version: 66.11
glider: 121
mission: 10
dive: 168
start: 3 22 113 16 13 57
data:
$ID,121
$MISSION,10
$DIVE,168
$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,-100705.87
$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,54
$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
$GPS1,220313,160704,2001.640,12005.380,229,1.0,229,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-63.9
$GPS2,220313,161330,2001.692,12005.446,18,1.0,19,-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,337.3,191555,-18.5,-9.259,-21.12,2828
$D_GRID,3617
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.35,-170.3,86,1944,353,496,0.0,0.0,0,43,0.00,0.00,-23.35,0.000,16386,0.000,0.000,86,1944,1031,1014,1049,0,0,0,0,0,0,28.83,28.83,28.83
$GC,45,-1.35,-170.3,86,1944,1014,1049,3.5,-9.7,3,152,7.95,2.28,-90.55,0.000,18692,0.218,0.045,2090,3381,3338,3246,3430,0,0,0,0,0,0,25.80,26.16,26.46
$GC,370,-1.35,-170.3,2090,3381,3248,3430,32.7,-9.0,49,379,0.00,2.12,0.00,0.000,1030,0.000,0.024,2097,1971,3338,3248,3429,0,0,0,0,0,0,28.83,26.34,28.83
$GC,688,-1.35,-170.3,2097,1971,3252,3430,61.4,-9.1,75,694,0.00,2.12,0.00,0.000,260,0.000,0.030,2089,3374,3341,3252,3430,0,0,0,0,0,0,28.83,26.45,28.83
$GC,769,-1.35,-170.3,2088,3374,3252,3430,67.4,-8.9,78,777,0.00,2.10,0.00,0.000,1030,0.000,0.024,2095,1971,3341,3252,3430,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1076,-1.35,-170.3,2095,1971,3253,3430,96.4,-8.7,94,1077,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,1971,3341,3253,3429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1376,-1.35,-170.3,2095,1971,3253,3430,123.8,-9.0,109,1383,0.00,2.12,0.00,0.000,260,0.000,0.031,2087,3378,3341,3253,3430,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1411,-1.35,-170.3,2086,3378,3253,3430,126.2,-8.9,110,1417,0.00,2.10,0.00,0.000,1030,0.000,0.025,2090,1972,3341,3253,3430,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1726,-1.35,-170.3,2090,1972,3253,3429,155.1,-9.0,126,1731,0.00,2.12,0.00,0.000,516,0.000,0.042,2100,575,3340,3253,3428,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1837,-1.35,-170.3,2100,575,3253,3428,164.5,-8.7,131,1844,0.00,2.05,0.00,0.000,1030,0.000,0.016,2091,1998,3341,3254,3428,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2157,-1.35,-170.3,2091,1999,3253,3426,193.6,-9.1,147,2163,0.00,2.03,0.00,0.000,260,0.000,0.032,2081,3363,3339,3254,3425,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2207,-1.35,-170.3,2081,3363,3253,3424,197.7,-9.1,149,2214,0.10,2.08,0.00,0.000,3078,0.164,0.027,2107,1975,3338,3252,3424,0,0,0,0,0,0,26.46,26.63,28.83
$GC,2528,-1.35,-170.3,2107,1975,3253,3422,227.7,-9.3,165,2529,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,1975,3337,3253,3422,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2829,-1.35,-170.3,2106,1975,3253,3418,254.7,-8.9,180,2835,0.00,2.15,0.00,0.000,516,0.000,0.045,2117,571,3335,3253,3417,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2888,-1.35,-170.3,2117,571,3253,3417,259.0,-8.9,182,2896,0.00,2.03,0.00,0.000,1030,0.000,0.017,2109,1973,3335,3253,3417,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3196,-1.35,-170.3,2109,1974,3253,3414,287.8,-9.0,198,3202,0.00,2.08,0.00,0.000,260,0.000,0.034,2099,3364,3333,3253,3414,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3252,-1.35,-170.3,2099,3364,3253,3413,291.9,-9.0,200,3258,0.00,2.10,0.00,0.000,1030,0.000,0.028,2099,1970,3332,3252,3412,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3567,-1.35,-170.3,2099,1970,3252,3411,320.8,-8.8,216,3573,0.00,2.15,0.00,0.000,516,0.000,0.047,2109,572,3331,3252,3411,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3623,-1.35,-170.3,2109,572,3252,3410,325.0,-9.1,218,3629,0.00,2.05,0.00,0.000,1030,0.000,0.017,2101,1983,3331,3252,3410,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3938,-1.35,-170.3,2100,1984,3249,3408,354.4,-8.9,234,3944,0.00,2.20,0.00,0.000,516,0.000,0.044,2109,572,3328,3249,3408,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3995,-1.35,-170.3,2109,572,3249,3408,358.6,-9.1,236,4001,0.00,2.05,0.00,0.000,1030,0.000,0.018,2101,1982,3328,3249,3408,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4310,-1.35,-170.3,2100,1988,3247,3406,387.7,-9.0,252,4316,0.00,2.08,0.00,0.000,260,0.000,0.035,2090,3366,3326,3247,3405,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4377,-1.35,-170.3,2090,3366,3247,3405,393.6,-8.9,255,4384,0.00,2.12,0.00,0.000,1030,0.000,0.030,2090,1970,3326,3247,3405,0,0,0,0,0,0,28.83,26.64,28.83
$STATE,4460,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4460,begin apogee
$GC,4465,-0.25,0.0,2090,2314,3250,3404,401.2,-8.8,259,4625,0.77,0.00,143.12,1.047,10246,0.118,0.000,2343,2313,2639,2589,2690,0,0,0,0,1,0,26.45,28.83,24.20
$STATE,4626,end apogee,CONTROL_FINISHED_OK
$STATE,4626,begin climb
$GC,4628,1.35,170.3,2343,2313,2589,2690,387.0,0.0,266,4795,1.00,2.30,148.55,1.086,10500,0.054,0.034,2706,3680,1944,1908,1980,0,0,0,0,1,0,25.18,24.71,23.90
$GC,5033,1.37,178.8,2707,3680,1908,1981,350.5,9.0,284,5052,0.00,2.15,11.77,0.840,9222,0.000,0.024,2716,2292,1905,1877,1934,0,0,0,0,0,0,28.83,25.89,24.95
$GC,5372,1.38,180.7,2716,2292,1875,1924,318.8,9.2,301,5378,0.00,2.17,0.00,0.000,260,0.000,0.033,2716,3693,1899,1875,1924,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5502,1.40,189.5,2716,3693,1875,1923,307.0,8.9,307,5518,0.00,2.15,10.62,0.808,9222,0.000,0.024,2726,2291,1864,1840,1889,0,0,0,0,0,0,28.83,26.29,25.34
$GC,5827,1.43,200.9,2726,2291,1835,1880,278.0,8.8,323,5844,0.00,2.28,11.93,0.792,8708,0.000,0.043,2737,892,1815,1789,1841,0,0,0,0,0,0,28.83,26.12,25.40
$GC,5897,1.46,214.3,2737,892,1786,1839,272.0,8.8,326,5916,0.00,2.10,13.95,0.784,9222,0.000,0.018,2737,2302,1764,1736,1792,0,0,0,0,0,0,28.83,26.25,25.29
$GC,6214,1.47,215.6,2737,2302,1732,1780,243.4,9.2,342,6215,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2302,1756,1732,1780,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6515,1.48,220.9,2737,2302,1732,1779,216.2,9.1,357,6526,0.00,2.12,4.72,0.688,8452,0.000,0.034,2737,3695,1737,1710,1765,0,0,0,0,0,0,28.83,26.34,25.34
$GC,6625,1.49,223.7,2737,3695,1710,1766,206.2,9.2,362,6637,0.10,2.12,3.75,0.593,13318,0.202,0.025,2726,2297,1726,1698,1755,0,0,0,0,0,0,26.19,26.39,25.32
$GC,6952,1.51,234.8,2725,2297,1698,1756,176.8,8.9,378,6976,0.00,2.22,14.62,0.715,8708,0.000,0.045,2738,888,1677,1643,1711,0,0,0,0,0,0,28.83,26.20,25.56
$GC,7003,1.53,241.9,2736,888,1643,1708,172.3,9.0,380,7015,0.00,2.10,5.25,0.688,9222,0.000,0.018,2736,2294,1653,1612,1694,0,0,0,0,0,0,28.83,26.31,25.41
$GC,7323,1.55,250.5,2736,2295,1611,1694,143.4,8.9,396,7340,0.00,2.22,11.57,0.688,8452,0.000,0.037,2736,3690,1612,1564,1660,0,0,0,0,0,0,28.83,26.20,25.53
$GC,7431,1.57,257.9,2736,3690,1562,1658,133.9,9.0,401,7443,0.00,2.12,7.05,0.682,9222,0.000,0.027,2746,2300,1587,1536,1639,0,0,0,0,0,0,28.83,26.29,25.47
$GC,7758,1.60,267.5,2746,2300,1534,1633,104.4,8.9,417,7774,0.00,2.28,11.10,0.656,8708,0.000,0.044,2757,898,1543,1491,1596,0,0,0,0,0,0,28.83,26.20,25.56
$GC,7900,1.61,274.5,1792,898,1462,1586,92.7,9.0,423,7913,0.00,2.10,6.60,0.643,9222,0.000,0.018,2757,2305,1519,1467,1572,0,0,0,0,0,0,28.83,26.35,25.50
$GC,8235,1.61,274.5,2756,2306,1466,1568,60.9,9.3,440,8240,0.00,2.22,0.00,0.000,516,0.000,0.043,2766,897,1517,1467,1567,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8282,1.61,274.5,2766,897,1467,1568,56.5,9.4,442,8287,0.00,2.10,0.00,0.000,1030,0.000,0.018,2766,2312,1517,1466,1568,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8596,1.63,279.3,2766,2312,1466,1567,28.1,9.1,469,8610,0.00,2.12,4.43,0.540,8452,0.000,0.037,2766,3697,1499,1447,1552,0,0,0,0,0,0,28.83,26.42,25.51
$GC,8662,1.63,279.3,1760,3697,1418,1546,21.9,9.6,477,8671,0.10,2.15,0.00,0.000,5126,0.205,0.028,2755,2292,1500,1447,1553,0,0,0,0,0,0,26.25,26.46,28.83
$STATE,8868,end climb,SURFACE_DEPTH_REACHED
$STATE,8868,begin surface coast
$FINISH,0.0,1.025334
$STATE,8904,end surface coast,CONTROL_FINISHED_OK
$STATE,8904,begin surface
$SM_CCo,8920,223.43,0.710,2,0,399,549.47
$SM_CCo,9157,-0.10,0.000,0,0,402,549.47
$SM_CCo,9161,3.15,0.386,0,0,400,549.47
$SM_GC,-23.93,7.50,0.47,3.15,0.075,0.044,0.386,84,1963,400,-10.56,1.13,549.47,0,0,0,0,0,0,26.49,26.53,24.61
$IRIDIUM_FIX,1952.70,12006.31,220313,131327
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.74
$INTERNAL_PRESSURE,9.09714
$TCM_TEMP,16.90
$XPDR_PINGS,0
$SC_FREEKB,3958656
$24V_AH,23.9,28.813
$10V_AH,10.1,16.055
$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,17.525,82.150,409.050,226.575,0.000,0.000,0.000,224.200,0.000,0.000,20.069,2108.863,4686.234,776.724,1623.660,338.650,0.000,1895.331,0.000,1424.195,0.000,1.484,0.000
$DEVICE_MAMPS,218.025,46.665,1085.535,709.920,0.000,0.000,0.000,129.285,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8896.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.590,0.000,0.000,0.000
$MEM,323876
$DATA_FILE_SIZE,16745,520
$CAP_FILE_SIZE,412040,2186
$CFSIZE,260034560,231694336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,2,0
$CURRENT,0.183, 45.3,1
$GPS,220313,184918,2003.088,12005.709,118,1.0,118,-2.7