version: 66.11
glider: 121
mission: 10
dive: 171
start: 3 23 113 0 21 52
data:
$ID,121
$MISSION,10
$DIVE,171
$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,-4
$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,-100709.73
$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,50
$R_STBD_OVSHOOT,55
$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
$GPS1,230313,001334,2005.623,12005.239,128,1.2,128,-2.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-65.8
$GPS2,230313,002124,2005.628,12005.269,19,1.0,20,-2.7
$SPEED_LIMITS,0.160,0.240
$TGT_NAME,W2A
$TGT_LATLONG,2145.000,12000.000
$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,351.8,184259,-18.5,-9.259,-21.12,2828
$D_GRID,3608
$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,-170.3,88,1948,337,483,0.0,0.0,0,44,0.00,0.00,-24.05,0.000,16386,0.000,0.000,87,1948,1037,1017,1057,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.35,-170.3,87,1948,1017,1060,3.3,-9.4,3,162,8.00,2.22,-92.97,0.000,18692,0.221,0.044,2090,3369,3337,3246,3428,0,0,0,0,0,0,25.79,26.16,26.45
$GC,296,-1.35,-170.3,1236,3367,3220,3425,25.5,-8.9,42,304,0.00,2.10,0.00,0.000,1030,0.000,0.026,2097,1981,3338,3248,3428,0,0,0,0,0,0,28.83,26.29,28.83
$GC,613,-1.35,-170.3,2097,1981,3250,3427,54.2,-9.1,72,619,0.00,2.15,0.00,0.000,516,0.000,0.041,2108,575,3338,3250,3427,0,0,0,0,0,0,28.83,26.41,28.83
$GC,690,-1.35,-170.3,2107,575,3252,3427,60.2,-9.1,75,696,0.00,2.05,0.00,0.000,1030,0.000,0.015,2100,1998,3340,3252,3428,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1004,-1.35,-170.3,2099,2000,3252,3427,89.4,-8.7,91,1010,0.00,2.20,0.00,0.000,516,0.000,0.038,2108,570,3341,3254,3428,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1101,-1.35,-170.3,2107,569,3253,3428,97.1,-8.8,95,1107,0.00,2.03,0.00,0.000,1030,0.000,0.015,2099,1982,3340,3253,3428,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1415,-1.35,-170.3,2099,1984,3253,3428,126.1,-9.0,111,1421,0.00,2.03,0.00,0.000,260,0.000,0.031,2089,3355,3340,3253,3428,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1471,-1.35,-170.3,2089,3355,3253,3427,130.3,-9.0,113,1478,0.00,2.08,0.00,0.000,1030,0.000,0.025,2096,1964,3340,3253,3427,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1787,-1.35,-170.3,2096,1964,3253,3426,159.9,-9.1,129,1793,0.00,2.10,0.00,0.000,260,0.000,0.031,2088,3356,3339,3253,3426,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1859,-1.35,-170.3,2087,3356,3253,3425,166.1,-8.9,132,1865,0.00,2.08,0.00,0.000,1030,0.000,0.026,2094,1967,3339,3253,3425,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2179,-1.35,-170.3,2094,1967,3253,3422,195.0,-8.7,148,2185,0.00,2.10,0.00,0.000,260,0.000,0.031,2086,3359,3337,3253,3422,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2267,-1.35,-170.3,2085,3359,3254,3421,202.9,-8.9,152,2273,0.00,2.08,0.00,0.000,1030,0.000,0.027,2090,1972,3337,3253,3422,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2592,-1.35,-170.3,2090,1972,3253,3419,232.1,-9.1,168,2594,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,1972,3336,3253,3419,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2894,-1.35,-170.3,2090,1972,3253,3415,259.1,-9.0,183,2900,0.00,2.15,0.00,0.000,516,0.000,0.044,2100,570,3333,3252,3415,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2962,-1.35,-170.3,2100,570,3253,3415,265.1,-8.9,186,2968,0.00,2.03,0.00,0.000,1030,0.000,0.017,2092,1970,3333,3252,3415,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3283,-1.35,-170.3,2092,1971,3251,3412,294.0,-8.5,202,3289,0.00,2.08,0.00,0.000,260,0.000,0.034,2081,3364,3331,3251,3411,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3312,-1.35,-170.3,2081,3364,3250,3411,296.4,-8.4,203,3318,0.00,2.10,0.00,0.000,1030,0.000,0.029,2085,1970,3330,3250,3411,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3632,-1.35,-170.3,2084,1970,3249,3408,325.6,-9.0,219,3639,0.10,2.15,0.00,0.000,2564,0.171,0.044,2119,572,3328,3249,3408,0,0,0,0,0,0,26.55,26.61,28.83
$GC,3680,-1.35,-170.3,2119,572,3249,3408,329.9,-9.0,221,3687,0.00,2.05,0.00,0.000,1030,0.000,0.017,2111,1979,3328,3249,3408,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4005,-1.35,-170.3,2110,1980,3247,3406,359.4,-8.9,237,4011,0.00,2.20,0.00,0.000,516,0.000,0.045,2120,571,3326,3247,3405,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4072,-1.35,-170.3,2119,571,3246,3405,365.3,-8.8,240,4078,0.00,2.05,0.00,0.000,1030,0.000,0.018,2111,1974,3325,3246,3405,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4397,-1.35,-170.3,2110,1974,3243,3403,394.6,-9.2,256,4403,0.00,2.20,0.00,0.000,516,0.000,0.046,2119,568,3323,3243,3403,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4457,-1.35,-170.3,1316,568,3217,3399,398.8,-9.0,258,4465,0.00,2.05,0.00,0.000,1030,0.000,0.018,2110,1978,3322,3242,3402,0,0,0,0,0,0,28.83,26.70,28.83
$STATE,4482,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4482,begin apogee
$GC,4487,-0.25,0.0,2107,2308,3242,3402,402.3,-8.9,260,4652,0.70,0.00,152.62,1.036,10246,0.113,0.000,2340,2308,2639,2590,2689,0,0,0,0,1,0,26.47,28.83,24.22
$STATE,4655,end apogee,CONTROL_FINISHED_OK
$STATE,4656,begin climb
$GC,4657,1.35,170.3,2341,2308,2589,2689,387.8,0.0,267,4829,1.00,2.30,161.55,0.865,10500,0.057,0.034,2699,3684,1936,1901,1972,0,0,0,0,0,0,25.13,24.89,24.25
$GC,4997,1.38,180.9,2699,3684,1895,1948,357.4,8.9,282,5012,0.00,2.15,2.83,0.376,9222,0.000,0.024,2709,2304,1900,1871,1929,0,0,0,0,0,0,28.83,25.79,24.84
$GC,5308,1.41,193.2,2709,2304,1871,1935,328.8,8.8,298,5332,0.00,2.33,17.80,0.811,8708,0.000,0.044,2720,888,1844,1814,1875,0,0,0,0,0,0,28.83,25.89,25.21
$GC,5380,1.45,208.1,2719,888,1810,1870,322.8,8.7,301,5404,0.00,2.12,14.50,0.815,9222,0.000,0.018,2720,2304,1782,1750,1814,0,0,0,0,0,0,28.83,26.07,25.10
$GC,5723,1.47,216.0,2719,2304,1748,1805,291.9,9.0,318,5735,0.00,2.28,4.53,0.684,8708,0.000,0.042,2730,887,1757,1726,1789,0,0,0,0,0,0,28.83,26.16,25.19
$GC,5811,1.48,222.2,2730,887,1727,1790,283.9,9.0,322,5828,0.00,2.12,9.68,0.786,9222,0.000,0.018,2730,2305,1729,1695,1763,0,0,0,0,0,0,28.83,26.29,25.37
$GC,6137,1.52,235.7,2730,2305,1694,1757,254.7,8.8,338,6160,0.00,2.20,14.07,0.761,8452,0.000,0.036,2730,3692,1673,1637,1710,0,0,0,0,0,0,28.83,26.13,25.42
$GC,6197,1.54,244.8,2730,3692,1636,1706,250.5,8.9,340,6211,0.00,2.15,9.30,0.757,9222,0.000,0.026,2740,2294,1640,1597,1684,0,0,0,0,0,0,28.83,26.17,25.36
$GC,6534,1.55,249.9,2740,2295,1591,1672,219.7,9.1,357,6545,0.00,2.25,3.28,0.518,8708,0.000,0.045,2750,896,1620,1576,1664,0,0,0,0,0,0,28.83,26.26,25.25
$GC,6590,1.55,249.9,2750,896,1577,1667,215.1,9.3,359,6596,0.00,2.10,0.00,0.000,1030,0.000,0.018,2750,2306,1622,1577,1668,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6905,1.58,262.4,2750,2306,1577,1667,186.1,8.8,375,6928,0.00,2.12,15.85,0.694,8452,0.000,0.035,2750,3690,1565,1514,1616,0,0,0,0,0,0,28.83,26.20,25.55
$GC,7019,1.59,266.5,2750,3690,1513,1613,176.2,9.1,380,7030,0.00,2.12,3.00,0.450,9222,0.000,0.028,2760,2304,1552,1501,1603,0,0,0,0,0,0,28.83,26.28,25.29
$GC,7339,1.59,266.5,2760,2304,1500,1604,146.6,9.3,396,7345,0.00,2.15,0.00,0.000,260,0.000,0.035,2760,3694,1552,1500,1605,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7440,1.62,275.8,2760,3694,1501,1605,138.8,8.9,400,7459,0.00,2.15,12.40,0.645,9222,0.000,0.028,2770,2289,1511,1458,1565,0,0,0,0,0,0,28.83,26.44,25.62
$GC,7775,1.63,279.1,2770,2289,1456,1558,107.7,9.1,417,7781,0.00,2.17,0.00,0.000,516,0.000,0.045,2780,893,1507,1456,1558,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7816,1.63,282.2,2780,893,1457,1558,105.3,9.1,418,7830,0.12,2.10,4.97,0.599,13318,0.187,0.019,2752,2310,1488,1436,1540,0,0,0,0,0,0,26.22,26.47,25.47
$GC,8152,1.65,289.4,2752,2310,1436,1540,73.9,9.0,435,8167,0.00,2.12,9.68,0.583,8452,0.000,0.035,2752,3699,1455,1405,1505,0,0,0,0,0,0,28.83,26.34,25.72
$GC,8233,1.67,297.1,2751,3699,1404,1502,67.8,9.0,438,8247,0.00,2.15,8.23,0.583,9222,0.000,0.028,2761,2298,1425,1380,1471,0,0,0,0,0,0,28.83,26.39,25.66
$GC,8556,1.70,308.0,2760,2298,1379,1464,37.5,8.9,461,8576,0.00,2.20,11.57,0.542,8708,0.000,0.044,2771,893,1378,1341,1416,0,0,0,0,0,0,28.83,26.27,25.70
$GC,8660,1.72,316.0,2771,893,1341,1412,28.5,9.0,470,8674,0.00,2.08,8.18,0.535,9222,0.000,0.018,2771,2300,1347,1315,1379,0,0,0,0,0,0,28.83,26.40,25.66
$STATE,8943,end climb,SURFACE_DEPTH_REACHED
$STATE,8943,begin surface coast
$FINISH,0.0,1.023394
$STATE,8978,end surface coast,CONTROL_FINISHED_OK
$STATE,8978,begin surface
$SM_CCo,8994,176.52,0.653,1,0,399,549.47
$SM_CCo,9178,-0.28,0.000,0,0,401,549.47
$SM_CCo,9182,0.75,0.080,0,0,401,549.47
$SM_GC,-23.93,7.45,0.52,0.75,0.067,0.034,0.080,85,1958,401,-10.56,1.07,549.47,0,0,0,0,0,0,26.41,26.45,25.26
$IRIDIUM_FIX,1957.29,12004.32,220313,212159
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.16
$INTERNAL_PRESSURE,9.18503
$TCM_TEMP,20.80
$XPDR_PINGS,0
$SC_FREEKB,3957504
$24V_AH,24.2,29.275
$10V_AH,10.2,16.247
$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,17.375,90.600,464.025,177.275,0.000,0.000,0.000,284.000,0.000,0.000,21.175,2116.981,4673.174,776.262,1716.585,353.241,0.000,1994.040,0.000,1437.389,0.000,1.485,0.000
$DEVICE_MAMPS,221.085,45.900,1035.810,653.310,0.000,0.000,0.000,130.815,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8988.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.536,0.000,0.000,0.000
$MEM,323880
$DATA_FILE_SIZE,20112,525
$CAP_FILE_SIZE,419065,2191
$CFSIZE,260034560,231346176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$CURRENT,0.098, 48.9,1
$GPS,230313,025604,2006.812,12005.448,30,0.9,30,-2.7