version: 66.11
glider: 121
mission: 10
dive: 215
start: 3 27 113 23 20 33
data:
$ID,121
$MISSION,10
$DIVE,215
$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,-100765.08
$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,49
$R_STBD_OVSHOOT,54
$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
$GPS1,270313,231224,2103.258,12002.259,56,1.3,56,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-62.2
$GPS2,270313,232005,2103.262,12002.271,19,0.9,20,-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,28.7,131098,-18.5,-9.259,-21.12,2828
$D_GRID,3283
$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,19,-1.35,-170.3,81,1937,360,485,0.0,0.0,0,44,0.00,0.00,-23.50,0.000,16386,0.000,0.000,81,1938,1040,1027,1054,0,0,0,0,0,0,28.83,28.83,28.83
$GC,47,-1.35,-170.3,81,1938,1028,1055,3.2,-9.3,3,164,7.82,2.28,-98.90,0.000,18692,0.209,0.044,2094,3378,3336,3241,3432,0,0,0,0,0,0,25.76,26.15,26.46
$GC,242,-1.35,-170.3,1232,3376,3213,3429,21.2,-8.4,32,250,0.00,2.15,0.00,0.000,1030,0.000,0.027,2103,1971,3337,3242,3432,0,0,0,0,0,0,28.83,26.24,28.83
$GC,557,-1.35,-170.3,2102,1971,3244,3432,49.6,-8.9,66,564,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,1971,3338,3244,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,866,-1.35,-170.3,2102,1971,3248,3432,77.6,-9.3,82,872,0.00,2.12,0.00,0.000,260,0.000,0.031,2094,3372,3340,3248,3432,0,0,0,0,0,0,28.83,26.47,28.83
$GC,949,-1.35,-170.3,2093,3372,3248,3432,83.8,-9.2,85,958,0.00,2.10,0.00,0.000,1030,0.000,0.025,2099,1971,3340,3248,3432,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1255,-1.35,-170.3,2098,1971,3250,3432,113.0,-9.2,101,1262,0.00,2.12,0.00,0.000,516,0.000,0.041,2107,572,3341,3250,3432,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1307,-1.35,-170.3,2107,572,3250,3432,117.2,-9.1,103,1313,0.00,2.05,0.00,0.000,1030,0.000,0.015,2099,1998,3341,3250,3432,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1628,-1.35,-170.3,2099,1999,3249,3432,146.4,-8.9,119,1634,0.00,2.03,0.00,0.000,260,0.000,0.032,2089,3361,3340,3250,3431,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1678,-1.35,-170.3,2088,3362,3250,3430,150.8,-9.3,121,1685,0.00,2.08,0.00,0.000,1030,0.000,0.026,2091,1974,3340,3250,3430,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2000,-1.35,-170.3,2091,1974,3250,3428,179.7,-9.1,137,2006,0.00,2.12,0.00,0.000,516,0.000,0.042,2101,576,3338,3250,3427,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2087,-1.35,-170.3,2100,576,3250,3427,187.8,-9.1,141,2093,0.00,2.03,0.00,0.000,1030,0.000,0.016,2092,1977,3337,3249,3426,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2414,-1.35,-170.3,2092,1977,3250,3422,216.7,-8.9,157,2420,0.00,2.17,0.00,0.000,516,0.000,0.041,2098,568,3335,3249,3422,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2482,-1.35,-170.3,2098,568,3249,3422,223.3,-9.4,160,2487,0.00,2.03,0.00,0.000,1030,0.000,0.016,2089,1977,3336,3250,3422,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2807,-1.35,-170.3,2089,1977,3249,3417,252.4,-8.9,176,2814,0.00,2.05,0.00,0.000,260,0.000,0.033,2079,3356,3333,3250,3417,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2879,-1.35,-170.3,2079,3356,3249,3416,258.5,-9.0,179,2886,0.10,2.08,0.00,0.000,3078,0.160,0.028,2104,1978,3332,3249,3416,0,0,0,0,0,0,26.43,26.60,28.83
$GC,3202,-1.35,-170.3,2103,1978,3249,3412,287.6,-8.8,195,3207,0.00,2.15,0.00,0.000,516,0.000,0.045,2114,576,3330,3249,3411,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3268,-1.35,-170.3,2113,575,3249,3411,293.6,-9.0,198,3274,0.00,2.03,0.00,0.000,1030,0.000,0.017,2105,1974,3330,3249,3411,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3595,-1.35,-170.3,2105,1974,3248,3407,322.9,-8.9,214,3600,0.00,2.08,0.00,0.000,260,0.000,0.035,2095,3358,3327,3248,3407,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3692,-1.35,-170.3,2095,3358,3247,3406,331.0,-9.2,218,3699,0.00,2.10,0.00,0.000,1030,0.000,0.030,2095,1978,3326,3247,3406,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4008,-1.35,-170.3,2095,1977,3244,3404,360.4,-9.2,234,4014,0.00,2.17,0.00,0.000,516,0.000,0.047,2104,572,3324,3244,3404,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4128,-1.35,-170.3,2104,572,3243,3404,370.3,-8.9,239,4134,0.00,2.05,0.00,0.000,1030,0.000,0.018,2095,1979,3323,3243,3403,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4443,-1.35,-170.3,2095,1980,3242,3401,399.1,-8.8,255,4449,0.00,2.08,0.00,0.000,260,0.000,0.035,2085,3362,3321,3241,3401,0,0,0,0,0,0,28.83,26.56,28.83
$STATE,4468,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4468,begin apogee
$GC,4474,-0.25,0.0,2085,2293,3241,3401,401.4,-8.9,256,4639,0.77,0.00,154.35,0.991,10246,0.115,0.000,2341,2293,2638,2591,2686,0,0,0,0,1,0,26.34,28.83,24.21
$STATE,4641,end apogee,CONTROL_FINISHED_OK
$STATE,4641,begin climb
$GC,4643,1.35,170.3,2340,2293,2591,2686,387.0,0.0,263,4806,1.00,2.33,146.57,1.070,10500,0.054,0.034,2699,3684,1944,1913,1975,0,0,0,0,1,0,25.11,24.72,23.92
$GC,4932,1.37,175.4,2700,3684,1913,1976,360.1,9.1,276,4944,0.00,2.17,5.10,0.742,9222,0.000,0.025,2709,2300,1925,1898,1953,0,0,0,0,0,0,28.83,25.63,24.74
$GC,5259,1.39,185.2,2709,2300,1898,1953,330.7,8.9,292,5283,0.00,2.25,12.77,0.815,8452,0.000,0.034,2709,3689,1879,1856,1903,0,0,0,0,0,0,28.83,25.97,25.20
$GC,5406,1.41,192.2,2709,3689,1856,1900,319.0,9.0,298,5420,0.00,2.15,7.38,0.795,9222,0.000,0.026,2719,2295,1853,1829,1877,0,0,0,0,0,0,28.83,26.15,25.23
$GC,5739,1.43,202.4,2719,2295,1829,1871,287.4,8.9,315,5756,0.00,2.20,11.20,0.791,8708,0.000,0.041,2730,897,1809,1783,1835,0,0,0,0,0,0,28.83,26.11,25.39
$GC,5837,1.43,202.4,2730,897,1782,1830,279.0,9.3,319,5843,0.00,2.10,0.00,0.000,1030,0.000,0.018,2729,2304,1806,1782,1831,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6152,1.43,202.4,2730,2305,1782,1828,249.7,9.3,335,6158,0.00,2.12,0.00,0.000,260,0.000,0.036,2730,3693,1804,1781,1828,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6219,1.46,213.9,1728,3693,1739,1818,243.9,8.8,338,6236,0.10,2.12,11.50,0.757,13318,0.200,0.027,2718,2298,1765,1738,1792,0,0,0,0,0,0,26.15,26.39,25.49
$GC,6547,1.48,221.5,2718,2298,1735,1783,214.5,9.0,354,6557,0.00,0.00,7.40,0.736,8198,0.000,0.000,2719,2298,1737,1710,1764,0,0,0,0,0,0,28.83,28.83,25.51
$GC,6845,1.51,232.1,2718,2298,1705,1757,187.8,8.9,369,6866,0.00,0.00,11.80,0.714,8198,0.000,0.000,2718,2298,1686,1653,1720,0,0,0,0,0,0,28.83,28.83,25.53
$GC,7165,1.54,244.7,2718,2298,1653,1714,159.3,8.8,385,7189,0.00,2.28,12.15,0.690,8708,0.000,0.044,2729,900,1636,1593,1680,0,0,0,0,0,0,28.83,26.20,25.53
$GC,7348,1.57,255.2,2729,900,1592,1675,144.0,8.9,393,7367,0.00,2.10,11.00,0.672,9222,0.000,0.018,2729,2307,1593,1546,1641,0,0,0,0,0,0,28.83,26.36,25.49
$GC,7687,1.58,261.5,2728,2307,1543,1636,112.9,9.0,410,7694,0.00,0.00,4.45,0.594,8198,0.000,0.000,2729,2307,1572,1523,1622,0,0,0,0,0,0,28.83,28.83,25.35
$GC,7988,1.60,271.0,2729,2308,1523,1622,86.3,8.9,425,8005,0.00,2.22,12.07,0.615,8452,0.000,0.037,2729,3702,1532,1480,1584,0,0,0,0,0,0,28.83,26.27,25.61
$GC,8098,1.63,281.0,2729,3702,1478,1581,76.6,8.9,430,8115,0.00,2.17,11.00,0.610,9222,0.000,0.028,2739,2293,1491,1439,1544,0,0,0,0,0,0,28.83,26.32,25.53
$GC,8427,1.65,287.8,2739,2293,1436,1534,47.3,9.0,447,8440,0.00,2.20,5.18,0.575,8708,0.000,0.043,2750,888,1466,1416,1516,0,0,0,0,0,0,28.83,26.29,25.54
$GC,8545,1.66,293.5,2749,887,1416,1516,36.8,9.1,457,8559,0.00,2.10,8.45,0.572,9222,0.000,0.018,2750,2302,1440,1392,1489,0,0,0,0,0,0,28.83,26.41,25.61
$GC,8882,1.70,309.1,1696,2300,1365,1475,6.4,8.7,507,8905,0.00,0.00,16.27,0.525,8198,0.000,0.000,2750,2302,1372,1335,1409,0,0,0,0,0,0,28.83,28.83,25.64
$STATE,8916,end climb,SURFACE_DEPTH_REACHED
$STATE,8917,begin surface coast
$FINISH,0.0,1.024658
$STATE,8952,end surface coast,CONTROL_FINISHED_OK
$STATE,8952,begin surface
$SM_CCo,8969,190.23,0.682,2,0,399,549.47
$SM_CCo,9173,-0.17,0.000,0,0,401,549.47
$SM_CCo,9176,1.20,0.094,0,0,400,549.47
$SM_GC,-23.93,7.45,0.55,1.20,0.068,0.035,0.094,89,1950,400,-10.53,0.79,549.47,0,0,0,0,0,0,26.28,26.31,25.18
$IRIDIUM_FIX,2052.52,12003.59,270313,202034
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.54
$INTERNAL_PRESSURE,9.15573
$TCM_TEMP,19.70
$XPDR_PINGS,0
$SC_FREEKB,3940608
$24V_AH,23.9,36.027
$10V_AH,10.2,19.040
$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,17.250,76.800,448.650,191.425,0.000,0.000,0.000,268.825,0.000,0.000,20.501,2074.308,4659.696,783.470,1670.066,427.901,0.000,1933.149,0.000,1431.411,0.000,1.489,0.000
$DEVICE_MAMPS,208.845,46.665,1070.235,681.615,0.000,0.000,0.000,133.110,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8963.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.489,0.000,0.000,0.000
$MEM,324672
$DATA_FILE_SIZE,16795,518
$CAP_FILE_SIZE,432683,2161
$CFSIZE,260034560,226226176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$CURRENT,0.060,356.8,1
$GPS,280313,015534,2104.377,12002.663,84,1.2,84,-2.9