version: 66.11
glider: 121
mission: 10
dive: 216
start: 3 28 113 2 4 3
data:
$ID,121
$MISSION,10
$DIVE,216
$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,-100766.33
$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,48
$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
$GPS1,280313,015534,2104.377,12002.663,84,1.2,84,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-63.0
$GPS2,280313,020335,2104.388,12002.627,19,0.9,20,-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,35.4,128952,-18.5,-9.259,-21.12,2828
$D_GRID,3113
$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,-170.3,88,1941,363,491,0.0,0.0,0,44,0.00,0.00,-23.70,0.000,16386,0.000,0.000,87,1939,1049,1039,1059,0,0,0,0,0,0,28.83,28.83,28.83
$GC,47,-1.35,-170.3,88,1939,1039,1061,3.3,-9.4,3,155,7.70,2.28,-92.82,0.000,18692,0.205,0.044,2090,3375,3337,3245,3430,0,0,0,0,0,0,25.77,26.15,26.46
$GC,234,-1.35,-170.3,1248,3374,3218,3427,20.7,-8.9,31,242,0.00,2.15,0.00,0.000,1030,0.000,0.027,2098,1972,3338,3246,3430,0,0,0,0,0,0,28.83,26.23,28.83
$GC,556,-1.35,-170.3,2097,1971,3249,3430,50.1,-9.0,66,562,0.00,2.12,0.00,0.000,260,0.000,0.030,2089,3373,3339,3248,3430,0,0,0,0,0,0,28.83,26.39,28.83
$GC,635,-1.35,-170.3,2089,3372,3249,3430,56.2,-8.9,69,641,0.00,2.12,0.00,0.000,1030,0.000,0.026,2094,1961,3339,3249,3430,0,0,0,0,0,0,28.83,26.43,28.83
$GC,950,-1.35,-170.3,2094,1961,3252,3430,85.8,-9.3,85,951,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,1961,3341,3252,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1252,-1.35,-170.3,2094,1961,3253,3430,112.9,-9.2,100,1258,0.00,2.10,0.00,0.000,516,0.000,0.041,2104,572,3341,3252,3430,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1354,-1.35,-170.3,2104,573,3252,3430,120.8,-8.8,104,1362,0.00,2.05,0.00,0.000,1030,0.000,0.015,2095,1998,3341,3252,3430,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1660,-1.35,-170.3,2095,1999,3252,3429,149.7,-8.9,120,1665,0.00,2.03,0.00,0.000,260,0.000,0.032,2085,3362,3340,3252,3428,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1750,-1.35,-170.3,2085,3362,3252,3427,158.0,-9.4,124,1756,0.00,2.08,0.00,0.000,1030,0.000,0.026,2091,1974,3339,3252,3427,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2071,-1.35,-170.3,2090,1974,3252,3426,187.2,-9.1,140,2077,0.00,2.10,0.00,0.000,260,0.000,0.031,2082,3360,3338,3252,3425,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2122,-1.35,-170.3,2082,3361,3252,3424,191.4,-9.0,142,2128,0.00,2.10,0.00,0.000,1030,0.000,0.028,2087,1967,3337,3252,3423,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2442,-1.35,-170.3,2087,1967,3252,3422,221.7,-9.5,158,2449,0.00,2.12,0.00,0.000,516,0.000,0.044,2097,576,3336,3252,3421,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2494,-1.35,-170.3,2097,576,3252,3421,225.9,-9.1,160,2500,0.00,2.03,0.00,0.000,1030,0.000,0.016,2088,1980,3336,3252,3421,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2814,-1.35,-170.3,2088,1981,3253,3417,255.5,-9.2,176,2820,0.00,2.05,0.00,0.000,260,0.000,0.034,2078,3357,3334,3252,3417,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2953,-1.35,-170.3,2077,3357,3252,3415,267.0,-8.9,182,2960,0.10,2.10,0.00,0.000,3078,0.162,0.028,2105,1967,3333,3252,3415,0,0,0,0,0,0,26.42,26.60,28.83
$GC,3269,-1.35,-170.3,2105,1967,3252,3412,296.0,-9.0,198,3275,0.00,2.15,0.00,0.000,516,0.000,0.045,2116,568,3331,3252,3411,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3317,-1.35,-170.3,2116,568,3252,3411,300.3,-9.0,200,3323,0.00,2.05,0.00,0.000,1030,0.000,0.017,2107,1981,3331,3251,3411,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3644,-1.35,-170.3,2107,1983,3249,3408,329.4,-9.0,216,3650,0.00,2.08,0.00,0.000,260,0.000,0.034,2097,3367,3328,3249,3408,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3744,-1.35,-170.3,2097,3367,3248,3407,337.7,-9.0,220,3750,0.00,2.10,0.00,0.000,1030,0.000,0.029,2097,1976,3327,3248,3407,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4059,-1.35,-170.3,2097,1976,3247,3405,367.3,-9.3,236,4060,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,1975,3326,3247,3405,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4361,-1.35,-170.3,2097,1975,3244,3403,394.1,-9.1,251,4366,0.00,2.12,0.00,0.000,260,0.000,0.034,2088,3366,3323,3243,3403,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4401,-1.35,-170.3,2088,3365,3245,3403,396.5,-9.1,252,4409,0.00,2.12,0.00,0.000,1030,0.000,0.031,2095,1970,3323,3243,3403,0,0,0,0,0,0,28.83,26.58,28.83
$STATE,4425,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4425,begin apogee
$GC,4430,-0.25,0.0,2094,2309,3243,3402,400.2,-9.0,254,4591,0.77,0.00,143.48,1.068,10246,0.116,0.000,2347,2309,2640,2592,2688,0,0,0,0,1,0,26.35,28.83,24.18
$STATE,4592,end apogee,CONTROL_FINISHED_OK
$STATE,4592,begin climb
$GC,4594,1.35,170.3,2347,2309,2592,2688,385.7,0.0,261,4762,0.98,2.30,149.20,1.117,10500,0.050,0.034,2703,3674,1943,1911,1976,0,0,0,0,1,0,25.19,24.68,23.85
$GC,4856,1.37,176.7,2703,3674,1911,1976,362.5,9.0,272,4875,0.00,2.17,10.23,0.868,9222,0.000,0.025,2711,2301,1913,1887,1940,0,0,0,0,0,0,28.83,25.51,24.61
$GC,5194,1.40,187.2,2712,2301,1886,1932,331.0,8.9,289,5213,0.00,0.00,10.80,0.849,8198,0.000,0.000,2712,2301,1869,1845,1893,0,0,0,0,0,0,28.83,28.83,25.17
$GC,5514,1.40,190.9,2712,2301,1845,1888,302.2,9.1,305,5520,0.00,2.15,0.00,0.000,260,0.000,0.034,2712,3685,1866,1845,1888,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5565,1.42,195.4,2712,3686,1845,1887,298.0,9.1,307,5583,0.00,2.12,7.93,0.816,9222,0.000,0.025,2722,2298,1838,1813,1863,0,0,0,0,0,0,28.83,26.29,25.36
$GC,5881,1.42,198.5,2722,2298,1812,1859,268.9,9.1,323,5887,0.00,2.20,0.00,0.000,516,0.000,0.043,2733,891,1836,1813,1859,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5907,1.43,200.7,2733,891,1816,1859,266.7,9.2,324,5920,0.10,2.10,4.10,0.666,13318,0.195,0.018,2712,2302,1820,1795,1846,0,0,0,0,0,0,26.15,26.41,25.22
$GC,6235,1.43,202.9,2711,2302,1795,1847,237.0,9.2,340,6241,0.00,0.00,3.42,0.571,8198,0.000,0.000,2712,2302,1811,1786,1837,0,0,0,0,0,0,28.83,28.83,25.24
$GC,6534,1.45,208.9,2711,2302,1785,1837,209.5,9.0,355,6545,0.00,0.00,8.73,0.770,8198,0.000,0.000,2712,2302,1787,1760,1815,0,0,0,0,0,0,28.83,28.83,25.55
$GC,6834,1.51,233.4,2711,2302,1754,1809,182.6,8.4,370,6869,0.00,2.20,25.88,0.731,8452,0.000,0.037,2712,3684,1682,1648,1716,0,0,0,0,0,0,28.83,26.06,25.39
$GC,6907,1.53,242.6,2711,3684,1646,1713,176.5,8.9,373,6925,0.00,2.15,8.98,0.737,9222,0.000,0.028,2721,2297,1644,1600,1689,0,0,0,0,0,0,28.83,26.12,25.30
$GC,7223,1.56,251.4,2720,2297,1598,1684,148.7,8.9,389,7240,0.00,2.28,8.40,0.712,8708,0.000,0.045,2731,898,1611,1563,1659,0,0,0,0,0,0,28.83,26.15,25.41
$GC,7264,1.58,261.3,2731,898,1562,1658,146.5,8.9,390,7283,0.00,2.10,11.20,0.707,9222,0.000,0.018,2731,2300,1569,1517,1621,0,0,0,0,0,0,28.83,26.24,25.35
$GC,7598,1.61,271.7,2731,2299,1516,1614,114.9,8.9,407,7615,0.00,2.22,10.73,0.680,8452,0.000,0.037,2731,3691,1528,1477,1580,0,0,0,0,0,0,28.83,26.16,25.48
$GC,7678,1.61,274.2,1760,3690,1447,1570,108.8,9.2,410,7686,0.00,2.15,0.00,0.000,1030,0.000,0.028,2741,2300,1524,1473,1576,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7986,1.64,283.2,2741,2299,1473,1574,79.7,8.9,426,8005,0.00,0.00,12.15,0.645,8198,0.000,0.000,2741,2300,1478,1427,1530,0,0,0,0,0,0,28.83,28.83,25.55
$GC,8306,1.66,292.5,2740,2300,1427,1524,51.0,8.9,442,8317,0.00,0.00,9.48,0.621,8198,0.000,0.000,2741,2300,1447,1399,1495,0,0,0,0,0,0,28.83,28.83,25.59
$GC,8607,1.66,294.9,1728,2297,1368,1478,23.8,9.2,472,8615,0.00,2.20,0.00,0.000,516,0.000,0.044,2752,890,1439,1395,1484,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8750,1.68,301.7,2752,890,1393,1484,10.8,9.0,497,8767,0.00,2.08,9.85,0.573,9222,0.000,0.018,2752,2301,1405,1362,1448,0,0,0,0,0,0,28.83,26.48,25.67
$STATE,8840,end climb,SURFACE_DEPTH_REACHED
$STATE,8840,begin surface coast
$FINISH,0.0,1.025276
$STATE,8880,end surface coast,CONTROL_FINISHED_OK
$STATE,8880,begin surface
$SM_CCo,8897,206.88,0.727,3,0,400,549.47
$SM_CCo,9122,-0.12,0.000,0,0,403,549.47
$SM_CCo,9126,4.03,0.465,0,0,400,549.47
$SM_GC,-23.93,7.50,0.52,4.03,0.073,0.035,0.465,90,1962,400,-10.53,1.10,549.47,0,0,0,0,0,0,26.36,26.40,24.60
$IRIDIUM_FIX,2054.83,12001.59,270313,232333
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.77
$INTERNAL_PRESSURE,9.11667
$TCM_TEMP,19.20
$XPDR_PINGS,1
$SC_FREEKB,3940224
$24V_AH,23.9,36.199
$10V_AH,10.1,19.104
$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,17.150,73.500,434.525,210.900,0.000,0.000,0.000,287.450,0.250,0.000,21.104,1960.661,4834.059,800.843,1589.839,401.972,0.000,1903.078,0.000,1325.803,0.000,1.487,0.000
$DEVICE_MAMPS,205.020,45.135,1116.900,726.750,0.000,0.000,0.000,130.050,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8887.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.513,0.000,0.000,0.000
$MEM,324576
$DATA_FILE_SIZE,16786,519
$CAP_FILE_SIZE,407072,1960
$CFSIZE,260034560,226131968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,1,0
$CURRENT,0.172,321.7,1
$GPS,280313,043933,2105.838,12002.591,153,1.0,160,-2.9