version: 66.11
glider: 121
mission: 10
dive: 226
start: 3 29 113 5 8 58
data:
$ID,121
$MISSION,10
$DIVE,226
$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,-100780.09
$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,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
$GPS1,290313,050028,2117.610,12007.293,66,0.9,66,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-63.1
$GPS2,290313,050830,2117.641,12007.251,15,1.3,16,-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,70.4,103450,-18.5,-9.259,-21.12,2828
$D_GRID,2737
$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,-170.3,82,1948,341,469,0.0,0.0,0,44,0.00,0.00,-23.75,0.000,16386,0.000,0.000,82,1949,1026,1015,1038,0,0,0,0,0,0,28.83,28.83,28.83
$GC,47,-1.35,-170.3,82,1949,1015,1041,3.2,-8.7,3,164,7.88,2.22,-101.50,0.000,18948,0.210,0.061,2109,578,3337,3242,3432,0,0,0,0,0,0,25.75,26.14,26.48
$GC,309,-1.35,-170.3,2109,577,3244,3432,27.2,-8.8,42,314,0.00,2.05,0.00,0.000,1030,0.000,0.015,2101,1991,3338,3244,3432,0,0,0,0,0,0,28.83,26.35,28.83
$GC,624,-1.35,-170.3,2101,1992,3248,3432,55.8,-9.4,70,631,0.00,2.05,0.00,0.000,260,0.000,0.031,2091,3368,3340,3248,3432,0,0,0,0,0,0,28.83,26.42,28.83
$GC,790,-1.35,-170.3,2091,3368,3249,3432,69.3,-9.0,77,798,0.00,2.08,0.00,0.000,1030,0.000,0.024,2093,1980,3340,3249,3432,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1097,-1.35,-170.3,2092,1979,3252,3432,98.0,-8.9,93,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,1979,3342,3252,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1397,-1.35,-170.3,2093,1979,3252,3432,125.0,-8.9,108,1403,0.00,2.12,0.00,0.000,516,0.000,0.040,2103,571,3342,3252,3432,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1506,-1.35,-170.3,2102,571,3252,3432,134.8,-9.0,113,1512,0.00,2.05,0.00,0.000,1030,0.000,0.015,2095,1987,3342,3252,3432,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1831,-1.35,-170.3,2094,1988,3252,3430,164.5,-9.4,129,1837,0.00,2.03,0.00,0.000,260,0.000,0.031,2084,3355,3341,3252,3430,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1888,-1.35,-170.3,2084,3355,3252,3429,168.8,-9.2,131,1894,0.00,2.08,0.00,0.000,1030,0.000,0.026,2086,1966,3340,3252,3429,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2203,-1.35,-170.3,2086,1965,3251,3427,197.7,-9.0,147,2209,0.00,2.12,0.00,0.000,516,0.000,0.042,2096,572,3339,3252,3426,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2250,-1.35,-170.3,2096,572,3252,3426,202.1,-9.0,149,2257,0.00,2.03,0.00,0.000,1030,0.000,0.015,2088,1978,3339,3252,3426,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2577,-1.35,-170.3,2088,1978,3251,3422,231.7,-9.0,165,2582,0.00,2.17,0.00,0.000,516,0.000,0.041,2096,574,3337,3252,3422,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2612,-1.35,-170.3,2095,574,3252,3422,234.0,-9.0,166,2618,0.00,2.03,0.00,0.000,1030,0.000,0.016,2087,1983,3336,3251,3422,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2927,-1.35,-170.3,2087,1983,3252,3417,263.3,-9.0,182,2933,0.00,2.05,0.00,0.000,260,0.000,0.032,2077,3363,3334,3251,3417,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2962,-1.35,-170.3,2076,3363,3251,3416,265.5,-9.1,183,2970,0.12,2.10,0.00,0.000,3078,0.150,0.028,2111,1965,3333,3251,3416,0,0,0,0,0,0,26.39,26.60,28.83
$GC,3279,-1.35,-170.3,2110,1966,3251,3412,294.7,-8.9,199,3285,0.00,2.12,0.00,0.000,260,0.000,0.032,2102,3362,3331,3251,3412,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3331,-1.35,-170.3,2102,3362,3251,3411,299.1,-9.1,201,3337,0.00,2.10,0.00,0.000,1030,0.000,0.029,2109,1971,3331,3251,3411,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3651,-1.35,-170.3,2108,1970,3249,3408,328.4,-9.1,217,3657,0.00,2.15,0.00,0.000,516,0.000,0.045,2118,574,3328,3249,3408,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3709,-1.35,-170.3,2118,574,3248,3408,332.6,-9.1,219,3714,0.00,2.03,0.00,0.000,1030,0.000,0.017,2109,1971,3328,3248,3408,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4023,-1.35,-170.3,2109,1971,3246,3405,362.0,-9.1,235,4024,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,1971,3325,3245,3405,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4326,-1.35,-170.3,2109,1971,3243,3403,389.4,-9.1,250,4332,0.00,2.10,0.00,0.000,260,0.000,0.034,2099,3368,3322,3243,3402,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4373,-1.35,-170.3,1280,3367,3215,3398,393.9,-9.1,252,4379,0.00,2.12,0.00,0.000,1030,0.000,0.031,2099,1975,3322,3242,3402,0,0,0,0,0,0,28.83,26.58,28.83
$STATE,4455,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4456,begin apogee
$GC,4461,-0.25,0.0,2098,2303,3242,3401,401.5,-9.0,256,4624,0.75,0.00,150.18,1.021,10246,0.112,0.000,2344,2304,2638,2591,2686,0,0,0,0,1,0,26.32,28.83,24.24
$STATE,4627,end apogee,CONTROL_FINISHED_OK
$STATE,4627,begin climb
$GC,4629,1.35,170.3,2344,2304,2591,2686,387.2,0.0,263,4792,1.00,2.25,152.55,0.870,10500,0.057,0.035,2701,3684,1935,1906,1965,0,0,0,0,0,0,25.17,24.94,24.26
$GC,5033,1.38,181.0,2701,3685,1904,1945,350.9,8.9,281,5047,0.00,2.15,4.30,0.656,9222,0.000,0.025,2711,2297,1901,1879,1924,0,0,0,0,0,0,28.83,25.99,24.94
$GC,5344,1.43,199.1,2711,2297,1879,1927,321.7,8.6,297,5373,0.00,2.20,21.15,0.792,8452,0.000,0.034,2711,3685,1823,1798,1848,0,0,0,0,0,0,28.83,25.95,25.24
$GC,5506,1.44,204.9,2711,3685,1795,1841,308.1,9.1,304,5519,0.00,2.12,4.20,0.647,9222,0.000,0.025,2721,2301,1803,1778,1829,0,0,0,0,0,0,28.83,26.15,25.08
$GC,5817,1.45,210.5,2721,2299,1778,1829,279.1,9.1,320,5830,0.00,2.28,7.50,0.757,8708,0.000,0.043,2732,897,1779,1752,1806,0,0,0,0,0,0,28.83,26.20,25.44
$GC,5875,1.45,210.5,2731,897,1750,1804,274.6,9.8,322,5881,0.00,2.10,0.00,0.000,1030,0.000,0.018,2732,2295,1777,1750,1804,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6191,1.48,221.4,2732,2296,1750,1800,245.5,8.9,338,6208,0.00,2.22,11.70,0.734,8452,0.000,0.036,2732,3695,1732,1703,1762,0,0,0,0,0,0,28.83,26.22,25.51
$GC,6265,1.49,226.1,2731,3695,1701,1760,239.4,9.1,341,6279,0.00,2.15,3.92,0.601,9222,0.000,0.027,2742,2295,1716,1685,1747,0,0,0,0,0,0,28.83,26.27,25.21
$GC,6577,1.49,226.1,2742,2295,1685,1747,210.2,9.3,357,6578,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2295,1716,1685,1747,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6879,1.49,226.1,2741,2295,1685,1746,182.9,9.4,372,6885,0.00,2.17,0.00,0.000,260,0.000,0.034,2742,3701,1715,1685,1746,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6950,1.52,235.6,2742,3701,1685,1746,176.8,8.9,375,6968,0.00,2.15,11.07,0.672,9222,0.000,0.028,2751,2294,1675,1640,1710,0,0,0,0,0,0,28.83,26.46,25.60
$GC,7267,1.53,241.9,2751,2294,1638,1705,148.4,9.0,391,7273,0.00,0.00,4.65,0.614,8198,0.000,0.000,2751,2294,1653,1612,1695,0,0,0,0,0,0,28.83,28.83,25.39
$GC,7568,1.56,251.8,2751,2294,1612,1695,121.6,8.9,406,7587,0.00,0.00,11.93,0.620,8198,0.000,0.000,2751,2294,1608,1559,1658,0,0,0,0,0,0,28.83,28.83,25.65
$GC,7889,1.61,274.3,2751,2294,1559,1653,93.1,8.4,422,7917,0.00,2.20,22.52,0.571,8708,0.000,0.042,2762,896,1515,1463,1568,0,0,0,0,0,0,28.83,26.16,25.60
$GC,8044,1.62,277.3,2762,896,1461,1562,79.5,9.1,429,8049,0.00,2.10,0.00,0.000,1030,0.000,0.018,2762,2305,1512,1462,1562,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8364,1.63,279.5,2762,2306,1462,1559,50.0,9.2,445,8375,0.00,2.17,3.38,0.428,8452,0.000,0.036,2762,3689,1498,1448,1549,0,0,0,0,0,0,28.83,26.39,25.44
$GC,8523,1.64,283.4,2762,3690,1448,1550,35.9,9.1,458,8536,0.00,2.12,4.72,0.516,9222,0.000,0.027,2772,2291,1483,1433,1534,0,0,0,0,0,0,28.83,26.43,25.48
$GC,8854,1.65,287.2,2772,2291,1433,1534,6.0,9.1,508,8864,0.00,2.25,4.75,0.500,8452,0.000,0.033,2772,3703,1468,1418,1518,0,0,0,0,0,0,28.83,26.42,25.52
$STATE,8887,end climb,SURFACE_DEPTH_REACHED
$STATE,8887,begin surface coast
$FINISH,0.0,1.022734
$STATE,8921,end surface coast,CONTROL_FINISHED_OK
$STATE,8921,begin surface
$SM_CCo,8941,204.30,0.657,1,0,399,549.47
$SM_CCo,9153,-0.22,0.000,0,0,401,549.47
$SM_CCo,9157,0.28,0.089,0,0,401,549.47
$SM_GC,-23.93,7.47,2.70,0.28,0.066,0.027,0.089,86,1977,401,-10.56,1.27,549.47,0,0,0,0,0,0,26.40,26.45,25.21
$IRIDIUM_FIX,2108.69,12007.06,290313,020219
$TT8_MAMPS,0.023968,0.023968
$HUMID,47.04
$INTERNAL_PRESSURE,9.25339
$TCM_TEMP,19.70
$XPDR_PINGS,1
$SC_FREEKB,3936512
$24V_AH,24.2,37.700
$10V_AH,10.1,19.740
$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,17.225,77.625,418.525,204.575,0.000,0.000,0.000,286.550,0.250,0.000,17.858,2066.073,4722.545,758.056,1664.410,407.835,0.000,1969.827,0.000,1428.960,0.000,1.488,0.000
$DEVICE_MAMPS,210.375,61.200,1020.510,657.135,0.000,0.000,0.000,133.110,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8931.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.514,0.000,0.000,0.000
$MEM,324412
$DATA_FILE_SIZE,20123,519
$CAP_FILE_SIZE,404527,2134
$CFSIZE,260034560,225001472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.221, 26.5,1
$GPS,290313,074235,2119.067,12008.568,20,1.0,20,-2.9