version: 66.11
glider: 121
mission: 10
dive: 261
start: 4 2 113 4 23 32
data:
$ID,121
$MISSION,10
$DIVE,261
$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,-100826.42
$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,40
$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
$GPS1,020413,041519,2201.281,12028.250,39,0.9,39,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-63.3
$GPS2,020413,042304,2201.373,12028.194,20,1.0,21,-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,25.8,15491,-18.5,-9.259,-21.12,2828
$D_GRID,511
$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,-170.3,82,1958,335,465,0.0,0.0,0,44,0.00,0.00,-23.38,0.000,16386,0.000,0.000,82,1958,1007,999,1015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,47,-1.35,-170.3,82,1958,999,1017,3.3,-9.4,3,154,7.72,2.20,-90.97,0.000,18948,0.203,0.051,2108,562,3335,3244,3427,0,0,0,0,0,0,25.69,26.11,26.47
$GC,218,-1.35,-170.3,1248,562,3220,3424,18.9,-8.6,28,226,0.00,2.10,0.00,0.000,1030,0.000,0.015,2099,2001,3337,3248,3427,0,0,0,0,0,0,28.83,26.27,28.83
$GC,540,-1.35,-170.3,2099,2002,3249,3428,47.7,-9.4,65,547,0.00,2.03,0.00,0.000,260,0.000,0.030,2089,3360,3338,3249,3427,0,0,0,0,0,0,28.83,26.36,28.83
$GC,697,-1.35,-170.3,2089,3360,3252,3427,61.4,-9.0,73,703,0.00,2.10,0.00,0.000,1030,0.000,0.025,2092,1961,3339,3252,3427,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1017,-1.35,-170.3,2092,1961,3253,3427,91.0,-9.0,89,1023,0.00,2.12,0.00,0.000,260,0.000,0.029,2084,3367,3340,3253,3427,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1100,-1.35,-170.3,2083,3366,3253,3427,97.0,-8.9,92,1108,0.00,2.08,0.00,0.000,1030,0.000,0.024,2087,1975,3340,3253,3427,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1407,-1.35,-170.3,2087,1974,3253,3428,126.3,-8.9,108,1413,0.00,2.12,0.00,0.000,516,0.000,0.041,2098,573,3340,3253,3427,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1479,-1.35,-170.3,1248,573,3226,3424,132.1,-8.8,111,1485,0.00,2.03,0.00,0.000,1030,0.000,0.015,2089,1988,3340,3253,3427,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1799,-1.35,-170.3,2089,1988,3253,3427,160.9,-9.0,127,1801,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,1989,3340,3253,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2100,-1.35,-170.3,2089,1990,3253,3423,187.9,-9.1,142,2107,0.00,2.05,0.00,0.000,260,0.000,0.032,2079,3364,3338,3253,3423,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2120,-1.35,-170.3,2078,3364,3253,3423,187.9,-9.1,142,2128,0.10,2.10,0.00,0.000,3078,0.157,0.026,2105,1963,3338,3253,3423,0,0,0,0,0,0,26.35,26.55,28.83
$GC,2426,-1.35,-170.3,2105,1964,3253,3420,217.5,-9.0,158,2432,0.00,2.12,0.00,0.000,260,0.000,0.031,2097,3364,3336,3253,3420,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2506,-1.35,-170.3,2097,3364,3253,3418,223.6,-9.0,161,2512,0.00,2.10,0.00,0.000,1030,0.000,0.027,2105,1968,3335,3253,3418,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2821,-1.35,-170.3,2104,1968,3252,3416,252.7,-8.9,177,2827,0.00,2.15,0.00,0.000,516,0.000,0.043,2114,568,3333,3252,3415,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2899,-1.35,-170.3,2114,568,3253,3415,258.6,-9.0,180,2906,0.00,2.03,0.00,0.000,1030,0.000,0.016,2106,1972,3334,3253,3415,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3215,-1.35,-170.3,2106,1971,3252,3411,288.3,-9.2,196,3221,0.00,2.08,0.00,0.000,260,0.000,0.034,2096,3357,3331,3252,3410,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3268,-1.35,-170.3,2095,3357,3251,3410,292.5,-9.0,198,3274,0.00,2.10,0.00,0.000,1030,0.000,0.028,2096,1970,3330,3250,3410,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3588,-1.35,-170.3,2095,1970,3249,3408,321.6,-9.2,214,3595,0.00,2.12,0.00,0.000,260,0.000,0.032,2087,3363,3328,3249,3408,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3645,-1.35,-170.3,2087,3363,3248,3407,325.8,-8.9,216,3650,0.00,2.10,0.00,0.000,1030,0.000,0.028,2088,1974,3327,3248,3407,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3960,-1.35,-170.3,2087,1974,3246,3405,354.5,-9.3,232,3965,0.00,2.17,0.00,0.000,516,0.000,0.045,2099,568,3325,3246,3405,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4000,-1.35,-170.3,2098,568,3246,3405,356.8,-9.3,233,4008,0.00,2.05,0.00,0.000,1030,0.000,0.017,2090,1980,3325,3246,3405,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4306,-1.35,-170.3,2090,1981,3243,3403,386.0,-9.4,249,4307,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,1981,3323,3243,3403,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4464,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4464,begin apogee
$GC,4469,-0.25,0.0,2088,2298,3242,3402,400.8,-9.2,257,4622,0.77,0.00,147.30,0.894,10246,0.109,0.000,2342,2299,2636,2587,2686,0,0,0,0,0,0,26.20,28.83,24.42
$STATE,4625,end apogee,CONTROL_FINISHED_OK
$STATE,4625,begin climb
$GC,4627,1.35,170.3,2342,2299,2579,2679,388.4,0.0,263,4792,1.00,2.25,153.00,0.864,10500,0.054,0.035,2704,3682,1935,1901,1969,0,0,0,0,0,0,25.25,24.97,24.27
$GC,5004,1.38,179.8,1728,3681,1851,1939,353.2,8.9,280,5012,0.00,2.15,2.38,0.254,9222,0.000,0.024,2714,2295,1906,1879,1934,0,0,0,0,0,0,28.83,25.95,24.68
$GC,5321,1.40,190.6,2713,2295,1878,1940,324.1,8.9,296,5344,0.00,2.28,16.20,0.794,8452,0.000,0.033,2714,3696,1853,1824,1882,0,0,0,0,0,0,28.83,26.02,25.28
$GC,5390,1.42,198.5,2713,3697,1822,1877,317.9,9.0,299,5398,0.00,2.15,3.55,0.549,9222,0.000,0.025,2723,2300,1830,1801,1860,0,0,0,0,0,0,28.83,26.08,24.96
$GC,5718,1.46,214.2,2723,2300,1800,1862,288.7,8.7,315,5740,0.00,0.00,19.85,0.771,8198,0.000,0.000,2723,2299,1765,1734,1797,0,0,0,0,0,0,28.83,28.83,25.30
$GC,6037,1.48,220.8,2723,2300,1726,1784,259.6,9.0,331,6049,0.00,2.20,4.75,0.682,8708,0.000,0.041,2734,900,1738,1707,1769,0,0,0,0,0,0,28.83,26.20,25.19
$GC,6116,1.49,226.5,2734,899,1707,1769,253.3,9.1,334,6129,0.00,2.08,8.05,0.744,9222,0.000,0.017,2734,2295,1713,1682,1745,0,0,0,0,0,0,28.83,26.32,25.37
$GC,6426,1.50,230.2,2734,2295,1680,1737,224.7,9.1,350,6428,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2295,1709,1682,1737,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6728,1.52,238.1,2734,2295,1680,1736,197.3,9.0,365,6752,0.00,2.28,11.73,0.695,8708,0.000,0.041,2744,896,1664,1629,1700,0,0,0,0,0,0,28.83,26.25,25.54
$GC,6786,1.54,245.1,2744,896,1628,1697,192.8,9.0,367,6801,0.00,2.10,6.95,0.688,9222,0.000,0.018,2744,2305,1637,1592,1682,0,0,0,0,0,0,28.83,26.33,25.41
$GC,7096,1.55,249.8,2744,2305,1590,1677,163.8,9.1,383,7102,0.00,0.00,3.97,0.566,8198,0.000,0.000,2744,2305,1619,1573,1666,0,0,0,0,0,0,28.83,28.83,25.24
$GC,7397,1.57,258.1,2744,2306,1573,1666,136.9,9.0,398,7414,0.00,2.15,10.60,0.640,8452,0.000,0.034,2744,3695,1583,1531,1635,0,0,0,0,0,0,28.83,26.29,25.57
$GC,7496,1.60,267.2,2744,3695,1529,1633,128.8,8.9,402,7514,0.00,2.15,9.98,0.631,9222,0.000,0.027,2754,2294,1544,1491,1598,0,0,0,0,0,0,28.83,26.31,25.50
$GC,7834,1.62,276.4,2754,2295,1491,1593,97.9,8.9,419,7845,0.00,0.00,9.32,0.602,8198,0.000,0.000,2754,2295,1512,1459,1566,0,0,0,0,0,0,28.83,28.83,25.57
$GC,8136,1.65,290.0,2754,2294,1456,1557,70.9,8.8,434,8160,0.00,2.20,13.85,0.568,8708,0.000,0.041,2764,892,1452,1402,1502,0,0,0,0,0,0,28.83,26.22,25.60
$GC,8293,1.67,298.2,2764,892,1402,1498,56.9,9.0,441,8309,0.00,2.10,8.32,0.562,9222,0.000,0.018,2764,2307,1419,1373,1466,0,0,0,0,0,0,28.83,26.36,25.53
$GC,8618,1.67,298.2,2764,2308,1373,1459,26.8,9.4,469,8625,0.00,2.12,0.00,0.000,260,0.000,0.035,2764,3694,1416,1373,1459,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8878,1.70,310.4,1728,3693,1347,1453,3.4,8.8,513,8887,0.00,2.12,4.72,0.496,9218,0.000,0.024,2774,2292,1398,1359,1438,0,0,0,0,0,0,28.83,26.43,28.83
$STATE,8888,end climb,SURFACE_DEPTH_REACHED
$STATE,8888,begin surface coast
$FINISH,1.7,1.023108
$STATE,8898,end surface coast,CONTROL_FINISHED_OK
$STATE,8898,begin surface
$SM_CCo,8915,204.23,0.660,3,0,399,549.47
$SM_CCo,9138,-0.20,0.000,0,0,401,549.47
$SM_CCo,9141,1.12,0.093,0,0,400,549.47
$SM_GC,-23.93,7.50,0.47,1.12,0.068,0.044,0.093,84,1968,400,-10.56,1.19,549.47,0,0,0,0,0,0,26.39,26.42,25.21
$IRIDIUM_FIX,2152.74,12027.93,020413,010153
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.99
$INTERNAL_PRESSURE,9.22409
$TCM_TEMP,20.30
$XPDR_PINGS,0
$SC_FREEKB,3923168
$24V_AH,24.3,43.107
$10V_AH,10.1,22.017
$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,17.100,73.175,434.525,205.350,0.000,0.000,0.000,260.575,0.000,0.000,22.289,2007.940,4745.248,764.513,1593.024,472.738,0.000,1864.422,0.000,1345.861,0.000,1.488,0.000
$DEVICE_MAMPS,202.725,51.255,893.520,660.195,0.000,0.000,0.000,133.110,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8920.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.540,0.000,0.000,0.000
$MEM,324416
$DATA_FILE_SIZE,16768,515
$CAP_FILE_SIZE,413476,2040
$CFSIZE,260034560,221003776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$CURRENT,0.129, 10.6,1
$GPS,020413,065659,2202.792,12028.656,24,1.1,24,-3.1