version: 66.11
glider: 121
mission: 10
dive: 247
start: 3 31 113 14 13 21
data:
$ID,121
$MISSION,10
$DIVE,247
$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,-100808.84
$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,46
$R_STBD_OVSHOOT,54
$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
$GPS1,310313,140404,2144.993,12019.521,42,0.9,42,-3.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-55.4
$GPS2,310313,141253,2144.988,12019.373,19,0.9,19,-3.1
$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,47.4,49178,-18.5,-9.259,-21.12,2828
$D_GRID,1133
$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,-170.3,85,1946,363,483,0.0,0.0,0,44,0.00,0.00,-23.83,0.000,16386,0.000,0.000,85,1945,1050,1048,1052,0,0,0,0,0,0,28.83,28.83,28.83
$GC,47,-1.35,-170.3,85,1946,1048,1056,3.5,-8.5,3,154,7.62,2.28,-93.07,0.000,18692,0.200,0.043,2091,3382,3337,3248,3427,0,0,0,0,0,0,25.72,26.13,26.46
$GC,328,-1.35,-170.3,2090,3383,3249,3427,29.7,-9.7,44,334,0.00,2.12,0.00,0.000,1030,0.000,0.025,2098,1975,3338,3249,3427,0,0,0,0,0,0,28.83,26.29,28.83
$GC,644,-1.35,-170.3,2098,1975,3252,3427,58.0,-9.0,71,650,0.00,2.15,0.00,0.000,516,0.000,0.040,2109,568,3339,3251,3427,0,0,0,0,0,0,28.83,26.36,28.83
$GC,684,-1.35,-170.3,2108,568,3252,3427,60.4,-9.1,72,693,0.00,2.08,0.00,0.000,1030,0.000,0.015,2100,1999,3339,3252,3427,0,0,0,0,0,0,28.83,26.48,28.83
$GC,992,-1.35,-170.3,2100,2001,3254,3427,89.5,-9.0,88,998,0.00,2.05,0.00,0.000,260,0.000,0.031,2090,3367,3340,3253,3427,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1053,-1.35,-170.3,1280,3365,3227,3424,93.8,-9.1,90,1061,0.00,2.10,0.00,0.000,1030,0.000,0.025,2092,1964,3340,3253,3427,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1362,-1.35,-170.3,2092,1964,3253,3427,122.1,-8.7,106,1363,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,1964,3340,3253,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1662,-1.35,-170.3,2092,1964,3252,3427,149.2,-9.2,121,1668,0.00,2.12,0.00,0.000,516,0.000,0.041,2101,568,3339,3253,3426,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1688,-1.35,-170.3,2101,568,3253,3426,151.7,-9.4,122,1695,0.00,2.03,0.00,0.000,1030,0.000,0.016,2093,1978,3339,3253,3426,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2015,-1.35,-170.3,2092,1979,3253,3422,180.7,-8.9,138,2016,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,1979,3337,3253,3422,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2316,-1.35,-170.3,2092,1980,3253,3420,208.0,-9.0,153,2322,0.00,2.08,0.00,0.000,260,0.000,0.033,2082,3367,3336,3253,3419,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2413,-1.35,-170.3,2082,3367,3253,3418,215.9,-8.9,157,2420,0.10,2.10,0.00,0.000,3078,0.157,0.027,2108,1971,3335,3253,3417,0,0,0,0,0,0,26.37,26.56,28.83
$GC,2729,-1.35,-170.3,2108,1971,3252,3414,245.1,-8.9,173,2735,0.00,2.15,0.00,0.000,516,0.000,0.044,2118,572,3333,3253,3414,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2814,-1.35,-170.3,2118,571,3253,3414,251.4,-9.1,176,2823,0.00,2.03,0.00,0.000,1030,0.000,0.016,2110,1971,3332,3253,3412,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3119,-1.35,-170.3,2109,1971,3252,3410,280.6,-9.1,192,3125,0.00,2.10,0.00,0.000,260,0.000,0.034,2100,3361,3330,3252,3409,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3187,-1.35,-170.3,2100,3361,3251,3408,286.8,-9.2,195,3194,0.00,2.10,0.00,0.000,1030,0.000,0.028,2100,1979,3329,3251,3408,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3513,-1.35,-170.3,2100,1979,3249,3406,316.2,-9.1,211,3519,0.00,2.17,0.00,0.000,516,0.000,0.045,2110,570,3327,3248,3406,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3554,-1.35,-170.3,2109,570,3248,3406,318.5,-9.2,212,3562,0.00,2.05,0.00,0.000,1030,0.000,0.017,2102,1980,3327,3248,3406,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3862,-1.35,-170.3,2101,1980,3246,3404,348.0,-8.9,228,3868,0.00,2.20,0.00,0.000,516,0.000,0.044,2109,574,3324,3246,3403,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3919,-1.35,-170.3,2109,574,3245,3404,352.2,-8.8,230,3925,0.00,2.05,0.00,0.000,1030,0.000,0.017,2101,1981,3324,3245,3403,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4234,-1.35,-170.3,2101,1981,3243,3401,382.5,-9.7,246,4240,0.00,2.08,0.00,0.000,260,0.000,0.036,2091,3360,3321,3242,3401,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4371,-1.35,-170.3,2090,3360,3242,3400,394.7,-9.2,252,4377,0.00,2.10,0.00,0.000,1030,0.000,0.030,2091,1978,3321,3242,3400,0,0,0,0,0,0,28.83,26.53,28.83
$STATE,4429,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4429,begin apogee
$GC,4434,-0.25,0.0,2090,2300,3242,3400,400.9,-9.4,255,4601,0.77,0.00,154.32,1.000,10246,0.117,0.000,2342,2301,2638,2589,2687,0,0,0,0,1,0,26.21,28.83,24.16
$STATE,4605,end apogee,CONTROL_FINISHED_OK
$STATE,4605,begin climb
$GC,4607,1.35,170.3,2342,2301,2589,2687,386.4,0.0,262,4770,1.00,2.28,147.88,1.088,10500,0.051,0.034,2703,3683,1943,1910,1976,0,0,0,0,1,0,25.14,24.66,23.84
$GC,4954,1.37,175.2,2703,3683,1910,1976,355.3,9.1,277,4964,0.00,2.17,5.30,0.754,9222,0.000,0.027,2713,2296,1925,1896,1955,0,0,0,0,0,0,28.83,25.77,24.83
$GC,5261,1.38,179.3,2713,2296,1896,1955,326.0,9.1,293,5273,0.00,2.20,5.10,0.754,8452,0.000,0.034,2713,3691,1909,1881,1937,0,0,0,0,0,0,28.83,26.10,25.15
$GC,5428,1.39,184.7,2713,3691,1881,1937,312.3,9.1,300,5442,0.00,2.15,8.07,0.802,9222,0.000,0.025,2723,2292,1884,1858,1911,0,0,0,0,0,0,28.83,26.22,25.28
$GC,5764,1.41,194.4,2722,2292,1857,1904,281.2,8.9,317,5780,0.00,2.20,10.95,0.793,8708,0.000,0.042,2734,895,1842,1815,1869,0,0,0,0,0,0,28.83,26.13,25.39
$GC,5923,1.43,199.6,2733,895,1813,1867,267.5,9.1,324,5936,0.10,2.10,3.88,0.626,13318,0.194,0.018,2712,2308,1824,1796,1853,0,0,0,0,0,0,26.03,26.30,25.12
$GC,6235,1.45,211.0,2711,2308,1796,1853,238.9,8.8,340,6258,0.00,2.15,14.12,0.767,8452,0.000,0.037,2712,3695,1774,1746,1803,0,0,0,0,0,0,28.83,26.15,25.41
$GC,6292,1.48,220.6,2712,3695,1746,1800,234.7,8.9,342,6312,0.00,2.15,10.55,0.761,9222,0.000,0.027,2722,2301,1735,1705,1766,0,0,0,0,0,0,28.83,26.17,25.28
$GC,6633,1.50,228.1,2721,2301,1704,1760,203.2,9.0,359,6642,0.00,0.00,6.82,0.735,8198,0.000,0.000,2722,2301,1710,1680,1741,0,0,0,0,0,0,28.83,28.83,25.39
$GC,6933,1.51,232.5,2721,2301,1676,1735,176.6,9.1,374,6944,0.00,2.25,4.03,0.607,8708,0.000,0.044,2732,901,1691,1658,1724,0,0,0,0,0,0,28.83,26.28,25.22
$GC,7030,1.52,237.5,2732,902,1658,1725,168.4,9.1,378,7044,0.00,2.10,7.72,0.717,9222,0.000,0.018,2732,2293,1669,1633,1705,0,0,0,0,0,0,28.83,26.38,25.45
$GC,7341,1.53,239.6,2732,2294,1623,1703,139.4,9.2,394,7347,0.00,2.15,0.00,0.000,260,0.000,0.037,2732,3694,1663,1623,1703,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7398,1.53,239.6,2732,3694,1621,1703,135.0,9.4,396,7404,0.00,2.15,0.00,0.000,1030,0.000,0.028,2742,2294,1662,1621,1703,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7713,1.54,246.1,2742,2294,1621,1702,105.5,9.0,412,7729,0.00,2.20,8.80,0.668,8708,0.000,0.045,2753,897,1631,1584,1679,0,0,0,0,0,0,28.83,26.31,25.60
$GC,7831,1.58,259.2,2752,897,1583,1675,96.0,8.8,417,7850,0.00,2.10,14.02,0.651,9222,0.000,0.018,2753,2306,1581,1530,1633,0,0,0,0,0,0,28.83,26.41,25.51
$GC,8171,1.58,259.2,2752,2305,1526,1623,64.6,9.3,434,8176,0.00,2.15,0.00,0.000,260,0.000,0.038,2753,3697,1574,1526,1623,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8269,1.59,263.2,2752,3697,1525,1622,56.3,9.1,438,8275,0.00,2.15,0.00,0.000,1030,0.000,0.028,2763,2295,1574,1526,1623,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8584,1.59,263.2,2762,2295,1525,1622,27.3,9.3,466,8590,0.00,2.17,0.00,0.000,516,0.000,0.044,2773,896,1574,1526,1622,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8683,1.59,264.3,2773,896,1525,1622,18.4,9.2,481,8693,0.12,2.10,3.72,0.485,13318,0.182,0.018,2744,2315,1559,1509,1610,0,0,0,0,0,0,26.15,26.50,25.38
$STATE,8851,end climb,SURFACE_DEPTH_REACHED
$STATE,8851,begin surface coast
$FINISH,0.0,1.025475
$STATE,8886,end surface coast,CONTROL_FINISHED_OK
$STATE,8886,begin surface
$SM_CCo,8903,230.85,0.728,1,0,399,549.47
$SM_CCo,9142,-0.10,0.000,0,0,402,549.47
$SM_CCo,9147,1.00,0.077,0,0,400,549.47
$SM_GC,-23.93,7.50,0.55,1.00,0.073,0.035,0.077,83,1958,400,-10.57,1.02,549.47,0,0,0,0,0,0,26.43,26.48,25.09
$IRIDIUM_FIX,2134.17,12024.40,310313,111114
$TT8_MAMPS,0.024717,0.024717
$HUMID,50.51
$INTERNAL_PRESSURE,9.09714
$TCM_TEMP,19.00
$XPDR_PINGS,1
$SC_FREEKB,3928576
$24V_AH,23.8,40.951
$10V_AH,10.1,21.101
$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,17.225,82.075,405.300,231.850,0.000,0.000,0.000,323.775,0.250,0.000,20.899,2095.492,4609.690,775.312,1725.154,447.598,0.000,2007.869,0.000,1442.859,0.000,1.487,0.000
$DEVICE_MAMPS,199.665,45.135,1087.830,728.280,0.000,0.000,0.000,130.050,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8899.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.463,0.000,0.000,0.000
$MEM,324428
$DATA_FILE_SIZE,16813,517
$CAP_FILE_SIZE,411467,2184
$CFSIZE,260034560,222593024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$CURRENT,0.107,333.6,1
$GPS,310313,164959,2146.072,12019.812,209,0.8,209,-3.1