version: 66.11
glider: 121
mission: 10
dive: 100
start: 3 15 113 18 9 5
data:
$ID,121
$MISSION,10
$DIVE,100
$N_DIVES,101
$D_SURF,3
$D_FLARE,3
$D_TGT,200
$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,72
$T_MISSION,85
$T_ABORT,100
$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,100000
$HEAPDBG,0
$T_GPS,30
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-100571.16
$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,2350
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27
$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,55
$R_STBD_OVSHOOT,62
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3600
$C_VBD,2795
$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,0.1
$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
$GPS1,150313,180500,1851.522,12007.646,14,1.4,14,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-57.8
$GPS2,150313,180838,1851.557,12007.657,18,0.8,19,-2.4
$SPEED_LIMITS,0.160,0.240
$TGT_NAME,W3A
$TGT_LATLONG,1900.000,12000.000
$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,281.8,20599,-18.5,-9.259,-21.12,2828
$D_GRID,1959
$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,15,begin dive
$GC,17,-1.11,-170.3,88,1949,478,546,0.0,0.0,0,43,0.00,0.00,-23.70,0.000,16386,0.000,0.000,88,1948,1137,1124,1150,0,0,0,0,0,0,28.83,28.83,28.83
$GC,45,-1.11,-170.3,88,1948,1125,1151,3.4,-10.9,3,144,7.80,2.17,-80.40,0.000,18692,0.220,0.044,2095,3390,3492,3406,3578,0,0,0,0,0,0,26.17,26.44,26.71
$GC,386,-1.11,-170.3,2095,3389,3408,3578,37.6,-9.9,49,395,0.00,2.10,0.00,0.000,1030,0.000,0.024,2103,1979,3494,3408,3580,0,0,0,0,0,0,28.83,26.56,28.83
$GC,693,-1.11,-170.3,2103,1981,3410,3578,69.0,-10.5,71,694,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,1979,3494,3410,3578,0,0,0,0,0,0,28.83,28.83,28.83
$GC,995,-1.11,-170.3,2103,1979,3410,3578,99.6,-10.4,86,1000,0.00,2.12,0.00,0.000,516,0.000,0.039,2114,564,3494,3410,3578,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1108,-1.11,-170.3,2114,565,3410,3578,110.5,-9.7,91,1114,0.00,2.03,0.00,0.000,1030,0.000,0.015,2105,1990,3494,3410,3578,0,0,0,0,0,0,28.83,26.73,28.83
$GC,1427,-1.11,-170.3,2105,1991,3410,3578,143.2,-10.1,107,1428,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,1991,3494,3410,3578,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1728,-1.11,-170.3,2105,1991,3410,3573,173.3,-10.1,122,1729,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,1991,3491,3410,3573,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2007,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2007,begin apogee
$GC,2011,-0.19,0.0,2103,2307,3410,3569,200.7,-10.0,136,2151,0.62,0.00,132.73,0.648,10246,0.118,0.000,2308,2308,2787,2747,2827,0,0,0,0,0,0,26.62,28.83,24.96
$STATE,2154,end apogee,CONTROL_FINISHED_OK
$STATE,2154,begin climb
$GC,2155,1.11,170.3,2309,2308,2744,2826,187.5,0.0,142,2306,0.82,2.15,136.88,0.627,10500,0.076,0.033,2598,3678,2089,2052,2126,0,0,0,0,0,0,25.57,25.39,24.82
$GC,2427,1.11,170.3,2598,3678,2048,2118,159.9,10.0,154,2436,0.00,2.10,0.00,0.000,1030,0.000,0.023,2608,2294,2082,2048,2117,0,0,0,0,0,0,28.83,26.04,28.83
$GC,2734,1.11,170.3,2608,2293,2045,2114,127.3,10.4,170,2741,0.00,2.15,0.00,0.000,516,0.000,0.038,2618,890,2079,2045,2114,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2785,1.11,170.3,2618,890,2044,2114,122.6,10.1,172,2791,0.12,2.05,0.00,0.000,5126,0.155,0.017,2586,2300,2079,2044,2114,0,0,0,0,0,0,26.31,26.47,28.83
$GC,3105,1.11,170.3,2586,2300,2043,2110,90.0,10.3,188,3111,0.00,2.17,0.00,0.000,516,0.000,0.037,2595,886,2076,2042,2110,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3242,1.11,170.3,2595,886,2039,2110,76.7,10.6,194,3248,0.00,2.05,0.00,0.000,1030,0.000,0.018,2595,2299,2074,2039,2110,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3557,1.11,170.3,2594,2299,2038,2109,44.0,10.3,212,3564,0.00,2.08,0.00,0.000,260,0.000,0.034,2595,3686,2074,2038,2110,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3762,1.11,170.3,1616,3685,1981,2097,23.6,9.9,232,3770,0.00,2.08,0.00,0.000,1030,0.000,0.024,2605,2287,2072,2037,2108,0,0,0,0,0,0,28.83,26.68,28.83
$STATE,3969,end climb,SURFACE_DEPTH_REACHED
$STATE,3969,begin surface coast
$FINISH,0.0,1.026070
$STATE,3998,end surface coast,CONTROL_FINISHED_OK
$STATE,3998,begin surface
$SM_CCo,4013,299.98,0.750,1,0,511,560.02
$SM_GC,-23.93,6.75,0.45,299.98,0.057,0.042,0.750,91,1963,511,-10.30,1.36,560.02,0,0,0,0,1,0,26.65,26.72,24.66
$IRIDIUM_FIX,1844.15,12005.88,150313,181848
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.58
$INTERNAL_PRESSURE,9.11667
$TCM_TEMP,19.10
$XPDR_PINGS,1
$SC_FREEKB,3984640
$24V_AH,24.7,18.283
$10V_AH,10.4,11.694
$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,16.125,26.100,269.600,299.975,0.000,0.000,0.000,0.000,0.250,0.000,21.131,1044.541,1873.202,649.161,720.864,112.882,0.000,1094.015,0.000,717.242,0.000,1.488,0.000
$DEVICE_MAMPS,220.320,43.605,647.955,749.700,0.000,0.000,0.000,0.000,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3975.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.167,0.000,0.000,0.000
$MEM,323908
$DATA_FILE_SIZE,10153,275
$CAP_FILE_SIZE,227653,1074
$CFSIZE,260034560,239083520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.301, 94.3,1
$GPS,150313,192824,1851.472,12007.915,403,0.7,403,-2.4