version: 66.11
glider: 121
mission: 10
dive: 220
start: 3 28 113 12 53 52
data:
$ID,121
$MISSION,10
$DIVE,220
$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,-100771.34
$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,47
$R_STBD_OVSHOOT,54
$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
$GPS1,280313,124542,2109.583,12005.191,16,1.3,16,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-64.7
$GPS2,280313,125324,2109.648,12005.159,19,0.9,20,-2.9
$SPEED_LIMITS,0.160,0.240
$TGT_NAME,W1
$TGT_LATLONG,2207.170,12035.130
$TGT_RADIUS,4000.000
$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,26.8,118292,-18.5,-9.259,-21.12,2828
$D_GRID,3139
$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,-170.3,85,1954,353,482,0.0,0.0,0,44,0.00,0.00,-23.80,0.000,16386,0.000,0.000,85,1953,1041,1028,1055,0,0,0,0,0,0,28.83,28.83,28.83
$GC,47,-1.35,-170.3,85,1952,1028,1056,3.2,-8.9,3,153,7.78,2.17,-89.82,0.000,18692,0.208,0.041,2089,3375,3337,3243,3431,0,0,0,0,0,0,25.72,26.14,26.46
$GC,195,-1.35,-170.3,1248,3374,3215,3427,17.0,-9.0,24,203,0.00,2.15,0.00,0.000,1030,0.000,0.028,2098,1974,3337,3243,3431,0,0,0,0,0,0,28.83,26.19,28.83
$GC,518,-1.35,-170.3,2098,1974,3246,3431,45.3,-9.2,63,524,0.00,2.12,0.00,0.000,260,0.000,0.029,2090,3374,3338,3246,3431,0,0,0,0,0,0,28.83,26.37,28.83
$GC,577,-1.35,-170.3,2090,3374,3247,3430,50.7,-9.0,68,582,0.00,2.12,0.00,0.000,1030,0.000,0.027,2098,1971,3339,3248,3431,0,0,0,0,0,0,28.83,26.41,28.83
$GC,891,-1.35,-170.3,2098,1970,3249,3431,78.7,-8.7,84,898,0.00,2.12,0.00,0.000,260,0.000,0.030,2089,3372,3340,3249,3431,0,0,0,0,0,0,28.83,26.48,28.83
$GC,952,-1.35,-170.3,1280,3371,3223,3427,82.8,-8.7,86,961,0.00,2.10,0.00,0.000,1030,0.000,0.025,2097,1972,3340,3249,3431,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1259,-1.35,-170.3,2097,1972,3249,3431,112.4,-9.7,102,1265,0.00,2.12,0.00,0.000,260,0.000,0.030,2089,3376,3340,3249,3431,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1305,-1.35,-170.3,2088,3376,3249,3430,116.6,-9.4,104,1311,0.00,2.10,0.00,0.000,1030,0.000,0.025,2096,1975,3339,3249,3430,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1630,-1.35,-170.3,2096,1975,3250,3430,145.9,-9.0,120,1631,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,1975,3339,3249,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1933,-1.35,-170.3,2096,1975,3250,3427,173.3,-9.5,135,1938,0.00,2.12,0.00,0.000,260,0.000,0.031,2088,3371,3337,3249,3426,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1959,-1.35,-170.3,2088,3371,3249,3426,175.6,-9.1,136,1965,0.00,2.10,0.00,0.000,1030,0.000,0.027,2093,1976,3337,3249,3426,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2284,-1.35,-170.3,2093,1976,3249,3423,205.4,-9.0,152,2290,0.00,2.15,0.00,0.000,516,0.000,0.044,2104,571,3335,3249,3422,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2362,-1.35,-170.3,2103,571,3249,3423,211.5,-9.0,155,2368,0.00,2.05,0.00,0.000,1030,0.000,0.016,2095,1992,3335,3249,3422,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2676,-1.35,-170.3,2095,1993,3249,3418,240.0,-8.6,171,2678,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,1992,3333,3249,3418,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2977,-1.35,-170.3,2095,1993,3249,3415,267.4,-9.0,186,2983,0.00,2.20,0.00,0.000,516,0.000,0.043,2103,577,3331,3249,3414,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3007,-1.35,-170.3,2103,577,3249,3414,269.7,-9.1,187,3013,0.00,2.03,0.00,0.000,1030,0.000,0.016,2095,1981,3331,3249,3414,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3327,-1.35,-170.3,2097,1981,3249,3409,299.4,-9.4,203,3328,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,1981,3328,3248,3409,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3627,-1.35,-170.3,2095,1982,3247,3407,326.7,-9.1,218,3629,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,1982,3327,3248,3407,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3929,-1.35,-170.3,2095,1982,3245,3405,353.5,-9.1,233,3935,0.00,2.20,0.00,0.000,516,0.000,0.044,2103,572,3324,3244,3404,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3958,-1.35,-170.3,2103,572,3244,3404,355.9,-9.0,234,3965,0.00,2.05,0.00,0.000,1030,0.000,0.017,2095,1973,3324,3244,3404,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4279,-1.35,-170.3,2095,1973,3242,3402,385.7,-9.2,250,4285,0.00,2.10,0.00,0.000,260,0.000,0.035,2085,3370,3322,3242,3402,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4319,-1.35,-170.3,2085,3370,3242,3400,388.1,-9.3,251,4327,0.00,2.12,0.00,0.000,1030,0.000,0.031,2089,1979,3321,3242,3401,0,0,0,0,0,0,28.83,26.58,28.83
$STATE,4444,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4444,begin apogee
$GC,4450,-0.25,0.0,2089,2306,3241,3400,400.7,-8.9,258,4619,0.77,0.00,156.73,1.024,10246,0.116,0.000,2342,2307,2638,2591,2686,0,0,0,0,1,0,26.32,28.83,24.15
$STATE,4622,end apogee,CONTROL_FINISHED_OK
$STATE,4623,begin climb
$GC,4624,1.35,170.3,2342,2307,2591,2686,386.1,0.0,265,4786,1.00,2.28,147.55,1.115,10500,0.050,0.034,2706,3691,1943,1912,1975,0,0,0,0,1,0,25.13,24.65,23.83
$GC,4859,1.37,176.0,2706,3691,1912,1974,364.7,9.1,275,4873,0.00,2.22,8.23,0.857,9222,0.000,0.026,2715,2294,1920,1893,1947,0,0,0,0,0,0,28.83,25.36,24.50
$GC,5196,1.39,185.3,2715,2295,1892,1937,333.2,8.9,292,5213,0.00,0.00,10.02,0.845,8198,0.000,0.000,2716,2295,1879,1856,1902,0,0,0,0,0,0,28.83,28.83,25.15
$GC,5513,1.42,196.1,2715,2295,1855,1896,304.3,8.9,308,5529,0.00,2.25,11.30,0.840,8452,0.000,0.033,2716,3683,1835,1811,1860,0,0,0,0,0,0,28.83,26.08,25.31
$GC,5678,1.43,202.2,2715,3683,1809,1856,291.0,9.0,315,5692,0.00,2.12,5.05,0.771,9222,0.000,0.025,2725,2298,1813,1788,1839,0,0,0,0,0,0,28.83,26.22,25.21
$GC,6014,1.44,204.2,2725,2298,1788,1839,259.6,9.2,332,6020,0.00,2.20,0.00,0.000,516,0.000,0.044,2737,892,1813,1788,1839,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6101,1.46,211.5,1744,892,1745,1830,251.6,9.0,336,6118,0.00,2.10,11.62,0.808,9222,0.000,0.018,2737,2299,1776,1748,1804,0,0,0,0,0,0,28.83,26.42,25.44
$GC,6427,1.47,217.0,2736,2299,1743,1796,222.9,9.1,352,6439,0.00,2.25,4.07,0.656,8708,0.000,0.043,2746,898,1754,1726,1782,0,0,0,0,0,0,28.83,26.28,25.24
$GC,6479,1.49,223.9,1736,898,1684,1774,218.7,9.0,354,6498,0.10,2.10,10.25,0.782,13318,0.199,0.018,2726,2308,1722,1692,1752,0,0,0,0,0,0,26.10,26.37,25.43
$GC,6795,1.50,228.6,2725,2309,1691,1748,190.0,9.1,370,6800,0.00,0.00,3.35,0.540,8198,0.000,0.000,2725,2309,1707,1677,1738,0,0,0,0,0,0,28.83,28.83,25.20
$GC,7095,1.54,243.6,2725,2309,1677,1738,163.2,8.7,385,7116,0.00,0.00,18.20,0.728,8198,0.000,0.000,2725,2308,1644,1601,1688,0,0,0,0,0,0,28.83,28.83,25.46
$GC,7415,1.55,249.6,2725,2308,1594,1679,134.3,9.0,401,7421,0.00,0.00,4.28,0.627,8198,0.000,0.000,2726,2308,1621,1576,1667,0,0,0,0,0,0,28.83,28.83,25.27
$GC,7716,1.55,249.6,2725,2309,1575,1668,107.8,9.3,416,7717,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2308,1622,1576,1668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8016,1.56,254.1,2725,2309,1576,1668,81.2,9.1,431,8027,0.00,2.25,5.28,0.655,8708,0.000,0.042,2735,898,1603,1554,1653,0,0,0,0,0,0,28.83,26.37,25.56
$GC,8097,1.58,261.4,2735,901,1554,1652,75.1,9.0,434,8116,0.00,2.08,10.18,0.664,9222,0.000,0.018,2735,2297,1568,1516,1621,0,0,0,0,0,0,28.83,26.46,25.58
$GC,8420,1.59,263.6,2735,2297,1516,1617,44.3,9.2,453,8426,0.00,2.12,0.00,0.000,260,0.000,0.037,2735,3691,1566,1516,1617,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8633,1.61,272.6,2735,3691,1516,1617,25.1,8.9,472,8653,0.00,2.12,12.07,0.613,9222,0.000,0.028,2745,2300,1523,1470,1576,0,0,0,0,0,0,28.83,26.44,25.65
$STATE,8881,end climb,SURFACE_DEPTH_REACHED
$STATE,8881,begin surface coast
$FINISH,0.0,1.025499
$STATE,8914,end surface coast,CONTROL_FINISHED_OK
$STATE,8914,begin surface
$SM_CCo,8931,233.60,0.756,3,0,399,549.47
$SM_CCo,9183,-0.10,0.000,0,0,402,549.47
$SM_CCo,9187,2.92,0.368,0,0,400,549.47
$SM_GC,-23.93,7.50,0.50,2.92,0.074,0.044,0.368,88,1957,400,-10.54,0.96,549.47,0,0,0,0,0,0,26.39,26.44,24.53
$IRIDIUM_FIX,2059.45,12002.75,280313,101003
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.52
$INTERNAL_PRESSURE,9.09714
$TCM_TEMP,19.00
$XPDR_PINGS,1
$SC_FREEKB,3938816
$24V_AH,23.8,36.817
$10V_AH,10.1,19.356
$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,17.150,65.225,418.175,236.525,0.000,0.000,0.000,268.250,0.250,0.000,20.943,1947.515,4972.127,782.374,1534.596,392.718,0.000,1855.261,0.000,1271.195,0.000,1.489,0.000
$DEVICE_MAMPS,208.080,44.370,1115.370,755.820,0.000,0.000,0.000,130.050,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8931.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.465,0.000,0.000,0.000
$MEM,324628
$DATA_FILE_SIZE,16773,521
$CAP_FILE_SIZE,378613,1934
$CFSIZE,260034560,225705984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,1,0
$CURRENT,0.138,304.1,1
$GPS,280313,153152,2110.906,12004.882,250,1.0,250,-2.9