version: 66.11
glider: 121
mission: 10
dive: 197
start: 3 25 113 22 39 54
data:
$ID,121
$MISSION,10
$DIVE,197
$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,-4
$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,-100742.48
$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,46
$R_STBD_OVSHOOT,52
$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
$GPS1,250313,223222,2041.832,12001.713,71,0.6,71,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-55.0
$GPS2,250313,223927,2041.957,12001.782,27,0.6,28,-2.8
$SPEED_LIMITS,0.160,0.240
$TGT_NAME,W2A
$TGT_LATLONG,2145.000,12000.000
$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,343.8,116795,-18.5,-9.259,-21.12,2828
$D_GRID,3463
$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,-170.3,83,1952,358,487,0.0,0.0,0,44,0.00,0.00,-23.65,0.000,16386,0.000,0.000,83,1953,1043,1040,1046,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.35,-170.3,83,1953,1039,1049,3.3,-9.2,3,154,7.78,2.22,-88.40,0.000,18692,0.208,0.046,2095,3382,3336,3244,3428,0,0,0,0,0,0,25.82,26.14,26.44
$GC,286,-1.35,-170.3,1240,3380,3218,3424,25.2,-8.5,41,295,0.00,2.15,0.00,0.000,1030,0.000,0.028,2103,1980,3337,3246,3428,0,0,0,0,0,0,28.83,26.26,28.83
$GC,603,-1.35,-170.3,2103,1980,3249,3428,53.8,-9.1,71,609,0.00,2.15,0.00,0.000,516,0.000,0.041,2113,571,3338,3249,3428,0,0,0,0,0,0,28.83,26.39,28.83
$GC,733,-1.35,-170.3,2113,571,3250,3428,65.4,-9.1,77,739,0.00,2.05,0.00,0.000,1030,0.000,0.015,2105,1995,3339,3251,3428,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1060,-1.35,-170.3,2106,1997,3253,3428,94.4,-9.0,93,1065,0.00,2.03,0.00,0.000,260,0.000,0.032,2094,3355,3340,3253,3428,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1108,-1.35,-170.3,2094,3355,3253,3428,98.8,-9.1,95,1114,0.00,2.08,0.00,0.000,1030,0.000,0.025,2094,1970,3340,3253,3428,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1434,-1.35,-170.3,2094,1970,3253,3428,128.0,-8.9,111,1435,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,1970,3340,3253,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1734,-1.35,-170.3,2094,1970,3253,3427,155.1,-9.0,126,1739,0.00,2.12,0.00,0.000,516,0.000,0.041,2103,573,3340,3253,3427,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1790,-1.35,-170.3,2104,573,3253,3427,159.3,-9.1,128,1796,0.00,2.03,0.00,0.000,1030,0.000,0.016,2095,1979,3339,3252,3427,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2105,-1.35,-170.3,2095,1979,3253,3424,189.1,-9.0,144,2111,0.00,2.17,0.00,0.000,516,0.000,0.041,2103,571,3337,3252,3423,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2181,-1.35,-170.3,2103,572,3252,3423,194.8,-8.8,147,2188,0.00,2.03,0.00,0.000,1030,0.000,0.016,2095,1974,3337,3252,3423,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2497,-1.35,-170.3,2095,1975,3252,3421,223.8,-8.9,163,2503,0.00,2.08,0.00,0.000,260,0.000,0.033,2085,3360,3336,3253,3420,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2532,-1.35,-170.3,2085,3360,3252,3420,226.1,-8.9,164,2538,0.00,2.08,0.00,0.000,1030,0.000,0.028,2086,1978,3336,3252,3420,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2847,-1.35,-170.3,2086,1978,3252,3416,255.4,-8.7,180,2854,0.00,2.15,0.00,0.000,516,0.000,0.044,2096,574,3334,3252,3416,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2940,-1.35,-170.3,2095,574,3252,3415,263.5,-9.1,184,2945,0.00,2.03,0.00,0.000,1030,0.000,0.016,2087,1974,3333,3252,3415,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3259,-1.35,-170.3,2087,1974,3252,3411,292.2,-9.5,200,3265,0.00,2.08,0.00,0.000,260,0.000,0.034,2076,3361,3331,3252,3411,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3325,-1.35,-170.3,2076,3361,3251,3410,298.3,-9.4,203,3332,0.10,2.10,0.00,0.000,3078,0.164,0.028,2104,1974,3330,3251,3410,0,0,0,0,0,0,26.44,26.62,28.83
$GC,3652,-1.35,-170.3,2104,1974,3250,3408,327.2,-8.9,219,3658,0.00,2.17,0.00,0.000,516,0.000,0.047,2115,567,3328,3249,3408,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3740,-1.35,-170.3,2115,567,3249,3407,335.2,-9.1,223,3746,0.00,2.08,0.00,0.000,1030,0.000,0.018,2106,1983,3328,3249,3407,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4067,-1.35,-170.3,2105,1983,3247,3405,364.6,-8.9,239,4073,0.00,2.08,0.00,0.000,260,0.000,0.035,2096,3363,3326,3247,3405,0,0,0,0,0,0,28.83,26.59,28.83
$GC,4141,-1.35,-170.3,2096,3363,3246,3404,371.0,-8.9,242,4147,0.00,2.10,0.00,0.000,1030,0.000,0.030,2096,1977,3325,3246,3404,0,0,0,0,0,0,28.83,26.61,28.83
$STATE,4458,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4458,begin apogee
$GC,4465,-0.25,0.0,2095,2303,3243,3402,401.3,-9.6,258,4629,0.75,0.00,153.50,1.008,10246,0.117,0.000,2341,2302,2639,2590,2688,0,0,0,0,1,0,26.39,28.83,24.21
$STATE,4630,end apogee,CONTROL_FINISHED_OK
$STATE,4631,begin climb
$GC,4632,1.35,170.3,2340,2302,2590,2688,386.7,0.0,265,4796,1.02,2.47,146.75,1.099,10756,0.055,0.042,2716,897,1944,1911,1977,0,0,0,0,1,0,25.09,24.65,23.89
$GC,4895,1.37,177.4,2716,896,1911,1976,363.2,9.0,278,4913,0.00,2.15,9.80,0.838,9222,0.000,0.017,2716,2295,1911,1884,1938,0,0,0,0,0,0,28.83,25.53,24.65
$GC,5232,1.40,187.9,2715,2295,1884,1931,331.6,8.9,295,5248,0.00,2.25,10.45,0.822,8452,0.000,0.035,2716,3699,1868,1844,1893,0,0,0,0,0,0,28.83,25.95,25.18
$GC,5486,1.42,196.4,2716,3699,1842,1888,308.8,8.9,307,5502,0.00,2.15,8.73,0.804,9222,0.000,0.025,2725,2302,1835,1811,1860,0,0,0,0,0,0,28.83,26.23,25.32
$GC,5814,1.43,200.5,2725,2302,1809,1854,278.6,9.1,323,5825,0.00,2.25,3.17,0.523,8708,0.000,0.043,2736,903,1821,1796,1846,0,0,0,0,0,0,28.83,26.26,25.20
$GC,5844,1.45,207.5,2736,903,1796,1846,276.2,9.0,324,5862,0.00,2.10,9.75,0.796,9222,0.000,0.018,2736,2311,1789,1762,1817,0,0,0,0,0,0,28.83,26.34,25.39
$GC,6163,1.48,221.1,2736,2311,1761,1812,247.8,8.8,340,6186,0.00,2.15,14.75,0.767,8452,0.000,0.034,2737,3696,1731,1701,1762,0,0,0,0,0,0,28.83,26.12,25.42
$GC,6281,1.50,228.1,2736,3697,1699,1759,237.9,9.0,345,6295,0.00,2.15,5.07,0.715,9222,0.000,0.027,2747,2301,1708,1676,1741,0,0,0,0,0,0,28.83,26.22,25.29
$GC,6593,1.51,231.3,2746,2301,1676,1742,208.9,9.1,361,6600,0.00,0.00,4.38,0.652,8198,0.000,0.000,2747,2301,1694,1660,1729,0,0,0,0,0,0,28.83,28.83,25.28
$GC,6893,1.53,241.0,2746,2301,1660,1729,182.3,8.9,376,6909,0.00,2.30,11.98,0.708,8708,0.000,0.045,2757,889,1652,1608,1697,0,0,0,0,0,0,28.83,26.20,25.53
$GC,6959,1.54,245.0,1760,888,1571,1687,176.5,9.1,379,6965,0.10,2.12,0.00,0.000,5126,0.196,0.018,2736,2307,1649,1605,1694,0,0,0,0,0,0,26.07,26.32,28.83
$GC,7286,1.56,252.4,2736,2307,1605,1691,147.6,9.0,395,7305,0.00,2.33,11.55,0.675,8708,0.000,0.043,2746,895,1606,1557,1655,0,0,0,0,0,0,28.83,26.22,25.58
$GC,7380,1.57,257.9,2745,895,1557,1652,139.8,9.1,399,7395,0.00,2.10,4.60,0.618,9222,0.000,0.018,2745,2303,1586,1536,1637,0,0,0,0,0,0,28.83,26.34,25.32
$GC,7691,1.57,257.9,2745,2302,1536,1637,110.4,9.3,415,7697,0.00,2.22,0.00,0.000,516,0.000,0.044,2755,897,1586,1536,1637,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7743,1.60,268.0,2755,897,1536,1637,106.2,8.9,417,7762,0.00,2.12,12.85,0.630,9222,0.000,0.018,2756,2311,1543,1490,1596,0,0,0,0,0,0,28.83,26.45,25.60
$GC,8060,1.65,289.2,2755,2311,1488,1590,77.5,8.5,433,8089,0.00,2.15,22.02,0.591,8452,0.000,0.036,2755,3701,1455,1405,1505,0,0,0,0,0,0,28.83,26.13,25.52
$GC,8180,1.66,293.6,2755,3701,1404,1499,67.3,9.1,438,8186,0.00,2.17,0.00,0.000,1030,0.000,0.028,2765,2296,1451,1404,1499,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8496,1.68,302.6,2765,2296,1404,1497,37.7,8.9,460,8515,0.00,2.28,13.55,0.555,8708,0.000,0.044,2776,896,1400,1358,1443,0,0,0,0,0,0,28.83,26.21,25.63
$GC,8605,1.69,307.0,2775,896,1357,1437,28.2,9.1,469,8615,0.00,2.10,2.70,0.328,9222,0.000,0.018,2776,2306,1387,1348,1426,0,0,0,0,0,0,28.83,26.34,25.34
$STATE,8877,end climb,SURFACE_DEPTH_REACHED
$STATE,8877,begin surface coast
$FINISH,0.0,1.024355
$STATE,8913,end surface coast,CONTROL_FINISHED_OK
$STATE,8913,begin surface
$SM_CCo,8930,189.73,0.675,2,0,400,549.47
$SM_CCo,9133,-0.03,0.000,0,0,400,549.47
$SM_CCo,9136,0.00,0.000,0,0,400,549.47
$SM_GC,-23.93,7.60,0.55,0.00,0.076,0.036,0.000,85,1952,400,-10.56,0.82,549.47,0,0,0,0,0,0,26.39,26.44,28.83
$IRIDIUM_FIX,2031.77,12002.12,250313,191907
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.07
$INTERNAL_PRESSURE,9.1655
$TCM_TEMP,19.90
$XPDR_PINGS,0
$SC_FREEKB,3947520
$24V_AH,23.9,33.263
$10V_AH,10.1,17.892
$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,17.350,82.550,445.600,189.725,0.000,0.000,0.000,228.900,0.000,0.000,28.836,2102.904,4611.125,768.658,1659.852,396.028,0.000,1875.871,0.000,1438.479,0.000,1.486,0.000
$DEVICE_MAMPS,208.080,46.665,1099.305,675.495,0.000,0.000,0.000,135.405,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8923.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.490,0.000,0.000,0.000
$MEM,323896
$DATA_FILE_SIZE,20145,522
$CAP_FILE_SIZE,435839,2178
$CFSIZE,260034560,228331520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$CURRENT,0.043,286.0,1
$GPS,260313,011332,2042.808,12001.175,42,1.0,42,-2.8