version: 66.11
glider: 121
mission: 10
dive: 221
start: 3 28 113 15 39 27
data:
$ID,121
$MISSION,10
$DIVE,221
$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,-100772.61
$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,48
$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
$GPS1,280313,153152,2110.906,12004.882,250,1.0,250,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-63.8
$GPS2,280313,153900,2111.020,12004.830,20,0.9,20,-2.9
$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,64.1,116260,-18.5,-9.259,-21.12,2828
$D_GRID,3044
$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,19,-1.35,-170.3,86,1946,335,465,0.0,0.0,0,44,0.00,0.00,-23.38,0.000,16386,0.000,0.000,86,1946,1007,999,1015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,47,-1.35,-170.3,86,1946,999,1017,3.3,-9.3,3,154,7.85,2.22,-93.10,0.000,18948,0.211,0.057,2110,578,3335,3243,3428,0,0,0,0,0,0,25.77,26.13,26.47
$GC,207,-1.35,-170.3,1248,578,3220,3424,18.1,-9.7,26,215,0.00,2.08,0.00,0.000,1030,0.000,0.015,2101,2000,3338,3248,3428,0,0,0,0,0,0,28.83,26.27,28.83
$GC,525,-1.35,-170.3,2101,2001,3250,3428,46.7,-8.9,63,531,0.00,2.03,0.00,0.000,260,0.000,0.031,2091,3359,3338,3250,3427,0,0,0,0,0,0,28.83,26.37,28.83
$GC,704,-1.35,-170.3,2091,3358,3252,3428,62.1,-9.1,73,711,0.00,2.08,0.00,0.000,1030,0.000,0.027,2093,1980,3340,3253,3428,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1020,-1.35,-170.3,2093,1979,3254,3428,91.4,-9.0,89,1026,0.00,2.08,0.00,0.000,260,0.000,0.029,2085,3354,3340,3253,3428,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1123,-1.35,-170.3,2084,3354,3254,3428,99.4,-8.9,93,1132,0.00,2.08,0.00,0.000,1030,0.000,0.025,2087,1968,3341,3254,3428,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1430,-1.35,-170.3,2087,1967,3254,3428,128.6,-9.0,109,1437,0.00,2.10,0.00,0.000,260,0.000,0.030,2077,3355,3340,3253,3428,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1549,-1.35,-170.3,2078,3355,3254,3427,138.5,-9.1,114,1555,0.10,2.08,0.00,0.000,3078,0.166,0.025,2104,1967,3340,3253,3427,0,0,0,0,0,0,26.37,26.56,28.83
$GC,1864,-1.35,-170.3,2104,1967,3253,3427,167.9,-9.0,130,1865,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,1967,3340,3253,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2167,-1.35,-170.3,2104,1967,3253,3423,195.0,-8.7,145,2172,0.00,2.12,0.00,0.000,260,0.000,0.031,2096,3364,3338,3253,3423,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2207,-1.35,-170.3,2096,3364,3253,3423,197.5,-8.9,146,2215,0.00,2.10,0.00,0.000,1030,0.000,0.027,2104,1970,3338,3253,3423,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2513,-1.35,-170.3,2103,1969,3253,3421,226.1,-9.0,162,2519,0.00,2.15,0.00,0.000,516,0.000,0.044,2114,566,3337,3253,3421,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2593,-1.35,-170.3,2113,566,3253,3421,232.3,-8.9,165,2599,0.00,2.03,0.00,0.000,1030,0.000,0.016,2105,1972,3336,3253,3420,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2908,-1.35,-170.3,2104,1972,3253,3416,261.5,-9.2,181,2914,0.00,2.08,0.00,0.000,260,0.000,0.033,2095,3363,3334,3253,3416,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2939,-1.35,-170.3,2094,3363,3253,3415,263.9,-9.1,182,2945,0.00,2.10,0.00,0.000,1030,0.000,0.028,2095,1974,3334,3253,3415,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3258,-1.35,-170.3,2095,1972,3252,3413,293.3,-9.0,198,3260,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,1972,3332,3252,3413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3562,-1.35,-170.3,2094,1972,3252,3410,319.9,-8.8,213,3567,0.00,2.17,0.00,0.000,516,0.000,0.046,2105,567,3331,3252,3410,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3601,-1.35,-170.3,2104,567,3252,3410,322.4,-8.9,214,3609,0.00,2.05,0.00,0.000,1030,0.000,0.017,2096,1977,3330,3252,3409,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3908,-1.35,-170.3,2096,1978,3249,3408,351.4,-9.2,230,3914,0.00,2.08,0.00,0.000,260,0.000,0.034,2086,3362,3328,3249,3408,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3937,-1.35,-170.3,2086,3362,3248,3408,353.8,-9.3,231,3944,0.00,2.12,0.00,0.000,1030,0.000,0.030,2086,1968,3328,3248,3408,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4258,-1.35,-170.3,2086,1968,3247,3405,383.0,-9.1,247,4265,0.00,2.17,0.00,0.000,516,0.000,0.047,2094,565,3326,3247,3405,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4288,-1.35,-170.3,2094,565,3246,3405,385.3,-9.1,248,4294,0.00,2.05,0.00,0.000,1030,0.000,0.018,2085,1974,3325,3246,3405,0,0,0,0,0,0,28.83,26.65,28.83
$STATE,4446,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4446,begin apogee
$GC,4452,-0.25,0.0,2083,2304,3245,3404,400.3,-9.1,256,4612,0.80,0.00,153.57,0.881,10246,0.116,0.000,2345,2305,2633,2585,2682,0,0,0,0,0,0,26.32,28.83,24.47
$STATE,4614,end apogee,CONTROL_FINISHED_OK
$STATE,4614,begin climb
$GC,4616,1.35,170.3,2344,2305,2580,2677,386.0,0.0,263,4789,1.00,2.33,162.30,0.828,10500,0.057,0.034,2702,3694,1937,1905,1969,0,0,0,0,0,0,25.22,24.95,24.29
$GC,5020,1.37,175.4,2701,3694,1902,1946,349.4,9.1,281,5026,0.00,2.17,0.00,0.000,1030,0.000,0.025,2712,2292,1924,1902,1946,0,0,0,0,0,0,28.83,25.95,28.83
$GC,5340,1.38,179.7,2711,2292,1901,1942,319.8,9.1,297,5348,0.00,2.25,2.08,0.134,8452,0.000,0.033,2712,3691,1905,1882,1929,0,0,0,0,0,0,28.83,26.24,24.69
$GC,5377,1.39,184.4,2711,3691,1882,1930,317.3,9.1,298,5396,0.00,2.15,10.00,0.828,9222,0.000,0.026,2721,2289,1882,1859,1906,0,0,0,0,0,0,28.83,26.27,25.34
$GC,5717,1.43,200.7,2721,2289,1857,1900,286.0,8.7,315,5740,0.00,2.28,17.15,0.799,8708,0.000,0.044,2732,898,1814,1788,1840,0,0,0,0,0,0,28.83,26.05,25.36
$GC,5777,1.44,205.7,2732,898,1783,1835,281.4,9.1,317,5785,0.00,2.10,0.00,0.000,1030,0.000,0.018,2732,2297,1808,1783,1834,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6084,1.44,205.7,2732,2297,1783,1830,252.0,9.5,333,6090,0.00,2.12,0.00,0.000,260,0.000,0.036,2732,3688,1806,1783,1830,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6131,1.44,206.8,2732,3688,1783,1830,247.9,9.2,335,6139,0.12,2.12,1.35,0.064,13318,0.192,0.027,2713,2299,1795,1769,1821,0,0,0,0,0,0,26.07,26.34,26.17
$GC,6461,1.44,206.8,2713,2299,1769,1825,218.2,9.3,351,6466,0.00,2.20,0.00,0.000,516,0.000,0.045,2723,891,1797,1770,1825,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6487,1.46,213.9,2723,892,1769,1824,215.7,9.0,352,6510,0.00,2.10,11.62,0.744,9222,0.000,0.018,2724,2307,1759,1729,1789,0,0,0,0,0,0,28.83,26.48,25.56
$GC,6805,1.49,224.3,2723,2306,1729,1786,186.9,8.9,368,6822,0.00,2.25,10.40,0.718,8708,0.000,0.043,2734,898,1721,1689,1753,0,0,0,0,0,0,28.83,26.23,25.56
$GC,6851,1.52,237.0,2733,898,1688,1751,182.8,8.8,370,6874,0.00,2.12,13.57,0.719,9222,0.000,0.018,2735,2311,1667,1632,1703,0,0,0,0,0,0,28.83,26.32,25.42
$GC,7171,1.54,246.2,2733,2311,1631,1696,154.0,8.9,386,7187,0.00,2.33,8.55,0.706,8708,0.000,0.044,2744,892,1633,1591,1676,0,0,0,0,0,0,28.83,26.17,25.47
$GC,7209,1.58,261.8,2743,892,1588,1674,151.9,8.7,387,7233,0.00,2.12,16.85,0.685,9222,0.000,0.018,2744,2306,1567,1517,1618,0,0,0,0,0,0,28.83,26.26,25.34
$GC,7543,1.63,281.6,2743,2306,1514,1610,121.0,8.5,404,7571,0.00,2.35,20.20,0.648,8708,0.000,0.044,2754,892,1486,1436,1537,0,0,0,0,0,0,28.83,26.01,25.39
$GC,7607,1.66,294.5,2754,892,1435,1534,116.6,8.8,406,7625,0.00,2.12,13.70,0.648,9222,0.000,0.018,2753,2300,1439,1390,1488,0,0,0,0,0,0,28.83,26.13,25.29
$GC,7942,1.69,304.1,2753,2300,1385,1471,85.3,8.9,423,7957,0.00,2.17,9.60,0.623,8452,0.000,0.036,2754,3703,1394,1353,1435,0,0,0,0,0,0,28.83,26.14,25.46
$GC,8001,1.71,313.2,1792,3702,1331,1426,81.0,8.9,425,8016,0.00,2.17,9.62,0.619,9222,0.000,0.029,2763,2302,1362,1329,1395,0,0,0,0,0,0,28.83,26.18,25.41
$GC,8337,1.73,320.1,2763,2302,1326,1382,49.4,9.0,442,8351,0.00,2.22,5.07,0.581,8708,0.000,0.046,2774,894,1333,1308,1359,0,0,0,0,0,0,28.83,26.23,25.46
$GC,8377,1.75,328.1,2774,894,1310,1360,45.5,9.0,445,8396,0.00,2.10,11.35,0.584,9222,0.000,0.018,2774,2302,1296,1276,1317,0,0,0,0,0,0,28.83,26.32,25.50
$GC,8709,1.75,328.1,2774,2303,1275,1310,15.6,9.3,486,8717,0.00,2.15,0.00,0.000,260,0.000,0.037,2774,3699,1292,1275,1310,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8785,1.78,342.9,1728,3698,1255,1306,8.6,8.7,499,8809,0.00,2.15,14.68,0.531,9222,0.000,0.029,2784,2296,1235,1224,1246,0,0,0,0,0,0,28.83,26.36,25.60
$STATE,8848,end climb,SURFACE_DEPTH_REACHED
$STATE,8848,begin surface coast
$FINISH,0.0,1.024604
$STATE,8884,end surface coast,CONTROL_FINISHED_OK
$STATE,8884,begin surface
$SM_CCo,8902,170.68,0.695,2,0,400,549.47
$SM_CCo,9085,-0.12,0.000,0,0,401,549.47
$SM_CCo,9089,3.28,0.393,0,0,400,549.47
$SM_GC,-23.93,7.65,0.50,3.28,0.075,0.044,0.393,89,1957,400,-10.53,0.90,549.47,0,0,0,0,0,0,26.27,26.29,24.64
$IRIDIUM_FIX,2101.76,12005.90,280313,121245
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.01
$INTERNAL_PRESSURE,9.1655
$TCM_TEMP,19.90
$XPDR_PINGS,1
$SC_FREEKB,3938432
$24V_AH,24.3,36.968
$10V_AH,10.1,19.423
$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,17.525,91.000,491.675,173.950,0.000,0.000,0.000,237.300,0.250,0.000,20.785,1999.220,4725.861,796.470,1581.768,396.300,0.000,1910.744,0.000,1351.294,0.000,1.487,0.000
$DEVICE_MAMPS,211.140,57.375,880.515,694.620,0.000,0.000,0.000,130.050,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8891.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.535,0.000,0.000,0.000
$MEM,324376
$DATA_FILE_SIZE,16780,515
$CAP_FILE_SIZE,397168,2025
$CFSIZE,260034560,225574912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.159,314.2,1
$GPS,280313,181327,2111.964,12005.069,105,1.7,107,-2.9