version: 66.11
glider: 121
mission: 10
dive: 252
start: 4 1 113 3 55 9
data:
$ID,121
$MISSION,10
$DIVE,252
$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,-100815.12
$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,47
$R_STBD_OVSHOOT,54
$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
$GPS1,010413,034704,2151.431,12022.304,144,1.0,144,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-64.4
$GPS2,010413,035442,2151.494,12022.298,15,1.0,15,-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,78.4,36435,-18.5,-9.259,-21.12,2828
$D_GRID,1045
$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,-170.3,89,1942,355,480,0.0,0.0,0,44,0.00,0.00,-23.48,0.000,16386,0.000,0.000,89,1942,1032,1028,1037,0,0,0,0,0,0,28.83,28.83,28.83
$GC,47,-1.35,-170.3,89,1942,1028,1041,3.2,-9.1,3,154,7.95,2.25,-90.47,0.000,18948,0.216,0.056,2107,567,3336,3245,3427,0,0,0,0,0,0,25.67,26.10,26.45
$GC,298,-1.35,-170.3,1248,567,3220,3423,25.7,-8.8,42,306,0.00,2.08,0.00,0.000,1030,0.000,0.015,2100,1987,3337,3248,3427,0,0,0,0,0,0,28.83,26.31,28.83
$GC,615,-1.35,-170.3,2099,1988,3251,3427,54.2,-8.9,72,621,0.00,2.05,0.00,0.000,260,0.000,0.031,2089,3361,3338,3250,3427,0,0,0,0,0,0,28.83,26.37,28.83
$GC,682,-1.35,-170.3,2089,3361,3251,3427,60.4,-9.0,75,689,0.00,2.10,0.00,0.000,1030,0.000,0.025,2092,1972,3339,3251,3427,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1009,-1.35,-170.3,2091,1971,3253,3427,89.8,-9.2,91,1014,0.00,2.12,0.00,0.000,260,0.000,0.031,2083,3371,3340,3253,3427,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1066,-1.35,-170.3,2083,3371,3253,3426,93.9,-8.9,93,1072,0.10,2.10,0.00,0.000,3078,0.158,0.026,2109,1971,3340,3253,3427,0,0,0,0,0,0,26.29,26.48,28.83
$GC,1381,-1.35,-170.3,2109,1970,3253,3426,123.6,-9.3,109,1387,0.00,2.12,0.00,0.000,260,0.000,0.031,2101,3367,3340,3253,3427,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1432,-1.35,-170.3,2101,3367,3253,3427,127.8,-9.2,111,1438,0.00,2.10,0.00,0.000,1030,0.000,0.026,2108,1966,3339,3253,3426,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1753,-1.35,-170.3,2108,1966,3253,3426,157.0,-9.2,127,1754,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,1966,3339,3253,3426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2054,-1.35,-170.3,2108,1965,3253,3422,184.4,-9.2,142,2055,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,1965,3338,3253,3423,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2355,-1.35,-170.3,2108,1965,3253,3421,211.3,-8.9,157,2361,0.00,2.12,0.00,0.000,260,0.000,0.031,2100,3360,3337,3253,3421,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2433,-1.35,-170.3,2100,3361,3253,3419,217.8,-9.1,160,2439,0.00,2.10,0.00,0.000,1030,0.000,0.027,2107,1975,3336,3253,3419,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2751,-1.35,-170.3,2106,1974,3253,3416,247.2,-9.2,176,2752,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,1975,3334,3253,3416,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3052,-1.35,-170.3,2107,1974,3253,3413,274.7,-9.1,191,3053,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,1974,3333,3253,3413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3351,-1.35,-170.3,2106,1975,3252,3409,301.9,-9.4,206,3358,0.00,2.17,0.00,0.000,516,0.000,0.044,2116,567,3330,3252,3409,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3419,-1.35,-170.3,2116,567,3251,3409,308.1,-8.9,209,3425,0.00,2.05,0.00,0.000,1030,0.000,0.017,2108,1973,3330,3251,3409,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3745,-1.35,-170.3,2108,1973,3249,3407,337.1,-9.2,225,3751,0.00,2.08,0.00,0.000,260,0.000,0.033,2098,3359,3327,3248,3407,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3880,-1.35,-170.3,2097,3359,3248,3406,349.1,-9.2,231,3887,0.00,2.10,0.00,0.000,1030,0.000,0.028,2098,1972,3326,3248,3405,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4201,-1.35,-170.3,2097,1972,3246,3404,379.0,-9.5,247,4207,0.00,2.17,0.00,0.000,516,0.000,0.047,2107,569,3325,3246,3404,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4271,-1.35,-170.3,2107,569,3245,3403,385.1,-9.1,250,4277,0.00,2.05,0.00,0.000,1030,0.000,0.017,2099,1975,3324,3245,3403,0,0,0,0,0,0,28.83,26.61,28.83
$STATE,4448,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4448,begin apogee
$GC,4454,-0.25,0.0,2096,2304,3243,3402,401.4,-8.7,259,4619,0.75,0.00,154.43,0.998,10246,0.115,0.000,2341,2305,2639,2591,2688,0,0,0,0,1,0,26.21,28.83,24.17
$STATE,4622,end apogee,CONTROL_FINISHED_OK
$STATE,4622,begin climb
$GC,4624,1.35,170.3,2341,2305,2591,2687,386.9,0.0,266,4796,1.00,0.00,165.65,0.853,10502,0.052,0.000,2702,2308,1944,1912,1977,0,0,0,0,0,0,25.10,28.83,24.27
$GC,5108,1.38,181.9,2702,2308,1903,1945,342.5,8.8,289,5120,0.00,2.22,3.47,0.500,8452,0.000,0.034,2702,3692,1896,1872,1921,0,0,0,0,0,0,28.83,26.02,24.95
$GC,5223,1.41,192.5,2702,3693,1872,1926,332.7,8.9,294,5247,0.00,2.15,17.45,0.821,9222,0.000,0.026,2712,2298,1850,1823,1877,0,0,0,0,0,0,28.83,26.13,25.14
$GC,5565,1.42,195.4,2711,2298,1815,1863,301.8,9.2,311,5571,0.00,2.20,0.00,0.000,516,0.000,0.043,2723,896,1839,1815,1863,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5664,1.43,202.0,2722,896,1815,1863,293.8,9.0,315,5678,0.00,2.10,4.43,0.668,9222,0.000,0.018,2722,2304,1815,1788,1842,0,0,0,0,0,0,28.83,26.34,25.17
$GC,5974,1.46,212.0,2722,2304,1789,1847,264.9,8.9,331,5997,0.00,2.15,14.57,0.787,8452,0.000,0.037,2722,3689,1768,1738,1799,0,0,0,0,0,0,28.83,26.15,25.41
$GC,6130,1.48,220.7,2722,3689,1738,1794,251.3,8.9,338,6148,0.00,2.12,8.82,0.773,9222,0.000,0.025,2733,2299,1735,1705,1765,0,0,0,0,0,0,28.83,26.24,25.34
$GC,6446,1.50,230.9,2733,2300,1704,1760,222.1,8.9,354,6462,0.00,2.30,10.77,0.750,8708,0.000,0.044,2744,886,1693,1659,1728,0,0,0,0,0,0,28.83,26.15,25.41
$GC,6571,1.53,239.8,2743,886,1659,1723,212.4,8.9,359,6586,0.00,2.12,8.77,0.744,9222,0.000,0.018,2743,2305,1660,1619,1702,0,0,0,0,0,0,28.83,26.29,25.36
$GC,6907,1.56,253.4,2743,2306,1609,1697,181.2,8.8,376,6926,0.00,2.22,14.18,0.718,8452,0.000,0.037,2744,3697,1601,1550,1652,0,0,0,0,0,0,28.83,26.13,25.43
$GC,6950,1.60,267.7,2743,3697,1548,1649,177.1,8.7,378,6974,0.00,2.17,15.02,0.710,9222,0.000,0.028,2753,2298,1542,1489,1595,0,0,0,0,0,0,28.83,26.16,25.29
$GC,7271,1.61,274.1,2753,2298,1487,1588,148.3,9.0,394,7278,0.00,0.00,4.50,0.619,8198,0.000,0.000,2753,2298,1521,1468,1574,0,0,0,0,0,0,28.83,28.83,25.19
$GC,7573,1.64,286.9,2753,2298,1468,1573,121.4,8.8,409,7591,0.00,0.00,15.90,0.654,8198,0.000,0.000,2753,2298,1467,1416,1519,0,0,0,0,0,0,28.83,28.83,25.46
$GC,7891,1.67,295.5,2753,2298,1413,1509,92.9,8.9,425,7907,0.00,2.28,8.90,0.637,8708,0.000,0.045,2764,897,1431,1384,1478,0,0,0,0,0,0,28.83,26.20,25.51
$GC,7967,1.68,303.1,2763,897,1384,1474,86.9,9.0,428,7981,0.00,2.10,8.40,0.631,9222,0.000,0.018,2763,2302,1402,1359,1445,0,0,0,0,0,0,28.83,26.30,25.44
$GC,8279,1.70,308.2,2763,2302,1355,1435,58.3,9.1,444,8290,0.00,2.20,4.07,0.521,8452,0.000,0.037,2764,3693,1382,1344,1420,0,0,0,0,0,0,28.83,26.29,25.28
$GC,8392,1.71,313.6,1760,3693,1322,1416,48.6,9.1,449,8406,0.00,2.15,7.93,0.591,9222,0.000,0.028,2774,2295,1357,1324,1391,0,0,0,0,0,0,28.83,26.32,25.53
$GC,8716,1.71,314.1,1728,2292,1301,1381,19.0,9.2,486,8723,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2294,1354,1324,1385,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8895,end climb,SURFACE_DEPTH_REACHED
$STATE,8896,begin surface coast
$FINISH,0.0,1.024414
$STATE,8929,end surface coast,CONTROL_FINISHED_OK
$STATE,8930,begin surface
$SM_CCo,8948,195.12,0.708,2,0,399,549.47
$SM_CCo,9156,-0.10,0.000,0,0,402,549.47
$SM_CCo,9160,2.38,0.265,0,0,400,549.47
$SM_GC,-23.93,7.53,0.50,2.38,0.073,0.044,0.265,88,1951,400,-10.55,0.85,549.47,0,0,0,0,0,0,26.34,26.45,24.60
$IRIDIUM_FIX,2143.45,11949.30,010413,010134
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.66
$INTERNAL_PRESSURE,9.17526
$TCM_TEMP,20.10
$XPDR_PINGS,1
$SC_FREEKB,3926656
$24V_AH,24.2,41.752
$10V_AH,10.1,21.432
$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,17.325,65.225,467.275,197.500,0.000,0.000,0.000,263.250,0.250,0.000,16.487,2029.093,4763.389,767.872,1605.323,432.142,0.000,1917.315,0.000,1385.365,0.000,1.486,0.000
$DEVICE_MAMPS,215.730,55.845,998.325,707.625,0.000,0.000,0.000,129.285,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8939.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.512,0.000,0.000,0.000
$MEM,324384
$DATA_FILE_SIZE,20091,524
$CAP_FILE_SIZE,394313,2063
$CFSIZE,260034560,222044160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$CURRENT,0.147, 25.6,1
$GPS,010413,063055,2152.370,12023.571,143,1.1,143,-3.1