version: 66.11
glider: 121
mission: 10
dive: 240
start: 3 30 113 19 13 40
data:
$ID,121
$MISSION,10
$DIVE,240
$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,-100798.84
$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,35
$R_STBD_OVSHOOT,59
$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
$GPS1,300313,190534,2135.805,12014.186,107,1.5,107,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-59.9
$GPS2,300313,191312,2135.778,12014.117,23,1.0,24,-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,71.2,68409,-18.5,-9.259,-21.12,2828
$D_GRID,2352
$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,15,begin dive
$GC,18,-1.35,-170.3,80,2012,341,465,0.0,0.0,0,43,0.00,0.00,-23.10,0.000,16386,0.000,0.000,80,2011,1003,996,1010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.35,-170.3,80,2012,996,1012,3.1,-9.2,3,162,7.88,2.28,-96.20,0.000,18948,0.210,0.051,2110,563,3336,3245,3428,0,0,0,0,0,0,25.74,26.13,26.47
$GC,278,-1.35,-170.3,1248,562,3220,3424,24.4,-9.8,39,286,0.00,2.08,0.00,0.000,1030,0.000,0.015,2102,1988,3338,3248,3428,0,0,0,0,0,0,28.83,26.31,28.83
$GC,595,-1.35,-170.3,2101,1989,3250,3427,52.7,-9.4,70,601,0.00,2.20,0.00,0.000,516,0.000,0.038,2110,567,3338,3250,3427,0,0,0,0,0,0,28.83,26.36,28.83
$GC,608,-1.35,-170.3,2109,567,3250,3427,52.7,-9.4,70,613,0.00,2.05,0.00,0.000,1030,0.000,0.015,2101,1987,3339,3250,3428,0,0,0,0,0,0,28.83,26.46,28.83
$GC,922,-1.35,-170.3,2101,1987,3253,3428,82.0,-9.0,86,929,0.00,2.05,0.00,0.000,260,0.000,0.031,2091,3365,3340,3253,3428,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1075,-1.35,-170.3,2090,3366,3253,3427,95.5,-8.9,93,1082,0.00,2.10,0.00,0.000,1030,0.000,0.026,2094,1963,3340,3253,3428,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1401,-1.35,-170.3,2093,1962,3253,3427,124.8,-9.1,109,1406,0.00,2.12,0.00,0.000,516,0.000,0.041,2103,567,3340,3253,3427,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1472,-1.35,-170.3,2103,567,3253,3427,130.9,-9.0,112,1479,0.00,2.03,0.00,0.000,1030,0.000,0.016,2095,1975,3340,3253,3427,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1793,-1.35,-170.3,2094,1976,3253,3427,160.8,-8.8,128,1798,0.00,2.05,0.00,0.000,260,0.000,0.031,2084,3357,3340,3253,3427,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1963,-1.35,-170.3,1248,3356,3226,3422,176.0,-8.9,136,1969,0.00,2.08,0.00,0.000,1030,0.000,0.026,2085,1968,3339,3253,3426,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2289,-1.35,-170.3,2085,1968,3253,3423,204.9,-8.6,152,2294,0.00,2.12,0.00,0.000,516,0.000,0.042,2095,577,3337,3253,3422,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2361,-1.35,-170.3,2094,577,3253,3422,211.1,-9.1,155,2366,0.00,2.03,0.00,0.000,1030,0.000,0.015,2087,1981,3337,3253,3422,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2680,-1.35,-170.3,2086,1982,3253,3419,240.1,-9.1,171,2687,0.00,2.05,0.00,0.000,260,0.000,0.033,2076,3357,3335,3252,3418,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2811,-1.35,-170.3,2075,3357,3253,3416,251.9,-9.0,177,2819,0.12,2.10,0.00,0.000,3078,0.148,0.028,2111,1967,3334,3253,3416,0,0,0,0,0,0,26.36,26.58,28.83
$GC,3138,-1.35,-170.3,2111,1967,3252,3414,281.8,-9.4,193,3144,0.00,2.15,0.00,0.000,516,0.000,0.044,2121,569,3332,3252,3413,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3209,-1.35,-170.3,2121,569,3254,3413,287.8,-9.0,196,3215,0.00,2.05,0.00,0.000,1030,0.000,0.016,2112,1977,3332,3252,3413,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3530,-1.35,-170.3,2112,1981,3250,3409,317.0,-8.9,212,3536,0.00,2.08,0.00,0.000,260,0.000,0.034,2103,3362,3329,3250,3409,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3590,-1.35,-170.3,2102,3362,3249,3408,321.3,-9.0,214,3598,0.00,2.10,0.00,0.000,1030,0.000,0.029,2105,1974,3328,3249,3408,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3897,-1.35,-170.3,2105,1974,3248,3407,350.1,-8.9,230,3903,0.00,2.17,0.00,0.000,516,0.000,0.046,2115,567,3327,3248,3407,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3933,-1.35,-170.3,2115,567,3248,3406,352.4,-9.1,231,3939,0.00,2.05,0.00,0.000,1030,0.000,0.017,2106,1977,3327,3248,3406,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4247,-1.35,-170.3,2106,1977,3244,3405,381.8,-9.0,247,4249,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,1977,3324,3245,3404,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4467,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4467,begin apogee
$GC,4472,-0.25,0.0,2104,2311,3243,3403,401.4,-8.8,258,4632,0.73,0.00,151.70,0.878,10246,0.109,0.000,2344,2312,2632,2583,2681,0,0,0,0,0,0,26.29,28.83,24.44
$STATE,4634,end apogee,CONTROL_FINISHED_OK
$STATE,4634,begin climb
$GC,4636,1.35,170.3,2342,2311,2579,2678,386.5,0.0,265,4803,1.00,2.22,156.75,0.855,10500,0.057,0.035,2703,3683,1935,1903,1967,0,0,0,0,0,0,25.24,24.96,24.29
$GC,4978,1.36,173.5,2702,3683,1902,1947,355.4,9.1,280,4984,0.00,2.15,0.00,0.000,1030,0.000,0.025,2712,2301,1924,1902,1947,0,0,0,0,0,0,28.83,25.85,28.83
$GC,5298,1.37,176.4,2712,2301,1901,1944,326.5,9.2,296,5305,0.00,2.20,0.00,0.000,516,0.000,0.043,2723,895,1922,1901,1944,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5328,1.37,178.2,2723,895,1899,1943,324.0,9.2,297,5335,0.12,2.08,0.00,0.000,5126,0.179,0.017,2694,2297,1921,1899,1944,0,0,0,0,0,0,25.99,26.29,28.83
$GC,5650,1.38,181.4,2694,2297,1899,1941,294.4,9.1,313,5662,0.00,2.20,2.83,0.398,8452,0.000,0.035,2694,3698,1899,1876,1923,0,0,0,0,0,0,28.83,26.35,25.15
$GC,5729,1.42,195.9,2694,3698,1876,1929,288.3,8.7,316,5757,0.00,2.12,21.08,0.782,9222,0.000,0.025,2703,2300,1833,1805,1861,0,0,0,0,0,0,28.83,26.37,25.36
$GC,6070,1.43,202.8,2702,2300,1799,1848,256.9,9.0,333,6077,0.00,2.22,1.50,0.062,8452,0.000,0.034,2703,3684,1810,1784,1837,0,0,0,0,0,0,28.83,26.27,26.14
$GC,6140,1.44,206.2,2703,3684,1784,1840,250.6,9.1,336,6152,0.00,2.12,4.80,0.685,9222,0.000,0.027,2713,2297,1798,1771,1826,0,0,0,0,0,0,28.83,26.33,25.27
$GC,6462,1.46,212.1,2713,2297,1771,1829,221.7,9.0,352,6478,0.00,2.20,9.65,0.734,8708,0.000,0.043,2723,897,1771,1740,1802,0,0,0,0,0,0,28.83,26.24,25.53
$GC,6597,1.47,216.9,2723,897,1740,1800,209.8,9.1,358,6609,0.00,2.10,4.15,0.623,9222,0.000,0.018,2723,2305,1753,1723,1784,0,0,0,0,0,0,28.83,26.37,25.24
$GC,6918,1.48,222.8,2723,2305,1723,1784,179.9,9.0,374,6935,0.00,2.17,8.35,0.707,8452,0.000,0.037,2724,3683,1726,1693,1759,0,0,0,0,0,0,28.83,26.29,25.52
$GC,7120,1.50,230.0,2723,3683,1693,1755,162.8,9.0,383,7133,0.00,2.12,7.50,0.693,9222,0.000,0.028,2734,2294,1699,1665,1733,0,0,0,0,0,0,28.83,26.36,25.51
$GC,7431,1.52,238.3,2733,2294,1664,1729,133.9,9.0,399,7442,0.00,0.00,9.23,0.668,8198,0.000,0.000,2733,2294,1666,1627,1705,0,0,0,0,0,0,28.83,28.83,25.56
$GC,7732,1.53,241.5,2733,2294,1613,1702,106.8,9.1,414,7738,0.00,2.17,0.00,0.000,516,0.000,0.044,2744,897,1657,1613,1702,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7789,1.55,248.3,2744,897,1613,1702,102.4,9.0,416,7803,0.00,2.10,9.77,0.637,9222,0.000,0.018,2744,2311,1626,1577,1675,0,0,0,0,0,0,28.83,26.45,25.59
$GC,8100,1.58,262.3,2745,2311,1572,1666,73.4,8.8,432,8119,0.00,0.00,14.27,0.607,8198,0.000,0.000,2744,2311,1565,1513,1618,0,0,0,0,0,0,28.83,28.83,25.58
$GC,8420,1.63,282.0,2744,2310,1511,1612,44.9,8.5,450,8446,0.00,2.35,19.95,0.574,8708,0.000,0.043,2754,892,1484,1432,1536,0,0,0,0,0,0,28.83,26.14,25.54
$GC,8637,1.65,290.5,2754,891,1431,1529,25.5,9.0,469,8651,0.00,2.10,8.15,0.569,9222,0.000,0.018,2754,2302,1452,1403,1502,0,0,0,0,0,0,28.83,26.34,25.53
$STATE,8884,end climb,SURFACE_DEPTH_REACHED
$STATE,8884,begin surface coast
$FINISH,0.0,1.024438
$STATE,8918,end surface coast,CONTROL_FINISHED_OK
$STATE,8918,begin surface
$SM_CCo,8936,212.70,0.713,2,0,399,549.47
$SM_CCo,9162,-0.12,0.000,0,0,402,549.47
$SM_CCo,9165,1.00,0.096,0,0,399,549.47
$SM_GC,-23.93,7.50,0.52,1.00,0.071,0.035,0.096,89,1963,399,-10.53,1.19,549.47,0,0,0,0,0,0,26.35,26.38,25.10
$IRIDIUM_FIX,2124.90,12016.89,300313,161637
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.09
$INTERNAL_PRESSURE,9.1655
$TCM_TEMP,20.00
$XPDR_PINGS,2
$SC_FREEKB,3931264
$24V_AH,24.3,39.875
$10V_AH,10.2,20.650
$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,17.350,77.550,429.675,213.700,0.000,0.000,0.000,254.425,0.500,0.000,25.134,2116.595,4600.351,769.366,1682.889,431.050,0.000,1942.668,0.000,1442.526,0.000,1.486,0.000
$DEVICE_MAMPS,209.610,51.255,878.220,712.980,0.000,0.000,0.000,133.110,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8926.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.535,0.000,0.000,0.000
$MEM,324384
$DATA_FILE_SIZE,16797,518
$CAP_FILE_SIZE,413704,2224
$CFSIZE,260034560,223387648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.093, 67.5,1
$GPS,300313,214849,2136.181,12015.444,102,1.8,102,-3.0