version: 66.11
glider: 121
mission: 10
dive: 224
start: 3 28 113 23 45 52
data:
$ID,121
$MISSION,10
$DIVE,224
$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,-100776.48
$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,47
$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
$GPS1,280313,233634,2114.594,12006.747,25,1.0,25,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-64.5
$GPS2,280313,234524,2114.562,12006.836,17,0.9,17,-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,44.7,108853,-18.5,-9.259,-21.12,2828
$D_GRID,2706
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.35,-170.3,86,1945,334,468,0.0,0.0,0,45,0.00,0.00,-23.80,0.000,16386,0.000,0.000,85,1947,1017,1005,1030,0,0,0,0,0,0,28.83,28.83,28.83
$GC,48,-1.35,-170.3,86,1945,1005,1032,3.2,-9.0,3,154,7.85,2.15,-88.62,0.000,18948,0.210,0.053,2114,575,3336,3247,3426,0,0,0,0,0,0,25.75,26.12,26.46
$GC,185,-1.35,-170.3,1248,574,3221,3424,16.0,-9.1,22,194,0.00,2.08,0.00,0.000,1030,0.000,0.015,2105,1996,3338,3249,3427,0,0,0,0,0,0,28.83,26.25,28.83
$GC,509,-1.35,-170.3,2105,1998,3251,3427,45.3,-9.3,62,515,0.00,2.22,0.00,0.000,516,0.000,0.039,2113,573,3339,3251,3427,0,0,0,0,0,0,28.83,26.34,28.83
$GC,661,-1.35,-170.3,2113,571,3255,3427,59.0,-9.1,72,668,0.00,2.05,0.00,0.000,1030,0.000,0.015,2105,1988,3340,3253,3427,0,0,0,0,0,0,28.83,26.49,28.83
$GC,987,-1.35,-170.3,2104,1989,3254,3427,88.4,-9.0,88,992,0.00,2.03,0.00,0.000,260,0.000,0.031,2094,3354,3340,3254,3426,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1065,-1.35,-170.3,2094,3355,3254,3427,94.5,-9.0,91,1070,0.00,2.08,0.00,0.000,1030,0.000,0.025,2097,1968,3340,3254,3427,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1379,-1.35,-170.3,2097,1968,3254,3427,123.5,-9.0,107,1385,0.00,2.12,0.00,0.000,516,0.000,0.041,2106,574,3341,3255,3427,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1461,-1.35,-170.3,2106,574,3255,3427,129.4,-8.9,110,1469,0.00,2.00,0.00,0.000,1030,0.000,0.015,2099,1973,3341,3255,3427,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1766,-1.35,-170.3,2098,1973,3254,3427,158.2,-8.9,126,1772,0.00,2.05,0.00,0.000,260,0.000,0.031,2088,3356,3339,3254,3425,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1850,-1.35,-170.3,2088,3356,3255,3425,164.3,-8.9,129,1859,0.00,2.08,0.00,0.000,1030,0.000,0.026,2089,1971,3339,3254,3425,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2156,-1.35,-170.3,2089,1970,3254,3423,193.3,-9.3,145,2162,0.00,2.12,0.00,0.000,516,0.000,0.043,2099,574,3338,3254,3422,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2191,-1.35,-170.3,2099,574,3254,3423,195.7,-9.0,146,2197,0.00,2.03,0.00,0.000,1030,0.000,0.016,2091,1984,3338,3254,3422,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2506,-1.35,-170.3,2091,1985,3254,3420,225.1,-9.2,162,2507,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,1985,3337,3254,3420,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2807,-1.35,-170.3,2091,1985,3254,3416,252.0,-9.1,177,2808,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,1985,3335,3254,3416,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3109,-1.35,-170.3,2091,1986,3253,3413,278.4,-9.0,192,3115,0.00,2.05,0.00,0.000,260,0.000,0.032,2081,3360,3332,3253,3412,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3187,-1.35,-170.3,2080,3360,3252,3411,284.8,-9.0,195,3194,0.10,2.10,0.00,0.000,3078,0.158,0.029,2108,1969,3331,3252,3411,0,0,0,0,0,0,26.41,26.60,28.83
$GC,3503,-1.35,-170.3,2108,1969,3251,3408,313.7,-8.9,211,3510,0.00,2.15,0.00,0.000,516,0.000,0.046,2118,574,3329,3251,3408,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3575,-1.35,-170.3,2118,574,3250,3408,319.9,-9.0,214,3581,0.00,2.03,0.00,0.000,1030,0.000,0.017,2110,1970,3328,3249,3408,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3895,-1.35,-170.3,2110,1970,3247,3405,348.8,-9.1,230,3901,0.00,2.20,0.00,0.000,516,0.000,0.045,2118,575,3326,3247,3405,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3934,-1.35,-170.3,1316,575,3222,3401,351.1,-9.2,231,3942,0.00,2.05,0.00,0.000,1030,0.000,0.017,2110,1972,3326,3247,3405,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4241,-1.35,-170.3,2109,1973,3244,3402,380.3,-9.0,247,4243,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,1973,3322,3243,3402,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4461,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4461,begin apogee
$GC,4466,-0.25,0.0,2107,2304,3242,3401,400.3,-9.2,258,4625,0.73,0.00,148.48,0.877,10246,0.113,0.000,2344,2304,2631,2584,2679,0,0,0,0,0,0,26.33,28.83,24.48
$STATE,4627,end apogee,CONTROL_FINISHED_OK
$STATE,4627,begin climb
$GC,4629,1.35,170.3,2345,2304,2584,2678,385.5,0.0,265,4794,1.00,2.30,153.43,0.854,10500,0.056,0.034,2706,3687,1933,1903,1964,0,0,0,0,0,0,25.28,24.98,24.30
$GC,4892,1.37,177.2,2705,3687,1903,1949,362.9,9.0,276,4902,0.00,2.17,1.33,0.052,9222,0.000,0.025,2715,2302,1915,1891,1940,0,0,0,0,0,0,28.83,25.65,25.60
$GC,5200,1.46,211.5,2715,2302,1892,1941,334.6,8.0,292,5246,0.00,2.35,37.53,0.800,8708,0.000,0.044,2726,887,1767,1739,1796,0,0,0,0,0,0,28.83,25.63,24.96
$GC,5275,1.48,221.9,2726,887,1737,1791,328.3,8.9,295,5286,0.00,2.15,5.05,0.716,9222,0.000,0.017,2726,2304,1734,1704,1765,0,0,0,0,0,0,28.83,25.84,24.91
$GC,5596,1.52,235.7,2726,2304,1704,1768,299.3,8.8,311,5620,0.00,2.35,18.02,0.782,8708,0.000,0.042,2737,892,1671,1637,1706,0,0,0,0,0,0,28.83,25.93,25.24
$GC,5674,1.54,244.6,2736,891,1634,1701,293.1,8.9,314,5688,0.00,2.12,7.80,0.763,9222,0.000,0.018,2737,2300,1640,1596,1684,0,0,0,0,0,0,28.83,26.10,25.19
$GC,5985,1.55,249.7,2736,2300,1592,1680,264.3,9.1,330,5996,0.00,2.15,3.95,0.617,8452,0.000,0.036,2736,3689,1621,1575,1668,0,0,0,0,0,0,28.83,26.21,25.15
$GC,6062,1.58,262.5,2736,3690,1575,1668,258.4,8.8,333,6086,0.00,2.12,15.93,0.742,9222,0.000,0.026,2747,2300,1565,1513,1617,0,0,0,0,0,0,28.83,26.26,25.33
$GC,6401,1.60,270.2,2746,2299,1511,1610,227.0,9.0,350,6411,0.00,0.00,7.53,0.716,8198,0.000,0.000,2747,2299,1538,1486,1590,0,0,0,0,0,0,28.83,28.83,25.45
$GC,6701,1.61,274.8,2746,2299,1482,1582,199.6,9.1,365,6713,0.00,2.28,4.03,0.592,8708,0.000,0.045,2757,890,1518,1466,1570,0,0,0,0,0,0,28.83,26.28,25.29
$GC,6769,1.64,283.4,2757,890,1467,1572,193.3,8.9,368,6786,0.00,2.10,11.68,0.684,9222,0.000,0.018,2755,2301,1483,1431,1536,0,0,0,0,0,0,28.83,26.39,25.48
$GC,7095,1.65,290.5,2755,2301,1427,1525,164.0,9.0,384,7108,0.00,2.33,7.22,0.655,8708,0.000,0.043,2765,889,1452,1403,1501,0,0,0,0,0,0,28.83,26.24,25.53
$GC,7132,1.68,300.1,2764,889,1402,1499,161.7,8.9,385,7151,0.00,2.12,11.00,0.643,9222,0.000,0.018,2765,2306,1412,1366,1458,0,0,0,0,0,0,28.83,26.33,25.47
$GC,7472,1.71,315.0,2764,2307,1365,1449,130.6,8.7,402,7495,0.00,2.15,15.60,0.605,8452,0.000,0.035,2765,3698,1348,1312,1385,0,0,0,0,0,0,28.83,26.16,25.53
$GC,7544,1.72,318.7,2765,3698,1312,1380,124.2,9.1,405,7550,0.00,2.15,0.00,0.000,1030,0.000,0.028,2775,2301,1346,1312,1380,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7864,1.75,329.2,2774,2301,1312,1376,95.3,8.9,421,7887,0.00,2.20,14.15,0.565,8708,0.000,0.044,2785,897,1292,1271,1314,0,0,0,0,0,0,28.83,26.20,25.60
$GC,7969,1.76,332.1,2784,897,1271,1309,86.9,9.2,425,7977,0.00,2.10,0.00,0.000,1030,0.000,0.018,2784,2308,1290,1271,1309,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8276,1.77,335.8,2784,2307,1271,1308,58.6,9.1,441,8289,0.00,2.17,4.57,0.507,8452,0.000,0.037,2784,3693,1270,1253,1287,0,0,0,0,0,0,28.83,26.36,25.46
$GC,8366,1.78,340.5,2784,3692,1253,1287,50.5,9.1,445,8378,0.00,2.12,5.32,0.526,9222,0.000,0.027,2793,2298,1252,1236,1269,0,0,0,0,0,0,28.83,26.39,25.62
$GC,8685,1.81,353.2,1736,2295,1217,1265,22.1,8.8,478,8708,0.00,2.20,14.60,0.480,8708,0.000,0.044,2804,896,1193,1187,1200,0,0,0,0,0,0,28.83,26.28,25.72
$GC,8892,1.81,353.2,1744,895,1170,1194,3.2,9.4,514,8901,0.00,2.08,0.00,0.000,1030,0.000,0.017,2804,2304,1192,1187,1197,0,0,0,0,0,0,28.83,26.44,28.83
$STATE,8906,end climb,SURFACE_DEPTH_REACHED
$STATE,8907,begin surface coast
$FINISH,0.0,1.022194
$STATE,8941,end surface coast,CONTROL_FINISHED_OK
$STATE,8941,begin surface
$SM_CCo,8958,113.78,0.461,1,0,399,549.47
$SM_CCo,9080,-0.35,0.000,0,0,400,549.47
$SM_CCo,9084,0.05,0.189,0,0,401,549.47
$SM_GC,-23.93,7.53,0.52,0.05,0.066,0.036,0.189,87,1963,401,-10.54,1.22,549.47,0,0,0,0,0,0,26.39,26.44,25.58
$IRIDIUM_FIX,2106.38,12005.90,280313,232344
$TT8_MAMPS,0.023968,0.023968
$HUMID,47.63
$INTERNAL_PRESSURE,9.26316
$TCM_TEMP,22.00
$XPDR_PINGS,0
$SC_FREEKB,3937280
$24V_AH,24.3,37.404
$10V_AH,10.2,19.614
$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,17.200,82.275,487.200,113.825,0.000,0.000,0.000,333.700,0.000,0.000,17.949,2003.243,4787.042,722.509,1681.345,400.062,0.000,1953.588,0.000,1390.697,0.000,1.489,0.000
$DEVICE_MAMPS,210.375,52.785,877.455,460.530,0.000,0.000,0.000,130.815,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8947.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.513,0.000,0.000,0.000
$MEM,324368
$DATA_FILE_SIZE,20059,522
$CAP_FILE_SIZE,397683,2038
$CFSIZE,260034560,225226752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.186,350.4,1
$GPS,290313,021817,2116.119,12007.331,20,1.0,20,-2.9