version: 66.11
glider: 121
mission: 10
dive: 165
start: 3 22 113 8 3 44
data:
$ID,121
$MISSION,10
$DIVE,165
$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,-4
$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,-100702.11
$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,51
$R_STBD_OVSHOOT,58
$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
$GPS1,220313,075635,1956.620,12004.757,94,0.9,94,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-64.7
$GPS2,220313,080317,1956.686,12004.747,19,1.0,20,-2.6
$SPEED_LIMITS,0.160,0.240
$TGT_NAME,W2A
$TGT_LATLONG,2145.000,12000.000
$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,14.3,200764,-18.5,-9.259,-21.12,2828
$D_GRID,3734
$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,-170.3,84,1941,378,504,0.0,0.0,0,44,0.00,0.00,-23.92,0.000,16386,0.000,0.000,83,1944,1066,1043,1090,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.35,-170.3,83,1943,1043,1092,3.3,-8.8,3,162,8.10,2.22,-94.03,0.000,18692,0.226,0.044,2088,3365,3337,3245,3429,0,0,0,0,0,0,25.78,26.16,26.45
$GC,359,-1.35,-170.3,2088,3366,3246,3429,31.6,-9.1,48,367,0.00,2.10,0.00,0.000,1030,0.000,0.025,2097,1982,3337,3246,3429,0,0,0,0,0,0,28.83,26.33,28.83
$GC,667,-1.35,-170.3,2096,1981,3249,3429,59.6,-9.0,74,674,0.00,2.15,0.00,0.000,516,0.000,0.039,2106,565,3339,3250,3429,0,0,0,0,0,0,28.83,26.43,28.83
$GC,831,-1.35,-170.3,2106,565,3252,3428,72.9,-8.9,81,839,0.00,2.05,0.00,0.000,1030,0.000,0.015,2098,1991,3340,3251,3429,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1138,-1.35,-170.3,2098,1992,3252,3429,101.9,-8.9,97,1144,0.00,2.03,0.00,0.000,260,0.000,0.031,2088,3362,3340,3252,3429,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1164,-1.35,-170.3,2087,3362,3252,3429,104.2,-9.1,98,1170,0.00,2.08,0.00,0.000,1030,0.000,0.024,2093,1966,3340,3252,3429,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1488,-1.35,-170.3,2092,1966,3252,3428,132.5,-8.9,114,1489,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,1966,3340,3252,3429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1789,-1.35,-170.3,2092,1966,3252,3428,159.7,-8.6,129,1795,0.00,2.10,0.00,0.000,260,0.000,0.030,2084,3360,3339,3252,3427,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1830,-1.35,-170.3,2084,3360,3252,3427,162.0,-8.7,130,1838,0.00,2.08,0.00,0.000,1030,0.000,0.024,2091,1965,3339,3252,3427,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2138,-1.35,-170.3,2091,1965,3252,3425,190.8,-8.9,146,2139,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,1965,3338,3252,3425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2437,-1.35,-170.3,2091,1965,3252,3422,217.3,-9.0,161,2438,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,1966,3337,3252,3422,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2739,-1.35,-170.3,2090,1965,3252,3419,243.9,-8.9,176,2744,0.00,2.12,0.00,0.000,516,0.000,0.043,2101,572,3335,3252,3418,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2815,-1.35,-170.3,2100,572,3252,3418,250.1,-8.8,179,2822,0.00,2.03,0.00,0.000,1030,0.000,0.016,2092,1977,3335,3252,3418,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3131,-1.35,-170.3,2092,1978,3252,3415,278.9,-8.8,195,3137,0.00,2.17,0.00,0.000,516,0.000,0.041,2100,571,3333,3252,3414,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3183,-1.35,-170.3,2100,571,3252,3414,283.1,-8.9,197,3189,0.00,2.03,0.00,0.000,1030,0.000,0.016,2092,1975,3333,3252,3414,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3503,-1.35,-170.3,2092,1976,3249,3411,312.3,-9.0,213,3509,0.00,2.05,0.00,0.000,260,0.000,0.033,2082,3357,3329,3249,3410,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3599,-1.35,-170.3,2082,3357,3249,3409,320.0,-8.7,217,3606,0.10,2.08,0.00,0.000,3078,0.161,0.028,2106,1974,3329,3249,3409,0,0,0,0,0,0,26.50,26.66,28.83
$GC,3914,-1.35,-170.3,2106,1973,3247,3407,349.9,-9.0,233,3920,0.00,2.15,0.00,0.000,516,0.000,0.046,2117,573,3327,3247,3407,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3949,-1.35,-170.3,2116,572,3247,3407,352.1,-9.0,234,3955,0.00,2.03,0.00,0.000,1030,0.000,0.017,2108,1972,3327,3247,3407,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4264,-1.35,-170.3,2108,1973,3246,3404,381.7,-9.1,250,4270,0.00,2.17,0.00,0.000,516,0.000,0.044,2116,575,3324,3245,3404,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4310,-1.35,-170.3,2116,575,3245,3404,385.8,-9.0,252,4315,0.00,2.05,0.00,0.000,1030,0.000,0.017,2108,1978,3325,3246,3404,0,0,0,0,0,0,28.83,26.70,28.83
$STATE,4472,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4472,begin apogee
$GC,4478,-0.25,0.0,2105,2315,3244,3402,401.2,-9.1,260,4652,0.73,0.00,156.07,0.986,10246,0.113,0.000,2346,2315,2639,2589,2690,0,0,0,0,2,0,26.48,28.83,24.22
$STATE,4653,end apogee,CONTROL_FINISHED_OK
$STATE,4653,begin climb
$GC,4655,1.35,170.3,2346,2315,2589,2689,386.7,0.0,267,4820,0.98,2.22,149.85,1.098,11012,0.046,0.034,2705,3680,1944,1908,1980,0,0,0,0,1,0,25.16,24.74,23.92
$GC,4979,1.38,182.4,1736,3679,1862,1971,357.2,8.8,283,5003,0.00,2.15,16.98,0.865,9222,0.000,0.024,2715,2295,1891,1861,1922,0,0,0,0,0,0,28.83,25.73,24.79
$GC,5313,1.42,197.1,2715,2295,1855,1905,326.5,8.7,300,5336,0.00,2.25,14.00,0.836,8708,0.000,0.043,2725,882,1827,1797,1857,0,0,0,0,0,0,28.83,25.90,25.16
$GC,5401,1.42,197.1,2726,882,1795,1852,318.1,9.4,304,5407,0.00,2.12,0.00,0.000,1030,0.000,0.017,2726,2307,1823,1795,1851,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5727,1.44,205.1,2725,2307,1795,1848,289.4,9.0,320,5738,0.00,2.12,4.32,0.668,8452,0.000,0.034,2726,3695,1802,1773,1832,0,0,0,0,0,0,28.83,26.27,25.24
$GC,5784,1.45,211.0,2725,3695,1773,1832,285.1,9.0,322,5799,0.00,2.12,9.65,0.799,9222,0.000,0.024,2736,2293,1776,1748,1805,0,0,0,0,0,0,28.83,26.31,25.38
$GC,6095,1.47,215.9,2735,2293,1746,1798,256.4,9.1,338,6107,0.00,2.20,3.97,0.633,8452,0.000,0.032,2736,3682,1757,1729,1785,0,0,0,0,0,0,28.83,26.31,25.27
$GC,6155,1.50,227.2,1792,3680,1691,1777,252.2,8.8,340,6174,0.00,2.10,14.65,0.775,9222,0.000,0.024,2746,2297,1713,1682,1745,0,0,0,0,0,0,28.83,26.34,25.40
$GC,6489,1.52,235.3,2746,2297,1675,1732,221.4,9.0,357,6506,0.00,2.25,8.00,0.748,8708,0.000,0.042,2756,897,1677,1644,1710,0,0,0,0,0,0,28.83,26.21,25.48
$GC,6535,1.53,241.2,2756,897,1643,1708,217.2,9.0,359,6548,0.10,2.10,4.60,0.676,13318,0.197,0.018,2736,2306,1655,1614,1696,0,0,0,0,0,0,26.08,26.31,25.27
$GC,6861,1.55,248.0,2736,2306,1614,1696,187.7,9.0,375,6877,0.00,0.00,9.20,0.728,8454,0.000,0.000,2736,2306,1624,1577,1671,0,0,0,0,0,0,28.83,28.83,25.53
$GC,7186,1.56,254.7,2736,2306,1577,1668,158.8,9.0,391,7198,0.00,2.20,6.82,0.699,8452,0.000,0.036,2736,3695,1599,1551,1647,0,0,0,0,0,0,28.83,26.31,25.57
$GC,7298,1.59,264.5,2736,3695,1548,1647,149.0,8.9,396,7321,0.00,2.12,11.75,0.688,9222,0.000,0.025,2745,2298,1554,1502,1607,0,0,0,0,0,0,28.83,26.37,25.53
$GC,7616,1.60,267.6,2745,2298,1501,1602,119.9,9.1,412,7617,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2298,1552,1502,1603,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7919,1.61,273.1,2745,2298,1502,1601,92.8,9.1,427,7935,0.00,2.20,9.00,0.640,8452,0.000,0.034,2745,3684,1520,1468,1573,0,0,0,0,0,0,28.83,26.35,25.68
$GC,7977,1.62,276.9,1792,3683,1440,1565,88.4,9.1,429,7985,0.00,2.12,0.00,0.000,1030,0.000,0.026,2755,2293,1519,1467,1571,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8284,1.64,283.6,2754,2293,1466,1569,59.5,9.0,445,8301,0.00,2.22,11.05,0.603,8452,0.000,0.034,2755,3681,1478,1426,1530,0,0,0,0,0,0,28.83,26.33,25.70
$GC,8350,1.64,285.7,2754,3681,1425,1524,53.5,9.2,448,8356,0.00,2.10,0.00,0.000,1030,0.000,0.026,2764,2298,1474,1425,1524,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8667,1.67,297.1,2764,2298,1425,1522,24.9,8.8,477,8689,0.00,0.00,13.73,0.557,8198,0.000,0.000,2764,2298,1421,1377,1466,0,0,0,0,0,0,28.83,28.83,25.71
$STATE,8905,end climb,SURFACE_DEPTH_REACHED
$STATE,8905,begin surface coast
$FINISH,0.0,1.024693
$STATE,8938,end surface coast,CONTROL_FINISHED_OK
$STATE,8939,begin surface
$SM_CCo,8956,203.52,0.708,1,0,400,549.47
$SM_CCo,9167,-0.08,0.000,0,0,401,549.47
$SM_CCo,9170,0.73,0.097,0,0,401,549.47
$SM_GC,-23.93,7.53,0.50,0.73,0.073,0.041,0.097,84,1950,401,-10.56,0.85,549.47,0,0,0,0,0,0,26.42,26.47,25.08
$IRIDIUM_FIX,1948.12,12003.17,220313,050531
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.11
$INTERNAL_PRESSURE,9.1362
$TCM_TEMP,19.60
$XPDR_PINGS,0
$SC_FREEKB,3959680
$24V_AH,23.9,28.329
$10V_AH,10.1,15.865
$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,17.525,73.250,443.650,204.250,0.000,0.000,0.000,222.800,0.000,0.000,20.500,2018.622,4847.061,780.968,1578.057,327.975,0.000,1883.091,0.000,1366.728,0.000,1.487,0.000
$DEVICE_MAMPS,225.675,45.900,1097.775,708.390,0.000,0.000,0.000,134.640,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8956.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.488,0.000,0.000,0.000
$MEM,323920
$DATA_FILE_SIZE,20084,526
$CAP_FILE_SIZE,397003,2054
$CFSIZE,260034560,232038400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,2,0
$CURRENT,0.120,335.4,1
$GPS,220313,103928,1958.155,12004.640,134,1.1,134,-2.6