version: 66.11
glider: 121
mission: 10
dive: 213
start: 3 27 113 17 54 9
data:
$ID,121
$MISSION,10
$DIVE,213
$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,-7
$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,-100762.55
$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,60
$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
$GPS1,270313,174559,2100.340,12000.499,36,0.8,36,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-61.0
$GPS2,270313,175323,2100.436,12000.476,16,0.8,17,-2.9
$SPEED_LIMITS,0.160,0.240
$TGT_NAME,W1
$TGT_LATLONG,2207.170,12035.130
$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,38.3,137149,-18.5,-9.259,-21.12,2828
$D_GRID,3512
$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,-170.3,88,1939,345,471,0.0,0.0,0,50,0.00,0.00,-29.88,0.000,16386,0.000,0.000,88,1937,1181,1165,1197,0,0,0,0,0,0,28.83,28.83,28.83
$GC,53,-1.35,-170.3,88,1937,1165,1199,3.5,-9.1,4,146,7.70,2.25,-79.28,0.000,18692,0.207,0.043,2088,3368,3337,3243,3431,0,0,0,0,0,0,25.80,26.19,26.49
$GC,192,-1.35,-170.3,1248,3367,3218,3427,16.5,-9.7,24,200,0.00,2.10,0.00,0.000,1030,0.000,0.024,2096,1978,3338,3246,3430,0,0,0,0,0,0,28.83,26.25,28.83
$GC,511,-1.35,-170.3,2096,1978,3248,3430,44.8,-9.0,63,517,0.00,2.15,0.00,0.000,516,0.000,0.039,2106,567,3339,3248,3431,0,0,0,0,0,0,28.83,26.39,28.83
$GC,525,-1.35,-170.3,2105,567,3248,3430,46.1,-8.9,64,532,0.00,2.05,0.00,0.000,1030,0.000,0.015,2098,1989,3339,3248,3431,0,0,0,0,0,0,28.83,26.48,28.83
$GC,852,-1.35,-170.3,2097,1991,3252,3431,75.6,-8.8,82,858,0.00,2.03,0.00,0.000,260,0.000,0.031,2087,3357,3341,3252,3431,0,0,0,0,0,0,28.83,26.50,28.83
$GC,974,-1.35,-170.3,1280,3355,3225,3427,85.7,-9.0,87,982,0.00,2.08,0.00,0.000,1030,0.000,0.024,2089,1963,3341,3252,3431,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1281,-1.35,-170.3,2089,1962,3252,3430,114.8,-8.8,103,1287,0.00,2.10,0.00,0.000,260,0.000,0.030,2080,3356,3341,3252,3431,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1352,-1.35,-170.3,1248,3355,3224,3427,120.8,-8.9,106,1359,0.10,2.08,0.00,0.000,3078,0.163,0.025,2107,1968,3341,3252,3430,0,0,0,0,0,0,26.40,26.59,28.83
$GC,1675,-1.35,-170.3,2106,1967,3252,3429,149.7,-8.8,122,1681,0.00,2.10,0.00,0.000,260,0.000,0.031,2099,3357,3340,3252,3429,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1706,-1.35,-170.3,2099,3358,3252,3428,152.0,-8.8,123,1712,0.00,2.08,0.00,0.000,1030,0.000,0.026,2106,1968,3340,3252,3428,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2026,-1.35,-170.3,2106,1968,3252,3426,181.7,-9.5,139,2032,0.00,2.10,0.00,0.000,260,0.000,0.031,2098,3357,3339,3253,3425,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2074,-1.35,-170.3,2098,3356,3252,3424,186.0,-9.0,141,2081,0.00,2.08,0.00,0.000,1030,0.000,0.026,2105,1969,3338,3252,3424,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2402,-1.35,-170.3,2105,1969,3252,3421,216.1,-9.1,157,2403,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,1970,3336,3252,3421,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2701,-1.35,-170.3,2105,1969,3252,3417,243.2,-9.2,172,2707,0.00,2.10,0.00,0.000,260,0.000,0.032,2097,3354,3334,3252,3416,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2751,-1.35,-170.3,2096,3355,3251,3416,247.3,-9.1,174,2757,0.00,2.08,0.00,0.000,1030,0.000,0.027,2101,1974,3334,3252,3416,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3073,-1.35,-170.3,2101,1974,3252,3411,276.5,-9.1,190,3079,0.00,2.15,0.00,0.000,516,0.000,0.044,2111,571,3331,3252,3411,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3125,-1.35,-170.3,2110,571,3252,3411,280.7,-8.8,192,3130,0.00,2.03,0.00,0.000,1030,0.000,0.016,2102,1975,3331,3251,3411,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3446,-1.35,-170.3,2102,1975,3249,3408,310.1,-8.9,208,3447,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,1975,3328,3249,3408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3746,-1.35,-170.3,2102,1976,3247,3405,337.1,-9.0,223,3752,0.00,2.08,0.00,0.000,260,0.000,0.034,2092,3363,3326,3247,3406,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3775,-1.35,-170.3,2092,3363,3246,3405,339.4,-9.0,224,3782,0.00,2.10,0.00,0.000,1030,0.000,0.029,2092,1975,3325,3246,3405,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4097,-1.35,-170.3,2092,1975,3243,3402,368.3,-8.7,240,4103,0.00,2.17,0.00,0.000,516,0.000,0.046,2101,567,3322,3243,3402,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4158,-1.35,-170.3,2101,567,3243,3402,372.6,-8.6,242,4166,0.00,2.05,0.00,0.000,1030,0.000,0.017,2092,1979,3322,3243,3402,0,0,0,0,0,0,28.83,26.67,28.83
$STATE,4444,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4444,begin apogee
$GC,4449,-0.25,0.0,2090,2311,3241,3400,400.7,-9.6,257,4614,0.77,0.00,152.82,1.021,10246,0.117,0.000,2342,2312,2638,2591,2686,0,0,0,0,1,0,26.36,28.83,24.22
$STATE,4615,end apogee,CONTROL_FINISHED_OK
$STATE,4615,begin climb
$GC,4617,1.35,170.3,2342,2312,2591,2686,386.5,0.0,264,4783,1.00,2.30,156.82,0.877,10500,0.053,0.034,2703,3685,1936,1905,1968,0,0,0,0,0,0,25.15,24.94,24.25
$GC,5025,1.37,175.7,2702,3686,1902,1944,349.8,9.1,282,5034,0.00,2.15,0.00,0.000,1030,0.000,0.025,2713,2297,1923,1902,1944,0,0,0,0,0,0,28.83,25.99,28.83
$GC,5333,1.38,179.3,2712,2297,1902,1940,320.7,9.1,298,5336,0.00,0.00,1.58,0.057,8198,0.000,0.000,2713,2297,1908,1886,1930,0,0,0,0,0,0,28.83,28.83,26.17
$GC,5632,1.38,179.3,2712,2297,1886,1936,293.2,9.3,313,5633,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2297,1911,1886,1936,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5934,1.39,185.3,2712,2297,1886,1936,266.3,9.0,328,5950,0.00,2.15,10.05,0.780,8452,0.000,0.031,2713,3683,1878,1853,1904,0,0,0,0,0,0,28.83,26.33,25.60
$GC,5988,1.42,195.6,1760,3682,1808,1891,261.9,8.9,330,6007,0.00,2.12,10.80,0.776,9222,0.000,0.026,2722,2296,1836,1811,1862,0,0,0,0,0,0,28.83,26.34,25.46
$GC,6327,1.44,204.0,2722,2296,1808,1854,231.1,9.0,347,6342,0.00,2.25,7.78,0.747,8708,0.000,0.044,2733,904,1804,1778,1831,0,0,0,0,0,0,28.83,26.25,25.52
$GC,6387,1.44,205.6,2733,904,1777,1830,226.8,9.2,349,6397,0.00,2.08,0.00,0.000,1030,0.000,0.018,2733,2298,1803,1777,1829,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6694,1.44,206.9,2733,2298,1777,1826,197.6,9.2,365,6701,0.00,2.22,0.00,0.000,516,0.000,0.042,2743,889,1801,1777,1826,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6724,1.46,211.5,2743,889,1777,1826,195.3,9.1,366,6743,0.12,2.10,7.93,0.728,13318,0.189,0.018,2715,2308,1774,1746,1802,0,0,0,0,0,0,26.17,26.48,25.57
$GC,7043,1.48,219.9,2714,2308,1745,1798,166.3,9.0,382,7060,0.00,2.17,9.07,0.710,8452,0.000,0.037,2715,3690,1739,1710,1768,0,0,0,0,0,0,28.83,26.31,25.59
$GC,7104,1.50,230.5,2714,3690,1709,1766,162.1,8.9,384,7123,0.00,2.12,11.10,0.702,9222,0.000,0.028,2724,2301,1697,1664,1730,0,0,0,0,0,0,28.83,26.33,25.48
$GC,7436,1.52,237.0,2723,2300,1663,1722,131.0,9.0,401,7444,0.00,0.00,5.40,0.666,8198,0.000,0.000,2724,2300,1673,1641,1706,0,0,0,0,0,0,28.83,28.83,25.49
$GC,7737,1.54,245.0,2724,2300,1641,1706,103.7,9.0,416,7753,0.00,2.17,9.88,0.656,8452,0.000,0.034,2724,3692,1636,1592,1681,0,0,0,0,0,0,28.83,26.29,25.60
$GC,7793,1.57,256.9,2723,3692,1589,1679,99.6,8.8,418,7812,0.00,2.15,12.48,0.644,9222,0.000,0.028,2734,2295,1588,1537,1639,0,0,0,0,0,0,28.83,26.32,25.51
$GC,8131,1.57,256.9,2732,2295,1536,1630,68.2,9.3,435,8138,0.00,2.20,0.00,0.000,516,0.000,0.045,2744,896,1583,1536,1630,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8210,1.58,262.1,2744,896,1535,1630,62.0,9.1,438,8223,0.00,2.08,3.85,0.519,9222,0.000,0.018,2745,2295,1569,1520,1618,0,0,0,0,0,0,28.83,26.44,25.38
$GC,8520,1.62,278.8,2744,2295,1520,1619,33.0,8.7,463,8546,0.00,2.22,18.90,0.571,8452,0.000,0.037,2744,3693,1498,1446,1550,0,0,0,0,0,0,28.83,26.23,25.63
$GC,8594,1.66,292.6,2745,3693,1446,1546,26.6,8.8,469,8613,0.00,2.17,13.85,0.569,9222,0.000,0.028,2754,2291,1444,1396,1493,0,0,0,0,0,0,28.83,26.27,25.52
$STATE,8854,end climb,SURFACE_DEPTH_REACHED
$STATE,8854,begin surface coast
$FINISH,0.0,1.024839
$STATE,8889,end surface coast,CONTROL_FINISHED_OK
$STATE,8889,begin surface
$SM_CCo,8906,215.90,0.711,3,0,399,549.47
$SM_CCo,9141,-0.05,0.000,0,0,401,549.47
$SM_CCo,9145,0.05,0.188,0,0,400,549.47
$SM_GC,-23.93,7.50,0.47,0.05,0.071,0.044,0.188,86,1964,400,-10.54,1.19,549.47,0,0,0,0,0,0,26.33,26.36,25.22
$IRIDIUM_FIX,2052.52,11958.44,270313,151556
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.97
$INTERNAL_PRESSURE,9.1362
$TCM_TEMP,19.30
$XPDR_PINGS,3
$SC_FREEKB,3941376
$24V_AH,24.2,35.722
$10V_AH,10.1,18.909
$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,17.200,77.525,432.300,215.950,0.000,0.000,0.000,255.000,0.750,0.000,18.257,1987.419,4830.586,778.790,1570.792,417.614,0.000,1845.426,0.000,1329.783,0.000,1.488,0.000
$DEVICE_MAMPS,206.550,45.900,1020.510,710.685,0.000,0.000,0.000,132.345,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8901.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.536,0.000,0.000,0.000
$MEM,324768
$DATA_FILE_SIZE,16779,520
$CAP_FILE_SIZE,411564,1987
$CFSIZE,260034560,226480128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$CURRENT,0.159, 51.3,1
$GPS,270313,202928,2101.699,12001.746,133,0.9,134,-2.9