version: 66.11
glider: 121
mission: 10
dive: 210
start: 3 27 113 9 48 58
data:
$ID,121
$MISSION,10
$DIVE,210
$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,-100758.8
$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,36
$R_STBD_OVSHOOT,70
$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
$GPS1,270313,094134,2057.015,12000.613,44,1.0,44,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-62.5
$GPS2,270313,094830,2057.053,12000.578,15,0.9,15,-2.9
$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,1.9,88803,-18.5,-9.259,-21.12,2828
$D_GRID,3500
$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,15,begin dive
$GC,18,-1.35,-170.3,86,2006,337,472,0.0,0.0,0,43,0.00,0.00,-23.42,0.000,16386,0.000,0.000,86,2006,1016,999,1034,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.35,-170.3,85,2006,999,1034,3.2,-9.2,3,161,7.85,2.08,-96.80,0.000,18692,0.212,0.044,2093,3355,3336,3241,3432,0,0,0,0,0,0,25.73,26.14,26.46
$GC,204,-1.35,-170.3,2093,3355,3243,3434,17.7,-8.6,25,212,0.00,2.12,0.00,0.000,1030,0.000,0.028,2101,1970,3337,3243,3432,0,0,0,0,0,0,28.83,26.20,28.83
$GC,526,-1.35,-170.3,2101,1970,3246,3431,47.3,-9.1,63,527,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,1969,3339,3246,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,837,-1.35,-170.3,2101,1969,3248,3431,75.3,-9.1,80,843,0.00,2.12,0.00,0.000,260,0.000,0.031,2093,3366,3340,3249,3431,0,0,0,0,0,0,28.83,26.47,28.83
$GC,865,-1.35,-170.3,1280,3364,3222,3428,77.6,-9.1,81,871,0.00,2.10,0.00,0.000,1030,0.000,0.026,2100,1969,3340,3249,3431,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1186,-1.35,-170.3,2100,1969,3251,3432,106.8,-8.6,97,1192,0.00,2.12,0.00,0.000,516,0.000,0.042,2110,571,3341,3251,3432,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1279,-1.35,-170.3,2110,571,3251,3432,114.7,-8.9,101,1285,0.00,2.03,0.00,0.000,1030,0.000,0.016,2102,1976,3341,3251,3431,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1600,-1.35,-170.3,2102,1977,3251,3432,143.3,-8.5,117,1606,0.00,2.05,0.00,0.000,260,0.000,0.031,2091,3360,3341,3251,3431,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1661,-1.35,-170.3,2091,3360,3251,3429,147.7,-8.6,119,1670,0.00,2.08,0.00,0.000,1030,0.000,0.027,2098,1973,3340,3251,3430,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1968,-1.35,-170.3,2098,1974,3250,3429,176.7,-9.0,135,1974,0.00,2.15,0.00,0.000,516,0.000,0.043,2108,567,3339,3250,3428,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2059,-1.35,-170.3,2108,567,3251,3428,184.6,-9.0,139,2066,0.00,2.05,0.00,0.000,1030,0.000,0.016,2100,1990,3338,3250,3427,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2380,-1.35,-170.3,2100,1990,3250,3423,213.6,-9.1,155,2382,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,1989,3338,3251,3425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2682,-1.35,-170.3,2100,1990,3250,3421,241.1,-9.0,170,2687,0.00,2.05,0.00,0.000,260,0.000,0.033,2090,3364,3335,3250,3420,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2743,-1.35,-170.3,2090,3364,3250,3419,245.3,-8.8,172,2752,0.00,2.10,0.00,0.000,1030,0.000,0.028,2091,1973,3334,3250,3419,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3049,-1.35,-170.3,2091,1973,3250,3416,274.3,-9.2,188,3050,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,1973,3333,3250,3416,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3350,-1.35,-170.3,2091,1973,3250,3412,301.6,-9.0,203,3356,0.00,2.15,0.00,0.000,516,0.000,0.046,2101,574,3330,3250,3411,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3397,-1.35,-170.3,2101,574,3250,3411,305.9,-9.3,205,3403,0.00,2.05,0.00,0.000,1030,0.000,0.017,2093,1980,3330,3250,3411,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3724,-1.35,-170.3,2093,1980,3248,3408,335.3,-8.9,221,3730,0.00,2.20,0.00,0.000,516,0.000,0.044,2101,570,3328,3248,3408,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3760,-1.35,-170.3,2101,570,3248,3408,337.7,-8.9,222,3766,0.00,2.05,0.00,0.000,1030,0.000,0.017,2093,1980,3328,3248,3408,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4075,-1.35,-170.3,2093,1980,3245,3406,366.9,-9.2,238,4081,0.00,2.20,0.00,0.000,516,0.000,0.045,2101,574,3324,3244,3405,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4111,-1.35,-170.3,2101,574,3245,3405,369.1,-9.1,239,4117,0.00,2.05,0.00,0.000,1030,0.000,0.017,2093,1982,3325,3245,3405,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4426,-1.35,-170.3,2092,1982,3242,3403,398.4,-9.2,255,4427,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,1982,3322,3242,3403,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4444,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4444,begin apogee
$GC,4449,-0.25,0.0,2090,2302,3242,3403,400.2,-9.2,256,4616,0.77,0.00,153.20,1.039,10246,0.117,0.000,2343,2302,2638,2590,2687,0,0,0,0,1,0,26.35,28.83,24.19
$STATE,4618,end apogee,CONTROL_FINISHED_OK
$STATE,4618,begin climb
$GC,4620,1.35,170.3,2342,2302,2590,2686,385.9,0.0,263,4794,1.00,2.33,158.95,0.876,10500,0.057,0.034,2699,3687,1929,1902,1957,0,0,0,0,0,0,25.14,24.87,24.19
$GC,4962,1.38,181.6,2699,3687,1902,1944,355.4,8.9,278,4972,0.00,2.17,3.40,0.518,9222,0.000,0.025,2709,2296,1898,1875,1922,0,0,0,0,0,0,28.83,25.81,24.77
$GC,5267,1.38,182.1,2709,2296,1874,1928,326.4,9.2,294,5274,0.00,2.17,0.00,0.000,260,0.000,0.034,2709,3693,1901,1875,1928,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5381,1.39,183.2,2709,3693,1875,1928,316.3,9.2,299,5387,0.00,2.15,0.00,0.000,1030,0.000,0.025,2719,2291,1901,1875,1928,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5701,1.41,194.4,2718,2291,1875,1928,287.0,8.8,315,5725,0.00,2.28,18.05,0.798,8708,0.000,0.044,2730,898,1839,1812,1867,0,0,0,0,0,0,28.83,26.09,25.41
$GC,5784,1.43,201.8,2729,898,1807,1861,280.8,9.0,318,5794,0.00,2.10,3.72,0.587,9222,0.000,0.018,2730,2302,1816,1789,1844,0,0,0,0,0,0,28.83,26.22,25.14
$GC,6090,1.44,206.6,2729,2302,1789,1846,251.7,9.1,334,6100,0.00,0.00,8.12,0.767,8198,0.000,0.000,2730,2302,1795,1767,1824,0,0,0,0,0,0,28.83,28.83,25.45
$GC,6391,1.44,206.6,2729,2302,1765,1819,224.3,9.4,349,6396,0.00,2.12,0.00,0.000,260,0.000,0.036,2729,3695,1792,1765,1819,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6460,1.48,222.8,2729,3695,1764,1819,218.3,8.7,352,6483,0.00,2.12,17.45,0.741,9222,0.000,0.027,2740,2300,1727,1696,1759,0,0,0,0,0,0,28.83,26.39,25.44
$GC,6781,1.51,232.3,2740,2300,1694,1752,189.5,8.9,368,6797,0.00,2.22,9.55,0.724,8708,0.000,0.045,2750,900,1687,1654,1721,0,0,0,0,0,0,28.83,26.18,25.48
$GC,6833,1.52,236.3,2750,900,1653,1719,185.1,9.1,370,6844,0.00,2.10,3.55,0.553,9222,0.000,0.018,2750,2300,1674,1641,1707,0,0,0,0,0,0,28.83,26.28,25.25
$GC,7154,1.55,247.5,2750,2300,1641,1707,156.0,8.9,386,7177,0.00,2.20,12.90,0.689,8452,0.000,0.037,2750,3687,1625,1578,1672,0,0,0,0,0,0,28.83,26.19,25.51
$GC,7242,1.56,254.7,2750,3687,1577,1671,147.9,9.0,390,7254,0.00,2.15,7.45,0.683,9222,0.000,0.028,2760,2293,1601,1551,1651,0,0,0,0,0,0,28.83,26.25,25.41
$GC,7569,1.60,270.4,2760,2293,1546,1642,119.3,8.7,406,7593,0.00,2.30,16.55,0.640,8708,0.000,0.046,2771,887,1533,1480,1586,0,0,0,0,0,0,28.83,26.11,25.49
$GC,7679,1.61,272.0,2770,887,1479,1581,109.1,9.2,411,7685,0.00,2.12,0.00,0.000,1030,0.000,0.018,2771,2305,1530,1479,1582,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8006,1.61,273.9,2770,2305,1479,1578,80.0,9.2,427,8007,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2305,1528,1479,1578,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8306,1.63,281.3,2770,2305,1479,1577,52.9,9.0,442,8323,0.00,2.25,10.82,0.580,8708,0.000,0.042,2781,887,1488,1436,1540,0,0,0,0,0,0,28.83,26.31,25.70
$GC,8385,1.63,281.6,2780,887,1436,1536,45.5,9.2,447,8392,0.12,2.10,0.00,0.000,5126,0.184,0.018,2752,2302,1486,1437,1535,0,0,0,0,0,0,26.13,26.41,28.83
$GC,8702,1.66,294.6,1712,2300,1407,1527,17.2,8.8,485,8725,0.00,2.28,13.12,0.535,8708,0.000,0.043,2761,898,1432,1386,1479,0,0,0,0,0,0,28.83,26.29,25.71
$GC,8827,1.69,305.4,2761,898,1384,1475,5.8,8.9,506,8843,0.00,2.08,10.62,0.528,9222,0.000,0.018,2761,2300,1392,1351,1434,0,0,0,0,0,0,28.83,26.41,25.64
$STATE,8856,end climb,SURFACE_DEPTH_REACHED
$STATE,8856,begin surface coast
$FINISH,0.0,1.024146
$STATE,8891,end surface coast,CONTROL_FINISHED_OK
$STATE,8891,begin surface
$SM_CCo,8908,197.73,0.679,2,0,399,549.47
$SM_CCo,9119,-0.12,0.000,0,0,400,549.47
$SM_CCo,9122,0.03,0.296,0,0,401,549.47
$SM_GC,-23.93,7.47,0.52,0.03,0.068,0.035,0.296,90,1960,401,-10.53,1.13,549.47,0,0,0,0,0,0,26.29,26.32,25.25
$IRIDIUM_FIX,2050.21,12000.44,270313,070734
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.54
$INTERNAL_PRESSURE,9.17526
$TCM_TEMP,20.00
$XPDR_PINGS,0
$SC_FREEKB,3942528
$24V_AH,24.2,35.271
$10V_AH,10.1,18.722
$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,17.225,77.950,447.475,197.750,0.000,0.000,0.000,228.025,0.000,0.000,16.392,1980.270,4814.548,775.702,1553.840,390.811,0.000,1847.369,0.000,1350.589,0.000,1.487,0.000
$DEVICE_MAMPS,211.905,45.900,1038.870,679.320,0.000,0.000,0.000,133.875,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8908.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.563,0.000,0.000,0.000
$MEM,323880
$DATA_FILE_SIZE,16788,516
$CAP_FILE_SIZE,412764,1996
$CFSIZE,260034560,226828288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$CURRENT,0.051, 42.6,1
$GPS,270313,122204,2058.101,12000.730,23,1.0,23,-2.9