version: 66.11
glider: 121
mission: 10
dive: 251
start: 4 1 113 1 11 57
data:
$ID,121
$MISSION,10
$DIVE,251
$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,-100813.88
$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,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
$GPS1,010413,010423,2150.148,12021.559,143,1.0,143,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-65.3
$GPS2,010413,011130,2150.165,12021.551,15,1.2,16,-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,77.1,39173,-18.5,-9.259,-21.12,2828
$D_GRID,1126
$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,-170.3,83,1953,351,482,0.0,0.0,0,44,0.00,0.00,-23.42,0.000,16386,0.000,0.000,83,1953,1028,1016,1041,0,0,0,0,0,0,28.83,28.83,28.83
$GC,47,-1.35,-170.3,83,1953,1017,1042,3.3,-9.4,3,153,7.93,2.20,-88.05,0.000,18692,0.213,0.045,2089,3371,3338,3249,3427,0,0,0,0,0,0,25.65,26.12,26.45
$GC,164,-1.35,-170.3,2089,3371,3249,3426,14.1,-9.1,18,172,0.00,2.12,0.00,0.000,1030,0.000,0.027,2097,1983,3338,3249,3427,0,0,0,0,0,0,28.83,26.15,28.83
$GC,490,-1.35,-170.3,2097,1981,3252,3427,43.5,-9.1,60,495,0.00,2.17,0.00,0.000,516,0.000,0.041,2107,570,3339,3252,3427,0,0,0,0,0,0,28.83,26.29,28.83
$GC,624,-1.35,-170.3,2106,570,3253,3427,55.4,-9.1,70,630,0.00,2.08,0.00,0.000,1030,0.000,0.015,2098,1992,3340,3253,3427,0,0,0,0,0,0,28.83,26.46,28.83
$GC,949,-1.35,-170.3,2098,1994,3256,3427,85.0,-9.0,86,955,0.00,2.05,0.00,0.000,260,0.000,0.031,2088,3367,3341,3256,3427,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1047,-1.35,-170.3,2088,3367,3256,3426,93.1,-9.1,90,1053,0.00,2.10,0.00,0.000,1030,0.000,0.025,2090,1968,3341,3256,3427,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1363,-1.35,-170.3,2090,1968,3256,3427,122.1,-8.9,106,1369,0.00,2.15,0.00,0.000,516,0.000,0.041,2100,571,3342,3257,3427,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1404,-1.35,-170.3,2100,571,3256,3427,124.5,-8.9,107,1413,0.00,2.03,0.00,0.000,1030,0.000,0.016,2092,1975,3341,3256,3427,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1711,-1.35,-170.3,2092,1976,3256,3427,153.6,-8.9,123,1718,0.00,2.05,0.00,0.000,260,0.000,0.032,2082,3356,3341,3256,3426,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1873,-1.35,-170.3,2081,3356,3256,3425,167.3,-9.0,130,1879,0.10,2.08,0.00,0.000,3078,0.161,0.027,2108,1973,3340,3256,3425,0,0,0,0,0,0,26.34,26.55,28.83
$GC,2188,-1.35,-170.3,2108,1973,3256,3422,196.2,-9.0,146,2194,0.00,2.10,0.00,0.000,260,0.000,0.031,2100,3355,3339,3256,3422,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2207,-1.35,-170.3,2099,3355,3256,3422,196.2,-9.0,146,2215,0.00,2.08,0.00,0.000,1030,0.000,0.028,2107,1978,3339,3256,3422,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2513,-1.35,-170.3,2107,1978,3256,3420,225.3,-8.8,162,2519,0.00,2.15,0.00,0.000,516,0.000,0.043,2117,574,3338,3256,3420,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2541,-1.35,-170.3,2117,574,3256,3420,227.7,-9.3,163,2548,0.00,2.05,0.00,0.000,1030,0.000,0.016,2109,1980,3337,3256,3419,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2863,-1.35,-170.3,2109,1981,3256,3416,257.5,-9.0,179,2869,0.00,2.08,0.00,0.000,260,0.000,0.034,2099,3361,3335,3256,3415,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2904,-1.35,-170.3,2099,3362,3255,3415,259.8,-8.8,180,2912,0.00,2.12,0.00,0.000,1030,0.000,0.028,2101,1968,3335,3256,3415,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3212,-1.35,-170.3,2101,1968,3254,3413,288.5,-8.6,196,3219,0.00,2.15,0.00,0.000,516,0.000,0.044,2110,573,3333,3254,3413,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3309,-1.35,-170.3,2110,572,3253,3413,296.5,-9.1,200,3315,0.00,2.05,0.00,0.000,1030,0.000,0.017,2102,1984,3332,3252,3413,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3624,-1.35,-170.3,2102,1984,3253,3409,326.1,-8.9,216,3629,0.00,2.08,0.00,0.000,260,0.000,0.035,2092,3363,3330,3252,3409,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3684,-1.35,-170.3,2091,3363,3252,3409,330.4,-8.9,218,3692,0.00,2.10,0.00,0.000,1030,0.000,0.028,2092,1976,3330,3252,3409,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3993,-1.35,-170.3,2092,1976,3250,3408,359.4,-8.8,234,3999,0.00,2.12,0.00,0.000,260,0.000,0.033,2084,3367,3328,3249,3407,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4070,-1.35,-170.3,2084,3367,3249,3407,365.3,-8.9,237,4077,0.00,2.12,0.00,0.000,1030,0.000,0.030,2086,1970,3328,3249,3407,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4386,-1.35,-170.3,2085,1970,3248,3405,394.8,-9.2,253,4392,0.00,2.17,0.00,0.000,516,0.000,0.046,2096,565,3326,3247,3405,0,0,0,0,0,0,28.83,26.46,28.83
$STATE,4453,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4453,begin apogee
$GC,4461,-0.25,0.0,2085,2289,3246,3405,401.0,-9.1,256,4625,0.80,0.00,153.57,1.001,10246,0.116,0.000,2345,2290,2639,2590,2689,0,0,0,0,1,0,26.20,28.83,24.17
$STATE,4629,end apogee,CONTROL_FINISHED_OK
$STATE,4629,begin climb
$GC,4631,1.35,170.3,2345,2290,2590,2689,386.2,0.0,263,4802,1.00,0.00,164.12,0.854,10502,0.051,0.000,2707,2293,1938,1904,1972,0,0,0,0,0,0,25.11,28.83,24.20
$GC,5096,1.36,173.9,2707,2293,1897,1943,343.5,9.1,288,5102,0.00,2.25,0.00,0.000,516,0.000,0.041,2717,891,1920,1898,1943,0,0,0,0,0,0,28.83,25.97,28.83
$GC,5172,1.38,183.0,2717,891,1897,1943,337.3,8.9,291,5187,0.00,2.12,3.70,0.523,9222,0.000,0.017,2718,2311,1890,1865,1916,0,0,0,0,0,0,28.83,26.15,25.02
$GC,5485,1.39,185.5,2717,2311,1865,1927,308.1,9.2,307,5492,0.00,2.20,2.42,0.265,8452,0.000,0.035,2717,3699,1882,1855,1910,0,0,0,0,0,0,28.83,26.26,24.98
$GC,5674,1.41,193.4,2717,3701,1855,1927,292.3,9.0,315,5698,0.00,2.12,15.43,0.776,9222,0.000,0.025,2727,2301,1845,1815,1875,0,0,0,0,0,0,28.83,26.34,25.37
$GC,6008,1.45,207.2,2727,2301,1813,1867,261.2,8.8,332,6032,0.00,2.22,13.35,0.758,8452,0.000,0.034,2727,3685,1790,1760,1820,0,0,0,0,0,0,28.83,26.14,25.40
$GC,6066,1.46,211.8,2727,3686,1759,1818,256.7,9.1,334,6080,0.00,2.12,4.00,0.625,9222,0.000,0.026,2737,2304,1774,1744,1804,0,0,0,0,0,0,28.83,26.17,25.10
$GC,6376,1.49,227.1,2737,2304,1744,1804,228.1,8.7,350,6400,0.00,2.30,17.65,0.735,8708,0.000,0.043,2748,893,1709,1675,1743,0,0,0,0,0,0,28.83,26.06,25.37
$GC,6435,1.53,240.2,2748,893,1675,1739,223.8,8.8,352,6453,0.00,2.12,13.55,0.732,9222,0.000,0.018,2748,2308,1658,1615,1702,0,0,0,0,0,0,28.83,26.16,25.23
$GC,6774,1.54,243.6,2748,2308,1604,1694,192.1,9.1,369,6780,0.00,2.12,0.00,0.000,260,0.000,0.036,2748,3691,1649,1604,1694,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6850,1.54,243.6,2748,3691,1601,1694,185.8,9.4,372,6857,0.12,2.15,0.00,0.000,5126,0.192,0.028,2729,2294,1648,1602,1694,0,0,0,0,0,0,25.98,26.27,28.83
$GC,7167,1.55,247.8,2729,2294,1602,1692,156.2,9.1,388,7174,0.00,0.00,4.68,0.626,8198,0.000,0.000,2729,2294,1628,1580,1677,0,0,0,0,0,0,28.83,28.83,25.32
$GC,7468,1.55,249.8,2729,2294,1580,1677,128.4,9.2,403,7475,0.00,2.20,0.00,0.000,516,0.000,0.044,2740,889,1628,1580,1677,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7545,1.58,259.1,2739,889,1580,1677,122.1,8.9,406,7564,0.00,2.10,14.65,0.638,9222,0.000,0.018,2740,2303,1582,1529,1635,0,0,0,0,0,0,28.83,26.48,25.58
$GC,7885,1.59,265.0,2740,2303,1523,1625,90.8,9.0,423,7897,0.00,2.25,4.43,0.567,8708,0.000,0.042,2750,894,1558,1505,1611,0,0,0,0,0,0,28.83,26.32,25.34
$GC,7922,1.61,273.2,2750,894,1505,1612,88.3,9.0,424,7940,0.00,2.10,11.45,0.616,9222,0.000,0.018,2750,2305,1521,1467,1576,0,0,0,0,0,0,28.83,26.39,25.53
$GC,8261,1.68,300.4,2750,2305,1466,1570,57.6,8.3,441,8291,0.00,0.00,28.20,0.571,8198,0.000,0.000,2750,2305,1415,1368,1463,0,0,0,0,0,0,28.83,28.83,25.46
$GC,8582,1.68,300.4,2750,2305,1362,1446,28.6,9.6,468,8588,0.00,2.25,0.00,0.000,516,0.000,0.043,2759,896,1404,1363,1446,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8631,1.71,312.3,1728,896,1339,1441,24.1,8.8,473,8648,0.00,2.10,11.55,0.555,9222,0.000,0.018,2759,2307,1367,1328,1406,0,0,0,0,0,0,28.83,26.35,25.54
$STATE,8863,end climb,SURFACE_DEPTH_REACHED
$STATE,8863,begin surface coast
$FINISH,0.0,1.024809
$STATE,8899,end surface coast,CONTROL_FINISHED_OK
$STATE,8899,begin surface
$SM_CCo,8916,191.43,0.705,1,0,399,549.47
$SM_CCo,9117,-0.12,0.000,0,0,403,549.47
$SM_CCo,9120,1.55,0.121,0,0,400,549.47
$SM_GC,-23.93,7.53,0.55,1.55,0.072,0.035,0.121,91,1954,400,-10.53,0.88,549.47,0,0,0,0,0,0,26.30,26.35,25.04
$IRIDIUM_FIX,2138.81,12022.40,310313,222246
$TT8_MAMPS,0.023968,0.023968
$HUMID,49.52
$INTERNAL_PRESSURE,9.1655
$TCM_TEMP,19.60
$XPDR_PINGS,1
$SC_FREEKB,3927040
$24V_AH,24.2,41.592
$10V_AH,10.1,21.367
$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,17.475,86.325,462.750,192.975,0.000,0.000,0.000,231.025,0.250,0.000,16.951,2036.148,4676.005,798.522,1578.313,435.537,0.000,1915.438,0.000,1392.882,0.000,1.487,0.000
$DEVICE_MAMPS,213.435,45.900,1001.385,705.330,0.000,0.000,0.000,134.640,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8909.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.513,0.000,0.000,0.000
$MEM,324404
$DATA_FILE_SIZE,20092,520
$CAP_FILE_SIZE,399951,2081
$CFSIZE,260034560,222150656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.205,350.8,1
$GPS,010413,034704,2151.431,12022.304,144,1.0,144,-3.1