version: 66.11
glider: 121
mission: 10
dive: 258
start: 4 1 113 20 13 9
data:
$ID,121
$MISSION,10
$DIVE,258
$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,-100822.66
$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,60
$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
$GPS1,010413,200434,2157.028,12027.513,106,1.0,106,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-63.3
$GPS2,010413,201241,2157.043,12027.404,18,0.9,19,-3.1
$SPEED_LIMITS,0.160,0.240
$TGT_NAME,PICKUP
$TGT_LATLONG,2209.500,12030.330
$TGT_RADIUS,5000.000
$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,19.0,23609,-18.5,-9.259,-21.12,2828
$D_GRID,576
$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,-170.3,85,1948,343,478,0.0,0.0,0,44,0.00,0.00,-23.25,0.000,16386,0.000,0.000,85,1948,1021,1007,1036,0,0,0,0,0,0,28.83,28.83,28.83
$GC,47,-1.35,-170.3,85,1948,1008,1037,3.1,-9.1,3,163,7.82,2.20,-94.95,0.000,18948,0.207,0.054,2111,582,3338,3248,3428,0,0,0,0,0,0,25.71,26.10,26.46
$GC,220,-1.35,-170.3,1256,582,3222,3424,19.2,-9.1,28,228,0.00,2.05,0.00,0.000,1030,0.000,0.015,2102,1987,3338,3249,3428,0,0,0,0,0,0,28.83,26.26,28.83
$GC,538,-1.35,-170.3,2102,1988,3250,3427,47.5,-9.0,64,543,0.00,2.05,0.00,0.000,260,0.000,0.031,2092,3355,3338,3250,3427,0,0,0,0,0,0,28.83,26.34,28.83
$GC,785,-1.35,-170.3,2092,3355,3252,3428,68.4,-9.0,77,791,0.00,2.08,0.00,0.000,1030,0.000,0.025,2092,1972,3339,3252,3427,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1100,-1.35,-170.3,2092,1971,3255,3427,97.4,-9.0,93,1105,0.00,2.10,0.00,0.000,260,0.000,0.030,2083,3356,3341,3255,3427,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1129,-1.35,-170.3,2083,3356,3255,3428,99.6,-8.9,94,1135,0.00,2.08,0.00,0.000,1030,0.000,0.025,2086,1970,3341,3255,3428,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1450,-1.35,-170.3,2085,1970,3255,3428,128.4,-8.9,110,1451,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,1970,3341,3255,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1751,-1.35,-170.3,2085,1970,3255,3427,155.4,-9.1,125,1752,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,1970,3341,3255,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2051,-1.35,-170.3,2085,1970,3255,3424,182.4,-9.3,140,2052,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,1970,3339,3255,3424,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2350,-1.35,-170.3,2085,1970,3254,3421,209.7,-9.1,155,2352,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,1970,3337,3254,3420,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2651,-1.35,-170.3,2085,1970,3254,3417,236.2,-9.0,170,2652,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,1970,3336,3255,3417,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2950,-1.35,-170.3,2085,1970,3254,3414,262.6,-9.1,185,2952,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,1970,3333,3253,3414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3250,-1.35,-170.3,2085,1969,3252,3411,289.9,-8.9,200,3252,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,1969,3332,3253,3411,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3551,-1.35,-170.3,2085,1970,3250,3409,317.4,-9.0,215,3557,0.00,2.15,0.00,0.000,516,0.000,0.044,2095,575,3329,3250,3408,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3577,-1.35,-170.3,2095,575,3250,3408,319.8,-9.1,216,3583,0.00,2.03,0.00,0.000,1030,0.000,0.016,2087,1971,3329,3250,3408,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3903,-1.35,-170.3,2087,1971,3248,3407,349.1,-9.2,232,3904,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,1971,3327,3248,3406,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4204,-1.35,-170.3,2087,1972,3245,3404,376.0,-8.9,247,4211,0.00,2.10,0.00,0.000,260,0.000,0.034,2076,3365,3324,3245,3403,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4252,-1.35,-170.3,2076,3365,3244,3403,380.5,-8.8,249,4259,0.12,2.10,0.00,0.000,3078,0.146,0.029,2111,1981,3323,3244,3403,0,0,0,0,0,0,26.29,26.51,28.83
$STATE,4476,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4476,begin apogee
$GC,4482,-0.25,0.0,2110,2308,3243,3401,401.2,-9.0,260,4649,0.70,0.00,155.73,1.039,10246,0.108,0.000,2342,2309,2639,2591,2687,0,0,0,0,1,0,26.20,28.83,24.12
$STATE,4653,end apogee,CONTROL_FINISHED_OK
$STATE,4653,begin climb
$GC,4655,1.35,170.3,2342,2308,2592,2687,387.0,0.0,267,4824,1.00,2.45,160.57,0.907,11012,0.052,0.041,2713,905,1937,1906,1969,0,0,0,0,0,0,25.10,24.81,24.11
$GC,4859,1.39,183.5,2713,904,1901,1951,368.2,8.8,278,4874,0.00,2.17,7.97,0.824,9222,0.000,0.017,2713,2298,1893,1868,1919,0,0,0,0,0,0,28.83,25.27,24.40
$GC,5169,1.41,194.1,2713,2299,1868,1911,339.9,8.9,294,5189,0.00,0.00,13.30,0.854,8198,0.000,0.000,2713,2299,1839,1815,1863,0,0,0,0,0,0,28.83,28.83,25.08
$GC,5489,1.42,198.9,2713,2299,1813,1853,310.7,9.1,310,5496,0.00,2.15,0.00,0.000,260,0.000,0.034,2713,3702,1833,1813,1854,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5550,1.44,206.4,2713,3702,1813,1852,306.5,9.0,312,5569,0.00,2.15,11.25,0.829,9222,0.000,0.025,2722,2299,1792,1766,1818,0,0,0,0,0,0,28.83,26.25,25.29
$GC,5885,1.45,210.3,2722,2299,1764,1811,275.2,9.1,329,5886,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2299,1787,1764,1811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6185,1.47,218.5,2722,2299,1764,1808,248.2,9.0,344,6202,0.00,2.28,11.35,0.769,8708,0.000,0.044,2734,900,1745,1716,1774,0,0,0,0,0,0,28.83,26.22,25.47
$GC,6256,1.49,225.1,2733,900,1715,1773,241.9,9.0,347,6268,0.00,2.10,7.22,0.765,9222,0.000,0.018,2733,2302,1720,1689,1752,0,0,0,0,0,0,28.83,26.30,25.34
$GC,6578,1.50,227.5,2733,2301,1686,1743,212.9,9.2,363,6584,0.00,2.12,0.00,0.000,260,0.000,0.036,2733,3691,1715,1686,1744,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6619,1.51,231.7,2733,3691,1686,1743,210.6,9.1,364,6634,0.00,2.15,7.00,0.741,9222,0.000,0.027,2743,2293,1690,1657,1724,0,0,0,0,0,0,28.83,26.33,25.44
$GC,6955,1.54,246.0,2743,2293,1656,1720,179.6,8.7,381,6973,0.00,0.00,14.50,0.713,8198,0.000,0.000,2743,2293,1633,1588,1679,0,0,0,0,0,0,28.83,28.83,25.47
$GC,7272,1.55,250.8,2743,2292,1585,1672,151.1,9.1,397,7280,0.00,2.28,3.28,0.496,8708,0.000,0.044,2754,890,1617,1570,1664,0,0,0,0,0,0,28.83,26.28,25.18
$GC,7328,1.58,259.9,2754,890,1570,1664,146.8,8.9,399,7346,0.00,2.12,12.23,0.679,9222,0.000,0.018,2754,2310,1576,1525,1628,0,0,0,0,0,0,28.83,26.37,25.46
$GC,7642,1.60,267.2,2754,2309,1522,1621,117.9,9.0,415,7651,0.00,0.00,7.53,0.653,8198,0.000,0.000,2754,2310,1550,1498,1602,0,0,0,0,0,0,28.83,28.83,25.49
$GC,7944,1.63,280.6,2754,2310,1494,1594,91.0,8.8,430,7962,0.00,0.00,14.40,0.603,8198,0.000,0.000,2754,2311,1491,1439,1544,0,0,0,0,0,0,28.83,28.83,25.55
$GC,8263,1.66,292.9,2754,2311,1437,1536,62.2,8.8,446,8279,0.00,0.00,12.23,0.577,8454,0.000,0.000,2754,2311,1442,1393,1492,0,0,0,0,0,0,28.83,28.83,25.57
$GC,8588,1.69,305.7,2754,2311,1392,1482,33.2,8.8,471,8608,0.00,2.28,13.05,0.546,8708,0.000,0.041,2763,896,1387,1346,1429,0,0,0,0,0,0,28.83,26.21,25.60
$GC,8659,1.71,311.5,2763,896,1346,1425,26.9,9.0,477,8672,0.00,2.12,4.22,0.496,9222,0.000,0.017,2763,2314,1368,1330,1407,0,0,0,0,0,0,28.83,26.31,25.27
$STATE,8926,end climb,SURFACE_DEPTH_REACHED
$STATE,8926,begin surface coast
$FINISH,0.0,1.023819
$STATE,8960,end surface coast,CONTROL_FINISHED_OK
$STATE,8961,begin surface
$SM_CCo,8978,193.02,0.672,2,0,400,549.47
$SM_CCo,9185,-0.03,0.000,0,0,400,549.47
$SM_CCo,9189,0.00,0.000,0,0,400,549.47
$SM_GC,-23.93,7.45,0.55,0.00,0.065,0.037,0.000,84,1968,400,-10.56,1.10,549.47,0,0,0,0,0,0,26.36,26.37,28.83
$IRIDIUM_FIX,2148.09,12035.12,010413,171745
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.30
$INTERNAL_PRESSURE,9.1948
$TCM_TEMP,20.60
$XPDR_PINGS,1
$SC_FREEKB,3924352
$24V_AH,24.1,42.653
$10V_AH,10.1,21.821
$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,17.100,48.325,455.825,193.025,0.000,0.000,0.000,286.525,0.250,0.000,20.381,1877.384,5110.922,744.865,1487.656,431.847,0.000,1821.904,0.000,1238.999,0.000,1.487,0.000
$DEVICE_MAMPS,207.315,54.315,1038.870,671.670,0.000,0.000,0.000,130.815,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8979.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.488,0.000,0.000,0.000
$MEM,324388
$DATA_FILE_SIZE,20093,530
$CAP_FILE_SIZE,362922,1822
$CFSIZE,260034560,221384704
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$CURRENT,0.089,347.7,1
$GPS,010413,224834,2158.330,12027.609,96,0.8,96,-3.1