version: 66.11
glider: 121
mission: 10
dive: 217
start: 3 28 113 4 47 34
data:
$ID,121
$MISSION,10
$DIVE,217
$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,-100767.59
$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
$GPS1,280313,043933,2105.838,12002.591,153,1.0,160,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-63.9
$GPS2,280313,044706,2105.851,12002.556,14,1.1,15,-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,69.1,126570,-18.5,-9.259,-21.12,2828
$D_GRID,3058
$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,-170.3,88,1952,338,464,0.0,0.0,0,44,0.00,0.00,-23.75,0.000,16386,0.000,0.000,88,1952,1017,1005,1029,0,0,0,0,0,0,28.83,28.83,28.83
$GC,47,-1.35,-170.3,88,1952,1005,1032,3.3,-9.7,3,164,7.82,2.25,-101.22,0.000,18692,0.211,0.044,2093,3372,3336,3240,3433,0,0,0,0,0,0,25.75,26.15,26.46
$GC,189,-1.35,-170.3,1248,3371,3213,3430,16.2,-8.5,22,197,0.00,2.12,0.00,0.000,1030,0.000,0.027,2101,1980,3337,3242,3433,0,0,0,0,0,0,28.83,26.20,28.83
$GC,508,-1.35,-170.3,2101,1980,3244,3433,44.6,-9.3,61,516,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,1980,3339,3245,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,830,-1.35,-170.3,2101,1980,3248,3433,73.4,-8.9,80,835,0.00,2.12,0.00,0.000,260,0.000,0.031,2093,3381,3340,3248,3433,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1016,-1.35,-170.3,1296,3380,3224,3430,89.1,-8.9,88,1024,0.00,2.12,0.00,0.000,1030,0.000,0.025,2101,1962,3341,3249,3433,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1323,-1.35,-170.3,2100,1963,3250,3433,118.0,-8.6,104,1329,0.00,2.12,0.00,0.000,516,0.000,0.041,2110,567,3341,3249,3433,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1383,-1.35,-170.3,2109,567,3249,3433,122.1,-8.7,106,1391,0.00,2.05,0.00,0.000,1030,0.000,0.015,2101,1995,3341,3249,3433,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1690,-1.35,-170.3,2101,1995,3249,3432,150.8,-9.1,122,1696,0.00,2.05,0.00,0.000,260,0.000,0.032,2091,3365,3340,3249,3431,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1747,-1.35,-170.3,2091,3366,3249,3431,155.1,-9.0,124,1753,0.00,2.08,0.00,0.000,1030,0.000,0.026,2094,1976,3339,3249,3430,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2062,-1.35,-170.3,2094,1977,3250,3429,184.1,-8.8,140,2068,0.00,2.10,0.00,0.000,260,0.000,0.031,2086,3355,3338,3249,3428,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2129,-1.35,-170.3,2085,3355,3249,3427,190.1,-8.7,143,2136,0.00,2.08,0.00,0.000,1030,0.000,0.027,2091,1970,3338,3249,3427,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2456,-1.35,-170.3,2090,1970,3249,3425,219.7,-9.0,159,2462,0.00,2.15,0.00,0.000,516,0.000,0.044,2101,567,3336,3249,3424,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2496,-1.35,-170.3,2100,567,3249,3424,222.1,-8.9,160,2504,0.00,2.03,0.00,0.000,1030,0.000,0.016,2092,1974,3336,3249,3424,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2803,-1.35,-170.3,2092,1974,3249,3421,251.0,-9.2,176,2809,0.00,2.08,0.00,0.000,260,0.000,0.033,2082,3359,3335,3249,3421,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2874,-1.35,-170.3,1256,3357,3223,3416,257.0,-9.0,179,2880,0.10,2.10,0.00,0.000,3078,0.159,0.028,2109,1970,3334,3249,3420,0,0,0,0,0,0,26.43,26.60,28.83
$GC,3196,-1.35,-170.3,2109,1970,3249,3416,286.0,-8.9,195,3202,0.00,2.12,0.00,0.000,260,0.000,0.033,2101,3364,3332,3249,3416,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3253,-1.35,-170.3,2100,3364,3249,3415,290.3,-8.9,197,3259,0.00,2.10,0.00,0.000,1030,0.000,0.028,2108,1974,3332,3249,3415,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3568,-1.35,-170.3,2108,1974,3249,3412,319.6,-9.2,213,3574,0.00,2.15,0.00,0.000,516,0.000,0.046,2118,575,3330,3249,3411,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3636,-1.35,-170.3,2117,575,3249,3411,325.7,-9.1,216,3643,0.00,2.03,0.00,0.000,1030,0.000,0.017,2109,1974,3330,3249,3411,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3962,-1.35,-170.3,2109,1974,3250,3408,355.4,-9.4,232,3968,0.00,2.08,0.00,0.000,260,0.000,0.034,2099,3360,3328,3248,3408,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4009,-1.35,-170.3,2099,3360,3248,3407,359.8,-9.4,234,4015,0.00,2.10,0.00,0.000,1030,0.000,0.029,2101,1977,3327,3248,3407,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4336,-1.35,-170.3,2101,1977,3247,3405,389.0,-8.8,250,4337,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,1977,3325,3245,3405,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4451,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4451,begin apogee
$GC,4457,-0.25,0.0,2101,2305,3244,3404,400.2,-9.6,256,4618,0.75,0.00,152.82,0.862,10246,0.112,0.000,2348,2305,2633,2585,2682,0,0,0,0,0,0,26.36,28.83,24.50
$STATE,4620,end apogee,CONTROL_FINISHED_OK
$STATE,4620,begin climb
$GC,4622,1.35,170.3,2348,2305,2579,2676,385.9,0.0,263,4817,0.98,2.30,183.93,0.769,10500,0.055,0.034,2697,3684,1939,1908,1971,0,0,0,0,0,0,25.27,25.04,24.42
$GC,4896,1.37,175.4,2697,3684,1904,1953,360.7,9.1,275,4902,0.00,2.20,0.00,0.000,1030,0.000,0.024,2709,2293,1928,1903,1953,0,0,0,0,0,0,28.83,25.60,28.83
$GC,5222,1.38,183.0,2707,2293,1903,1947,331.6,9.0,291,5229,0.00,0.00,4.80,0.667,8198,0.000,0.000,2707,2293,1892,1869,1916,0,0,0,0,0,0,28.83,28.83,25.13
$GC,5521,1.41,191.5,2707,2293,1869,1928,304.7,9.0,306,5544,0.00,2.20,15.48,0.760,8708,0.000,0.043,2717,897,1850,1824,1877,0,0,0,0,0,0,28.83,26.08,25.39
$GC,5572,1.43,202.3,2717,897,1821,1872,300.5,8.9,308,5591,0.00,2.10,9.68,0.782,9222,0.000,0.017,2717,2302,1810,1784,1836,0,0,0,0,0,0,28.83,26.18,25.25
$GC,5889,1.46,214.7,2717,2301,1782,1829,271.9,8.8,324,5912,0.00,2.20,13.12,0.773,8452,0.000,0.035,2718,3691,1754,1727,1782,0,0,0,0,0,0,28.83,26.10,25.36
$GC,5956,1.48,220.7,2717,3691,1726,1779,265.8,9.0,327,5967,0.00,2.17,3.33,0.516,9222,0.000,0.026,2727,2292,1738,1710,1766,0,0,0,0,0,0,28.83,26.15,25.10
$GC,6283,1.49,225.2,2727,2292,1710,1768,236.7,9.1,343,6295,0.00,2.20,5.25,0.707,8708,0.000,0.043,2738,897,1722,1692,1752,0,0,0,0,0,0,28.83,26.25,25.41
$GC,6333,1.51,233.6,2738,897,1692,1752,232.2,9.0,345,6356,0.00,2.10,12.05,0.738,9222,0.000,0.018,2738,2298,1680,1647,1714,0,0,0,0,0,0,28.83,26.34,25.41
$GC,6651,1.54,244.6,2738,2298,1647,1710,203.8,8.9,361,6670,0.00,0.00,11.18,0.712,8198,0.000,0.000,2738,2298,1635,1591,1680,0,0,0,0,0,0,28.83,28.83,25.48
$GC,6971,1.59,264.5,2738,2298,1589,1675,175.7,8.5,377,7000,0.00,2.20,20.23,0.677,8452,0.000,0.037,2738,3684,1554,1502,1606,0,0,0,0,0,0,28.83,26.10,25.44
$GC,7026,1.62,276.6,2738,3684,1501,1604,171.2,8.8,379,7044,0.00,2.15,12.55,0.679,9222,0.000,0.029,2748,2300,1509,1456,1562,0,0,0,0,0,0,28.83,26.13,25.34
$GC,7341,1.64,285.0,2748,2300,1453,1550,142.4,9.0,395,7357,0.00,2.30,7.65,0.652,8708,0.000,0.045,2761,891,1474,1425,1524,0,0,0,0,0,0,28.83,26.15,25.46
$GC,7388,1.65,288.9,2758,890,1427,1521,138.1,9.1,397,7400,0.00,2.10,3.08,0.441,9222,0.000,0.018,2758,2297,1461,1413,1509,0,0,0,0,0,0,28.83,26.25,25.21
$GC,7717,1.71,312.5,2758,2298,1413,1509,109.2,8.4,413,7753,0.00,0.00,28.02,0.594,8198,0.000,0.000,2759,2298,1357,1322,1392,0,0,0,0,0,0,28.83,28.83,25.44
$GC,8052,1.74,323.5,2758,2298,1322,1385,78.8,8.9,430,8070,0.00,2.33,10.43,0.579,8708,0.000,0.044,2768,891,1315,1292,1339,0,0,0,0,0,0,28.83,26.15,25.53
$GC,8187,1.76,332.4,2768,890,1292,1335,68.1,8.9,436,8201,0.00,2.10,9.52,0.571,9222,0.000,0.018,2767,2304,1283,1265,1302,0,0,0,0,0,0,28.83,26.32,25.52
$GC,8509,1.79,345.3,2767,2304,1260,1289,37.8,8.8,459,8526,0.10,0.00,12.55,0.532,10758,0.106,0.000,2806,2303,1227,1216,1239,0,0,0,0,0,0,26.41,28.83,25.61
$GC,8829,1.81,352.8,2805,2304,1215,1232,9.4,9.0,508,8841,0.00,2.12,6.90,0.513,8452,0.000,0.037,2806,3691,1199,1195,1204,0,0,0,0,0,0,28.83,26.31,25.69
$STATE,8900,end climb,SURFACE_DEPTH_REACHED
$STATE,8900,begin surface coast
$FINISH,2.3,0.000000
$STATE,8905,end surface coast,CONTROL_FINISHED_OK
$STATE,8906,begin surface
$SM_CCo,8926,143.07,0.644,1,0,399,549.47
$SM_CCo,9077,-0.28,0.000,0,0,401,549.47
$SM_CCo,9081,1.12,0.086,0,0,400,549.47
$SM_GC,-23.93,7.65,2.72,1.12,0.070,0.029,0.086,88,1957,400,-10.54,0.79,549.47,0,0,0,0,0,0,26.34,26.34,25.29
$IRIDIUM_FIX,2057.14,12004.75,280313,010147
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.17
$INTERNAL_PRESSURE,9.20456
$TCM_TEMP,20.60
$XPDR_PINGS,1
$SC_FREEKB,3939968
$24V_AH,24.4,36.345
$10V_AH,10.1,19.165
$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,17.400,78.000,522.550,144.200,0.000,0.000,0.000,265.950,0.250,0.000,16.117,1695.470,5032.485,788.742,1600.507,396.000,0.000,1914.120,0.000,1370.765,0.000,1.489,0.000
$DEVICE_MAMPS,211.140,45.900,862.155,644.130,0.000,0.000,0.000,130.050,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8912.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.524,0.000,0.000,0.000
$MEM,324672
$DATA_FILE_SIZE,20111,524
$CAP_FILE_SIZE,390909,1986
$CFSIZE,260034560,226033664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.137, 23.7,1
$GPS,280313,071955,2106.769,12003.657,19,1.3,19,-2.9