version: 66.11
glider: 121
mission: 10
dive: 238
start: 3 30 113 13 45 14
data:
$ID,121
$MISSION,10
$DIVE,238
$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,-100796.34
$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,33
$R_STBD_OVSHOOT,65
$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
$GPS1,300313,133834,2133.525,12014.025,137,0.9,137,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-60.3
$GPS2,300313,134447,2133.517,12014.012,14,1.0,15,-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,33.8,72092,-18.5,-9.259,-21.12,2828
$D_GRID,2750
$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,-170.3,85,2003,342,476,0.0,0.0,0,44,0.00,0.00,-23.50,0.000,16386,0.000,0.000,85,2004,1019,1005,1034,0,0,0,0,0,0,28.83,28.83,28.83
$GC,47,-1.35,-170.3,85,2004,1006,1032,3.3,-9.1,3,154,7.70,2.17,-92.80,0.000,18692,0.203,0.045,2091,3371,3337,3243,3431,0,0,0,0,0,0,25.69,26.13,26.45
$GC,224,-1.35,-170.3,1240,3370,3219,3427,19.6,-8.7,29,233,0.00,2.17,0.00,0.000,1030,0.000,0.031,2099,1960,3338,3246,3430,0,0,0,0,0,0,28.83,26.18,28.83
$GC,546,-1.35,-170.3,2100,1960,3249,3430,48.6,-8.8,65,553,0.00,2.12,0.00,0.000,516,0.000,0.041,2109,568,3339,3249,3430,0,0,0,0,0,0,28.83,26.32,28.83
$GC,594,-1.35,-170.3,2109,568,3249,3430,53.1,-9.4,68,600,0.00,2.05,0.00,0.000,1030,0.000,0.015,2101,1984,3340,3249,3431,0,0,0,0,0,0,28.83,26.44,28.83
$GC,919,-1.35,-170.3,2101,1985,3253,3430,82.8,-9.1,84,925,0.00,2.08,0.00,0.000,260,0.000,0.032,2090,3364,3341,3253,3430,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1018,-1.35,-170.3,2090,3364,3253,3430,90.9,-9.0,88,1024,0.00,2.10,0.00,0.000,1030,0.000,0.027,2092,1970,3341,3253,3430,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1333,-1.35,-170.3,2092,1969,3254,3430,119.8,-9.1,104,1339,0.00,2.12,0.00,0.000,516,0.000,0.042,2102,574,3342,3254,3430,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1363,-1.35,-170.3,2102,574,3254,3431,122.0,-9.0,105,1369,0.00,2.03,0.00,0.000,1030,0.000,0.016,2096,1980,3342,3254,3430,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1683,-1.35,-170.3,2093,1980,3254,3430,151.6,-8.9,121,1689,0.00,2.05,0.00,0.000,260,0.000,0.032,2083,3355,3341,3254,3429,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1713,-1.35,-170.3,2083,3354,3254,3429,153.9,-8.8,122,1719,0.00,2.08,0.00,0.000,1030,0.000,0.028,2085,1975,3341,3254,3429,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2033,-1.35,-170.3,2085,1974,3254,3427,183.1,-8.8,138,2039,0.00,2.15,0.00,0.000,516,0.000,0.044,2095,571,3340,3254,3426,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2085,-1.35,-170.3,2095,571,3254,3426,187.3,-8.9,140,2091,0.00,2.03,0.00,0.000,1030,0.000,0.016,2087,1974,3340,3254,3426,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2405,-1.35,-170.3,2087,1975,3254,3422,216.5,-8.9,156,2411,0.00,2.08,0.00,0.000,260,0.000,0.033,2076,3363,3338,3254,3422,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2488,-1.35,-170.3,2076,3363,3254,3421,222.7,-9.4,159,2496,0.12,2.10,0.00,0.000,3078,0.151,0.028,2111,1972,3337,3253,3421,0,0,0,0,0,0,26.34,26.55,28.83
$GC,2792,-1.35,-170.3,2110,1972,3253,3417,251.2,-9.3,175,2798,0.00,2.15,0.00,0.000,516,0.000,0.046,2123,572,3335,3254,3417,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2945,-1.35,-170.3,2121,572,3253,3416,264.5,-9.0,182,2951,0.00,2.03,0.00,0.000,1030,0.000,0.017,2113,1972,3334,3253,3416,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3266,-1.35,-170.3,2112,1972,3253,3413,294.1,-8.8,198,3271,0.00,2.08,0.00,0.000,260,0.000,0.034,2102,3357,3332,3253,3412,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3313,-1.35,-170.3,2102,3357,3252,3411,298.4,-8.8,200,3319,0.00,2.10,0.00,0.000,1030,0.000,0.030,2108,1978,3332,3253,3411,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3639,-1.35,-170.3,2108,1978,3251,3409,327.1,-8.7,216,3645,0.00,2.17,0.00,0.000,516,0.000,0.047,2118,571,3329,3251,3408,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3721,-1.35,-170.3,2118,571,3250,3410,333.3,-8.9,219,3729,0.00,2.05,0.00,0.000,1030,0.000,0.018,2109,1977,3328,3249,3408,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4027,-1.35,-170.3,2109,1977,3248,3406,362.0,-9.0,235,4033,0.00,2.10,0.00,0.000,260,0.000,0.035,2098,3369,3327,3248,3406,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4130,-1.35,-170.3,2099,3368,3247,3405,369.8,-9.0,239,4138,0.00,2.12,0.00,0.000,1030,0.000,0.031,2099,1972,3326,3247,3405,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4437,-1.35,-170.3,2099,1972,3245,3403,398.8,-8.9,255,4443,0.00,2.12,0.00,0.000,260,0.000,0.034,2090,3360,3324,3245,3403,0,0,0,0,0,0,28.83,26.51,28.83
$STATE,4461,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4461,begin apogee
$GC,4467,-0.25,0.0,2090,2296,3244,3403,401.0,-8.9,256,4701,0.77,0.00,224.98,0.751,10246,0.115,0.000,2342,2296,2634,2585,2683,0,0,0,0,0,0,26.24,28.83,24.46
$STATE,4703,end apogee,CONTROL_FINISHED_OK
$STATE,4703,begin climb
$GC,4705,1.35,170.3,2342,2296,2583,2679,380.9,0.0,266,4915,1.00,2.35,197.45,0.778,10500,0.054,0.034,2701,3683,1936,1905,1968,0,0,0,0,0,0,25.20,24.94,24.30
$GC,4979,1.35,170.4,2701,3682,1903,1954,355.5,9.3,278,4985,0.00,2.20,0.00,0.000,1030,0.000,0.026,2711,2297,1929,1904,1954,0,0,0,0,0,0,28.83,25.46,28.83
$GC,5299,1.36,172.1,2711,2297,1903,1948,325.9,9.2,294,5305,0.00,2.20,0.00,0.000,260,0.000,0.034,2711,3695,1925,1903,1947,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5474,1.39,186.0,1728,3694,1856,1937,310.7,8.8,302,5498,0.00,2.15,14.48,0.752,9222,0.000,0.026,2721,2297,1876,1853,1899,0,0,0,0,0,0,28.83,26.23,25.38
$GC,5817,1.39,186.0,2720,2297,1849,1889,279.4,9.3,319,5823,0.00,2.17,0.00,0.000,260,0.000,0.034,2721,3690,1868,1849,1888,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5941,1.41,194.5,2720,3689,1849,1888,269.6,9.0,324,5951,0.10,2.12,3.17,0.476,13318,0.194,0.027,2710,2300,1845,1822,1869,0,0,0,0,0,0,26.09,26.32,25.14
$GC,6247,1.46,213.6,2709,2300,1822,1878,240.5,8.6,340,6282,0.00,2.25,25.73,0.767,8708,0.000,0.045,2719,893,1760,1730,1791,0,0,0,0,0,0,28.83,26.00,25.32
$GC,6311,1.49,223.2,2719,893,1727,1784,236.2,8.9,342,6320,0.00,2.12,4.70,0.672,9222,0.000,0.018,2719,2301,1730,1699,1761,0,0,0,0,0,0,28.83,26.11,25.08
$GC,6616,1.51,232.4,2719,2301,1697,1765,207.1,8.9,358,6640,0.00,2.17,13.82,0.753,8452,0.000,0.036,2719,3691,1684,1650,1718,0,0,0,0,0,0,28.83,26.07,25.35
$GC,6733,1.52,235.7,2719,3691,1648,1714,196.8,9.1,363,6739,0.00,2.15,0.00,0.000,1030,0.000,0.028,2729,2300,1681,1648,1714,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7053,1.55,249.9,2729,2300,1648,1712,167.9,8.7,379,7077,0.00,2.30,17.10,0.722,8708,0.000,0.045,2740,893,1614,1568,1661,0,0,0,0,0,0,28.83,26.08,25.39
$GC,7185,1.57,255.4,2740,893,1567,1657,156.1,9.1,385,7197,0.00,2.12,4.07,0.612,9222,0.000,0.019,2740,2307,1596,1549,1644,0,0,0,0,0,0,28.83,26.24,25.12
$GC,7510,1.57,256.0,2740,2307,1549,1645,126.8,9.2,401,7516,0.00,2.12,0.00,0.000,260,0.000,0.037,2740,3691,1597,1549,1645,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7754,1.59,263.6,2740,3691,1549,1645,105.8,9.0,412,7772,0.00,2.15,10.68,0.673,9222,0.000,0.029,2750,2293,1560,1508,1613,0,0,0,0,0,0,28.83,26.38,25.54
$GC,8093,1.61,274.6,2750,2293,1507,1607,74.9,8.9,429,8109,0.00,2.28,11.73,0.648,8452,0.000,0.035,2750,3700,1515,1462,1569,0,0,0,0,0,0,28.83,26.23,25.55
$GC,8184,1.64,284.8,2750,3701,1461,1565,66.9,8.9,433,8202,0.00,2.17,10.55,0.646,9222,0.000,0.029,2760,2292,1473,1422,1525,0,0,0,0,0,0,28.83,26.27,25.44
$GC,8502,1.65,287.6,2760,2292,1422,1518,37.7,9.2,455,8509,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2292,1470,1422,1518,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8827,1.67,296.7,1728,2289,1395,1512,8.2,8.9,502,8851,0.00,2.25,12.57,0.577,8708,0.000,0.046,2770,901,1423,1378,1468,0,0,0,0,0,0,28.83,26.26,25.62
$STATE,8885,end climb,SURFACE_DEPTH_REACHED
$STATE,8885,begin surface coast
$FINISH,0.0,1.025487
$STATE,8922,end surface coast,CONTROL_FINISHED_OK
$STATE,8922,begin surface
$SM_CCo,8941,211.65,0.759,3,0,399,549.47
$SM_CCo,9171,-0.10,0.000,0,0,403,549.47
$SM_CCo,9174,3.72,0.454,0,0,400,549.47
$SM_GC,-23.93,7.62,1.65,3.72,0.075,0.015,0.454,82,1988,400,-10.57,-1.55,549.47,0,0,0,0,0,0,26.32,26.40,24.51
$IRIDIUM_FIX,2122.58,12013.72,300313,101041
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.37
$INTERNAL_PRESSURE,9.11667
$TCM_TEMP,19.00
$XPDR_PINGS,1
$SC_FREEKB,3932032
$24V_AH,24.3,39.572
$10V_AH,10.2,20.514
$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,17.325,88.875,551.025,215.375,0.000,0.000,0.000,194.475,0.250,0.000,16.453,2108.121,4472.357,880.009,1641.542,425.365,0.000,2024.911,0.000,1464.921,0.000,1.485,0.000
$DEVICE_MAMPS,202.725,46.665,778.005,758.880,0.000,0.000,0.000,130.050,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8922.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.465,0.000,0.000,0.000
$MEM,324452
$DATA_FILE_SIZE,20071,517
$CAP_FILE_SIZE,420953,2251
$CFSIZE,260034560,223621120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$CURRENT,0.101,324.8,1
$GPS,300313,162227,2134.687,12014.119,214,1.5,215,-3.0