version: 66.11
glider: 121
mission: 10
dive: 237
start: 3 30 113 11 2 10
data:
$ID,121
$MISSION,10
$DIVE,237
$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,-100795.08
$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,35
$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
$GPS1,300313,105436,2132.019,12013.297,63,1.4,63,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-61.6
$GPS2,300313,110143,2132.094,12013.401,16,1.6,17,-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,21.6,74896,-18.5,-9.259,-21.12,2828
$D_GRID,2761
$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,-170.3,82,2013,340,472,0.0,0.0,0,44,0.00,0.00,-23.42,0.000,16386,0.000,0.000,82,2014,1014,1001,1027,0,0,0,0,0,0,28.83,28.83,28.83
$GC,47,-1.35,-170.3,82,2013,1001,1027,3.4,-9.3,3,153,7.95,0.00,-91.70,0.000,19206,0.213,0.000,2102,2012,3336,3246,3427,0,0,0,0,0,0,25.72,28.83,26.44
$GC,468,-1.35,-170.3,2101,2012,3252,3427,41.5,-8.6,59,474,0.00,2.08,0.00,0.000,260,0.000,0.032,2093,3371,3339,3252,3427,0,0,0,0,0,0,28.83,26.32,28.83
$GC,599,-1.35,-170.3,1232,3370,3224,3423,53.3,-9.1,70,605,0.00,2.15,0.00,0.000,1030,0.000,0.026,2095,1954,3340,3253,3427,0,0,0,0,0,0,28.83,26.39,28.83
$GC,925,-1.35,-170.3,2095,1954,3255,3427,83.2,-9.0,86,930,0.00,2.10,0.00,0.000,516,0.000,0.041,2105,575,3341,3255,3427,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1107,-1.35,-170.3,2104,575,3256,3426,98.9,-9.0,94,1113,0.00,2.05,0.00,0.000,1030,0.000,0.015,2097,1995,3341,3256,3427,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1423,-1.35,-170.3,2096,1995,3256,3427,128.1,-8.6,110,1430,0.00,2.03,0.00,0.000,260,0.000,0.032,2087,3356,3341,3256,3427,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1491,-1.35,-170.3,2086,3356,3256,3427,134.3,-8.9,113,1498,0.00,2.08,0.00,0.000,1030,0.000,0.027,2092,1974,3341,3256,3427,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1817,-1.35,-170.3,2092,1974,3256,3425,163.2,-8.7,129,1823,0.00,2.10,0.00,0.000,260,0.000,0.031,2082,3354,3340,3256,3424,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1857,-1.35,-170.3,2084,3354,3256,3423,165.5,-8.8,130,1865,0.00,2.08,0.00,0.000,1030,0.000,0.028,2087,1976,3339,3256,3423,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2166,-1.35,-170.3,2087,1976,3256,3422,194.7,-8.9,146,2171,0.00,2.15,0.00,0.000,516,0.000,0.044,2097,574,3338,3256,3421,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2206,-1.35,-170.3,2097,574,3259,3421,197.0,-8.9,147,2214,0.00,2.03,0.00,0.000,1030,0.000,0.016,2089,1978,3338,3256,3421,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2512,-1.35,-170.3,2089,1978,3255,3418,225.8,-8.7,163,2518,0.00,2.08,0.00,0.000,260,0.000,0.034,2078,3366,3336,3255,3417,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2583,-1.35,-170.3,2078,3366,3255,3417,232.1,-9.0,166,2590,0.10,2.10,0.00,0.000,3078,0.164,0.028,2105,1975,3336,3255,3417,0,0,0,0,0,0,26.37,26.56,28.83
$GC,2904,-1.35,-170.3,2105,1975,3254,3414,260.5,-8.8,182,2911,0.00,2.15,0.00,0.000,516,0.000,0.046,2115,575,3334,3254,3414,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3044,-1.35,-170.3,2115,575,3253,3414,272.4,-8.9,188,3050,0.00,2.03,0.00,0.000,1030,0.000,0.017,2107,1970,3332,3253,3412,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3360,-1.35,-170.3,2107,1971,3252,3410,301.0,-8.7,204,3361,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,1971,3331,3253,3410,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3661,-1.35,-170.3,2107,1971,3250,3408,327.4,-8.7,219,3662,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,1971,3329,3250,3408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3961,-1.35,-170.3,2106,1972,3248,3406,354.2,-8.6,234,3967,0.00,2.10,0.00,0.000,260,0.000,0.035,2096,3364,3326,3248,3405,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4010,-1.35,-170.3,2096,3364,3248,3405,358.6,-8.8,236,4016,0.00,2.12,0.00,0.000,1030,0.000,0.031,2097,1974,3326,3247,3405,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4334,-1.35,-170.3,2097,1974,3246,3403,388.0,-8.8,252,4336,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,1973,3324,3246,3403,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4473,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4473,begin apogee
$GC,4479,-0.25,0.0,2096,2300,3244,3402,400.7,-8.9,259,4712,0.75,0.00,226.32,0.743,10246,0.114,0.000,2342,2301,2640,2591,2689,0,0,0,0,0,0,26.27,28.83,24.49
$STATE,4715,end apogee,CONTROL_FINISHED_OK
$STATE,4715,begin climb
$GC,4717,1.35,170.3,2342,2301,2583,2680,378.9,0.0,271,4893,1.00,2.30,164.00,0.838,10500,0.053,0.036,2704,3677,1934,1903,1966,0,0,0,0,0,0,25.21,24.90,24.21
$GC,4979,1.36,171.7,2703,3677,1902,1949,355.0,9.2,283,4985,0.00,2.17,0.00,0.000,1030,0.000,0.026,2713,2298,1925,1902,1948,0,0,0,0,0,0,28.83,25.54,28.83
$GC,5303,1.36,171.7,2713,2298,1902,1944,325.2,9.3,299,5310,0.00,2.22,0.00,0.000,516,0.000,0.044,2724,893,1923,1902,1944,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5339,1.36,172.6,2723,893,1901,1944,322.9,9.2,300,5346,0.12,2.10,0.00,0.000,5126,0.182,0.018,2695,2301,1924,1901,1947,0,0,0,0,0,0,25.92,26.22,28.83
$GC,5655,1.37,177.8,2695,2301,1901,1941,293.6,9.1,316,5660,0.00,2.12,0.00,0.000,260,0.000,0.036,2695,3690,1921,1901,1941,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5836,1.39,187.0,2695,3690,1901,1940,278.0,8.9,324,5855,0.00,2.12,13.93,0.729,9222,0.000,0.026,2704,2295,1876,1854,1899,0,0,0,0,0,0,28.83,26.37,25.52
$GC,6175,1.39,187.0,2704,2295,1845,1885,246.6,9.6,341,6180,0.00,2.20,0.00,0.000,516,0.000,0.045,2715,896,1865,1846,1885,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6263,1.41,193.7,2715,896,1845,1885,238.5,9.0,345,6270,0.00,2.08,2.00,0.075,9222,0.000,0.018,2715,2293,1849,1827,1872,0,0,0,0,0,0,28.83,26.43,24.10
$GC,6591,1.44,203.8,2715,2293,1827,1882,209.2,8.9,361,6609,0.00,0.00,16.23,0.721,8198,0.000,0.000,2715,2293,1808,1779,1838,0,0,0,0,0,0,28.83,28.83,25.52
$GC,6909,1.44,204.1,2714,2293,1768,1821,180.1,9.2,377,6915,0.00,2.22,0.00,0.000,516,0.000,0.044,2725,899,1794,1768,1821,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6998,1.46,213.8,1712,899,1724,1812,172.2,8.9,381,7014,0.00,2.08,8.62,0.703,9222,0.000,0.018,2724,2299,1765,1736,1794,0,0,0,0,0,0,28.83,26.43,25.53
$GC,7323,1.50,228.7,2724,2299,1734,1787,143.0,8.7,397,7346,0.00,2.15,15.68,0.674,8452,0.000,0.036,2724,3689,1700,1667,1733,0,0,0,0,0,0,28.83,26.19,25.51
$GC,7442,1.52,237.1,2724,3688,1667,1731,133.1,9.0,402,7456,0.00,2.15,8.48,0.682,9222,0.000,0.028,2735,2297,1671,1637,1706,0,0,0,0,0,0,28.83,26.25,25.41
$GC,7754,1.54,243.5,2734,2297,1632,1700,104.1,9.0,418,7766,0.00,2.20,5.00,0.635,8708,0.000,0.044,2745,895,1645,1603,1688,0,0,0,0,0,0,28.83,26.25,25.29
$GC,7826,1.55,248.2,2745,895,1603,1688,97.8,9.1,421,7837,0.00,2.10,5.15,0.639,9222,0.000,0.018,2745,2301,1627,1581,1674,0,0,0,0,0,0,28.83,26.34,25.40
$GC,8147,1.55,248.2,2745,2301,1581,1674,68.5,9.4,437,8148,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2301,1627,1581,1674,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8448,1.56,252.0,2745,2301,1581,1674,41.5,9.1,456,8461,0.00,2.12,4.93,0.587,8452,0.000,0.036,2745,3691,1610,1561,1660,0,0,0,0,0,0,28.83,26.38,25.41
$GC,8480,1.56,253.2,2744,3691,1562,1660,38.8,9.2,458,8488,0.00,2.15,0.00,0.000,1030,0.000,0.028,2755,2289,1611,1562,1660,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8805,1.56,253.3,1696,2286,1526,1652,9.4,9.3,505,8813,0.00,2.17,0.00,0.000,516,0.000,0.044,2765,889,1611,1562,1660,0,0,0,0,0,0,28.83,26.39,28.83
$STATE,8875,end climb,SURFACE_DEPTH_REACHED
$STATE,8875,begin surface coast
$FINISH,0.0,1.025110
$STATE,8915,end surface coast,CONTROL_FINISHED_OK
$STATE,8915,begin surface
$SM_CCo,8934,248.55,0.733,3,0,399,549.47
$SM_CCo,9201,-0.08,0.000,0,0,401,549.47
$SM_CCo,9204,2.35,0.269,0,0,400,549.47
$SM_GC,-23.93,7.55,1.65,2.35,0.074,0.015,0.269,87,1987,400,-10.54,-1.61,549.47,0,0,0,0,0,0,26.46,26.55,24.53
$IRIDIUM_FIX,2120.26,12010.55,300313,080841
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.13
$INTERNAL_PRESSURE,9.1362
$TCM_TEMP,19.20
$XPDR_PINGS,0
$SC_FREEKB,3932416
$24V_AH,24.1,39.404
$10V_AH,10.1,20.447
$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,17.475,72.200,470.325,250.900,0.000,0.000,0.000,233.275,0.000,0.000,18.360,2053.641,4701.046,809.331,1629.301,417.777,0.000,1987.454,0.000,1453.073,0.000,1.485,0.000
$DEVICE_MAMPS,213.435,45.900,838.440,732.870,0.000,0.000,0.000,133.875,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4233.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.689,0.000,0.000,0.000
$MEM,324360
$DATA_FILE_SIZE,20067,524
$CAP_FILE_SIZE,401570,2136
$CFSIZE,260034560,223748096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$CURRENT,0.130, 29.1,1
$GPS,300313,133834,2133.525,12014.025,137,0.9,137,-3.0