version: 66.11
glider: 121
mission: 10
dive: 250
start: 3 31 113 22 28 14
data:
$ID,121
$MISSION,10
$DIVE,250
$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,-100812.62
$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,65
$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
$GPS1,310313,222034,2148.460,12021.086,121,0.7,121,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-63.6
$GPS2,310313,222747,2148.557,12021.119,19,0.8,19,-3.1
$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,48.9,42024,-18.5,-9.259,-21.12,2828
$D_GRID,992
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.35,-170.3,87,2010,348,479,0.0,0.0,0,43,0.00,0.00,-23.12,0.000,16386,0.000,0.000,87,2010,1021,1013,1029,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.35,-170.3,87,2009,1013,1032,3.2,-8.8,3,152,7.97,2.28,-88.93,0.000,18948,0.214,0.053,2116,567,3335,3244,3427,0,0,0,0,0,0,25.74,26.10,26.46
$GC,206,-1.35,-170.3,1248,567,3218,3423,17.7,-8.9,26,214,0.00,2.08,0.00,0.000,1030,0.000,0.015,2107,1980,3336,3246,3426,0,0,0,0,0,0,28.83,26.27,28.83
$GC,528,-1.35,-170.3,2107,1981,3252,3427,47.3,-9.3,64,534,0.00,2.08,0.00,0.000,260,0.000,0.030,2096,3369,3337,3248,3427,0,0,0,0,0,0,28.83,26.34,28.83
$GC,712,-1.35,-170.3,1288,3368,3224,3423,63.0,-9.3,74,720,0.00,2.12,0.00,0.000,1030,0.000,0.025,2104,1965,3338,3250,3427,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1022,-1.35,-170.3,2105,1965,3253,3427,91.9,-8.7,90,1027,0.00,2.12,0.00,0.000,516,0.000,0.041,2115,570,3339,3252,3427,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1098,-1.35,-170.3,2115,569,3253,3426,98.2,-9.1,93,1104,0.00,2.03,0.00,0.000,1030,0.000,0.015,2107,1979,3340,3253,3427,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1413,-1.35,-170.3,2106,1980,3253,3427,127.0,-9.4,109,1414,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,1980,3340,3253,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1716,-1.35,-170.3,2106,1980,3253,3426,154.0,-9.1,124,1722,0.00,2.05,0.00,0.000,260,0.000,0.031,2097,3359,3339,3253,3426,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1796,-1.35,-170.3,2096,3358,3253,3425,160.2,-8.8,127,1802,0.00,2.08,0.00,0.000,1030,0.000,0.025,2101,1971,3339,3253,3425,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2110,-1.35,-170.3,2101,1971,3253,3423,190.0,-9.4,143,2116,0.00,2.10,0.00,0.000,260,0.000,0.031,2093,3356,3337,3253,3422,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2193,-1.35,-170.3,1264,3355,3226,3418,196.0,-8.9,146,2200,0.00,2.08,0.00,0.000,1030,0.000,0.027,2093,1975,3337,3253,3422,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2500,-1.35,-170.3,2092,1975,3253,3420,225.1,-9.1,162,2506,0.00,2.15,0.00,0.000,516,0.000,0.043,2102,573,3336,3253,3419,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2540,-1.35,-170.3,2102,574,3252,3419,227.2,-9.1,163,2548,0.00,2.03,0.00,0.000,1030,0.000,0.016,2093,1978,3335,3253,3418,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2847,-1.35,-170.3,2092,1978,3253,3415,256.1,-8.9,179,2848,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,1978,3334,3253,3415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3148,-1.35,-170.3,2093,1978,3252,3412,282.6,-9.0,194,3149,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,1978,3332,3252,3412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3448,-1.35,-170.3,2093,1979,3250,3408,309.2,-9.1,209,3454,0.00,2.08,0.00,0.000,260,0.000,0.033,2083,3361,3329,3250,3408,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3499,-1.35,-170.3,2083,3361,3249,3408,313.6,-9.2,211,3507,0.10,2.10,0.00,0.000,3078,0.159,0.028,2108,1972,3328,3249,3408,0,0,0,0,0,0,26.35,26.55,28.83
$GC,3821,-1.35,-170.3,2108,1971,3248,3406,343.2,-9.3,227,3827,0.00,2.12,0.00,0.000,260,0.000,0.034,2100,3364,3326,3248,3404,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3877,-1.35,-170.3,2100,3364,3248,3405,347.3,-9.0,229,3884,0.00,2.10,0.00,0.000,1030,0.000,0.028,2106,1977,3326,3247,3405,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4194,-1.35,-170.3,2106,1977,3245,3403,376.4,-9.2,245,4199,0.00,2.17,0.00,0.000,516,0.000,0.047,2116,574,3324,3245,3403,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4263,-1.35,-170.3,2116,574,3245,3403,382.8,-9.3,248,4269,0.00,2.05,0.00,0.000,1030,0.000,0.017,2108,1974,3323,3244,3402,0,0,0,0,0,0,28.83,26.61,28.83
$STATE,4466,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4466,begin apogee
$GC,4471,-0.25,0.0,2105,2307,3243,3401,401.2,-9.0,258,4635,0.73,0.00,152.30,1.012,10246,0.112,0.000,2343,2307,2638,2590,2687,0,0,0,0,1,0,26.22,28.83,24.18
$STATE,4638,end apogee,CONTROL_FINISHED_OK
$STATE,4638,begin climb
$GC,4640,1.35,170.3,2343,2307,2590,2687,387.0,0.0,265,4820,1.00,2.33,165.45,0.848,10500,0.050,0.034,2707,3691,1931,1903,1960,0,0,0,0,0,0,25.13,24.90,24.21
$GC,4919,1.37,177.1,2707,3691,1903,1943,361.6,9.0,277,4925,0.00,2.20,0.00,0.000,1030,0.000,0.024,2717,2295,1922,1902,1943,0,0,0,0,0,0,28.83,25.62,28.83
$GC,5233,1.39,184.0,2717,2294,1902,1939,332.7,9.0,293,5245,0.00,2.22,4.22,0.590,8452,0.000,0.033,2717,3680,1887,1865,1910,0,0,0,0,0,0,28.83,26.13,25.08
$GC,5305,1.42,195.2,2717,3680,1865,1914,326.5,8.9,296,5333,0.00,2.12,16.67,0.812,9222,0.000,0.025,2727,2296,1839,1813,1866,0,0,0,0,1,0,28.83,26.17,25.18
$GC,5651,1.42,197.6,2726,2295,1813,1859,295.4,9.2,313,5657,0.00,2.20,0.00,0.000,516,0.000,0.042,2738,889,1836,1813,1859,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5708,1.43,200.4,2738,889,1813,1859,291.3,9.2,315,5716,0.12,2.10,1.85,0.075,13318,0.183,0.018,2709,2298,1822,1796,1848,0,0,0,0,0,0,26.01,26.33,25.90
$GC,6025,1.46,211.6,2709,2298,1796,1855,261.8,8.9,331,6049,0.00,2.22,16.35,0.769,8452,0.000,0.036,2709,3690,1769,1739,1800,0,0,0,0,0,0,28.83,26.15,25.44
$GC,6269,1.48,219.5,2709,3690,1739,1794,240.5,9.0,342,6283,0.00,2.12,5.20,0.710,9222,0.000,0.026,2718,2298,1745,1716,1774,0,0,0,0,0,0,28.83,26.29,25.34
$GC,6581,1.50,229.7,2717,2298,1716,1774,211.8,8.9,358,6604,0.00,2.20,13.82,0.736,8708,0.000,0.042,2729,899,1697,1664,1731,0,0,0,0,0,0,28.83,26.16,25.46
$GC,6659,1.51,232.7,2728,901,1664,1728,205.5,9.2,361,6665,0.00,2.10,0.00,0.000,1030,0.000,0.018,2728,2300,1696,1664,1728,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6974,1.53,239.4,2728,2300,1664,1724,176.3,9.0,377,6990,0.00,2.25,10.07,0.714,8708,0.000,0.041,2739,887,1657,1615,1699,0,0,0,0,0,0,28.83,26.21,25.49
$GC,7086,1.54,245.3,2738,888,1611,1696,166.6,9.0,382,7097,0.00,2.12,3.92,0.581,9222,0.000,0.018,2739,2308,1638,1592,1684,0,0,0,0,0,0,28.83,26.33,25.20
$GC,7406,1.55,249.5,2738,2308,1592,1684,137.3,9.1,398,7418,0.00,2.12,4.97,0.647,8452,0.000,0.035,2739,3690,1622,1575,1670,0,0,0,0,0,0,28.83,26.32,25.30
$GC,7510,1.57,258.8,2738,3690,1574,1671,129.4,8.9,402,7529,0.00,2.12,13.00,0.664,9222,0.000,0.028,2748,2302,1580,1528,1633,0,0,0,0,0,0,28.83,26.34,25.48
$GC,7844,1.58,261.5,2748,2302,1526,1625,98.0,9.2,419,7850,0.00,2.20,0.00,0.000,516,0.000,0.044,2759,894,1575,1526,1625,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7902,1.58,261.9,2759,894,1526,1625,93.5,9.2,421,7908,0.00,2.10,0.00,0.000,1030,0.000,0.018,2757,2304,1575,1526,1625,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8218,1.59,266.0,2757,2304,1526,1624,64.3,9.1,437,8229,0.00,2.12,5.40,0.600,8452,0.000,0.035,2757,3691,1555,1503,1608,0,0,0,0,0,0,28.83,26.38,25.58
$GC,8322,1.61,271.6,2757,3690,1503,1608,56.1,9.1,441,8336,0.00,2.15,8.60,0.604,9222,0.000,0.028,2767,2289,1531,1476,1586,0,0,0,0,0,0,28.83,26.39,25.60
$GC,8645,1.62,276.2,2767,2289,1473,1578,25.8,9.1,471,8659,0.00,2.22,3.70,0.477,8708,0.000,0.044,2778,900,1512,1459,1565,0,0,0,0,0,0,28.83,26.35,25.35
$GC,8691,1.64,283.8,1744,900,1429,1560,21.7,9.0,477,8709,0.12,2.08,10.50,0.569,13318,0.182,0.018,2749,2304,1479,1426,1532,0,0,0,0,0,0,26.11,26.43,25.60
$STATE,8896,end climb,SURFACE_DEPTH_REACHED
$STATE,8896,begin surface coast
$FINISH,0.0,1.025111
$STATE,8932,end surface coast,CONTROL_FINISHED_OK
$STATE,8932,begin surface
$SM_CCo,8949,214.90,0.709,2,0,399,549.47
$SM_CCo,9177,-0.10,0.000,0,0,403,549.47
$SM_CCo,9181,3.25,0.396,0,0,400,549.47
$SM_GC,-23.93,7.47,0.52,3.25,0.070,0.035,0.396,84,1963,400,-10.56,1.19,549.47,0,0,0,0,0,0,26.35,26.39,24.58
$IRIDIUM_FIX,2138.81,12024.40,310313,191912
$TT8_MAMPS,0.023968,0.023968
$HUMID,50.11
$INTERNAL_PRESSURE,9.12643
$TCM_TEMP,19.40
$XPDR_PINGS,2
$SC_FREEKB,3927424
$24V_AH,24.2,41.437
$10V_AH,10.1,21.302
$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,17.525,82.100,436.050,218.150,0.000,0.000,0.000,234.975,0.500,0.000,20.644,2085.562,4644.417,788.003,1633.802,443.898,0.000,1943.127,0.000,1469.891,0.000,1.487,0.000
$DEVICE_MAMPS,214.200,52.785,1012.095,709.155,0.000,0.000,0.000,132.345,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8943.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.487,0.000,0.000,0.000
$MEM,324452
$DATA_FILE_SIZE,20071,519
$CAP_FILE_SIZE,410153,2166
$CFSIZE,260034560,222257152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$CURRENT,0.195,348.2,1
$GPS,010413,010423,2150.148,12021.559,143,1.0,143,-3.1