version: 66.11
glider: 121
mission: 10
dive: 180
start: 3 24 113 0 36 38
data:
$ID,121
$MISSION,10
$DIVE,180
$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,-100721.02
$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,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
$GPS1,240313,002903,2018.843,12004.164,32,1.3,34,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-66.7
$GPS2,240313,003611,2018.863,12004.248,15,1.2,16,-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,2.6,159694,-18.5,-9.259,-21.12,2828
$D_GRID,3546
$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,-170.3,82,1948,328,474,0.0,0.0,0,43,0.00,0.00,-23.10,0.000,16386,0.000,0.000,82,1948,999,984,1014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,45,-1.35,-170.3,82,1948,984,1016,3.2,-9.6,3,145,7.88,2.22,-84.00,0.000,18948,0.213,0.052,2112,569,3338,3245,3431,0,0,0,0,0,0,25.78,26.13,26.44
$GC,282,-1.35,-170.3,1248,569,3221,3427,25.0,-8.9,41,291,0.00,2.08,0.00,0.000,1030,0.000,0.015,2104,1990,3340,3249,3431,0,0,0,0,0,0,28.83,26.32,28.83
$GC,589,-1.35,-170.3,2104,1991,3252,3431,52.8,-9.3,71,590,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,1992,3341,3252,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,892,-1.35,-170.3,2104,1992,3255,3430,79.8,-9.0,86,898,0.00,2.05,0.00,0.000,260,0.000,0.031,2093,3360,3343,3255,3431,0,0,0,0,0,0,28.83,26.50,28.83
$GC,922,-1.35,-170.3,2093,3360,3254,3431,82.1,-8.9,87,928,0.00,2.08,0.00,0.000,1030,0.000,0.024,2101,1969,3343,3255,3431,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1242,-1.35,-170.3,2101,1970,3255,3430,111.4,-8.9,103,1249,0.00,2.12,0.00,0.000,516,0.000,0.040,2112,570,3343,3256,3431,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1319,-1.35,-170.3,2111,570,3255,3430,117.5,-8.9,106,1325,0.00,2.03,0.00,0.000,1030,0.000,0.015,2103,1981,3343,3255,3431,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1634,-1.35,-170.3,2103,1981,3255,3430,146.4,-8.9,122,1640,0.00,2.05,0.00,0.000,260,0.000,0.032,2093,3354,3342,3255,3430,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1669,-1.35,-170.3,2093,3354,3255,3429,148.7,-9.0,123,1675,0.00,2.08,0.00,0.000,1030,0.000,0.025,2095,1964,3342,3255,3429,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1983,-1.35,-170.3,2094,1964,3255,3428,178.2,-8.9,139,1989,0.00,2.12,0.00,0.000,260,0.000,0.031,2086,3361,3341,3255,3427,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2037,-1.35,-170.3,1280,3360,3230,3423,182.2,-8.8,141,2043,0.00,2.08,0.00,0.000,1030,0.000,0.026,2089,1970,3341,3255,3427,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2353,-1.35,-170.3,2089,1970,3255,3424,211.4,-9.0,157,2359,0.00,2.12,0.00,0.000,516,0.000,0.042,2099,574,3338,3255,3422,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2442,-1.35,-170.3,2099,574,3255,3423,219.5,-9.0,161,2447,0.00,2.03,0.00,0.000,1030,0.000,0.015,2091,1975,3338,3254,3423,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2766,-1.35,-170.3,2090,1975,3254,3421,248.9,-9.3,177,2773,0.00,2.05,0.00,0.000,260,0.000,0.032,2081,3355,3337,3254,3420,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2803,-1.35,-170.3,2080,3355,3254,3419,251.2,-9.2,178,2809,0.10,2.08,0.00,0.000,3078,0.160,0.031,2108,1972,3336,3254,3419,0,0,0,0,0,0,26.48,26.64,28.83
$GC,3118,-1.35,-170.3,2107,1972,3254,3416,280.6,-9.2,194,3119,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,1972,3335,3254,3416,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3420,-1.35,-170.3,2107,1974,3253,3414,308.7,-9.4,209,3426,0.00,2.12,0.00,0.000,260,0.000,0.033,2099,3362,3333,3253,3413,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3474,-1.35,-170.3,2099,3362,3253,3413,313.0,-9.6,211,3481,0.00,2.10,0.00,0.000,1030,0.000,0.029,2101,1972,3332,3252,3413,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3791,-1.35,-170.3,2100,1972,3252,3410,341.7,-8.8,227,3796,0.00,2.15,0.00,0.000,516,0.000,0.046,2110,573,3330,3251,3410,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3841,-1.35,-170.3,2110,572,3252,3413,346.1,-9.3,229,3847,0.00,2.03,0.00,0.000,1030,0.000,0.017,2102,1970,3330,3252,3409,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4161,-1.35,-170.3,2101,1971,3249,3408,375.7,-9.4,245,4163,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,1971,3328,3249,3408,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4439,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4439,begin apogee
$GC,4445,-0.25,0.0,2099,2303,3248,3406,400.9,-9.3,259,4605,0.75,0.00,151.70,0.881,10246,0.112,0.000,2348,2304,2633,2584,2682,0,0,0,0,0,0,26.46,28.83,24.51
$STATE,4607,end apogee,CONTROL_FINISHED_OK
$STATE,4607,begin climb
$GC,4609,1.35,170.3,2348,2304,2580,2678,386.6,0.0,266,4784,0.98,2.22,165.60,0.822,10500,0.055,0.032,2700,3688,1937,1904,1971,0,0,0,0,0,0,25.28,25.02,24.44
$GC,4930,1.37,178.6,1744,3687,1856,1943,358.0,9.0,280,4937,0.00,2.17,2.22,0.194,9222,0.000,0.024,2710,2292,1912,1886,1938,0,0,0,0,0,0,28.83,25.80,24.76
$GC,5246,1.39,183.5,2710,2292,1884,1944,328.9,9.1,296,5252,0.00,0.00,4.25,0.637,8198,0.000,0.000,2710,2292,1891,1863,1920,0,0,0,0,0,0,28.83,28.83,25.18
$GC,5547,1.41,192.4,2710,2292,1863,1932,301.5,8.9,311,5566,0.00,0.00,16.17,0.789,8198,0.000,0.000,2710,2292,1851,1821,1882,0,0,0,0,0,0,28.83,28.83,25.40
$GC,5865,1.42,195.4,2710,2292,1814,1867,272.4,9.1,327,5866,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2292,1841,1815,1867,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6167,1.45,209.4,2710,2292,1814,1866,245.4,8.8,342,6190,0.00,2.25,15.90,0.755,8452,0.000,0.033,2710,3690,1779,1749,1809,0,0,0,0,0,0,28.83,26.20,25.52
$GC,6263,1.47,217.4,2710,3690,1747,1804,237.5,9.0,346,6278,0.00,2.12,7.62,0.747,9222,0.000,0.025,2720,2299,1750,1721,1779,0,0,0,0,0,0,28.83,26.27,25.44
$GC,6575,1.50,229.1,2720,2299,1718,1774,208.4,8.8,362,6598,0.00,2.28,12.30,0.727,8708,0.000,0.044,2731,893,1699,1667,1732,0,0,0,0,0,0,28.83,26.16,25.48
$GC,6631,1.51,235.1,2731,893,1666,1731,204.1,9.0,364,6645,0.00,2.10,4.53,0.652,9222,0.000,0.018,2731,2300,1680,1646,1715,0,0,0,0,0,0,28.83,26.27,25.27
$GC,6943,1.56,254.4,2731,2300,1646,1715,175.4,8.6,380,6972,0.00,2.15,21.92,0.687,8452,0.000,0.034,2731,3693,1595,1547,1644,0,0,0,0,0,0,28.83,26.06,25.43
$GC,7027,1.58,261.8,2731,3692,1546,1641,169.1,9.0,383,7041,0.00,2.15,5.15,0.666,9222,0.000,0.026,2741,2297,1571,1521,1622,0,0,0,0,0,0,28.83,26.15,25.33
$GC,7360,1.61,271.2,2742,2296,1521,1622,138.0,8.9,400,7383,0.00,2.25,12.30,0.662,8708,0.000,0.044,2751,901,1529,1476,1582,0,0,0,0,0,0,28.83,26.15,25.51
$GC,7400,1.63,279.2,2751,901,1476,1580,136.0,9.0,401,7413,0.00,2.10,8.57,0.657,9222,0.000,0.018,2751,2305,1499,1446,1553,0,0,0,0,0,0,28.83,26.25,25.44
$GC,7733,1.63,279.2,2751,2305,1445,1544,104.5,9.3,418,7738,0.00,2.12,0.00,0.000,260,0.000,0.036,2752,3699,1494,1445,1544,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7761,1.63,281.7,2751,3699,1445,1543,102.2,9.2,419,7767,0.00,2.15,0.00,0.000,1030,0.000,0.028,2761,2297,1494,1445,1543,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8082,1.65,290.1,2761,2296,1445,1541,73.1,9.0,435,8098,0.00,2.28,11.05,0.594,8708,0.000,0.044,2772,888,1453,1403,1503,0,0,0,0,0,0,28.83,26.29,25.69
$GC,8138,1.67,298.5,2772,888,1402,1499,68.8,9.0,437,8152,0.00,2.10,8.73,0.589,9222,0.000,0.018,2772,2301,1420,1373,1467,0,0,0,0,0,0,28.83,26.39,25.63
$GC,8450,1.71,314.5,2772,2301,1372,1459,40.0,8.7,458,8475,0.00,2.30,16.52,0.543,8708,0.000,0.042,2782,890,1351,1316,1386,0,0,0,0,0,0,28.83,26.20,25.64
$GC,8555,1.75,328.0,2781,890,1316,1382,30.9,8.8,467,8576,0.00,2.10,13.57,0.534,9222,0.000,0.018,2782,2305,1296,1271,1321,0,0,0,0,0,0,28.83,26.34,25.56
$STATE,8862,end climb,SURFACE_DEPTH_REACHED
$STATE,8863,begin surface coast
$FINISH,0.0,1.024212
$STATE,8898,end surface coast,CONTROL_FINISHED_OK
$STATE,8899,begin surface
$SM_CCo,8915,173.80,0.669,1,0,400,549.47
$SM_CCo,9097,-0.17,0.000,0,0,401,549.47
$SM_CCo,9101,0.20,0.096,0,0,401,549.47
$SM_GC,-23.93,7.55,0.52,0.20,0.073,0.035,0.096,89,1961,401,-10.53,1.22,549.47,0,0,0,0,0,0,26.37,26.41,25.21
$IRIDIUM_FIX,2011.07,12005.79,230313,212141
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.75
$INTERNAL_PRESSURE,9.17526
$TCM_TEMP,20.30
$XPDR_PINGS,1
$SC_FREEKB,3954048
$24V_AH,24.4,30.651
$10V_AH,10.2,16.811
$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,17.250,73.400,478.125,174.000,0.000,0.000,0.000,247.025,0.250,0.000,16.538,1949.858,4908.721,751.670,1550.344,345.734,0.000,1821.017,0.000,1309.934,0.000,1.487,0.000
$DEVICE_MAMPS,212.670,52.020,880.515,668.610,0.000,0.000,0.000,133.110,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8904.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.537,0.000,0.000,0.000
$MEM,323896
$DATA_FILE_SIZE,16744,524
$CAP_FILE_SIZE,403375,1938
$CFSIZE,260034560,230330368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.092,336.3,1
$GPS,240313,030919,2020.241,12004.029,21,1.4,21,-2.7