version: 66.11
glider: 121
mission: 10
dive: 219
start: 3 28 113 10 12 4
data:
$ID,121
$MISSION,10
$DIVE,219
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,400
$D_ABORT,500
$D_NO_BLEED,200
$D_BOOST,0
$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,144
$T_MISSION,160
$T_ABORT,190
$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,560
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,5
$CAPUPLOAD,0
$CAPMAXSIZE,50000
$HEAPDBG,0
$T_GPS,30
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-100770.09
$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,2400
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$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,48
$R_STBD_OVSHOOT,57
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3600
$C_VBD,2640
$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,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0.090000004
$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
$GPS1,280313,100353,2108.271,12004.744,38,0.7,38,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-62.2
$GPS2,280313,101136,2108.357,12004.713,15,1.1,16,-2.9
$SPEED_LIMITS,0.160,0.240
$TGT_NAME,W1
$TGT_LATLONG,2207.170,12035.130
$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,13.5,120778,-18.5,-9.259,-21.12,2828
$D_GRID,3120
$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,16,begin dive
$GC,18,-1.35,-170.3,85,1938,336,465,0.0,0.0,0,43,0.00,0.00,-23.27,0.000,16386,0.000,0.000,85,1938,1004,990,1018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.35,-170.3,85,1939,992,1020,3.1,-8.4,3,154,7.85,2.28,-91.25,0.000,18692,0.210,0.044,2091,3375,3337,3244,3431,0,0,0,0,0,0,25.75,26.14,26.45
$GC,295,-1.35,-170.3,1248,3373,3220,3428,25.7,-9.3,42,303,0.00,2.12,0.00,0.000,1030,0.000,0.027,2096,1980,3339,3248,3431,0,0,0,0,0,0,28.83,26.28,28.83
$GC,603,-1.35,-170.3,2095,1980,3252,3431,54.0,-9.2,71,609,0.00,2.12,0.00,0.000,260,0.000,0.029,2087,3380,3341,3252,3431,0,0,0,0,0,0,28.83,26.41,28.83
$GC,685,-1.35,-170.3,2087,3380,3252,3431,60.0,-8.9,74,693,0.00,2.12,0.00,0.000,1030,0.000,0.025,2089,1968,3341,3252,3431,0,0,0,0,0,0,28.83,26.45,28.83
$GC,991,-1.35,-170.3,2089,1968,3253,3431,88.5,-8.9,90,997,0.00,2.12,0.00,0.000,260,0.000,0.030,2080,3370,3342,3253,3432,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1067,-1.35,-170.3,2080,3370,3253,3431,94.6,-9.2,93,1074,0.10,2.10,0.00,0.000,3078,0.163,0.025,2107,1967,3342,3253,3431,0,0,0,0,0,0,26.34,26.53,28.83
$GC,1384,-1.35,-170.3,2107,1967,3253,3431,124.0,-8.8,109,1385,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,1967,3342,3253,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1684,-1.35,-170.3,2107,1967,3253,3430,152.1,-9.3,124,1691,0.00,2.12,0.00,0.000,516,0.000,0.042,2118,571,3341,3253,3430,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1733,-1.35,-170.3,2117,571,3253,3430,156.2,-8.9,126,1740,0.00,2.03,0.00,0.000,1030,0.000,0.016,2109,1987,3341,3253,3430,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2062,-1.35,-170.3,2109,1988,3253,3427,186.1,-9.0,142,2067,0.00,2.05,0.00,0.000,260,0.000,0.032,2099,3366,3339,3253,3426,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2109,-1.35,-170.3,2099,3366,3253,3426,190.6,-9.1,144,2115,0.00,2.10,0.00,0.000,1030,0.000,0.027,2099,1972,3339,3253,3426,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2436,-1.35,-170.3,2099,1972,3253,3423,219.4,-8.6,160,2442,0.00,2.15,0.00,0.000,516,0.000,0.044,2109,570,3337,3253,3422,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2491,-1.35,-170.3,2109,570,3253,3422,223.7,-9.0,162,2497,0.00,2.03,0.00,0.000,1030,0.000,0.016,2100,1976,3338,3254,3422,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2807,-1.35,-170.3,2100,1976,3252,3418,252.8,-8.7,178,2813,0.00,2.05,0.00,0.000,260,0.000,0.033,2090,3356,3335,3253,3418,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2842,-1.35,-170.3,2090,3356,3253,3417,255.1,-8.8,179,2848,0.00,2.08,0.00,0.000,1030,0.000,0.028,2090,1977,3335,3253,3417,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3157,-1.35,-170.3,2090,1977,3253,3414,284.4,-9.2,195,3164,0.00,2.15,0.00,0.000,516,0.000,0.045,2098,575,3334,3255,3413,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3250,-1.35,-170.3,2098,575,3253,3413,292.5,-9.1,199,3256,0.00,2.03,0.00,0.000,1030,0.000,0.016,2090,1977,3332,3252,3413,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3569,-1.35,-170.3,2090,1978,3251,3410,321.7,-9.0,215,3575,0.00,2.08,0.00,0.000,260,0.000,0.034,2080,3362,3330,3251,3409,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3640,-1.35,-170.3,2079,3362,3249,3409,327.6,-8.9,218,3648,0.10,2.10,0.00,0.000,3078,0.160,0.029,2105,1975,3329,3249,3409,0,0,0,0,0,0,26.41,26.59,28.83
$GC,3961,-1.35,-170.3,2105,1975,3248,3407,356.4,-9.0,234,3963,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,1975,3327,3248,3407,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4263,-1.35,-170.3,2104,1975,3246,3405,383.9,-9.1,249,4269,0.00,2.17,0.00,0.000,516,0.000,0.047,2116,572,3325,3246,3404,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4320,-1.35,-170.3,2116,573,3245,3404,388.1,-8.9,251,4326,0.00,2.05,0.00,0.000,1030,0.000,0.017,2107,1981,3324,3245,3404,0,0,0,0,0,0,28.83,26.65,28.83
$STATE,4454,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4454,begin apogee
$GC,4459,-0.25,0.0,2105,2313,3243,3403,401.1,-9.0,258,4621,0.73,0.00,150.82,0.864,10246,0.111,0.000,2344,2314,2630,2582,2679,0,0,0,0,0,0,26.35,28.83,24.49
$STATE,4622,end apogee,CONTROL_FINISHED_OK
$STATE,4622,begin climb
$GC,4626,1.35,170.3,2343,2314,2580,2676,386.5,0.0,265,4794,1.00,2.22,157.02,0.825,10500,0.057,0.034,2704,3690,1936,1905,1967,0,0,0,0,0,0,25.30,25.00,24.33
$GC,5005,1.37,177.5,2704,3690,1902,1946,351.9,9.0,282,5011,0.00,2.15,0.00,0.000,1030,0.000,0.025,2714,2304,1924,1902,1946,0,0,0,0,0,0,28.83,25.94,28.83
$GC,5330,1.39,183.3,2714,2304,1902,1942,322.6,9.0,298,5342,0.00,2.28,4.82,0.689,8708,0.000,0.044,2725,895,1891,1868,1915,0,0,0,0,0,0,28.83,26.19,25.22
$GC,5524,1.40,188.1,2725,895,1868,1923,305.2,9.1,307,5536,0.00,2.10,4.95,0.701,9222,0.000,0.018,2725,2302,1872,1847,1898,0,0,0,0,0,0,28.83,26.36,25.25
$GC,5850,1.42,198.7,2725,2302,1847,1908,276.6,8.9,323,5874,0.00,2.22,16.62,0.758,8452,0.000,0.036,2725,3696,1822,1793,1851,0,0,0,0,0,0,28.83,26.15,25.44
$GC,5940,1.44,203.4,2725,3695,1792,1845,268.4,9.1,327,5948,0.10,2.17,1.23,0.070,13318,0.196,0.026,2714,2290,1809,1782,1836,0,0,0,0,0,0,26.00,26.21,26.01
$GC,6270,1.48,219.3,2713,2290,1783,1839,239.5,8.7,343,6298,0.00,2.28,19.70,0.731,8708,0.000,0.044,2724,892,1740,1711,1770,0,0,0,0,0,0,28.83,26.08,25.44
$GC,6457,1.49,223.3,2724,892,1709,1766,223.5,9.1,351,6466,0.00,2.12,3.03,0.470,9222,0.000,0.018,2724,2309,1728,1699,1757,0,0,0,0,0,0,28.83,26.29,25.16
$GC,6764,1.53,239.5,2724,2309,1698,1757,195.1,8.7,367,6784,0.00,0.00,18.85,0.687,8198,0.000,0.000,2724,2309,1661,1622,1700,0,0,0,0,0,0,28.83,28.83,25.47
$GC,7084,1.53,242.6,2724,2309,1610,1695,166.0,9.1,383,7089,0.00,2.25,0.00,0.000,516,0.000,0.044,2734,894,1652,1609,1695,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7168,1.53,242.6,2734,894,1608,1695,159.7,9.3,386,7177,0.00,2.10,0.00,0.000,1030,0.000,0.018,2734,2302,1651,1608,1694,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7474,1.54,246.9,2734,2302,1608,1693,130.7,9.1,402,7486,0.00,2.15,4.75,0.616,8452,0.000,0.037,2734,3699,1632,1586,1679,0,0,0,0,0,0,28.83,26.39,25.44
$GC,7510,1.57,256.2,2734,3699,1586,1678,128.5,8.9,403,7529,0.00,2.15,12.55,0.639,9222,0.000,0.028,2744,2296,1590,1539,1641,0,0,0,0,0,0,28.83,26.39,25.58
$GC,7850,1.60,270.3,2744,2295,1537,1633,97.5,8.7,420,7868,0.00,0.00,14.15,0.606,8198,0.000,0.000,2744,2296,1533,1481,1586,0,0,0,0,0,0,28.83,28.83,25.58
$GC,8170,1.63,281.1,2744,2296,1481,1580,69.0,8.9,436,8186,0.00,0.00,11.38,0.584,8710,0.000,0.000,2744,2296,1488,1437,1539,0,0,0,0,0,0,28.83,28.83,25.62
$GC,8495,1.63,281.1,2743,2295,1435,1532,40.0,9.3,457,8501,0.00,2.17,0.00,0.000,260,0.000,0.035,2744,3691,1484,1436,1532,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8587,1.66,291.1,2744,3691,1435,1532,31.6,8.9,465,8601,0.00,2.15,9.70,0.545,9222,0.000,0.027,2754,2290,1452,1403,1501,0,0,0,0,0,0,28.83,26.42,25.69
$STATE,8897,end climb,SURFACE_DEPTH_REACHED
$STATE,8897,begin surface coast
$FINISH,0.0,1.023924
$STATE,8937,end surface coast,CONTROL_FINISHED_OK
$STATE,8937,begin surface
$SM_CCo,8954,195.73,0.662,1,0,399,549.47
$SM_CCo,9157,-0.25,0.000,0,0,402,549.47
$SM_CCo,9161,1.30,0.086,0,0,400,549.47
$SM_GC,-23.93,7.40,0.47,1.30,0.067,0.044,0.086,86,1963,400,-10.55,1.13,549.47,0,0,0,0,0,0,26.43,26.46,25.18
$IRIDIUM_FIX,2101.76,12002.75,280313,070717
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.50
$INTERNAL_PRESSURE,9.18503
$TCM_TEMP,20.50
$XPDR_PINGS,1
$SC_FREEKB,3939200
$24V_AH,24.3,36.643
$10V_AH,10.2,19.295
$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,17.275,73.500,429.575,197.025,0.000,0.000,0.000,271.925,0.250,0.000,16.868,2075.175,4721.231,742.639,1647.224,414.804,0.000,1899.550,0.000,1423.697,0.000,1.488,0.000
$DEVICE_MAMPS,210.375,47.430,863.685,662.490,0.000,0.000,0.000,133.875,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8943.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.560,0.000,0.000,0.000
$MEM,324600
$DATA_FILE_SIZE,20149,523
$CAP_FILE_SIZE,413113,2143
$CFSIZE,260034560,225787904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.086, 30.7,1
$GPS,280313,124542,2109.583,12005.191,16,1.3,16,-2.9