version: 66.11
glider: 121
mission: 10
dive: 206
start: 3 26 113 23 0 13
data:
$ID,121
$MISSION,10
$DIVE,206
$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,-100753.77
$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,34
$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
$GPS1,260313,225242,2052.889,12001.082,40,0.8,40,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-63.6
$GPS2,260313,225946,2052.853,12001.170,29,0.7,30,-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,349.1,96598,-18.5,-9.259,-21.12,2828
$D_GRID,3581
$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,-170.3,82,2007,366,492,0.0,0.0,0,44,0.00,0.00,-23.88,0.000,16386,0.000,0.000,81,2007,1059,1040,1078,0,0,0,0,0,0,28.83,28.83,28.83
$GC,47,-1.35,-170.3,82,2007,1040,1078,3.2,-9.4,3,155,8.27,2.17,-90.40,0.000,18692,0.230,0.046,2093,3375,3337,3243,3431,0,0,0,0,0,0,25.71,26.13,26.45
$GC,296,-1.35,-170.3,1280,3374,3218,3427,25.5,-8.9,42,304,0.00,2.15,0.00,0.000,1030,0.000,0.027,2101,1963,3337,3244,3431,0,0,0,0,0,0,28.83,26.27,28.83
$GC,613,-1.35,-170.3,2101,1963,3248,3431,54.5,-8.9,72,620,0.00,2.12,0.00,0.000,516,0.000,0.041,2111,571,3339,3248,3431,0,0,0,0,0,0,28.83,26.39,28.83
$GC,682,-1.35,-170.3,2110,571,3249,3431,60.8,-9.2,75,689,0.00,2.05,0.00,0.000,1030,0.000,0.015,2103,1991,3340,3249,3431,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1008,-1.35,-170.3,2102,1993,3252,3431,89.5,-8.9,91,1014,0.00,2.03,0.00,0.000,260,0.000,0.031,2092,3356,3341,3252,3431,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1060,-1.35,-170.3,2092,3356,3252,3431,93.8,-8.9,93,1066,0.00,2.08,0.00,0.000,1030,0.000,0.026,2094,1973,3341,3252,3431,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1381,-1.35,-170.3,2094,1972,3252,3431,123.0,-9.1,109,1387,0.00,2.10,0.00,0.000,260,0.000,0.030,2086,3364,3341,3252,3431,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1400,-1.35,-170.3,2086,3364,3252,3431,123.0,-9.1,109,1408,0.00,2.08,0.00,0.000,1030,0.000,0.027,2089,1975,3341,3252,3431,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1706,-1.35,-170.3,2089,1975,3252,3430,152.6,-9.0,125,1712,0.00,2.15,0.00,0.000,516,0.000,0.043,2099,570,3341,3253,3430,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1767,-1.35,-170.3,2099,569,3252,3430,156.8,-9.0,127,1776,0.00,2.03,0.00,0.000,1030,0.000,0.016,2091,1978,3341,3252,3430,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2074,-1.35,-170.3,2090,1978,3252,3427,185.8,-9.1,143,2076,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,1979,3339,3252,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2376,-1.35,-170.3,2090,1979,3252,3423,212.6,-9.0,158,2381,0.00,2.17,0.00,0.000,516,0.000,0.041,2098,574,3337,3252,3423,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2452,-1.35,-170.3,2098,574,3252,3423,218.5,-8.7,161,2458,0.00,2.03,0.00,0.000,1030,0.000,0.016,2090,1981,3337,3252,3422,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2768,-1.35,-170.3,2089,1983,3252,3420,247.2,-9.0,177,2773,0.00,2.05,0.00,0.000,260,0.000,0.033,2079,3356,3335,3252,3419,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2818,-1.35,-170.3,2079,3356,3252,3418,251.6,-9.2,179,2825,0.10,2.08,0.00,0.000,3078,0.162,0.029,2106,1977,3335,3252,3418,0,0,0,0,0,0,26.43,26.61,28.83
$GC,3140,-1.35,-170.3,2106,1977,3252,3415,280.6,-9.1,195,3146,0.00,2.17,0.00,0.000,516,0.000,0.046,2116,570,3333,3252,3415,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3218,-1.35,-170.3,2116,570,3252,3415,286.8,-9.0,198,3224,0.00,2.05,0.00,0.000,1030,0.000,0.017,2108,1981,3333,3252,3414,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3533,-1.35,-170.3,2108,1983,3250,3410,316.6,-9.2,214,3540,0.00,2.08,0.00,0.000,260,0.000,0.034,2098,3365,3330,3250,3410,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3563,-1.35,-170.3,2098,3365,3250,3409,318.9,-9.4,215,3569,0.00,2.10,0.00,0.000,1030,0.000,0.029,2104,1977,3329,3250,3409,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3885,-1.35,-170.3,2104,1976,3248,3408,348.4,-9.0,231,3890,0.00,2.17,0.00,0.000,516,0.000,0.047,2114,571,3327,3248,3407,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3920,-1.35,-170.3,2114,571,3248,3407,350.7,-9.0,232,3926,0.00,2.05,0.00,0.000,1030,0.000,0.017,2106,1980,3327,3248,3407,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4235,-1.35,-170.3,2106,1981,3246,3405,380.2,-8.9,248,4241,0.00,2.20,0.00,0.000,516,0.000,0.046,2114,575,3325,3246,3405,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4282,-1.35,-170.3,2114,575,3246,3405,384.3,-9.0,250,4288,0.00,2.05,0.00,0.000,1030,0.000,0.018,2106,1975,3325,3246,3405,0,0,0,0,0,0,28.83,26.66,28.83
$STATE,4466,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4466,begin apogee
$GC,4471,-0.25,0.0,2103,2308,3244,3403,400.9,-8.9,259,4631,0.73,0.00,144.80,1.059,10246,0.114,0.000,2342,2309,2639,2590,2689,0,0,0,0,1,0,26.36,28.83,24.18
$STATE,4632,end apogee,CONTROL_FINISHED_OK
$STATE,4632,begin climb
$GC,4634,1.35,170.3,2342,2309,2591,2693,386.9,0.0,266,4800,1.00,2.28,149.60,1.105,10500,0.052,0.035,2706,3686,1944,1911,1977,0,0,0,0,1,0,25.15,24.66,23.86
$GC,5043,1.38,180.6,2706,3686,1911,1980,350.3,8.9,284,5066,0.00,2.15,14.98,0.867,9222,0.000,0.025,2716,2300,1895,1867,1923,0,0,0,0,0,0,28.83,25.90,24.90
$GC,5381,1.40,190.8,2716,2300,1865,1911,319.2,8.9,301,5393,0.00,2.25,7.43,0.812,8452,0.000,0.034,2716,3687,1862,1837,1888,0,0,0,0,0,0,28.83,26.07,25.23
$GC,5564,1.42,197.7,2715,3687,1835,1885,303.6,9.0,309,5578,0.00,2.12,8.82,0.821,9222,0.000,0.025,2726,2300,1831,1804,1859,0,0,0,0,0,0,28.83,26.24,25.30
$GC,5874,1.42,198.8,2725,2300,1800,1850,274.6,9.2,325,5880,0.00,2.15,0.00,0.000,260,0.000,0.034,2726,3684,1825,1800,1850,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6014,1.44,204.1,2725,3685,1800,1849,262.9,9.1,331,6028,0.10,2.12,4.97,0.740,13318,0.197,0.026,2715,2292,1805,1778,1833,0,0,0,0,0,0,26.15,26.37,25.27
$GC,6325,1.44,204.1,2714,2292,1778,1833,233.5,9.3,347,6331,0.00,2.17,0.00,0.000,516,0.000,0.044,2724,897,1805,1778,1833,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6360,1.44,205.1,2724,897,1778,1833,231.3,9.2,348,6367,0.00,2.08,0.00,0.000,1030,0.000,0.018,2724,2299,1805,1778,1833,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6677,1.45,207.3,2724,2299,1778,1833,200.8,9.2,364,6683,0.00,0.00,3.95,0.627,8198,0.000,0.000,2725,2299,1793,1766,1821,0,0,0,0,0,0,28.83,28.83,25.35
$GC,6976,1.45,209.5,2724,2299,1765,1821,173.5,9.2,379,6982,0.00,2.12,0.00,0.000,260,0.000,0.037,2724,3694,1793,1765,1821,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7108,1.45,209.5,2724,3695,1765,1821,161.6,9.3,385,7114,0.00,2.12,0.00,0.000,1030,0.000,0.028,2734,2300,1793,1765,1821,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7428,1.45,209.5,2734,2300,1765,1821,132.5,9.4,401,7434,0.00,2.17,0.00,0.000,516,0.000,0.045,2745,897,1794,1767,1821,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7519,1.47,217.2,2745,898,1765,1821,124.6,9.0,405,7539,0.12,2.10,13.02,0.696,13318,0.190,0.018,2716,2308,1750,1719,1781,0,0,0,0,0,0,26.27,26.58,25.65
$GC,7837,1.48,219.4,2716,2308,1717,1776,95.9,9.2,421,7843,0.00,2.22,0.00,0.000,516,0.000,0.044,2725,897,1746,1717,1776,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7884,1.49,226.3,2725,897,1717,1776,91.7,9.0,423,7901,0.00,2.08,9.48,0.681,9222,0.000,0.018,2725,2297,1713,1680,1746,0,0,0,0,0,0,28.83,26.51,25.63
$GC,8211,1.51,232.3,2725,2297,1678,1740,62.0,9.0,439,8223,0.00,2.15,4.62,0.609,8452,0.000,0.038,2726,3695,1691,1657,1726,0,0,0,0,0,0,28.83,26.37,25.42
$GC,8281,1.54,243.7,2725,3695,1657,1726,55.7,8.8,442,8304,0.00,2.15,14.15,0.637,9222,0.000,0.028,2736,2291,1640,1594,1686,0,0,0,0,0,0,28.83,26.39,25.57
$GC,8601,1.56,253.1,2735,2291,1593,1681,27.5,8.9,470,8616,0.00,2.28,9.40,0.621,8708,0.000,0.044,2747,890,1603,1553,1653,0,0,0,0,0,0,28.83,26.24,25.59
$GC,8744,1.60,270.3,1712,889,1518,1640,14.6,8.6,493,8767,0.00,2.10,18.17,0.591,9222,0.000,0.018,2746,2303,1535,1482,1588,0,0,0,0,0,0,28.83,26.38,25.51
$STATE,8872,end climb,SURFACE_DEPTH_REACHED
$STATE,8872,begin surface coast
$FINISH,0.0,1.025729
$STATE,8907,end surface coast,CONTROL_FINISHED_OK
$STATE,8907,begin surface
$SM_CCo,8925,226.95,0.756,1,0,399,549.47
$SM_CCo,9160,-0.10,0.000,0,0,404,549.47
$SM_CCo,9163,2.88,0.357,0,0,400,549.47
$SM_GC,-23.93,7.55,0.52,2.88,0.075,0.035,0.357,90,1964,400,-10.53,1.19,549.47,0,0,0,0,0,0,26.25,26.27,24.48
$IRIDIUM_FIX,2045.60,11959.28,260313,202025
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.72
$INTERNAL_PRESSURE,9.06784
$TCM_TEMP,18.60
$XPDR_PINGS,0
$SC_FREEKB,3944064
$24V_AH,23.9,34.663
$10V_AH,10.1,18.465
$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,17.875,85.950,403.400,229.825,0.000,0.000,0.000,223.975,0.000,0.000,31.406,2089.118,4666.344,775.422,1638.132,399.020,0.000,1871.944,0.000,1428.423,0.000,1.486,0.000
$DEVICE_MAMPS,229.500,47.430,1104.660,755.820,0.000,0.000,0.000,133.110,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8914.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.581,0.000,0.000,0.000
$MEM,323884
$DATA_FILE_SIZE,16741,521
$CAP_FILE_SIZE,433369,2151
$CFSIZE,260034560,227282944
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$CURRENT,0.004, 71.3,1
$GPS,270313,013804,2053.673,12000.888,265,1.0,265,-2.8