version: 66.11
glider: 121
mission: 10
dive: 112
start: 3 16 113 20 52 16
data:
$ID,121
$MISSION,10
$DIVE,112
$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,-100635.26
$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,2365
$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,37
$R_STBD_OVSHOOT,66
$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
$GPS1,160313,204512,1900.577,12008.292,514,1.3,514,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-61.2
$GPS2,160313,205149,1900.611,12008.289,16,1.5,16,-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,334.1,304781,-18.5,-9.259,-21.12,2828
$D_GRID,2391
$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,-1.35,-170.3,87,2003,502,590,0.0,0.0,0,43,0.00,0.00,-23.58,0.000,16386,0.000,0.000,86,2002,1170,1153,1188,0,0,0,0,0,0,28.83,28.83,28.83
$GC,45,-1.35,-170.3,87,2001,1153,1192,3.3,-9.7,3,143,7.88,2.12,-79.07,0.000,18692,0.225,0.046,2057,3360,3493,3407,3579,0,0,0,0,0,0,25.89,26.20,26.47
$GC,312,-1.35,-170.3,2057,3360,3408,3579,27.2,-9.2,44,320,0.00,2.10,0.00,0.000,1030,0.000,0.025,2066,1968,3493,3408,3579,0,0,0,0,0,0,28.83,26.34,28.83
$GC,629,-1.35,-170.3,2065,1968,3412,3579,56.1,-8.9,73,635,0.00,2.12,0.00,0.000,516,0.000,0.041,2076,574,3495,3412,3579,0,0,0,0,0,0,28.83,26.46,28.83
$GC,719,-1.35,-170.3,2076,574,3413,3580,63.8,-8.9,77,726,0.00,2.03,0.00,0.000,1030,0.000,0.015,2068,1976,3496,3413,3579,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1039,-1.35,-170.3,2068,1978,3414,3579,93.4,-8.8,93,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,1978,3497,3414,3581,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1342,-1.35,-170.3,2068,1979,3414,3579,120.3,-9.0,108,1343,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,1979,3497,3414,3580,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1640,-1.35,-170.3,2068,1979,3414,3579,147.0,-8.9,123,1647,0.00,2.17,0.00,0.000,516,0.000,0.041,2076,567,3496,3414,3579,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1716,-1.35,-170.3,2076,567,3414,3579,153.2,-9.0,126,1722,0.00,2.03,0.00,0.000,1030,0.000,0.016,2068,1978,3496,3413,3579,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2031,-1.35,-170.3,2067,1979,3414,3576,182.1,-9.0,142,2037,0.00,2.05,0.00,0.000,260,0.000,0.032,2058,3367,3494,3413,3575,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2070,-1.35,-170.3,2057,3366,3414,3575,184.4,-9.1,143,2078,0.00,2.08,0.00,0.000,1030,0.000,0.026,2059,1972,3494,3414,3575,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2376,-1.35,-170.3,2059,1972,3413,3574,213.5,-9.4,159,2382,0.00,2.12,0.00,0.000,516,0.000,0.044,2069,575,3492,3413,3572,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2486,-1.35,-170.3,2069,575,3413,3571,223.0,-9.0,164,2491,0.00,2.03,0.00,0.000,1030,0.000,0.016,2061,1983,3492,3413,3572,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2805,-1.35,-170.3,2061,1984,3413,3568,252.1,-9.4,180,2811,0.00,2.17,0.00,0.000,516,0.000,0.042,2069,573,3490,3413,3567,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2898,-1.35,-170.3,2069,573,3413,3566,260.2,-9.1,184,2904,0.00,2.03,0.00,0.000,1030,0.000,0.016,2061,1979,3489,3413,3566,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3218,-1.35,-170.3,2060,1981,3410,3565,289.0,-8.9,200,3224,0.00,2.17,0.00,0.000,516,0.000,0.043,2069,575,3487,3410,3564,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3290,-1.35,-170.3,2068,575,3410,3563,295.0,-8.8,203,3295,0.00,2.03,0.00,0.000,1030,0.000,0.016,2060,1979,3487,3410,3564,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3610,-1.35,-170.3,2060,1980,3408,3561,324.1,-8.7,219,3615,0.00,2.17,0.00,0.000,516,0.000,0.044,2068,575,3484,3408,3561,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3649,-1.35,-170.3,2068,575,3407,3561,326.3,-8.8,220,3657,0.00,2.03,0.00,0.000,1030,0.000,0.016,2060,1979,3484,3408,3561,0,0,0,0,0,0,28.83,26.74,28.83
$STATE,3894,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3894,begin apogee
$GC,3898,-0.25,0.0,2057,2300,3406,3558,350.7,-9.0,233,4055,0.77,0.00,143.07,1.047,10246,0.122,0.000,2310,2300,2795,2757,2833,0,0,0,0,1,0,26.54,28.83,24.22
$STATE,4056,end apogee,CONTROL_FINISHED_OK
$STATE,4056,begin climb
$GC,4058,1.35,170.3,2310,2301,2756,2833,336.5,0.0,240,4223,1.00,2.25,148.30,1.099,10500,0.063,0.034,2664,3678,2098,2062,2135,0,0,0,0,1,0,25.15,24.79,23.98
$GC,4464,1.38,182.6,2664,3678,2062,2135,300.3,8.8,258,4488,0.00,2.12,15.05,0.875,9222,0.000,0.023,2674,2294,2043,2006,2080,0,0,0,0,0,0,28.83,25.93,24.98
$GC,4801,1.41,192.4,2674,2294,2004,2073,268.8,8.9,275,4818,0.00,2.22,9.18,0.847,8452,0.000,0.033,2674,3683,2005,1970,2040,0,0,0,0,0,0,28.83,26.04,25.27
$GC,5035,1.42,196.6,2674,3682,1969,2036,247.6,9.1,286,5042,0.00,2.10,2.95,0.499,9222,0.000,0.024,2684,2297,1992,1957,2027,0,0,0,0,0,0,28.83,26.28,25.17
$GC,5362,1.43,202.4,2684,2297,1957,2028,218.2,9.0,302,5378,0.00,2.22,8.60,0.832,8708,0.000,0.041,2694,902,1965,1929,2001,0,0,0,0,0,0,28.83,26.25,25.46
$GC,5428,1.45,210.7,2694,901,1928,2001,212.2,9.0,305,5445,0.00,2.08,9.23,0.828,9222,0.000,0.018,2694,2304,1931,1897,1965,0,0,0,0,0,0,28.83,26.34,25.39
$GC,5754,1.45,210.7,2694,2304,1896,1954,182.6,9.4,321,5756,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2304,1925,1896,1954,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6055,1.46,213.8,2694,2304,1896,1953,155.2,9.1,336,6056,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2304,1925,1897,1953,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6355,1.49,225.8,2696,2304,1896,1951,128.1,8.8,351,6377,0.00,0.00,14.73,0.775,8454,0.000,0.000,2694,2304,1869,1843,1895,0,0,0,0,0,0,28.83,28.83,25.58
$GC,6674,1.51,234.2,2694,2305,1842,1889,99.3,9.0,367,6684,0.00,0.00,8.35,0.759,8198,0.000,0.000,2694,2305,1839,1813,1866,0,0,0,0,0,0,28.83,28.83,25.57
$GC,6973,1.52,238.7,2694,2307,1809,1858,72.4,9.1,382,6979,0.00,0.00,3.47,0.555,8198,0.000,0.000,2694,2305,1821,1795,1848,0,0,0,0,0,0,28.83,28.83,25.40
$GC,7274,1.55,247.6,2694,2305,1795,1848,45.5,8.9,399,7293,0.00,2.28,11.98,0.726,8708,0.000,0.041,2704,901,1780,1751,1809,0,0,0,0,0,0,28.83,26.29,25.63
$GC,7327,1.56,251.6,2704,902,1749,1808,41.0,9.1,403,7337,0.00,2.08,3.17,0.494,9222,0.000,0.018,2704,2298,1768,1739,1798,0,0,0,0,0,0,28.83,26.39,25.36
$GC,7646,1.59,265.4,1680,2296,1694,1789,12.2,8.8,447,7670,0.00,2.22,16.45,0.689,8452,0.000,0.036,2704,3701,1708,1675,1741,0,0,0,0,0,0,28.83,26.21,25.56
$GC,7710,1.62,278.2,1696,3700,1634,1730,6.3,8.8,457,7734,0.00,2.15,13.12,0.682,9222,0.000,0.025,2714,2294,1653,1609,1698,0,0,0,0,0,0,28.83,26.27,25.44
$STATE,7746,end climb,SURFACE_DEPTH_REACHED
$STATE,7746,begin surface coast
$FINISH,0.0,1.026499
$STATE,7780,end surface coast,CONTROL_FINISHED_OK
$STATE,7781,begin surface
$SM_CCo,7796,234.35,0.882,1,0,511,560.02
$SM_GC,-23.93,7.45,0.50,234.35,0.075,0.043,0.882,88,1951,511,-10.38,0.85,560.02,0,0,0,0,1,0,26.15,26.18,24.25
$IRIDIUM_FIX,1853.26,12008.17,160313,181827
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.33
$INTERNAL_PRESSURE,9.01901
$TCM_TEMP,14.20
$XPDR_PINGS,0
$SC_FREEKB,3980032
$24V_AH,24.0,20.135
$10V_AH,10.1,12.498
$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,17.100,56.100,407.650,234.350,0.000,0.000,0.000,237.525,0.000,0.000,18.061,1804.481,4156.905,747.073,1461.600,247.608,0.000,1729.309,0.000,1215.983,0.000,1.484,0.000
$DEVICE_MAMPS,224.910,45.900,1099.305,882.045,0.000,0.000,0.000,129.285,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7782.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.217,0.000,0.000,0.000
$MEM,323912
$DATA_FILE_SIZE,16758,468
$CAP_FILE_SIZE,373425,1844
$CFSIZE,260034560,237768704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$CURRENT,0.043, 66.3,1
$GPS,160313,231834,1901.289,12007.996,704,0.7,704,-2.4