version: 66.11
glider: 121
mission: 10
dive: 231
start: 3 29 113 18 42 15
data:
$ID,121
$MISSION,10
$DIVE,231
$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,-100786.36
$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,38
$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
$GPS1,290313,183104,2124.341,12009.707,25,1.0,25,-3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-59.9
$GPS2,290313,184147,2124.493,12009.313,15,0.9,16,-3.0
$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,72.3,90602,-18.5,-9.259,-21.12,2828
$D_GRID,2835
$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,-170.3,86,1956,352,473,0.0,0.0,0,44,0.00,0.00,-23.42,0.000,16386,0.000,0.000,86,1954,1026,1018,1035,0,0,0,0,0,0,28.83,28.83,28.83
$GC,47,-1.35,-170.3,86,1954,1019,1035,3.3,-9.1,3,152,7.72,0.00,-88.97,0.000,19206,0.204,0.000,2100,1958,3335,3243,3427,0,0,0,0,0,0,25.74,28.83,26.46
$GC,472,-1.35,-170.3,2100,1957,3245,3426,42.4,-9.0,59,479,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,1958,3336,3245,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,783,-1.35,-170.3,2100,1958,3248,3427,69.4,-8.6,79,789,0.00,2.12,0.00,0.000,260,0.000,0.028,2092,3375,3337,3248,3427,0,0,0,0,0,0,28.83,26.46,28.83
$GC,976,-1.35,-170.3,2091,3375,3249,3427,87.3,-9.3,88,982,0.00,2.12,0.00,0.000,1030,0.000,0.024,2099,1956,3338,3249,3427,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1302,-1.35,-170.3,2098,1956,3249,3427,116.4,-9.1,104,1303,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,1955,3337,3248,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1602,-1.35,-170.3,2098,1956,3249,3427,143.5,-8.9,119,1609,0.00,2.10,0.00,0.000,516,0.000,0.040,2108,568,3337,3249,3426,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1650,-1.35,-170.3,2108,568,3249,3426,148.0,-8.9,121,1657,0.00,2.05,0.00,0.000,1030,0.000,0.015,2100,2004,3337,3249,3426,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1976,-1.35,-170.3,2100,2004,3249,3423,177.0,-8.9,137,1982,0.00,2.00,0.00,0.000,260,0.000,0.031,2090,3352,3335,3249,3422,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2023,-1.35,-170.3,2090,3352,3249,3422,181.1,-8.6,139,2029,0.00,2.05,0.00,0.000,1030,0.000,0.025,2090,1977,3335,3249,3422,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2348,-1.35,-170.3,2089,1976,3249,3419,211.1,-9.0,155,2354,0.00,2.08,0.00,0.000,260,0.000,0.031,2081,3349,3333,3249,3418,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2383,-1.35,-170.3,2081,3350,3249,3418,213.3,-9.3,156,2390,0.10,2.08,0.00,0.000,3078,0.159,0.026,2107,1964,3333,3249,3418,0,0,0,0,0,0,26.41,26.60,28.83
$GC,2700,-1.35,-170.3,2107,1964,3249,3415,243.2,-9.0,172,2701,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,1964,3331,3248,3415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3000,-1.35,-170.3,2107,1964,3249,3410,270.3,-9.6,187,3007,0.00,2.12,0.00,0.000,516,0.000,0.044,2118,575,3329,3249,3409,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3031,-1.35,-170.3,2117,576,3249,3409,272.7,-9.4,188,3037,0.00,2.03,0.00,0.000,1030,0.000,0.016,2109,1976,3329,3249,3409,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3350,-1.35,-170.3,2109,1977,3247,3406,301.3,-9.2,204,3352,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,1977,3326,3247,3406,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3652,-1.35,-170.3,2109,1977,3244,3403,328.0,-9.1,219,3658,0.00,2.08,0.00,0.000,260,0.000,0.034,2099,3363,3323,3244,3402,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3687,-1.35,-170.3,2099,3363,3243,3402,330.4,-9.0,220,3694,0.00,2.10,0.00,0.000,1030,0.000,0.028,2099,1975,3322,3243,3402,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4004,-1.35,-170.3,2099,1974,3242,3401,359.9,-9.0,236,4010,0.00,2.12,0.00,0.000,260,0.000,0.034,2090,3362,3321,3242,3400,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4056,-1.35,-170.3,2089,3362,3241,3399,364.2,-8.8,238,4062,0.00,2.10,0.00,0.000,1030,0.000,0.029,2090,1975,3320,3241,3399,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4376,-1.35,-170.3,2090,1975,3239,3398,394.6,-9.0,254,4383,0.00,2.17,0.00,0.000,516,0.000,0.047,2100,570,3318,3239,3397,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4428,-1.35,-170.3,2098,570,3239,3397,398.9,-9.0,256,4435,0.00,2.05,0.00,0.000,1030,0.000,0.017,2091,1977,3317,3238,3397,0,0,0,0,0,0,28.83,26.65,28.83
$STATE,4446,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4446,begin apogee
$GC,4452,-0.25,0.0,2088,2308,3238,3397,401.1,-9.1,257,4616,0.77,0.00,152.07,1.014,10246,0.112,0.000,2343,2308,2639,2592,2687,0,0,0,0,1,0,26.31,28.83,24.22
$STATE,4617,end apogee,CONTROL_FINISHED_OK
$STATE,4617,begin climb
$GC,4621,1.35,170.3,2342,2308,2593,2687,386.3,0.0,264,4798,0.98,2.30,166.68,0.838,10500,0.049,0.034,2701,3683,1937,1905,1970,0,0,0,0,0,0,25.16,24.96,24.29
$GC,4875,1.37,175.3,2701,3683,1898,1948,363.0,9.1,275,4881,0.00,2.17,0.00,0.000,1030,0.000,0.024,2711,2299,1923,1898,1948,0,0,0,0,0,0,28.83,25.58,28.83
$GC,5196,1.37,178.7,2710,2300,1898,1942,333.5,9.1,291,5203,0.00,2.20,1.42,0.051,8708,0.000,0.041,2721,897,1908,1886,1931,0,0,0,0,0,0,28.83,26.13,26.13
$GC,5210,1.38,182.1,2721,897,1886,1931,333.5,9.1,291,5223,0.00,2.10,4.22,0.669,9222,0.000,0.017,2721,2304,1896,1872,1920,0,0,0,0,0,0,28.83,26.23,25.12
$GC,5523,1.41,195.1,2721,2304,1872,1924,304.3,8.8,307,5546,0.00,2.22,17.48,0.803,8452,0.000,0.034,2721,3698,1837,1813,1862,0,0,0,0,0,0,28.83,26.07,25.34
$GC,5731,1.42,196.8,2721,3698,1811,1855,286.5,9.2,316,5740,0.10,2.15,0.00,0.000,5126,0.197,0.025,2710,2293,1833,1811,1855,0,0,0,0,0,0,26.01,26.25,28.83
$GC,6038,1.42,196.8,2710,2293,1811,1852,257.8,9.4,332,6044,0.00,2.15,0.00,0.000,260,0.000,0.034,2710,3687,1831,1811,1851,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6073,1.42,196.8,2710,3687,1811,1851,255.5,9.4,333,6079,0.00,2.12,0.00,0.000,1030,0.000,0.026,2720,2295,1831,1811,1851,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6389,1.48,222.7,2719,2295,1811,1850,226.6,8.3,349,6423,0.00,2.20,27.02,0.738,8708,0.000,0.042,2731,899,1726,1699,1753,0,0,0,0,0,0,28.83,26.06,25.43
$GC,6506,1.51,231.1,2730,899,1697,1749,216.5,9.0,354,6525,0.00,2.10,8.12,0.742,9222,0.000,0.018,2730,2299,1691,1660,1723,0,0,0,0,0,0,28.83,26.22,25.31
$GC,6821,1.55,248.2,2730,2298,1659,1718,187.6,8.6,370,6843,0.00,0.00,17.17,0.707,8198,0.000,0.000,2730,2299,1623,1578,1668,0,0,0,0,0,0,28.83,28.83,25.42
$GC,7143,1.57,258.5,2730,2299,1576,1660,158.5,8.9,386,7159,0.00,2.25,9.95,0.691,8708,0.000,0.041,2740,890,1581,1533,1630,0,0,0,0,0,0,28.83,26.17,25.49
$GC,7188,1.59,263.8,2740,890,1532,1628,154.4,9.1,388,7200,0.00,2.12,4.15,0.595,9222,0.000,0.018,2740,2308,1563,1513,1613,0,0,0,0,0,0,28.83,26.26,25.23
$GC,7514,1.60,269.9,2740,2308,1513,1613,125.0,9.0,404,7525,0.00,0.00,8.85,0.666,8198,0.000,0.000,2740,2308,1538,1487,1590,0,0,0,0,0,0,28.83,28.83,25.55
$GC,7816,1.61,272.8,2740,2308,1482,1583,98.3,9.2,419,7821,0.00,2.25,0.00,0.000,516,0.000,0.043,2750,887,1532,1481,1583,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7872,1.62,277.9,2750,888,1482,1582,93.9,9.1,421,7886,0.00,2.10,9.02,0.635,9222,0.000,0.018,2751,2301,1504,1453,1556,0,0,0,0,0,0,28.83,26.44,25.60
$GC,8183,1.66,293.0,2750,2301,1449,1548,65.2,8.7,437,8206,0.00,2.33,15.77,0.592,8708,0.000,0.042,2760,888,1440,1393,1487,0,0,0,0,0,0,28.83,26.20,25.60
$GC,8267,1.68,302.7,2760,889,1392,1483,59.0,8.9,440,8285,0.00,2.12,10.05,0.591,9222,0.000,0.018,2760,2308,1400,1359,1442,0,0,0,0,0,0,28.83,26.32,25.49
$GC,8590,1.70,307.1,2760,2308,1358,1435,28.4,9.1,468,8599,0.00,0.00,3.40,0.441,8198,0.000,0.000,2760,2308,1385,1350,1421,0,0,0,0,0,0,28.83,28.83,25.33
$STATE,8868,end climb,SURFACE_DEPTH_REACHED
$STATE,8868,begin surface coast
$FINISH,0.0,1.024841
$STATE,8903,end surface coast,CONTROL_FINISHED_OK
$STATE,8905,begin surface
$SM_CCo,8922,205.27,0.700,3,0,400,549.47
$SM_CCo,9145,0.00,0.000,0,0,400,549.47
$SM_CCo,9149,0.00,0.000,0,0,399,549.47
$SM_GC,-23.93,7.50,0.55,0.00,0.072,0.035,0.000,88,1952,399,-10.54,0.85,549.47,0,0,0,0,0,0,26.41,26.46,28.83
$IRIDIUM_FIX,2113.32,12008.23,290313,181810
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.72
$INTERNAL_PRESSURE,9.15573
$TCM_TEMP,20.00
$XPDR_PINGS,0
$SC_FREEKB,3934592
$24V_AH,24.2,38.459
$10V_AH,10.2,20.060
$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,17.175,69.275,455.400,205.275,0.000,0.000,0.000,447.375,0.000,0.000,16.574,1983.645,4829.875,784.367,1761.545,410.541,0.000,2109.639,0.000,1341.037,0.000,1.487,0.000
$DEVICE_MAMPS,204.255,46.665,1013.625,699.975,0.000,0.000,0.000,131.580,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8910.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.511,0.000,0.000,0.000
$MEM,324388
$DATA_FILE_SIZE,16790,522
$CAP_FILE_SIZE,390128,1999
$CFSIZE,260034560,224444416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$CURRENT,0.083, 18.1,1
$GPS,290313,211704,2125.208,12010.397,101,1.2,101,-3.0