version: 66.11
glider: 121
mission: 10
dive: 190
start: 3 25 113 3 35 15
data:
$ID,121
$MISSION,10
$DIVE,190
$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,-100733.6
$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,56
$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
$GPS1,250313,032754,2032.547,12002.141,177,1.2,177,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-61.4
$GPS2,250313,033447,2032.466,12002.026,15,0.9,16,-2.8
$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,15.4,134378,-18.5,-9.259,-21.12,2828
$D_GRID,3471
$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,-170.3,86,1951,339,476,0.0,0.0,0,43,0.00,0.00,-23.10,0.000,16386,0.000,0.000,86,1951,1011,996,1026,0,0,0,0,0,0,28.83,28.83,28.83
$GC,45,-1.35,-170.3,86,1951,996,1027,3.2,-8.6,3,161,7.72,2.25,-97.40,0.000,18692,0.207,0.044,2093,3374,3337,3243,3431,0,0,0,0,0,0,25.81,26.16,26.46
$GC,267,-1.35,-170.3,1236,3372,3218,3427,23.5,-8.8,37,276,0.00,2.12,0.00,0.000,1030,0.000,0.027,2101,1974,3338,3246,3431,0,0,0,0,0,0,28.83,26.27,28.83
$GC,586,-1.35,-170.3,2101,1974,3249,3431,52.1,-9.0,68,592,0.00,2.15,0.00,0.000,516,0.000,0.041,2111,570,3340,3249,3431,0,0,0,0,0,0,28.83,26.39,28.83
$GC,663,-1.35,-170.3,2111,570,3250,3430,58.3,-8.9,71,669,0.00,2.05,0.00,0.000,1030,0.000,0.015,2102,1988,3340,3250,3430,0,0,0,0,0,0,28.83,26.50,28.83
$GC,978,-1.35,-170.3,2102,1989,3252,3431,87.6,-9.1,87,980,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,1990,3341,3252,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1280,-1.35,-170.3,2102,1989,3253,3430,114.9,-9.0,102,1285,0.00,2.05,0.00,0.000,260,0.000,0.032,2092,3368,3342,3253,3431,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1353,-1.35,-170.3,2092,3368,3252,3430,121.2,-9.0,105,1358,0.00,2.10,0.00,0.000,1030,0.000,0.026,2093,1965,3341,3253,3430,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1672,-1.35,-170.3,2092,1964,3252,3430,150.2,-8.8,121,1679,0.00,2.12,0.00,0.000,516,0.000,0.042,2102,568,3340,3252,3429,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1703,-1.35,-170.3,2102,568,3253,3429,152.5,-9.0,122,1709,0.00,2.03,0.00,0.000,1030,0.000,0.016,2093,1976,3340,3252,3429,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2022,-1.35,-170.3,2093,1977,3253,3426,181.9,-9.0,138,2023,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,1977,3339,3252,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2323,-1.35,-170.3,2093,1978,3252,3423,208.7,-9.0,153,2324,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,1977,3338,3253,3423,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2624,-1.35,-170.3,2093,1978,3252,3421,236.2,-9.6,168,2630,0.00,2.05,0.00,0.000,260,0.000,0.032,2083,3355,3336,3252,3421,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2653,-1.35,-170.3,2083,3355,3252,3420,238.5,-9.5,169,2659,0.00,2.08,0.00,0.000,1030,0.000,0.028,2084,1974,3336,3253,3420,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2973,-1.35,-170.3,2084,1974,3252,3417,267.8,-8.9,185,2981,0.10,2.15,0.00,0.000,2564,0.168,0.042,2120,570,3334,3252,3417,0,0,0,0,0,0,26.55,26.60,28.83
$GC,3051,-1.35,-170.3,2120,570,3252,3416,274.1,-9.0,188,3057,0.00,2.03,0.00,0.000,1030,0.000,0.016,2112,1970,3334,3252,3416,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3366,-1.35,-170.3,2111,1970,3252,3413,303.4,-8.9,204,3372,0.00,2.08,0.00,0.000,260,0.000,0.034,2102,3358,3332,3252,3412,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3432,-1.35,-170.3,2101,3358,3252,3412,309.3,-8.9,207,3438,0.00,2.10,0.00,0.000,1030,0.000,0.029,2102,1972,3332,3252,3412,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3759,-1.35,-170.3,2101,1972,3249,3409,338.4,-9.1,223,3765,0.00,2.15,0.00,0.000,516,0.000,0.046,2110,574,3329,3250,3408,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3856,-1.35,-170.3,2110,574,3249,3408,346.2,-8.8,227,3862,0.00,2.05,0.00,0.000,1030,0.000,0.017,2101,1986,3328,3249,3408,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4172,-1.35,-170.3,2101,1985,3247,3406,375.7,-8.9,243,4173,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,1986,3326,3247,3406,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4449,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4449,begin apogee
$GC,4455,-0.25,0.0,2099,2302,3244,3403,401.4,-9.2,257,4619,0.75,0.00,151.88,1.051,10246,0.113,0.000,2345,2302,2639,2590,2689,0,0,0,0,1,0,26.42,28.83,24.22
$STATE,4621,end apogee,CONTROL_FINISHED_OK
$STATE,4621,begin climb
$GC,4622,1.35,170.3,2345,2303,2590,2689,387.2,0.0,264,4806,1.00,2.30,175.05,0.846,10500,0.053,0.034,2706,3679,1939,1906,1973,0,0,0,0,0,0,25.13,24.93,24.33
$GC,4920,1.38,180.8,2705,3680,1898,1953,360.0,8.9,277,4934,0.00,2.15,3.35,0.474,9222,0.000,0.024,2715,2303,1899,1871,1928,0,0,0,0,0,0,28.83,25.65,24.75
$GC,5230,1.40,187.4,2715,2303,1872,1936,331.2,9.0,293,5250,0.00,0.00,11.30,0.806,8198,0.000,0.000,2715,2303,1870,1843,1898,0,0,0,0,0,0,28.83,28.83,25.23
$GC,5551,1.43,200.3,2715,2303,1841,1892,302.9,8.8,309,5574,0.00,2.20,13.77,0.806,8452,0.000,0.034,2715,3675,1814,1784,1844,0,0,0,0,0,0,28.83,26.07,25.36
$GC,5623,1.44,204.0,2715,3675,1783,1839,296.8,9.1,312,5629,0.00,2.12,0.00,0.000,1030,0.000,0.025,2725,2293,1810,1782,1838,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5944,1.46,212.0,2725,2293,1783,1835,267.8,9.0,328,5960,0.00,2.20,11.12,0.780,8708,0.000,0.042,2736,897,1770,1740,1800,0,0,0,0,0,0,28.83,26.15,25.47
$GC,5979,1.49,224.0,2736,896,1738,1798,265.7,8.8,329,5997,0.00,2.10,12.48,0.777,9222,0.000,0.018,2736,2303,1723,1692,1755,0,0,0,0,0,0,28.83,26.25,25.34
$GC,6317,1.49,224.2,2736,2303,1687,1744,234.4,9.3,346,6323,0.00,2.15,0.00,0.000,260,0.000,0.036,2736,3695,1716,1688,1744,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6384,1.49,227.0,1728,3694,1648,1735,228.3,9.2,349,6390,0.00,2.15,0.00,0.000,1030,0.000,0.026,2746,2296,1716,1688,1744,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6710,1.51,234.3,2745,2296,1687,1742,199.1,9.0,365,6726,0.00,2.17,9.85,0.724,8452,0.000,0.033,2746,3695,1679,1647,1711,0,0,0,0,0,0,28.83,26.29,25.61
$GC,6782,1.54,243.6,2746,3695,1646,1709,192.8,8.9,368,6802,0.10,2.15,9.20,0.719,13318,0.204,0.028,2735,2295,1642,1598,1686,0,0,0,0,0,0,26.12,26.34,25.51
$GC,7100,1.55,248.3,2735,2295,1595,1680,164.3,9.1,384,7105,0.00,0.00,3.20,0.481,8198,0.000,0.000,2736,2295,1626,1580,1672,0,0,0,0,0,0,28.83,28.83,25.33
$GC,7400,1.57,257.0,2735,2295,1581,1673,137.5,8.9,399,7416,0.00,2.25,11.73,0.662,8452,0.000,0.035,2735,3693,1588,1537,1639,0,0,0,0,0,0,28.83,26.29,25.63
$GC,7470,1.58,262.4,2735,3692,1534,1637,131.5,9.1,402,7482,0.00,2.15,4.20,0.578,9222,0.000,0.028,2744,2293,1569,1516,1622,0,0,0,0,0,0,28.83,26.32,25.38
$GC,7791,1.58,262.4,2744,2293,1516,1622,101.4,9.4,418,7797,0.00,2.17,0.00,0.000,516,0.000,0.044,2755,895,1569,1516,1622,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7838,1.59,266.5,2755,895,1516,1622,97.2,9.1,420,7850,0.00,2.10,5.03,0.611,9222,0.000,0.018,2755,2307,1552,1498,1606,0,0,0,0,0,0,28.83,26.48,25.53
$GC,8165,1.63,281.2,2755,2307,1498,1606,68.2,8.7,436,8189,0.00,2.20,17.73,0.588,8452,0.000,0.037,2755,3691,1488,1435,1541,0,0,0,0,0,0,28.83,26.25,25.65
$GC,8254,1.65,287.7,2755,3691,1434,1537,60.1,9.0,440,8265,0.00,2.15,4.62,0.557,9222,0.000,0.028,2765,2292,1467,1416,1518,0,0,0,0,0,0,28.83,26.30,25.41
$GC,8572,1.65,287.7,2765,2292,1416,1518,31.6,9.7,465,8578,0.00,2.17,0.00,0.000,516,0.000,0.044,2775,892,1467,1416,1518,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8624,1.68,300.0,2775,892,1416,1518,27.1,8.8,469,8646,0.00,2.10,15.48,0.546,9222,0.000,0.018,2777,2312,1412,1366,1459,0,0,0,0,0,0,28.83,26.47,25.65
$STATE,8890,end climb,SURFACE_DEPTH_REACHED
$STATE,8890,begin surface coast
$FINISH,0.0,1.024407
$STATE,8923,end surface coast,CONTROL_FINISHED_OK
$STATE,8923,begin surface
$SM_CCo,8941,200.75,0.688,3,0,399,549.47
$SM_CCo,9161,-0.12,0.000,0,0,401,549.47
$SM_CCo,9164,0.77,0.061,0,0,400,549.47
$SM_GC,-23.93,7.55,0.55,0.77,0.073,0.035,0.061,87,1957,400,-10.54,0.99,549.47,0,0,0,0,0,0,26.39,26.44,25.30
$IRIDIUM_FIX,2024.87,12000.97,250313,000031
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.22
$INTERNAL_PRESSURE,9.1655
$TCM_TEMP,20.20
$XPDR_PINGS,2
$SC_FREEKB,3950208
$24V_AH,24.2,32.145
$10V_AH,10.1,17.437
$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,17.225,73.525,459.975,201.525,0.000,0.000,0.000,231.600,0.500,0.000,16.722,1969.582,4886.991,783.700,1554.414,362.827,0.000,1835.714,0.000,1317.070,0.000,1.487,0.000
$DEVICE_MAMPS,206.550,45.900,1051.110,687.735,0.000,0.000,0.000,133.110,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8934.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.560,0.000,0.000,0.000
$MEM,323860
$DATA_FILE_SIZE,16763,521
$CAP_FILE_SIZE,408062,1970
$CFSIZE,260034560,229175296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$CURRENT,0.049, 12.3,1
$GPS,250313,061004,2033.612,12002.220,85,1.2,85,-2.8