version: 66.11
glider: 121
mission: 10
dive: 235
start: 3 30 113 5 36 27
data:
$ID,121
$MISSION,10
$DIVE,235
$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,-100792.56
$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
$GPS1,300313,052559,2129.026,12010.681,151,1.0,151,-3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-57.7
$GPS2,300313,053600,2129.149,12010.385,22,1.4,22,-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,74.1,82224,-18.5,-9.259,-21.12,2828
$D_GRID,2791
$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,-170.3,88,1940,344,468,0.0,0.0,0,44,0.00,0.00,-23.75,0.000,16386,0.000,0.000,88,1941,1027,1024,1031,0,0,0,0,0,0,28.83,28.83,28.83
$GC,47,-1.35,-170.3,88,1941,1023,1035,3.2,-9.0,3,163,7.70,2.15,-97.03,0.000,19204,0.202,0.055,2115,572,3336,3242,3431,0,0,0,0,0,0,25.79,26.13,26.47
$GC,193,-1.35,-170.3,1256,572,3214,3430,17.0,-9.0,23,201,0.00,2.08,0.00,0.000,1030,0.000,0.015,2107,1992,3336,3242,3430,0,0,0,0,0,0,28.83,26.26,28.83
$GC,515,-1.35,-170.3,2106,1994,3244,3430,45.6,-8.8,62,521,0.00,2.05,0.00,0.000,260,0.000,0.031,2097,3363,3337,3244,3431,0,0,0,0,0,0,28.83,26.36,28.83
$GC,766,-1.35,-170.3,2097,3363,3247,3430,67.6,-9.0,76,772,0.00,2.08,0.00,0.000,1030,0.000,0.024,2102,1978,3339,3247,3431,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1081,-1.35,-170.3,2102,1978,3248,3430,96.9,-8.9,92,1088,0.00,2.15,0.00,0.000,516,0.000,0.040,2111,566,3339,3248,3430,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1134,-1.35,-170.3,2111,566,3248,3430,101.3,-9.1,94,1140,0.00,2.03,0.00,0.000,1030,0.000,0.015,2104,1981,3339,3248,3430,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1453,-1.35,-170.3,2103,1982,3249,3430,130.5,-8.8,110,1459,0.00,2.05,0.00,0.000,260,0.000,0.031,2093,3353,3340,3249,3431,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1525,-1.35,-170.3,2093,3353,3249,3431,136.7,-9.0,113,1531,0.00,2.08,0.00,0.000,1030,0.000,0.026,2093,1966,3339,3249,3430,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1845,-1.35,-170.3,2093,1966,3249,3429,165.5,-8.9,129,1851,0.00,2.10,0.00,0.000,260,0.000,0.031,2085,3353,3338,3249,3428,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1896,-1.35,-170.3,2085,3353,3248,3427,170.0,-9.4,131,1902,0.00,2.08,0.00,0.000,1030,0.000,0.027,2087,1969,3338,3249,3427,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2217,-1.35,-170.3,2087,1969,3249,3425,198.9,-9.0,147,2223,0.00,2.12,0.00,0.000,516,0.000,0.043,2097,575,3336,3248,3425,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2269,-1.35,-170.3,2097,575,3248,3425,203.3,-9.2,149,2275,0.00,2.00,0.00,0.000,1030,0.000,0.016,2088,1972,3336,3248,3424,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2589,-1.35,-170.3,2088,1972,3249,3421,232.5,-9.0,165,2595,0.00,2.17,0.00,0.000,516,0.000,0.041,2097,567,3334,3248,3421,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2641,-1.35,-170.3,2097,567,3248,3421,236.7,-8.9,167,2647,0.00,2.03,0.00,0.000,1030,0.000,0.016,2088,1973,3334,3249,3420,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2962,-1.35,-170.3,2088,1974,3248,3415,265.6,-9.0,183,2968,0.00,2.08,0.00,0.000,260,0.000,0.034,2078,3356,3331,3248,3415,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3113,-1.35,-170.3,2077,3356,3248,3412,279.1,-8.6,190,3120,0.10,2.08,0.00,0.000,3078,0.163,0.028,2104,1977,3330,3248,3412,0,0,0,0,0,0,26.38,26.58,28.83
$GC,3439,-1.35,-170.3,2104,1977,3248,3408,308.6,-9.2,206,3445,0.00,2.10,0.00,0.000,260,0.000,0.033,2096,3355,3328,3248,3408,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3486,-1.35,-170.3,2096,3355,3248,3407,312.9,-9.2,208,3492,0.00,2.10,0.00,0.000,1030,0.000,0.029,2103,1975,3327,3248,3407,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3812,-1.35,-170.3,2102,1975,3244,3405,342.1,-8.7,224,3818,0.00,2.17,0.00,0.000,516,0.000,0.046,2112,568,3324,3244,3404,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3841,-1.35,-170.3,2112,568,3244,3405,344.4,-8.9,225,3847,0.00,2.05,0.00,0.000,1030,0.000,0.017,2106,1980,3324,3244,3404,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4161,-1.35,-170.3,2103,1980,3242,3402,373.3,-9.7,241,4163,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,1980,3322,3242,3402,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4462,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4462,begin apogee
$GC,4467,-0.25,0.0,2101,2312,3240,3400,400.6,-9.1,256,4642,0.73,0.00,166.27,0.818,10246,0.110,0.000,2341,2313,2633,2585,2682,0,0,0,0,0,0,26.30,28.83,24.47
$STATE,4644,end apogee,CONTROL_FINISHED_OK
$STATE,4644,begin climb
$GC,4646,1.35,170.3,2341,2313,2580,2676,386.0,0.0,263,4818,1.00,2.22,157.32,0.835,10500,0.055,0.035,2700,3683,1933,1903,1963,0,0,0,0,0,0,25.26,24.98,24.32
$GC,5059,1.37,177.1,2700,3681,1903,1945,347.3,9.0,282,5064,0.00,2.12,0.00,0.000,1030,0.000,0.025,2710,2308,1923,1902,1945,0,0,0,0,0,0,28.83,25.99,28.83
$GC,5378,1.38,180.1,2709,2308,1902,1941,317.7,9.2,298,5386,0.00,2.30,2.25,0.214,8708,0.000,0.043,2721,889,1904,1882,1926,0,0,0,0,0,0,28.83,26.22,24.96
$GC,5440,1.39,185.0,2720,889,1882,1928,313.4,9.1,300,5455,0.00,2.10,10.07,0.806,9222,0.000,0.017,2721,2300,1886,1863,1909,0,0,0,0,0,0,28.83,26.34,25.39
$GC,5778,1.42,197.7,2720,2300,1856,1896,282.1,8.8,317,5795,0.00,0.00,13.12,0.776,8454,0.000,0.000,2720,2300,1830,1805,1856,0,0,0,0,0,0,28.83,28.83,25.43
$GC,6103,1.46,214.3,2720,2300,1800,1845,252.8,8.7,333,6127,0.00,2.22,15.93,0.749,8452,0.000,0.036,2720,3693,1761,1733,1789,0,0,0,0,0,0,28.83,26.12,25.42
$GC,6316,1.48,220.9,2720,3692,1732,1782,233.5,9.0,343,6327,0.00,2.15,4.88,0.692,9222,0.000,0.026,2731,2290,1737,1709,1766,0,0,0,0,0,0,28.83,26.27,25.22
$GC,6642,1.49,226.8,2732,2290,1710,1767,204.0,9.0,359,6652,0.00,0.00,8.38,0.715,8198,0.000,0.000,2730,2290,1714,1683,1745,0,0,0,0,0,0,28.83,28.83,25.52
$GC,6943,1.51,231.4,2730,2290,1678,1738,177.0,9.1,374,6955,0.00,2.22,3.65,0.549,8708,0.000,0.045,2741,902,1695,1663,1728,0,0,0,0,0,0,28.83,26.32,25.29
$GC,7025,1.51,234.9,2741,902,1663,1729,170.8,9.1,377,7034,0.00,2.08,4.53,0.633,9222,0.000,0.018,2741,2297,1681,1647,1715,0,0,0,0,0,0,28.83,26.42,25.29
$GC,7331,1.54,243.2,2741,2297,1647,1715,142.3,9.0,393,7348,0.00,2.22,11.12,0.662,8708,0.000,0.041,2751,897,1643,1598,1688,0,0,0,0,0,0,28.83,26.25,25.58
$GC,7413,1.56,252.9,2751,897,1596,1684,136.4,8.9,396,7432,0.00,2.10,10.43,0.653,9222,0.000,0.018,2751,2305,1602,1553,1651,0,0,0,0,0,0,28.83,26.35,25.48
$GC,7748,1.59,265.2,2750,2305,1552,1646,105.5,8.8,413,7771,0.00,2.20,12.50,0.623,8452,0.000,0.037,2751,3692,1552,1500,1604,0,0,0,0,0,0,28.83,26.21,25.55
$GC,7799,1.62,275.2,1760,3692,1469,1596,101.0,8.9,415,7818,0.00,2.15,10.52,0.620,9222,0.000,0.028,2761,2299,1512,1459,1565,0,0,0,0,0,0,28.83,26.23,25.46
$GC,8116,1.64,284.2,2760,2299,1458,1559,71.7,8.9,431,8132,0.00,2.17,9.10,0.592,8452,0.000,0.034,2761,3691,1475,1425,1526,0,0,0,0,0,0,28.83,26.21,25.56
$GC,8206,1.66,293.9,2760,3691,1424,1522,63.8,8.9,435,8225,0.00,2.15,10.32,0.582,9222,0.000,0.028,2771,2293,1435,1389,1482,0,0,0,0,0,0,28.83,26.27,25.50
$GC,8524,1.68,302.2,2770,2292,1389,1475,34.5,9.0,459,8539,0.00,2.28,7.78,0.558,8708,0.000,0.044,2781,891,1404,1364,1445,0,0,0,0,0,0,28.83,26.23,25.59
$GC,8652,1.71,311.7,2781,891,1364,1441,23.2,8.9,471,8668,0.00,2.10,10.55,0.536,9222,0.000,0.018,2781,2305,1364,1328,1401,0,0,0,0,0,0,28.83,26.37,25.58
$STATE,8874,end climb,SURFACE_DEPTH_REACHED
$STATE,8874,begin surface coast
$FINISH,0.0,1.023884
$STATE,8908,end surface coast,CONTROL_FINISHED_OK
$STATE,8908,begin surface
$SM_CCo,8925,189.40,0.659,3,0,399,549.47
$SM_CCo,9133,-0.20,0.000,0,0,402,549.47
$SM_CCo,9137,1.10,0.103,0,0,400,549.47
$SM_GC,-23.93,7.55,0.52,1.10,0.070,0.035,0.103,87,1962,400,-10.55,1.22,549.47,0,0,0,0,0,0,26.33,26.37,25.20
$IRIDIUM_FIX,2122.58,12045.91,300313,050513
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.91
$INTERNAL_PRESSURE,9.1948
$TCM_TEMP,20.60
$XPDR_PINGS,0
$SC_FREEKB,3933056
$24V_AH,24.3,39.074
$10V_AH,10.2,20.324
$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,17.075,77.500,468.725,190.500,0.000,0.000,0.000,394.850,0.000,0.000,23.171,2100.984,4594.981,778.251,1813.702,425.625,0.000,2072.990,0.000,1413.915,0.000,1.487,0.000
$DEVICE_MAMPS,201.960,55.080,835.380,658.665,0.000,0.000,0.000,122.400,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8929.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.488,0.000,0.000,0.000
$MEM,324372
$DATA_FILE_SIZE,16811,516
$CAP_FILE_SIZE,414858,2206
$CFSIZE,260034560,223965184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$CURRENT,0.224, 49.6,1
$GPS,300313,081022,2130.143,12012.189,58,0.8,58,-3.0