version: 66.11
glider: 121
mission: 10
dive: 245
start: 3 31 113 8 46 39
data:
$ID,121
$MISSION,10
$DIVE,245
$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,-100805.13
$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,51
$R_STBD_OVSHOOT,58
$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
$GPS1,310313,083854,2141.582,12017.571,67,1.6,67,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-57.3
$GPS2,310313,084612,2141.713,12017.508,21,0.9,21,-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,30.0,56008,-18.5,-9.259,-21.12,2828
$D_GRID,528
$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,-170.3,87,1942,360,477,0.0,0.0,0,44,0.00,0.00,-23.67,0.000,16386,0.000,0.000,87,1943,1043,1040,1046,0,0,0,0,0,0,28.83,28.83,28.83
$GC,47,-1.35,-170.3,86,1944,1040,1049,3.1,-8.8,3,147,7.57,2.28,-86.47,0.000,18692,0.195,0.043,2098,3382,3336,3245,3427,0,0,0,0,0,0,25.82,26.15,26.47
$GC,194,-1.35,-170.3,1248,3381,3219,3424,16.7,-8.6,24,202,0.00,2.15,0.00,0.000,1030,0.000,0.026,2105,1971,3336,3246,3427,0,0,0,0,0,0,28.83,26.20,28.83
$GC,518,-1.35,-170.3,2104,1971,3248,3427,46.0,-9.2,63,524,0.00,2.15,0.00,0.000,260,0.000,0.030,2097,3378,3337,3248,3427,0,0,0,0,0,0,28.83,26.36,28.83
$GC,678,-1.35,-170.3,2096,3378,3249,3427,59.7,-9.1,72,684,0.00,2.12,0.00,0.000,1030,0.000,0.024,2101,1964,3338,3250,3427,0,0,0,0,0,0,28.83,26.44,28.83
$GC,994,-1.35,-170.3,2102,1964,3252,3427,88.9,-9.0,88,999,0.00,2.12,0.00,0.000,260,0.000,0.030,2093,3368,3340,3253,3427,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1092,-1.35,-170.3,2092,3369,3253,3427,96.9,-8.9,92,1098,0.00,2.10,0.00,0.000,1030,0.000,0.024,2096,1961,3339,3253,3426,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1407,-1.35,-170.3,2096,1961,3253,3427,125.7,-8.7,108,1413,0.00,2.10,0.00,0.000,516,0.000,0.041,2106,575,3340,3253,3428,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1454,-1.35,-170.3,2106,575,3253,3427,130.0,-8.9,110,1461,0.00,2.03,0.00,0.000,1030,0.000,0.015,2098,1992,3340,3253,3427,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1780,-1.35,-170.3,2097,1993,3253,3427,159.5,-9.3,126,1781,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,1993,3340,3253,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2083,-1.35,-170.3,2098,1996,3253,3423,186.4,-8.8,141,2089,0.00,2.03,0.00,0.000,260,0.000,0.032,2088,3355,3338,3253,3423,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2119,-1.35,-170.3,2087,3355,3253,3422,188.9,-9.0,142,2125,0.00,2.08,0.00,0.000,1030,0.000,0.026,2088,1969,3337,3253,3422,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2435,-1.35,-170.3,2088,1969,3253,3420,218.4,-8.9,158,2440,0.00,2.12,0.00,0.000,516,0.000,0.043,2098,578,3336,3253,3420,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2532,-1.35,-170.3,2098,578,3253,3419,226.2,-8.9,162,2538,0.00,2.03,0.00,0.000,1030,0.000,0.016,2089,1985,3335,3253,3418,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2847,-1.35,-170.3,2089,1985,3252,3414,255.1,-8.9,178,2853,0.00,2.05,0.00,0.000,260,0.000,0.033,2079,3359,3333,3253,3414,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2904,-1.35,-170.3,2078,3358,3253,3412,259.5,-9.3,180,2910,0.10,2.08,0.00,0.000,3078,0.161,0.028,2105,1978,3333,3253,3413,0,0,0,0,0,0,26.37,26.57,28.83
$GC,3220,-1.35,-170.3,2104,1978,3252,3410,288.1,-9.0,196,3226,0.00,2.10,0.00,0.000,260,0.000,0.032,2096,3359,3330,3252,3409,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3322,-1.35,-170.3,2097,3359,3251,3409,296.0,-8.9,200,3330,0.00,2.10,0.00,0.000,1030,0.000,0.028,2103,1970,3329,3251,3408,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3628,-1.35,-170.3,2103,1970,3249,3407,325.4,-9.1,216,3633,0.00,2.15,0.00,0.000,516,0.000,0.045,2113,573,3328,3249,3407,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3704,-1.35,-170.3,2112,572,3248,3407,331.2,-8.7,219,3710,0.00,2.03,0.00,0.000,1030,0.000,0.016,2105,1971,3327,3248,3406,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4020,-1.35,-170.3,2104,1972,3246,3404,360.5,-9.0,235,4021,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,1971,3325,3246,3404,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4321,-1.35,-170.3,2104,1972,3243,3402,387.2,-8.9,250,4328,0.00,2.10,0.00,0.000,260,0.000,0.034,2095,3360,3321,3243,3400,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4379,-1.35,-170.3,2094,3360,3242,3400,391.6,-8.9,252,4385,0.00,2.10,0.00,0.000,1030,0.000,0.030,2094,1977,3321,3242,3401,0,0,0,0,0,0,28.83,26.54,28.83
$STATE,4471,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4471,begin apogee
$GC,4477,-0.25,0.0,2093,2305,3242,3400,400.9,-8.8,257,4643,0.77,0.00,153.88,1.011,10246,0.113,0.000,2346,2305,2638,2590,2686,0,0,0,0,1,0,26.25,28.83,24.18
$STATE,4646,end apogee,CONTROL_FINISHED_OK
$STATE,4646,begin climb
$GC,4648,1.35,170.3,2345,2305,2590,2687,386.2,0.0,264,4821,1.00,2.33,162.90,0.866,10500,0.052,0.034,2706,3690,1936,1904,1968,0,0,0,0,0,0,25.14,24.92,24.23
$GC,5022,1.35,170.4,2706,3690,1900,1941,350.9,9.3,281,5028,0.10,2.17,0.00,0.000,5126,0.191,0.025,2695,2294,1921,1901,1941,0,0,0,0,0,0,25.69,25.91,28.83
$GC,5347,1.36,174.0,2695,2295,1901,1938,321.7,9.1,297,5354,0.00,2.17,0.00,0.000,260,0.000,0.034,2695,3684,1919,1901,1938,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5431,1.38,180.6,2695,3685,1901,1937,315.6,9.0,300,5440,0.00,2.12,2.10,0.136,9222,0.000,0.025,2704,2293,1901,1879,1923,0,0,0,0,0,0,28.83,26.29,24.82
$GC,5736,1.40,188.0,2704,2293,1880,1931,286.9,9.0,316,5755,0.00,0.00,12.88,0.780,8198,0.000,0.000,2705,2293,1865,1841,1890,0,0,0,0,0,0,28.83,28.83,25.47
$GC,6057,1.41,195.0,2704,2293,1838,1884,258.3,9.0,332,6069,0.00,2.25,3.55,0.548,8708,0.000,0.044,2715,894,1845,1820,1870,0,0,0,0,0,0,28.83,26.32,25.23
$GC,6140,1.44,205.4,1728,894,1775,1862,252.1,8.9,335,6160,0.00,2.08,14.52,0.763,9222,0.000,0.017,2715,2292,1801,1773,1830,0,0,0,0,0,0,28.83,26.41,25.42
$GC,6476,1.49,225.9,2714,2292,1770,1819,221.3,8.5,352,6504,0.00,2.17,20.95,0.737,8452,0.000,0.036,2715,3687,1712,1681,1744,0,0,0,0,0,0,28.83,26.06,25.37
$GC,6601,1.51,234.8,2715,3687,1680,1741,211.1,8.9,357,6615,0.00,2.15,9.00,0.735,9222,0.000,0.027,2725,2294,1681,1648,1715,0,0,0,0,0,0,28.83,26.16,25.29
$GC,6938,1.53,239.3,2724,2295,1644,1705,179.3,9.1,374,6949,0.00,2.22,2.88,0.430,8452,0.000,0.034,2726,3685,1664,1631,1697,0,0,0,0,0,0,28.83,26.28,25.15
$GC,7030,1.55,249.1,1744,3685,1596,1690,171.0,8.9,378,7049,0.00,2.12,12.62,0.704,9222,0.000,0.028,2735,2301,1620,1575,1666,0,0,0,0,0,0,28.83,26.32,25.44
$GC,7348,1.55,250.0,2734,2301,1572,1660,142.1,9.2,394,7355,0.00,2.20,0.00,0.000,516,0.000,0.044,2745,895,1616,1572,1660,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7431,1.56,254.0,2745,894,1572,1660,135.8,9.1,397,7440,0.00,2.10,3.47,0.506,9222,0.000,0.018,2745,2306,1604,1557,1651,0,0,0,0,0,0,28.83,26.41,25.25
$GC,7737,1.60,269.9,2745,2306,1556,1651,106.9,8.7,413,7758,0.00,0.00,19.20,0.633,8198,0.000,0.000,2745,2306,1538,1485,1592,0,0,0,0,0,0,28.83,28.83,25.54
$GC,8056,1.60,269.9,2745,2307,1480,1581,77.9,9.3,429,8062,0.00,2.25,0.00,0.000,516,0.000,0.042,2755,894,1531,1481,1581,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8108,1.61,274.9,2755,894,1480,1581,73.7,9.1,431,8116,0.00,2.10,3.53,0.481,9222,0.000,0.018,2755,2305,1519,1468,1570,0,0,0,0,0,0,28.83,26.41,25.30
$GC,8421,1.63,283.0,2755,2306,1466,1570,45.8,9.0,448,8440,0.00,2.30,10.88,0.585,8708,0.000,0.042,2765,893,1481,1429,1533,0,0,0,0,0,0,28.83,26.29,25.64
$GC,8517,1.64,283.7,2765,893,1429,1530,36.9,9.2,456,8523,0.00,2.10,0.00,0.000,1030,0.000,0.018,2765,2304,1479,1429,1529,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8843,1.68,301.9,1728,2301,1403,1522,7.6,8.6,504,8867,0.00,2.22,19.10,0.535,8452,0.000,0.037,2765,3702,1404,1360,1448,0,0,0,0,0,0,28.83,26.25,25.64
$STATE,8897,end climb,SURFACE_DEPTH_REACHED
$STATE,8897,begin surface coast
$FINISH,0.4,1.024693
$STATE,8921,end surface coast,CONTROL_FINISHED_OK
$STATE,8921,begin surface
$SM_CCo,8941,207.23,0.706,3,0,400,549.47
$SM_CCo,9166,-0.03,0.000,0,0,400,549.47
$SM_CCo,9170,0.03,0.291,0,0,400,549.47
$SM_GC,-23.93,7.60,2.75,0.03,0.072,0.028,0.291,87,1965,400,-10.56,0.85,549.47,0,0,0,0,0,0,26.25,26.27,25.26
$IRIDIUM_FIX,2131.85,12014.89,310313,060614
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.05
$INTERNAL_PRESSURE,9.1655
$TCM_TEMP,19.70
$XPDR_PINGS,1
$SC_FREEKB,3929344
$24V_AH,24.2,40.643
$10V_AH,10.2,20.971
$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,17.150,82.300,451.450,207.250,0.000,0.000,0.000,237.775,0.250,0.000,21.755,2062.736,4689.080,785.018,1618.001,428.764,0.000,1914.125,0.000,1415.095,0.000,1.488,0.000
$DEVICE_MAMPS,195.075,45.135,1011.330,706.095,0.000,0.000,0.000,133.875,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8932.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.463,0.000,0.000,0.000
$MEM,324404
$DATA_FILE_SIZE,16759,516
$CAP_FILE_SIZE,404491,2134
$CFSIZE,260034560,222830592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$CURRENT,0.252, 45.0,1
$GPS,310313,112153,2143.413,12018.949,103,1.3,103,-3.0