version: 66.11
glider: 121
mission: 10
dive: 239
start: 3 30 113 16 30 29
data:
$ID,121
$MISSION,10
$DIVE,239
$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,-100797.59
$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,34
$R_STBD_OVSHOOT,63
$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
$GPS1,300313,162227,2134.687,12014.119,214,1.5,215,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-62.1
$GPS2,300313,163001,2134.692,12014.056,20,1.5,21,-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,56.7,70179,-18.5,-9.259,-21.12,2828
$D_GRID,2615
$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,-170.3,80,2004,340,471,0.0,0.0,0,43,0.00,0.00,-22.92,0.000,16386,0.000,0.000,80,2004,1004,990,1018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.35,-170.3,79,2004,992,1019,3.0,-9.1,3,162,7.97,2.35,-98.07,0.000,18948,0.215,0.055,2108,563,3338,3244,3432,0,0,0,0,0,0,25.70,26.10,26.46
$GC,187,-1.35,-170.3,1248,563,3219,3427,16.0,-8.9,22,195,0.00,2.08,0.00,0.000,1030,0.000,0.015,2101,1977,3339,3247,3431,0,0,0,0,0,0,28.83,26.22,28.83
$GC,506,-1.35,-170.3,2099,1978,3249,3431,44.9,-9.1,61,513,0.00,2.20,0.00,0.000,516,0.000,0.040,2107,566,3340,3249,3431,0,0,0,0,0,0,28.83,26.32,28.83
$GC,617,-1.35,-170.3,2107,566,3250,3431,54.9,-9.1,69,624,0.00,2.05,0.00,0.000,1030,0.000,0.016,2099,1982,3340,3250,3431,0,0,0,0,0,0,28.83,26.45,28.83
$GC,943,-1.35,-170.3,2099,1983,3253,3431,84.4,-8.9,85,948,0.00,2.05,0.00,0.000,260,0.000,0.031,2088,3362,3341,3252,3430,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1118,-1.35,-170.3,1280,3360,3226,3427,99.9,-8.9,93,1124,0.00,2.10,0.00,0.000,1030,0.000,0.027,2093,1961,3342,3253,3431,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1439,-1.35,-170.3,2092,1961,3253,3430,128.9,-9.0,109,1445,0.00,2.12,0.00,0.000,516,0.000,0.042,2102,566,3341,3253,3430,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1599,-1.35,-170.3,2102,565,3253,3431,142.3,-8.9,116,1606,0.00,2.05,0.00,0.000,1030,0.000,0.016,2094,1990,3341,3253,3430,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1915,-1.35,-170.3,2094,1990,3252,3430,171.7,-9.0,132,1921,0.00,2.05,0.00,0.000,260,0.000,0.032,2084,3368,3341,3253,3429,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1995,-1.35,-170.3,2083,3369,3253,3428,177.9,-8.9,135,2000,0.00,2.10,0.00,0.000,1030,0.000,0.028,2085,1970,3340,3253,3428,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2309,-1.35,-170.3,2085,1970,3253,3426,207.7,-9.7,151,2310,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,1970,3339,3253,3426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2610,-1.35,-170.3,2085,1970,3253,3422,234.8,-9.3,166,2616,0.00,2.12,0.00,0.000,260,0.000,0.032,2076,3364,3337,3253,3422,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2707,-1.35,-170.3,2076,3364,3253,3421,242.8,-9.1,170,2714,0.10,2.10,0.00,0.000,3078,0.162,0.028,2103,1971,3337,3253,3421,0,0,0,0,0,0,26.37,26.56,28.83
$GC,3022,-1.35,-170.3,2102,1971,3252,3417,272.6,-9.4,186,3028,0.00,2.15,0.00,0.000,516,0.000,0.044,2113,573,3335,3253,3417,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3120,-1.35,-170.3,2113,574,3253,3417,280.3,-8.8,190,3127,0.00,2.03,0.00,0.000,1030,0.000,0.016,2104,1972,3334,3253,3416,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3437,-1.35,-170.3,2104,1972,3252,3413,309.5,-9.2,206,3443,0.00,2.08,0.00,0.000,260,0.000,0.034,2094,3357,3332,3252,3412,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3494,-1.35,-170.3,2094,3357,3252,3411,313.9,-9.1,208,3500,0.00,2.10,0.00,0.000,1030,0.000,0.030,2097,1971,3331,3252,3411,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3809,-1.35,-170.3,2096,1971,3249,3409,343.1,-8.9,224,3816,0.00,2.17,0.00,0.000,516,0.000,0.047,2106,566,3329,3249,3409,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3912,-1.35,-170.3,2106,567,3249,3409,351.1,-9.0,228,3920,0.00,2.05,0.00,0.000,1030,0.000,0.017,2098,1973,3328,3248,3408,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4218,-1.35,-170.3,2098,1973,3248,3407,380.3,-8.9,244,4224,0.00,2.10,0.00,0.000,260,0.000,0.035,2088,3367,3326,3247,3406,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4275,-1.35,-170.3,2088,3367,3246,3406,384.6,-9.2,246,4281,0.00,2.12,0.00,0.000,1030,0.000,0.031,2088,1971,3326,3246,3406,0,0,0,0,0,0,28.83,26.54,28.83
$STATE,4447,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4447,begin apogee
$GC,4454,-0.25,0.0,2087,2313,3244,3405,400.9,-9.0,255,4618,0.80,0.00,156.43,0.884,10246,0.116,0.000,2347,2313,2631,2583,2680,0,0,0,0,0,0,26.27,28.83,24.39
$STATE,4621,end apogee,CONTROL_FINISHED_OK
$STATE,4621,begin climb
$GC,4623,1.35,170.3,2347,2313,2579,2676,386.7,0.0,262,4792,1.00,2.22,158.40,0.868,10500,0.056,0.034,2705,3682,1936,1905,1967,0,0,0,0,0,0,25.23,24.91,24.25
$GC,5034,1.38,181.8,2705,3681,1902,1945,350.5,8.8,280,5044,0.00,2.15,4.12,0.629,9222,0.000,0.026,2715,2298,1897,1873,1921,0,0,0,0,0,0,28.83,25.96,24.87
$GC,5341,1.42,198.9,2715,2299,1873,1927,321.2,8.6,296,5370,0.00,2.20,22.90,0.797,8452,0.000,0.031,2715,3693,1820,1793,1848,0,0,0,0,0,0,28.83,25.89,25.18
$GC,5453,1.45,207.1,2715,3692,1789,1839,311.2,9.0,301,5461,0.00,2.17,3.20,0.494,9222,0.000,0.026,2725,2294,1794,1768,1821,0,0,0,0,0,0,28.83,26.05,24.92
$GC,5780,1.45,207.1,2725,2294,1767,1826,281.3,9.3,317,5786,0.00,2.20,0.00,0.000,516,0.000,0.044,2736,889,1797,1767,1827,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5956,1.45,210.4,2738,889,1767,1827,265.8,9.1,325,5968,0.00,2.10,4.00,0.607,9222,0.000,0.018,2736,2298,1780,1750,1811,0,0,0,0,0,0,28.83,26.40,25.20
$GC,6277,1.46,212.4,2736,2298,1750,1817,236.5,9.2,341,6282,0.00,0.00,3.95,0.600,8198,0.000,0.000,2736,2298,1773,1743,1804,0,0,0,0,0,0,28.83,28.83,25.25
$GC,6578,1.48,220.9,2736,2298,1743,1806,209.3,8.9,356,6601,0.00,2.20,12.62,0.726,8452,0.000,0.037,2736,3691,1734,1702,1766,0,0,0,0,0,0,28.83,26.26,25.53
$GC,6842,1.50,227.6,2734,3691,1702,1762,185.5,9.0,368,6853,0.00,2.12,5.28,0.688,9222,0.000,0.027,2746,2300,1712,1679,1746,0,0,0,0,0,0,28.83,26.36,25.43
$GC,7162,1.51,234.1,2745,2300,1679,1746,156.3,9.0,384,7179,0.00,2.25,9.32,0.685,8708,0.000,0.045,2756,902,1680,1645,1716,0,0,0,0,0,0,28.83,26.27,25.56
$GC,7260,1.53,239.6,2756,903,1645,1713,148.3,9.1,388,7274,0.12,2.08,4.12,0.584,13318,0.183,0.018,2727,2301,1661,1621,1702,0,0,0,0,0,0,26.06,26.37,25.26
$GC,7572,1.55,249.2,2727,2301,1621,1702,119.1,8.9,404,7589,0.00,2.22,12.30,0.646,8452,0.000,0.037,2727,3695,1618,1570,1667,0,0,0,0,0,0,28.83,26.24,25.56
$GC,7662,1.58,262.1,1760,3694,1536,1657,111.4,8.8,408,7682,0.00,2.15,13.27,0.641,9222,0.000,0.028,2736,2298,1567,1514,1621,0,0,0,0,0,0,28.83,26.27,25.44
$GC,7980,1.61,273.2,2736,2298,1513,1613,83.0,8.9,424,7997,0.00,2.25,11.50,0.621,8452,0.000,0.034,2736,3689,1520,1467,1574,0,0,0,0,0,0,28.83,26.18,25.52
$GC,8026,1.63,281.2,2736,3688,1466,1571,78.9,9.0,426,8043,0.00,2.15,8.43,0.620,9222,0.000,0.028,2746,2295,1488,1436,1540,0,0,0,0,0,0,28.83,26.20,25.43
$GC,8352,1.68,301.4,2746,2295,1435,1533,49.8,8.5,442,8379,0.00,2.30,20.50,0.584,8708,0.000,0.044,2757,886,1405,1361,1449,0,0,0,0,0,0,28.83,26.07,25.46
$GC,8494,1.69,304.1,2756,886,1361,1443,37.0,9.2,454,8500,0.00,2.12,0.00,0.000,1030,0.000,0.018,2757,2300,1402,1361,1443,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8821,1.69,304.1,1696,2298,1336,1435,7.9,9.5,501,8828,0.00,2.22,0.00,0.000,516,0.000,0.042,2766,885,1400,1360,1440,0,0,0,0,0,0,28.83,26.30,28.83
$STATE,8874,end climb,SURFACE_DEPTH_REACHED
$STATE,8874,begin surface coast
$FINISH,0.0,1.024586
$STATE,8909,end surface coast,CONTROL_FINISHED_OK
$STATE,8909,begin surface
$SM_CCo,8927,206.85,0.714,3,0,400,549.47
$SM_CCo,9152,-0.05,0.000,0,0,401,549.47
$SM_CCo,9156,2.00,0.147,0,0,401,549.47
$SM_GC,-23.93,7.50,1.67,2.00,0.069,0.015,0.147,82,1989,401,-10.57,-1.41,549.47,0,0,0,0,0,0,26.39,26.47,23.64
$IRIDIUM_FIX,2127.21,12013.72,300313,131325
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.34
$INTERNAL_PRESSURE,9.1655
$TCM_TEMP,20.10
$XPDR_PINGS,1
$SC_FREEKB,3931648
$24V_AH,23.6,39.726
$10V_AH,10.1,20.583
$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,17.500,81.475,450.350,208.850,0.000,0.000,0.000,255.175,0.250,0.000,21.706,2181.734,4440.440,783.451,1741.953,440.547,0.000,2017.251,0.000,1530.011,0.000,1.486,0.000
$DEVICE_MAMPS,214.965,55.080,884.340,713.745,0.000,0.000,0.000,130.815,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8919.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.487,0.000,0.000,0.000
$MEM,324356
$DATA_FILE_SIZE,20102,516
$CAP_FILE_SIZE,428733,2345
$CFSIZE,260034560,223494144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$CURRENT,0.154,324.3,1
$GPS,300313,190534,2135.805,12014.186,107,1.5,107,-3.0