version: 66.11
glider: 121
mission: 10
dive: 70
start: 3 12 113 6 1 55
data:
$ID,121
$MISSION,10
$DIVE,70
$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,-81364.672
$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,50
$R_STBD_OVSHOOT,62
$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
$GPS1,120313,055428,1903.317,12000.559,40,0.8,40,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-14.49
$_SM_ANGLEo,-64.5
$GPS2,120313,060117,1903.383,12000.597,13,1.4,13,-2.4
$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,206.7,6352,-18.6,-9.167,-21.19,2791
$D_GRID,3178
$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,-166.4,89,1945,1098,1098,0.0,0.0,0,95,0.00,0.00,-70.43,0.000,16390,0.000,0.000,89,1944,3478,3379,3577,0,0,0,0,0,0,28.83,28.83,26.44
$GC,98,-1.11,-166.4,89,1944,3379,3577,-5.4,-26.4,10,114,8.50,2.10,0.00,0.000,2564,0.247,0.029,2111,569,3481,3385,3577,0,0,0,0,0,0,25.89,26.15,28.83
$GC,349,-1.11,-166.4,2111,568,3396,3577,52.2,-14.6,41,356,0.00,2.05,0.00,0.000,1030,0.000,0.015,2103,2001,3487,3396,3578,0,0,0,0,0,0,28.83,26.39,28.83
$GC,668,-1.11,-166.4,2103,2002,3400,3577,96.6,-13.6,57,670,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2002,3489,3401,3577,0,0,0,0,0,0,28.83,28.83,28.83
$GC,969,-1.11,-166.4,2103,2002,3401,3577,136.3,-13.2,72,975,0.00,2.20,0.00,0.000,516,0.000,0.037,2111,572,3489,3402,3577,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1090,-1.11,-166.4,2111,572,3401,3577,150.7,-13.5,77,1099,0.00,2.00,0.00,0.000,1030,0.000,0.015,2103,1986,3489,3401,3577,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1396,-1.11,-166.4,2103,1987,3401,3577,191.1,-11.7,93,1397,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,1987,3489,3401,3578,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1696,-1.11,-166.4,2103,1987,3401,3575,223.5,-10.3,108,1702,0.00,2.15,0.00,0.000,516,0.000,0.039,2111,577,3487,3401,3574,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1784,-1.11,-166.4,2111,577,3401,3574,232.1,-10.1,112,1791,0.00,1.98,0.00,0.000,1030,0.000,0.015,2103,1975,3487,3401,3573,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2104,-1.11,-166.4,2103,1976,3401,3571,265.1,-10.4,128,2110,0.00,2.00,0.00,0.000,260,0.000,0.031,2093,3338,3486,3401,3571,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2128,-1.11,-166.4,2093,3339,3401,3570,267.7,-10.6,129,2134,0.00,2.03,0.00,0.000,1030,0.000,0.024,2101,1968,3485,3401,3570,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2453,-1.11,-166.4,2100,1967,3401,3565,303.0,-11.1,145,2459,0.00,2.10,0.00,0.000,516,0.000,0.043,2111,577,3483,3401,3565,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2569,-1.11,-166.4,2110,577,3401,3565,315.0,-11.0,150,2575,0.00,1.98,0.00,0.000,1030,0.000,0.015,2103,1969,3482,3401,3564,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2883,-1.11,-166.4,2102,1970,3401,3562,348.9,-10.0,166,2889,0.00,2.03,0.00,0.000,260,0.000,0.032,2092,3345,3481,3401,3562,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2948,-1.11,-166.4,2092,3345,3401,3561,355.5,-9.9,169,2955,0.00,2.05,0.00,0.000,1030,0.000,0.025,2094,1965,3480,3400,3561,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3274,-1.11,-166.4,2093,1964,3400,3558,389.6,-10.4,185,3279,0.00,2.10,0.00,0.000,516,0.000,0.044,2104,577,3478,3399,3558,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3388,-1.11,-166.4,2103,577,3398,3558,401.1,-10.9,190,3394,0.00,2.00,0.00,0.000,1030,0.000,0.016,2095,1976,3478,3398,3558,0,0,0,0,0,0,28.83,26.79,28.83
$GC,3701,-1.11,-166.4,2095,1977,3396,3556,435.7,-10.8,206,3707,0.00,2.05,0.00,0.000,260,0.000,0.032,2085,3362,3476,3396,3556,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3826,-1.11,-166.4,1280,3361,3378,3552,449.1,-10.9,212,3832,0.00,2.08,0.00,0.000,1030,0.000,0.027,2092,1966,3475,3395,3555,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4150,-1.11,-166.4,2092,1966,3394,3553,484.4,-10.5,228,4156,0.00,2.12,0.00,0.000,516,0.000,0.045,2102,570,3473,3394,3552,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4220,-1.11,-166.4,2101,570,3393,3552,491.8,-11.0,231,4226,0.00,2.03,0.00,0.000,1030,0.000,0.017,2093,1981,3472,3393,3552,0,0,0,0,0,0,28.83,26.79,28.83
$GC,4541,-1.11,-166.4,2093,1981,3391,3549,526.5,-10.6,247,4542,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,1981,3470,3391,3549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4839,-1.11,-166.4,2093,1981,3389,3547,558.2,-10.6,262,4844,0.00,2.17,0.00,0.000,516,0.000,0.043,2102,570,3467,3389,3545,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4904,-1.11,-166.4,2102,570,3389,3546,565.3,-10.7,265,4910,0.00,2.05,0.00,0.000,1030,0.000,0.017,2093,1977,3467,3389,3546,0,0,0,0,0,0,28.83,26.80,28.83
$GC,5229,-1.11,-166.4,2093,1976,3388,3545,600.1,-10.7,281,5230,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,1976,3466,3388,3545,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5528,-1.11,-166.4,2093,1977,3386,3543,632.8,-10.7,291,5535,0.00,2.05,0.00,0.000,260,0.000,0.034,2083,3355,3464,3386,3542,0,0,0,0,0,0,28.83,26.75,28.83
$GC,5572,-1.11,-166.4,2083,3355,3385,3542,636.4,-10.7,292,5579,0.10,2.08,0.00,0.000,3078,0.164,0.028,2111,1965,3463,3385,3542,0,0,0,0,0,0,26.64,26.77,28.83
$GC,5897,-1.11,-166.4,2110,1965,3384,3540,668.8,-9.7,303,5898,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,1965,3462,3384,3540,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6197,-1.11,-166.4,2110,1965,3382,3538,696.6,-9.2,313,6198,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,1965,3460,3381,3539,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6497,-1.11,-169.2,2110,1965,3381,3536,724.1,-9.1,323,6503,0.00,2.12,0.00,0.000,516,0.000,0.047,2121,578,3458,3381,3536,0,0,0,0,0,0,28.83,26.74,28.83
$GC,6561,-1.11,-170.0,2121,578,3381,3536,730.0,-9.1,325,6567,0.00,2.03,0.00,0.000,1030,0.000,0.018,2112,1971,3458,3381,3536,0,0,0,0,0,0,28.83,26.80,28.83
$GC,6895,-1.11,-170.3,2112,1971,3378,3534,759.9,-8.7,336,6901,0.00,2.08,0.00,0.000,260,0.000,0.035,2102,3362,3456,3378,3535,0,0,0,0,0,0,28.83,26.75,28.83
$GC,6959,-1.11,-170.3,2102,3361,3378,3534,765.8,-9.0,338,6965,0.00,2.10,0.00,0.000,1030,0.000,0.029,2104,1974,3456,3378,3534,0,0,0,0,0,0,28.83,26.77,28.83
$GC,7293,-1.11,-170.3,2104,1974,3377,3533,796.2,-9.1,349,7299,0.00,2.15,0.00,0.000,516,0.000,0.048,2114,572,3454,3377,3532,0,0,0,0,0,0,28.83,26.74,28.83
$GC,7361,-1.11,-170.3,2114,572,3377,3532,802.3,-9.4,351,7367,0.00,2.03,0.00,0.000,1030,0.000,0.018,2105,1974,3454,3376,3532,0,0,0,0,0,0,28.83,26.79,28.83
$GC,7690,-1.11,-170.3,2105,1974,3374,3531,832.8,-9.2,362,7691,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,1974,3452,3374,3531,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7990,-1.11,-170.3,2105,1974,3373,3530,857.5,-8.0,372,7997,0.00,2.08,0.00,0.000,260,0.000,0.036,2095,3359,3451,3373,3530,0,0,0,0,0,0,28.83,26.74,28.83
$GC,8043,-1.11,-170.3,2095,3359,3373,3529,860.1,-7.9,373,8049,0.00,2.08,0.00,0.000,1030,0.000,0.030,2098,1976,3451,3373,3529,0,0,0,0,0,0,28.83,26.77,28.83
$GC,8358,-1.11,-170.3,2098,1977,3372,3528,887.6,-8.3,384,8364,0.00,2.15,0.00,0.000,516,0.000,0.049,2108,577,3450,3372,3528,0,0,0,0,0,0,28.83,26.73,28.83
$GC,8436,-1.11,-170.3,2108,577,3372,3528,893.2,-8.5,386,8442,0.00,2.03,0.00,0.000,1030,0.000,0.018,2100,1973,3449,3372,3527,0,0,0,0,0,0,28.83,26.79,28.83
$GC,8755,-1.11,-170.3,2100,1973,3370,3527,922.0,-8.8,397,8761,0.00,2.08,0.00,0.000,260,0.000,0.037,2090,3356,3448,3370,3526,0,0,0,0,0,0,28.83,26.74,28.83
$GC,8819,-1.11,-170.3,2090,3356,3370,3526,927.6,-8.8,399,8825,0.00,2.10,0.00,0.000,1030,0.000,0.031,2092,1969,3448,3370,3526,0,0,0,0,0,0,28.83,26.76,28.83
$GC,9153,-1.11,-170.3,2092,1970,3369,3525,956.9,-8.7,410,9154,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,1969,3447,3369,3525,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9453,-1.11,-170.3,2092,1970,3368,3525,982.9,-8.7,420,9460,0.00,2.15,0.00,0.000,516,0.000,0.050,2102,575,3446,3368,3524,0,0,0,0,0,0,28.83,26.73,28.83
$GC,9518,-1.11,-170.3,2101,575,3368,3524,989.0,-9.1,422,9525,0.00,2.05,0.00,0.000,1030,0.000,0.018,2093,1975,3446,3368,3524,0,0,0,0,0,0,28.83,26.79,28.83
$STATE,9551,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9551,begin apogee
$GC,9556,-0.19,0.0,2091,2304,3367,3524,992.1,-9.2,423,9717,0.68,0.00,154.80,1.230,10246,0.123,0.000,2311,2304,2791,2754,2829,0,0,0,0,0,0,26.63,28.83,23.92
$STATE,9720,end apogee,CONTROL_FINISHED_OK
$STATE,9720,begin climb
$GC,9721,1.11,170.3,2311,2304,2753,2827,998.2,0.0,428,9897,0.80,2.33,164.48,1.255,10500,0.064,0.041,2594,3684,2094,2062,2127,0,0,0,0,0,0,24.94,24.44,23.56
$GC,9977,1.52,332.0,2593,3684,2057,2119,993.6,3.2,436,10147,0.25,2.22,160.05,1.235,11270,0.061,0.028,2696,2307,1438,1401,1475,0,0,0,0,0,0,25.20,25.20,23.15
$GC,10470,1.52,332.0,2696,2308,1400,1462,951.7,13.3,452,10476,0.00,2.30,0.00,0.000,516,0.000,0.047,2707,896,1431,1400,1462,0,0,0,0,0,0,28.83,25.56,28.83
$GC,10544,1.52,332.0,2707,896,1399,1462,943.7,12.8,454,10550,0.12,2.15,0.00,0.000,5126,0.178,0.019,2678,2298,1430,1400,1461,0,0,0,0,0,0,25.58,25.75,28.83
$GC,10868,1.52,332.0,2678,2297,1400,1459,902.4,12.5,465,10870,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2297,1429,1400,1459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11169,1.52,332.0,2678,2298,1400,1458,864.1,12.9,475,11175,0.00,2.17,0.00,0.000,260,0.000,0.040,2678,3698,1429,1400,1458,0,0,0,0,0,0,28.83,26.24,28.83
$GC,11191,1.52,332.0,2678,3698,1400,1459,864.1,12.9,475,11197,0.00,2.17,0.00,0.000,1030,0.000,0.029,2687,2289,1429,1400,1458,0,0,0,0,0,0,28.83,26.27,28.83
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$FREEZE,10.28,26.932,-1.844,0,1,0
$STATE,18745,end climb,NO_VERTICAL_VELOCITY
$STATE,18745,begin surface
$SM_CCo,18748,39.67,0.053,0,0,399,587.49
$SM_GC,11.16,6.90,0.47,0.00,0.027,0.041,0.000,75,1959,396,-10.30,1.22,588.47,0,0,0,0,0,0,26.41,26.41,28.83
$IRIDIUM_FIX,1857.82,12001.10,120313,000015
$TT8_MAMPS,0.026964,0.026964
$HUMID,41.92
$INTERNAL_PRESSURE,9.28269
$TCM_TEMP,23.30
$XPDR_PINGS,9
$SC_FREEKB,3992320
$24V_AH,23.2,12.889
$10V_AH,10.2,9.144
$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,18.350,144.325,632.750,39.675,0.000,0.000,0.000,234.850,2.250,0.000,15.008,3585.906,12466.221,797.170,2370.962,280.786,0.000,2201.936,0.000,2016.241,0.000,1.492,0.000
$DEVICE_MAMPS,247.095,49.725,1255.365,52.785,0.000,0.000,0.000,140.760,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18749.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.617,0.000,0.000,0.000
$MEM,323892
$DATA_FILE_SIZE,30044,868
$CAP_FILE_SIZE,450570,0
$CFSIZE,260034560,241840128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.098,192.9,1
$GPS,120313,112134,1859.981,11959.201,32,0.8,33,-2.4