version: 66.11
glider: 121
mission: 10
dive: 234
start: 3 30 113 2 50 22
data:
$ID,121
$MISSION,10
$DIVE,234
$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,-100791.3
$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,46
$R_STBD_OVSHOOT,52
$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
$GPS1,300313,024034,2127.747,12010.814,112,1.1,112,-3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-59.3
$GPS2,300313,024953,2127.788,12010.671,15,1.0,16,-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,72.8,84146,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.35,-170.3,88,1955,366,482,0.0,0.0,0,43,0.00,0.00,-23.00,0.000,16386,0.000,0.000,88,1954,1028,1020,1036,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.35,-170.3,88,1954,1021,1036,3.1,-8.1,3,152,7.72,0.00,-93.47,0.000,19206,0.204,0.000,2101,1958,3336,3244,3429,0,0,0,0,0,0,25.66,28.83,26.44
$GC,467,-1.35,-170.3,2100,1958,3249,3429,41.4,-9.0,59,473,0.00,2.15,0.00,0.000,260,0.000,0.030,2093,3377,3338,3248,3429,0,0,0,0,0,0,28.83,26.33,28.83
$GC,616,-1.35,-170.3,2092,3377,3250,3429,53.4,-9.0,70,624,0.00,2.12,0.00,0.000,1030,0.000,0.025,2097,1964,3339,3250,3428,0,0,0,0,0,0,28.83,26.41,28.83
$GC,923,-1.35,-170.3,2097,1965,3252,3429,82.7,-9.1,86,929,0.00,2.12,0.00,0.000,516,0.000,0.041,2107,568,3340,3252,3429,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1001,-1.35,-170.3,2107,568,3252,3429,89.0,-8.8,89,1007,0.00,2.05,0.00,0.000,1030,0.000,0.015,2098,1995,3341,3252,3431,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1316,-1.35,-170.3,2098,1996,3253,3428,118.4,-8.9,105,1323,0.00,2.03,0.00,0.000,260,0.000,0.031,2088,3359,3341,3253,3429,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1395,-1.35,-170.3,2088,3358,3252,3429,124.5,-9.0,108,1401,0.00,2.08,0.00,0.000,1030,0.000,0.026,2089,1972,3340,3252,3428,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1709,-1.35,-170.3,2089,1971,3252,3428,153.3,-8.9,124,1711,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,1971,3340,3252,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2013,-1.35,-170.3,2089,1971,3252,3426,180.2,-9.0,139,2019,0.00,2.15,0.00,0.000,516,0.000,0.042,2099,568,3339,3252,3426,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2078,-1.35,-170.3,2098,568,3252,3425,186.4,-8.9,142,2084,0.00,2.03,0.00,0.000,1030,0.000,0.016,2089,1976,3338,3252,3425,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2404,-1.35,-170.3,2090,1976,3252,3421,216.4,-9.3,158,2405,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,1976,3336,3252,3421,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2705,-1.35,-170.3,2090,1977,3252,3417,243.8,-9.2,173,2711,0.00,2.17,0.00,0.000,516,0.000,0.041,2098,574,3335,3253,3417,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2788,-1.35,-170.3,2098,574,3252,3416,250.2,-9.1,176,2796,0.00,2.03,0.00,0.000,1030,0.000,0.016,2090,1976,3334,3253,3416,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3094,-1.35,-170.3,2089,1977,3252,3411,279.2,-9.0,192,3099,0.00,2.05,0.00,0.000,260,0.000,0.031,2080,3357,3331,3252,3411,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3224,-1.35,-170.3,2079,3357,3251,3410,290.9,-9.0,198,3230,0.10,2.10,0.00,0.000,3078,0.161,0.028,2108,1971,3330,3251,3410,0,0,0,0,0,0,26.39,26.58,28.83
$GC,3550,-1.35,-170.3,2107,1971,3249,3408,320.4,-9.2,214,3556,0.00,2.12,0.00,0.000,260,0.000,0.033,2099,3365,3328,3249,3407,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3591,-1.35,-170.3,2099,3365,3248,3407,322.7,-9.0,215,3599,0.00,2.10,0.00,0.000,1030,0.000,0.029,2103,1977,3327,3248,3407,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3897,-1.35,-170.3,2103,1977,3247,3405,351.6,-9.1,231,3898,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,1977,3326,3247,3405,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4199,-1.35,-170.3,2103,1977,3244,3402,379.1,-9.3,246,4206,0.00,2.12,0.00,0.000,260,0.000,0.034,2095,3364,3322,3243,3402,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4251,-1.35,-170.3,2094,3364,3243,3402,383.6,-9.3,248,4257,0.00,2.12,0.00,0.000,1030,0.000,0.030,2100,1967,3322,3243,3402,0,0,0,0,0,0,28.83,26.55,28.83
$STATE,4429,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4429,begin apogee
$GC,4435,-0.25,0.0,2099,2297,3242,3401,400.6,-9.1,257,4600,0.75,0.00,155.12,1.013,10246,0.112,0.000,2345,2297,2639,2591,2688,0,0,0,0,1,0,26.28,28.83,24.15
$STATE,4604,end apogee,CONTROL_FINISHED_OK
$STATE,4604,begin climb
$GC,4606,1.35,170.3,2345,2297,2591,2688,386.1,0.0,264,4771,1.00,2.35,148.15,1.102,10500,0.051,0.034,2706,3683,1944,1912,1976,0,0,0,0,1,0,25.10,24.66,23.84
$GC,4995,1.36,174.9,2705,3683,1912,1976,351.2,9.1,281,5005,0.00,2.15,4.47,0.695,9222,0.000,0.025,2716,2300,1927,1898,1956,0,0,0,0,0,0,28.83,25.88,24.82
$GC,5301,1.37,177.8,2715,2299,1898,1956,322.5,9.2,297,5313,0.00,2.22,4.43,0.694,8452,0.000,0.034,2716,3685,1914,1888,1941,0,0,0,0,0,0,28.83,26.15,25.08
$GC,5349,1.38,181.3,2715,3686,1887,1941,318.2,9.1,299,5362,0.12,2.12,5.05,0.754,13318,0.187,0.025,2697,2298,1899,1873,1926,0,0,0,0,0,0,25.95,26.19,25.20
$GC,5678,1.42,197.0,2697,2298,1873,1926,288.9,8.7,315,5698,0.00,0.00,18.55,0.793,8198,0.000,0.000,2696,2298,1835,1808,1863,0,0,0,0,0,0,28.83,28.83,25.32
$GC,5996,1.43,201.1,2697,2298,1803,1850,259.9,9.1,331,6002,0.00,2.15,0.00,0.000,260,0.000,0.034,2697,3683,1826,1803,1850,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6189,1.44,204.6,2696,3683,1803,1849,242.6,9.1,340,6201,0.00,2.10,7.20,0.755,9222,0.000,0.025,2706,2299,1804,1778,1830,0,0,0,0,0,0,28.83,26.37,25.47
$GC,6515,1.46,213.0,2706,2299,1774,1824,213.2,9.0,356,6532,0.00,2.17,9.12,0.744,8452,0.000,0.035,2705,3686,1767,1738,1796,0,0,0,0,0,0,28.83,26.26,25.51
$GC,6659,1.47,216.8,1728,3684,1696,1783,201.5,9.1,362,6668,0.00,2.12,2.62,0.384,9222,0.000,0.028,2715,2304,1755,1727,1783,0,0,0,0,0,0,28.83,26.32,25.17
$GC,6966,1.47,218.6,2715,2303,1727,1783,172.4,9.2,378,6971,0.00,2.20,0.00,0.000,516,0.000,0.045,2726,894,1755,1727,1783,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7070,1.50,229.6,2726,894,1727,1783,164.5,8.9,382,7093,0.00,2.08,15.88,0.694,9222,0.000,0.018,2726,2295,1698,1665,1732,0,0,0,0,0,0,28.83,26.48,25.53
$GC,7403,1.52,237.0,2726,2295,1664,1727,132.9,9.0,399,7416,0.00,2.30,7.38,0.675,8708,0.000,0.043,2736,896,1670,1635,1705,0,0,0,0,0,0,28.83,26.26,25.53
$GC,7496,1.54,244.8,1744,895,1598,1695,124.7,9.0,403,7514,0.00,2.10,8.10,0.664,9222,0.000,0.018,2736,2297,1637,1592,1682,0,0,0,0,0,0,28.83,26.36,25.49
$GC,7814,1.55,250.9,2736,2297,1590,1678,96.2,9.0,419,7825,0.00,2.15,4.82,0.613,8452,0.000,0.035,2736,3698,1615,1568,1663,0,0,0,0,0,0,28.83,26.31,25.34
$GC,7925,1.57,257.1,2736,3698,1568,1663,86.3,9.0,424,7941,0.00,2.15,8.90,0.636,9222,0.000,0.028,2746,2296,1587,1535,1639,0,0,0,0,0,0,28.83,26.34,25.55
$GC,8250,1.59,264.7,2746,2296,1535,1634,57.0,9.0,440,8266,0.00,2.25,7.70,0.613,8708,0.000,0.045,2757,896,1557,1504,1611,0,0,0,0,0,0,28.83,26.27,25.59
$GC,8404,1.59,265.2,2756,896,1504,1607,43.4,9.2,450,8412,0.00,2.10,0.00,0.000,1030,0.000,0.018,2756,2309,1555,1504,1607,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8721,1.60,270.2,2756,2309,1504,1606,14.7,9.1,491,8732,0.00,2.33,4.78,0.549,8708,0.000,0.042,2766,884,1537,1484,1590,0,0,0,0,0,0,28.83,26.36,25.46
$GC,8779,1.63,283.1,2766,884,1484,1590,9.5,8.8,500,8802,0.00,2.10,15.32,0.549,9222,0.000,0.018,2766,2302,1481,1428,1534,0,0,0,0,0,0,28.83,26.46,25.63
$STATE,8854,end climb,SURFACE_DEPTH_REACHED
$STATE,8854,begin surface coast
$FINISH,0.0,1.024999
$STATE,8887,end surface coast,CONTROL_FINISHED_OK
$STATE,8887,begin surface
$SM_CCo,8906,219.80,0.716,2,0,398,549.47
$SM_CCo,9139,-0.12,0.000,0,0,403,549.47
$SM_CCo,9143,3.10,0.376,0,0,399,549.47
$SM_GC,-23.93,7.60,0.55,3.10,0.075,0.036,0.376,89,1950,399,-10.53,0.76,549.47,0,0,0,0,0,0,26.28,26.32,24.56
$IRIDIUM_FIX,2122.58,12012.55,300313,020247
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.30
$INTERNAL_PRESSURE,9.14597
$TCM_TEMP,19.60
$XPDR_PINGS,0
$SC_FREEKB,3933440
$24V_AH,23.8,38.924
$10V_AH,10.1,20.256
$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,17.300,73.725,427.600,222.900,0.000,0.000,0.000,360.650,0.000,0.000,18.440,2113.226,4594.095,780.078,1774.503,422.106,0.000,2061.515,0.000,1446.748,0.000,1.487,0.000
$DEVICE_MAMPS,204.255,45.135,1102.365,716.040,0.000,0.000,0.000,130.050,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8899.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.513,0.000,0.000,0.000
$MEM,324420
$DATA_FILE_SIZE,20077,518
$CAP_FILE_SIZE,413616,2215
$CFSIZE,260034560,224083968
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$CURRENT,0.248,318.6,1
$GPS,300313,052559,2129.026,12010.681,151,1.0,151,-3.0