version: 66.11
glider: 121
mission: 10
dive: 228
start: 3 29 113 10 31 26
data:
$ID,121
$MISSION,10
$DIVE,228
$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,-100782.59
$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,37
$R_STBD_OVSHOOT,67
$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
$GPS1,290313,102334,2120.580,12009.744,34,0.8,34,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-60.5
$GPS2,290313,103059,2120.558,12009.765,18,0.8,19,-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,12.8,96675,-18.5,-9.259,-21.12,2828
$D_GRID,2823
$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,-170.3,87,2015,341,473,0.0,0.0,0,44,0.00,0.00,-23.75,0.000,16386,0.000,0.000,87,2015,1035,1023,1047,0,0,0,0,0,0,28.83,28.83,28.83
$GC,47,-1.35,-170.3,87,2015,1024,1048,3.3,-8.8,3,163,7.70,2.28,-95.85,0.000,18948,0.204,0.056,2110,569,3337,3243,3431,0,0,0,0,0,0,25.77,26.13,26.47
$GC,203,-1.35,-170.3,1248,569,3218,3427,17.6,-8.7,25,212,0.00,2.05,0.00,0.000,1030,0.000,0.015,2102,1975,3338,3245,3431,0,0,0,0,0,0,28.83,26.27,28.83
$GC,520,-1.35,-170.3,2102,1976,3248,3431,45.8,-9.1,63,526,0.00,2.08,0.00,0.000,260,0.000,0.030,2092,3364,3339,3248,3430,0,0,0,0,0,0,28.83,26.38,28.83
$GC,561,-1.35,-170.3,2092,3364,3248,3431,49.1,-8.8,66,569,0.00,2.12,0.00,0.000,1030,0.000,0.025,2092,1954,3339,3248,3431,0,0,0,0,0,0,28.83,26.41,28.83
$GC,869,-1.35,-170.3,2092,1954,3251,3431,76.9,-8.9,82,875,0.00,2.12,0.00,0.000,260,0.000,0.030,2083,3359,3340,3250,3431,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1026,-1.35,-170.3,2083,3359,3251,3431,90.7,-9.0,89,1032,0.00,2.08,0.00,0.000,1030,0.000,0.024,2086,1968,3340,3250,3431,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1345,-1.35,-170.3,2085,1968,3251,3430,120.3,-9.1,105,1352,0.00,2.12,0.00,0.000,516,0.000,0.041,2096,568,3341,3251,3431,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1413,-1.35,-170.3,2096,568,3251,3430,126.4,-9.2,108,1420,0.00,2.05,0.00,0.000,1030,0.000,0.015,2087,1991,3341,3251,3431,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1739,-1.35,-170.3,2087,1992,3251,3429,155.9,-9.1,124,1745,0.00,2.03,0.00,0.000,260,0.000,0.032,2077,3355,3339,3251,3428,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1786,-1.35,-170.3,2077,3355,3251,3427,160.0,-8.9,126,1793,0.10,2.08,0.00,0.000,3078,0.163,0.025,2104,1967,3339,3251,3428,0,0,0,0,0,0,26.39,26.58,28.83
$GC,2111,-1.35,-170.3,2103,1967,3251,3425,189.1,-9.6,142,2112,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,1967,3338,3251,3425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2413,-1.35,-170.3,2104,1967,3251,3421,216.0,-9.0,157,2419,0.00,2.12,0.00,0.000,260,0.000,0.031,2096,3363,3336,3251,3421,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2461,-1.35,-170.3,2095,3363,3251,3421,220.5,-9.1,159,2467,0.00,2.10,0.00,0.000,1030,0.000,0.028,2103,1975,3336,3251,3421,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2786,-1.35,-170.3,2103,1975,3251,3416,249.5,-9.2,175,2788,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,1975,3333,3251,3416,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3089,-1.35,-170.3,2104,1975,3251,3412,276.2,-8.9,190,3095,0.00,2.15,0.00,0.000,516,0.000,0.044,2113,577,3330,3250,3411,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3185,-1.35,-170.3,2112,576,3250,3411,284.5,-9.1,194,3191,0.00,2.03,0.00,0.000,1030,0.000,0.016,2104,1975,3331,3250,3412,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3500,-1.35,-170.3,2104,1975,3248,3408,313.8,-9.1,210,3506,0.00,2.08,0.00,0.000,260,0.000,0.034,2094,3360,3327,3248,3407,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3557,-1.35,-170.3,2094,3360,3248,3407,318.0,-8.9,212,3563,0.00,2.10,0.00,0.000,1030,0.000,0.029,2094,1973,3327,3248,3406,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3873,-1.35,-170.3,2094,1973,3245,3405,347.6,-9.4,228,3879,0.00,2.17,0.00,0.000,516,0.000,0.046,2103,567,3324,3245,3404,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4009,-1.35,-170.3,2103,567,3243,3404,359.3,-9.0,234,4015,0.00,2.05,0.00,0.000,1030,0.000,0.017,2094,1973,3324,3243,3405,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4329,-1.35,-170.3,2094,1973,3242,3401,388.5,-9.0,250,4336,0.00,2.10,0.00,0.000,260,0.000,0.035,2084,3367,3321,3242,3400,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4359,-1.35,-170.3,2084,3367,3241,3400,390.8,-9.0,251,4365,0.00,2.12,0.00,0.000,1030,0.000,0.031,2085,1971,3321,3242,3400,0,0,0,0,0,0,28.83,26.55,28.83
$STATE,4479,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4479,begin apogee
$GC,4485,-0.25,0.0,2084,2312,3241,3399,401.8,-9.0,257,4651,0.80,0.00,152.80,1.024,10246,0.116,0.000,2344,2313,2640,2595,2686,0,0,0,0,1,0,26.27,28.83,24.18
$STATE,4654,end apogee,CONTROL_FINISHED_OK
$STATE,4654,begin climb
$GC,4656,1.35,170.3,2344,2313,2592,2686,387.1,0.0,264,4823,1.00,2.30,158.93,0.867,10500,0.049,0.034,2708,3683,1937,1907,1968,0,0,0,0,0,0,25.15,24.90,24.21
$GC,4928,1.37,176.2,2708,3683,1903,1945,361.4,9.0,276,4934,0.00,2.17,0.00,0.000,1030,0.000,0.025,2718,2301,1924,1903,1945,0,0,0,0,0,0,28.83,25.63,28.83
$GC,5248,1.38,182.5,2717,2301,1903,1940,332.2,9.0,292,5254,0.00,0.00,4.22,0.642,8198,0.000,0.000,2717,2301,1895,1874,1917,0,0,0,0,0,0,28.83,28.83,25.10
$GC,5549,1.42,195.1,2717,2301,1874,1922,305.4,8.8,307,5573,0.00,2.30,17.65,0.801,8708,0.000,0.044,2729,899,1837,1811,1863,0,0,0,0,0,0,28.83,26.03,25.32
$GC,5661,1.44,205.4,2728,898,1809,1859,295.3,8.9,312,5678,0.00,2.12,9.73,0.792,9222,0.000,0.017,2728,2307,1797,1771,1824,0,0,0,0,0,0,28.83,26.20,25.25
$GC,5988,1.47,215.4,2728,2307,1770,1816,266.1,8.9,328,6006,0.00,0.00,10.27,0.777,8198,0.000,0.000,2729,2307,1755,1728,1783,0,0,0,0,0,0,28.83,28.83,25.40
$GC,6307,1.48,220.9,2728,2307,1727,1778,238.1,9.1,344,6318,0.00,2.15,4.25,0.660,8452,0.000,0.037,2729,3698,1738,1711,1766,0,0,0,0,0,0,28.83,26.28,25.23
$GC,6342,1.49,225.6,2728,3698,1711,1766,235.7,9.1,345,6357,0.00,2.15,7.07,0.760,9222,0.000,0.026,2739,2297,1717,1687,1748,0,0,0,0,0,0,28.83,26.29,25.40
$GC,6654,1.52,236.9,2738,2297,1685,1742,206.6,8.8,361,6677,0.00,2.28,12.15,0.735,8708,0.000,0.045,2749,894,1669,1634,1704,0,0,0,0,0,0,28.83,26.16,25.47
$GC,6774,1.54,243.4,2749,895,1634,1700,196.6,9.0,366,6788,0.00,2.10,4.95,0.691,9222,0.000,0.018,2749,2299,1646,1605,1688,0,0,0,0,0,0,28.83,26.30,25.20
$GC,7087,1.54,244.8,2749,2299,1605,1690,167.7,9.2,382,7093,0.00,2.22,0.00,0.000,516,0.000,0.043,2759,896,1646,1605,1688,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7144,1.56,253.1,2759,896,1605,1687,163.4,9.0,384,7163,0.00,2.10,12.00,0.687,9222,0.000,0.018,2759,2301,1603,1554,1653,0,0,0,0,0,0,28.83,26.41,25.51
$GC,7483,1.58,260.3,2760,2302,1553,1647,131.8,9.0,401,7495,0.00,2.22,7.18,0.663,8452,0.000,0.037,2759,3695,1576,1525,1627,0,0,0,0,0,0,28.83,26.27,25.55
$GC,7635,1.60,267.3,2759,3695,1522,1624,118.1,9.0,408,7652,0.10,2.15,8.12,0.647,13318,0.200,0.028,2748,2298,1545,1492,1598,0,0,0,0,0,0,26.10,26.33,25.54
$GC,7961,1.61,274.9,2748,2298,1491,1593,89.0,9.0,424,7978,0.00,2.25,7.85,0.625,8708,0.000,0.045,2758,899,1515,1462,1568,0,0,0,0,0,0,28.83,26.27,25.58
$GC,8057,1.64,286.2,2758,899,1461,1565,81.3,8.8,428,8076,0.00,2.10,12.05,0.605,9222,0.000,0.018,2757,2307,1468,1417,1520,0,0,0,0,0,0,28.83,26.37,25.54
$GC,8397,1.65,288.2,2756,2306,1417,1512,49.9,9.2,445,8402,0.00,2.12,0.00,0.000,260,0.000,0.037,2757,3699,1464,1417,1512,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8467,1.67,298.6,2756,3699,1417,1512,43.5,8.9,451,8485,0.00,2.15,12.68,0.564,9222,0.000,0.028,2766,2296,1419,1373,1466,0,0,0,0,0,0,28.83,26.37,25.62
$GC,8800,1.67,298.6,1744,2294,1347,1451,13.2,9.3,494,8808,0.00,2.20,0.00,0.000,516,0.000,0.044,2776,893,1414,1372,1456,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8882,1.67,298.6,1728,892,1347,1451,5.8,9.5,508,8891,0.00,2.10,0.00,0.000,1030,0.000,0.018,2776,2311,1414,1372,1456,0,0,0,0,0,0,28.83,26.46,28.83
$STATE,8913,end climb,SURFACE_DEPTH_REACHED
$STATE,8914,begin surface coast
$FINISH,0.0,1.024302
$STATE,8948,end surface coast,CONTROL_FINISHED_OK
$STATE,8949,begin surface
$SM_CCo,8966,195.95,0.670,2,0,399,549.47
$SM_CCo,9176,-0.20,0.000,0,0,401,549.47
$SM_CCo,9179,0.82,0.090,0,0,400,549.47
$SM_GC,-23.93,7.57,0.55,0.82,0.072,0.035,0.090,83,1956,400,-10.57,0.93,549.47,0,0,0,0,0,0,26.40,26.45,25.18
$IRIDIUM_FIX,2113.32,12008.23,290313,070754
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.54
$INTERNAL_PRESSURE,9.1655
$TCM_TEMP,19.90
$XPDR_PINGS,0
$SC_FREEKB,3935744
$24V_AH,24.2,37.989
$10V_AH,10.2,19.866
$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,17.275,82.275,441.900,196.775,0.000,0.000,0.000,251.100,0.000,0.000,20.387,2049.769,4736.020,782.222,1626.077,407.872,0.000,1930.684,0.000,1396.165,0.000,1.486,0.000
$DEVICE_MAMPS,204.255,55.845,1024.335,670.140,0.000,0.000,0.000,130.815,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8961.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.486,0.000,0.000,0.000
$MEM,324436
$DATA_FILE_SIZE,16756,519
$CAP_FILE_SIZE,403785,2106
$CFSIZE,260034560,224768000
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$CURRENT,0.119, 35.0,1
$GPS,290313,130532,2121.915,12010.267,26,0.9,26,-3.0