version: 66.11
glider: 121
mission: 10
dive: 249
start: 3 31 113 19 44 58
data:
$ID,121
$MISSION,10
$DIVE,249
$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,-100811.36
$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,44
$R_STBD_OVSHOOT,58
$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
$GPS1,310313,193655,2147.132,12020.192,275,1.8,275,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-58.0
$GPS2,310313,194431,2147.256,12020.078,20,1.9,20,-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,55.3,45023,-18.5,-9.259,-21.12,2828
$D_GRID,1077
$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,19,-1.35,-170.3,81,1958,337,475,0.0,0.0,0,44,0.00,0.00,-23.23,0.000,16386,0.000,0.000,81,1956,1008,1005,1012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,47,-1.35,-170.3,81,1956,1005,1016,3.2,-9.1,3,146,7.68,2.25,-84.38,0.000,18692,0.201,0.043,2089,3377,3336,3242,3431,0,0,0,0,0,0,25.72,26.13,26.46
$GC,178,-1.35,-170.3,1240,3375,3219,3427,15.6,-9.2,21,186,0.00,2.15,0.00,0.000,1030,0.000,0.024,2097,1964,3339,3247,3431,0,0,0,0,0,0,28.83,26.17,28.83
$GC,498,-1.35,-170.3,2097,1964,3250,3431,44.3,-8.9,61,505,0.00,2.12,0.00,0.000,516,0.000,0.040,2107,576,3340,3250,3430,0,0,0,0,0,0,28.83,26.32,28.83
$GC,516,-1.35,-170.3,2106,576,3250,3431,45.8,-9.0,62,524,0.00,2.05,0.00,0.000,1030,0.000,0.015,2099,1992,3340,3250,3431,0,0,0,0,0,0,28.83,26.42,28.83
$GC,824,-1.35,-170.3,2099,1993,3253,3431,74.0,-9.1,80,830,0.00,2.05,0.00,0.000,260,0.000,0.031,2089,3368,3342,3253,3431,0,0,0,0,0,0,28.83,26.42,28.83
$GC,897,-1.35,-170.3,2088,3369,3252,3431,80.2,-9.0,83,902,0.00,2.10,0.00,0.000,1030,0.000,0.024,2092,1964,3342,3253,3431,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1216,-1.35,-170.3,2092,1964,3253,3431,109.4,-9.1,99,1223,0.00,2.12,0.00,0.000,516,0.000,0.040,2102,565,3342,3254,3431,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1277,-1.35,-170.3,1296,565,3228,3427,113.8,-9.2,101,1285,0.00,2.03,0.00,0.000,1030,0.000,0.015,2093,1978,3341,3253,3430,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1586,-1.35,-170.3,2093,1979,3253,3431,141.8,-8.6,117,1591,0.00,2.05,0.00,0.000,260,0.000,0.031,2083,3352,3342,3254,3430,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1611,-1.35,-170.3,2083,3352,3253,3430,144.0,-8.6,118,1617,0.00,2.08,0.00,0.000,1030,0.000,0.025,2085,1962,3341,3253,3430,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1937,-1.35,-170.3,2085,1963,3253,3429,172.9,-8.3,134,1943,0.00,2.12,0.00,0.000,260,0.000,0.031,2076,3364,3341,3253,3430,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2075,-1.35,-170.3,2075,3364,3253,3427,184.5,-9.0,140,2083,0.12,2.08,0.00,0.000,3078,0.149,0.025,2110,1974,3340,3253,3427,0,0,0,0,0,0,26.33,26.56,28.83
$GC,2393,-1.35,-170.3,2110,1974,3253,3425,213.6,-8.9,156,2394,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,1976,3339,3253,3425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2693,-1.35,-170.3,2110,1974,3253,3422,241.1,-9.2,171,2695,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,1974,3337,3253,3421,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2994,-1.35,-170.3,2110,1974,3253,3418,268.4,-9.1,186,2999,0.00,2.10,0.00,0.000,260,0.000,0.031,2102,3352,3335,3253,3417,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3041,-1.35,-170.3,2102,3351,3253,3416,272.7,-9.1,188,3047,0.00,2.08,0.00,0.000,1030,0.000,0.028,2109,1980,3334,3253,3416,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3366,-1.35,-170.3,2109,1980,3253,3413,301.9,-9.0,204,3367,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,1980,3333,3253,3413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3668,-1.35,-170.3,2109,1980,3252,3411,329.4,-8.8,219,3669,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,1980,3331,3252,3410,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3967,-1.35,-170.3,2109,1980,3249,3408,356.0,-8.9,234,3974,0.00,2.10,0.00,0.000,260,0.000,0.034,2101,3349,3328,3249,3408,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4003,-1.35,-170.3,2100,3349,3249,3408,358.5,-9.0,235,4009,0.00,2.10,0.00,0.000,1030,0.000,0.029,2106,1971,3328,3249,3407,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4319,-1.35,-170.3,2106,1970,3248,3406,387.8,-8.9,251,4320,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,1970,3327,3248,3406,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4457,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4458,begin apogee
$GC,4463,-0.25,0.0,2105,2298,3247,3404,400.1,-8.6,258,4691,0.73,0.00,217.00,0.737,10246,0.109,0.000,2344,2298,2632,2584,2681,0,0,0,0,0,0,26.24,28.83,24.52
$STATE,4693,end apogee,CONTROL_FINISHED_OK
$STATE,4693,begin climb
$GC,4696,1.35,170.3,2344,2298,2582,2678,379.5,0.0,268,4869,0.98,0.00,167.65,0.810,10502,0.048,0.000,2703,2301,1945,1912,1978,0,0,0,0,0,0,25.28,28.83,24.32
$GC,5160,1.36,174.2,2703,2301,1904,1949,337.3,9.1,293,5165,0.00,2.25,0.00,0.000,516,0.000,0.041,2713,895,1926,1904,1949,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5228,1.38,181.8,2713,895,1903,1948,331.1,9.0,296,5240,0.00,2.10,3.90,0.582,9222,0.000,0.017,2712,2293,1898,1873,1923,0,0,0,0,0,0,28.83,26.15,25.01
$GC,5554,1.39,185.9,2712,2293,1873,1933,301.7,9.1,312,5565,0.00,2.17,4.20,0.624,8452,0.000,0.035,2712,3688,1881,1854,1909,0,0,0,0,0,0,28.83,26.25,25.15
$GC,5685,1.42,197.8,2712,3688,1854,1922,289.9,8.8,318,5714,0.00,2.12,19.77,0.774,9222,0.000,0.025,2722,2302,1824,1794,1855,0,0,0,0,0,0,28.83,26.30,25.30
$GC,6034,1.43,202.1,2721,2302,1791,1842,258.3,9.1,335,6040,0.00,2.20,0.00,0.000,516,0.000,0.044,2733,898,1816,1791,1842,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6235,1.46,212.0,2733,898,1791,1841,240.7,8.9,344,6254,0.00,2.10,13.07,0.750,9222,0.000,0.018,2733,2311,1771,1742,1800,0,0,0,0,0,0,28.83,26.41,25.46
$GC,6553,1.47,218.1,2732,2311,1736,1789,211.8,9.0,360,6557,0.00,0.00,1.65,0.065,8198,0.000,0.000,2733,2311,1749,1721,1777,0,0,0,0,0,0,28.83,28.83,26.07
$GC,6854,1.51,232.4,2732,2312,1720,1783,185.6,8.7,375,6882,0.00,2.20,19.77,0.696,8452,0.000,0.037,2733,3696,1683,1648,1718,0,0,0,0,0,0,28.83,26.17,25.49
$GC,6914,1.55,247.7,2732,3694,1646,1714,181.3,8.7,377,6937,0.00,2.15,14.80,0.695,9222,0.000,0.028,2743,2302,1622,1576,1669,0,0,0,0,0,0,28.83,26.18,25.34
$GC,7253,1.55,249.6,2742,2302,1573,1660,149.8,9.2,394,7254,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2302,1617,1573,1661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7553,1.55,249.6,2742,2302,1573,1658,123.3,9.4,409,7554,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2302,1616,1573,1659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7853,1.57,256.6,2742,2302,1572,1659,96.4,9.0,424,7865,0.00,2.25,7.15,0.621,8452,0.000,0.035,2743,3698,1590,1540,1640,0,0,0,0,0,0,28.83,26.36,25.63
$GC,7968,1.60,269.0,2742,3699,1539,1639,86.5,8.8,429,7991,0.00,2.15,13.88,0.608,9222,0.000,0.028,2752,2295,1536,1483,1590,0,0,0,0,0,0,28.83,26.38,25.58
$GC,8310,1.63,283.1,2752,2296,1482,1585,54.9,8.7,446,8333,0.00,2.20,14.60,0.581,8708,0.000,0.043,2763,897,1478,1427,1530,0,0,0,0,0,0,28.83,26.20,25.59
$GC,8413,1.63,283.1,2762,897,1427,1526,45.7,9.3,452,8421,0.00,2.10,0.00,0.000,1030,0.000,0.018,2763,2305,1476,1427,1525,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8732,1.64,285.1,1696,2303,1398,1517,16.6,9.2,491,8740,0.00,2.22,0.00,0.000,516,0.000,0.041,2774,897,1475,1427,1523,0,0,0,0,0,0,28.83,26.32,28.83
$STATE,8878,end climb,SURFACE_DEPTH_REACHED
$STATE,8878,begin surface coast
$FINISH,0.0,1.024489
$STATE,8913,end surface coast,CONTROL_FINISHED_OK
$STATE,8913,begin surface
$SM_CCo,8932,217.65,0.694,3,0,399,549.47
$SM_CCo,9168,-0.08,0.000,0,0,401,549.47
$SM_CCo,9171,2.25,0.255,0,0,400,549.47
$SM_GC,-23.93,7.55,1.65,2.25,0.072,0.015,0.255,89,1991,400,-10.55,-1.53,549.47,0,0,0,0,0,0,26.38,26.51,24.61
$IRIDIUM_FIX,2136.49,12019.23,310313,161615
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.74
$INTERNAL_PRESSURE,9.17526
$TCM_TEMP,19.90
$XPDR_PINGS,1
$SC_FREEKB,3927808
$24V_AH,24.3,41.280
$10V_AH,10.1,21.236
$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,17.050,63.925,497.450,219.900,0.000,0.000,0.000,256.850,0.250,0.000,20.827,1955.471,4853.322,822.334,1553.603,421.780,0.000,1920.316,0.000,1312.637,0.000,1.486,0.000
$DEVICE_MAMPS,201.195,43.605,810.135,693.855,0.000,0.000,0.000,130.050,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8920.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.530,0.000,0.000,0.000
$MEM,324360
$DATA_FILE_SIZE,20084,523
$CAP_FILE_SIZE,381864,1967
$CFSIZE,260034560,222396416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$CURRENT,0.135, 15.2,1
$GPS,310313,222034,2148.460,12021.086,121,0.7,121,-3.1