version: 66.11
glider: 121
mission: 10
dive: 169
start: 3 22 113 18 56 56
data:
$ID,121
$MISSION,10
$DIVE,169
$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,-100707.12
$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,48
$R_STBD_OVSHOOT,52
$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
$GPS1,220313,184918,2003.088,12005.709,118,1.0,118,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-63.6
$GPS2,220313,185629,2003.121,12005.681,20,0.8,21,-2.7
$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,325.0,188932,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.35,-170.3,83,1952,332,478,0.0,0.0,0,44,0.00,0.00,-23.67,0.000,16386,0.000,0.000,82,1953,1016,1005,1028,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.35,-170.3,82,1953,1005,1031,3.2,-9.1,3,162,8.10,2.20,-95.53,0.000,18692,0.221,0.042,2093,3379,3336,3243,3430,0,0,0,0,0,0,25.78,26.14,26.44
$GC,336,-1.35,-170.3,2093,3379,3247,3430,29.1,-9.0,46,342,0.00,2.12,0.00,0.000,1030,0.000,0.026,2101,1979,3338,3247,3430,0,0,0,0,0,0,28.83,26.30,28.83
$GC,652,-1.35,-170.3,2101,1979,3250,3430,57.8,-9.4,73,658,0.00,2.12,0.00,0.000,260,0.000,0.029,2093,3382,3340,3250,3430,0,0,0,0,0,0,28.83,26.43,28.83
$GC,721,-1.35,-170.3,2092,3382,3252,3430,64.0,-9.2,76,727,0.00,2.12,0.00,0.000,1030,0.000,0.025,2100,1966,3340,3251,3430,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1046,-1.35,-170.3,2100,1965,3253,3430,93.3,-9.1,92,1052,0.00,2.12,0.00,0.000,516,0.000,0.041,2110,566,3341,3253,3430,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1107,-1.35,-170.3,2110,566,3253,3430,97.5,-8.9,94,1115,0.00,2.08,0.00,0.000,1030,0.000,0.016,2102,1995,3341,3253,3430,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1413,-1.35,-170.3,2102,1995,3253,3430,126.3,-9.3,110,1415,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,1995,3341,3253,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1715,-1.35,-170.3,2102,1996,3253,3428,153.2,-8.9,125,1721,0.00,2.03,0.00,0.000,260,0.000,0.032,2092,3361,3340,3253,3427,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1748,-1.35,-170.3,2091,3361,3253,3427,155.5,-9.0,126,1755,0.00,2.08,0.00,0.000,1030,0.000,0.026,2093,1975,3340,3253,3427,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2065,-1.35,-170.3,2092,1975,3252,3426,184.6,-9.1,142,2066,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,1975,3339,3253,3426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2365,-1.35,-170.3,2092,1975,3253,3423,211.7,-9.1,157,2371,0.00,2.15,0.00,0.000,516,0.000,0.044,2103,570,3337,3253,3422,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2421,-1.35,-170.3,2102,570,3253,3422,216.1,-9.2,159,2427,0.00,2.03,0.00,0.000,1030,0.000,0.017,2094,1973,3337,3253,3422,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2735,-1.35,-170.3,2094,1973,3253,3419,245.5,-9.3,175,2741,0.00,2.08,0.00,0.000,260,0.000,0.033,2084,3367,3335,3253,3418,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2771,-1.35,-170.3,2083,3367,3253,3418,247.7,-9.2,176,2777,0.00,2.10,0.00,0.000,1030,0.000,0.028,2085,1972,3335,3253,3418,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3086,-1.35,-170.3,2084,1972,3252,3415,276.4,-8.5,192,3092,0.10,2.15,0.00,0.000,2564,0.171,0.044,2119,571,3333,3252,3415,0,0,0,0,0,0,26.55,26.61,28.83
$GC,3137,-1.35,-170.3,2119,571,3252,3415,280.7,-8.6,194,3143,0.00,2.05,0.00,0.000,1030,0.000,0.017,2111,1974,3333,3252,3415,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3457,-1.35,-170.3,2111,1975,3252,3411,309.7,-8.9,210,3458,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,1975,3331,3252,3410,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3758,-1.35,-170.3,2111,1975,3250,3408,336.5,-8.9,225,3759,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,1975,3329,3249,3410,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4057,-1.35,-170.3,2111,1975,3248,3406,363.5,-9.3,240,4063,0.00,2.17,0.00,0.000,516,0.000,0.045,2119,575,3327,3248,3406,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4114,-1.35,-170.3,2119,575,3248,3406,367.9,-9.0,242,4120,0.00,2.05,0.00,0.000,1030,0.000,0.017,2111,1984,3327,3249,3406,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4429,-1.35,-170.3,2110,1984,3245,3404,396.4,-8.9,258,4434,0.00,2.08,0.00,0.000,260,0.000,0.034,2101,3368,3325,3246,3404,0,0,0,0,0,0,28.83,26.63,28.83
$STATE,4472,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4472,begin apogee
$GC,4478,-0.25,0.0,2103,2293,3245,3403,400.5,-8.9,260,4712,0.73,0.00,224.88,0.721,10246,0.113,0.000,2344,2293,2634,2584,2684,0,0,0,0,0,0,26.46,28.83,24.58
$STATE,4714,end apogee,CONTROL_FINISHED_OK
$STATE,4714,begin climb
$GC,4716,1.35,170.3,2344,2293,2580,2680,380.1,0.0,270,4901,1.00,2.20,175.05,0.781,10500,0.056,0.032,2704,3682,1938,1903,1973,0,0,0,0,0,0,25.25,24.97,24.38
$GC,5029,1.38,180.4,2704,3681,1898,1955,351.3,8.9,284,5040,0.00,2.17,3.42,0.493,9222,0.000,0.024,2714,2295,1901,1872,1931,0,0,0,0,0,0,28.83,25.70,24.76
$GC,5354,1.41,192.5,2714,2295,1873,1940,321.3,8.8,300,5379,0.00,0.00,17.92,0.662,8198,0.000,0.000,2714,2294,1853,1823,1883,0,0,0,0,1,0,28.83,28.83,25.37
$GC,5674,1.44,203.8,2714,2295,1822,1883,292.2,8.8,316,5697,0.00,2.22,15.52,0.779,8708,0.000,0.044,2725,889,1798,1771,1826,0,0,0,0,0,0,28.83,26.00,25.32
$GC,5747,1.45,209.7,2725,889,1768,1823,286.1,9.0,319,5754,0.00,2.10,1.42,0.057,9222,0.000,0.017,2725,2295,1784,1755,1813,0,0,0,0,0,0,28.83,26.15,26.03
$GC,6068,1.46,214.4,2724,2295,1754,1818,256.3,9.1,335,6080,0.00,2.12,5.22,0.702,8452,0.000,0.034,2725,3688,1766,1736,1796,0,0,0,0,0,0,28.83,26.26,25.41
$GC,6104,1.48,222.9,2725,3688,1736,1796,254.1,8.9,336,6128,0.00,2.12,13.77,0.747,9222,0.000,0.026,2735,2297,1723,1693,1754,0,0,0,0,0,0,28.83,26.29,25.40
$GC,6442,1.50,229.8,2734,2297,1693,1751,223.1,9.0,353,6449,0.00,0.00,4.95,0.693,8198,0.000,0.000,2735,2297,1702,1672,1733,0,0,0,0,0,0,28.83,28.83,25.29
$GC,6742,1.52,237.7,2734,2297,1672,1733,196.3,9.0,368,6761,0.00,0.00,11.62,0.709,8198,0.000,0.000,2735,2297,1662,1624,1700,0,0,0,0,0,0,28.83,28.83,25.56
$GC,7061,1.53,240.4,2735,2297,1619,1700,167.6,9.2,384,7067,0.00,2.20,0.00,0.000,516,0.000,0.044,2745,886,1659,1619,1700,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7119,1.54,246.5,2745,887,1618,1700,163.3,9.0,386,7134,0.00,2.10,7.93,0.688,9222,0.000,0.018,2746,2302,1632,1586,1678,0,0,0,0,0,0,28.83,26.46,25.58
$GC,7430,1.57,258.7,2745,2302,1582,1673,134.8,8.8,402,7453,0.00,2.20,13.65,0.649,8452,0.000,0.037,2745,3694,1578,1527,1629,0,0,0,0,0,0,28.83,26.24,25.60
$GC,7583,1.59,265.4,2745,3694,1526,1627,121.1,9.0,409,7595,0.00,2.12,4.60,0.597,9222,0.000,0.028,2755,2301,1557,1504,1610,0,0,0,0,0,0,28.83,26.34,25.36
$GC,7903,1.61,271.9,2755,2301,1504,1610,91.4,9.0,425,7920,0.00,2.17,9.75,0.614,8452,0.000,0.035,2755,3696,1526,1472,1581,0,0,0,0,0,0,28.83,26.28,25.63
$GC,7937,1.63,279.2,1792,3696,1445,1574,89.3,9.0,426,7951,0.00,2.15,7.88,0.610,9222,0.000,0.028,2765,2295,1499,1446,1553,0,0,0,0,0,0,28.83,26.31,25.58
$GC,8249,1.65,289.8,2764,2295,1444,1545,60.3,8.9,442,8266,0.00,2.28,11.48,0.575,8708,0.000,0.044,2776,890,1453,1403,1503,0,0,0,0,0,0,28.83,26.22,25.62
$GC,8289,1.68,299.2,2775,890,1402,1500,58.1,8.9,443,8307,0.00,2.10,9.88,0.570,9222,0.000,0.018,2776,2303,1414,1368,1460,0,0,0,0,0,0,28.83,26.31,25.56
$GC,8610,1.69,305.7,2775,2303,1367,1454,28.0,9.0,471,8624,0.00,2.25,4.65,0.522,8708,0.000,0.043,2786,891,1392,1352,1433,0,0,0,0,0,0,28.83,26.28,25.44
$GC,8871,1.77,336.5,1792,891,1330,1431,5.0,8.1,515,8904,0.00,2.08,26.62,0.496,9218,0.000,0.018,2785,2301,1294,1269,1320,0,0,0,0,0,0,28.83,26.46,28.83
$STATE,8905,end climb,SURFACE_DEPTH_REACHED
$STATE,8905,begin surface coast
$FINISH,0.0,1.024271
$STATE,8939,end surface coast,CONTROL_FINISHED_OK
$STATE,8939,begin surface
$SM_CCo,8956,179.82,0.669,3,0,399,549.47
$SM_CCo,9154,-0.10,0.000,0,0,401,549.47
$SM_CCo,9157,0.05,0.194,0,0,401,549.47
$SM_GC,-23.93,7.60,0.52,0.05,0.071,0.035,0.194,87,1961,401,-10.55,1.16,549.47,0,0,0,0,0,0,26.20,26.23,25.25
$IRIDIUM_FIX,1952.70,12001.19,220313,161647
$TT8_MAMPS,0.023968,0.023968
$HUMID,47.59
$INTERNAL_PRESSURE,9.15573
$TCM_TEMP,19.90
$XPDR_PINGS,0
$SC_FREEKB,3958272
$24V_AH,24.4,28.970
$10V_AH,10.2,16.119
$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,17.525,72.525,570.225,179.875,0.000,0.000,0.000,248.775,0.000,0.000,21.933,1936.480,4895.048,848.590,1560.545,326.756,0.000,1970.475,0.000,1325.261,0.000,1.486,0.000
$DEVICE_MAMPS,221.085,45.135,781.065,669.375,0.000,0.000,0.000,130.815,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8948.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.528,0.000,0.000,0.000
$MEM,323872
$DATA_FILE_SIZE,16800,525
$CAP_FILE_SIZE,384201,1933
$CFSIZE,260034560,231608320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,2,0
$CURRENT,0.114, 30.3,1
$GPS,220313,213105,2004.358,12005.410,52,0.9,52,-2.7