version: 66.11
glider: 121
mission: 10
dive: 104
start: 3 16 113 1 1 32
data:
$ID,121
$MISSION,10
$DIVE,104
$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,-100625.2
$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,56
$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,0.094999999
$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
$GPS1,160313,005458,1851.817,12007.077,756,0.9,765,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-59.1
$GPS2,160313,010104,1851.838,12007.046,32,1.2,32,-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,29.1,320925,-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,-170.3,83,1946,482,566,0.0,0.0,0,43,0.00,0.00,-24.00,0.000,16386,0.000,0.000,83,1946,1151,1134,1168,0,0,0,0,0,0,28.83,28.83,28.83
$GC,45,-1.11,-170.3,82,1946,1134,1170,3.4,-9.6,3,137,7.85,2.22,-76.88,0.000,18692,0.220,0.043,2093,3371,3492,3407,3578,0,0,0,0,0,0,26.06,26.34,26.62
$GC,202,-1.11,-170.3,1248,3369,3390,3576,18.7,-9.6,27,210,0.00,2.10,0.00,0.000,1030,0.000,0.026,2101,1978,3492,3407,3578,0,0,0,0,0,0,28.83,26.41,28.83
$GC,523,-1.11,-170.3,2101,1979,3412,3579,49.3,-9.6,64,529,0.00,2.12,0.00,0.000,516,0.000,0.040,2112,572,3495,3412,3578,0,0,0,0,0,0,28.83,26.53,28.83
$GC,561,-1.11,-170.3,1312,572,3397,3576,51.6,-9.4,66,569,0.00,2.03,0.00,0.000,1030,0.000,0.015,2104,1985,3495,3412,3578,0,0,0,0,0,0,28.83,26.60,28.83
$GC,869,-1.11,-170.3,2103,1986,3414,3579,82.3,-9.4,82,875,0.00,2.17,0.00,0.000,516,0.000,0.038,2112,565,3496,3414,3579,0,0,0,0,0,0,28.83,26.61,28.83
$GC,893,-1.11,-170.3,1280,565,3397,3576,84.5,-9.5,83,899,0.00,2.03,0.00,0.000,1030,0.000,0.016,2103,1983,3496,3414,3579,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1218,-1.11,-170.3,2103,1984,3414,3578,115.4,-9.5,99,1224,0.00,2.17,0.00,0.000,516,0.000,0.041,2112,563,3496,3414,3579,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1278,-1.11,-170.3,2111,563,3414,3579,120.0,-9.8,101,1286,0.00,2.03,0.00,0.000,1030,0.000,0.016,2103,1981,3496,3414,3579,0,0,0,0,0,0,28.83,26.72,28.83
$GC,1585,-1.11,-170.3,2103,1981,3414,3578,150.2,-9.2,117,1591,0.00,2.03,0.00,0.000,260,0.000,0.031,2093,3358,3496,3414,3579,0,0,0,0,0,0,28.83,26.68,28.83
$GC,1611,-1.11,-170.3,2092,3357,3414,3578,152.8,-9.3,118,1618,0.00,2.05,0.00,0.000,1030,0.000,0.024,2094,1972,3496,3414,3578,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1937,-1.11,-170.3,2094,1972,3413,3577,183.5,-9.4,134,1943,0.00,2.10,0.00,0.000,516,0.000,0.041,2104,575,3495,3413,3577,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2095,-1.11,-170.3,2104,575,3413,3576,197.5,-9.5,141,2101,0.00,2.00,0.00,0.000,1030,0.000,0.016,2095,1977,3494,3413,3575,0,0,0,0,0,0,28.83,26.76,28.83
$GC,2409,-1.11,-170.3,2095,1976,3413,3573,229.1,-9.5,157,2410,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,1977,3493,3413,3573,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2710,-1.11,-170.3,2095,1978,3413,3570,257.7,-9.4,172,2711,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,1978,3491,3413,3570,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3010,-1.11,-170.3,2095,1978,3413,3566,286.0,-9.7,187,3016,0.00,2.15,0.00,0.000,516,0.000,0.041,2104,575,3489,3413,3566,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3064,-1.11,-170.3,2103,576,3413,3566,290.3,-9.5,189,3070,0.00,2.00,0.00,0.000,1030,0.000,0.016,2095,1974,3489,3413,3565,0,0,0,0,0,0,28.83,26.78,28.83
$STATE,3178,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3178,begin apogee
$GC,3183,-0.19,0.0,2093,2299,3413,3565,301.8,-9.8,195,3345,0.65,0.00,148.93,0.893,10246,0.120,0.000,2306,2299,2794,2754,2834,0,0,0,0,1,0,26.59,28.83,24.46
$STATE,3346,end apogee,CONTROL_FINISHED_OK
$STATE,3346,begin climb
$GC,3348,1.11,170.3,2306,2299,2754,2834,286.7,0.0,202,3512,0.82,2.25,154.95,0.748,11012,0.069,0.038,2607,905,2090,2053,2128,0,0,0,0,0,0,25.29,25.19,24.60
$GC,3752,1.11,170.3,2607,905,2043,2117,248.9,9.3,220,3761,0.00,2.05,0.00,0.000,1030,0.000,0.017,2608,2293,2079,2043,2116,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4059,1.11,170.3,2607,2293,2043,2113,218.1,9.6,236,4060,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2293,2078,2043,2113,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4360,1.11,170.3,2607,2294,2039,2111,189.3,9.7,251,4366,0.00,2.12,0.00,0.000,260,0.000,0.034,2607,3698,2075,2039,2111,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4409,1.11,170.3,2607,3698,2039,2111,184.8,9.7,253,4417,0.12,2.08,0.00,0.000,5126,0.164,0.023,2586,2304,2074,2038,2110,0,0,0,0,0,0,26.38,26.53,28.83
$GC,4731,1.12,171.3,2585,2304,2038,2110,154.3,9.2,269,4737,0.00,2.15,0.00,0.000,516,0.000,0.040,2595,899,2074,2038,2110,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4923,1.12,171.3,2594,898,2037,2110,136.2,9.5,278,4929,0.00,2.05,0.00,0.000,1030,0.000,0.017,2594,2311,2073,2037,2109,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5242,1.12,171.3,2594,2311,2037,2109,105.9,9.5,294,5248,0.00,2.20,0.00,0.000,516,0.000,0.038,2604,892,2073,2038,2109,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5309,1.12,171.3,2604,892,2037,2109,99.3,9.9,297,5315,0.00,2.05,0.00,0.000,1030,0.000,0.018,2604,2302,2073,2037,2109,0,0,0,0,0,0,28.83,26.69,28.83
$GC,5634,1.12,171.3,2604,2302,2036,2108,68.4,9.4,313,5640,0.00,2.08,0.00,0.000,260,0.000,0.035,2604,3687,2072,2036,2108,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5783,1.12,171.3,2604,3687,2035,2108,54.2,9.6,320,5790,0.00,2.08,0.00,0.000,1030,0.000,0.024,2614,2297,2071,2035,2108,0,0,0,0,0,0,28.83,26.69,28.83
$GC,6098,1.12,171.3,2614,2297,2035,2107,24.3,9.8,349,6106,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2297,2072,2036,2108,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6324,end climb,SURFACE_DEPTH_REACHED
$STATE,6324,begin surface coast
$FINISH,0.0,1.026564
$STATE,6358,end surface coast,CONTROL_FINISHED_OK
$STATE,6358,begin surface
$SM_CCo,6373,312.42,0.864,1,0,511,560.02
$SM_GC,-23.93,6.85,0.47,312.42,0.063,0.042,0.864,92,1958,511,-10.30,1.22,560.02,0,0,0,0,1,0,26.66,26.73,24.40
$IRIDIUM_FIX,1844.15,12007.85,150313,222259
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.11
$INTERNAL_PRESSURE,9.04831
$TCM_TEMP,17.90
$XPDR_PINGS,1
$SC_FREEKB,3983104
$24V_AH,24.4,18.875
$10V_AH,10.2,11.938
$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,16.300,51.200,303.875,312.425,0.000,0.000,0.000,201.775,0.250,0.000,33.705,1569.929,3253.501,724.914,1291.781,207.648,0.000,1575.829,0.000,1055.669,0.000,1.487,0.000
$DEVICE_MAMPS,220.320,42.840,892.755,863.685,0.000,0.000,0.000,130.050,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6360.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.807,0.000,0.000,0.000
$MEM,323868
$DATA_FILE_SIZE,13463,397
$CAP_FILE_SIZE,324190,1635
$CFSIZE,260034560,238669824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.100,234.2,1
$GPS,160313,030441,1852.277,12007.069,660,1.1,660,-2.4