version: 66.11
glider: 121
mission: 10
dive: 262
start: 4 2 113 7 5 15
data:
$ID,121
$MISSION,10
$DIVE,262
$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,-100827.67
$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,45
$R_STBD_OVSHOOT,57
$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
$GPS1,020413,065659,2202.792,12028.656,24,1.1,24,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-64.6
$GPS2,020413,070448,2202.825,12028.704,20,1.4,20,-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,17.1,12673,-18.5,-9.259,-21.12,2828
$D_GRID,605
$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,17,begin dive
$GC,19,-1.35,-170.3,83,1959,339,471,0.0,0.0,0,44,0.00,0.00,-23.05,0.000,16386,0.000,0.000,83,1958,1009,1003,1016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,47,-1.35,-170.3,83,1958,1003,1019,3.2,-9.0,3,156,7.95,2.25,-93.65,0.000,18948,0.213,0.054,2114,570,3336,3245,3428,0,0,0,0,0,0,25.76,26.12,26.47
$GC,198,-1.35,-170.3,1248,569,3221,3425,17.4,-9.7,24,206,0.00,2.10,0.00,0.000,1030,0.000,0.015,2106,1998,3338,3248,3429,0,0,0,0,0,0,28.83,26.26,28.83
$GC,516,-1.35,-170.3,2105,1999,3249,3429,45.9,-8.9,62,523,0.00,2.22,0.00,0.000,516,0.000,0.037,2114,567,3338,3249,3428,0,0,0,0,0,0,28.83,26.34,28.83
$GC,611,-1.35,-170.3,2114,567,3251,3428,54.1,-9.1,68,617,0.00,2.03,0.00,0.000,1030,0.000,0.015,2105,1976,3339,3251,3428,0,0,0,0,0,0,28.83,26.47,28.83
$GC,931,-1.35,-170.3,2105,1977,3253,3428,83.1,-9.0,84,937,0.00,2.05,0.00,0.000,260,0.000,0.031,2095,3353,3341,3253,3429,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1177,-1.35,-170.3,2095,3353,3254,3428,104.3,-9.1,95,1183,0.00,2.08,0.00,0.000,1030,0.000,0.024,2100,1960,3341,3254,3428,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1492,-1.35,-170.3,2100,1961,3254,3428,133.4,-9.0,111,1493,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,1960,3341,3255,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1796,-1.35,-170.3,2100,1960,3254,3428,160.5,-9.2,126,1797,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,1960,3341,3254,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2093,-1.35,-170.3,2100,1960,3254,3426,187.3,-9.0,141,2100,0.00,2.12,0.00,0.000,260,0.000,0.031,2092,3359,3339,3254,3425,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2175,-1.35,-170.3,2091,3358,3254,3423,193.8,-9.1,144,2183,0.00,2.08,0.00,0.000,1030,0.000,0.025,2092,1978,3338,3254,3423,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2482,-1.35,-170.3,2091,1978,3254,3422,222.7,-9.3,160,2488,0.00,2.10,0.00,0.000,260,0.000,0.031,2083,3359,3338,3256,3421,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2544,-1.35,-170.3,2082,3359,3254,3421,226.9,-9.1,162,2552,0.10,2.08,0.00,0.000,3078,0.156,0.027,2109,1975,3337,3254,3421,0,0,0,0,0,0,26.37,26.55,28.83
$GC,2850,-1.35,-170.3,2109,1975,3254,3417,255.8,-9.0,178,2856,0.00,2.15,0.00,0.000,516,0.000,0.043,2119,576,3335,3254,3417,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2891,-1.35,-170.3,2119,576,3254,3417,258.1,-9.0,179,2899,0.00,2.03,0.00,0.000,1030,0.000,0.016,2111,1978,3335,3254,3416,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3198,-1.35,-170.3,2111,1978,3253,3414,287.0,-9.1,195,3199,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,1978,3333,3253,3414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3499,-1.35,-170.3,2111,1978,3252,3410,313.8,-8.8,210,3506,0.00,2.08,0.00,0.000,260,0.000,0.033,2101,3356,3330,3252,3409,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3578,-1.35,-170.3,2101,3356,3250,3409,320.1,-9.0,213,3584,0.00,2.10,0.00,0.000,1030,0.000,0.028,2101,1969,3329,3250,3409,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3894,-1.35,-170.3,2101,1968,3248,3408,349.5,-8.8,229,3900,0.00,2.15,0.00,0.000,516,0.000,0.045,2109,574,3327,3248,3407,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3929,-1.35,-170.3,2109,574,3248,3407,351.9,-8.9,230,3935,0.00,2.03,0.00,0.000,1030,0.000,0.016,2101,1973,3327,3248,3407,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4245,-1.35,-170.3,2101,1974,3247,3404,380.8,-9.0,246,4251,0.00,2.10,0.00,0.000,260,0.000,0.035,2091,3366,3325,3247,3404,0,0,0,0,0,0,28.83,26.49,28.83
$STATE,4477,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4477,begin apogee
$GC,4485,-0.25,0.0,2091,2295,3244,3402,401.8,-9.1,257,4650,0.75,0.00,151.15,0.968,10246,0.097,0.000,2345,2295,2639,2590,2689,0,0,0,0,1,0,26.27,28.83,24.25
$STATE,4651,end apogee,CONTROL_FINISHED_OK
$STATE,4651,begin climb
$GC,4653,1.35,170.3,2345,2295,2590,2689,387.1,0.0,264,4820,1.02,2.35,152.50,0.837,11012,0.070,0.034,2697,3677,1933,1907,1959,0,0,0,0,0,0,25.16,24.98,24.31
$GC,4838,1.38,179.1,2697,3677,1907,1953,370.3,8.9,274,4851,0.00,2.20,3.70,0.564,9222,0.000,0.024,2707,2294,1908,1885,1931,0,0,0,0,0,0,28.83,25.31,24.40
$GC,5149,1.40,191.0,2707,2295,1885,1931,341.3,8.8,290,5173,0.00,2.22,15.30,0.793,8708,0.000,0.041,2716,890,1853,1829,1877,0,0,0,0,0,0,28.83,25.89,25.15
$GC,5263,1.44,204.3,2716,890,1828,1873,331.4,8.8,295,5282,0.00,2.10,12.48,0.793,9222,0.000,0.017,2716,2297,1802,1778,1827,0,0,0,0,0,0,28.83,26.13,25.12
$GC,5581,1.46,213.0,2716,2297,1775,1817,302.3,8.9,311,5597,0.00,2.28,8.35,0.772,8708,0.000,0.041,2726,901,1766,1741,1792,0,0,0,0,0,0,28.83,26.12,25.33
$GC,5690,1.47,218.7,2725,901,1741,1790,294.0,9.1,315,5700,0.00,2.10,4.70,0.697,9222,0.000,0.017,2726,2312,1747,1720,1774,0,0,0,0,0,0,28.83,26.27,25.10
$GC,5994,1.49,225.4,2726,2312,1720,1774,265.1,9.0,331,6005,0.00,0.00,9.20,0.767,8198,0.000,0.000,2726,2312,1720,1691,1750,0,0,0,0,0,0,28.83,28.83,25.41
$GC,6295,1.52,237.6,2726,2312,1687,1741,238.1,8.8,346,6318,0.00,2.30,12.62,0.775,8708,0.000,0.041,2736,902,1666,1632,1700,0,0,0,0,0,0,28.83,26.16,25.41
$GC,6427,1.55,248.3,2736,902,1632,1695,226.6,8.9,352,6443,0.00,2.10,10.68,0.774,9222,0.000,0.017,2736,2305,1624,1580,1668,0,0,0,0,0,0,28.83,26.31,25.33
$GC,6752,1.55,248.3,2736,2305,1577,1660,196.4,9.4,368,6758,0.00,2.25,0.00,0.000,516,0.000,0.042,2746,893,1619,1578,1660,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6840,1.57,256.8,2745,893,1577,1659,188.5,9.0,372,6857,0.00,2.10,8.60,0.760,9222,0.000,0.018,2746,2301,1588,1541,1635,0,0,0,0,0,0,28.83,26.41,25.44
$GC,7168,1.58,263.0,2746,2301,1540,1630,159.6,9.0,388,7175,0.00,0.00,4.88,0.697,8198,0.000,0.000,2746,2301,1566,1517,1615,0,0,0,0,0,0,28.83,28.83,25.25
$GC,7466,1.61,271.9,2745,2301,1517,1615,132.2,8.9,403,7482,0.00,2.33,11.80,0.742,8708,0.000,0.042,2756,889,1528,1477,1579,0,0,0,0,0,0,28.83,26.22,25.48
$GC,7640,1.61,273.5,2756,889,1477,1573,116.6,9.2,411,7646,0.00,2.12,0.00,0.000,1030,0.000,0.018,2756,2309,1525,1477,1573,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7965,1.61,273.5,2756,2309,1477,1572,86.5,9.7,427,7966,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2309,1523,1475,1572,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8267,1.63,279.4,2756,2310,1476,1571,59.3,9.0,442,8283,0.00,2.28,8.20,0.708,8708,0.000,0.043,2766,906,1497,1449,1545,0,0,0,0,0,0,28.83,26.35,25.59
$GC,8435,1.66,293.5,2765,906,1446,1542,44.3,8.7,452,8456,0.00,2.08,15.10,0.699,9222,0.000,0.018,2766,2305,1440,1393,1488,0,0,0,0,0,0,28.83,26.45,25.50
$GC,8768,1.69,304.6,1712,2303,1365,1472,14.6,8.9,494,8783,0.00,0.00,11.55,0.684,8198,0.000,0.000,2766,2305,1393,1353,1434,0,0,0,0,0,0,28.83,28.83,25.50
$STATE,8894,end climb,SURFACE_DEPTH_REACHED
$STATE,8894,begin surface coast
$FINISH,0.0,1.026427
$STATE,8929,end surface coast,CONTROL_FINISHED_OK
$STATE,8929,begin surface
$SM_CCo,8947,210.85,0.872,3,0,400,549.47
$SM_CCo,9176,-0.10,0.000,0,0,406,549.23
$SM_CCo,9180,4.07,0.503,0,0,399,549.47
$SM_GC,-23.93,7.32,0.52,4.07,0.054,0.037,0.503,90,1969,399,-10.54,1.30,549.47,0,0,0,0,0,0,26.26,26.32,24.41
$IRIDIUM_FIX,2152.74,12027.93,020413,040438
$TT8_MAMPS,0.023968,0.023968
$HUMID,49.72
$INTERNAL_PRESSURE,9.03854
$TCM_TEMP,17.70
$XPDR_PINGS,2
$SC_FREEKB,3922784
$24V_AH,24.3,43.274
$10V_AH,10.1,22.082
$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,17.150,68.725,440.800,214.925,0.000,0.000,0.000,265.775,0.500,0.000,20.594,2087.656,4611.657,788.678,1653.823,486.187,0.000,1928.383,0.000,1416.539,0.000,1.487,0.000
$DEVICE_MAMPS,212.670,54.315,967.725,872.100,0.000,0.000,0.000,131.580,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8942.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.463,0.000,0.000,0.000
$MEM,324388
$DATA_FILE_SIZE,20080,522
$CAP_FILE_SIZE,429791,2173
$CFSIZE,260034560,220872704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$CURRENT,0.066,356.9,1
$GPS,020413,094959,2204.099,12029.307,659,1.1,659,-3.1