version: 66.11
glider: 121
mission: 10
dive: 257
start: 4 1 113 17 28 40
data:
$ID,121
$MISSION,10
$DIVE,257
$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,-100821.4
$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,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
$GPS1,010413,172035,2156.461,12027.029,18,0.9,18,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-65.2
$GPS2,010413,172813,2156.341,12026.893,18,1.0,18,-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,47.3,24534,-18.5,-9.259,-21.12,2828
$D_GRID,829
$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,18,-1.35,-170.3,84,1957,337,464,0.0,0.0,0,44,0.00,0.00,-23.80,0.000,16386,0.000,0.000,84,1956,1022,1011,1034,0,0,0,0,0,0,28.83,28.83,28.83
$GC,47,-1.35,-170.3,85,1957,1011,1034,3.1,-7.8,3,164,8.02,2.22,-99.65,0.000,18948,0.216,0.060,2110,575,3335,3240,3431,0,0,0,0,0,0,25.71,26.13,26.48
$GC,264,-1.35,-170.3,1248,575,3214,3428,23.1,-9.6,36,272,0.00,2.05,0.00,0.000,1030,0.000,0.015,2102,1993,3337,3243,3431,0,0,0,0,0,0,28.83,26.32,28.83
$GC,587,-1.35,-170.3,2102,1994,3246,3431,52.2,-8.9,68,593,0.00,2.03,0.00,0.000,260,0.000,0.031,2092,3352,3338,3246,3431,0,0,0,0,0,0,28.83,26.39,28.83
$GC,717,-1.35,-170.3,1248,3350,3221,3428,63.8,-8.9,74,723,0.00,2.08,0.00,0.000,1030,0.000,0.024,2099,1961,3339,3248,3431,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1042,-1.35,-170.3,2099,1961,3250,3431,93.3,-9.3,90,1048,0.00,2.10,0.00,0.000,516,0.000,0.040,2109,575,3340,3250,3431,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1078,-1.35,-170.3,2109,575,3250,3431,95.6,-9.1,91,1084,0.00,2.00,0.00,0.000,1030,0.000,0.015,2100,1978,3340,3250,3431,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1393,-1.35,-170.3,2100,1978,3250,3431,125.5,-9.1,107,1399,0.00,2.05,0.00,0.000,260,0.000,0.031,2090,3360,3340,3250,3431,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1462,-1.35,-170.3,2090,3360,3250,3431,131.6,-9.0,110,1468,0.00,2.08,0.00,0.000,1030,0.000,0.024,2097,1967,3340,3250,3431,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1787,-1.35,-170.3,2096,1967,3250,3429,161.7,-9.1,126,1788,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,1967,3339,3250,3429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2088,-1.35,-170.3,2096,1967,3250,3426,188.2,-8.6,141,2090,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,1967,3338,3250,3426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2389,-1.35,-170.3,2096,1966,3250,3422,214.5,-8.7,156,2395,0.00,2.10,0.00,0.000,260,0.000,0.031,2088,3348,3336,3250,3422,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2458,-1.35,-170.3,2088,3348,3250,3421,220.7,-8.7,159,2465,0.00,2.08,0.00,0.000,1030,0.000,0.027,2090,1966,3336,3250,3422,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2785,-1.35,-170.3,2088,1966,3250,3417,250.0,-9.1,175,2791,0.00,2.12,0.00,0.000,516,0.000,0.044,2098,575,3333,3250,3417,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2842,-1.35,-170.3,2098,575,3250,3417,254.3,-9.0,177,2848,0.00,2.00,0.00,0.000,1030,0.000,0.016,2089,1972,3333,3250,3417,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3157,-1.35,-170.3,2089,1973,3250,3413,283.9,-9.3,193,3163,0.00,2.08,0.00,0.000,260,0.000,0.033,2079,3356,3331,3250,3412,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3260,-1.35,-170.3,2079,3356,3250,3411,291.9,-9.1,197,3268,0.10,2.08,0.00,0.000,3078,0.159,0.028,2103,1977,3330,3250,3410,0,0,0,0,0,0,26.34,26.55,28.83
$GC,3565,-1.35,-170.3,2103,1976,3248,3408,321.3,-9.4,213,3571,0.00,2.17,0.00,0.000,516,0.000,0.045,2114,568,3328,3248,3408,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3612,-1.35,-170.3,2113,568,3248,3407,325.5,-9.1,215,3618,0.00,2.03,0.00,0.000,1030,0.000,0.017,2105,1966,3328,3249,3407,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3938,-1.35,-170.3,2105,1967,3246,3405,354.3,-9.0,231,3944,0.00,2.10,0.00,0.000,260,0.000,0.034,2095,3362,3325,3245,3405,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3974,-1.35,-170.3,2095,3362,3244,3405,356.5,-8.9,232,3980,0.00,2.10,0.00,0.000,1030,0.000,0.030,2095,1978,3325,3245,3405,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4288,-1.35,-170.3,2095,1978,3242,3403,385.5,-8.7,248,4290,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,1978,3322,3242,3402,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4466,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4466,begin apogee
$GC,4473,-0.25,0.0,2094,2305,3242,3401,401.7,-8.8,257,4631,0.77,0.00,148.43,0.872,10246,0.112,0.000,2347,2305,2630,2583,2678,0,0,0,0,0,0,26.20,28.83,24.44
$STATE,4633,end apogee,CONTROL_FINISHED_OK
$STATE,4633,begin climb
$GC,4636,1.35,170.3,2347,2305,2581,2676,387.3,0.0,264,4799,0.98,2.30,154.30,0.852,10500,0.051,0.034,2702,3680,1937,1907,1967,0,0,0,0,0,0,25.30,24.98,24.29
$GC,5000,1.36,175.0,2702,3680,1904,1944,354.3,9.1,280,5006,0.00,2.15,0.00,0.000,1030,0.000,0.026,2712,2297,1923,1904,1943,0,0,0,0,0,0,28.83,25.91,28.83
$GC,5319,1.36,175.0,2711,2297,1904,1940,324.5,9.3,296,5326,0.00,2.20,0.00,0.000,516,0.000,0.043,2723,892,1921,1903,1940,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5377,1.37,178.9,2722,892,1902,1940,320.2,9.1,298,5384,0.10,2.10,1.58,0.055,13318,0.190,0.018,2702,2307,1908,1887,1930,0,0,0,0,0,0,26.03,26.32,26.15
$GC,5694,1.39,184.5,2701,2307,1887,1933,290.9,9.1,314,5706,0.00,2.12,5.20,0.706,8452,0.000,0.034,2701,3694,1886,1863,1910,0,0,0,0,0,0,28.83,26.33,25.41
$GC,5766,1.40,189.0,2701,3695,1864,1912,284.8,9.1,317,5785,0.00,2.15,9.65,0.768,9222,0.000,0.026,2710,2290,1865,1842,1888,0,0,0,0,0,0,28.83,26.34,25.45
$GC,6083,1.42,196.2,2710,2290,1842,1883,256.1,9.0,333,6099,0.00,2.25,7.25,0.747,8708,0.000,0.044,2721,894,1837,1813,1862,0,0,0,0,0,0,28.83,26.25,25.46
$GC,6200,1.44,205.8,2722,894,1812,1860,246.4,8.9,338,6219,0.00,2.10,10.95,0.748,9222,0.000,0.018,2721,2302,1795,1770,1821,0,0,0,0,0,0,28.83,26.36,25.41
$GC,6540,1.44,206.0,2721,2302,1768,1815,214.7,9.3,355,6542,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2302,1791,1768,1815,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6840,1.46,212.5,2721,2302,1768,1814,187.2,9.0,370,6847,0.00,0.00,4.90,0.669,8198,0.000,0.000,2721,2302,1772,1746,1798,0,0,0,0,0,0,28.83,28.83,25.34
$GC,7139,1.46,212.5,2721,2302,1746,1798,160.7,9.3,385,7145,0.00,2.22,0.00,0.000,516,0.000,0.042,2731,897,1772,1746,1798,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7211,1.48,220.8,2730,897,1746,1798,154.6,9.0,388,7230,0.00,2.08,10.82,0.674,9222,0.000,0.018,2731,2301,1735,1706,1765,0,0,0,0,0,0,28.83,26.48,25.59
$GC,7528,1.49,226.7,2730,2301,1704,1760,125.9,9.0,404,7539,0.00,2.12,4.70,0.616,8452,0.000,0.035,2732,3690,1714,1683,1745,0,0,0,0,0,0,28.83,26.36,25.34
$GC,7596,1.51,232.9,2731,3690,1683,1745,119.9,9.0,407,7612,0.00,2.15,8.57,0.646,9222,0.000,0.028,2741,2295,1686,1652,1721,0,0,0,0,0,0,28.83,26.36,25.54
$GC,7922,1.52,235.6,2741,2295,1651,1715,90.4,9.2,423,7923,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2295,1683,1651,1715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8222,1.53,243.1,2741,2295,1651,1714,63.2,9.0,438,8239,0.00,2.17,10.02,0.597,8452,0.000,0.035,2741,3690,1644,1599,1689,0,0,0,0,0,0,28.83,26.34,25.66
$GC,8268,1.54,244.6,2741,3690,1596,1688,58.8,9.2,440,8275,0.00,2.15,0.00,0.000,1030,0.000,0.028,2751,2289,1642,1596,1688,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8584,1.56,253.2,2750,2289,1596,1686,30.1,8.9,466,8602,0.00,2.22,10.35,0.563,8708,0.000,0.044,2761,896,1602,1552,1652,0,0,0,0,0,0,28.83,26.31,25.66
$GC,8770,1.56,253.2,1712,896,1516,1640,13.5,9.4,494,8778,0.10,2.08,0.00,0.000,5126,0.187,0.017,2740,2305,1599,1551,1647,0,0,0,0,0,0,26.15,26.43,28.83
$STATE,8884,end climb,SURFACE_DEPTH_REACHED
$STATE,8884,begin surface coast
$FINISH,0.0,1.024750
$STATE,8919,end surface coast,CONTROL_FINISHED_OK
$STATE,8920,begin surface
$SM_CCo,8937,245.50,0.695,3,0,399,549.47
$SM_CCo,9201,-0.15,0.000,0,0,403,549.47
$SM_CCo,9204,2.58,0.280,0,0,400,549.47
$SM_GC,-23.93,7.38,0.52,2.58,0.067,0.035,0.280,86,1960,400,-10.54,1.22,549.47,0,0,0,0,0,0,26.40,26.44,24.60
$IRIDIUM_FIX,2145.77,12026.75,010413,141425
$TT8_MAMPS,0.023968,0.023968
$HUMID,49.72
$INTERNAL_PRESSURE,9.17526
$TCM_TEMP,19.70
$XPDR_PINGS,1
$SC_FREEKB,3924736
$24V_AH,24.3,42.493
$10V_AH,10.2,21.759
$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,17.450,73.025,386.725,248.075,0.000,0.000,0.000,257.350,0.250,0.000,19.024,2016.930,4825.120,774.642,1591.188,431.987,0.000,1891.985,0.000,1356.406,0.000,1.487,0.000
$DEVICE_MAMPS,215.730,60.435,872.100,694.620,0.000,0.000,0.000,132.345,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8927.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.532,0.000,0.000,0.000
$MEM,324404
$DATA_FILE_SIZE,16767,520
$CAP_FILE_SIZE,392691,2042
$CFSIZE,260034560,221470720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$CURRENT,0.016,307.0,1
$GPS,010413,200434,2157.028,12027.513,106,1.0,106,-3.1