version: 66.11
glider: 121
mission: 10
dive: 263
start: 4 2 113 9 58 39
data:
$ID,121
$MISSION,10
$DIVE,263
$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,-100828.94
$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,46
$R_STBD_OVSHOOT,58
$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
$GPS1,020413,094959,2204.099,12029.307,659,1.1,659,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-66.9
$GPS2,020413,095811,2204.123,12029.320,20,0.8,20,-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,16.4,10109,-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,16,begin dive
$GC,18,-1.35,-170.3,90,1959,341,477,0.0,0.0,0,43,0.00,0.00,-22.90,0.000,16386,0.000,0.000,88,1960,1014,996,1033,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.35,-170.3,89,1959,998,1033,3.2,-8.8,3,154,7.90,2.25,-92.35,0.000,18948,0.213,0.055,2108,575,3336,3250,3422,0,0,0,0,0,0,25.66,26.11,26.49
$GC,218,-1.35,-170.3,1248,575,3225,3418,19.5,-9.7,28,226,0.00,2.08,0.00,0.000,1030,0.000,0.015,2099,1991,3337,3253,3422,0,0,0,0,0,0,28.83,26.28,28.83
$GC,533,-1.35,-170.3,2099,1992,3253,3422,48.0,-9.2,64,539,0.00,2.05,0.00,0.000,260,0.000,0.031,2089,3359,3337,3253,3422,0,0,0,0,0,0,28.83,26.35,28.83
$GC,652,-1.35,-170.3,2088,3359,3253,3422,57.8,-9.1,70,658,0.00,2.10,0.00,0.000,1030,0.000,0.026,2097,1967,3337,3253,3422,0,0,0,0,0,0,28.83,26.41,28.83
$GC,967,-1.35,-170.3,2097,1967,3254,3422,86.8,-8.6,86,972,0.00,2.12,0.00,0.000,516,0.000,0.040,2107,573,3338,3254,3422,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1064,-1.35,-170.3,2107,574,3255,3422,94.7,-9.0,90,1071,0.00,2.03,0.00,0.000,1030,0.000,0.015,2098,1982,3338,3255,3422,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1381,-1.35,-170.3,2099,1983,3255,3422,124.1,-9.1,106,1387,0.00,2.20,0.00,0.000,516,0.000,0.039,2106,566,3339,3256,3422,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1399,-1.35,-170.3,2106,566,3254,3422,124.1,-9.1,106,1408,0.00,2.03,0.00,0.000,1030,0.000,0.015,2098,1975,3338,3254,3422,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1707,-1.35,-170.3,2098,1976,3254,3422,153.3,-8.7,122,1713,0.00,2.05,0.00,0.000,260,0.000,0.031,2088,3360,3338,3254,3422,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1737,-1.35,-170.3,2088,3360,3254,3422,155.7,-8.6,123,1743,0.00,2.08,0.00,0.000,1030,0.000,0.026,2091,1975,3338,3254,3422,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2057,-1.35,-170.3,2090,1975,3253,3421,184.7,-9.2,139,2063,0.00,2.15,0.00,0.000,516,0.000,0.042,2101,570,3337,3254,3421,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2124,-1.35,-170.3,2101,570,3254,3421,190.8,-9.0,142,2130,0.00,2.03,0.00,0.000,1030,0.000,0.016,2093,1977,3337,3254,3420,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2451,-1.35,-170.3,2092,1977,3253,3416,219.9,-8.9,158,2457,0.00,2.05,0.00,0.000,260,0.000,0.032,2082,3353,3334,3253,3416,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2481,-1.35,-170.3,2082,3353,3253,3416,222.3,-8.9,159,2487,0.10,2.08,0.00,0.000,3078,0.158,0.028,2108,1976,3334,3253,3416,0,0,0,0,0,0,26.34,26.53,28.83
$GC,2803,-1.35,-170.3,2108,1976,3252,3414,251.2,-8.9,175,2809,0.00,2.10,0.00,0.000,260,0.000,0.032,2101,3360,3333,3252,3414,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2844,-1.35,-170.3,2100,3361,3252,3413,253.6,-8.9,176,2853,0.00,2.10,0.00,0.000,1030,0.000,0.028,2108,1971,3332,3252,3413,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3151,-1.35,-170.3,2108,1971,3250,3410,282.8,-9.1,192,3152,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,1971,3330,3250,3410,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3453,-1.35,-170.3,2108,1971,3248,3408,310.0,-8.9,207,3454,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,1971,3328,3248,3408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3753,-1.35,-170.3,2108,1971,3245,3406,336.9,-8.5,222,3754,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,1971,3325,3245,3406,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4053,-1.35,-170.3,2108,1971,3243,3404,364.1,-9.3,237,4054,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,1971,3322,3242,3403,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4353,-1.35,-170.3,2108,1971,3241,3402,391.0,-9.2,252,4354,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,1971,3321,3241,3402,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4468,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4468,begin apogee
$GC,4474,-0.25,0.0,2107,2298,3240,3402,401.8,-9.1,258,4640,0.70,0.00,151.57,0.932,10246,0.103,0.000,2343,2298,2638,2584,2693,0,0,0,0,1,0,26.22,28.83,24.26
$STATE,4641,end apogee,CONTROL_FINISHED_OK
$STATE,4642,begin climb
$GC,4644,1.35,170.3,2342,2298,2585,2693,387.4,0.0,265,4810,1.05,2.40,152.70,0.799,10756,0.076,0.041,2710,876,1935,1898,1972,0,0,0,0,0,0,25.15,24.97,24.31
$GC,4825,1.37,176.1,2709,876,1897,1963,369.6,9.0,273,4831,0.00,2.20,0.00,0.000,1030,0.000,0.016,2710,2293,1929,1897,1962,0,0,0,0,0,0,28.83,25.29,28.83
$GC,5151,1.39,183.9,2709,2293,1897,1953,340.7,9.0,289,5170,0.00,0.00,11.07,0.747,8198,0.000,0.000,2710,2293,1881,1853,1910,0,0,0,0,0,0,28.83,28.83,25.21
$GC,5469,1.39,186.6,2710,2293,1853,1903,311.7,9.2,305,5470,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2293,1877,1852,1903,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5771,1.41,191.6,2710,2293,1852,1901,284.1,9.1,320,5782,0.00,2.20,4.05,0.575,8708,0.000,0.041,2720,900,1857,1829,1886,0,0,0,0,0,0,28.83,26.32,25.24
$GC,5801,1.42,197.0,2719,900,1829,1886,281.7,9.1,321,5820,0.00,2.08,9.30,0.714,9222,0.000,0.016,2720,2311,1830,1800,1861,0,0,0,0,0,0,28.83,26.39,25.45
$GC,6119,1.44,204.3,2719,2311,1799,1856,252.8,9.0,337,6130,0.00,2.17,6.12,0.683,8452,0.000,0.034,2720,3684,1807,1777,1838,0,0,0,0,0,0,28.83,26.29,25.46
$GC,6294,1.46,212.8,1712,3685,1732,1825,237.8,8.9,345,6313,0.00,2.10,10.20,0.688,9222,0.000,0.026,2729,2305,1768,1737,1800,0,0,0,0,0,0,28.83,26.34,25.48
$GC,6612,1.49,225.2,2729,2305,1736,1793,209.5,8.8,361,6635,0.00,2.25,12.40,0.662,8708,0.000,0.043,2740,904,1716,1682,1750,0,0,0,0,0,0,28.83,26.20,25.51
$GC,6749,1.50,229.7,2740,904,1682,1748,197.4,9.1,367,6760,0.00,2.08,3.40,0.487,9222,0.000,0.017,2740,2299,1701,1667,1736,0,0,0,0,0,0,28.83,26.34,25.17
$GC,7071,1.53,241.2,2740,2299,1667,1736,168.3,8.8,383,7095,0.00,2.20,13.55,0.627,8452,0.000,0.036,2740,3689,1651,1606,1696,0,0,0,0,0,0,28.83,26.23,25.54
$GC,7182,1.54,246.7,2740,3688,1602,1694,158.1,9.1,388,7194,0.00,2.15,3.92,0.523,9222,0.000,0.027,2750,2293,1633,1584,1682,0,0,0,0,0,0,28.83,26.26,25.21
$GC,7508,1.54,246.7,2750,2293,1584,1682,128.8,9.4,404,7514,0.00,2.17,0.00,0.000,260,0.000,0.034,2750,3699,1633,1584,1682,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7575,1.56,253.7,2750,3699,1584,1682,122.7,9.0,407,7592,0.00,2.15,9.30,0.591,9222,0.000,0.027,2760,2292,1601,1549,1654,0,0,0,0,0,0,28.83,26.37,25.58
$GC,7903,1.59,264.7,2760,2292,1547,1647,94.2,8.9,423,7920,0.00,2.28,11.30,0.562,8708,0.000,0.043,2771,886,1555,1501,1609,0,0,0,0,0,0,28.83,26.27,25.61
$GC,8027,1.62,275.4,2770,886,1501,1603,84.2,8.9,428,8044,0.00,2.10,10.62,0.555,9222,0.000,0.018,2770,2299,1512,1459,1566,0,0,0,0,0,0,28.83,26.38,25.55
$GC,8362,1.62,277.0,2769,2300,1458,1559,52.8,9.2,445,8368,0.00,2.22,0.00,0.000,516,0.000,0.041,2779,884,1508,1458,1559,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8454,1.63,282.5,2779,884,1458,1560,44.4,9.1,451,8468,0.10,2.10,5.32,0.523,13318,0.168,0.017,2756,2305,1488,1437,1540,0,0,0,0,0,0,26.19,26.44,25.58
$GC,8778,1.67,298.5,1712,2302,1409,1534,15.2,8.7,491,8802,0.00,2.20,17.40,0.491,8452,0.000,0.035,2756,3693,1415,1367,1464,0,0,0,0,0,0,28.83,26.28,25.68
$STATE,8918,end climb,SURFACE_DEPTH_REACHED
$STATE,8918,begin surface coast
$FINISH,0.0,1.023325
$STATE,8951,end surface coast,CONTROL_FINISHED_OK
$STATE,8951,begin surface
$SM_CCo,8971,199.95,0.653,1,0,399,549.47
$SM_CCo,9180,-0.20,0.000,0,0,401,549.47
$SM_CCo,9183,0.17,0.089,0,0,401,549.47
$SM_GC,-23.93,7.35,2.70,0.17,0.058,0.027,0.089,87,1978,401,-10.56,1.13,549.47,0,0,0,0,0,0,26.31,26.34,25.26
$IRIDIUM_FIX,2155.06,12025.93,020413,070721
$TT8_MAMPS,0.023968,0.023968
$HUMID,47.75
$INTERNAL_PRESSURE,9.22409
$TCM_TEMP,20.30
$XPDR_PINGS,0
$SC_FREEKB,3922400
$24V_AH,24.3,43.417
$10V_AH,10.1,22.157
$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,17.200,73.700,432.250,200.125,0.000,0.000,0.000,288.275,0.000,0.000,21.260,1975.988,4854.018,757.065,1597.995,465.615,0.000,1871.801,0.000,1335.605,0.000,1.489,0.000
$DEVICE_MAMPS,212.670,55.080,931.770,653.310,0.000,0.000,0.000,129.285,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8966.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.489,0.000,0.000,0.000
$MEM,324416
$DATA_FILE_SIZE,16782,520
$CAP_FILE_SIZE,409672,1987
$CFSIZE,260034560,220770304
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.084, 48.2,1
$GPS,020413,123243,2205.345,12029.850,19,0.9,19,-3.1