version: 66.11
glider: 121
mission: 10
dive: 246
start: 3 31 113 11 29 38
data:
$ID,121
$MISSION,10
$DIVE,246
$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,-100806.4
$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,36
$R_STBD_OVSHOOT,55
$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
$GPS1,310313,112153,2143.413,12018.949,103,1.3,103,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-57.6
$GPS2,310313,112911,2143.421,12018.928,20,1.1,20,-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,21.9,52030,-18.5,-9.259,-21.12,2828
$D_GRID,528
$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,-170.3,85,1951,338,465,0.0,0.0,0,44,0.00,0.00,-23.38,0.000,16386,0.000,0.000,85,1950,1014,1002,1027,0,0,0,0,0,0,28.83,28.83,28.83
$GC,47,-1.35,-170.3,86,1950,1003,1027,3.2,-9.5,3,153,7.68,2.22,-86.85,0.000,18692,0.201,0.045,2093,3362,3337,3248,3427,0,0,0,0,0,0,25.75,26.13,26.46
$GC,306,-1.35,-170.3,2093,3362,3250,3427,26.5,-9.1,43,315,0.00,2.12,0.00,0.000,1030,0.000,0.025,2100,1966,3338,3250,3427,0,0,0,0,0,0,28.83,26.27,28.83
$GC,624,-1.35,-170.3,2100,1966,3253,3427,55.5,-9.2,72,630,0.00,2.12,0.00,0.000,516,0.000,0.041,2110,573,3340,3253,3427,0,0,0,0,0,0,28.83,26.36,28.83
$GC,677,-1.35,-170.3,2110,573,3254,3427,59.9,-9.2,74,683,0.00,2.05,0.00,0.000,1030,0.000,0.015,2102,1991,3340,3253,3427,0,0,0,0,0,0,28.83,26.48,28.83
$GC,997,-1.35,-170.3,2101,1992,3258,3427,89.1,-8.9,90,998,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,1992,3342,3258,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1298,-1.35,-170.3,2102,1993,3258,3427,115.9,-9.1,105,1304,0.00,2.03,0.00,0.000,260,0.000,0.032,2092,3354,3342,3258,3427,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1350,-1.35,-170.3,2092,3354,3258,3427,120.4,-9.1,107,1356,0.00,2.08,0.00,0.000,1030,0.000,0.025,2092,1967,3342,3258,3427,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1670,-1.35,-170.3,2092,1966,3258,3427,149.7,-8.9,123,1676,0.00,2.12,0.00,0.000,516,0.000,0.041,2101,571,3342,3258,3427,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1696,-1.35,-170.3,2101,571,3258,3427,151.9,-8.9,124,1702,0.00,2.03,0.00,0.000,1030,0.000,0.016,2093,1980,3342,3258,3427,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2022,-1.35,-170.3,2092,1980,3258,3423,181.1,-9.2,140,2023,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,1980,3340,3258,3423,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2322,-1.35,-170.3,2092,1980,3257,3421,208.1,-9.2,155,2329,0.00,2.17,0.00,0.000,516,0.000,0.041,2101,571,3339,3258,3421,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2380,-1.35,-170.3,2100,571,3258,3421,212.3,-8.9,157,2386,0.00,2.03,0.00,0.000,1030,0.000,0.016,2092,1978,3339,3258,3420,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2695,-1.35,-170.3,2092,1979,3255,3417,241.5,-9.2,173,2701,0.00,2.05,0.00,0.000,260,0.000,0.033,2082,3355,3335,3255,3416,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2808,-1.35,-170.3,2081,3355,3255,3415,251.2,-8.9,178,2815,0.10,2.10,0.00,0.000,3078,0.158,0.028,2107,1965,3334,3254,3415,0,0,0,0,0,0,26.37,26.56,28.83
$GC,3130,-1.35,-170.3,2106,1965,3253,3413,279.8,-9.1,194,3135,0.00,2.15,0.00,0.000,516,0.000,0.045,2117,568,3332,3253,3412,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3176,-1.35,-170.3,2117,568,3253,3412,283.9,-8.8,196,3182,0.00,2.03,0.00,0.000,1030,0.000,0.017,2109,1970,3332,3253,3412,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3502,-1.35,-170.3,2109,1970,3252,3410,312.2,-9.0,212,3508,0.00,2.10,0.00,0.000,260,0.000,0.034,2099,3358,3330,3252,3409,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3532,-1.35,-170.3,2098,3358,3251,3409,314.6,-9.0,213,3537,0.00,2.10,0.00,0.000,1030,0.000,0.029,2099,1974,3330,3251,3409,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3852,-1.35,-170.3,2098,1973,3248,3407,343.9,-9.0,229,3853,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,1973,3328,3248,3408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4155,-1.35,-170.3,2098,1973,3246,3406,370.8,-8.7,244,4160,0.00,2.17,0.00,0.000,516,0.000,0.046,2107,568,3325,3246,3405,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4264,-1.35,-170.3,2106,568,3245,3406,380.8,-8.9,249,4270,0.00,2.05,0.00,0.000,1030,0.000,0.018,2099,1976,3325,3245,3405,0,0,0,0,0,0,28.83,26.62,28.83
$STATE,4487,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4487,begin apogee
$GC,4493,-0.25,0.0,2096,2305,3243,3403,401.1,-8.7,260,4652,0.75,0.00,150.88,0.864,10246,0.110,0.000,2342,2305,2632,2583,2682,0,0,0,0,0,0,26.24,28.83,24.46
$STATE,4654,end apogee,CONTROL_FINISHED_OK
$STATE,4654,begin climb
$GC,4656,1.35,170.3,2342,2305,2579,2678,386.6,0.0,267,4829,1.00,2.25,157.82,0.838,10500,0.057,0.034,2701,3692,1932,1902,1962,0,0,0,0,0,0,25.25,24.96,24.30
$GC,4974,1.36,173.3,2701,3692,1901,1947,358.9,9.2,281,4982,0.00,2.17,0.00,0.000,1030,0.000,0.025,2711,2301,1924,1901,1947,0,0,0,0,0,0,28.83,25.79,28.83
$GC,5281,1.37,178.6,2710,2301,1901,1944,329.9,9.1,297,5289,0.00,2.30,1.55,0.056,8708,0.000,0.043,2721,886,1909,1885,1933,0,0,0,0,0,0,28.83,26.13,26.08
$GC,5323,1.39,184.2,2721,886,1885,1935,327.6,9.1,298,5338,0.00,2.12,5.15,0.722,9222,0.000,0.018,2722,2307,1889,1863,1915,0,0,0,0,0,0,28.83,26.27,25.27
$GC,5660,1.40,187.2,2721,2307,1863,1922,296.4,9.2,315,5671,0.00,2.25,4.18,0.621,8708,0.000,0.042,2731,895,1876,1849,1904,0,0,0,0,0,0,28.83,26.27,25.21
$GC,5701,1.40,190.8,2731,895,1849,1905,293.8,9.1,316,5715,0.12,2.10,8.65,0.757,13318,0.185,0.018,2703,2306,1861,1834,1888,0,0,0,0,0,0,26.04,26.35,25.41
$GC,6037,1.42,196.7,2702,2304,1831,1881,262.1,9.0,333,6044,0.00,0.00,5.38,0.715,8198,0.000,0.000,2703,2304,1838,1812,1865,0,0,0,0,0,0,28.83,28.83,25.41
$GC,6337,1.43,201.5,2703,2304,1812,1864,234.9,9.1,348,6353,0.00,2.30,7.12,0.726,8708,0.000,0.042,2712,892,1815,1787,1843,0,0,0,0,0,0,28.83,26.27,25.51
$GC,6384,1.45,210.4,2712,892,1787,1842,230.7,8.9,350,6400,0.00,2.10,9.90,0.722,9222,0.000,0.018,2712,2295,1778,1748,1809,0,0,0,0,0,0,28.83,26.35,25.43
$GC,6709,1.48,220.0,2712,2295,1747,1801,201.9,8.9,366,6721,0.00,0.00,10.12,0.700,8198,0.000,0.000,2712,2295,1742,1712,1773,0,0,0,0,0,0,28.83,28.83,25.48
$GC,7011,1.49,224.4,2712,2295,1706,1765,174.8,9.1,381,7023,0.00,2.20,3.25,0.487,8452,0.000,0.037,2712,3688,1723,1692,1755,0,0,0,0,0,0,28.83,26.32,25.23
$GC,7122,1.49,224.4,2712,3688,1693,1754,164.6,9.3,386,7128,0.00,2.15,0.00,0.000,1030,0.000,0.028,2722,2294,1724,1693,1755,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7447,1.49,226.8,2724,2294,1693,1755,135.0,9.2,402,7458,0.00,2.25,3.42,0.497,8708,0.000,0.045,2732,897,1714,1682,1746,0,0,0,0,0,0,28.83,26.37,25.29
$GC,7612,1.51,234.8,2732,897,1682,1747,121.5,9.0,409,7630,0.00,2.10,11.02,0.628,9222,0.000,0.018,2733,2310,1678,1643,1714,0,0,0,0,0,0,28.83,26.48,25.60
$GC,7946,1.54,243.9,2732,2310,1642,1709,90.2,8.9,426,7962,0.00,2.25,9.18,0.607,8708,0.000,0.041,2743,896,1640,1595,1686,0,0,0,0,0,0,28.83,26.29,25.62
$GC,8005,1.56,253.1,2743,896,1594,1683,86.0,8.9,428,8020,0.00,2.10,9.60,0.598,9222,0.000,0.018,2743,2303,1606,1557,1656,0,0,0,0,0,0,28.83,26.37,25.53
$GC,8342,1.58,261.6,2742,2303,1553,1646,54.6,8.9,445,8359,0.00,2.30,8.48,0.576,8708,0.000,0.042,2752,896,1568,1517,1620,0,0,0,0,0,0,28.83,26.26,25.60
$GC,8488,1.63,282.7,2752,896,1517,1616,41.8,8.5,455,8522,0.00,2.12,21.73,0.541,9222,0.000,0.018,2752,2308,1480,1429,1532,0,0,0,0,0,0,28.83,26.39,25.52
$GC,8835,1.67,297.7,1696,2305,1400,1519,10.5,8.7,502,8851,0.00,0.00,14.55,0.517,8198,0.000,0.000,2753,2309,1425,1378,1472,0,0,0,0,0,0,28.83,28.83,25.58
$STATE,8917,end climb,SURFACE_DEPTH_REACHED
$STATE,8917,begin surface coast
$FINISH,0.0,1.024049
$STATE,8951,end surface coast,CONTROL_FINISHED_OK
$STATE,8952,begin surface
$SM_CCo,8969,192.55,0.659,3,0,400,549.47
$SM_CCo,9180,-0.03,0.000,0,0,400,549.47
$SM_CCo,9183,0.12,0.129,0,0,401,549.47
$SM_GC,-23.93,7.45,0.55,0.12,0.066,0.035,0.129,87,1957,401,-10.55,0.93,549.47,0,0,0,0,0,0,26.25,26.28,25.25
$IRIDIUM_FIX,2134.17,12016.05,310313,080808
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.58
$INTERNAL_PRESSURE,9.18503
$TCM_TEMP,17.80
$XPDR_PINGS,0
$SC_FREEKB,3928960
$24V_AH,24.3,40.784
$10V_AH,10.1,21.036
$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,17.100,73.800,441.975,192.675,0.000,0.000,0.000,238.375,0.000,0.000,21.120,2031.082,4798.137,757.864,1586.173,423.955,0.000,1860.165,0.000,1380.296,0.000,1.487,0.000
$DEVICE_MAMPS,201.195,45.900,864.450,659.430,0.000,0.000,0.000,133.875,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8973.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.538,0.000,0.000,0.000
$MEM,324384
$DATA_FILE_SIZE,16812,522
$CAP_FILE_SIZE,397137,2066
$CFSIZE,260034560,222724096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$CURRENT,0.151, 15.7,1
$GPS,310313,140404,2144.993,12019.521,42,0.9,42,-3.1