version: 66.11
glider: 121
mission: 10
dive: 236
start: 3 30 113 8 19 33
data:
$ID,121
$MISSION,10
$DIVE,236
$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,-100793.82
$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,55
$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
$GPS1,300313,081022,2130.143,12012.189,58,0.8,58,-3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-60.0
$GPS2,300313,081905,2130.347,12012.225,17,0.8,18,-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,14.5,78709,-18.5,-9.259,-21.12,2828
$D_GRID,2736
$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,-170.3,87,1951,366,478,0.0,0.0,0,44,0.00,0.00,-23.30,0.000,16386,0.000,0.000,86,1950,1034,1034,1034,0,0,0,0,0,0,28.83,28.83,28.83
$GC,47,-1.35,-170.3,86,1950,1034,1036,3.0,-9.2,3,153,7.80,2.20,-88.82,0.000,18692,0.208,0.042,2090,3378,3336,3245,3427,0,0,0,0,0,0,25.77,26.15,26.46
$GC,362,-1.35,-170.3,2090,3378,3248,3426,31.3,-9.2,48,370,0.00,2.12,0.00,0.000,1030,0.000,0.026,2097,1973,3337,3248,3427,0,0,0,0,0,0,28.83,26.32,28.83
$GC,670,-1.35,-170.3,2097,1974,3249,3426,59.0,-8.9,74,677,0.00,2.12,0.00,0.000,516,0.000,0.040,2107,580,3338,3250,3427,0,0,0,0,0,0,28.83,26.41,28.83
$GC,731,-1.35,-170.3,2107,579,3250,3427,63.4,-9.0,76,739,0.00,2.05,0.00,0.000,1030,0.000,0.015,2099,2002,3338,3250,3426,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1039,-1.35,-170.3,2099,2002,3252,3426,92.4,-9.2,92,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2002,3339,3252,3426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1340,-1.35,-170.3,2099,2004,3253,3426,118.7,-8.7,107,1346,0.00,2.03,0.00,0.000,260,0.000,0.031,2089,3363,3340,3253,3427,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1475,-1.35,-170.3,2089,3363,3253,3426,130.8,-9.0,113,1481,0.00,2.08,0.00,0.000,1030,0.000,0.025,2090,1975,3339,3253,3426,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1796,-1.35,-170.3,2090,1975,3252,3426,159.8,-9.0,129,1797,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,1975,3339,3252,3426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2096,-1.35,-170.3,2090,1975,3252,3422,186.9,-9.3,144,2103,0.00,2.15,0.00,0.000,516,0.000,0.042,2099,567,3336,3251,3422,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2180,-1.35,-170.3,2099,567,3253,3422,193.2,-9.1,147,2188,0.00,2.03,0.00,0.000,1030,0.000,0.016,2091,1976,3337,3253,3422,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2486,-1.35,-170.3,2091,1977,3252,3417,221.8,-8.8,163,2488,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,1977,3334,3251,3418,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2786,-1.35,-170.3,2091,1977,3252,3414,249.1,-8.9,178,2792,0.00,2.05,0.00,0.000,260,0.000,0.033,2081,3353,3332,3252,3413,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2833,-1.35,-170.3,2080,3353,3252,3413,253.5,-9.0,180,2840,0.10,2.10,0.00,0.000,3078,0.159,0.028,2107,1965,3332,3252,3412,0,0,0,0,0,0,26.39,26.58,28.83
$GC,3160,-1.35,-170.3,2107,1965,3250,3409,282.9,-9.3,196,3166,0.00,2.12,0.00,0.000,260,0.000,0.033,2099,3359,3329,3250,3409,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3207,-1.35,-170.3,2099,3359,3249,3408,287.2,-9.3,198,3213,0.00,2.10,0.00,0.000,1030,0.000,0.029,2103,1978,3329,3250,3408,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3532,-1.35,-170.3,2103,1977,3248,3406,315.9,-8.8,214,3539,0.00,2.17,0.00,0.000,516,0.000,0.046,2112,567,3326,3248,3405,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3605,-1.35,-170.3,2112,567,3248,3405,322.0,-9.0,217,3610,0.00,2.03,0.00,0.000,1030,0.000,0.017,2104,1969,3326,3248,3405,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3924,-1.35,-170.3,2103,1969,3244,3403,351.2,-8.4,233,3925,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,1969,3323,3243,3404,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4226,-1.35,-170.3,2103,1970,3242,3402,378.0,-9.2,248,4231,0.00,2.10,0.00,0.000,260,0.000,0.035,2093,3364,3321,3242,3401,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4260,-1.35,-170.3,2093,3364,3242,3401,380.4,-9.4,249,4267,0.00,2.12,0.00,0.000,1030,0.000,0.031,2093,1969,3321,3242,3401,0,0,0,0,0,0,28.83,26.55,28.83
$STATE,4475,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4475,begin apogee
$GC,4481,-0.25,0.0,2092,2299,3241,3399,401.3,-9.1,260,4647,0.77,0.00,155.93,1.012,10246,0.112,0.000,2345,2300,2638,2590,2687,0,0,0,0,1,0,26.29,28.83,24.16
$STATE,4651,end apogee,CONTROL_FINISHED_OK
$STATE,4651,begin climb
$GC,4653,1.35,170.3,2346,2299,2590,2687,386.4,0.0,267,4816,1.00,2.38,148.35,1.115,11012,0.051,0.041,2719,902,1943,1910,1977,0,0,0,0,1,0,25.12,24.65,23.83
$GC,4920,1.36,173.5,2717,903,1910,1977,360.9,9.1,279,4931,0.00,2.15,3.08,0.495,9222,0.000,0.016,2717,2299,1930,1898,1962,0,0,0,0,0,0,28.83,25.58,24.51
$GC,5245,1.37,178.9,2716,2299,1898,1963,331.9,9.1,295,5256,0.00,0.00,8.73,0.811,8198,0.000,0.000,2717,2299,1909,1880,1938,0,0,0,0,0,0,28.83,28.83,25.21
$GC,5546,1.40,187.6,2717,2299,1877,1931,305.2,8.9,310,5563,0.00,2.17,9.65,0.810,8452,0.000,0.035,2717,3702,1871,1845,1897,0,0,0,0,0,0,28.83,26.13,25.34
$GC,5642,1.41,192.2,2716,3702,1845,1894,297.2,9.1,314,5656,0.00,2.15,4.03,0.656,9222,0.000,0.024,2727,2299,1854,1829,1880,0,0,0,0,0,0,28.83,26.20,25.08
$GC,5954,1.41,192.2,2726,2298,1830,1880,269.1,9.3,330,5960,0.00,2.17,0.00,0.000,516,0.000,0.043,2738,899,1854,1829,1880,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6063,1.42,198.9,1712,899,1780,1871,259.5,9.0,335,6080,0.12,2.10,8.93,0.778,13318,0.184,0.017,2709,2312,1824,1797,1852,0,0,0,0,0,0,26.10,26.42,25.46
$GC,6389,1.45,208.9,2708,2312,1797,1847,230.2,8.9,351,6405,0.00,2.20,10.82,0.761,8452,0.000,0.036,2708,3691,1783,1754,1812,0,0,0,0,0,0,28.83,26.22,25.47
$GC,6466,1.47,216.3,2708,3691,1753,1808,224.2,9.0,354,6480,0.00,2.15,7.60,0.752,9222,0.000,0.027,2717,2292,1755,1726,1784,0,0,0,0,0,0,28.83,26.26,25.36
$GC,6777,1.49,223.6,2717,2292,1726,1778,195.1,9.0,370,6790,0.00,2.28,8.02,0.737,8708,0.000,0.044,2729,890,1724,1694,1755,0,0,0,0,0,0,28.83,26.20,25.46
$GC,6892,1.50,228.2,2728,890,1693,1753,185.0,9.1,375,6903,0.00,2.10,3.85,0.591,9222,0.000,0.018,2728,2299,1708,1676,1740,0,0,0,0,0,0,28.83,26.34,25.20
$GC,7212,1.53,243.0,2728,2299,1676,1740,156.1,8.7,391,7236,0.00,2.22,17.12,0.689,8452,0.000,0.037,2728,3688,1644,1598,1691,0,0,0,0,0,0,28.83,26.15,25.46
$GC,7379,1.55,250.5,1728,3687,1559,1678,142.2,9.0,398,7392,0.00,2.15,7.57,0.685,9222,0.000,0.028,2738,2295,1615,1567,1664,0,0,0,0,0,0,28.83,26.25,25.41
$GC,7714,1.57,255.8,2738,2294,1565,1658,110.6,9.1,415,7725,0.00,2.22,4.05,0.564,8708,0.000,0.046,2748,886,1597,1548,1646,0,0,0,0,0,0,28.83,26.28,25.28
$GC,7864,1.59,265.8,2748,886,1548,1647,96.8,8.9,422,7887,0.00,2.12,13.35,0.640,9222,0.000,0.018,2749,2305,1550,1498,1603,0,0,0,0,0,0,28.83,26.41,25.53
$GC,8185,1.61,272.9,2748,2305,1498,1598,68.2,9.0,438,8194,0.00,0.00,7.35,0.620,8198,0.000,0.000,2749,2305,1526,1474,1579,0,0,0,0,0,0,28.83,28.83,25.56
$GC,8487,1.63,280.9,2748,2305,1470,1572,41.1,9.0,457,8503,0.00,0.00,9.05,0.591,8198,0.000,0.000,2749,2305,1488,1437,1540,0,0,0,0,0,0,28.83,28.83,25.61
$GC,8816,1.65,289.1,1712,2304,1409,1529,10.9,9.0,503,8832,0.00,2.25,8.48,0.565,8708,0.000,0.041,2759,887,1456,1406,1506,0,0,0,0,0,0,28.83,26.29,25.64
$STATE,8906,end climb,SURFACE_DEPTH_REACHED
$STATE,8906,begin surface coast
$FINISH,0.0,1.025042
$STATE,8939,end surface coast,CONTROL_FINISHED_OK
$STATE,8940,begin surface
$SM_CCo,8958,216.45,0.714,3,0,399,549.47
$SM_CCo,9193,-0.12,0.000,0,0,401,549.47
$SM_CCo,9197,2.95,0.362,0,0,399,549.47
$SM_GC,-23.93,7.53,1.67,2.95,0.072,0.015,0.362,83,1986,399,-10.56,-1.41,549.47,0,0,0,0,0,0,26.36,26.45,24.60
$IRIDIUM_FIX,2120.26,12012.55,300313,050511
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.17
$INTERNAL_PRESSURE,9.1362
$TCM_TEMP,19.40
$XPDR_PINGS,0
$SC_FREEKB,3932672
$24V_AH,23.8,39.244
$10V_AH,10.1,20.389
$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,17.325,68.550,435.950,219.400,0.000,0.000,0.000,320.250,0.000,0.000,19.169,2046.201,4772.743,778.984,1683.115,418.552,0.000,1971.570,0.000,1397.659,0.000,1.487,0.000
$DEVICE_MAMPS,208.080,45.900,1114.605,713.745,0.000,0.000,0.000,132.345,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8952.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.488,0.000,0.000,0.000
$MEM,324408
$DATA_FILE_SIZE,20036,524
$CAP_FILE_SIZE,399497,2099
$CFSIZE,260034560,223866880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,1,0
$CURRENT,0.225, 42.0,1
$GPS,300313,105436,2132.019,12013.297,63,1.4,63,-3.0