version: 66.11
glider: 121
mission: 10
dive: 248
start: 3 31 113 16 58 9
data:
$ID,121
$MISSION,10
$DIVE,248
$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,-100810.09
$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,57
$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
$GPS1,310313,164959,2146.072,12019.812,209,0.8,209,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-60.3
$GPS2,310313,165741,2146.129,12019.669,19,0.8,19,-3.1
$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,60.2,47139,-18.5,-9.259,-21.12,2828
$D_GRID,1116
$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,16,begin dive
$GC,18,-1.35,-170.3,82,1949,363,492,0.0,0.0,0,50,0.00,0.00,-29.88,0.000,16386,0.000,0.000,82,1949,1196,1185,1207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,52,-1.35,-170.3,82,1949,1185,1211,3.6,-8.8,4,139,8.12,2.28,-69.30,0.000,18692,0.221,0.044,2091,3376,3336,3245,3428,0,0,0,0,0,0,25.61,26.10,26.44
$GC,247,-1.35,-170.3,1232,3375,3219,3425,21.4,-8.5,34,255,0.00,2.12,0.00,0.000,1030,0.000,0.025,2099,1978,3337,3247,3428,0,0,0,0,0,0,28.83,26.22,28.83
$GC,561,-1.35,-170.3,2099,1978,3248,3429,49.9,-9.6,68,566,0.00,2.15,0.00,0.000,516,0.000,0.040,2112,575,3338,3249,3428,0,0,0,0,0,0,28.83,26.33,28.83
$GC,579,-1.35,-170.3,2109,575,3249,3428,51.2,-9.3,69,587,0.00,2.05,0.00,0.000,1030,0.000,0.015,2101,1993,3338,3249,3428,0,0,0,0,0,0,28.83,26.44,28.83
$GC,887,-1.35,-170.3,2101,1994,3252,3428,79.4,-9.2,85,893,0.00,2.20,0.00,0.000,516,0.000,0.038,2110,566,3340,3252,3428,0,0,0,0,0,0,28.83,26.41,28.83
$GC,989,-1.35,-170.3,2109,568,3252,3428,87.2,-9.0,89,997,0.00,2.03,0.00,0.000,1030,0.000,0.015,2102,1974,3340,3253,3428,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1296,-1.35,-170.3,2101,1975,3253,3429,115.7,-8.8,105,1297,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,1975,3340,3253,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1596,-1.35,-170.3,2101,1976,3253,3428,143.2,-9.3,120,1603,0.00,2.08,0.00,0.000,260,0.000,0.032,2091,3367,3340,3253,3427,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1644,-1.35,-170.3,2091,3367,3252,3427,147.6,-9.2,122,1651,0.00,2.10,0.00,0.000,1030,0.000,0.026,2095,1965,3339,3252,3427,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1970,-1.35,-170.3,2094,1965,3253,3426,176.7,-8.7,138,1976,0.00,2.12,0.00,0.000,260,0.000,0.031,2086,3361,3338,3252,3425,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2028,-1.35,-170.3,2086,3361,3252,3423,180.8,-8.7,140,2034,0.00,2.10,0.00,0.000,1030,0.000,0.028,2088,1970,3337,3252,3423,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2343,-1.35,-170.3,2088,1970,3252,3422,209.4,-9.1,156,2344,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,1969,3337,3252,3422,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2644,-1.35,-170.3,2088,1970,3252,3418,236.7,-8.9,171,2650,0.00,2.15,0.00,0.000,516,0.000,0.044,2098,571,3336,3255,3417,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2729,-1.35,-170.3,2098,571,3252,3417,242.9,-9.0,174,2739,0.00,2.03,0.00,0.000,1030,0.000,0.017,2090,1972,3334,3252,3417,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3034,-1.35,-170.3,2090,1973,3252,3414,271.6,-9.1,190,3040,0.00,2.08,0.00,0.000,260,0.000,0.034,2079,3357,3332,3252,3413,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3102,-1.35,-170.3,2079,3358,3252,3412,277.6,-8.9,193,3109,0.10,2.10,0.00,0.000,3078,0.161,0.030,2106,1971,3332,3253,3412,0,0,0,0,0,0,26.34,26.54,28.83
$GC,3429,-1.35,-170.3,2106,1970,3251,3409,306.1,-8.8,209,3430,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,1970,3330,3251,3409,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3729,-1.35,-170.3,2106,1970,3249,3408,333.7,-9.5,224,3730,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,1970,3328,3249,3407,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4030,-1.35,-170.3,2106,1970,3247,3405,360.6,-8.9,239,4031,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,1970,3326,3247,3405,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4330,-1.35,-170.3,2106,1970,3244,3403,388.0,-9.2,254,4331,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,1970,3323,3244,3403,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4467,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4467,begin apogee
$GC,4473,-0.25,0.0,2105,2297,3243,3402,400.2,-8.3,261,4632,0.73,0.00,143.95,1.069,10246,0.110,0.000,2343,2297,2639,2591,2687,0,0,0,0,1,0,26.22,28.83,24.12
$STATE,4634,end apogee,CONTROL_FINISHED_OK
$STATE,4634,begin climb
$GC,4636,1.35,170.3,2343,2297,2590,2687,385.8,0.0,268,4804,1.00,2.35,151.43,1.116,10500,0.050,0.035,2705,3683,1943,1910,1977,0,0,0,0,1,0,25.13,24.59,23.75
$GC,5048,1.36,174.9,2705,3683,1910,1978,348.8,9.1,286,5062,0.00,2.15,4.38,0.701,9222,0.000,0.025,2715,2304,1925,1895,1956,0,0,0,0,0,0,28.83,25.89,24.77
$GC,5360,1.38,182.2,2715,2304,1895,1962,320.6,9.0,302,5381,0.00,0.00,12.18,0.868,8198,0.000,0.000,2715,2304,1891,1862,1920,0,0,0,0,0,0,28.83,28.83,25.20
$GC,5680,1.39,184.4,2715,2304,1862,1914,291.6,9.2,318,5687,0.00,2.15,0.00,0.000,260,0.000,0.033,2715,3687,1888,1862,1914,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5791,1.40,190.3,2715,3687,1862,1913,281.7,9.0,323,5808,0.00,2.12,8.50,0.831,9222,0.000,0.026,2725,2298,1860,1833,1887,0,0,0,0,0,0,28.83,26.30,25.36
$GC,6117,1.42,197.3,2725,2298,1832,1881,251.7,9.0,339,6127,0.00,0.00,7.62,0.812,8198,0.000,0.000,2725,2298,1834,1807,1862,0,0,0,0,0,0,28.83,28.83,25.39
$GC,6419,1.45,207.6,2725,2298,1803,1855,224.8,8.9,354,6436,0.00,2.25,11.60,0.791,8452,0.000,0.034,2725,3689,1788,1759,1818,0,0,0,0,0,0,28.83,26.18,25.42
$GC,6654,1.47,217.0,2725,3688,1756,1813,203.9,8.9,365,6671,0.00,2.12,10.05,0.775,9222,0.000,0.027,2735,2301,1750,1720,1781,0,0,0,0,0,0,28.83,26.29,25.40
$GC,6980,1.47,217.0,2735,2301,1717,1775,175.0,9.3,381,6986,0.00,2.22,0.00,0.000,516,0.000,0.044,2746,887,1746,1717,1775,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7070,1.49,224.4,2746,888,1717,1775,166.8,9.0,385,7082,0.10,2.12,7.03,0.742,13318,0.195,0.018,2725,2308,1725,1695,1756,0,0,0,0,0,0,26.11,26.41,25.45
$GC,7397,1.51,232.6,2724,2308,1691,1750,137.4,9.0,401,7414,0.00,2.17,9.60,0.733,8452,0.000,0.037,2725,3685,1686,1651,1721,0,0,0,0,0,0,28.83,26.25,25.49
$GC,7521,1.53,239.6,2725,3685,1650,1718,127.7,9.0,406,7535,0.00,2.12,5.30,0.690,9222,0.000,0.028,2734,2301,1662,1621,1703,0,0,0,0,0,0,28.83,26.29,25.36
$GC,7856,1.54,244.0,2733,2301,1621,1703,96.5,9.1,423,7868,0.00,2.17,5.20,0.659,8452,0.000,0.034,2734,3694,1645,1599,1691,0,0,0,0,0,0,28.83,26.30,25.43
$GC,8108,1.54,244.4,2735,3694,1599,1691,74.7,9.2,434,8116,0.00,2.15,0.00,0.000,1030,0.000,0.028,2744,2290,1645,1599,1691,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8413,1.58,263.1,2744,2290,1599,1690,46.1,8.6,452,8443,0.00,0.00,22.38,0.620,8198,0.000,0.000,2744,2290,1560,1507,1613,0,0,0,0,0,0,28.83,28.83,25.54
$GC,8752,1.58,263.1,1696,2287,1475,1601,15.5,9.5,494,8759,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2290,1557,1507,1608,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8891,end climb,SURFACE_DEPTH_REACHED
$STATE,8891,begin surface coast
$FINISH,0.1,1.025419
$STATE,8926,end surface coast,CONTROL_FINISHED_OK
$STATE,8927,begin surface
$SM_CCo,8944,241.07,0.764,3,0,399,549.47
$SM_CCo,9203,-0.05,0.000,0,0,402,549.47
$SM_CCo,9208,2.92,0.369,0,0,400,549.47
$SM_GC,-23.93,7.53,0.47,2.92,0.073,0.044,0.369,83,1968,400,-10.57,1.22,549.47,0,0,0,0,0,0,26.36,26.41,24.49
$IRIDIUM_FIX,2138.81,12017.22,310313,141405
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.62
$INTERNAL_PRESSURE,9.11667
$TCM_TEMP,19.30
$XPDR_PINGS,0
$SC_FREEKB,3928192
$24V_AH,23.7,41.124
$10V_AH,10.2,21.169
$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,17.575,56.650,399.200,244.000,0.000,0.000,0.000,262.400,0.000,0.000,20.401,2063.940,4751.307,770.435,1630.524,432.347,0.000,1922.348,0.000,1413.550,0.000,1.486,0.000
$DEVICE_MAMPS,221.085,44.370,1116.135,764.235,0.000,0.000,0.000,129.285,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8935.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.536,0.000,0.000,0.000
$MEM,324428
$DATA_FILE_SIZE,20125,525
$CAP_FILE_SIZE,398765,2138
$CFSIZE,260034560,222490624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,1,0
$CURRENT,0.088,340.7,1
$GPS,310313,193655,2147.132,12020.192,275,1.8,275,-3.1