version: 66.11
glider: 121
mission: 10
dive: 241
start: 3 30 113 21 56 29
data:
$ID,121
$MISSION,10
$DIVE,241
$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,-100800.1
$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
$GPS1,300313,214849,2136.181,12015.444,102,1.8,102,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-63.8
$GPS2,300313,215601,2136.166,12015.434,23,1.8,24,-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,20.0,66625,-18.5,-9.259,-21.12,2828
$D_GRID,2300
$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,-170.3,87,1954,348,478,0.0,0.0,0,43,0.00,0.00,-23.10,0.000,16386,0.000,0.000,87,1954,1017,1008,1027,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.35,-170.3,88,1954,1008,1028,3.2,-9.2,3,151,7.75,0.00,-91.93,0.000,19206,0.206,0.000,2103,1956,3337,3245,3429,0,0,0,0,0,0,25.70,28.83,26.46
$GC,471,-1.35,-170.3,2103,1956,3249,3429,41.4,-8.6,60,477,0.00,2.12,0.00,0.000,516,0.000,0.041,2113,578,3339,3249,3429,0,0,0,0,0,0,28.83,26.32,28.83
$GC,534,-1.35,-170.3,2112,578,3249,3429,46.8,-9.1,65,542,0.00,2.05,0.00,0.000,1030,0.000,0.015,2105,1995,3339,3249,3429,0,0,0,0,0,0,28.83,26.44,28.83
$GC,852,-1.35,-170.3,2105,1996,3252,3429,75.8,-9.2,83,858,0.00,2.20,0.00,0.000,516,0.000,0.038,2110,571,3340,3252,3429,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1096,-1.35,-170.3,2109,570,3253,3429,97.3,-9.1,94,1102,0.00,2.03,0.00,0.000,1030,0.000,0.015,2101,1981,3341,3254,3429,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1411,-1.35,-170.3,2101,1981,3254,3429,127.0,-9.3,110,1412,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,1981,3341,3254,3429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1714,-1.35,-170.3,2101,1981,3254,3429,153.5,-8.9,125,1720,0.00,2.17,0.00,0.000,516,0.000,0.039,2105,567,3341,3254,3429,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1765,-1.35,-170.3,1264,567,3227,3426,158.0,-8.9,127,1771,0.00,2.03,0.00,0.000,1030,0.000,0.015,2096,1978,3342,3255,3429,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2085,-1.35,-170.3,2096,1980,3254,3427,186.6,-9.0,143,2091,0.00,2.05,0.00,0.000,260,0.000,0.032,2086,3359,3340,3253,3427,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2170,-1.35,-170.3,2086,3359,3254,3425,192.9,-9.0,146,2178,0.00,2.08,0.00,0.000,1030,0.000,0.028,2086,1978,3339,3254,3425,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2474,-1.35,-170.3,2086,1978,3254,3422,221.8,-9.2,162,2475,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,1978,3337,3253,3422,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2776,-1.35,-170.3,2086,1978,3253,3417,248.8,-8.9,177,2781,0.00,2.17,0.00,0.000,516,0.000,0.044,2095,567,3335,3254,3417,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2838,-1.35,-170.3,1280,567,3228,3413,253.2,-9.1,179,2846,0.00,2.03,0.00,0.000,1030,0.000,0.016,2087,1973,3335,3254,3416,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3145,-1.35,-170.3,2087,1974,3253,3413,282.1,-8.9,195,3151,0.00,2.08,0.00,0.000,260,0.000,0.033,2076,3357,3333,3253,3413,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3278,-1.35,-170.3,1256,3356,3226,3407,293.7,-9.1,201,3285,0.12,2.10,0.00,0.000,3078,0.152,0.029,2110,1971,3331,3251,3411,0,0,0,0,0,0,26.34,26.57,28.83
$GC,3600,-1.35,-170.3,2110,1970,3251,3408,323.1,-8.8,217,3601,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,1971,3329,3251,3408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3901,-1.35,-170.3,2110,1971,3248,3407,349.7,-9.1,232,3902,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,1971,3327,3248,3407,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4201,-1.35,-170.3,2110,1971,3247,3404,377.3,-9.2,247,4202,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,1971,3325,3246,3404,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4456,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4456,begin apogee
$GC,4462,-0.25,0.0,2109,2298,3243,3402,401.2,-9.2,260,4627,0.70,0.00,153.32,1.004,10246,0.109,0.000,2342,2299,2639,2591,2687,0,0,0,0,1,0,26.27,28.83,24.18
$STATE,4631,end apogee,CONTROL_FINISHED_OK
$STATE,4631,begin climb
$GC,4633,1.35,170.3,2341,2299,2591,2687,387.1,0.0,267,4803,1.00,2.25,157.82,0.868,10500,0.054,0.034,2701,3678,1934,1904,1964,0,0,0,0,0,0,25.13,24.89,24.21
$GC,4955,1.37,175.9,2700,3678,1901,1944,358.1,9.1,281,4961,0.00,2.15,0.00,0.000,1030,0.000,0.025,2710,2301,1923,1902,1944,0,0,0,0,0,0,28.83,25.77,28.83
$GC,5270,1.40,188.8,2710,2301,1902,1940,329.0,8.8,297,5291,0.00,0.00,15.02,0.797,8198,0.000,0.000,2710,2301,1863,1840,1886,0,0,0,0,0,0,28.83,28.83,25.24
$GC,5590,1.42,199.0,2710,2301,1836,1876,299.5,8.9,313,5606,0.00,2.22,8.62,0.772,8452,0.000,0.034,2710,3684,1822,1797,1848,0,0,0,0,0,0,28.83,26.15,25.36
$GC,5648,1.44,205.6,1760,3683,1756,1837,295.4,9.0,315,5658,0.00,2.15,5.00,0.715,9222,0.000,0.027,2720,2296,1801,1775,1827,0,0,0,0,0,0,28.83,26.20,25.11
$GC,5955,1.49,224.3,2719,2296,1774,1826,267.2,8.6,331,5982,0.00,2.25,21.40,0.757,8452,0.000,0.034,2720,3680,1721,1690,1752,0,0,0,0,0,0,28.83,26.01,25.32
$GC,6032,1.50,229.7,2719,3680,1688,1748,261.3,9.1,334,6045,0.00,2.15,3.88,0.607,9222,0.000,0.027,2730,2293,1702,1670,1734,0,0,0,0,0,0,28.83,26.08,25.05
$GC,6343,1.53,241.3,2729,2294,1670,1734,231.8,8.8,350,6363,0.00,0.00,14.02,0.731,8198,0.000,0.000,2730,2293,1650,1606,1695,0,0,0,0,0,0,28.83,28.83,25.38
$GC,6664,1.58,259.5,2729,2293,1603,1689,203.3,8.6,366,6688,0.00,2.30,18.25,0.707,8708,0.000,0.045,2740,892,1577,1526,1628,0,0,0,0,0,0,28.83,26.04,25.38
$GC,6809,1.58,262.6,2740,891,1525,1621,191.0,9.1,372,6817,0.00,2.10,0.00,0.000,1030,0.000,0.018,2740,2289,1573,1526,1621,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7117,1.59,266.4,2741,2290,1525,1618,161.6,9.1,388,7123,0.00,0.00,4.88,0.636,8198,0.000,0.000,2740,2289,1552,1502,1603,0,0,0,0,0,0,28.83,28.83,25.31
$GC,7418,1.60,267.2,2740,2290,1502,1603,134.0,9.2,403,7424,0.00,2.15,0.00,0.000,260,0.000,0.037,2741,3694,1552,1502,1603,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7458,1.60,269.9,2740,3694,1502,1603,131.5,9.2,404,7468,0.00,2.15,4.50,0.587,9222,0.000,0.028,2750,2293,1538,1486,1591,0,0,0,0,0,0,28.83,26.39,25.34
$GC,7765,1.62,278.2,2750,2293,1487,1592,102.6,9.0,420,7782,0.00,2.28,11.73,0.609,8708,0.000,0.044,2761,891,1500,1446,1554,0,0,0,0,0,0,28.83,26.27,25.62
$GC,7854,1.63,281.9,2761,891,1446,1550,94.6,9.1,424,7860,0.00,2.12,0.00,0.000,1030,0.000,0.018,2761,2307,1498,1447,1549,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8180,1.65,288.0,2761,2308,1446,1547,65.0,9.0,440,8196,0.00,2.12,10.07,0.569,8452,0.000,0.036,2761,3691,1458,1408,1509,0,0,0,0,0,0,28.83,26.31,25.65
$GC,8290,1.67,298.5,2760,3691,1409,1506,55.5,8.9,445,8307,0.00,2.12,10.70,0.558,9222,0.000,0.027,2771,2298,1420,1373,1467,0,0,0,0,0,0,28.83,26.34,25.59
$GC,8617,1.71,312.8,2771,2298,1372,1456,26.2,8.7,474,8635,0.00,0.00,14.25,0.522,8710,0.000,0.000,2771,2298,1359,1324,1394,0,0,0,0,0,0,28.83,28.83,25.62
$STATE,8872,end climb,SURFACE_DEPTH_REACHED
$STATE,8872,begin surface coast
$FINISH,0.0,1.022996
$STATE,8908,end surface coast,CONTROL_FINISHED_OK
$STATE,8908,begin surface
$SM_CCo,8925,176.82,0.663,1,0,399,549.47
$SM_CCo,9110,-0.25,0.000,0,0,401,549.47
$SM_CCo,9114,0.08,0.171,0,0,401,549.47
$SM_GC,-23.93,7.45,0.50,0.08,0.063,0.042,0.171,83,1953,401,-10.57,0.90,549.47,0,0,0,0,0,0,26.36,26.40,25.25
$IRIDIUM_FIX,2127.21,12011.72,300313,191947
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.38
$INTERNAL_PRESSURE,9.21433
$TCM_TEMP,21.00
$XPDR_PINGS,0
$SC_FREEKB,3930880
$24V_AH,24.2,40.024
$10V_AH,10.2,20.713
$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,17.025,56.600,453.475,176.900,0.000,0.000,0.000,229.325,0.000,0.000,25.321,2010.913,4800.402,726.895,1568.616,416.035,0.000,1824.210,0.000,1360.491,0.000,1.487,0.000
$DEVICE_MAMPS,205.785,45.135,1004.445,663.255,0.000,0.000,0.000,131.580,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8920.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.535,0.000,0.000,0.000
$MEM,324428
$DATA_FILE_SIZE,16839,524
$CAP_FILE_SIZE,389550,2053
$CFSIZE,260034560,223297536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.175,350.5,1
$GPS,310313,002929,2137.808,12015.536,25,0.9,25,-3.0