version: 66.11
glider: 121
mission: 10
dive: 143
start: 3 20 113 1 35 22
data:
$ID,121
$MISSION,10
$DIVE,143
$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,-100674.35
$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,2400
$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,49
$R_STBD_OVSHOOT,58
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3600
$C_VBD,2640
$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
$GPS1,200313,012833,1933.438,12006.869,89,1.1,89,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-66.9
$GPS2,200313,013455,1933.404,12006.857,18,1.9,18,-2.6
$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,350.9,244000,-18.5,-9.259,-21.12,2828
$D_GRID,4097
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.35,-170.3,89,1943,355,488,0.0,0.0,0,44,0.00,0.00,-23.80,0.000,16386,0.000,0.000,89,1944,1045,1026,1065,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.35,-170.3,89,1943,1027,1067,3.2,-9.3,3,146,7.93,2.25,-84.55,0.000,18692,0.218,0.044,2090,3374,3337,3244,3430,0,0,0,0,0,0,25.82,26.15,26.44
$GC,246,-1.35,-170.3,1232,3372,3219,3426,21.5,-8.7,34,254,0.00,2.12,0.00,0.000,1030,0.000,0.027,2098,1972,3338,3247,3430,0,0,0,0,0,0,28.83,26.26,28.83
$GC,559,-1.35,-170.3,2098,1972,3249,3430,49.7,-8.9,68,564,0.00,2.12,0.00,0.000,260,0.000,0.028,2089,3381,3339,3249,3429,0,0,0,0,0,0,28.83,26.42,28.83
$GC,615,-1.35,-170.3,2089,3381,3250,3430,53.8,-9.0,71,621,0.00,2.12,0.00,0.000,1030,0.000,0.024,2098,1961,3340,3250,3430,0,0,0,0,0,0,28.83,26.45,28.83
$GC,930,-1.35,-170.3,2097,1961,3253,3430,82.6,-9.0,87,935,0.00,2.10,0.00,0.000,516,0.000,0.041,2108,578,3341,3253,3430,0,0,0,0,0,0,28.83,26.51,28.83
$GC,975,-1.35,-170.3,1280,577,3225,3426,86.6,-8.9,89,981,0.00,2.03,0.00,0.000,1030,0.000,0.015,2099,1990,3341,3253,3430,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1300,-1.35,-170.3,2099,1991,3253,3430,116.0,-9.0,105,1301,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,1991,3341,3253,3429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1601,-1.35,-170.3,2099,1991,3253,3429,142.7,-8.8,120,1603,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,1991,3341,3253,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1900,-1.35,-170.3,2099,1991,3253,3427,170.0,-8.9,135,1901,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,1991,3340,3253,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2200,-1.35,-170.3,2099,1991,3253,3425,196.9,-9.0,150,2206,0.00,2.17,0.00,0.000,516,0.000,0.040,2107,571,3338,3253,3424,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2226,-1.35,-170.3,2107,571,3253,3424,199.3,-9.2,151,2232,0.00,2.00,0.00,0.000,1030,0.000,0.015,2099,1977,3338,3253,3424,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2551,-1.35,-170.3,2099,1978,3253,3421,228.9,-9.4,167,2556,0.00,2.05,0.00,0.000,260,0.000,0.031,2089,3366,3337,3253,3421,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2602,-1.35,-170.3,2088,3366,3253,3420,233.2,-9.3,169,2607,0.00,2.08,0.00,0.000,1030,0.000,0.026,2091,1973,3336,3253,3420,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2921,-1.35,-170.3,2090,1974,3252,3417,261.4,-8.3,185,2928,0.00,2.12,0.00,0.000,516,0.000,0.044,2100,575,3335,3253,3417,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2988,-1.35,-170.3,2100,575,3253,3416,267.4,-8.6,188,2995,0.00,2.03,0.00,0.000,1030,0.000,0.016,2092,1975,3334,3253,3416,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3313,-1.35,-170.3,2091,1979,3252,3413,297.1,-9.3,204,3315,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,1978,3332,3252,3413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3615,-1.35,-170.3,2091,1979,3250,3409,324.2,-9.0,219,3616,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,1979,3330,3250,3410,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3913,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3913,begin apogee
$GC,3918,-0.25,0.0,2089,2303,3249,3407,351.0,-9.1,234,4075,0.77,0.00,141.35,1.006,10246,0.122,0.000,2341,2302,2639,2589,2690,0,0,0,0,1,0,26.51,28.83,24.30
$STATE,4076,end apogee,CONTROL_FINISHED_OK
$STATE,4076,begin climb
$GC,4078,1.35,170.3,2341,2303,2589,2690,336.8,0.0,241,4238,1.00,2.30,144.38,1.044,10500,0.061,0.033,2698,3677,1945,1909,1981,0,0,0,0,1,0,25.22,24.85,24.06
$GC,4478,1.37,178.6,2697,3677,1909,1981,300.7,9.0,259,4497,0.00,2.12,10.48,0.797,9222,0.000,0.023,2707,2292,1906,1878,1935,0,0,0,0,0,0,28.83,25.96,25.07
$GC,4795,1.39,184.1,2707,2292,1878,1928,271.7,9.1,275,4807,0.00,2.22,4.05,0.633,8708,0.000,0.041,2718,900,1888,1862,1914,0,0,0,0,0,0,28.83,26.16,25.17
$GC,4835,1.40,190.4,2717,900,1862,1914,269.4,9.0,276,4850,0.00,2.05,9.18,0.783,9222,0.000,0.017,2718,2292,1861,1834,1888,0,0,0,0,0,0,28.83,26.26,25.31
$GC,5169,1.41,193.3,2717,2292,1831,1879,237.7,9.2,293,5175,0.00,2.12,0.00,0.000,260,0.000,0.034,2718,3696,1855,1832,1878,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5230,1.43,199.4,2717,3696,1832,1878,233.5,9.0,295,5244,0.00,2.12,8.98,0.760,9222,0.000,0.023,2728,2286,1826,1801,1852,0,0,0,0,0,0,28.83,26.38,25.46
$GC,5564,1.47,215.1,2728,2286,1796,1843,202.7,8.7,312,5583,0.00,0.00,16.52,0.741,8198,0.000,0.000,2728,2286,1762,1734,1790,0,0,0,0,0,0,28.83,28.83,25.46
$GC,5883,1.49,225.1,2728,2286,1727,1778,174.4,8.9,328,5898,0.00,0.00,9.65,0.721,8710,0.000,0.000,2728,2286,1718,1688,1748,0,0,0,0,0,0,28.83,28.83,25.53
$GC,6207,1.50,227.5,2728,2286,1686,1742,145.0,9.2,344,6213,0.00,2.15,0.00,0.000,260,0.000,0.033,2728,3687,1714,1686,1742,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6290,1.52,238.2,2728,3687,1686,1742,139.0,8.9,347,6310,0.00,2.10,13.32,0.685,9222,0.000,0.024,2738,2295,1665,1630,1701,0,0,0,0,0,0,28.83,26.46,25.57
$GC,6624,1.53,239.4,2738,2294,1616,1698,107.9,9.2,364,6630,0.00,2.15,0.00,0.000,516,0.000,0.041,2749,900,1656,1616,1697,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6706,1.53,242.4,2748,900,1615,1698,101.7,9.2,367,6714,0.00,2.05,0.00,0.000,1030,0.000,0.018,2749,2299,1656,1615,1698,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7013,1.56,252.8,2748,2299,1614,1698,72.3,8.9,383,7036,0.00,2.17,13.62,0.626,8452,0.000,0.036,2748,3687,1603,1553,1654,0,0,0,0,0,0,28.83,26.35,25.70
$GC,7209,1.58,263.0,2748,3687,1552,1651,54.9,8.9,392,7228,0.00,2.10,10.43,0.614,9222,0.000,0.024,2758,2296,1562,1508,1616,0,0,0,0,0,0,28.83,26.44,25.65
$GC,7526,1.62,277.4,2758,2296,1508,1610,26.3,8.7,421,7544,0.00,0.00,14.70,0.576,8454,0.000,0.000,2758,2298,1504,1451,1557,0,0,0,0,0,0,28.83,28.83,25.65
$STATE,7780,end climb,SURFACE_DEPTH_REACHED
$STATE,7780,begin surface coast
$FINISH,0.0,1.025195
$STATE,7814,end surface coast,CONTROL_FINISHED_OK
$STATE,7814,begin surface
$SM_CCo,7830,226.85,0.720,3,0,400,549.47
$SM_CCo,8075,0.00,0.000,0,0,400,549.47
$SM_CCo,8078,0.00,0.000,0,0,400,549.47
$SM_GC,-23.93,7.57,0.47,0.00,0.079,0.041,0.000,83,1961,400,-10.56,1.24,549.47,0,0,0,0,0,0,26.42,26.46,28.83
$IRIDIUM_FIX,1922.94,12005.68,190313,232312
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.77
$INTERNAL_PRESSURE,9.11667
$TCM_TEMP,19.20
$XPDR_PINGS,0
$SC_FREEKB,3968128
$24V_AH,24.1,25.029
$10V_AH,10.2,14.539
$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,17.275,51.775,396.650,226.850,0.000,0.000,0.000,214.600,0.000,0.000,19.646,1787.351,4246.632,733.186,1405.286,272.045,0.000,1703.647,0.000,1188.650,0.000,1.485,0.000
$DEVICE_MAMPS,218.025,43.605,1044.225,719.865,0.000,0.000,0.000,136.170,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7816.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.987,0.000,0.000,0.000
$MEM,323856
$DATA_FILE_SIZE,16791,472
$CAP_FILE_SIZE,346985,1805
$CFSIZE,260034560,234450944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,1,0
$CURRENT,0.072,338.6,1
$GPS,200313,035300,1934.402,12006.523,142,1.8,142,-2.6