version: 66.11
glider: 121
mission: 10
dive: 233
start: 3 30 113 0 6 2
data:
$ID,121
$MISSION,10
$DIVE,233
$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,-100788.88
$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,36
$R_STBD_OVSHOOT,65
$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
$GPS1,290313,235833,2126.362,12010.896,28,1.1,28,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-56.7
$GPS2,300313,000535,2126.434,12010.886,16,1.2,17,-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,36.9,86150,-18.5,-9.259,-21.12,2828
$D_GRID,2768
$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,-1.35,-170.3,83,2013,338,464,0.0,0.0,0,43,0.00,0.00,-23.05,0.000,16386,0.000,0.000,84,2014,999,989,1010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.35,-170.3,84,2013,990,1011,3.1,-8.6,3,145,7.88,2.15,-84.15,0.000,18692,0.211,0.045,2089,3373,3337,3246,3428,0,0,0,0,0,0,25.69,26.13,26.44
$GC,247,-1.35,-170.3,1232,3372,3221,3425,21.2,-8.3,34,255,0.00,2.15,0.00,0.000,1030,0.000,0.027,2097,1958,3338,3249,3428,0,0,0,0,0,0,28.83,26.22,28.83
$GC,560,-1.35,-170.3,2098,1958,3253,3428,49.9,-9.7,68,566,0.00,2.15,0.00,0.000,260,0.000,0.030,2088,3371,3340,3253,3428,0,0,0,0,0,0,28.83,26.37,28.83
$GC,607,-1.35,-170.3,2088,3371,3254,3428,54.1,-8.9,71,613,0.00,2.12,0.00,0.000,1030,0.000,0.026,2093,1967,3340,3253,3428,0,0,0,0,0,0,28.83,26.41,28.83
$GC,933,-1.35,-170.3,2093,1966,3254,3428,83.8,-9.3,87,938,0.00,2.12,0.00,0.000,516,0.000,0.041,2103,572,3341,3254,3428,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1002,-1.35,-170.3,2103,573,3254,3428,89.9,-9.1,90,1008,0.00,2.03,0.00,0.000,1030,0.000,0.015,2094,1981,3341,3254,3428,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1323,-1.35,-170.3,2094,1982,3255,3428,119.4,-9.2,106,1329,0.00,2.05,0.00,0.000,260,0.000,0.031,2084,3363,3341,3255,3428,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1383,-1.35,-170.3,2084,3363,3255,3428,123.8,-9.1,108,1392,0.00,2.08,0.00,0.000,1030,0.000,0.026,2088,1973,3342,3255,3429,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1690,-1.35,-170.3,2087,1974,3255,3428,152.8,-9.3,124,1691,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,1973,3341,3255,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1992,-1.35,-170.3,2088,1973,3255,3426,180.2,-9.6,139,1997,0.00,2.15,0.00,0.000,516,0.000,0.042,2098,567,3340,3255,3426,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2103,-1.35,-170.3,2098,567,3255,3426,190.1,-9.2,144,2110,0.00,2.05,0.00,0.000,1030,0.000,0.016,2089,1983,3339,3254,3425,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2424,-1.35,-170.3,2089,1983,3255,3421,219.4,-8.9,160,2430,0.00,2.05,0.00,0.000,260,0.000,0.033,2079,3361,3338,3255,3421,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2537,-1.35,-170.3,1264,3360,3229,3416,229.2,-9.0,165,2543,0.10,2.10,0.00,0.000,3078,0.164,0.028,2106,1966,3337,3255,3420,0,0,0,0,0,0,26.38,26.58,28.83
$GC,2858,-1.35,-170.3,2105,1966,3254,3416,258.5,-9.2,181,2864,0.00,2.12,0.00,0.000,260,0.000,0.033,2097,3361,3335,3255,3416,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2915,-1.35,-170.3,2098,3361,3254,3416,262.7,-9.3,183,2921,0.00,2.10,0.00,0.000,1030,0.000,0.029,2105,1970,3334,3254,3415,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3230,-1.35,-170.3,2105,1970,3253,3413,291.8,-9.3,199,3231,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,1969,3333,3253,3413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3533,-1.35,-170.3,2105,1970,3252,3410,318.9,-9.0,214,3539,0.00,2.12,0.00,0.000,260,0.000,0.034,2097,3359,3330,3252,3409,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3603,-1.35,-170.3,2096,3359,3251,3408,325.3,-9.2,217,3610,0.00,2.10,0.00,0.000,1030,0.000,0.029,2101,1972,3330,3251,3409,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3924,-1.35,-170.3,2100,1972,3249,3407,354.2,-9.1,233,3925,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,1972,3328,3249,3407,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4226,-1.35,-170.3,2100,1972,3247,3405,381.2,-9.1,248,4232,0.00,2.17,0.00,0.000,516,0.000,0.047,2110,568,3326,3247,3405,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4278,-1.35,-170.3,2110,568,3247,3404,385.6,-9.0,250,4284,0.00,2.05,0.00,0.000,1030,0.000,0.018,2102,1974,3326,3247,3405,0,0,0,0,0,0,28.83,26.63,28.83
$STATE,4435,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4435,begin apogee
$GC,4441,-0.25,0.0,2099,2304,3245,3403,400.2,-8.6,258,4601,0.75,0.00,152.82,0.883,10246,0.112,0.000,2345,2305,2632,2584,2681,0,0,0,0,0,0,26.28,28.83,24.42
$STATE,4603,end apogee,CONTROL_FINISHED_OK
$STATE,4603,begin climb
$GC,4605,1.35,170.3,2345,2305,2581,2678,386.1,0.0,265,4778,0.98,2.28,160.10,0.855,10500,0.055,0.034,2698,3677,1936,1904,1968,0,0,0,0,0,0,25.23,24.95,24.32
$GC,4956,1.37,177.1,2698,3677,1903,1950,355.1,9.0,280,4965,0.00,2.15,0.00,0.000,1030,0.000,0.026,2708,2299,1926,1903,1950,0,0,0,0,0,0,28.83,25.85,28.83
$GC,5262,1.39,186.6,2707,2299,1903,1947,325.7,8.9,296,5283,0.00,0.00,14.32,0.805,8198,0.000,0.000,2707,2299,1871,1847,1895,0,0,0,0,0,0,28.83,28.83,25.32
$GC,5582,1.41,194.2,2707,2299,1845,1886,297.1,9.0,312,5589,0.00,2.25,2.45,0.304,8452,0.000,0.034,2707,3696,1848,1825,1871,0,0,0,0,0,0,28.83,26.25,25.04
$GC,5637,1.44,206.2,2707,3696,1825,1874,292.8,8.8,314,5661,0.00,2.15,17.83,0.805,9222,0.000,0.026,2717,2292,1796,1768,1824,0,0,0,0,0,0,28.83,26.28,25.29
$GC,5979,1.46,211.1,2717,2292,1762,1813,261.1,9.1,331,5985,0.00,2.17,0.00,0.000,260,0.000,0.034,2717,3691,1787,1762,1813,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6050,1.47,215.5,2717,3691,1760,1812,255.0,9.1,334,6068,0.00,2.15,8.73,0.779,9222,0.000,0.027,2727,2290,1755,1726,1785,0,0,0,0,0,0,28.83,26.31,25.44
$GC,6367,1.49,223.7,2727,2290,1726,1780,225.9,9.0,350,6384,0.00,2.22,8.32,0.766,8452,0.000,0.035,2727,3680,1723,1692,1755,0,0,0,0,0,0,28.83,26.23,25.46
$GC,6517,1.49,225.6,2727,3680,1691,1751,212.4,9.2,357,6523,0.00,2.15,0.00,0.000,1030,0.000,0.028,2737,2291,1721,1691,1751,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6843,1.50,230.3,2737,2291,1691,1749,183.3,9.1,373,6854,0.00,2.17,5.03,0.700,8452,0.000,0.034,2737,3689,1700,1668,1732,0,0,0,0,0,0,28.83,26.34,25.40
$GC,6954,1.52,238.1,2737,3690,1668,1731,173.4,9.0,378,6970,0.00,2.15,10.75,0.722,9222,0.000,0.028,2747,2290,1668,1631,1705,0,0,0,0,0,0,28.83,26.37,25.50
$GC,7279,1.54,245.3,2747,2290,1614,1703,143.5,9.0,394,7291,0.00,2.20,5.00,0.668,8708,0.000,0.045,2758,894,1640,1592,1688,0,0,0,0,0,0,28.83,26.29,25.34
$GC,7415,1.54,245.3,2758,894,1592,1688,131.4,9.3,400,7421,0.00,2.10,0.00,0.000,1030,0.000,0.018,2756,2305,1640,1592,1688,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7735,1.59,266.6,2756,2305,1592,1688,102.5,8.5,416,7770,0.00,2.33,24.73,0.642,8708,0.000,0.044,2766,890,1546,1494,1599,0,0,0,0,0,0,28.83,26.12,25.48
$GC,7851,1.61,274.9,2766,890,1493,1594,92.4,9.0,421,7870,0.00,2.12,8.57,0.648,9222,0.000,0.018,2766,2310,1513,1461,1566,0,0,0,0,0,0,28.83,26.25,25.39
$GC,8167,1.66,291.9,2766,2311,1460,1562,64.3,8.6,437,8190,0.00,0.00,17.90,0.607,8710,0.000,0.000,2765,2311,1443,1394,1493,0,0,0,0,0,0,28.83,28.83,25.46
$GC,8488,1.66,291.9,2765,2311,1393,1484,35.0,9.3,461,8494,0.00,2.12,0.00,0.000,260,0.000,0.037,2766,3691,1438,1393,1484,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8549,1.67,297.8,1792,3690,1369,1478,29.7,9.0,466,8559,0.00,2.15,3.80,0.480,9222,0.000,0.028,2776,2292,1423,1379,1468,0,0,0,0,0,0,28.83,26.32,25.34
$STATE,8843,end climb,SURFACE_DEPTH_REACHED
$STATE,8843,begin surface coast
$FINISH,0.0,1.024790
$STATE,8879,end surface coast,CONTROL_FINISHED_OK
$STATE,8879,begin surface
$SM_CCo,8897,205.48,0.715,2,0,399,549.47
$SM_CCo,9116,-0.10,0.000,0,0,401,549.47
$SM_CCo,9120,0.93,0.116,0,0,400,549.47
$SM_GC,-23.93,7.62,0.47,0.93,0.077,0.044,0.116,90,1966,400,-10.53,1.19,549.47,0,0,0,0,0,0,26.39,26.43,25.08
$IRIDIUM_FIX,2115.63,12009.39,290313,212117
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.64
$INTERNAL_PRESSURE,9.14597
$TCM_TEMP,19.60
$XPDR_PINGS,0
$SC_FREEKB,3933824
$24V_AH,24.3,38.754
$10V_AH,10.1,20.188
$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,17.325,73.675,440.350,206.400,0.000,0.000,0.000,227.500,0.000,0.000,17.673,2069.345,4665.554,757.792,1610.330,414.395,0.000,1870.654,0.000,1388.181,0.000,1.487,0.000
$DEVICE_MAMPS,211.140,47.430,882.810,715.275,0.000,0.000,0.000,134.640,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8887.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.534,0.000,0.000,0.000
$MEM,324436
$DATA_FILE_SIZE,20076,522
$CAP_FILE_SIZE,403832,2142
$CFSIZE,260034560,224206848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.160,316.1,1
$GPS,300313,024034,2127.747,12010.814,112,1.1,112,-3.0