version: 66.11
glider: 121
mission: 10
dive: 259
start: 4 1 113 22 56 39
data:
$ID,121
$MISSION,10
$DIVE,259
$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,-100823.91
$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,42
$R_STBD_OVSHOOT,55
$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
$GPS1,010413,224834,2158.330,12027.609,96,0.8,96,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-63.6
$GPS2,010413,225611,2158.419,12027.620,18,1.0,18,-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,24.9,21042,-18.5,-9.259,-21.12,2828
$D_GRID,506
$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,-170.3,82,1959,356,481,0.0,0.0,0,43,0.00,0.00,-22.85,0.000,16386,0.000,0.000,82,1959,1020,1012,1029,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.35,-170.3,82,1960,1014,1031,3.2,-8.6,3,153,7.82,2.22,-87.62,0.000,18948,0.207,0.053,2108,571,3336,3245,3427,0,0,0,0,0,0,25.66,26.10,26.46
$GC,211,-1.35,-170.3,1248,571,3218,3423,18.2,-9.0,27,219,0.00,2.08,0.00,0.000,1030,0.000,0.015,2099,1990,3337,3247,3427,0,0,0,0,0,0,28.83,26.26,28.83
$GC,531,-1.35,-170.3,2100,1991,3248,3426,47.0,-9.1,64,536,0.00,2.05,0.00,0.000,260,0.000,0.031,2090,3361,3337,3248,3427,0,0,0,0,0,0,28.83,26.34,28.83
$GC,697,-1.35,-170.3,1288,3360,3224,3424,60.6,-9.1,73,705,0.00,2.10,0.00,0.000,1030,0.000,0.025,2092,1963,3337,3248,3427,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1003,-1.35,-170.3,2092,1963,3252,3427,90.1,-9.4,89,1009,0.00,2.12,0.00,0.000,516,0.000,0.040,2103,566,3339,3252,3427,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1060,-1.35,-170.3,2102,565,3252,3427,94.5,-9.4,91,1066,0.00,2.03,0.00,0.000,1030,0.000,0.015,2094,1980,3339,3252,3427,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1377,-1.35,-170.3,2094,1980,3253,3427,123.6,-9.0,107,1382,0.00,2.05,0.00,0.000,260,0.000,0.031,2084,3360,3340,3253,3427,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1502,-1.35,-170.3,2083,3360,3253,3427,133.5,-9.1,112,1512,0.10,2.08,0.00,0.000,3078,0.156,0.025,2109,1970,3339,3252,3427,0,0,0,0,0,0,26.34,26.53,28.83
$GC,1809,-1.35,-170.3,2109,1969,3253,3426,162.1,-8.8,128,1815,0.00,2.10,0.00,0.000,260,0.000,0.031,2100,3355,3338,3251,3426,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1893,-1.35,-170.3,2100,3355,3253,3425,168.2,-8.9,131,1901,0.00,2.08,0.00,0.000,1030,0.000,0.026,2108,1971,3339,3253,3425,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2197,-1.35,-170.3,2108,1971,3252,3422,197.3,-9.1,147,2199,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,1971,3337,3253,3421,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2498,-1.35,-170.3,2108,1971,3252,3419,225.0,-9.6,162,2504,0.00,2.10,0.00,0.000,260,0.000,0.031,2100,3349,3335,3252,3418,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2528,-1.35,-170.3,2100,3349,3253,3418,227.3,-9.5,163,2534,0.00,2.08,0.00,0.000,1030,0.000,0.027,2106,1973,3335,3253,3418,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2848,-1.35,-170.3,2106,1972,3252,3415,256.0,-8.9,179,2854,0.00,2.10,0.00,0.000,260,0.000,0.031,2098,3352,3333,3252,3415,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2884,-1.35,-170.3,2098,3352,3253,3414,258.3,-8.9,180,2890,0.00,2.08,0.00,0.000,1030,0.000,0.028,2098,1976,3333,3252,3414,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3199,-1.35,-170.3,2098,1977,3251,3411,288.0,-8.9,196,3205,0.00,2.10,0.00,0.000,260,0.000,0.032,2090,3355,3331,3252,3411,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3226,-1.35,-170.3,2090,3355,3251,3410,290.1,-8.6,197,3233,0.00,2.10,0.00,0.000,1030,0.000,0.028,2090,1973,3330,3251,3410,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3553,-1.35,-170.3,2090,1973,3250,3408,319.8,-8.8,213,3554,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,1973,3328,3249,3408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3854,-1.35,-170.3,2090,1973,3247,3406,346.9,-9.2,228,3855,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,1973,3327,3248,3406,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4155,-1.35,-170.3,2090,1973,3245,3404,374.3,-9.1,243,4156,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,1973,3324,3245,3404,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4452,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4452,begin apogee
$GC,4458,-0.25,0.0,2088,2304,3242,3401,401.0,-8.8,258,4623,0.77,0.00,153.85,1.004,10246,0.111,0.000,2342,2304,2639,2590,2688,0,0,0,0,1,0,26.20,28.83,24.17
$STATE,4627,end apogee,CONTROL_FINISHED_OK
$STATE,4627,begin climb
$GC,4629,1.35,170.3,2342,2304,2590,2688,386.4,0.0,265,4795,1.00,0.00,160.02,0.866,10502,0.052,0.000,2704,2307,1943,1911,1976,0,0,0,0,0,0,25.13,28.83,24.21
$GC,5092,1.37,177.9,2704,2307,1902,1940,343.9,9.0,290,5099,0.00,2.25,0.00,0.000,516,0.000,0.041,2714,904,1921,1902,1941,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5145,1.38,182.1,2714,904,1899,1941,339.5,9.1,292,5156,0.00,2.08,3.33,0.481,9222,0.000,0.017,2714,2291,1895,1872,1919,0,0,0,0,0,0,28.83,26.15,24.94
$GC,5465,1.39,185.5,2714,2291,1871,1928,310.3,9.1,308,5477,0.00,2.20,2.92,0.412,8452,0.000,0.034,2714,3688,1883,1857,1909,0,0,0,0,0,0,28.83,26.27,25.00
$GC,5605,1.42,198.0,1744,3687,1812,1914,298.6,8.8,314,5633,0.00,2.12,20.12,0.783,9222,0.000,0.025,2724,2300,1825,1797,1853,0,0,0,0,0,0,28.83,26.32,25.32
$GC,5946,1.43,202.3,2724,2300,1795,1845,266.9,9.1,331,5952,0.00,2.20,0.00,0.000,516,0.000,0.043,2735,893,1819,1794,1844,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5993,1.44,205.2,2735,893,1795,1845,262.5,9.2,333,6005,0.10,2.10,4.10,0.628,13318,0.190,0.017,2713,2302,1801,1774,1829,0,0,0,0,0,0,26.06,26.35,25.16
$GC,6321,1.49,224.3,2713,2302,1774,1829,233.2,8.6,349,6345,0.00,0.00,22.10,0.750,8710,0.000,0.000,2713,2302,1724,1693,1756,0,0,0,0,0,0,28.83,28.83,25.37
$GC,6640,1.54,244.7,2713,2302,1688,1744,204.9,8.5,365,6662,0.00,0.00,19.88,0.734,8198,0.000,0.000,2714,2302,1642,1599,1686,0,0,0,0,0,0,28.83,28.83,25.33
$GC,6959,1.54,244.7,2713,2303,1590,1674,175.7,9.3,381,6965,0.00,2.15,0.00,0.000,260,0.000,0.037,2713,3690,1632,1590,1674,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7000,1.56,254.4,2713,3690,1588,1674,173.5,8.9,382,7015,0.00,2.15,9.52,0.713,9222,0.000,0.027,2722,2294,1600,1552,1649,0,0,0,0,0,0,28.83,26.27,25.41
$GC,7336,1.58,262.4,2722,2294,1548,1641,141.3,9.0,399,7354,0.10,2.25,8.07,0.687,10756,0.099,0.043,2778,894,1566,1514,1618,0,0,0,0,0,0,26.42,26.22,25.48
$GC,7429,1.59,265.4,1808,894,1485,1609,133.0,9.2,403,7436,0.15,2.10,0.00,0.000,5126,0.179,0.018,2742,2303,1564,1514,1615,0,0,0,0,0,0,25.96,26.32,28.83
$GC,7750,1.63,280.9,2742,2303,1514,1613,104.1,8.7,419,7779,0.00,2.30,19.55,0.639,8708,0.000,0.042,2751,897,1488,1437,1540,0,0,0,0,0,0,28.83,26.15,25.51
$GC,7844,1.64,287.0,2751,897,1436,1536,95.9,9.0,423,7856,0.00,2.10,4.30,0.571,9222,0.000,0.018,2751,2298,1468,1418,1519,0,0,0,0,0,0,28.83,26.25,25.15
$GC,8166,1.66,291.3,2752,2298,1418,1519,66.5,9.1,439,8178,0.00,2.22,5.32,0.607,8708,0.000,0.041,2761,894,1452,1402,1503,0,0,0,0,0,0,28.83,26.25,25.44
$GC,8265,1.67,296.6,2761,894,1401,1503,58.3,9.1,443,8280,0.00,2.10,8.35,0.611,9222,0.000,0.018,2761,2305,1427,1378,1476,0,0,0,0,0,0,28.83,26.36,25.50
$GC,8577,1.70,311.0,2761,2305,1377,1469,29.1,8.7,470,8603,0.00,2.20,15.07,0.575,8452,0.000,0.037,2761,3691,1366,1327,1405,0,0,0,0,0,0,28.83,26.20,25.56
$GC,8622,1.71,312.2,2760,3691,1327,1402,25.2,9.2,473,8630,0.00,2.15,0.00,0.000,1030,0.000,0.028,2771,2300,1364,1327,1402,0,0,0,0,0,0,28.83,26.21,28.83
$STATE,8871,end climb,SURFACE_DEPTH_REACHED
$STATE,8871,begin surface coast
$FINISH,0.0,1.024945
$STATE,8907,end surface coast,CONTROL_FINISHED_OK
$STATE,8907,begin surface
$SM_CCo,8925,198.62,0.727,2,0,399,549.47
$SM_CCo,9137,-0.12,0.000,0,0,402,549.47
$SM_CCo,9141,2.85,0.347,0,0,400,549.47
$SM_GC,-23.93,7.65,0.50,2.85,0.077,0.043,0.347,83,1957,400,-10.56,0.96,549.47,0,0,0,0,0,0,26.34,26.37,24.56
$IRIDIUM_FIX,2148.09,12029.93,010413,202002
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.84
$INTERNAL_PRESSURE,9.1362
$TCM_TEMP,19.60
$XPDR_PINGS,2
$SC_FREEKB,3923968
$24V_AH,24.2,42.812
$10V_AH,10.2,21.885
$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,17.700,69.100,456.525,201.475,0.000,0.000,0.000,259.675,0.500,0.000,19.088,1964.500,4833.886,777.144,1551.330,454.124,0.000,1906.958,0.000,1359.482,0.000,1.488,0.000
$DEVICE_MAMPS,206.550,52.785,1003.680,726.750,0.000,0.000,0.000,133.110,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8919.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.483,0.000,0.000,0.000
$MEM,324360
$DATA_FILE_SIZE,20076,524
$CAP_FILE_SIZE,386239,1977
$CFSIZE,260034560,221253632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$CURRENT,0.102,  4.4,1
$GPS,020413,013242,2159.693,12028.136,177,1.3,177,-3.1