version: 66.11
glider: 121
mission: 10
dive: 74
start: 3 13 113 5 12 50
data:
$ID,121
$MISSION,10
$DIVE,74
$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,-81369.727
$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,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
$GPS1,130313,045852,1853.676,12007.464,36,0.8,36,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,54.66
$_SM_ANGLEo,-64.1
$GPS2,130313,051223,1853.806,12007.797,14,1.2,14,-2.4
$SPEED_LIMITS,0.159,0.239
$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,122.1,55196,-18.4,-9.167,-20.99,2856
$D_GRID,1926
$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,-170.3,82,1952,304,478,0.0,0.0,0,29,0.00,0.00,-8.85,0.000,16386,0.000,0.000,82,1952,622,569,675,0,0,0,0,0,0,28.83,28.83,28.83
$GC,31,-1.11,-170.3,82,1952,569,674,54.7,0.0,1,164,7.85,2.10,-117.30,0.000,19204,0.213,0.048,2119,578,3490,3411,3569,0,0,0,0,0,0,25.81,26.15,26.43
$GC,400,-1.11,-170.3,2119,578,3414,3571,105.2,-18.0,18,406,0.00,2.03,0.00,0.000,1030,0.000,0.015,2110,2005,3492,3414,3571,0,0,0,0,0,0,28.83,26.43,28.83
$GC,714,-1.11,-170.3,2110,2006,3417,3571,153.1,-13.1,34,721,0.00,2.17,0.00,0.000,516,0.000,0.035,2118,573,3494,3418,3571,0,0,0,0,0,0,28.83,26.51,28.83
$GC,800,-1.11,-170.3,2119,574,3418,3571,163.9,-12.7,38,806,0.00,1.98,0.00,0.000,1030,0.000,0.015,2110,1987,3494,3418,3571,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1125,-1.11,-170.3,2111,1988,3418,3571,208.5,-14.6,54,1126,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,1988,3494,3417,3571,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1424,-1.11,-170.3,2110,1988,3417,3568,245.9,-11.4,69,1430,0.00,2.12,0.00,0.000,516,0.000,0.037,2119,578,3492,3417,3568,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1477,-1.11,-170.3,2118,578,3417,3568,250.9,-11.2,71,1484,0.00,1.98,0.00,0.000,1030,0.000,0.016,2110,1986,3492,3417,3568,0,0,0,0,0,0,28.83,26.72,28.83
$GC,1793,-1.11,-170.3,2110,1986,3417,3562,287.4,-12.0,87,1799,0.00,2.12,0.00,0.000,516,0.000,0.037,2119,578,3489,3417,3562,0,0,0,0,0,0,28.83,26.68,28.83
$GC,1837,-1.11,-170.3,2118,578,3417,3562,293.0,-12.4,89,1843,0.00,1.95,0.00,0.000,1030,0.000,0.016,2110,1975,3489,3417,3562,0,0,0,0,0,0,28.83,26.76,28.83
$GC,2162,-1.11,-170.3,2109,1977,3413,3558,330.5,-10.9,105,2168,0.00,2.12,0.00,0.000,516,0.000,0.037,2119,572,3485,3413,3558,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2232,-1.11,-170.3,2118,572,3413,3558,338.1,-11.3,108,2238,0.00,1.98,0.00,0.000,1030,0.000,0.015,2110,1981,3485,3413,3558,0,0,0,0,0,0,28.83,26.78,28.83
$GC,2551,-1.11,-170.3,2110,1981,3410,3554,372.4,-10.2,124,2557,0.00,1.98,0.00,0.000,260,0.000,0.028,2100,3334,3481,3410,3553,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2616,-1.11,-170.3,2100,3334,3409,3552,379.2,-10.3,127,2621,0.00,2.00,0.00,0.000,1030,0.000,0.023,2100,1967,3480,3409,3552,0,0,0,0,0,0,28.83,26.75,28.83
$GC,2940,-1.11,-170.3,2100,1967,3407,3548,410.7,-9.2,143,2946,0.00,2.08,0.00,0.000,516,0.000,0.040,2110,581,3477,3407,3547,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3089,-1.11,-170.3,1288,581,3388,3544,425.2,-10.2,150,3095,0.00,1.98,0.00,0.000,1030,0.000,0.016,2102,1984,3475,3404,3546,0,0,0,0,0,0,28.83,26.81,28.83
$GC,3409,-1.11,-170.3,2101,1985,3402,3543,459.8,-10.9,166,3410,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,1985,3472,3402,3543,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3707,-1.11,-170.3,2101,1985,3398,3540,489.6,-9.3,181,3708,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,1985,3469,3398,3540,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4008,-1.11,-170.3,2101,1985,3396,3537,516.5,-9.0,196,4009,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,1985,3466,3396,3536,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4307,-1.11,-170.3,2101,1985,3392,3534,545.2,-10.2,211,4313,0.00,2.00,0.00,0.000,260,0.000,0.030,2091,3347,3463,3394,3533,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4375,-1.11,-170.3,2091,3347,3392,3533,552.1,-10.8,214,4381,0.00,2.03,0.00,0.000,1030,0.000,0.024,2091,1974,3462,3392,3533,0,0,0,0,0,0,28.83,26.78,28.83
$GC,4695,-1.11,-170.3,2091,1974,3389,3530,587.2,-10.7,230,4701,0.00,2.12,0.00,0.000,516,0.000,0.042,2101,570,3459,3389,3530,0,0,0,0,0,0,28.83,26.75,28.83
$GC,4749,-1.11,-170.3,2100,570,3388,3529,592.1,-10.7,232,4755,0.00,2.00,0.00,0.000,1030,0.000,0.017,2092,1980,3459,3388,3530,0,0,0,0,0,0,28.83,26.82,28.83
$GC,5063,-1.11,-170.3,2092,1981,3385,3527,624.6,-10.1,244,5069,0.00,2.00,0.00,0.000,260,0.000,0.031,2082,3341,3456,3385,3527,0,0,0,0,0,0,28.83,26.77,28.83
$GC,5116,-1.11,-170.3,2082,3341,3385,3526,627.9,-10.1,245,5122,0.10,2.03,0.00,0.000,3078,0.165,0.025,2109,1975,3456,3384,3528,0,0,0,0,0,0,26.65,26.78,28.83
$GC,5430,-1.11,-170.3,2109,1975,3382,3523,659.4,-9.5,256,5436,0.00,2.12,0.00,0.000,516,0.000,0.044,2120,574,3452,3382,3523,0,0,0,0,0,0,28.83,26.74,28.83
$GC,5525,-1.11,-170.3,2120,574,3382,3523,668.5,-9.8,259,5532,0.00,2.00,0.00,0.000,1030,0.000,0.017,2111,1973,3452,3381,3523,0,0,0,0,0,0,28.83,26.82,28.83
$GC,5860,-1.11,-170.3,2111,1974,3379,3520,697.8,-8.4,270,5866,0.00,2.03,0.00,0.000,260,0.000,0.032,2101,3345,3450,3379,3521,0,0,0,0,0,0,28.83,26.77,28.83
$GC,5895,-1.11,-170.3,2101,3345,3378,3521,700.7,-8.3,271,5901,0.00,2.05,0.00,0.000,1030,0.000,0.026,2101,1970,3449,3378,3521,0,0,0,0,0,0,28.83,26.78,28.83
$GC,6230,-1.11,-170.3,2101,1970,3377,3519,728.2,-8.2,282,6231,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,1969,3447,3377,3518,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6529,-1.11,-170.3,2102,1969,3374,3516,752.8,-8.2,292,6536,0.00,2.08,0.00,0.000,260,0.000,0.031,2093,3346,3445,3374,3516,0,0,0,0,0,0,28.83,26.76,28.83
$GC,6618,-1.11,-170.3,2092,3346,3373,3516,758.1,-8.2,294,6626,0.00,2.08,0.00,0.000,1030,0.000,0.026,2094,1965,3444,3373,3515,0,0,0,0,0,0,28.83,26.77,28.83
$GC,6925,-1.11,-170.3,2093,1965,3372,3514,785.4,-8.1,305,6932,0.00,2.12,0.00,0.000,516,0.000,0.045,2101,573,3443,3372,3514,0,0,0,0,0,0,28.83,26.74,28.83
$GC,7021,-1.11,-170.3,2100,573,3372,3514,793.2,-8.1,308,7027,0.00,2.03,0.00,0.000,1030,0.000,0.017,2092,1981,3442,3371,3514,0,0,0,0,0,0,28.83,26.82,28.83
$GC,7355,-1.11,-170.3,2092,1981,3369,3513,819.5,-8.3,319,7361,0.00,2.03,0.00,0.000,260,0.000,0.033,2082,3348,3440,3369,3512,0,0,0,0,0,0,28.83,26.75,28.83
$GC,7428,-1.11,-170.3,2082,3348,3368,3512,825.9,-9.2,321,7435,0.10,2.05,0.00,0.000,3078,0.165,0.026,2107,1970,3439,3368,3511,0,0,0,0,0,0,26.64,26.77,28.83
$GC,7753,-1.11,-170.3,2106,1970,3367,3509,856.8,-9.1,332,7754,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,1970,3438,3367,3509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8053,-1.11,-170.3,2106,1970,3365,3508,883.8,-8.6,342,8060,0.00,2.10,0.00,0.000,260,0.000,0.032,2099,3357,3436,3365,3507,0,0,0,0,0,0,28.83,26.75,28.83
$GC,8088,-1.11,-170.3,2098,3357,3365,3507,888.6,-9.7,343,8094,0.00,2.08,0.00,0.000,1030,0.000,0.027,2100,1976,3436,3365,3507,0,0,0,0,0,0,28.83,26.77,28.83
$GC,8422,-1.11,-170.3,2100,1976,3363,3506,918.7,-8.4,354,8428,0.00,2.15,0.00,0.000,516,0.000,0.047,2106,574,3434,3363,3505,0,0,0,0,0,0,28.83,26.74,28.83
$GC,8520,-1.11,-170.3,2106,574,3363,3505,930.6,-11.9,357,8526,0.00,2.03,0.00,0.000,1030,0.000,0.017,2098,1980,3433,3362,3505,0,0,0,0,0,0,28.83,26.81,28.83
$GC,8850,-1.11,-170.3,2098,1980,3361,3505,960.9,-8.6,368,8851,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,1980,3433,3361,3505,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9149,-1.11,-170.3,2098,1980,3360,3505,989.1,-10.1,378,9155,0.00,2.05,0.00,0.000,260,0.000,0.034,2089,3355,3431,3360,3503,0,0,0,0,0,0,28.83,26.74,28.83
$STATE,9181,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9181,begin apogee
$GC,9187,-0.19,0.0,2088,2301,3360,3503,992.6,-10.1,379,9286,0.68,0.00,94.38,1.157,10242,0.121,0.000,2309,2301,3035,2983,3088,0,0,0,0,0,0,26.63,28.83,28.83
$STATE,9288,end apogee,ABORT_DEPTH_EXCEEDED
$SM_CCo,9299,519.00,1.291,40,1,1057,426.09
$SM_CCo,10022,201.75,1.227,17,0,399,587.49
$SM_GC,167.18,5.57,0.00,0.00,0.022,0.000,0.000,74,2301,392,-10.34,0.00,589.46,0,0,0,0,0,0,26.79,28.83,28.83
$IRIDIUM_FIX,1850.98,12003.91,120313,232354
$TT8_MAMPS,0.026215,0.026215
$HUMID,46.57
$INTERNAL_PRESSURE,9.29246
$TCM_TEMP,17.20
$XPDR_PINGS,3
$SC_FREEKB,3990944
$24V_AH,22.9,13.801
$10V_AH,10.3,9.595
$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,14.300,73.350,94.375,720.750,0.000,0.000,0.000,641.250,0.750,0.000,15.599,2117.375,16440.676,1295.907,1690.403,198.467,0.000,2701.676,0.000,1000.854,0.000,1.493,0.000
$DEVICE_MAMPS,213.435,48.195,1156.680,1291.320,0.000,0.000,0.000,162.945,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9318.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.651,0.000,0.000,0.000
$MEM,324072
$DATA_FILE_SIZE,13453,382
$CAP_FILE_SIZE,256662,8
$CFSIZE,260034560,241479680
$ERRORS,0,0,0,0,0,0,0,0,0,0,1,0,0,57,1,0
$EOP_CODE,ABORT_DEPTH_EXCEEDED
$RECOV_CODE,EXCEEDED_ABORT_DEPTH
$SM_CCo,21308,0.00,0.000,0,0,392,589.46
$SM_GC,167.46,0.12,0.00,0.00,0.291,0.000,0.000,95,2289,392,-10.40,-0.31,589.46,0,0,0,0,0,0,26.50,28.83,28.83
$GPS,130313,110834,1853.056,12010.249,29,0.8,29,-2.4