version: 66.11
glider: 121
mission: 10
dive: 204
start: 3 26 113 17 37 20
data:
$ID,121
$MISSION,10
$DIVE,204
$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,-100751.26
$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,57
$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
$GPS1,260313,172959,2049.857,12000.898,73,1.0,73,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-65.5
$GPS2,260313,173653,2049.952,12000.939,18,0.8,18,-2.8
$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,357.5,101961,-18.5,-9.259,-21.12,2828
$D_GRID,3590
$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,-170.3,87,1949,359,487,0.0,0.0,0,44,0.00,0.00,-23.58,0.000,16386,0.000,0.000,86,1949,1039,1018,1061,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.35,-170.3,86,1949,1019,1060,3.2,-9.3,3,155,8.02,2.22,-91.28,0.000,18948,0.221,0.054,2107,575,3336,3245,3428,0,0,0,0,0,0,25.75,26.14,26.46
$GC,294,-1.35,-170.3,1248,575,3220,3425,25.3,-9.1,42,299,0.00,2.08,0.00,0.000,1030,0.000,0.015,2098,2000,3338,3248,3428,0,0,0,0,0,0,28.83,26.34,28.83
$GC,608,-1.35,-170.3,2098,2002,3249,3429,54.1,-9.1,71,614,0.00,2.20,0.00,0.000,516,0.000,0.038,2106,579,3338,3249,3428,0,0,0,0,0,0,28.83,26.40,28.83
$GC,648,-1.35,-170.3,2106,579,3250,3428,56.3,-9.2,72,656,0.00,2.03,0.00,0.000,1030,0.000,0.015,2098,1984,3338,3249,3428,0,0,0,0,0,0,28.83,26.50,28.83
$GC,955,-1.35,-170.3,2098,1985,3252,3428,85.6,-9.1,88,961,0.00,2.05,0.00,0.000,260,0.000,0.031,2088,3363,3340,3252,3428,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1078,-1.35,-170.3,2087,3363,3252,3428,95.2,-8.8,93,1086,0.00,2.08,0.00,0.000,1030,0.000,0.024,2094,1972,3340,3252,3428,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1384,-1.35,-170.3,2094,1972,3253,3428,123.7,-9.1,109,1385,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,1972,3340,3253,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1685,-1.35,-170.3,2094,1972,3253,3428,150.4,-8.9,124,1692,0.00,2.12,0.00,0.000,516,0.000,0.041,2105,572,3340,3253,3428,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1753,-1.35,-170.3,2105,572,3253,3428,156.6,-8.9,127,1760,0.00,2.03,0.00,0.000,1030,0.000,0.015,2097,1978,3340,3252,3428,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2080,-1.35,-170.3,2096,1979,3253,3426,186.2,-8.9,143,2086,0.00,2.05,0.00,0.000,260,0.000,0.031,2087,3361,3339,3253,3425,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2135,-1.35,-170.3,2086,3361,3252,3425,190.6,-9.0,145,2141,0.00,2.08,0.00,0.000,1030,0.000,0.026,2089,1973,3339,3253,3425,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2450,-1.35,-170.3,2089,1972,3252,3422,219.8,-9.2,161,2451,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,1972,3337,3252,3422,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2752,-1.35,-170.3,2089,1972,3253,3418,247.2,-9.1,176,2758,0.00,2.15,0.00,0.000,516,0.000,0.044,2099,568,3335,3252,3418,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2782,-1.35,-170.3,2099,568,3252,3417,249.5,-9.1,177,2788,0.00,2.03,0.00,0.000,1030,0.000,0.016,2091,1974,3334,3252,3417,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3103,-1.35,-170.3,2091,1974,3252,3414,278.8,-8.7,193,3104,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,1974,3333,3252,3414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3403,-1.35,-170.3,2091,1975,3251,3411,306.3,-9.7,208,3409,0.00,2.08,0.00,0.000,260,0.000,0.033,2081,3362,3330,3251,3410,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3454,-1.35,-170.3,2080,3362,3250,3410,310.6,-9.3,210,3461,0.10,2.10,0.00,0.000,3078,0.163,0.028,2108,1972,3330,3250,3410,0,0,0,0,0,0,26.44,26.62,28.83
$GC,3777,-1.35,-170.3,2108,1972,3249,3408,339.4,-8.6,226,3778,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,1973,3328,3249,3407,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4077,-1.35,-170.3,2108,1972,3247,3405,366.5,-8.7,241,4083,0.00,2.17,0.00,0.000,516,0.000,0.047,2119,567,3326,3247,3405,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4118,-1.35,-170.3,2118,567,3247,3405,368.8,-8.8,242,4126,0.00,2.05,0.00,0.000,1030,0.000,0.017,2110,1976,3326,3247,3405,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4424,-1.35,-170.3,2110,1977,3243,3403,397.1,-8.8,258,4431,0.00,2.20,0.00,0.000,516,0.000,0.045,2119,572,3323,3244,3403,0,0,0,0,0,0,28.83,26.55,28.83
$STATE,4469,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4471,begin apogee
$GC,4478,-0.25,0.0,2108,2288,3243,3402,401.4,-8.7,260,4638,0.73,0.00,142.45,1.057,10246,0.113,0.000,2347,2288,2638,2590,2686,0,0,0,0,1,0,26.38,28.83,24.23
$STATE,4640,end apogee,CONTROL_FINISHED_OK
$STATE,4640,begin climb
$GC,4642,1.35,170.3,2346,2288,2591,2687,387.0,0.0,267,4805,0.98,2.33,148.18,1.091,10500,0.052,0.034,2703,3702,1943,1911,1976,0,0,0,0,1,0,25.22,24.74,23.95
$GC,4883,1.38,179.7,2702,3702,1911,1976,366.0,8.9,277,4902,0.00,2.22,12.82,0.862,9222,0.000,0.024,2713,2297,1904,1878,1930,0,0,0,0,0,0,28.83,25.46,24.60
$GC,5216,1.44,206.8,2713,2297,1873,1917,334.8,8.3,294,5245,0.00,0.00,26.45,0.835,8198,0.000,0.000,2713,2297,1794,1767,1822,0,0,0,0,0,0,28.83,28.83,25.01
$GC,5536,1.47,217.5,2713,2297,1761,1811,306.6,8.9,310,5549,0.00,0.00,10.32,0.811,8198,0.000,0.000,2713,2297,1752,1724,1781,0,0,0,0,0,0,28.83,28.83,25.29
$GC,5838,1.49,225.5,2713,2297,1717,1773,279.4,9.0,325,5855,0.00,2.25,8.20,0.787,8452,0.000,0.033,2713,3699,1715,1684,1747,0,0,0,0,0,0,28.83,26.17,25.41
$GC,5916,1.50,228.9,2713,3699,1683,1744,273.2,9.1,328,5922,0.00,2.15,0.00,0.000,1030,0.000,0.025,2723,2298,1713,1683,1744,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6231,1.53,242.2,2722,2298,1683,1741,243.7,8.8,344,6256,0.00,2.25,17.15,0.760,8452,0.000,0.034,2723,3695,1645,1601,1690,0,0,0,0,0,0,28.83,26.13,25.43
$GC,6321,1.57,256.0,2722,3695,1598,1688,236.0,8.8,348,6340,0.00,2.15,14.23,0.757,9222,0.000,0.027,2733,2300,1595,1546,1645,0,0,0,0,0,0,28.83,26.20,25.31
$GC,6639,1.58,262.7,2733,2300,1538,1633,206.9,9.0,364,6646,0.00,0.00,4.68,0.665,8198,0.000,0.000,2733,2299,1567,1517,1617,0,0,0,0,0,0,28.83,28.83,25.25
$GC,6939,1.60,268.1,2733,2299,1516,1618,179.6,9.1,379,6954,0.00,2.25,7.57,0.711,8708,0.000,0.044,2743,901,1544,1492,1596,0,0,0,0,0,0,28.83,26.25,25.53
$GC,6979,1.60,271.1,2743,901,1491,1595,177.4,9.1,380,6988,0.00,2.10,0.00,0.000,1030,0.000,0.018,2744,2305,1543,1492,1594,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7285,1.62,275.5,2743,2305,1491,1593,148.3,9.1,396,7296,0.00,0.00,8.77,0.682,8198,0.000,0.000,2744,2305,1516,1463,1569,0,0,0,0,0,0,28.83,28.83,25.59
$GC,7586,1.62,277.0,2743,2305,1459,1561,121.3,9.2,411,7592,0.00,2.12,0.00,0.000,260,0.000,0.037,2744,3696,1510,1459,1561,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7640,1.62,279.0,2743,3696,1459,1561,117.1,9.2,413,7647,0.00,2.15,0.00,0.000,1030,0.000,0.028,2753,2295,1510,1459,1561,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7955,1.63,282.1,2753,2295,1460,1560,87.1,9.1,429,7972,0.00,2.28,7.12,0.617,8708,0.000,0.044,2764,884,1485,1433,1538,0,0,0,0,0,0,28.83,26.37,25.70
$GC,8052,1.64,285.9,2764,884,1433,1535,79.0,9.1,433,8067,0.00,2.10,3.22,0.444,9222,0.000,0.018,2764,2302,1473,1422,1524,0,0,0,0,0,0,28.83,26.48,25.44
$GC,8365,1.68,302.8,2764,2302,1422,1524,50.1,8.6,449,8393,0.00,2.30,20.15,0.558,8708,0.000,0.042,2774,890,1398,1353,1443,0,0,0,0,0,0,28.83,26.23,25.66
$GC,8414,1.72,318.3,2774,890,1353,1441,45.8,8.7,452,8440,0.00,2.12,15.65,0.556,9222,0.000,0.018,2774,2308,1335,1300,1371,0,0,0,0,0,0,28.83,26.32,25.54
$GC,8749,1.74,327.1,1728,2306,1278,1358,16.1,8.9,493,8766,0.00,2.25,8.82,0.539,8708,0.000,0.041,2784,891,1299,1276,1323,0,0,0,0,0,0,28.83,26.22,25.63
$GC,8813,1.76,334.6,1744,891,1256,1316,10.3,9.0,503,8828,0.00,2.10,7.18,0.533,9222,0.000,0.018,2784,2308,1272,1254,1290,0,0,0,0,0,0,28.83,26.34,25.58
$STATE,8895,end climb,SURFACE_DEPTH_REACHED
$STATE,8895,begin surface coast
$FINISH,0.0,1.024184
$STATE,8930,end surface coast,CONTROL_FINISHED_OK
$STATE,8930,begin surface
$SM_CCo,8947,177.10,0.674,3,0,400,549.47
$SM_CCo,9142,-0.10,0.000,0,0,400,549.47
$SM_CCo,9146,0.00,0.000,0,0,400,549.47
$SM_GC,-23.93,7.62,0.55,0.00,0.073,0.035,0.000,86,1952,400,-10.56,0.85,549.47,0,0,0,0,0,0,26.28,26.32,28.83
$IRIDIUM_FIX,2040.99,11958.13,260313,141435
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.18
$INTERNAL_PRESSURE,9.1948
$TCM_TEMP,20.10
$XPDR_PINGS,0
$SC_FREEKB,3944832
$24V_AH,24.0,34.349
$10V_AH,10.2,18.338
$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,17.450,73.975,462.975,177.100,0.000,0.000,0.000,225.025,0.000,0.000,19.284,1921.693,4947.655,791.914,1501.404,372.950,0.000,1802.245,0.000,1280.724,0.000,1.487,0.000
$DEVICE_MAMPS,221.085,54.315,1090.890,673.965,0.000,0.000,0.000,134.640,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8936.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.537,0.000,0.000,0.000
$MEM,323880
$DATA_FILE_SIZE,16825,523
$CAP_FILE_SIZE,398519,1888
$CFSIZE,260034560,227549184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,1,0
$CURRENT,0.190, 27.2,1
$GPS,260313,201122,2051.687,12001.277,41,0.9,57,-2.8