version: 66.11
glider: 121
mission: 10
dive: 230
start: 3 29 113 15 57 38
data:
$ID,121
$MISSION,10
$DIVE,230
$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,-100785.11
$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,55
$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
$GPS1,290313,154955,2123.040,12010.204,193,0.9,194,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-60.2
$GPS2,290313,155711,2123.018,12009.977,16,0.9,17,-3.0
$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,54.9,92458,-18.5,-9.259,-21.12,2828
$D_GRID,2867
$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,19,-1.35,-170.3,81,1951,355,479,0.0,0.0,0,44,0.00,0.00,-23.42,0.000,16386,0.000,0.000,81,1955,1028,1021,1036,0,0,0,0,0,0,28.83,28.83,28.83
$GC,47,-1.35,-170.3,81,1955,1020,1036,3.1,-8.4,3,160,7.85,0.00,-101.90,0.000,19206,0.210,0.000,2100,1957,3336,3241,3431,0,0,0,0,0,0,25.70,28.83,26.46
$GC,477,-1.35,-170.3,2100,1957,3244,3431,42.2,-8.7,59,483,0.00,2.15,0.00,0.000,260,0.000,0.031,2091,3371,3337,3244,3431,0,0,0,0,0,0,28.83,26.34,28.83
$GC,527,-1.35,-170.3,2091,3371,3245,3431,46.7,-9.0,63,532,0.00,2.10,0.00,0.000,1030,0.000,0.026,2093,1976,3337,3244,3431,0,0,0,0,0,0,28.83,26.37,28.83
$GC,851,-1.35,-170.3,2093,1976,3249,3431,75.9,-8.9,81,858,0.00,2.15,0.00,0.000,516,0.000,0.040,2102,566,3340,3249,3431,0,0,0,0,0,0,28.83,26.43,28.83
$GC,878,-1.35,-170.3,2102,566,3249,3430,78.3,-9.0,82,885,0.00,2.05,0.00,0.000,1030,0.000,0.015,2094,1991,3340,3249,3431,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1204,-1.35,-170.3,2094,1991,3251,3431,108.0,-8.9,98,1210,0.00,2.03,0.00,0.000,260,0.000,0.031,2084,3355,3341,3251,3431,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1261,-1.35,-170.3,2084,3355,3251,3431,112.2,-9.0,100,1267,0.00,2.08,0.00,0.000,1030,0.000,0.025,2085,1968,3340,3251,3430,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1576,-1.35,-170.3,2085,1968,3251,3431,141.3,-9.0,116,1582,0.00,2.12,0.00,0.000,516,0.000,0.041,2095,571,3341,3251,3431,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1652,-1.35,-170.3,2095,571,3251,3430,147.3,-9.1,119,1659,0.00,2.03,0.00,0.000,1030,0.000,0.015,2087,1982,3340,3251,3430,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1969,-1.35,-170.3,2086,1983,3251,3428,176.8,-9.0,135,1970,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,1983,3339,3251,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2271,-1.35,-170.3,2088,1983,3251,3426,203.7,-9.2,150,2277,0.00,2.05,0.00,0.000,260,0.000,0.032,2076,3358,3338,3251,3425,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2381,-1.35,-170.3,2075,3358,3251,3423,213.7,-8.9,155,2388,0.12,2.10,0.00,0.000,3078,0.151,0.027,2110,1965,3337,3251,3423,0,0,0,0,0,0,26.36,26.58,28.83
$GC,2707,-1.35,-170.3,2110,1965,3251,3421,243.3,-9.0,171,2713,0.00,2.12,0.00,0.000,260,0.000,0.032,2102,3360,3335,3251,3420,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2764,-1.35,-170.3,2102,3360,3251,3419,247.6,-9.0,173,2770,0.00,2.10,0.00,0.000,1030,0.000,0.028,2111,1968,3335,3251,3419,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3079,-1.35,-170.3,2109,1967,3251,3416,276.9,-8.9,189,3080,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,1967,3333,3250,3416,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3383,-1.35,-170.3,2108,1967,3250,3413,303.5,-8.3,204,3388,0.00,2.15,0.00,0.000,516,0.000,0.045,2118,574,3331,3251,3412,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3423,-1.35,-170.3,2118,574,3250,3412,306.2,-8.3,205,3432,0.00,2.03,0.00,0.000,1030,0.000,0.016,2110,1973,3331,3250,3412,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3730,-1.35,-170.3,2109,1973,3249,3409,335.4,-8.9,221,3737,0.00,2.08,0.00,0.000,260,0.000,0.034,2100,3358,3328,3249,3408,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3787,-1.35,-170.3,2100,3357,3249,3408,339.7,-8.9,223,3793,0.00,2.10,0.00,0.000,1030,0.000,0.030,2100,1974,3328,3249,3408,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4103,-1.35,-170.3,2099,1973,3247,3406,369.6,-8.9,239,4108,0.00,2.17,0.00,0.000,516,0.000,0.046,2108,566,3327,3248,3406,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4173,-1.35,-170.3,2108,565,3247,3406,375.7,-9.0,242,4180,0.00,2.05,0.00,0.000,1030,0.000,0.017,2099,1974,3326,3247,3406,0,0,0,0,0,0,28.83,26.64,28.83
$STATE,4452,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4452,begin apogee
$GC,4458,-0.25,0.0,2097,2304,3244,3405,401.8,-9.0,256,4610,0.75,0.00,141.77,1.024,10246,0.112,0.000,2342,2305,2639,2590,2688,0,0,0,0,1,0,26.30,28.83,24.22
$STATE,4612,end apogee,CONTROL_FINISHED_OK
$STATE,4612,begin climb
$GC,4614,1.35,170.3,2342,2305,2590,2688,389.3,0.0,262,4791,1.00,2.25,165.15,0.815,10500,0.055,0.034,2700,3686,1934,1904,1964,0,0,0,0,0,0,25.13,24.94,24.27
$GC,4903,1.38,181.4,1744,3685,1855,1934,362.1,8.9,275,4917,0.00,2.17,3.08,0.412,9222,0.000,0.024,2710,2297,1899,1875,1923,0,0,0,0,0,0,28.83,25.68,24.72
$GC,5216,1.41,192.6,2710,2298,1876,1931,333.0,8.9,291,5240,0.00,2.28,16.77,0.779,8452,0.000,0.033,2710,3692,1846,1820,1872,0,0,0,0,0,0,28.83,25.93,25.20
$GC,5310,1.45,209.2,2710,3692,1816,1866,325.1,8.7,295,5334,0.00,2.15,15.82,0.789,9222,0.000,0.025,2720,2298,1781,1753,1809,0,0,0,0,0,0,28.83,26.06,25.10
$GC,5653,1.47,216.3,2720,2298,1748,1799,294.1,9.0,312,5665,0.00,2.25,3.45,0.530,8708,0.000,0.043,2731,900,1756,1729,1784,0,0,0,0,0,0,28.83,26.19,25.12
$GC,5773,1.50,230.5,2730,900,1729,1788,284.5,8.7,317,5798,0.00,2.08,17.83,0.746,9222,0.000,0.017,2731,2296,1697,1664,1731,0,0,0,0,0,0,28.83,26.33,25.32
$GC,6112,1.50,230.5,2730,2296,1660,1722,252.7,9.3,334,6118,0.00,2.15,0.00,0.000,260,0.000,0.036,2731,3689,1691,1661,1721,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6222,1.53,241.2,2730,3690,1659,1722,242.9,8.9,339,6238,0.00,2.12,10.35,0.718,9222,0.000,0.026,2741,2297,1653,1610,1696,0,0,0,0,0,0,28.83,26.34,25.47
$GC,6548,1.56,253.4,2740,2298,1602,1691,213.5,8.8,355,6567,0.00,0.00,12.52,0.697,8198,0.000,0.000,2741,2298,1600,1550,1650,0,0,0,0,0,0,28.83,28.83,25.50
$GC,6867,1.57,256.9,2740,2298,1548,1645,184.6,9.1,371,6869,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2298,1596,1548,1645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7168,1.59,266.8,2740,2297,1548,1644,157.9,8.9,386,7191,0.00,2.22,13.43,0.640,8452,0.000,0.035,2741,3687,1545,1492,1598,0,0,0,0,0,0,28.83,26.27,25.61
$GC,7287,1.61,274.3,2741,3687,1492,1595,148.0,9.0,391,7300,0.00,2.12,7.47,0.638,9222,0.000,0.027,2750,2301,1519,1465,1573,0,0,0,0,0,0,28.83,26.32,25.53
$GC,7599,1.64,284.8,2750,2301,1463,1566,119.1,8.9,407,7616,0.00,2.28,11.73,0.607,8708,0.000,0.044,2761,900,1473,1422,1524,0,0,0,0,0,0,28.83,26.22,25.60
$GC,7754,1.65,287.3,2761,900,1421,1519,105.5,9.2,414,7761,0.00,2.10,0.00,0.000,1030,0.000,0.018,2761,2309,1469,1421,1518,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8076,1.67,296.0,2761,2309,1421,1517,76.1,8.9,430,8094,0.00,0.00,11.18,0.562,8198,0.000,0.000,2760,2309,1427,1382,1472,0,0,0,0,0,0,28.83,28.83,25.67
$GC,8395,1.68,302.1,2761,2309,1382,1467,47.1,9.0,447,8404,0.00,0.00,4.55,0.516,8198,0.000,0.000,2761,2309,1408,1366,1450,0,0,0,0,0,0,28.83,28.83,25.46
$GC,8711,1.70,310.6,1760,2308,1342,1445,19.1,8.9,483,8728,0.00,2.20,11.12,0.510,8452,0.000,0.036,2761,3701,1367,1333,1402,0,0,0,0,0,0,28.83,26.34,25.73
$STATE,8894,end climb,SURFACE_DEPTH_REACHED
$STATE,8894,begin surface coast
$FINISH,0.0,1.022702
$STATE,8928,end surface coast,CONTROL_FINISHED_OK
$STATE,8928,begin surface
$SM_CCo,8948,180.77,0.643,1,0,397,549.47
$SM_CCo,9137,-0.30,0.000,0,0,402,549.47
$SM_CCo,9141,0.82,0.060,0,0,400,549.47
$SM_GC,-23.93,7.43,2.72,0.82,0.065,0.028,0.060,87,1965,400,-10.55,0.93,549.47,0,0,0,0,0,0,26.41,26.42,25.29
$IRIDIUM_FIX,2113.32,12010.22,290313,131338
$TT8_MAMPS,0.025466,0.025466
$HUMID,46.85
$INTERNAL_PRESSURE,9.24363
$TCM_TEMP,21.50
$XPDR_PINGS,1
$SC_FREEKB,3934976
$24V_AH,24.2,38.295
$10V_AH,10.1,19.994
$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,17.150,69.200,446.225,181.600,0.000,0.000,0.000,244.200,0.250,0.000,18.129,2002.232,4817.311,752.524,1577.980,404.464,0.000,1887.000,0.000,1379.266,0.000,1.488,0.000
$DEVICE_MAMPS,209.610,45.900,1023.570,642.600,0.000,0.000,0.000,132.345,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8949.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.513,0.000,0.000,0.000
$MEM,324396
$DATA_FILE_SIZE,20125,521
$CAP_FILE_SIZE,390911,2042
$CFSIZE,260034560,224555008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.232,309.4,1
$GPS,290313,183104,2124.341,12009.707,25,1.0,25,-3.0