version: 66.11
glider: 121
mission: 10
dive: 253
start: 4 1 113 6 38 48
data:
$ID,121
$MISSION,10
$DIVE,253
$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,-100816.38
$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,50
$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
$GPS1,010413,063055,2152.370,12023.571,143,1.1,143,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-64.0
$GPS2,010413,063821,2152.353,12023.597,39,0.8,39,-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,45.1,33831,-18.5,-9.259,-21.12,2828
$D_GRID,995
$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,-170.3,87,1940,341,469,0.0,0.0,0,44,0.00,0.00,-23.50,0.000,16386,0.000,0.000,87,1940,1019,1011,1027,0,0,0,0,0,0,28.83,28.83,28.83
$GC,47,-1.35,-170.3,87,1939,1011,1032,3.3,-9.9,3,155,7.90,2.22,-92.90,0.000,18948,0.213,0.056,2110,570,3337,3246,3428,0,0,0,0,0,0,25.74,26.13,26.48
$GC,209,-1.35,-170.3,1232,569,3220,3424,18.2,-9.0,26,217,0.00,2.08,0.00,0.000,1030,0.000,0.015,2101,1990,3338,3248,3428,0,0,0,0,0,0,28.83,26.27,28.83
$GC,529,-1.35,-170.3,2101,1991,3249,3428,46.9,-9.1,63,534,0.00,2.20,0.00,0.000,516,0.000,0.037,2109,572,3338,3249,3427,0,0,0,0,0,0,28.83,26.34,28.83
$GC,590,-1.35,-170.3,2108,572,3250,3428,51.2,-9.2,67,598,0.00,2.03,0.00,0.000,1030,0.000,0.015,2100,1979,3339,3250,3428,0,0,0,0,0,0,28.83,26.46,28.83
$GC,898,-1.35,-170.3,2100,1980,3253,3428,79.8,-8.9,83,904,0.00,2.05,0.00,0.000,260,0.000,0.031,2090,3358,3339,3252,3427,0,0,0,0,0,0,28.83,26.45,28.83
$GC,967,-1.35,-170.3,2090,3358,3253,3428,86.1,-9.0,86,973,0.00,2.08,0.00,0.000,1030,0.000,0.025,2090,1969,3340,3252,3428,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1292,-1.35,-170.3,2090,1969,3254,3428,115.8,-9.0,102,1298,0.00,2.10,0.00,0.000,260,0.000,0.031,2081,3356,3340,3254,3427,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1395,-1.35,-170.3,2081,3357,3254,3428,123.8,-9.0,106,1403,0.10,2.10,0.00,0.000,3078,0.160,0.025,2106,1961,3340,3254,3427,0,0,0,0,0,0,26.33,26.53,28.83
$GC,1701,-1.35,-170.3,2106,1960,3254,3428,153.0,-8.7,122,1707,0.00,2.12,0.00,0.000,260,0.000,0.031,2098,3361,3340,3253,3428,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1811,-1.35,-170.3,2097,3362,3254,3427,162.8,-9.0,127,1817,0.00,2.08,0.00,0.000,1030,0.000,0.026,2104,1974,3340,3254,3427,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2137,-1.35,-170.3,2103,1974,3254,3426,191.7,-9.0,143,2143,0.00,2.12,0.00,0.000,516,0.000,0.041,2113,575,3339,3253,3426,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2203,-1.35,-170.3,2113,575,3254,3425,197.8,-9.1,146,2209,0.00,2.00,0.00,0.000,1030,0.000,0.015,2105,1973,3340,3254,3426,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2529,-1.35,-170.3,2104,1974,3254,3422,227.1,-9.1,162,2535,0.00,2.08,0.00,0.000,260,0.000,0.032,2094,3364,3338,3255,3422,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2613,-1.35,-170.3,2094,3364,3254,3421,233.4,-9.1,165,2621,0.00,2.10,0.00,0.000,1030,0.000,0.027,2094,1968,3337,3254,3421,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2919,-1.35,-170.3,2094,1968,3254,3417,262.2,-9.0,181,2920,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,1968,3335,3253,3417,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3220,-1.35,-170.3,2094,1967,3253,3415,289.4,-8.9,196,3226,0.00,2.12,0.00,0.000,260,0.000,0.032,2085,3363,3333,3253,3414,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3278,-1.35,-170.3,2085,3363,3253,3413,293.7,-9.0,198,3284,0.00,2.10,0.00,0.000,1030,0.000,0.028,2085,1972,3333,3253,3413,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3592,-1.35,-170.3,2085,1972,3252,3411,322.6,-9.1,214,3594,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,1972,3331,3252,3411,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3894,-1.35,-170.3,2085,1972,3250,3408,349.1,-8.5,229,3900,0.00,2.15,0.00,0.000,516,0.000,0.044,2094,576,3329,3250,3408,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3952,-1.35,-170.3,2094,576,3249,3408,353.5,-8.4,231,3958,0.00,2.03,0.00,0.000,1030,0.000,0.016,2085,1972,3328,3249,3408,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4268,-1.35,-170.3,2085,1973,3247,3406,382.4,-8.8,247,4274,0.00,2.10,0.00,0.000,260,0.000,0.034,2075,3370,3326,3247,3405,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4325,-1.35,-170.3,2074,3370,3246,3405,386.8,-9.1,249,4332,0.12,2.12,0.00,0.000,3078,0.154,0.030,2109,1971,3325,3246,3405,0,0,0,0,0,0,26.29,26.53,28.83
$STATE,4478,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4478,begin apogee
$GC,4484,-0.25,0.0,2109,2300,3246,3404,401.5,-8.9,257,4674,0.70,0.00,184.00,0.793,10246,0.109,0.000,2342,2301,2637,2588,2686,0,0,0,0,0,0,26.25,28.83,24.44
$STATE,4675,end apogee,CONTROL_FINISHED_OK
$STATE,4675,begin climb
$GC,4678,1.35,170.3,2342,2301,2579,2678,384.7,0.0,265,4848,1.00,2.25,157.15,0.840,10500,0.054,0.034,2703,3688,1935,1903,1967,0,0,0,0,0,0,25.22,24.97,24.28
$GC,5090,1.35,170.3,2703,3688,1902,1945,347.9,9.3,283,5099,0.00,2.15,0.00,0.000,1030,0.000,0.025,2713,2299,1923,1902,1945,0,0,0,0,0,0,28.83,25.99,28.83
$GC,5397,1.37,178.6,2713,2299,1902,1942,319.0,9.0,299,5404,0.00,2.22,1.52,0.054,8452,0.000,0.032,2713,3684,1909,1886,1932,0,0,0,0,0,0,28.83,26.23,26.15
$GC,5612,1.38,180.8,2713,3684,1886,1938,299.8,9.2,309,5621,0.10,2.12,1.80,0.063,13318,0.194,0.026,2701,2289,1902,1876,1928,0,0,0,0,0,0,26.10,26.34,26.12
$GC,5942,1.39,183.3,2701,2289,1876,1938,270.4,9.2,325,5953,0.00,2.22,3.20,0.472,8708,0.000,0.043,2711,897,1892,1863,1921,0,0,0,0,0,0,28.83,26.39,25.22
$GC,6013,1.39,186.8,2711,897,1863,1924,263.9,9.1,328,6032,0.00,2.08,9.73,0.758,9222,0.000,0.017,2711,2301,1873,1846,1901,0,0,0,0,0,0,28.83,26.47,25.52
$GC,6332,1.41,193.7,2711,2302,1845,1898,234.3,9.0,344,6349,0.00,2.17,7.30,0.738,8452,0.000,0.036,2711,3684,1847,1819,1876,0,0,0,0,0,0,28.83,26.31,25.51
$GC,6485,1.42,198.2,2710,3686,1818,1871,220.6,9.1,351,6497,0.00,2.12,4.18,0.630,9222,0.000,0.027,2721,2295,1829,1802,1857,0,0,0,0,0,0,28.83,26.34,25.25
$GC,6806,1.44,205.3,2721,2295,1803,1857,191.4,9.0,367,6822,0.00,2.17,9.77,0.716,8452,0.000,0.033,2721,3691,1797,1770,1824,0,0,0,0,0,0,28.83,26.29,25.53
$GC,6877,1.46,213.4,2721,3691,1768,1821,185.4,9.0,370,6896,0.00,2.15,8.57,0.711,9222,0.000,0.027,2731,2293,1764,1736,1793,0,0,0,0,0,0,28.83,26.30,25.44
$GC,7194,1.48,221.0,2730,2293,1735,1788,156.4,9.0,386,7211,0.00,2.28,7.82,0.695,8708,0.000,0.043,2741,888,1734,1704,1765,0,0,0,0,0,0,28.83,26.23,25.49
$GC,7234,1.49,225.9,2741,888,1704,1765,154.1,9.1,387,7243,0.00,2.10,3.97,0.580,9222,0.000,0.018,2741,2297,1718,1686,1750,0,0,0,0,0,0,28.83,26.32,25.22
$GC,7540,1.51,233.6,2741,2297,1686,1750,125.0,9.0,403,7552,0.00,0.00,10.32,0.672,8198,0.000,0.000,2741,2298,1687,1652,1723,0,0,0,0,0,0,28.83,28.83,25.52
$GC,7842,1.55,249.0,2741,2298,1647,1713,98.1,8.7,418,7861,0.00,0.00,15.45,0.636,8198,0.000,0.000,2743,2298,1620,1573,1668,0,0,0,0,0,0,28.83,28.83,25.53
$GC,8162,1.56,254.3,2741,2298,1570,1660,68.5,9.1,434,8173,0.00,2.20,3.50,0.478,8452,0.000,0.036,2741,3693,1602,1553,1651,0,0,0,0,0,0,28.83,26.32,25.28
$GC,8220,1.56,254.3,2741,3693,1553,1651,64.2,9.3,436,8227,0.00,2.15,0.00,0.000,1030,0.000,0.025,2751,2288,1602,1553,1651,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8536,1.56,254.3,2751,2287,1553,1652,34.9,9.4,460,8542,0.00,2.17,0.00,0.000,516,0.000,0.043,2761,887,1602,1553,1651,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8574,1.58,262.8,2762,887,1553,1651,31.5,8.9,463,8593,0.00,2.10,11.30,0.577,9222,0.000,0.018,2762,2310,1562,1509,1616,0,0,0,0,0,0,28.83,26.48,25.64
$STATE,8888,end climb,SURFACE_DEPTH_REACHED
$STATE,8888,begin surface coast
$FINISH,0.0,1.024904
$STATE,8922,end surface coast,CONTROL_FINISHED_OK
$STATE,8922,begin surface
$SM_CCo,8939,236.73,0.716,3,0,400,549.47
$SM_CCo,9194,-0.10,0.000,0,0,402,549.47
$SM_CCo,9199,2.95,0.352,0,0,400,549.47
$SM_GC,-23.93,7.50,0.55,2.95,0.071,0.035,0.352,86,1957,400,-10.56,0.96,549.47,0,0,0,0,0,0,26.39,26.44,24.60
$IRIDIUM_FIX,2141.13,12022.40,010413,030324
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.81
$INTERNAL_PRESSURE,9.17526
$TCM_TEMP,19.90
$XPDR_PINGS,2
$SC_FREEKB,3926272
$24V_AH,24.3,41.904
$10V_AH,10.1,21.499
$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,17.425,77.675,439.600,239.675,0.000,0.000,0.000,226.000,0.500,0.000,40.348,2081.755,4647.245,811.982,1637.334,445.219,0.000,1942.541,0.000,1408.645,0.000,1.487,0.000
$DEVICE_MAMPS,213.435,55.845,839.970,716.040,0.000,0.000,0.000,133.875,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8934.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.508,0.000,0.000,0.000
$MEM,324428
$DATA_FILE_SIZE,16751,519
$CAP_FILE_SIZE,407818,2154
$CFSIZE,260034560,221917184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$CURRENT,0.145, 43.3,1
$GPS,010413,091604,2153.513,12024.732,194,0.9,194,-3.1