version: 66.11
glider: 121
mission: 10
dive: 105
start: 3 16 113 3 11 19
data:
$ID,121
$MISSION,10
$DIVE,105
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,350
$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,126
$T_MISSION,150
$T_ABORT,180
$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,-100626.45
$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,61
$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,0.090000004
$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
$GPS1,160313,030441,1852.277,12007.069,660,1.1,660,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-61.4
$GPS2,160313,031052,1852.336,12007.054,27,0.8,27,-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,20.5,320004,-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,-170.3,89,1950,474,558,0.0,0.0,0,43,0.00,0.00,-23.62,0.000,16386,0.000,0.000,89,1948,1131,1113,1149,0,0,0,0,0,0,28.83,28.83,28.83
$GC,45,-1.11,-170.3,89,1948,1113,1151,3.2,-9.2,3,151,8.02,2.15,-87.35,0.000,18692,0.229,0.042,2092,3370,3491,3406,3577,0,0,0,0,0,0,25.98,26.30,26.58
$GC,217,-1.11,-170.3,1248,3368,3390,3575,19.0,-8.8,29,226,0.00,2.10,0.00,0.000,1030,0.000,0.028,2100,1985,3493,3408,3578,0,0,0,0,0,0,28.83,26.36,28.83
$GC,538,-1.11,-170.3,2099,1985,3412,3578,48.0,-9.0,66,544,0.00,2.10,0.00,0.000,260,0.000,0.029,2091,3378,3495,3412,3578,0,0,0,0,0,0,28.83,26.51,28.83
$GC,589,-1.11,-170.3,2091,3378,3412,3578,52.2,-9.0,69,595,0.00,2.10,0.00,0.000,1030,0.000,0.024,2096,1970,3495,3412,3578,0,0,0,0,0,0,28.83,26.53,28.83
$GC,908,-1.11,-170.3,2096,1969,3414,3578,81.7,-9.1,85,915,0.00,2.12,0.00,0.000,516,0.000,0.041,2106,566,3496,3414,3578,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1113,-1.11,-170.3,2105,566,3415,3578,98.7,-9.0,94,1121,0.00,2.05,0.00,0.000,1030,0.000,0.016,2098,1996,3496,3414,3578,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1420,-1.11,-170.3,2097,1997,3414,3578,127.8,-8.8,110,1421,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,1998,3496,3415,3578,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1720,-1.11,-170.3,2098,1997,3414,3577,155.4,-9.7,125,1726,0.00,2.17,0.00,0.000,516,0.000,0.039,2105,574,3495,3414,3577,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1876,-1.11,-170.3,2105,574,3414,3576,168.8,-9.2,132,1883,0.00,2.00,0.00,0.000,1030,0.000,0.016,2097,1975,3495,3414,3576,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2192,-1.11,-170.3,2097,1978,3414,3573,197.7,-9.1,148,2193,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,1978,3493,3414,3573,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2492,-1.11,-170.3,2097,1978,3414,3570,224.3,-9.2,163,2493,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,1978,3492,3414,3570,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2794,-1.11,-170.3,2097,1977,3414,3567,251.9,-9.0,178,2800,0.00,2.15,0.00,0.000,516,0.000,0.041,2105,575,3490,3414,3566,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2881,-1.11,-170.3,2105,575,3414,3566,259.9,-9.1,182,2887,0.00,2.03,0.00,0.000,1030,0.000,0.016,2097,1981,3490,3414,3566,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3206,-1.11,-170.3,2097,1981,3412,3564,289.7,-8.8,198,3212,0.00,2.17,0.00,0.000,516,0.000,0.042,2105,570,3488,3413,3564,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3246,-1.11,-170.3,2105,569,3412,3564,292.0,-9.0,199,3254,0.00,2.03,0.00,0.000,1030,0.000,0.017,2097,1979,3487,3412,3563,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3553,-1.11,-170.3,2096,1979,3410,3562,320.5,-8.6,215,3559,0.00,2.17,0.00,0.000,516,0.000,0.043,2105,571,3486,3410,3562,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3603,-1.11,-170.3,2105,571,3410,3562,324.6,-8.6,217,3609,0.00,2.03,0.00,0.000,1030,0.000,0.017,2097,1980,3485,3409,3562,0,0,0,0,0,0,28.83,26.77,28.83
$STATE,3901,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3901,begin apogee
$GC,3905,-0.19,0.0,2094,2301,3408,3560,351.4,-8.8,232,4131,0.65,0.00,217.48,0.675,10246,0.117,0.000,2309,2301,2792,2754,2830,0,0,0,0,0,0,26.58,28.83,24.82
$STATE,4133,end apogee,CONTROL_FINISHED_OK
$STATE,4133,begin climb
$GC,4135,1.11,170.3,2308,2301,2751,2827,331.2,0.0,242,4325,0.80,2.38,180.12,0.710,11012,0.067,0.039,2604,905,2094,2059,2129,0,0,0,0,0,0,25.35,25.15,24.60
$GC,4563,1.13,176.7,2604,905,2048,2119,293.7,9.0,261,4573,0.00,2.08,1.35,0.050,9222,0.000,0.017,2604,2296,2072,2036,2109,0,0,0,0,0,0,28.83,26.10,26.02
$GC,4868,1.15,184.0,2604,2297,2036,2111,264.8,9.0,277,4876,0.00,0.00,5.57,0.685,8198,0.000,0.000,2604,2297,2044,2008,2081,0,0,0,0,0,0,28.83,28.83,25.45
$GC,5168,1.17,194.2,2604,2297,2007,2092,238.2,8.9,292,5189,0.00,0.00,17.52,0.731,8198,0.000,0.000,2604,2297,1999,1963,2036,0,0,0,0,0,0,28.83,28.83,25.49
$GC,5489,1.19,202.2,2604,2297,1956,2021,209.1,9.0,308,5494,0.00,0.00,3.40,0.504,8198,0.000,0.000,2604,2297,1969,1935,2003,0,0,0,0,0,0,28.83,28.83,25.37
$GC,5788,1.21,208.9,2604,2297,1935,2011,181.6,9.0,323,5805,0.00,2.28,11.38,0.747,8708,0.000,0.039,2614,897,1938,1904,1972,0,0,0,0,0,0,28.83,26.29,25.60
$GC,5926,1.21,209.9,2613,897,1901,1964,169.9,9.2,329,5932,0.00,2.08,0.00,0.000,1030,0.000,0.017,2614,2305,1932,1901,1963,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6241,1.24,220.9,2613,2305,1901,1960,141.1,8.9,345,6264,0.00,2.28,11.55,0.733,8708,0.000,0.039,2624,903,1888,1861,1915,0,0,0,0,0,0,28.83,26.31,25.63
$GC,6302,1.26,228.8,2623,903,1860,1913,136.8,9.0,347,6317,0.00,2.08,7.93,0.728,9222,0.000,0.018,2624,2306,1859,1832,1886,0,0,0,0,0,0,28.83,26.40,25.56
$GC,6635,1.26,228.8,2623,2306,1831,1878,106.1,9.4,364,6641,0.00,2.12,0.00,0.000,260,0.000,0.037,2624,3695,1854,1831,1878,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6669,1.26,228.8,2623,3695,1831,1877,103.8,9.5,365,6675,0.00,2.10,0.00,0.000,1030,0.000,0.024,2633,2302,1854,1831,1877,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6984,1.31,248.5,2633,2302,1831,1877,75.4,8.5,381,7010,0.00,2.20,20.52,0.691,8708,0.000,0.041,2644,889,1776,1748,1804,0,0,0,0,0,0,28.83,26.22,25.60
$GC,7050,1.34,260.1,2644,889,1747,1800,69.4,8.8,384,7067,0.00,2.10,12.07,0.692,9222,0.000,0.018,2644,2305,1734,1706,1762,0,0,0,0,0,0,28.83,26.33,25.49
$GC,7376,1.35,265.6,2644,2305,1697,1749,40.1,9.1,405,7390,0.00,2.28,3.28,0.481,8708,0.000,0.040,2654,900,1710,1682,1739,0,0,0,0,0,0,28.83,26.33,25.39
$GC,7440,1.38,275.9,2654,900,1682,1740,34.6,8.9,410,7461,0.00,2.08,13.65,0.683,9222,0.000,0.018,2654,2303,1665,1631,1700,0,0,0,0,0,0,28.83,26.43,25.55
$GC,7774,1.39,279.8,1632,2300,1591,1686,4.6,9.1,463,7781,0.00,2.10,0.00,0.000,260,0.000,0.037,2654,3688,1661,1628,1694,0,0,0,0,0,0,28.83,26.40,28.83
$STATE,7793,end climb,SURFACE_DEPTH_REACHED
$STATE,7793,begin surface coast
$FINISH,0.5,1.026526
$STATE,7817,end surface coast,CONTROL_FINISHED_OK
$STATE,7817,begin surface
$SM_CCo,7834,234.07,0.841,1,0,511,560.02
$SM_GC,-23.93,7.15,2.67,234.07,0.069,0.028,0.841,85,1975,511,-10.33,1.27,560.02,0,0,0,0,1,0,26.41,26.44,24.39
$IRIDIUM_FIX,1844.15,12005.88,160313,000029
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.92
$INTERNAL_PRESSURE,9.02877
$TCM_TEMP,14.40
$XPDR_PINGS,0
$SC_FREEKB,3982720
$24V_AH,24.4,19.035
$10V_AH,10.2,12.010
$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,16.625,60.600,505.825,234.075,0.000,0.000,0.000,211.850,0.000,0.000,29.228,1797.791,4106.141,823.964,1463.298,243.560,0.000,1797.549,0.000,1231.198,0.000,1.485,0.000
$DEVICE_MAMPS,228.735,42.840,747.405,840.735,0.000,0.000,0.000,128.520,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7814.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.257,0.000,0.000,0.000
$MEM,323848
$DATA_FILE_SIZE,16802,470
$CAP_FILE_SIZE,376407,1863
$CFSIZE,260034560,238526464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.080, 29.2,1
$GPS,160313,053658,1853.481,12007.404,628,0.9,628,-2.4