version: 66.11
glider: 121
mission: 10
dive: 232
start: 3 29 113 21 25 3
data:
$ID,121
$MISSION,10
$DIVE,232
$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,-100787.62
$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,53
$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
$GPS1,290313,211704,2125.208,12010.397,101,1.2,101,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-53.3
$GPS2,290313,212436,2125.285,12010.289,15,1.1,16,-3.0
$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,35.5,88508,-18.5,-9.259,-21.12,2828
$D_GRID,2802
$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,-170.3,86,1942,335,464,0.0,0.0,0,44,0.00,0.00,-23.67,0.000,16386,0.000,0.000,86,1940,1013,1011,1016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,47,-1.35,-170.3,86,1940,1012,1017,3.2,-9.3,3,164,7.55,2.28,-101.30,0.000,18692,0.196,0.044,2094,3376,3336,3241,3432,0,0,0,0,0,0,25.74,26.15,26.48
$GC,248,-1.35,-170.3,2094,3377,3243,3432,21.5,-8.9,33,257,0.00,2.12,0.00,0.000,1030,0.000,0.026,2103,1980,3337,3243,3432,0,0,0,0,0,0,28.83,26.25,28.83
$GC,567,-1.35,-170.3,2103,1979,3248,3432,50.1,-9.0,67,573,0.00,2.12,0.00,0.000,260,0.000,0.029,2094,3384,3339,3247,3432,0,0,0,0,0,0,28.83,26.39,28.83
$GC,731,-1.35,-170.3,2094,3384,3249,3432,63.3,-8.7,74,739,0.00,2.12,0.00,0.000,1030,0.000,0.024,2102,1970,3340,3249,3432,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1038,-1.35,-170.3,2102,1970,3251,3432,92.3,-9.0,90,1044,0.00,2.12,0.00,0.000,516,0.000,0.040,2113,571,3341,3250,3432,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1073,-1.35,-170.3,2112,571,3251,3432,94.7,-9.1,91,1079,0.00,2.05,0.00,0.000,1030,0.000,0.015,2105,1999,3341,3251,3432,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1389,-1.35,-170.3,2104,1999,3251,3431,124.4,-8.8,107,1395,0.00,2.03,0.00,0.000,260,0.000,0.031,2094,3363,3341,3251,3432,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1446,-1.35,-170.3,2094,3363,3251,3432,128.6,-8.8,109,1452,0.00,2.08,0.00,0.000,1030,0.000,0.025,2098,1974,3341,3251,3432,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1760,-1.35,-170.3,2097,1974,3251,3431,158.4,-9.1,125,1766,0.00,2.15,0.00,0.000,516,0.000,0.041,2108,566,3340,3251,3430,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1818,-1.35,-170.3,2107,566,3251,3430,162.6,-8.8,127,1824,0.00,2.03,0.00,0.000,1030,0.000,0.016,2099,1976,3340,3251,3430,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2132,-1.35,-170.3,2099,1976,3251,3427,191.8,-8.8,143,2138,0.00,2.05,0.00,0.000,260,0.000,0.031,2089,3357,3339,3251,3427,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2184,-1.35,-170.3,1248,3356,3224,3423,196.0,-8.9,145,2190,0.00,2.08,0.00,0.000,1030,0.000,0.027,2090,1974,3338,3251,3426,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2504,-1.35,-170.3,2089,1974,3251,3423,225.6,-9.1,161,2510,0.00,2.15,0.00,0.000,516,0.000,0.043,2099,568,3337,3251,3423,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2602,-1.35,-170.3,2099,567,3251,3423,233.7,-9.1,165,2608,0.00,2.03,0.00,0.000,1030,0.000,0.016,2091,1973,3336,3251,3422,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2917,-1.35,-170.3,2091,1974,3251,3418,263.1,-9.2,181,2923,0.00,2.08,0.00,0.000,260,0.000,0.033,2081,3366,3334,3251,3417,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2978,-1.35,-170.3,2081,3365,3251,3417,267.4,-9.1,183,2987,0.10,2.10,0.00,0.000,3078,0.158,0.028,2107,1971,3333,3251,3416,0,0,0,0,0,0,26.39,26.58,28.83
$GC,3285,-1.35,-170.3,2106,1971,3251,3413,296.5,-9.0,199,3286,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,1970,3331,3250,3413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3587,-1.35,-170.3,2106,1971,3249,3409,323.1,-8.5,214,3592,0.00,2.12,0.00,0.000,260,0.000,0.033,2098,3360,3329,3250,3408,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3669,-1.35,-170.3,2098,3360,3249,3408,329.3,-9.0,217,3677,0.00,2.10,0.00,0.000,1030,0.000,0.029,2104,1975,3328,3249,3408,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3975,-1.35,-170.3,2104,1974,3248,3407,357.9,-9.1,233,3981,0.00,2.17,0.00,0.000,516,0.000,0.046,2114,568,3327,3248,3406,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4015,-1.35,-170.3,2114,568,3248,3406,360.2,-9.0,234,4024,0.00,2.05,0.00,0.000,1030,0.000,0.018,2105,1977,3326,3247,3406,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4322,-1.35,-170.3,2105,1977,3244,3404,389.5,-9.2,250,4329,0.00,2.20,0.00,0.000,516,0.000,0.045,2114,575,3324,3244,3404,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4362,-1.35,-170.3,2113,575,3244,3404,391.9,-9.3,251,4370,0.00,2.05,0.00,0.000,1030,0.000,0.018,2105,1981,3323,3244,3403,0,0,0,0,0,0,28.83,26.63,28.83
$STATE,4447,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4447,begin apogee
$GC,4453,-0.25,0.0,2103,2312,3243,3403,401.3,-9.4,256,4612,0.73,0.00,153.70,0.859,10246,0.110,0.000,2342,2312,2637,2589,2686,0,0,0,0,0,0,26.30,28.83,24.48
$STATE,4613,end apogee,CONTROL_FINISHED_OK
$STATE,4613,begin climb
$GC,4615,1.35,170.3,2342,2312,2582,2678,387.1,0.0,263,4789,1.00,2.30,163.18,0.815,10500,0.055,0.034,2701,3687,1940,1909,1972,0,0,0,0,0,0,25.24,25.01,24.38
$GC,5030,1.37,177.3,2701,3687,1904,1948,350.7,9.0,281,5040,0.00,2.15,1.40,0.052,9222,0.000,0.025,2711,2301,1915,1892,1938,0,0,0,0,0,0,28.83,25.99,25.92
$GC,5337,1.39,185.9,2711,2301,1892,1942,321.4,8.9,297,5360,0.00,2.28,13.02,0.761,8708,0.000,0.044,2721,894,1877,1853,1901,0,0,0,0,0,0,28.83,26.07,25.45
$GC,5394,1.41,193.1,2722,894,1850,1898,317.2,9.0,299,5407,0.00,2.10,3.40,0.522,9222,0.000,0.017,2722,2297,1850,1825,1876,0,0,0,0,0,0,28.83,26.18,25.06
$GC,5705,1.45,210.7,2721,2297,1825,1884,288.8,8.6,315,5734,0.00,2.25,23.35,0.772,8452,0.000,0.036,2722,3694,1774,1746,1803,0,0,0,0,0,0,28.83,25.98,25.29
$GC,5839,1.47,218.2,2721,3693,1740,1792,276.7,9.0,321,5847,0.00,2.15,2.65,0.355,9222,0.000,0.026,2731,2300,1751,1723,1779,0,0,0,0,0,0,28.83,26.13,24.98
$GC,6161,1.49,227.0,2731,2300,1723,1783,247.9,8.9,337,6185,0.00,2.20,14.15,0.744,8452,0.000,0.034,2731,3694,1705,1672,1738,0,0,0,0,0,0,28.83,26.13,25.42
$GC,6238,1.51,231.6,2731,3694,1671,1735,241.7,9.1,340,6245,0.00,2.15,0.00,0.000,1030,0.000,0.027,2741,2301,1703,1671,1735,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6554,1.51,232.2,2741,2301,1671,1732,213.3,9.2,356,6560,0.00,2.15,0.00,0.000,260,0.000,0.035,2741,3687,1701,1671,1732,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6595,1.51,232.5,2741,3687,1671,1732,211.0,9.3,357,6605,0.10,2.12,1.30,0.068,13318,0.198,0.028,2730,2299,1690,1658,1723,0,0,0,0,0,0,26.12,26.36,26.15
$GC,6902,1.54,245.5,2730,2299,1658,1731,182.1,8.8,373,6922,0.00,0.00,17.48,0.673,8198,0.000,0.000,2730,2299,1635,1589,1682,0,0,0,0,0,0,28.83,28.83,25.56
$GC,7221,1.56,254.5,2730,2299,1582,1672,153.7,8.9,389,7238,0.00,2.28,8.40,0.664,8708,0.000,0.044,2740,890,1597,1548,1647,0,0,0,0,0,0,28.83,26.25,25.55
$GC,7363,1.58,261.1,1792,890,1518,1637,142.2,9.0,395,7377,0.00,2.10,6.62,0.650,9222,0.000,0.018,2740,2297,1573,1523,1624,0,0,0,0,0,0,28.83,26.37,25.50
$GC,7699,1.59,264.2,2740,2297,1522,1622,110.7,9.1,412,7705,0.00,2.15,0.00,0.000,260,0.000,0.037,2740,3699,1570,1522,1619,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7759,1.62,278.9,2739,3699,1521,1619,106.1,8.7,414,7789,0.00,2.15,20.23,0.600,9222,0.000,0.028,2750,2296,1495,1444,1546,0,0,0,0,0,0,28.83,26.39,25.56
$GC,8086,1.62,278.9,2750,2296,1443,1540,74.8,9.3,431,8092,0.00,2.20,0.00,0.000,516,0.000,0.044,2761,897,1491,1442,1540,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8127,1.64,283.1,2760,897,1442,1540,72.6,9.1,432,8135,0.00,2.10,0.00,0.000,1030,0.000,0.018,2761,2305,1491,1442,1540,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8434,1.64,283.1,2760,2305,1442,1539,43.0,9.3,451,8441,0.00,2.22,0.00,0.000,516,0.000,0.042,2771,892,1490,1442,1539,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8496,1.66,294.2,1768,892,1416,1533,37.7,8.9,456,8517,0.00,2.08,14.68,0.532,9222,0.000,0.018,2771,2302,1434,1387,1481,0,0,0,0,0,0,28.83,26.49,25.70
$GC,8834,1.70,307.7,1728,2300,1360,1467,7.0,8.8,506,8858,0.00,2.28,13.23,0.505,8708,0.000,0.043,2780,898,1378,1341,1415,0,0,0,0,0,0,28.83,26.27,25.70
$STATE,8882,end climb,SURFACE_DEPTH_REACHED
$STATE,8882,begin surface coast
$FINISH,0.0,1.024180
$STATE,8922,end surface coast,CONTROL_FINISHED_OK
$STATE,8922,begin surface
$SM_CCo,8941,187.30,0.672,1,0,400,549.47
$SM_CCo,9137,-0.22,0.000,0,0,401,549.47
$SM_CCo,9141,0.82,0.092,0,0,400,549.47
$SM_GC,-23.93,7.55,1.65,0.82,0.070,0.015,0.092,86,1994,400,-10.56,-1.44,549.47,0,0,0,0,0,0,26.31,26.41,25.18
$IRIDIUM_FIX,2117.95,12009.39,290313,181803
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.70
$INTERNAL_PRESSURE,9.18503
$TCM_TEMP,20.20
$XPDR_PINGS,1
$SC_FREEKB,3934208
$24V_AH,24.4,38.603
$10V_AH,10.1,20.125
$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,17.025,89.775,456.775,188.125,0.000,0.000,0.000,261.800,0.250,0.000,17.192,2048.300,4667.415,798.738,1639.672,417.471,0.000,1975.927,0.000,1421.715,0.000,1.488,0.000
$DEVICE_MAMPS,198.135,45.900,859.095,671.670,0.000,0.000,0.000,130.050,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8930.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.512,0.000,0.000,0.000
$MEM,324376
$DATA_FILE_SIZE,20112,520
$CAP_FILE_SIZE,407449,2124
$CFSIZE,260034560,224313344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.069, 11.3,1
$GPS,290313,235833,2126.362,12010.896,28,1.1,28,-3.0