version: 66.11
glider: 121
mission: 10
dive: 147
start: 3 20 113 11 15 32
data:
$ID,121
$MISSION,10
$DIVE,147
$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,-100679.38
$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,53
$R_STBD_OVSHOOT,59
$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
$GPS1,200313,110822,1937.595,12006.483,37,0.8,37,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-65.4
$GPS2,200313,111505,1937.592,12006.400,15,1.2,16,-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,331.5,236216,-18.5,-9.259,-21.12,2828
$D_GRID,4117
$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,-170.3,86,1950,342,482,0.0,0.0,0,44,0.00,0.00,-24.25,0.000,16386,0.000,0.000,86,1950,1044,1028,1061,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.35,-170.3,86,1950,1027,1063,3.1,-9.0,3,163,7.88,2.25,-97.90,0.000,18692,0.215,0.043,2091,3379,3337,3242,3432,0,0,0,0,0,0,25.82,26.19,26.47
$GC,240,-1.35,-170.3,1240,3378,3215,3429,21.2,-9.2,32,249,0.00,2.12,0.00,0.000,1030,0.000,0.025,2096,1979,3338,3244,3432,0,0,0,0,0,0,28.83,26.27,28.83
$GC,554,-1.35,-170.3,2095,1979,3248,3432,49.4,-8.9,66,560,0.00,2.10,0.00,0.000,260,0.000,0.028,2088,3374,3340,3248,3432,0,0,0,0,0,0,28.83,26.44,28.83
$GC,715,-1.35,-170.3,2087,3374,3252,3432,63.1,-9.0,74,721,0.00,2.10,0.00,0.000,1030,0.000,0.023,2093,1970,3340,3249,3432,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1029,-1.35,-170.3,2093,1968,3252,3432,92.2,-8.9,90,1031,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,1968,3342,3252,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1330,-1.35,-170.3,2093,1968,3252,3432,119.5,-9.1,105,1332,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,1969,3342,3252,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1631,-1.35,-170.3,2093,1968,3252,3432,146.9,-9.2,120,1637,0.00,2.10,0.00,0.000,516,0.000,0.040,2102,576,3342,3252,3432,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1701,-1.35,-170.3,2103,577,3251,3432,153.0,-8.9,123,1707,0.00,2.03,0.00,0.000,1030,0.000,0.015,2095,1997,3342,3252,3432,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2021,-1.35,-170.3,2094,1997,3251,3429,183.0,-9.7,139,2022,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,1997,3340,3251,3429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2322,-1.35,-170.3,2094,1997,3250,3425,210.0,-9.0,154,2329,0.00,2.20,0.00,0.000,516,0.000,0.039,2103,567,3338,3251,3425,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2409,-1.35,-170.3,1280,566,3225,3419,218.1,-9.2,158,2416,0.00,2.00,0.00,0.000,1030,0.000,0.016,2094,1974,3337,3252,3423,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2735,-1.35,-170.3,2094,1975,3252,3420,247.3,-9.0,174,2741,0.00,2.03,0.00,0.000,260,0.000,0.031,2084,3349,3336,3252,3420,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2769,-1.35,-170.3,2084,3350,3252,3418,249.5,-8.9,175,2775,0.00,2.05,0.00,0.000,1030,0.000,0.026,2085,1974,3335,3252,3419,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3084,-1.35,-170.3,2084,1974,3252,3416,279.0,-9.0,191,3090,0.10,2.12,0.00,0.000,2564,0.170,0.041,2120,575,3333,3252,3415,0,0,0,0,0,0,26.58,26.65,28.83
$GC,3195,-1.35,-170.3,1296,574,3225,3411,288.5,-8.9,196,3201,0.00,2.03,0.00,0.000,1030,0.000,0.016,2112,1979,3333,3252,3414,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3515,-1.35,-170.3,2111,1979,3252,3410,317.6,-9.0,212,3521,0.00,2.05,0.00,0.000,260,0.000,0.033,2101,3357,3330,3250,3410,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3577,-1.35,-170.3,2101,3357,3250,3409,321.7,-8.8,214,3585,0.00,2.08,0.00,0.000,1030,0.000,0.028,2101,1971,3329,3250,3409,0,0,0,0,0,0,28.83,26.68,28.83
$STATE,3881,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3881,begin apogee
$GC,3886,-0.25,0.0,2100,2308,3248,3408,350.3,-8.7,230,4051,0.75,0.00,151.75,0.959,10246,0.117,0.000,2345,2308,2639,2590,2689,0,0,0,0,1,0,26.51,28.83,24.34
$STATE,4054,end apogee,CONTROL_FINISHED_OK
$STATE,4054,begin climb
$GC,4055,1.35,170.3,2345,2308,2589,2689,336.0,0.0,237,4217,1.00,2.20,152.40,0.829,10500,0.061,0.031,2700,3681,1935,1900,1970,0,0,0,0,0,0,25.22,25.03,24.39
$GC,4457,1.37,177.2,2700,3681,1898,1948,299.6,9.0,255,4463,0.00,2.12,0.00,0.000,1030,0.000,0.024,2710,2294,1922,1897,1948,0,0,0,0,0,0,28.83,26.02,28.83
$GC,4771,1.38,179.3,2710,2294,1897,1944,270.5,9.2,271,4779,0.00,2.20,1.65,0.059,8452,0.000,0.031,2710,3677,1906,1882,1931,0,0,0,0,0,0,28.83,26.31,26.20
$GC,4885,1.39,184.4,2710,3677,1883,1938,260.6,9.1,276,4903,0.00,2.08,9.23,0.750,9222,0.000,0.024,2720,2298,1883,1858,1909,0,0,0,0,0,0,28.83,26.39,25.50
$GC,5202,1.40,187.9,2720,2298,1857,1903,231.7,9.1,292,5208,0.00,2.15,0.00,0.000,516,0.000,0.041,2731,901,1880,1858,1903,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5303,1.41,191.9,2730,901,1857,1903,223.8,9.1,296,5318,0.12,2.05,7.47,0.721,13318,0.187,0.017,2702,2305,1854,1830,1878,0,0,0,0,0,0,26.25,26.49,25.59
$GC,5637,1.41,191.9,2701,2305,1829,1872,192.3,9.3,313,5643,0.00,2.08,0.00,0.000,260,0.000,0.034,2701,3681,1850,1829,1872,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5720,1.41,191.9,2701,3681,1829,1870,186.2,9.3,316,5728,0.00,2.08,0.00,0.000,1030,0.000,0.024,2710,2300,1849,1829,1870,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6026,1.43,201.8,2710,2300,1829,1870,157.1,8.9,332,6042,0.00,2.17,10.27,0.699,8708,0.000,0.040,2721,892,1812,1788,1837,0,0,0,0,0,0,28.83,26.37,25.72
$GC,6081,1.44,204.8,2721,892,1785,1836,152.8,9.1,334,6087,0.00,2.08,0.00,0.000,1030,0.000,0.018,2721,2302,1810,1785,1835,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6395,1.46,212.2,2721,2302,1785,1832,123.5,9.0,350,6411,0.00,0.00,10.55,0.672,8710,0.000,0.000,2721,2303,1769,1742,1796,0,0,0,0,0,0,28.83,28.83,25.70
$GC,6720,1.46,214.7,2721,2302,1742,1789,94.2,9.2,366,6726,0.00,2.20,0.00,0.000,516,0.000,0.041,2731,896,1765,1742,1789,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6766,1.48,221.3,2731,896,1742,1789,90.1,9.0,368,6783,0.00,2.08,9.25,0.645,9222,0.000,0.018,2731,2311,1733,1706,1760,0,0,0,0,0,0,28.83,26.55,25.72
$GC,7092,1.50,230.9,2731,2311,1703,1755,60.7,8.9,384,7103,0.00,0.00,9.55,0.623,8198,0.000,0.000,2731,2311,1697,1666,1729,0,0,0,0,0,0,28.83,28.83,25.72
$GC,7393,1.53,239.4,2731,2311,1660,1721,33.9,9.0,407,7407,0.00,2.17,8.43,0.602,8452,0.000,0.035,2732,3694,1658,1620,1696,0,0,0,0,0,0,28.83,26.37,25.75
$GC,7543,1.53,242.5,1696,3693,1574,1689,20.5,9.1,424,7551,0.00,2.10,0.00,0.000,1030,0.000,0.024,2741,2300,1654,1612,1696,0,0,0,0,0,0,28.83,26.46,28.83
$STATE,7739,end climb,SURFACE_DEPTH_REACHED
$STATE,7739,begin surface coast
$FINISH,0.0,1.025459
$STATE,7773,end surface coast,CONTROL_FINISHED_OK
$STATE,7773,begin surface
$SM_CCo,7788,243.18,0.716,2,0,399,549.47
$SM_CCo,8045,0.00,0.000,0,0,400,549.47
$SM_CCo,8048,-0.03,0.000,0,0,401,549.47
$SM_GC,-23.93,7.45,0.47,-0.03,0.076,0.042,0.000,90,1963,401,-10.53,1.33,549.47,0,0,0,0,0,0,26.50,26.55,25.06
$IRIDIUM_FIX,1927.51,12003.70,200313,080815
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.87
$INTERNAL_PRESSURE,9.11667
$TCM_TEMP,19.10
$XPDR_PINGS,0
$SC_FREEKB,3966592
$24V_AH,24.3,25.615
$10V_AH,10.2,14.777
$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,17.300,59.950,370.550,243.175,0.000,0.000,0.000,237.400,0.000,0.000,16.628,1843.801,4100.125,737.197,1464.423,289.582,0.000,1761.504,0.000,1232.029,0.000,1.486,0.000
$DEVICE_MAMPS,214.965,42.840,958.545,716.040,0.000,0.000,0.000,131.580,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7780.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.966,0.000,0.000,0.000
$MEM,323872
$DATA_FILE_SIZE,16802,466
$CAP_FILE_SIZE,358407,1891
$CFSIZE,260034560,234016768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$CURRENT,0.169, 47.1,1
$GPS,200313,133312,1938.766,12006.508,173,1.3,173,-2.6