version: 66.11
glider: 121
mission: 10
dive: 267
start: 4 2 113 19 25 10
data:
$ID,121
$MISSION,10
$DIVE,267
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$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,50
$T_MISSION,65
$T_ABORT,90
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$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,-100834.05
$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,50
$R_STBD_OVSHOOT,62
$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
$GPS1,020413,191623,2208.257,12030.313,149,1.1,150,-3.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-60.5
$GPS2,020413,192441,2208.213,12030.173,18,0.8,18,-3.2
$SPEED_LIMITS,0.173,0.245
$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,6.7,2399,-19.8,-10.000,-22.16,2619
$D_GRID,601
$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,-1.41,-170.3,91,1951,347,469,0.0,0.0,0,44,0.00,0.00,-23.70,0.000,16386,0.000,0.000,90,1951,1026,1024,1029,0,0,0,0,0,0,28.83,28.83,28.83
$GC,47,-1.41,-170.3,90,1951,1023,1032,3.4,-9.1,3,140,7.72,2.25,-77.60,0.000,18692,0.209,0.044,2078,3369,3337,3245,3429,0,0,0,0,0,0,25.74,26.16,26.49
$GC,263,-1.41,-170.3,1224,3368,3220,3426,23.3,-9.5,37,272,0.00,2.10,0.00,0.000,1030,0.000,0.025,2086,1980,3338,3248,3429,0,0,0,0,0,0,28.83,26.28,28.83
$GC,586,-1.41,-170.3,2086,1980,3250,3429,52.0,-9.0,69,592,0.00,2.10,0.00,0.000,260,0.000,0.029,2077,3364,3339,3249,3429,0,0,0,0,0,0,28.83,26.40,28.83
$GC,727,-1.41,-170.3,2078,3364,3250,3429,63.8,-9.0,75,733,0.00,2.10,0.00,0.000,1030,0.000,0.024,2086,1965,3339,3250,3429,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1042,-1.41,-170.3,2086,1965,3251,3429,93.2,-8.8,91,1048,0.00,2.12,0.00,0.000,516,0.000,0.041,2096,574,3340,3251,3429,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1099,-1.41,-170.3,2096,574,3251,3429,97.6,-9.2,93,1105,0.00,2.03,0.00,0.000,1030,0.000,0.015,2087,1987,3340,3251,3429,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1414,-1.41,-170.3,2087,1986,3250,3429,126.5,-8.3,109,1420,0.00,2.05,0.00,0.000,260,0.000,0.031,2077,3363,3339,3250,3428,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1505,-1.41,-170.3,2077,3363,3251,3427,134.5,-9.1,113,1511,0.00,2.10,0.00,0.000,1030,0.000,0.025,2080,1973,3338,3250,3427,0,0,0,0,0,0,28.83,26.54,28.83
$STATE,1685,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1685,begin apogee
$GC,1690,-0.25,0.0,2079,2313,3250,3426,151.0,-9.0,122,1851,0.82,0.00,147.73,0.770,10246,0.122,0.000,2345,2314,2639,2586,2693,0,0,0,0,1,0,26.22,28.83,24.55
$STATE,1852,end apogee,CONTROL_FINISHED_OK
$STATE,1853,begin climb
$GC,1855,1.41,170.3,2344,2314,2586,2694,136.3,0.0,129,2017,1.02,2.17,147.38,0.630,10500,0.057,0.031,2715,3683,1933,1897,1970,0,0,0,0,0,0,25.34,25.27,24.67
$GC,2214,1.48,195.0,2715,3683,1896,1955,103.5,9.0,145,2244,0.00,2.10,21.40,0.581,9222,0.000,0.021,2725,2302,1839,1808,1871,0,0,0,0,0,0,28.83,26.07,25.20
$GC,2563,1.53,217.0,2725,2302,1802,1858,72.4,9.1,162,2592,0.00,2.25,19.85,0.584,8708,0.000,0.038,2736,898,1745,1711,1779,0,0,0,0,0,0,28.83,26.06,25.46
$GC,2717,1.60,244.2,2736,898,1708,1773,58.5,8.9,169,2748,0.00,2.08,23.52,0.571,9222,0.000,0.016,2736,2300,1640,1593,1687,0,0,0,0,0,0,28.83,26.29,25.38
$GC,3057,1.66,267.8,2736,2299,1585,1668,28.0,9.1,197,3086,0.10,2.30,20.80,0.547,10756,0.099,0.037,2790,893,1540,1488,1592,0,0,0,0,0,0,26.39,26.10,25.51
$GC,3193,1.75,303.1,1744,892,1453,1575,15.9,8.6,217,3233,0.00,2.08,32.30,0.534,9222,0.000,0.016,2790,2300,1395,1355,1436,0,0,0,0,0,0,28.83,26.29,25.36
$STATE,3339,end climb,SURFACE_DEPTH_REACHED
$STATE,3339,begin surface coast
$FINISH,0.0,1.025320
$STATE,3375,end surface coast,CONTROL_FINISHED_OK
$STATE,3375,begin surface
$SM_CCo,3392,197.50,0.703,2,0,400,549.47
$SM_CCo,3603,0.00,0.000,0,0,400,549.47
$SM_CCo,3606,0.00,0.000,0,0,400,549.47
$SM_GC,-23.93,7.68,0.52,0.00,0.073,0.034,0.000,87,1957,400,-10.55,1.13,549.47,0,0,0,0,0,0,26.16,26.21,28.83
$IRIDIUM_FIX,2159.71,12032.30,020413,181827
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.70
$INTERNAL_PRESSURE,9.1655
$TCM_TEMP,20.20
$XPDR_PINGS,0
$SC_FREEKB,3920864
$24V_AH,24.5,43.976
$10V_AH,10.2,22.379
$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,17.350,30.825,412.975,197.500,0.000,0.000,0.000,312.100,0.000,0.000,19.255,942.974,1233.492,653.704,1017.135,253.451,0.000,1439.092,0.000,688.749,0.000,1.488,0.000
$DEVICE_MAMPS,208.845,43.605,770.355,703.035,0.000,0.000,0.000,124.695,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3378.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.136,0.000,0.000,0.000
$MEM,323064
$DATA_FILE_SIZE,6836,247
$CAP_FILE_SIZE,208444,987
$CFSIZE,260034560,220569600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$CURRENT,0.049, 62.9,1
$GPS,020413,202907,2208.511,12030.320,189,0.7,191,-3.2