version: 66.11
glider: 121
mission: 10
dive: 264
start: 4 2 113 12 41 56
data:
$ID,121
$MISSION,10
$DIVE,264
$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,-100830.19
$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,33
$R_STBD_OVSHOOT,62
$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
$GPS1,020413,123243,2205.345,12029.850,19,0.9,19,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-52.6
$GPS2,020413,124128,2205.379,12029.743,40,1.0,40,-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,357.5,7697,-18.5,-9.259,-21.12,2828
$D_GRID,586
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.35,-170.3,86,1966,346,468,0.0,0.0,0,43,0.00,0.00,-23.10,0.000,16386,0.000,0.000,86,1966,1014,1011,1018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.35,-170.3,87,1966,1011,1020,3.3,-8.9,3,154,7.78,2.20,-87.57,0.000,18692,0.206,0.046,2089,3356,3337,3248,3427,0,0,0,0,0,0,25.67,26.14,26.48
$GC,287,-1.35,-170.3,1232,3355,3221,3424,25.7,-9.1,41,294,0.00,2.12,0.00,0.000,1030,0.000,0.026,2097,1956,3338,3249,3427,0,0,0,0,0,0,28.83,26.27,28.83
$GC,603,-1.35,-170.3,2097,1956,3251,3427,54.0,-9.3,70,609,0.00,2.15,0.00,0.000,260,0.000,0.028,2089,3373,3339,3251,3427,0,0,0,0,0,0,28.83,26.39,28.83
$GC,650,-1.35,-170.3,2088,3372,3251,3427,58.3,-9.2,72,656,0.00,2.10,0.00,0.000,1030,0.000,0.026,2097,1975,3339,3251,3427,0,0,0,0,0,0,28.83,26.42,28.83
$GC,976,-1.35,-170.3,2096,1975,3253,3427,87.9,-9.4,88,982,0.00,2.12,0.00,0.000,516,0.000,0.040,2106,576,3339,3252,3427,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1026,-1.35,-170.3,2106,576,3252,3427,92.2,-9.1,90,1032,0.00,2.03,0.00,0.000,1030,0.000,0.015,2098,1987,3339,3252,3427,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1352,-1.35,-170.3,2098,1988,3253,3427,121.4,-9.1,106,1359,0.00,2.03,0.00,0.000,260,0.000,0.031,2088,3351,3339,3252,3427,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1498,-1.35,-170.3,2087,3351,3252,3427,133.3,-9.3,112,1506,0.00,2.08,0.00,0.000,1030,0.000,0.025,2090,1963,3339,3252,3427,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1805,-1.35,-170.3,2090,1962,3252,3426,161.9,-8.9,128,1811,0.00,2.12,0.00,0.000,260,0.000,0.031,2081,3364,3338,3252,3425,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1882,-1.35,-170.3,2081,3364,3252,3424,168.2,-9.2,131,1889,0.10,2.10,0.00,0.000,3078,0.161,0.025,2108,1961,3338,3252,3424,0,0,0,0,0,0,26.34,26.55,28.83
$GC,2198,-1.35,-170.3,2107,1961,3252,3421,197.1,-8.9,147,2204,0.00,2.12,0.00,0.000,516,0.000,0.042,2117,568,3336,3252,3421,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2302,-1.35,-170.3,2117,567,3252,3421,204.8,-8.8,151,2310,0.00,2.03,0.00,0.000,1030,0.000,0.016,2109,1974,3336,3252,3420,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2607,-1.35,-170.3,2109,1974,3252,3416,233.8,-9.0,167,2613,0.00,2.08,0.00,0.000,260,0.000,0.032,2099,3363,3334,3252,3416,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2700,-1.35,-170.3,2099,3363,3252,3414,241.8,-8.8,171,2706,0.00,2.10,0.00,0.000,1030,0.000,0.033,2106,1972,3333,3252,3414,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3021,-1.35,-170.3,2105,1972,3252,3411,270.9,-9.0,187,3028,0.00,2.10,0.00,0.000,260,0.000,0.031,2098,3355,3331,3252,3410,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3099,-1.35,-170.3,2097,3356,3250,3409,276.9,-8.7,190,3105,0.00,2.10,0.00,0.000,1030,0.000,0.028,2098,1964,3329,3250,3409,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3414,-1.35,-170.3,2097,1965,3249,3407,306.3,-9.2,206,3420,0.00,2.15,0.00,0.000,516,0.000,0.044,2107,568,3328,3249,3407,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3492,-1.35,-170.3,2107,568,3248,3406,312.3,-9.0,209,3498,0.00,2.05,0.00,0.000,1030,0.000,0.016,2099,1981,3327,3248,3406,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3807,-1.35,-170.3,2098,1983,3245,3404,341.6,-8.9,225,3808,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,1983,3324,3245,3404,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4108,-1.35,-170.3,2098,1983,3244,3401,368.8,-9.4,240,4114,0.00,2.08,0.00,0.000,260,0.000,0.035,2099,3361,3322,3243,3401,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4357,-1.35,-170.3,2098,3362,3242,3399,390.6,-9.1,251,4363,0.00,2.10,0.00,0.000,1030,0.000,0.028,2098,1978,3320,3242,3399,0,0,0,0,0,0,28.83,26.53,28.83
$STATE,4450,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4450,begin apogee
$GC,4455,-0.25,0.0,2098,2314,3242,3398,400.2,-9.3,256,4620,0.68,0.00,151.30,0.966,10246,0.047,0.000,2363,2316,2639,2591,2687,0,0,0,0,1,0,26.53,28.83,24.25
$STATE,4622,end apogee,CONTROL_FINISHED_OK
$STATE,4622,begin climb
$GC,4624,1.35,170.3,2363,2316,2590,2687,385.3,0.0,263,4788,0.98,2.33,153.85,0.826,10500,0.079,0.039,2694,3684,1937,1910,1964,0,0,0,0,0,0,25.14,24.98,24.31
$GC,5032,1.37,178.3,2694,3684,1909,1945,348.0,9.0,281,5039,0.00,2.15,2.22,0.219,9222,0.000,0.024,2704,2293,1913,1893,1933,0,0,0,0,0,0,28.83,26.01,24.70
$GC,5355,1.39,184.2,2704,2293,1892,1940,318.5,9.0,297,5371,0.00,2.20,10.45,0.778,8708,0.000,0.041,2715,893,1883,1860,1906,0,0,0,0,0,0,28.83,26.12,25.37
$GC,5434,1.39,185.9,2714,893,1858,1903,312.0,9.2,300,5440,0.00,2.10,0.00,0.000,1030,0.000,0.017,2715,2304,1880,1858,1903,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5749,1.42,196.3,2715,2304,1858,1901,282.7,8.9,316,5766,0.00,2.20,11.93,0.754,8452,0.000,0.034,2715,3691,1835,1811,1859,0,0,0,0,0,0,28.83,26.20,25.44
$GC,5802,1.43,199.6,2715,3691,1810,1854,278.2,9.1,318,5808,0.00,2.12,0.00,0.000,1030,0.000,0.023,2725,2297,1832,1810,1854,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6123,1.46,212.1,2725,2297,1810,1851,249.1,8.8,334,6147,0.00,2.20,15.62,0.739,8708,0.000,0.041,2736,896,1770,1744,1796,0,0,0,0,0,0,28.83,26.15,25.44
$GC,6280,1.48,222.1,2736,896,1742,1793,235.5,8.9,341,6299,0.00,2.10,10.27,0.731,9222,0.000,0.017,2736,2306,1728,1700,1757,0,0,0,0,0,0,28.83,26.31,25.38
$GC,6596,1.50,227.5,2736,2307,1700,1751,206.9,9.1,357,6607,0.00,2.17,3.62,0.549,8452,0.000,0.036,2736,3687,1711,1683,1740,0,0,0,0,0,0,28.83,26.29,25.19
$GC,6783,1.51,233.9,2736,3687,1683,1740,191.0,9.0,365,6798,0.00,2.12,9.18,0.698,9222,0.000,0.025,2746,2296,1683,1650,1716,0,0,0,0,0,0,28.83,26.35,25.48
$GC,7093,1.54,243.5,2746,2295,1648,1711,162.6,8.9,381,7110,0.00,2.20,9.62,0.679,8708,0.000,0.044,2756,898,1642,1599,1686,0,0,0,0,0,0,28.83,26.24,25.51
$GC,7234,1.56,251.5,2756,898,1597,1682,150.9,9.0,387,7248,0.00,2.08,8.35,0.671,9222,0.000,0.017,2756,2298,1612,1565,1659,0,0,0,0,0,0,28.83,26.37,25.47
$GC,7547,1.59,266.3,2756,2298,1562,1652,122.1,8.7,403,7570,0.00,2.22,15.05,0.638,8708,0.000,0.040,2767,898,1548,1498,1599,0,0,0,0,0,0,28.83,26.17,25.52
$GC,7595,1.61,271.5,2765,899,1498,1596,117.6,9.1,405,7606,0.00,2.10,3.85,0.530,9222,0.000,0.017,2766,2305,1532,1481,1583,0,0,0,0,0,0,28.83,26.25,25.22
$GC,7922,1.61,272.7,2765,2305,1481,1583,88.0,9.2,421,7928,0.00,2.15,0.00,0.000,260,0.000,0.036,2765,3699,1532,1481,1583,0,0,0,0,0,0,28.83,26.30,28.83
$GC,8022,1.62,275.5,2765,3699,1481,1583,79.8,9.2,425,8036,0.10,2.15,4.80,0.581,13318,0.194,0.027,2754,2295,1515,1463,1567,0,0,0,0,0,0,26.11,26.36,25.32
$GC,8333,1.63,281.9,2754,2297,1463,1568,51.1,9.0,441,8348,0.00,0.00,9.35,0.587,8454,0.000,0.000,2755,2295,1485,1433,1537,0,0,0,0,0,0,28.83,28.83,25.62
$GC,8657,1.66,291.9,1704,2292,1404,1527,22.4,8.9,474,8673,0.00,2.28,10.25,0.562,8708,0.000,0.044,2764,891,1445,1397,1494,0,0,0,0,0,0,28.83,26.29,25.64
$GC,8781,1.67,297.1,1728,891,1370,1484,10.9,9.1,495,8791,0.00,2.10,4.12,0.495,9222,0.000,0.017,2764,2303,1427,1382,1473,0,0,0,0,0,0,28.83,26.40,25.32
$STATE,8870,end climb,SURFACE_DEPTH_REACHED
$STATE,8870,begin surface coast
$FINISH,0.0,1.024750
$STATE,8906,end surface coast,CONTROL_FINISHED_OK
$STATE,8906,begin surface
$SM_CCo,8923,212.85,0.703,3,0,400,549.47
$SM_CCo,9154,-0.12,0.000,0,0,403,549.47
$SM_CCo,9157,3.58,0.421,0,0,399,549.47
$SM_GC,-23.93,7.43,0.52,3.58,0.065,0.035,0.421,93,1964,399,-10.53,1.19,549.47,0,0,0,0,0,0,26.32,26.39,24.62
$IRIDIUM_FIX,2157.39,12029.11,020413,090917
$TT8_MAMPS,0.023968,0.023968
$HUMID,50.11
$INTERNAL_PRESSURE,9.14597
$TCM_TEMP,18.80
$XPDR_PINGS,2
$SC_FREEKB,3922016
$24V_AH,24.2,43.570
$10V_AH,10.1,22.224
$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,17.050,81.925,433.850,216.425,0.000,0.000,0.000,301.200,0.500,0.000,41.116,2174.388,4415.799,774.976,1784.765,512.708,0.000,2007.760,0.000,1509.998,0.000,1.487,0.000
$DEVICE_MAMPS,205.785,45.900,966.195,703.035,0.000,0.000,0.000,129.285,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8915.000,0.000,0.000,0.000
$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,20104,516
$CAP_FILE_SIZE,450902,2304
$CFSIZE,260034560,220614656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$CURRENT,0.129,  4.7,1
$GPS,020413,151741,2206.792,12029.863,142,1.0,142,-3.1