version: 66.11
glider: 121
mission: 10
dive: 255
start: 4 1 113 12 5 2
data:
$ID,121
$MISSION,10
$DIVE,255
$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,-100818.89
$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,46
$R_STBD_OVSHOOT,56
$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
$GPS1,010413,115648,2154.507,12025.953,30,1.4,30,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-65.2
$GPS2,010413,120435,2154.372,12025.957,16,1.0,17,-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,19.5,28451,-18.5,-9.259,-21.12,2828
$D_GRID,888
$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,-170.3,85,1957,336,465,0.0,0.0,0,43,0.00,0.00,-23.08,0.000,16386,0.000,0.000,84,1957,1000,989,1011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.35,-170.3,84,1957,989,1011,3.2,-8.7,3,153,7.90,2.25,-93.47,0.000,18948,0.211,0.054,2112,571,3337,3246,3429,0,0,0,0,0,0,25.72,26.12,26.47
$GC,173,-1.35,-170.3,2112,571,3248,3429,14.7,-7.5,20,181,0.00,2.08,0.00,0.000,1030,0.000,0.015,2103,1994,3338,3247,3430,0,0,0,0,0,0,28.83,26.25,28.83
$GC,494,-1.35,-170.3,2104,1995,3249,3429,43.8,-9.6,61,501,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,1996,3339,3249,3429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,803,-1.35,-170.3,2103,1997,3253,3429,71.5,-8.8,80,809,0.00,2.03,0.00,0.000,260,0.000,0.031,2093,3352,3341,3252,3430,0,0,0,0,0,0,28.83,26.44,28.83
$GC,916,-1.35,-170.3,2093,3352,3253,3429,81.3,-9.0,85,922,0.00,2.08,0.00,0.000,1030,0.000,0.024,2101,1966,3341,3253,3429,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1237,-1.35,-170.3,2101,1966,3254,3429,110.0,-8.8,101,1243,0.00,2.12,0.00,0.000,516,0.000,0.041,2111,569,3341,3253,3429,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1285,-1.35,-170.3,2111,569,3254,3429,114.5,-8.9,103,1291,0.00,2.03,0.00,0.000,1030,0.000,0.015,2103,1984,3342,3254,3430,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1610,-1.35,-170.3,2103,1986,3253,3429,143.5,-9.3,119,1617,0.00,2.05,0.00,0.000,260,0.000,0.031,2092,3363,3341,3254,3429,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1641,-1.35,-170.3,2092,3363,3254,3428,145.8,-9.1,120,1647,0.00,2.08,0.00,0.000,1030,0.000,0.026,2093,1975,3341,3253,3429,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1961,-1.35,-170.3,2092,1975,3253,3426,175.1,-9.2,136,1967,0.00,2.15,0.00,0.000,516,0.000,0.041,2103,567,3339,3253,3426,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2043,-1.35,-170.3,1280,567,3226,3423,181.2,-9.1,139,2051,0.00,2.03,0.00,0.000,1030,0.000,0.016,2094,1977,3339,3253,3426,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2349,-1.35,-170.3,2094,1977,3253,3422,209.8,-8.8,155,2354,0.00,2.05,0.00,0.000,260,0.000,0.031,2084,3359,3337,3253,3422,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2400,-1.35,-170.3,1248,3357,3226,3418,214.0,-9.1,157,2406,0.00,2.08,0.00,0.000,1030,0.000,0.027,2085,1977,3338,3254,3422,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2720,-1.35,-170.3,2084,1977,3253,3419,243.3,-9.2,173,2726,0.00,2.10,0.00,0.000,260,0.000,0.031,2076,3360,3335,3253,3418,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2859,-1.35,-170.3,2078,3360,3253,3417,255.5,-9.0,179,2865,0.10,2.10,0.00,0.000,3078,0.161,0.028,2103,1966,3335,3253,3418,0,0,0,0,0,0,26.36,26.56,28.83
$GC,3180,-1.35,-170.3,2103,1966,3253,3414,285.3,-9.1,195,3181,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,1966,3333,3253,3414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3481,-1.35,-170.3,2103,1966,3252,3410,311.5,-8.4,210,3487,0.00,2.15,0.00,0.000,516,0.000,0.045,2113,573,3331,3252,3410,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3533,-1.35,-170.3,2113,572,3252,3410,315.9,-8.8,212,3539,0.00,2.03,0.00,0.000,1030,0.000,0.016,2105,1970,3330,3252,3409,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3853,-1.35,-170.3,2106,1970,3251,3408,345.3,-9.4,228,3859,0.00,2.10,0.00,0.000,260,0.000,0.034,2094,3367,3327,3248,3407,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3940,-1.35,-170.3,2094,3367,3248,3406,353.2,-9.0,232,3946,0.00,2.12,0.00,0.000,1030,0.000,0.029,2100,1968,3327,3248,3406,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4265,-1.35,-170.3,2100,1968,3245,3404,382.5,-8.4,248,4266,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,1967,3324,3245,3404,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4484,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4484,begin apogee
$GC,4490,-0.25,0.0,2099,2311,3243,3402,401.7,-8.8,259,4650,0.75,0.00,148.82,0.878,10246,0.112,0.000,2345,2312,2631,2583,2679,0,0,0,0,0,0,26.22,28.83,24.45
$STATE,4651,end apogee,CONTROL_FINISHED_OK
$STATE,4651,begin climb
$GC,4654,1.35,170.3,2345,2312,2582,2677,387.0,0.0,266,4820,0.98,2.30,154.48,0.851,10500,0.054,0.034,2700,3686,1933,1903,1963,0,0,0,0,0,0,25.29,24.99,24.31
$GC,5046,1.36,174.9,2700,3686,1902,1944,352.0,9.1,285,5052,0.00,2.15,0.00,0.000,1030,0.000,0.025,2710,2298,1923,1902,1944,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5361,1.37,178.7,2710,2298,1902,1941,322.8,9.1,301,5368,0.00,2.28,1.50,0.056,8708,0.000,0.042,2720,897,1908,1886,1931,0,0,0,0,0,0,28.83,26.20,26.13
$GC,5418,1.39,184.7,2720,897,1886,1932,318.4,9.0,303,5437,0.00,2.08,10.20,0.793,9222,0.000,0.017,2721,2294,1881,1858,1904,0,0,0,0,0,0,28.83,26.34,25.38
$GC,5759,1.41,194.1,2720,2293,1856,1897,287.3,8.9,320,5776,0.00,2.15,9.50,0.771,8452,0.000,0.035,2720,3689,1842,1817,1867,0,0,0,0,0,0,28.83,26.21,25.44
$GC,5850,1.44,205.9,1728,3688,1769,1853,279.5,8.8,324,5869,0.00,2.12,11.90,0.767,9222,0.000,0.025,2730,2300,1795,1768,1823,0,0,0,0,0,0,28.83,26.25,25.34
$GC,6166,1.44,205.9,2730,2300,1765,1815,250.2,9.6,340,6172,0.00,2.17,0.00,0.000,260,0.000,0.034,2730,3693,1790,1766,1815,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6237,1.45,208.9,2730,3694,1765,1814,244.2,9.1,343,6243,0.12,2.12,0.00,0.000,5126,0.186,0.027,2711,2301,1790,1766,1814,0,0,0,0,0,0,26.04,26.32,28.83
$GC,6558,1.46,214.8,2711,2301,1765,1813,215.0,9.0,359,6574,0.00,2.25,8.40,0.720,8708,0.000,0.044,2721,901,1760,1732,1789,0,0,0,0,0,0,28.83,26.30,25.56
$GC,6711,1.47,218.3,2721,901,1730,1786,201.3,9.1,366,6716,0.00,2.08,0.00,0.000,1030,0.000,0.018,2721,2298,1758,1730,1786,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7035,1.49,223.8,2721,2299,1730,1782,171.5,9.1,382,7052,0.00,2.15,9.65,0.689,8452,0.000,0.037,2721,3690,1722,1691,1753,0,0,0,0,0,0,28.83,26.32,25.60
$GC,7175,1.49,226.1,2721,3690,1689,1750,159.6,9.2,388,7181,0.00,2.12,0.00,0.000,1030,0.000,0.028,2731,2301,1719,1689,1750,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7490,1.49,226.1,2731,2301,1689,1748,130.0,9.9,404,7496,0.00,2.20,0.00,0.000,516,0.000,0.044,2742,887,1718,1689,1747,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7541,1.51,233.2,2742,887,1689,1747,125.8,9.0,406,7560,0.00,2.10,9.23,0.650,9222,0.000,0.018,2742,2302,1685,1651,1719,0,0,0,0,0,0,28.83,26.49,25.63
$GC,7858,1.53,242.7,2742,2302,1650,1713,97.0,8.9,422,7869,0.00,0.00,9.32,0.625,8198,0.000,0.000,2742,2302,1650,1606,1694,0,0,0,0,0,0,28.83,28.83,25.63
$GC,8161,1.57,258.7,2742,2302,1599,1686,70.3,8.7,437,8184,0.00,2.33,16.23,0.584,8708,0.000,0.042,2753,889,1579,1528,1630,0,0,0,0,0,0,28.83,26.22,25.60
$GC,8253,1.58,262.6,2752,889,1527,1626,61.8,9.1,441,8259,0.00,2.10,0.00,0.000,1030,0.000,0.017,2752,2301,1576,1527,1625,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8568,1.61,272.8,2752,2302,1527,1623,33.3,8.9,465,8587,0.00,2.30,14.15,0.548,8708,0.000,0.041,2762,899,1521,1468,1574,0,0,0,0,0,0,28.83,26.24,25.63
$GC,8661,1.62,277.0,2762,898,1468,1569,24.9,9.1,473,8670,0.00,2.10,0.00,0.000,1030,0.000,0.017,2762,2307,1518,1467,1569,0,0,0,0,0,0,28.83,26.34,28.83
$STATE,8906,end climb,SURFACE_DEPTH_REACHED
$STATE,8907,begin surface coast
$FINISH,0.0,1.024575
$STATE,8940,end surface coast,CONTROL_FINISHED_OK
$STATE,8940,begin surface
$SM_CCo,8958,221.30,0.684,2,0,399,549.47
$SM_CCo,9193,-0.12,0.000,0,0,401,549.47
$SM_CCo,9196,0.95,0.134,0,0,400,549.47
$SM_GC,-23.93,7.50,0.52,0.95,0.070,0.035,0.134,86,1965,400,-10.55,1.24,549.47,0,0,0,0,0,0,26.37,26.42,25.11
$IRIDIUM_FIX,2145.77,12020.40,010413,090925
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.50
$INTERNAL_PRESSURE,9.17526
$TCM_TEMP,20.00
$XPDR_PINGS,0
$SC_FREEKB,3925504
$24V_AH,24.3,42.199
$10V_AH,10.1,21.632
$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,17.350,77.725,403.375,222.250,0.000,0.000,0.000,266.650,0.000,0.000,18.210,2099.105,4672.007,768.483,1657.102,441.977,0.000,1916.566,0.000,1423.350,0.000,1.487,0.000
$DEVICE_MAMPS,211.140,54.315,878.220,683.910,0.000,0.000,0.000,131.580,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8963.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.511,0.000,0.000,0.000
$MEM,324360
$DATA_FILE_SIZE,20045,523
$CAP_FILE_SIZE,408704,2179
$CFSIZE,260034560,221683712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.090, 18.0,1
$GPS,010413,144004,2155.687,12026.404,64,0.8,64,-3.1