version: 66.11
glider: 121
mission: 10
dive: 222
start: 3 28 113 18 20 56
data:
$ID,121
$MISSION,10
$DIVE,222
$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,-100773.87
$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,52
$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
$GPS1,280313,181327,2111.964,12005.069,105,1.7,107,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-58.8
$GPS2,280313,182029,2112.028,12005.054,15,0.8,16,-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,69.1,114420,-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,18,-1.35,-170.3,87,1948,340,464,0.0,0.0,0,44,0.00,0.00,-23.58,0.000,16386,0.000,0.000,87,1948,1015,1019,1012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,47,-1.35,-170.3,87,1948,1018,1015,3.2,-9.2,3,146,7.60,2.22,-85.72,0.000,18948,0.200,0.056,2109,575,3338,3247,3429,0,0,0,0,0,0,25.75,26.12,26.45
$GC,269,-1.35,-170.3,1232,575,3221,3426,23.2,-8.6,38,277,0.00,2.08,0.00,0.000,1030,0.000,0.015,2101,1997,3339,3250,3429,0,0,0,0,0,0,28.83,26.31,28.83
$GC,593,-1.35,-170.3,2100,1998,3253,3429,52.1,-8.8,70,599,0.00,2.03,0.00,0.000,260,0.000,0.030,2090,3360,3340,3252,3429,0,0,0,0,0,0,28.83,26.40,28.83
$GC,697,-1.35,-170.3,2090,3360,3253,3429,60.4,-8.9,74,706,0.00,2.08,0.00,0.000,1030,0.000,0.026,2098,1976,3341,3253,3429,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1005,-1.35,-170.3,2098,1975,3255,3429,89.2,-8.9,90,1012,0.00,2.10,0.00,0.000,260,0.000,0.029,2089,3367,3342,3255,3429,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1073,-1.35,-170.3,2089,3367,3255,3429,95.4,-9.1,93,1079,0.00,2.10,0.00,0.000,1030,0.000,0.026,2091,1972,3342,3255,3429,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1398,-1.35,-170.3,2091,1971,3256,3429,125.0,-9.3,109,1399,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,1971,3342,3255,3429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1699,-1.35,-170.3,2091,1971,3256,3429,151.7,-9.3,124,1705,0.00,2.10,0.00,0.000,260,0.000,0.030,2083,3358,3342,3256,3429,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1756,-1.35,-170.3,2083,3357,3256,3429,156.0,-9.3,126,1762,0.00,2.08,0.00,0.000,1030,0.000,0.027,2089,1977,3342,3256,3428,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2071,-1.35,-170.3,2088,1976,3256,3426,185.3,-9.4,142,2077,0.00,2.15,0.00,0.000,516,0.000,0.043,2098,568,3340,3255,3426,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2128,-1.35,-170.3,2098,568,3256,3426,189.6,-9.3,144,2134,0.00,2.03,0.00,0.000,1030,0.000,0.016,2090,1981,3341,3256,3426,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2443,-1.35,-170.3,2090,1982,3255,3422,218.7,-9.1,160,2449,0.00,2.05,0.00,0.000,260,0.000,0.032,2080,3360,3339,3256,3422,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2479,-1.35,-170.3,2080,3360,3256,3421,221.0,-9.1,161,2485,0.10,2.10,0.00,0.000,3078,0.160,0.028,2107,1964,3338,3255,3421,0,0,0,0,0,0,26.41,26.60,28.83
$GC,2794,-1.35,-170.3,2107,1964,3255,3418,250.4,-8.9,177,2800,0.00,2.12,0.00,0.000,516,0.000,0.045,2118,575,3336,3255,3417,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2845,-1.35,-170.3,2117,575,3255,3417,254.7,-9.1,179,2852,0.00,2.03,0.00,0.000,1030,0.000,0.016,2109,1980,3336,3255,3417,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3166,-1.35,-170.3,2109,1981,3253,3415,284.5,-9.1,195,3172,0.00,2.05,0.00,0.000,260,0.000,0.034,2099,3358,3333,3253,3414,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3235,-1.35,-170.3,2099,3358,3253,3413,290.5,-9.0,198,3241,0.00,2.10,0.00,0.000,1030,0.000,0.029,2100,1970,3333,3253,3413,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3556,-1.35,-170.3,2099,1970,3255,3410,319.7,-8.9,214,3561,0.00,2.15,0.00,0.000,516,0.000,0.046,2110,574,3331,3252,3410,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3697,-1.35,-170.3,2109,574,3251,3410,331.4,-8.8,220,3703,0.00,2.03,0.00,0.000,1030,0.000,0.017,2101,1974,3329,3250,3409,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4012,-1.35,-170.3,2101,1974,3248,3407,360.6,-9.0,236,4013,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,1974,3327,3248,3407,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4314,-1.35,-170.3,2101,1974,3246,3405,387.3,-9.1,251,4320,0.00,2.10,0.00,0.000,260,0.000,0.035,2091,3368,3325,3246,3405,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4384,-1.35,-170.3,2091,3368,3245,3404,393.6,-9.0,254,4391,0.00,2.12,0.00,0.000,1030,0.000,0.031,2091,1971,3324,3245,3404,0,0,0,0,0,0,28.83,26.58,28.83
$STATE,4462,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4462,begin apogee
$GC,4468,-0.25,0.0,2090,2301,3245,3404,401.1,-9.0,258,4627,0.77,0.00,152.77,0.878,10246,0.115,0.000,2342,2301,2636,2588,2685,0,0,0,0,0,0,26.33,28.83,24.46
$STATE,4628,end apogee,CONTROL_FINISHED_OK
$STATE,4628,begin climb
$GC,4630,1.35,170.3,2342,2300,2581,2679,386.7,0.0,265,4815,1.00,2.40,173.32,0.807,10756,0.057,0.041,2712,905,1937,1904,1971,0,0,0,0,0,0,25.22,24.98,24.39
$GC,4850,1.37,177.7,2712,905,1902,1960,366.9,9.0,276,4858,0.00,2.15,2.28,0.212,9222,0.000,0.017,2712,2297,1913,1885,1942,0,0,0,0,0,0,28.83,25.41,24.41
$GC,5172,1.38,182.6,2711,2298,1885,1944,337.6,9.1,292,5184,0.00,2.20,3.58,0.550,8452,0.000,0.035,2712,3691,1895,1866,1924,0,0,0,0,0,0,28.83,26.09,25.02
$GC,5337,1.41,191.4,2711,3691,1866,1935,324.2,8.9,299,5361,0.00,2.12,15.98,0.806,9222,0.000,0.024,2721,2301,1853,1823,1884,0,0,0,0,0,0,28.83,26.23,25.26
$GC,5671,1.43,201.3,2722,2301,1818,1872,293.5,8.9,316,5687,0.00,2.25,7.45,0.777,8708,0.000,0.044,2732,904,1819,1790,1849,0,0,0,0,0,0,28.83,26.15,25.36
$GC,5730,1.45,208.0,1792,904,1748,1838,289.2,9.0,318,5745,0.00,2.12,8.60,0.784,9222,0.000,0.018,2732,2310,1788,1758,1819,0,0,0,0,0,0,28.83,26.26,25.30
$GC,6067,1.49,224.4,2731,2310,1756,1812,257.9,8.7,335,6090,0.00,2.35,16.83,0.767,8708,0.000,0.042,2742,894,1720,1688,1753,0,0,0,0,0,0,28.83,26.05,25.37
$GC,6157,1.50,227.7,2741,894,1686,1749,249.4,9.1,339,6163,0.00,2.12,0.00,0.000,1030,0.000,0.018,2742,2304,1717,1686,1749,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6482,1.50,227.7,2742,2304,1686,1745,219.4,9.3,355,6488,0.00,2.12,0.00,0.000,260,0.000,0.036,2742,3693,1715,1686,1745,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6580,1.52,237.3,2742,3693,1686,1743,211.7,8.9,359,6599,0.00,2.12,12.82,0.731,9222,0.000,0.027,2751,2304,1670,1635,1706,0,0,0,0,0,0,28.83,26.37,25.48
$GC,6920,1.52,237.3,2751,2304,1629,1696,179.4,9.4,376,6926,0.00,2.22,0.00,0.000,516,0.000,0.045,2762,890,1662,1629,1696,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6949,1.54,244.2,1760,890,1594,1689,177.2,9.0,377,6961,0.12,2.10,4.65,0.652,13318,0.187,0.018,2734,2303,1643,1601,1686,0,0,0,0,0,0,26.11,26.42,25.32
$GC,7271,1.55,247.8,2734,2304,1601,1686,147.5,9.1,393,7282,0.00,2.25,4.38,0.614,8708,0.000,0.044,2743,895,1628,1582,1674,0,0,0,0,0,0,28.83,26.34,25.34
$GC,7312,1.55,247.8,2743,895,1582,1676,145.1,9.3,394,7320,0.00,2.08,0.00,0.000,1030,0.000,0.018,2743,2296,1629,1582,1676,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7618,1.56,252.8,2743,2297,1582,1676,116.0,9.1,410,7627,0.00,0.00,7.57,0.654,8198,0.000,0.000,2743,2297,1609,1560,1658,0,0,0,0,0,0,28.83,28.83,25.62
$GC,7919,1.58,263.1,2743,2297,1556,1651,89.4,8.9,425,7936,0.00,2.25,11.50,0.623,8708,0.000,0.042,2753,886,1562,1509,1615,0,0,0,0,0,0,28.83,26.28,25.64
$GC,7965,1.60,270.4,2753,886,1509,1612,85.2,9.0,427,7981,0.00,2.12,7.57,0.622,9222,0.000,0.018,2753,2311,1533,1480,1586,0,0,0,0,0,0,28.83,26.36,25.57
$GC,8291,1.64,283.7,2753,2310,1480,1582,56.0,8.8,443,8307,0.00,0.00,14.23,0.582,8710,0.000,0.000,2753,2310,1482,1431,1534,0,0,0,0,0,0,28.83,28.83,25.59
$GC,8616,1.67,296.8,2753,2310,1426,1521,27.0,8.8,471,8634,0.00,2.20,13.07,0.552,8452,0.000,0.037,2753,3691,1424,1378,1471,0,0,0,0,0,0,28.83,26.23,25.61
$GC,8744,1.72,316.3,1728,3690,1353,1458,15.6,8.6,491,8768,0.00,2.15,19.60,0.526,9222,0.000,0.029,2763,2302,1349,1317,1382,0,0,0,0,0,0,28.83,26.30,25.52
$STATE,8884,end climb,SURFACE_DEPTH_REACHED
$STATE,8885,begin surface coast
$FINISH,0.0,1.024222
$STATE,8919,end surface coast,CONTROL_FINISHED_OK
$STATE,8919,begin surface
$SM_CCo,8938,190.35,0.685,2,0,398,549.47
$SM_CCo,9141,-0.17,0.000,0,0,402,549.47
$SM_CCo,9145,1.02,0.096,0,0,400,549.47
$SM_GC,-23.93,7.53,0.50,1.02,0.070,0.043,0.096,89,1960,400,-10.54,1.07,549.47,0,0,0,0,0,0,26.25,26.27,25.13
$IRIDIUM_FIX,2104.07,11936.95,280313,151506
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.97
$INTERNAL_PRESSURE,9.17526
$TCM_TEMP,20.00
$XPDR_PINGS,0
$SC_FREEKB,3938048
$24V_AH,24.4,37.118
$10V_AH,10.1,19.487
$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,17.125,82.125,476.200,191.375,0.000,0.000,0.000,232.475,0.000,0.000,17.106,2019.023,4774.695,781.364,1571.582,397.753,0.000,1896.462,0.000,1370.237,0.000,1.486,0.000
$DEVICE_MAMPS,199.665,55.845,878.220,685.440,0.000,0.000,0.000,135.405,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8940.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.560,0.000,0.000,0.000
$MEM,324436
$DATA_FILE_SIZE,20049,521
$CAP_FILE_SIZE,396117,2043
$CFSIZE,260034560,225460224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.137, 12.7,1
$GPS,280313,205505,2113.028,12006.105,62,0.9,63,-2.9