version: 66.11
glider: 121
mission: 10
dive: 244
start: 3 31 113 6 4 45
data:
$ID,121
$MISSION,10
$DIVE,244
$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,-100803.88
$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,51
$R_STBD_OVSHOOT,56
$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
$GPS1,310313,055704,2140.209,12016.064,180,1.0,180,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-61.8
$GPS2,310313,060418,2140.341,12015.862,18,1.0,18,-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,76.6,59679,-18.5,-9.259,-21.12,2828
$D_GRID,1910
$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,-170.3,83,1941,341,474,0.0,0.0,0,44,0.00,0.00,-23.38,0.000,16386,0.000,0.000,82,1944,1021,1004,1038,0,0,0,0,0,0,28.83,28.83,28.83
$GC,47,-1.35,-170.3,82,1943,1005,1038,3.3,-9.5,3,161,7.75,0.00,-99.05,0.000,18950,0.205,0.000,2098,1945,3336,3241,3431,0,0,0,0,0,0,25.72,28.83,26.48
$GC,477,-1.35,-170.3,2097,1945,3245,3431,42.1,-8.9,59,483,0.00,2.17,0.00,0.000,260,0.000,0.030,2089,3378,3338,3245,3431,0,0,0,0,0,0,28.83,26.34,28.83
$GC,600,-1.35,-170.3,2089,3378,3246,3431,52.4,-9.1,68,606,0.00,2.12,0.00,0.000,1030,0.000,0.026,2093,1970,3338,3246,3431,0,0,0,0,0,0,28.83,26.41,28.83
$GC,915,-1.35,-170.3,2093,1969,3249,3431,81.5,-8.9,84,922,0.00,2.12,0.00,0.000,516,0.000,0.040,2103,574,3340,3249,3431,0,0,0,0,0,0,28.83,26.44,28.83
$GC,998,-1.35,-170.3,2103,574,3249,3431,87.7,-9.0,87,1007,0.00,2.05,0.00,0.000,1030,0.000,0.015,2095,2001,3340,3250,3431,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1304,-1.35,-170.3,2094,2002,3252,3431,116.5,-9.1,103,1309,0.00,2.03,0.00,0.000,260,0.000,0.031,2085,3366,3341,3252,3431,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1444,-1.35,-170.3,2084,3367,3251,3431,128.3,-9.1,109,1450,0.00,2.10,0.00,0.000,1030,0.000,0.025,2087,1964,3342,3252,3433,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1759,-1.35,-170.3,2087,1964,3252,3431,157.5,-9.0,125,1765,0.00,2.10,0.00,0.000,260,0.000,0.030,2078,3354,3340,3251,3430,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1805,-1.35,-170.3,2078,3354,3251,3429,161.6,-8.7,127,1812,0.10,2.08,0.00,0.000,3078,0.160,0.026,2105,1967,3340,3252,3429,0,0,0,0,0,0,26.37,26.56,28.83
$GC,2132,-1.35,-170.3,2105,1966,3252,3427,192.1,-9.0,143,2133,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,1967,3339,3251,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2434,-1.35,-170.3,2105,1967,3251,3424,218.7,-8.8,158,2440,0.00,2.12,0.00,0.000,516,0.000,0.044,2116,577,3336,3250,3423,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2482,-1.35,-170.3,2115,577,3251,3423,223.4,-8.9,160,2488,0.00,2.03,0.00,0.000,1030,0.000,0.016,2107,1980,3337,3251,3423,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2807,-1.35,-170.3,2107,1981,3251,3420,252.8,-9.1,176,2813,0.00,2.05,0.00,0.000,260,0.000,0.033,2097,3358,3335,3251,3420,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2927,-1.35,-170.3,2097,3358,3251,3418,262.6,-9.0,181,2933,0.00,2.08,0.00,0.000,1030,0.000,0.028,2097,1980,3334,3251,3417,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3242,-1.35,-170.3,2097,1979,3251,3415,292.1,-8.9,197,3243,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,1979,3333,3251,3415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3543,-1.35,-170.3,2097,1979,3251,3411,319.3,-9.1,212,3545,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,1979,3330,3250,3411,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3843,-1.35,-170.3,2097,1979,3248,3409,346.4,-8.9,227,3850,0.00,2.10,0.00,0.000,260,0.000,0.032,2088,3356,3327,3247,3408,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3927,-1.35,-170.3,2088,3356,3248,3408,352.7,-8.9,230,3935,0.00,2.10,0.00,0.000,1030,0.000,0.029,2088,1971,3328,3248,3408,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4234,-1.35,-170.3,2088,1971,3245,3406,381.5,-9.0,246,4240,0.00,2.17,0.00,0.000,516,0.000,0.046,2098,565,3325,3245,3406,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4301,-1.35,-170.3,2098,565,3245,3405,387.6,-9.0,249,4307,0.00,2.05,0.00,0.000,1030,0.000,0.017,2090,1973,3325,3245,3405,0,0,0,0,0,0,28.83,26.63,28.83
$STATE,4444,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4444,begin apogee
$GC,4450,-0.25,0.0,2087,2308,3243,3404,400.7,-9.1,256,4610,0.80,0.00,152.00,0.861,10246,0.116,0.000,2347,2308,2632,2583,2681,0,0,0,0,0,0,26.25,28.83,24.46
$STATE,4611,end apogee,CONTROL_FINISHED_OK
$STATE,4612,begin climb
$GC,4614,1.35,170.3,2347,2308,2580,2678,386.0,0.0,263,4780,0.98,2.28,155.10,0.847,10500,0.054,0.034,2700,3679,1934,1904,1965,0,0,0,0,0,0,25.27,24.98,24.32
$GC,4939,1.37,177.3,2700,3678,1902,1948,356.9,9.0,277,4945,0.00,2.15,0.00,0.000,1030,0.000,0.024,2710,2296,1925,1903,1948,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5253,1.37,177.3,2710,2295,1902,1944,327.5,9.4,293,5254,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2296,1923,1902,1944,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5555,1.38,181.2,2709,2296,1902,1941,300.5,9.1,308,5567,0.00,2.20,2.85,0.399,8452,0.000,0.033,2710,3681,1900,1878,1923,0,0,0,0,0,0,28.83,26.35,25.15
$GC,5639,1.40,191.1,2709,3681,1878,1927,294.2,8.9,311,5662,0.00,2.10,16.15,0.773,9222,0.000,0.025,2720,2298,1853,1829,1878,0,0,0,0,0,0,28.83,26.37,25.43
$GC,5973,1.42,196.1,2719,2298,1825,1869,262.0,9.1,328,5979,0.00,2.15,0.00,0.000,260,0.000,0.034,2720,3690,1847,1825,1869,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6134,1.45,207.2,2719,3690,1825,1868,248.3,8.9,335,6157,0.00,2.12,14.82,0.739,9222,0.000,0.025,2729,2295,1788,1760,1816,0,0,0,0,0,0,28.83,26.39,25.48
$GC,6473,1.47,217.3,2729,2295,1758,1809,217.6,8.9,352,6489,0.00,2.20,9.27,0.715,8708,0.000,0.042,2740,893,1750,1721,1779,0,0,0,0,0,0,28.83,26.22,25.51
$GC,6564,1.48,221.1,2740,893,1719,1777,209.5,9.1,356,6575,0.00,2.10,3.08,0.467,9222,0.000,0.018,2741,2304,1737,1707,1768,0,0,0,0,0,0,28.83,26.34,25.18
$GC,6884,1.51,233.9,2740,2304,1707,1768,180.6,8.8,372,6907,0.00,2.12,15.55,0.681,8452,0.000,0.034,2740,3685,1679,1644,1714,0,0,0,0,0,0,28.83,26.20,25.51
$GC,6978,1.52,238.1,2740,3685,1644,1710,172.4,9.1,376,6984,0.00,2.12,0.00,0.000,1030,0.000,0.027,2750,2303,1677,1643,1711,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7298,1.52,238.1,2750,2304,1644,1707,143.4,9.3,392,7304,0.00,2.20,0.00,0.000,516,0.000,0.043,2761,890,1675,1644,1707,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7349,1.54,244.3,2760,890,1644,1707,139.2,9.0,394,7369,0.12,2.10,9.40,0.648,13318,0.184,0.018,2732,2308,1638,1594,1683,0,0,0,0,0,0,26.11,26.45,25.58
$GC,7664,1.60,270.1,2732,2308,1592,1679,110.5,8.3,410,7693,0.00,0.00,26.23,0.610,8198,0.000,0.000,2732,2308,1537,1484,1590,0,0,0,0,0,0,28.83,28.83,25.48
$GC,7984,1.63,281.6,2732,2308,1480,1577,80.9,8.8,426,8002,0.10,2.33,11.25,0.594,10756,0.100,0.041,2784,897,1486,1434,1538,0,0,0,0,0,0,26.39,26.17,25.53
$GC,8033,1.66,291.5,2783,897,1433,1534,76.6,8.9,428,8050,0.10,2.08,9.88,0.590,13318,0.190,0.017,2762,2297,1446,1398,1495,0,0,0,0,0,0,26.01,26.27,25.44
$GC,8362,1.66,291.5,2762,2297,1397,1487,47.5,9.4,445,8368,0.00,2.15,0.00,0.000,260,0.000,0.036,2762,3695,1443,1399,1487,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8549,1.66,294.2,2762,3695,1397,1485,30.5,9.2,462,8556,0.00,2.12,0.00,0.000,1030,0.000,0.027,2771,2300,1441,1397,1485,0,0,0,0,0,0,28.83,26.39,28.83
$STATE,8852,end climb,SURFACE_DEPTH_REACHED
$STATE,8852,begin surface coast
$FINISH,0.0,1.023828
$STATE,8892,end surface coast,CONTROL_FINISHED_OK
$STATE,8892,begin surface
$SM_CCo,8909,208.43,0.681,3,0,399,549.47
$SM_CCo,9136,-0.15,0.000,0,0,402,549.23
$SM_CCo,9140,2.70,0.319,0,0,400,549.47
$SM_GC,-23.93,7.47,0.50,2.70,0.069,0.042,0.319,88,1953,400,-10.53,0.93,549.47,0,0,0,0,0,0,26.46,26.49,24.68
$IRIDIUM_FIX,2129.53,12014.89,310313,030351
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.44
$INTERNAL_PRESSURE,9.21433
$TCM_TEMP,20.80
$XPDR_PINGS,0
$SC_FREEKB,3929728
$24V_AH,24.3,40.485
$10V_AH,10.1,20.907
$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,17.425,68.950,425.575,211.125,0.000,0.000,0.000,237.375,0.000,0.000,18.912,2075.519,4665.693,762.826,1621.647,426.679,0.000,1893.423,0.000,1438.142,0.000,1.487,0.000
$DEVICE_MAMPS,205.020,45.900,860.625,680.850,0.000,0.000,0.000,133.110,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8900.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.511,0.000,0.000,0.000
$MEM,324452
$DATA_FILE_SIZE,16777,519
$CAP_FILE_SIZE,403543,2148
$CFSIZE,260034560,222945280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$CURRENT,0.247, 38.2,1
$GPS,310313,083854,2141.582,12017.571,67,1.6,67,-3.0