version: 66.11
glider: 121
mission: 10
dive: 243
start: 3 31 113 3 19 33
data:
$ID,121
$MISSION,10
$DIVE,243
$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,-100802.62
$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,49
$R_STBD_OVSHOOT,53
$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
$GPS1,310313,031136,2138.817,12015.839,64,1.0,64,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-63.7
$GPS2,310313,031906,2138.820,12015.692,21,1.0,21,-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,67.9,62200,-18.5,-9.259,-21.12,2828
$D_GRID,2156
$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,-170.3,82,1940,363,482,0.0,0.0,0,44,0.00,0.00,-23.58,0.000,16386,0.000,0.000,82,1941,1043,1034,1053,0,0,0,0,0,0,28.83,28.83,28.83
$GC,47,-1.35,-170.3,82,1941,1034,1055,3.2,-8.9,3,163,8.07,2.15,-94.78,0.000,18948,0.219,0.057,2109,577,3337,3246,3428,0,0,0,0,0,0,25.67,26.11,26.45
$GC,198,-1.35,-170.3,1248,576,3221,3425,17.1,-9.2,24,206,0.00,2.08,0.00,0.000,1030,0.000,0.015,2101,1992,3338,3248,3428,0,0,0,0,0,0,28.83,26.25,28.83
$GC,520,-1.35,-170.3,2100,1994,3249,3428,45.9,-9.0,63,526,0.00,2.05,0.00,0.000,260,0.000,0.031,2090,3360,3338,3249,3428,0,0,0,0,0,0,28.83,26.35,28.83
$GC,764,-1.35,-170.3,2090,3360,3252,3428,67.1,-9.1,76,770,0.00,2.08,0.00,0.000,1030,0.000,0.024,2095,1973,3339,3251,3428,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1080,-1.35,-170.3,2095,1973,3253,3428,95.9,-8.5,92,1086,0.00,2.10,0.00,0.000,260,0.000,0.030,2087,3362,3340,3253,3428,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1205,-1.35,-170.3,2087,3362,3253,3428,105.9,-9.1,97,1214,0.00,2.08,0.00,0.000,1030,0.000,0.026,2089,1974,3340,3253,3428,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1512,-1.35,-170.3,2089,1973,3253,3428,134.5,-9.5,113,1518,0.00,2.12,0.00,0.000,516,0.000,0.041,2098,574,3340,3253,3428,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1615,-1.35,-170.3,2098,573,3253,3428,142.5,-9.1,117,1623,0.00,2.03,0.00,0.000,1030,0.000,0.015,2091,1988,3340,3253,3428,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1921,-1.35,-170.3,2090,1988,3253,3427,170.9,-8.9,133,1927,0.00,2.03,0.00,0.000,260,0.000,0.031,2080,3352,3339,3253,3426,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1972,-1.35,-170.3,2080,3352,3252,3425,175.3,-9.1,135,1979,0.10,2.08,0.00,0.000,3078,0.161,0.027,2105,1968,3339,3253,3425,0,0,0,0,0,0,26.36,26.57,28.83
$GC,2294,-1.35,-170.3,2105,1968,3253,3422,204.0,-9.0,151,2300,0.00,2.12,0.00,0.000,516,0.000,0.043,2116,578,3337,3253,3422,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2324,-1.35,-170.3,2115,578,3253,3422,206.2,-9.0,152,2329,0.00,2.03,0.00,0.000,1030,0.000,0.016,2107,1980,3337,3253,3422,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2644,-1.35,-170.3,2107,1980,3253,3418,235.2,-9.0,168,2650,0.00,2.08,0.00,0.000,260,0.000,0.032,2097,3368,3335,3253,3418,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2791,-1.35,-170.3,1296,3367,3228,3413,247.0,-8.9,174,2800,0.00,2.10,0.00,0.000,1030,0.000,0.028,2097,1976,3334,3253,3416,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3098,-1.35,-170.3,2097,1976,3253,3413,276.1,-8.9,190,3099,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,1976,3333,3253,3413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3401,-1.35,-170.3,2097,1976,3252,3410,302.9,-9.0,205,3402,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,1975,3331,3252,3410,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3699,-1.35,-170.3,2097,1975,3250,3408,330.1,-9.2,220,3705,0.00,2.12,0.00,0.000,260,0.000,0.033,2088,3364,3328,3250,3407,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3729,-1.35,-170.3,2087,3364,3249,3408,332.5,-9.1,221,3735,0.00,2.10,0.00,0.000,1030,0.000,0.029,2088,1978,3328,3249,3408,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4049,-1.35,-170.3,2087,1977,3248,3406,361.8,-9.1,237,4055,0.00,2.17,0.00,0.000,516,0.000,0.046,2098,574,3327,3248,3407,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4122,-1.35,-170.3,2098,574,3248,3405,367.8,-8.7,240,4128,0.00,2.05,0.00,0.000,1030,0.000,0.017,2089,1982,3326,3247,3405,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4442,-1.35,-170.3,2089,1983,3244,3403,396.8,-9.1,256,4449,0.00,2.08,0.00,0.000,260,0.000,0.035,2079,3362,3323,3243,3403,0,0,0,0,0,0,28.83,26.52,28.83
$STATE,4488,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4488,begin apogee
$GC,4494,-0.25,0.0,2079,2294,3243,3402,401.2,-9.0,258,4664,0.82,0.00,155.07,1.030,10246,0.116,0.000,2347,2294,2640,2590,2690,0,0,0,0,1,0,26.25,28.83,24.13
$STATE,4667,end apogee,CONTROL_FINISHED_OK
$STATE,4667,begin climb
$GC,4669,1.35,170.3,2346,2293,2590,2688,386.6,0.0,265,4844,0.98,0.00,163.62,0.884,10502,0.050,0.000,2702,2293,1934,1904,1964,0,0,0,0,0,0,25.13,28.83,24.16
$GC,5134,1.42,195.6,2701,2293,1902,1942,343.8,8.3,290,5158,0.00,0.00,22.30,0.841,8198,0.000,0.000,2702,2293,1841,1816,1866,0,0,0,0,0,0,28.83,28.83,24.95
$GC,5453,1.42,195.6,2701,2293,1803,1846,315.1,9.4,306,5454,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2293,1825,1804,1846,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5754,1.44,204.1,2701,2293,1804,1843,288.2,8.9,321,5761,0.00,2.28,2.10,0.151,8708,0.000,0.043,2712,890,1805,1782,1829,0,0,0,0,0,0,28.83,26.29,24.87
$GC,5822,1.47,219.1,1712,890,1740,1824,282.1,8.7,324,5850,0.00,2.10,20.75,0.809,9222,0.000,0.018,2712,2302,1740,1711,1769,0,0,0,0,0,0,28.83,26.41,25.31
$GC,6171,1.47,219.1,2711,2302,1708,1761,250.7,9.3,341,6177,0.00,2.12,0.00,0.000,260,0.000,0.035,2712,3685,1735,1709,1761,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6348,1.50,229.1,2711,3686,1709,1760,235.1,8.9,349,6367,0.00,2.12,8.80,0.764,9222,0.000,0.026,2720,2295,1701,1670,1732,0,0,0,0,0,0,28.83,26.36,25.46
$GC,6666,1.52,237.0,2721,2295,1668,1730,207.3,9.0,365,6683,0.00,2.25,8.40,0.752,8708,0.000,0.044,2732,902,1669,1634,1704,0,0,0,0,0,0,28.83,26.24,25.50
$GC,6784,1.54,244.7,2731,902,1633,1701,197.7,9.0,370,6798,0.00,2.08,7.78,0.743,9222,0.000,0.018,2732,2295,1639,1595,1684,0,0,0,0,0,0,28.83,26.36,25.42
$GC,7095,1.54,244.7,2732,2294,1592,1679,168.1,9.6,386,7097,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2295,1635,1591,1679,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7397,1.57,255.1,2731,2295,1591,1678,141.7,8.9,401,7414,0.00,2.22,10.77,0.702,8452,0.000,0.036,2732,3695,1596,1546,1646,0,0,0,0,0,0,28.83,26.29,25.58
$GC,7493,1.59,263.5,2731,3695,1542,1644,133.8,9.0,405,7508,0.00,2.15,9.12,0.687,9222,0.000,0.028,2742,2297,1562,1509,1616,0,0,0,0,0,0,28.83,26.32,25.47
$GC,7806,1.63,281.0,2741,2297,1507,1609,105.6,8.6,421,7830,0.00,2.30,18.25,0.660,8708,0.000,0.044,2752,887,1488,1436,1541,0,0,0,0,0,0,28.83,26.10,25.46
$GC,7868,1.65,289.0,2752,887,1435,1537,101.2,9.0,423,7882,0.00,2.12,8.10,0.661,9222,0.000,0.018,2752,2302,1458,1407,1509,0,0,0,0,0,0,28.83,26.22,25.38
$GC,8204,1.67,298.4,2752,2301,1406,1501,70.1,8.9,440,8221,0.00,0.00,10.20,0.638,8198,0.000,0.000,2752,2302,1417,1371,1463,0,0,0,0,0,0,28.83,28.83,25.48
$GC,8523,1.69,305.2,2752,2303,1371,1457,41.1,9.0,460,8537,0.00,2.15,5.12,0.594,8452,0.000,0.038,2752,3688,1395,1353,1437,0,0,0,0,0,0,28.83,26.29,25.47
$GC,8650,1.71,311.3,2751,3688,1353,1437,29.9,9.0,471,8665,0.00,2.12,8.88,0.600,9222,0.000,0.027,2762,2298,1370,1334,1407,0,0,0,0,0,0,28.83,26.34,25.54
$STATE,8952,end climb,SURFACE_DEPTH_REACHED
$STATE,8952,begin surface coast
$FINISH,0.0,1.024915
$STATE,8992,end surface coast,CONTROL_FINISHED_OK
$STATE,8992,begin surface
$SM_CCo,9010,198.32,0.727,3,0,400,549.47
$SM_CCo,9226,-0.03,0.000,0,0,401,549.47
$SM_CCo,9230,0.28,0.116,0,0,401,549.47
$SM_GC,-23.93,7.60,0.50,0.28,0.076,0.042,0.116,84,1952,401,-10.56,0.90,549.47,0,0,0,0,0,0,26.38,26.41,25.14
$IRIDIUM_FIX,2129.53,12016.89,310313,000040
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.93
$INTERNAL_PRESSURE,9.15573
$TCM_TEMP,19.70
$XPDR_PINGS,0
$SC_FREEKB,3930112
$24V_AH,24.1,40.341
$10V_AH,10.1,20.841
$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,17.575,67.825,459.275,198.600,0.000,0.000,0.000,249.475,0.000,0.000,22.403,2064.198,4742.076,786.533,1634.014,428.876,0.000,1943.318,0.000,1412.640,0.000,1.487,0.000
$DEVICE_MAMPS,218.790,57.375,1029.690,726.750,0.000,0.000,0.000,130.050,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9009.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.510,0.000,0.000,0.000
$MEM,324360
$DATA_FILE_SIZE,20150,529
$CAP_FILE_SIZE,403589,2137
$CFSIZE,260034560,223059968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$CURRENT,0.215,337.0,1
$GPS,310313,055704,2140.209,12016.064,180,1.0,180,-3.0