version: 66.11
glider: 121
mission: 10
dive: 214
start: 3 27 113 20 37 56
data:
$ID,121
$MISSION,10
$DIVE,214
$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,-100763.81
$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,46
$R_STBD_OVSHOOT,55
$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
$GPS1,270313,202928,2101.699,12001.746,133,0.9,134,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-60.1
$GPS2,270313,203728,2101.749,12001.794,38,0.9,39,-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,11.3,133980,-18.5,-9.259,-21.12,2828
$D_GRID,3368
$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,-170.3,85,1954,334,468,0.0,0.0,0,44,0.00,0.00,-23.85,0.000,16386,0.000,0.000,85,1954,1018,1009,1027,0,0,0,0,0,0,28.83,28.83,28.83
$GC,47,-1.35,-170.3,84,1954,1009,1029,3.2,-8.8,3,162,7.80,2.22,-94.47,0.000,18692,0.210,0.044,2091,3375,3338,3248,3429,0,0,0,0,0,0,25.79,26.19,26.48
$GC,279,-1.35,-170.3,1240,3374,3221,3426,24.4,-8.8,39,287,0.00,2.12,0.00,0.000,1030,0.000,0.025,2099,1974,3339,3249,3429,0,0,0,0,0,0,28.83,26.29,28.83
$GC,608,-1.35,-170.3,2099,1974,3253,3429,53.6,-8.9,70,614,0.00,2.12,0.00,0.000,516,0.000,0.040,2109,575,3341,3253,3429,0,0,0,0,0,0,28.83,26.40,28.83
$GC,681,-1.35,-170.3,2109,575,3253,3429,59.9,-9.0,73,687,0.00,2.05,0.00,0.000,1030,0.000,0.015,2101,1998,3341,3253,3429,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1001,-1.35,-170.3,2100,1999,3255,3429,89.3,-9.0,89,1008,0.00,2.03,0.00,0.000,260,0.000,0.031,2090,3366,3342,3255,3429,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1239,-1.35,-170.3,2090,3366,3255,3429,110.5,-8.9,100,1244,0.00,2.08,0.00,0.000,1030,0.000,0.024,2094,1974,3342,3255,3429,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1560,-1.35,-170.3,2094,1974,3255,3429,139.6,-9.0,116,1566,0.00,2.12,0.00,0.000,516,0.000,0.041,2103,572,3342,3255,3429,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1631,-1.35,-170.3,2103,573,3255,3429,145.7,-8.8,119,1637,0.00,2.03,0.00,0.000,1030,0.000,0.015,2095,1984,3342,3255,3429,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1953,-1.35,-170.3,2094,1984,3255,3428,174.4,-8.8,135,1959,0.00,2.05,0.00,0.000,260,0.000,0.032,2085,3357,3342,3257,3427,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1987,-1.35,-170.3,2084,3357,3255,3427,176.6,-8.7,136,1994,0.00,2.08,0.00,0.000,1030,0.000,0.026,2090,1970,3341,3255,3427,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2303,-1.35,-170.3,2089,1970,3255,3424,205.8,-9.2,152,2310,0.00,2.15,0.00,0.000,516,0.000,0.042,2098,567,3338,3254,3423,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2372,-1.35,-170.3,2098,566,3255,3423,211.9,-8.8,155,2378,0.00,2.05,0.00,0.000,1030,0.000,0.016,2090,1982,3339,3255,3423,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2698,-1.35,-170.3,2089,1983,3255,3419,241.0,-9.1,171,2700,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,1983,3337,3255,3419,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2998,-1.35,-170.3,2089,1983,3255,3415,268.5,-9.1,186,3000,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,1983,3335,3255,3415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3298,-1.35,-170.3,2089,1984,3253,3412,295.7,-9.0,201,3304,0.00,2.05,0.00,0.000,260,0.000,0.034,2079,3356,3332,3253,3411,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3345,-1.35,-170.3,1248,3355,3225,3407,299.9,-9.1,203,3352,0.10,2.08,0.00,0.000,3078,0.161,0.028,2104,1977,3332,3253,3411,0,0,0,0,0,0,26.43,26.61,28.83
$GC,3674,-1.35,-170.3,2103,1976,3251,3409,328.8,-8.9,219,3675,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,1976,3330,3253,3408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3972,-1.35,-170.3,2103,1976,3248,3407,356.1,-9.1,234,3978,0.00,2.17,0.00,0.000,516,0.000,0.047,2114,570,3327,3248,3406,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4090,-1.35,-170.3,2114,570,3248,3406,366.0,-9.0,239,4096,0.00,2.05,0.00,0.000,1030,0.000,0.018,2105,1978,3327,3248,3406,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4405,-1.35,-170.3,2105,1978,3245,3403,394.9,-9.0,255,4406,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,1978,3324,3245,3403,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4464,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4464,begin apogee
$GC,4469,-0.25,0.0,2103,2312,3244,3402,400.4,-8.9,258,4631,0.73,0.00,152.23,0.861,10246,0.112,0.000,2342,2312,2631,2584,2679,0,0,0,0,0,0,26.36,28.83,24.50
$STATE,4633,end apogee,CONTROL_FINISHED_OK
$STATE,4633,begin climb
$GC,4635,1.35,170.3,2342,2313,2580,2676,386.0,0.0,265,4804,1.00,2.28,157.23,0.837,10500,0.057,0.034,2702,3681,1934,1904,1965,0,0,0,0,0,0,25.28,24.99,24.33
$GC,5014,1.37,178.8,2702,3681,1903,1947,351.4,9.0,282,5021,0.00,2.15,1.95,0.060,9222,0.000,0.025,2712,2294,1910,1886,1934,0,0,0,0,0,0,28.83,25.94,25.79
$GC,5335,1.38,181.3,2712,2294,1886,1939,322.6,9.2,298,5343,0.00,2.28,2.50,0.321,8708,0.000,0.043,2723,891,1899,1875,1924,0,0,0,0,0,0,28.83,26.22,25.08
$GC,5440,1.39,183.8,2723,891,1875,1932,314.1,9.2,302,5454,0.00,2.10,5.05,0.731,9222,0.000,0.018,2723,2302,1888,1863,1914,0,0,0,0,0,0,28.83,26.35,25.34
$GC,5773,1.43,200.9,2723,2302,1863,1920,283.1,8.6,319,5797,0.00,0.00,21.83,0.773,8198,0.000,0.000,2723,2302,1819,1791,1848,0,0,0,0,0,0,28.83,28.83,25.37
$GC,6092,1.43,200.9,2723,2302,1784,1834,253.7,9.6,335,6098,0.00,2.25,0.00,0.000,516,0.000,0.042,2733,896,1809,1784,1835,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6111,1.43,200.9,2732,896,1784,1835,253.7,9.6,335,6119,0.10,2.10,0.00,0.000,5126,0.194,0.018,2712,2310,1809,1784,1834,0,0,0,0,0,0,26.10,26.36,28.83
$GC,6417,1.43,201.4,2712,2311,1784,1831,224.1,9.2,351,6423,0.00,2.12,0.00,0.000,260,0.000,0.037,2711,3694,1808,1784,1832,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6498,1.45,207.4,2712,3694,1784,1832,218.1,9.0,354,6507,0.00,2.12,4.03,0.609,9222,0.000,0.027,2721,2300,1793,1766,1820,0,0,0,0,0,0,28.83,26.43,25.37
$GC,6805,1.46,212.4,2721,2301,1766,1820,189.2,9.1,370,6821,0.00,2.25,7.38,0.715,8708,0.000,0.044,2733,896,1771,1742,1800,0,0,0,0,0,0,28.83,26.34,25.60
$GC,6861,1.47,217.1,1760,895,1700,1791,185.1,9.1,372,6876,0.00,2.10,4.45,0.639,9222,0.000,0.018,2732,2306,1753,1723,1783,0,0,0,0,0,0,28.83,26.42,25.36
$GC,7173,1.48,221.4,2732,2306,1723,1783,156.3,9.1,388,7185,0.00,2.25,4.80,0.650,8708,0.000,0.043,2742,896,1737,1706,1768,0,0,0,0,0,0,28.83,26.35,25.39
$GC,7222,1.50,229.5,2741,896,1706,1768,152.1,9.0,390,7239,0.00,2.10,11.27,0.676,9222,0.000,0.018,2742,2307,1701,1667,1735,0,0,0,0,0,0,28.83,26.43,25.55
$GC,7549,1.53,239.8,2741,2307,1664,1728,123.2,8.9,406,7566,0.00,2.25,10.45,0.649,8708,0.000,0.042,2751,897,1655,1612,1699,0,0,0,0,0,0,28.83,26.23,25.58
$GC,7601,1.55,250.8,2751,897,1611,1696,118.7,8.9,408,7620,0.00,2.10,11.23,0.640,9222,0.000,0.018,2751,2300,1612,1564,1660,0,0,0,0,0,0,28.83,26.32,25.49
$GC,7917,1.56,253.6,2751,2300,1563,1653,90.5,9.2,424,7922,0.00,2.12,0.00,0.000,260,0.000,0.037,2752,3690,1608,1563,1653,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7988,1.58,260.1,1744,3689,1528,1646,84.5,9.0,427,8007,0.00,2.12,9.30,0.616,9222,0.000,0.028,2761,2302,1573,1522,1624,0,0,0,0,0,0,28.83,26.36,25.58
$GC,8304,1.60,269.4,2761,2302,1521,1620,55.8,8.9,443,8315,0.00,0.00,9.48,0.586,8198,0.000,0.000,2761,2302,1540,1487,1593,0,0,0,0,0,0,28.83,28.83,25.63
$GC,8606,1.62,277.9,2761,2302,1482,1583,28.8,8.9,469,8620,0.00,2.28,8.68,0.560,8708,0.000,0.044,2773,895,1502,1450,1555,0,0,0,0,0,0,28.83,26.29,25.66
$GC,8639,1.62,277.9,2772,895,1449,1552,25.8,9.6,471,8647,0.00,2.10,0.00,0.000,1030,0.000,0.018,2772,2307,1500,1449,1551,0,0,0,0,0,0,28.83,26.37,28.83
$STATE,8887,end climb,SURFACE_DEPTH_REACHED
$STATE,8887,begin surface coast
$FINISH,0.0,1.024338
$STATE,8922,end surface coast,CONTROL_FINISHED_OK
$STATE,8922,begin surface
$SM_CCo,8940,214.60,0.677,2,0,400,549.47
$SM_CCo,9168,-0.10,0.000,0,0,400,549.47
$SM_CCo,9171,0.90,0.144,0,0,400,549.47
$SM_GC,-23.93,7.57,0.55,0.90,0.074,0.035,0.144,82,1950,400,-10.57,0.82,549.47,0,0,0,0,0,0,26.43,26.46,25.12
$IRIDIUM_FIX,2052.52,11934.67,270313,171708
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.01
$INTERNAL_PRESSURE,9.1655
$TCM_TEMP,19.90
$XPDR_PINGS,1
$SC_FREEKB,3940992
$24V_AH,24.3,35.866
$10V_AH,10.1,18.975
$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,17.300,73.525,421.825,215.500,0.000,0.000,0.000,270.450,0.250,0.000,39.774,2042.111,4751.316,769.611,1645.936,422.395,0.000,1891.482,0.000,1405.589,0.000,1.488,0.000
$DEVICE_MAMPS,209.610,46.665,861.390,677.025,0.000,0.000,0.000,126.990,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8929.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.466,0.000,0.000,0.000
$MEM,324576
$DATA_FILE_SIZE,16798,522
$CAP_FILE_SIZE,422556,2085
$CFSIZE,260034560,226353152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.140, 25.1,1
$GPS,270313,231224,2103.258,12002.259,56,1.3,56,-2.9