version: 66.11
glider: 121
mission: 10
dive: 242
start: 3 31 113 0 37 30
data:
$ID,121
$MISSION,10
$DIVE,242
$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,-100801.37
$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
$GPS1,310313,002929,2137.808,12015.536,25,0.9,25,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-60.1
$GPS2,310313,003703,2137.787,12015.414,29,0.9,29,-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,63.9,64073,-18.5,-9.259,-21.12,2828
$D_GRID,2242
$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,-170.3,82,1943,341,470,0.0,0.0,0,44,0.00,0.00,-23.75,0.000,16386,0.000,0.000,82,1943,1028,1024,1032,0,0,0,0,0,0,28.83,28.83,28.83
$GC,47,-1.35,-170.3,82,1943,1024,1036,3.1,-8.4,3,154,7.72,2.22,-91.20,0.000,18948,0.203,0.056,2112,571,3336,3246,3427,0,0,0,0,0,0,25.73,26.12,26.46
$GC,281,-1.35,-170.3,1256,571,3221,3423,24.6,-9.0,40,289,0.00,2.08,0.00,0.000,1030,0.000,0.015,2104,1998,3337,3248,3427,0,0,0,0,0,0,28.83,26.32,28.83
$GC,589,-1.35,-170.3,2103,1999,3250,3427,52.3,-9.0,70,595,0.00,2.03,0.00,0.000,260,0.000,0.031,2093,3356,3338,3250,3427,0,0,0,0,0,0,28.83,26.39,28.83
$GC,831,-1.35,-170.3,2093,3356,3252,3427,73.2,-8.9,81,837,0.00,2.08,0.00,0.000,1030,0.000,0.024,2100,1967,3340,3253,3427,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1146,-1.35,-170.3,2100,1967,3254,3427,102.1,-9.1,97,1152,0.00,2.10,0.00,0.000,516,0.000,0.041,2110,576,3340,3254,3427,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1175,-1.35,-170.3,2110,576,3254,3427,104.5,-9.1,98,1182,0.00,2.00,0.00,0.000,1030,0.000,0.015,2102,1976,3340,3253,3427,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1496,-1.35,-170.3,2102,1976,3254,3427,134.2,-9.1,114,1502,0.00,2.05,0.00,0.000,260,0.000,0.031,2092,3361,3340,3254,3427,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1585,-1.35,-170.3,2091,3361,3254,3427,142.2,-9.1,118,1590,0.00,2.08,0.00,0.000,1030,0.000,0.026,2091,1971,3340,3253,3427,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1910,-1.35,-170.3,2094,1970,3254,3426,171.7,-9.2,134,1912,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,1970,3340,3254,3426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2211,-1.35,-170.3,2091,1970,3254,3422,198.6,-9.1,149,2218,0.00,2.10,0.00,0.000,260,0.000,0.031,2082,3352,3338,3254,3422,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2252,-1.35,-170.3,2082,3352,3254,3421,201.1,-9.1,150,2261,0.10,2.08,0.00,0.000,3078,0.158,0.027,2109,1971,3337,3254,3421,0,0,0,0,0,0,26.39,26.58,28.83
$GC,2558,-1.35,-170.3,2108,1971,3254,3417,230.0,-8.8,166,2564,0.00,2.15,0.00,0.000,516,0.000,0.044,2119,572,3335,3254,3417,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2610,-1.35,-170.3,2118,572,3253,3417,234.1,-8.7,168,2616,0.00,2.03,0.00,0.000,1030,0.000,0.016,2110,1972,3335,3254,3417,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2930,-1.35,-170.3,2110,1973,3253,3413,262.6,-8.8,184,2931,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,1973,3333,3253,3413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3232,-1.35,-170.3,2110,1973,3252,3410,289.3,-8.8,199,3238,0.00,2.08,0.00,0.000,260,0.000,0.034,2100,3354,3330,3252,3409,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3332,-1.35,-170.3,2100,3355,3251,3408,297.5,-9.0,203,3338,0.00,2.10,0.00,0.000,1030,0.000,0.030,2100,1971,3329,3251,3408,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3647,-1.35,-170.3,2100,1971,3248,3406,326.6,-9.1,219,3654,0.00,2.17,0.00,0.000,516,0.000,0.046,2109,567,3327,3248,3406,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3689,-1.35,-170.3,2109,567,3248,3406,328.9,-8.9,220,3697,0.00,2.05,0.00,0.000,1030,0.000,0.017,2100,1975,3327,3248,3406,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3995,-1.35,-170.3,2100,1975,3244,3404,357.7,-9.1,236,4000,0.00,2.10,0.00,0.000,260,0.000,0.034,2090,3371,3324,3244,3404,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4024,-1.35,-170.3,2090,3371,3243,3403,359.9,-8.9,237,4030,0.00,2.12,0.00,0.000,1030,0.000,0.031,2090,1975,3323,3243,3403,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4345,-1.35,-170.3,2090,1974,3242,3401,388.5,-8.6,253,4351,0.00,2.17,0.00,0.000,516,0.000,0.049,2099,575,3321,3242,3401,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4374,-1.35,-170.3,2099,575,3243,3401,390.7,-8.6,254,4380,0.00,2.05,0.00,0.000,1030,0.000,0.018,2091,1977,3321,3242,3400,0,0,0,0,0,0,28.83,26.62,28.83
$STATE,4471,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4471,begin apogee
$GC,4477,-0.25,0.0,2088,2306,3241,3400,400.2,-9.3,259,4635,0.77,0.00,144.75,1.071,10246,0.115,0.000,2341,2305,2639,2590,2688,0,0,0,0,1,0,26.25,28.83,24.16
$STATE,4637,end apogee,CONTROL_FINISHED_OK
$STATE,4637,begin climb
$GC,4640,1.35,170.3,2341,2305,2590,2688,385.8,0.0,266,4807,1.00,2.25,157.98,0.876,10500,0.055,0.034,2700,3688,1935,1904,1966,0,0,0,0,0,0,25.13,24.88,24.19
$GC,4980,1.36,173.7,2699,3688,1902,1943,354.8,9.1,281,4986,0.00,2.17,0.00,0.000,1030,0.000,0.025,2710,2300,1923,1903,1943,0,0,0,0,0,0,28.83,25.82,28.83
$GC,5304,1.37,176.6,2709,2300,1902,1940,324.9,9.2,297,5306,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2300,1921,1902,1940,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5606,1.40,188.5,2709,2300,1898,1939,298.3,8.8,312,5629,0.00,2.22,14.45,0.793,8708,0.000,0.044,2720,893,1862,1837,1887,0,0,0,0,0,0,28.83,26.13,25.41
$GC,5656,1.41,194.7,2720,893,1835,1884,293.9,9.0,314,5664,0.00,2.10,1.77,0.064,9222,0.000,0.018,2720,2296,1845,1819,1871,0,0,0,0,0,0,28.83,26.22,26.01
$GC,5978,1.42,196.3,2720,2296,1819,1875,264.6,9.2,330,5979,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2296,1847,1819,1875,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6280,1.48,220.8,2720,2296,1819,1875,238.2,8.4,345,6319,0.00,2.17,31.08,0.738,8452,0.000,0.036,2720,3688,1730,1699,1761,0,0,0,0,0,0,28.83,26.00,25.33
$GC,6382,1.50,229.9,2720,3688,1696,1755,229.7,8.9,349,6396,0.00,2.15,4.82,0.674,9222,0.000,0.027,2730,2300,1700,1668,1733,0,0,0,0,0,0,28.83,26.08,25.08
$GC,6693,1.55,247.7,2730,2300,1668,1735,200.6,8.6,365,6715,0.00,0.00,20.73,0.715,8198,0.000,0.000,2730,2300,1629,1582,1676,0,0,0,0,0,0,28.83,28.83,25.32
$GC,7013,1.57,255.9,2730,2300,1578,1665,171.3,9.0,381,7029,0.00,2.28,8.12,0.699,8708,0.000,0.045,2741,896,1593,1544,1642,0,0,0,0,0,0,28.83,26.15,25.43
$GC,7079,1.57,258.9,2741,896,1543,1640,165.3,9.1,384,7086,0.00,2.12,0.00,0.000,1030,0.000,0.018,2741,2304,1591,1543,1639,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7405,1.59,265.2,2741,2304,1543,1636,136.0,9.0,400,7421,0.00,2.15,10.32,0.666,8452,0.000,0.035,2741,3698,1553,1501,1605,0,0,0,0,0,0,28.83,26.23,25.53
$GC,7544,1.61,274.5,2741,3698,1500,1602,124.5,8.9,406,7562,0.00,2.15,10.07,0.657,9222,0.000,0.028,2751,2301,1515,1461,1569,0,0,0,0,0,0,28.83,26.29,25.46
$GC,7883,1.63,282.5,2751,2301,1461,1563,93.3,9.0,423,7899,0.00,2.25,8.02,0.630,8708,0.000,0.045,2761,904,1483,1432,1535,0,0,0,0,0,0,28.83,26.23,25.55
$GC,7969,1.66,294.0,2761,904,1432,1533,85.5,8.8,427,7992,0.00,2.10,12.73,0.615,9222,0.000,0.018,2761,2312,1434,1386,1483,0,0,0,0,0,0,28.83,26.34,25.48
$GC,8290,1.69,304.3,2761,2312,1385,1477,57.0,8.9,443,8305,0.00,0.00,10.40,0.587,8710,0.000,0.000,2761,2312,1394,1352,1437,0,0,0,0,0,0,28.83,28.83,25.56
$GC,8614,1.72,316.5,2761,2312,1351,1429,28.2,8.8,471,8632,0.00,2.12,12.45,0.549,8452,0.000,0.035,2761,3692,1343,1312,1375,0,0,0,0,0,0,28.83,26.23,25.60
$GC,8676,1.75,328.1,2761,3692,1311,1370,22.7,8.8,478,8692,0.00,2.15,11.52,0.546,9222,0.000,0.028,2771,2295,1302,1279,1325,0,0,0,0,0,0,28.83,26.26,25.49
$STATE,8898,end climb,SURFACE_DEPTH_REACHED
$STATE,8898,begin surface coast
$FINISH,0.0,1.024138
$STATE,8933,end surface coast,CONTROL_FINISHED_OK
$STATE,8933,begin surface
$SM_CCo,8951,174.45,0.683,2,0,400,549.47
$SM_CCo,9138,-0.03,0.000,0,0,400,549.47
$SM_CCo,9142,0.00,0.000,0,0,400,549.47
$SM_GC,-23.93,7.55,0.50,0.00,0.069,0.043,0.000,83,1952,400,-10.57,0.85,549.47,0,0,0,0,0,0,26.30,26.33,28.83
$IRIDIUM_FIX,2127.21,12016.89,300313,212106
$TT8_MAMPS,0.023968,0.023968
$HUMID,49.13
$INTERNAL_PRESSURE,9.18503
$TCM_TEMP,20.20
$XPDR_PINGS,2
$SC_FREEKB,3930496
$24V_AH,24.2,40.178
$10V_AH,10.1,20.776
$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,17.150,73.175,459.225,174.450,0.000,0.000,0.000,248.775,0.500,0.000,29.660,2025.069,4768.086,751.470,1612.830,415.950,0.000,1871.327,0.000,1366.793,0.000,1.487,0.000
$DEVICE_MAMPS,202.725,55.845,1071.000,683.145,0.000,0.000,0.000,132.345,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8939.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.486,0.000,0.000,0.000
$MEM,324428
$DATA_FILE_SIZE,20076,523
$CAP_FILE_SIZE,397143,2066
$CFSIZE,260034560,223182848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$CURRENT,0.144,329.0,1
$GPS,310313,031136,2138.817,12015.839,64,1.0,64,-3.0