version: 66.11
glider: 121
mission: 10
dive: 103
start: 3 15 113 22 50 3
data:
$ID,121
$MISSION,10
$DIVE,103
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$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,108
$T_MISSION,125
$T_ABORT,150
$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,-100623.94
$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,59
$R_STBD_OVSHOOT,72
$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,0.094999999
$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
$GPS1,150313,224342,1851.558,12008.008,452,0.8,452,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-56.7
$GPS2,150313,224936,1851.565,12007.971,21,0.8,21,-2.4
$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,336.2,321494,-18.5,-9.259,-21.12,2828
$D_GRID,1926
$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,-170.3,83,1943,482,571,0.0,0.0,0,43,0.00,0.00,-23.95,0.000,16386,0.000,0.000,82,1947,1152,1139,1165,0,0,0,0,0,0,28.83,28.83,28.83
$GC,45,-1.11,-170.3,83,1947,1139,1167,3.3,-9.4,3,152,8.05,2.20,-90.35,0.000,18692,0.228,0.044,2097,3353,3491,3405,3578,0,0,0,0,0,0,26.08,26.36,26.64
$GC,277,-1.11,-170.3,1232,3352,3388,3575,25.6,-9.2,40,283,0.00,2.05,0.00,0.000,1030,0.000,0.028,2105,1994,3492,3406,3578,0,0,0,0,0,0,28.83,26.47,28.83
$GC,602,-1.11,-170.3,2104,1994,3409,3578,56.4,-9.6,69,603,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,1994,3494,3410,3578,0,0,0,0,0,0,28.83,28.83,28.83
$GC,901,-1.11,-170.3,2104,1994,3411,3578,85.1,-9.3,84,908,0.00,2.15,0.00,0.000,516,0.000,0.039,2114,564,3494,3411,3578,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1031,-1.11,-170.3,2114,564,3411,3578,97.1,-9.2,90,1038,0.00,2.03,0.00,0.000,1030,0.000,0.016,2106,1985,3494,3411,3578,0,0,0,0,0,0,28.83,26.72,28.83
$GC,1357,-1.11,-170.3,2106,1986,3411,3578,127.8,-9.2,106,1358,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,1986,3494,3411,3578,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1657,-1.11,-170.3,2106,1986,3411,3578,156.0,-9.2,121,1663,0.00,2.03,0.00,0.000,260,0.000,0.031,2096,3363,3494,3411,3577,0,0,0,0,0,0,28.83,26.71,28.83
$GC,1682,-1.11,-170.3,2096,3363,3411,3577,158.4,-9.2,122,1688,0.00,2.08,0.00,0.000,1030,0.000,0.024,2099,1957,3493,3410,3577,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2008,-1.11,-170.3,2099,1958,3411,3574,188.7,-9.2,138,2014,0.00,2.08,0.00,0.000,516,0.000,0.041,2109,575,3492,3411,3573,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2078,-1.11,-170.3,2108,575,3411,3573,195.1,-9.4,141,2084,0.00,2.00,0.00,0.000,1030,0.000,0.016,2101,1975,3492,3411,3573,0,0,0,0,0,0,28.83,26.78,28.83
$GC,2397,-1.11,-170.3,2100,1976,3411,3571,225.4,-9.4,157,2398,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,1976,3491,3411,3571,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2698,-1.11,-170.3,2100,1977,3411,3566,254.4,-9.5,172,2704,0.00,2.03,0.00,0.000,260,0.000,0.030,2090,3356,3488,3411,3566,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2753,-1.11,-170.3,2090,3356,3409,3565,258.7,-9.7,174,2758,0.00,2.05,0.00,0.000,1030,0.000,0.024,2091,1970,3488,3411,3566,0,0,0,0,0,0,28.83,26.75,28.83
$GC,3067,-1.11,-170.3,2090,1970,3410,3564,289.0,-9.5,190,3073,0.00,2.10,0.00,0.000,516,0.000,0.043,2100,577,3486,3410,3563,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3145,-1.11,-170.3,2100,576,3408,3564,295.2,-9.5,193,3153,0.00,2.00,0.00,0.000,1030,0.000,0.017,2091,1974,3486,3408,3564,0,0,0,0,0,0,28.83,26.79,28.83
$STATE,3191,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3191,begin apogee
$GC,3196,-0.19,0.0,2089,2301,3408,3564,300.8,-9.4,196,3360,0.68,0.00,151.25,0.887,10246,0.120,0.000,2310,2302,2794,2754,2834,0,0,0,0,1,0,26.60,28.83,24.49
$STATE,3362,end apogee,CONTROL_FINISHED_OK
$STATE,3362,begin climb
$GC,3363,1.11,170.3,2310,2302,2754,2834,285.8,0.0,203,3595,0.80,2.35,217.98,0.643,11012,0.068,0.037,2604,901,2091,2054,2128,0,0,0,0,0,0,25.34,25.30,24.75
$GC,3713,1.11,170.3,2604,901,2048,2121,251.2,9.5,219,3719,0.00,2.08,0.00,0.000,1030,0.000,0.016,2604,2296,2084,2048,2120,0,0,0,0,0,0,28.83,26.00,28.83
$GC,4032,1.11,170.3,2603,2296,2048,2117,220.8,9.5,235,4033,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2296,2082,2048,2117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4333,1.11,170.3,2603,2296,2046,2115,192.2,9.7,250,4334,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2296,2080,2046,2115,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4633,1.11,170.3,2603,2296,2045,2114,164.1,9.4,265,4639,0.00,2.17,0.00,0.000,516,0.000,0.038,2614,896,2079,2045,2114,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4753,1.11,170.3,2613,896,2043,2114,154.1,9.5,270,4762,0.10,2.05,0.00,0.000,5126,0.169,0.018,2590,2310,2078,2043,2114,0,0,0,0,0,0,26.48,26.65,28.83
$GC,5060,1.11,170.3,2589,2309,2043,2112,123.4,9.8,286,5066,0.00,2.17,0.00,0.000,516,0.000,0.038,2598,903,2077,2043,2112,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5190,1.11,170.3,2598,903,2041,2112,110.9,9.6,292,5196,0.00,2.03,0.00,0.000,1030,0.000,0.018,2598,2296,2076,2040,2112,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5515,1.11,170.3,2598,2297,2041,2111,79.8,9.7,308,5522,0.00,2.10,0.00,0.000,260,0.000,0.035,2598,3696,2075,2040,2111,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5756,1.11,170.3,2598,3696,2038,2110,57.6,9.4,319,5762,0.00,2.08,0.00,0.000,1030,0.000,0.024,2608,2297,2074,2038,2110,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6071,1.11,170.3,2608,2297,2039,2110,27.1,9.3,347,6076,0.00,2.12,0.00,0.000,260,0.000,0.034,2608,3698,2074,2038,2110,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6240,1.11,170.3,1600,3698,1980,2098,10.9,9.8,376,6248,0.12,2.08,0.00,0.000,5126,0.168,0.023,2586,2295,2074,2038,2110,0,0,0,0,0,0,26.56,26.72,28.83
$STATE,6325,end climb,SURFACE_DEPTH_REACHED
$STATE,6325,begin surface coast
$FINISH,0.0,1.026545
$STATE,6358,end surface coast,CONTROL_FINISHED_OK
$STATE,6359,begin surface
$SM_CCo,6374,312.83,0.877,1,0,510,560.02
$SM_GC,-23.93,6.72,0.47,312.83,0.060,0.042,0.877,86,1954,510,-10.34,1.13,560.02,0,0,0,0,1,0,26.67,26.74,24.50
$IRIDIUM_FIX,1844.15,12010.96,150313,212119
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.91
$INTERNAL_PRESSURE,9.06784
$TCM_TEMP,17.90
$XPDR_PINGS,2
$SC_FREEKB,3983488
$24V_AH,24.5,18.722
$10V_AH,10.3,11.871
$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,16.475,46.900,369.225,312.825,0.000,0.000,0.000,208.575,0.500,0.000,22.894,1546.021,3239.507,770.564,1283.410,203.592,0.000,1628.548,0.000,1053.310,0.000,1.488,0.000
$DEVICE_MAMPS,227.970,43.605,886.635,876.690,0.000,0.000,0.000,128.520,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6365.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.707,0.000,0.000,0.000
$MEM,323924
$DATA_FILE_SIZE,13434,397
$CAP_FILE_SIZE,321611,1605
$CFSIZE,260034560,238764032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.145,230.5,1
$GPS,160313,005458,1851.817,12007.077,756,0.9,765,-2.4