533,907.0,-7.9,416,9311,0.00,2.03,0.00,0.000,1030,0.000,0.017,2114,1977,3456,3379,3533,0,0,0,0,0,0,28.83,26.81,28.83
$GC,9640,-1.11,-170.3,2113,1978,3378,3532,935.0,-8.6,427,9645,0.00,2.05,0.00,0.000,260,0.000,0.034,2103,3349,3454,3378,3531,0,0,0,0,0,0,28.83,26.75,28.83
$GC,9687,-1.11,-170.3,2103,3349,3378,3531,937.9,-8.7,428,9693,0.00,2.05,0.00,0.000,1030,0.000,0.028,2105,1977,3454,3377,3531,0,0,0,0,0,0,28.83,26.77,28.83
$GC,10006,-1.11,-170.3,2105,1977,3377,3530,965.8,-8.3,439,10007,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,1977,3453,3377,3530,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10306,-1.11,-170.3,2105,1977,3376,3530,988.8,-7.4,449,10307,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,1977,3452,3375,3530,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10334,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10334,begin apogee
$GC,10338,-0.19,0.0,2104,2298,3375,3529,990.9,-7.2,450,10504,0.62,0.00,156.70,1.240,10246,0.118,0.000,2311,2298,2791,2754,2828,0,0,0,0,0,0,26.65,28.83,23.99
$STATE,10506,end apogee,CONTROL_FINISHED_OK
$STATE,10506,begin climb
$GC,10507,1.11,170.3,2311,2298,2754,2826,994.7,0.0,455,10682,0.80,2.30,164.02,1.222,10500,0.064,0.035,2592,3681,2094,2061,2127,0,0,0,0,0,0,24.96,24.50,23.66
$GC,10810,1.18,200.4,2591,3681,2056,2118,979.9,8.1,464,10844,0.00,2.17,29.05,1.180,9222,0.000,0.025,2601,2308,1978,1946,2010,0,0,0,0,0,0,28.83,25.42,24.08
$GC,11158,1.20,207.6,2601,2308,1938,1995,947.7,8.9,476,11169,0.00,2.28,5.00,1.001,8708,0.000,0.043,2612,890,1948,1917,1979,0,0,0,0,0,0,28.83,25.75,24.72
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$STATE,20643,end climb,SURFACE_DEPTH_REACHED
$STATE,20643,begin surface coast
$FINISH,-0.5,1.021986
$STATE,20666,end surface coast,CONTROL_FINISHED_OK
$STATE,20666,begin surface
$SM_CCo,20743,0.00,0.000,0,0,582,542.60
$SM_GC,-14.28,7.72,1.65,0.00,0.070,0.014,0.000,88,1983,582,-10.31,-1.95,542.60,0,0,0,0,0,0,26.00,26.08,28.83
$IRIDIUM_FIX,1848.70,12110.33,110313,060617
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.25
$INTERNAL_PRESSURE,9.23386
$TCM_TEMP,22.50
$XPDR_PINGS,1
$SC_FREEKB,3993472
$24V_AH,23.7,12.325
$10V_AH,10.1,8.783
$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,18.600,159.725,666.450,0.000,0.000,0.000,0.000,233.325,0.250,0.000,18.024,3731.841,13839.285,822.069,2435.465,293.582,0.000,2266.853,0.000,2074.741,0.000,1.491,0.000
$DEVICE_MAMPS,241.740,53.550,1240.065,0.000,0.000,0.000,0.000,141.525,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20675.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.411,0.000,0.000,0.000
$MEM,323876
$DATA_FILE_SIZE,33379,929
$CAP_FILE_SIZE,477852,0
$CFSIZE,260034560,242266112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.083,120.0,1
$GPS,110313,181934,1909.776,12001.104,30,0.7,30,-2.5