version: 66.11
glider: 121
mission: 10
dive: 265
start: 4 2 113 15 26 34
data:
$ID,121
$MISSION,10
$DIVE,265
$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,-100831.45
$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,49
$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
$GPS1,020413,151741,2206.792,12029.863,142,1.0,142,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-57.5
$GPS2,020413,152607,2206.777,12029.755,21,0.8,21,-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,17.6,5138,-18.5,-9.259,-21.12,2828
$D_GRID,497
$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,-170.3,91,1954,343,467,0.0,0.0,0,44,0.00,0.00,-22.88,0.000,16386,0.000,0.000,91,1954,1006,1011,1001,0,0,0,0,0,0,28.83,28.83,28.83
$GC,47,-1.35,-170.3,91,1954,1011,1003,3.3,-9.3,3,164,7.38,2.25,-101.62,0.000,18692,0.187,0.044,2090,3371,3336,3242,3431,0,0,0,0,0,0,25.72,26.15,26.48
$GC,287,-1.35,-170.3,1232,3370,3215,3428,25.2,-8.9,40,293,0.00,2.12,0.00,0.000,1030,0.000,0.026,2099,1980,3338,3245,3431,0,0,0,0,0,0,28.83,26.26,28.83
$GC,613,-1.35,-170.3,2098,1980,3247,3431,54.0,-8.5,70,619,0.00,2.12,0.00,0.000,260,0.000,0.029,2090,3374,3339,3247,3431,0,0,0,0,0,0,28.83,26.38,28.83
$GC,675,-1.35,-170.3,2090,3374,3248,3431,58.4,-8.7,72,683,0.00,2.12,0.00,0.000,1030,0.000,0.025,2098,1969,3339,3248,3431,0,0,0,0,0,0,28.83,26.41,28.83
$GC,981,-1.35,-170.3,2098,1969,3248,3431,87.3,-9.0,88,982,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,1968,3339,3248,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1282,-1.35,-170.3,2098,1969,3249,3431,114.5,-9.0,103,1289,0.00,2.12,0.00,0.000,260,0.000,0.031,2090,3367,3340,3249,3431,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1439,-1.35,-170.3,2090,3367,3249,3431,128.3,-9.0,110,1444,0.00,2.10,0.00,0.000,1030,0.000,0.025,2094,1968,3340,3249,3431,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1759,-1.35,-170.3,2094,1968,3248,3430,157.5,-9.1,126,1765,0.00,2.12,0.00,0.000,260,0.000,0.031,2085,3367,3339,3249,3429,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1808,-1.35,-170.3,2085,3367,3249,3428,161.7,-9.1,128,1814,0.00,2.10,0.00,0.000,1030,0.000,0.026,2092,1969,3338,3249,3428,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2134,-1.35,-170.3,2091,1969,3248,3426,191.0,-8.8,144,2140,0.00,2.12,0.00,0.000,516,0.000,0.042,2101,575,3337,3249,3425,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2203,-1.35,-170.3,2101,575,3249,3425,197.3,-9.1,147,2209,0.00,2.03,0.00,0.000,1030,0.000,0.016,2093,1986,3337,3249,3425,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2530,-1.35,-170.3,2093,1986,3248,3421,226.4,-9.0,163,2536,0.00,2.05,0.00,0.000,260,0.000,0.032,2082,3360,3334,3248,3420,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2583,-1.35,-170.3,2082,3360,3249,3420,230.8,-8.9,165,2589,0.00,2.10,0.00,0.000,1030,0.000,0.027,2085,1965,3334,3249,3420,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2903,-1.35,-170.3,2085,1965,3248,3416,260.8,-9.4,181,2909,0.00,2.12,0.00,0.000,516,0.000,0.044,2095,577,3332,3248,3416,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2935,-1.35,-170.3,2094,577,3248,3416,263.0,-9.3,182,2941,0.00,2.03,0.00,0.000,1030,0.000,0.016,2086,1979,3332,3248,3416,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3255,-1.35,-170.3,2086,1979,3248,3411,292.8,-9.2,198,3260,0.00,2.08,0.00,0.000,260,0.000,0.034,2075,3362,3329,3248,3411,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3312,-1.35,-170.3,2075,3362,3248,3409,297.1,-9.2,200,3319,0.10,2.10,0.00,0.000,3078,0.162,0.028,2103,1971,3328,3248,3409,0,0,0,0,0,0,26.32,26.53,28.83
$GC,3628,-1.35,-170.3,2103,1971,3248,3406,325.9,-8.9,216,3634,0.00,2.15,0.00,0.000,516,0.000,0.046,2113,575,3327,3248,3406,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3873,-1.35,-170.3,2113,575,3248,3404,347.1,-8.9,227,3880,0.00,2.03,0.00,0.000,1030,0.000,0.016,2105,1985,3325,3245,3405,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4189,-1.35,-170.3,2104,1986,3242,3403,376.7,-9.0,243,4196,0.00,2.22,0.00,0.000,516,0.000,0.045,2113,568,3322,3243,3402,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4440,-1.35,-170.3,2113,568,3242,3402,398.7,-9.0,254,4446,0.00,2.03,0.00,0.000,1030,0.000,0.016,2105,1981,3321,3241,3401,0,0,0,0,0,0,28.83,26.63,28.83
$STATE,4453,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4453,begin apogee
$GC,4459,-0.25,0.0,2102,2294,3241,3401,400.9,-9.1,255,4624,0.73,0.00,150.88,0.947,10246,0.098,0.000,2348,2295,2639,2589,2689,0,0,0,0,1,0,26.24,28.83,24.25
$STATE,4625,end apogee,CONTROL_FINISHED_OK
$STATE,4625,begin climb
$GC,4627,1.35,170.3,2348,2295,2589,2689,386.2,0.0,262,4787,1.05,0.00,155.65,0.793,10246,0.083,0.000,2700,2296,1944,1913,1976,0,0,0,0,0,0,25.13,28.83,24.33
$GC,5076,1.42,195.3,2699,2296,1907,1948,345.3,8.4,286,5105,0.00,2.25,22.62,0.762,8708,0.000,0.039,2708,901,1836,1812,1860,0,0,0,0,0,0,28.83,25.75,25.08
$GC,5346,1.44,204.9,2707,901,1807,1851,321.9,8.9,298,5359,0.00,2.08,4.93,0.692,9222,0.000,0.019,2708,2291,1803,1778,1829,0,0,0,0,0,0,28.83,26.20,25.06
$GC,5658,1.46,212.2,2707,2292,1778,1830,293.0,9.0,314,5675,0.00,2.28,10.93,0.778,8708,0.000,0.037,2718,892,1770,1744,1797,0,0,0,0,0,0,28.83,26.14,25.37
$GC,5917,1.46,214.9,2717,893,1741,1795,269.8,9.2,326,5923,0.00,2.12,0.00,0.000,1030,0.000,0.020,2717,2302,1767,1741,1794,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6244,1.49,226.4,2717,2304,1741,1792,240.8,8.8,342,6268,0.00,2.22,14.77,0.792,8708,0.000,0.037,2727,893,1710,1680,1740,0,0,0,0,0,0,28.83,26.18,25.44
$GC,6395,1.50,229.9,2727,893,1680,1738,228.2,9.1,348,6405,0.00,2.10,0.00,0.000,1030,0.000,0.017,2728,2314,1708,1680,1736,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6701,1.50,229.9,2727,2315,1680,1735,198.7,9.3,364,6708,0.00,2.22,0.00,0.000,516,0.000,0.041,2738,900,1708,1682,1735,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6737,1.50,229.9,2738,900,1680,1735,196.5,9.3,365,6743,0.00,2.08,0.00,0.000,1030,0.000,0.017,2737,2307,1707,1680,1735,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7052,1.51,234.3,2737,2306,1679,1734,168.1,9.1,381,7061,0.00,0.00,7.57,0.724,8198,0.000,0.000,2738,2307,1684,1652,1716,0,0,0,0,0,0,28.83,28.83,25.56
$GC,7353,1.53,241.3,2737,2307,1648,1710,140.8,9.0,396,7369,0.00,2.17,7.15,0.701,8452,0.000,0.037,2738,3687,1652,1609,1696,0,0,0,0,0,0,28.83,26.34,25.54
$GC,7408,1.54,244.0,2737,3685,1606,1696,136.4,9.2,398,7415,0.00,2.12,0.00,0.000,1030,0.000,0.025,2747,2302,1651,1607,1696,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7724,1.55,247.2,2747,2301,1607,1695,107.4,9.1,414,7736,0.00,2.20,5.18,0.659,8708,0.000,0.041,2758,886,1632,1585,1679,0,0,0,0,0,0,28.83,26.35,25.48
$GC,7967,1.58,260.7,2758,886,1585,1679,85.8,8.8,425,7990,0.00,2.10,16.17,0.649,9222,0.000,0.018,2757,2309,1572,1521,1624,0,0,0,0,0,0,28.83,26.47,25.55
$GC,8309,1.59,265.9,2757,2308,1519,1617,54.6,9.1,442,8321,0.00,2.28,3.62,0.506,8708,0.000,0.041,2766,904,1555,1504,1607,0,0,0,0,0,0,28.83,26.32,25.26
$GC,8378,1.59,265.9,2766,904,1504,1607,48.3,9.3,445,8384,0.00,2.08,0.00,0.000,1030,0.000,0.018,2766,2300,1556,1504,1608,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8694,1.59,265.9,1736,2297,1473,1601,20.1,9.3,480,8702,0.00,2.12,0.00,0.000,260,0.000,0.037,2766,3692,1556,1504,1608,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8812,1.63,282.9,1744,3691,1474,1601,9.4,8.6,500,8845,0.00,2.12,20.40,0.579,9222,0.000,0.028,2776,2300,1479,1427,1531,0,0,0,0,0,0,28.83,26.41,25.59
$STATE,8886,end climb,SURFACE_DEPTH_REACHED
$STATE,8886,begin surface coast
$FINISH,0.0,1.025770
$STATE,8927,end surface coast,CONTROL_FINISHED_OK
$STATE,8927,begin surface
$SM_CCo,8945,207.85,0.744,1,0,400,549.47
$SM_CCo,9161,0.00,0.000,0,0,400,549.47
$SM_CCo,9164,0.00,0.000,0,0,399,549.47
$SM_GC,-23.93,7.68,0.50,0.00,0.076,0.043,0.000,84,1956,399,-10.57,0.99,549.47,0,0,0,0,0,0,26.23,26.29,28.83
$IRIDIUM_FIX,2159.71,12030.29,020413,121200
$TT8_MAMPS,0.023968,0.023968
$HUMID,50.55
$INTERNAL_PRESSURE,9.0776
$TCM_TEMP,18.00
$XPDR_PINGS,0
$SC_FREEKB,3921632
$24V_AH,24.3,43.721
$10V_AH,10.1,22.294
$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,16.925,77.600,419.875,207.850,0.000,0.000,0.000,297.325,0.000,0.000,22.252,2190.085,4395.961,783.222,1760.403,512.953,0.000,2007.990,0.000,1524.005,0.000,1.486,0.000
$DEVICE_MAMPS,187.425,45.900,947.070,744.345,0.000,0.000,0.000,126.990,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8940.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.563,0.000,0.000,0.000
$MEM,324416
$DATA_FILE_SIZE,16760,518
$CAP_FILE_SIZE,450760,2342
$CFSIZE,260034560,220491776
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.040, 54.8,1
$GPS,020413,180504,2207.915,12030.468,304,0.9,304,-3.2