version: 66.11
glider: 121
mission: 10
dive: 229
start: 3 29 113 13 13 9
data:
$ID,121
$MISSION,10
$DIVE,229
$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,-100783.84
$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,56
$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
$GPS1,290313,130532,2121.915,12010.267,26,0.9,26,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-60.5
$GPS2,290313,131242,2121.906,12010.283,18,1.0,18,-3.0
$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,25.9,94045,-18.5,-9.259,-21.12,2828
$D_GRID,2837
$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,19,-1.35,-170.3,82,1946,345,474,0.0,0.0,0,44,0.00,0.00,-23.33,0.000,16386,0.000,0.000,82,1946,1022,1016,1028,0,0,0,0,0,0,28.83,28.83,28.83
$GC,47,-1.35,-170.3,82,1946,1016,1031,3.2,-8.9,3,145,7.95,0.00,-83.70,0.000,19206,0.214,0.000,2099,1945,3337,3248,3427,0,0,0,0,0,0,25.74,28.83,26.44
$GC,460,-1.35,-170.3,2098,1945,3252,3428,40.4,-8.5,59,467,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,1945,3339,3252,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,770,-1.35,-170.3,2098,1946,3254,3427,68.6,-9.2,80,776,0.00,2.15,0.00,0.000,260,0.000,0.030,2090,3370,3340,3254,3426,0,0,0,0,0,0,28.83,26.44,28.83
$GC,847,-1.35,-170.3,2090,3370,3253,3427,74.6,-9.1,83,853,0.00,2.10,0.00,0.000,1030,0.000,0.025,2090,1971,3340,3254,3427,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1162,-1.35,-170.3,2090,1971,3254,3427,103.8,-8.9,99,1163,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,1971,3340,3254,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1464,-1.35,-170.3,2090,1971,3254,3427,131.0,-9.1,114,1465,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,1971,3340,3254,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1763,-1.35,-170.3,2090,1971,3254,3426,158.5,-9.4,129,1770,0.00,2.15,0.00,0.000,516,0.000,0.041,2100,568,3340,3254,3426,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1789,-1.35,-170.3,2100,568,3254,3426,160.9,-9.3,130,1796,0.00,2.05,0.00,0.000,1030,0.000,0.016,2092,1994,3340,3254,3426,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2115,-1.35,-170.3,2092,1995,3254,3423,189.9,-8.9,146,2121,0.00,2.03,0.00,0.000,260,0.000,0.032,2082,3353,3338,3254,3422,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2269,-1.35,-170.3,2081,3353,3254,3421,203.4,-9.0,153,2276,0.10,2.08,0.00,0.000,3078,0.159,0.027,2108,1974,3337,3254,3421,0,0,0,0,0,0,26.39,26.58,28.83
$GC,2590,-1.35,-170.3,2108,1974,3254,3418,232.6,-8.9,169,2596,0.00,2.15,0.00,0.000,516,0.000,0.044,2118,572,3335,3254,3417,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2699,-1.35,-170.3,2118,571,3254,3417,242.3,-9.0,174,2705,0.00,2.03,0.00,0.000,1030,0.000,0.016,2110,1969,3335,3254,3417,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3025,-1.35,-170.3,2109,1970,3253,3416,271.6,-9.1,190,3026,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,1970,3333,3253,3414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3326,-1.35,-170.3,2110,1970,3252,3411,298.6,-8.9,205,3327,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,1970,3331,3252,3411,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3627,-1.35,-170.3,2110,1970,3250,3408,325.8,-9.3,220,3633,0.00,2.10,0.00,0.000,260,0.000,0.034,2100,3367,3329,3250,3408,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3657,-1.35,-170.3,2099,3367,3250,3408,328.3,-9.2,221,3664,0.00,2.12,0.00,0.000,1030,0.000,0.030,2100,1973,3329,3250,3408,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3977,-1.35,-170.3,2099,1973,3248,3406,357.5,-8.9,237,3983,0.00,2.12,0.00,0.000,260,0.000,0.034,2090,3361,3326,3248,3405,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4065,-1.35,-170.3,2090,3360,3247,3405,365.4,-8.9,241,4071,0.00,2.12,0.00,0.000,1030,0.000,0.031,2092,1972,3326,3247,3405,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4390,-1.35,-170.3,2091,1972,3245,3403,394.9,-9.0,257,4396,0.00,2.17,0.00,0.000,516,0.000,0.048,2100,572,3323,3244,3403,0,0,0,0,0,0,28.83,26.50,28.83
$STATE,4457,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4457,begin apogee
$GC,4465,-0.25,0.0,2089,2295,3243,3403,401.1,-8.9,260,4628,0.77,0.00,153.32,1.027,10246,0.114,0.000,2342,2296,2639,2591,2687,0,0,0,0,1,0,26.28,28.83,24.16
$STATE,4632,end apogee,CONTROL_FINISHED_OK
$STATE,4632,begin climb
$GC,4634,1.35,170.3,2342,2296,2591,2686,386.5,0.0,267,4807,1.00,2.35,163.35,0.857,10500,0.049,0.035,2706,3694,1937,1905,1970,0,0,0,0,0,0,25.10,24.87,24.20
$GC,5051,1.38,179.4,2706,3694,1899,1942,347.6,8.9,286,5058,0.00,2.17,1.85,0.052,9222,0.000,0.025,2716,2293,1905,1882,1929,0,0,0,0,0,0,28.83,25.94,25.86
$GC,5378,1.39,183.6,2716,2293,1883,1936,318.4,9.1,302,5383,0.00,0.00,3.03,0.434,8198,0.000,0.000,2716,2293,1890,1864,1916,0,0,0,0,0,0,28.83,28.83,25.10
$GC,5678,1.40,188.8,2716,2293,1865,1931,291.6,9.1,317,5695,0.00,2.28,12.27,0.803,8452,0.000,0.034,2716,3701,1864,1835,1894,0,0,0,0,0,0,28.83,26.17,25.43
$GC,5821,1.42,195.1,2716,3700,1831,1888,279.7,9.0,323,5830,0.00,2.15,4.32,0.675,9222,0.000,0.026,2726,2298,1843,1814,1873,0,0,0,0,0,0,28.83,26.26,25.16
$GC,6128,1.46,213.4,2726,2298,1814,1873,250.7,8.6,339,6152,0.00,0.00,21.95,0.768,8198,0.000,0.000,2726,2298,1768,1737,1800,0,0,0,0,0,0,28.83,28.83,25.35
$GC,6448,1.47,217.2,2726,2298,1732,1789,221.8,9.1,355,6454,0.00,2.20,0.00,0.000,516,0.000,0.044,2737,897,1760,1732,1789,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6495,1.49,225.7,2737,897,1732,1789,217.6,8.9,357,6512,0.00,2.10,12.48,0.751,9222,0.000,0.018,2737,2305,1719,1688,1750,0,0,0,0,0,0,28.83,26.35,25.41
$GC,6822,1.51,232.2,2737,2305,1680,1738,188.6,9.0,373,6829,0.00,0.00,4.62,0.669,8198,0.000,0.000,2738,2305,1692,1660,1724,0,0,0,0,0,0,28.83,28.83,25.25
$GC,7123,1.53,241.2,2737,2305,1659,1724,161.3,8.9,388,7141,0.00,0.00,11.62,0.715,8198,0.000,0.000,2737,2305,1650,1606,1694,0,0,0,0,0,0,28.83,28.83,25.51
$GC,7441,1.56,253.1,2737,2305,1603,1691,132.6,8.8,404,7458,0.00,2.22,12.00,0.693,8452,0.000,0.037,2737,3698,1604,1553,1655,0,0,0,0,0,0,28.83,26.21,25.51
$GC,7491,1.57,258.4,2737,3698,1551,1651,128.4,9.1,406,7503,0.00,2.15,4.15,0.596,9222,0.000,0.028,2747,2302,1584,1533,1636,0,0,0,0,0,0,28.83,26.23,25.25
$GC,7812,1.59,265.0,2747,2301,1533,1637,99.2,9.0,422,7829,0.00,2.22,9.15,0.667,8452,0.000,0.035,2747,3688,1554,1501,1608,0,0,0,0,0,0,28.83,26.24,25.52
$GC,7963,1.61,274.5,2746,3688,1500,1606,85.5,8.9,429,7980,0.00,2.15,10.45,0.651,9222,0.000,0.028,2756,2291,1518,1463,1573,0,0,0,0,0,0,28.83,26.30,25.49
$GC,8289,1.66,291.5,2756,2290,1461,1565,56.4,8.6,445,8313,0.00,2.28,17.73,0.607,8708,0.000,0.045,2768,897,1445,1396,1495,0,0,0,0,0,0,28.83,26.12,25.51
$GC,8447,1.68,301.1,2767,897,1396,1490,42.7,8.9,455,8462,0.00,2.10,9.75,0.608,9222,0.000,0.018,2766,2298,1411,1366,1457,0,0,0,0,0,0,28.83,26.29,25.46
$GC,8777,1.68,301.1,1736,2295,1339,1439,12.5,9.3,499,8786,0.00,2.25,0.00,0.000,516,0.000,0.043,2776,886,1404,1364,1444,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8877,1.68,302.3,1744,885,1339,1439,3.6,9.2,516,8885,0.00,2.10,0.00,0.000,1030,0.000,0.018,2776,2302,1404,1364,1444,0,0,0,0,0,0,28.83,26.41,28.83
$STATE,8890,end climb,SURFACE_DEPTH_REACHED
$STATE,8890,begin surface coast
$FINISH,0.0,1.025088
$STATE,8926,end surface coast,CONTROL_FINISHED_OK
$STATE,8926,begin surface
$SM_CCo,8943,204.62,0.731,3,0,399,549.47
$SM_CCo,9166,-0.12,0.000,0,0,405,549.23
$SM_CCo,9170,2.80,0.336,0,0,399,549.47
$SM_GC,-23.93,7.62,0.52,2.80,0.075,0.036,0.336,82,1964,399,-10.56,1.13,549.47,0,0,0,0,0,0,26.38,26.40,24.58
$IRIDIUM_FIX,2115.63,12011.39,290313,101041
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.21
$INTERNAL_PRESSURE,9.12643
$TCM_TEMP,19.30
$XPDR_PINGS,0
$SC_FREEKB,3935360
$24V_AH,24.2,38.149
$10V_AH,10.1,19.929
$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,17.450,61.250,452.050,207.425,0.000,0.000,0.000,236.775,0.000,0.000,18.787,2045.984,4781.064,756.292,1590.212,405.139,0.000,1852.687,0.000,1378.257,0.000,1.488,0.000
$DEVICE_MAMPS,214.200,48.195,1026.630,730.575,0.000,0.000,0.000,132.345,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8936.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.536,0.000,0.000,0.000
$MEM,324420
$DATA_FILE_SIZE,20068,524
$CAP_FILE_SIZE,396059,2096
$CFSIZE,260034560,224665600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$CURRENT,0.100,310.6,1
$GPS,290313,154955,2123.040,12010.204,193,0.9,194,-3.0