version: 66.11
glider: 121
mission: 10
dive: 155
start: 3 21 113 6 34 26
data:
$ID,121
$MISSION,10
$DIVE,155
$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,-100689.45
$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,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,57
$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
$GPS1,210313,062734,1945.416,12005.400,197,1.4,197,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-65.4
$GPS2,210313,063359,1945.404,12005.352,16,1.0,17,-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,10.8,221683,-18.5,-9.259,-21.12,2828
$D_GRID,3938
$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,-170.3,81,1949,332,475,0.0,0.0,0,44,0.00,0.00,-23.90,0.000,16386,0.000,0.000,81,1949,1021,1004,1039,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.35,-170.3,81,1949,1004,1040,3.1,-8.7,3,162,7.95,2.25,-93.07,0.000,18692,0.219,0.043,2089,3381,3337,3245,3430,0,0,0,0,0,0,25.83,26.19,26.47
$GC,297,-1.35,-170.3,1264,3379,3222,3427,25.6,-8.9,42,305,0.00,2.12,0.00,0.000,1030,0.000,0.025,2097,1974,3339,3248,3430,0,0,0,0,0,0,28.83,26.32,28.83
$GC,603,-1.35,-170.3,2097,1974,3252,3430,53.7,-8.8,71,609,0.00,2.12,0.00,0.000,260,0.000,0.029,2089,3383,3341,3252,3430,0,0,0,0,0,0,28.83,26.45,28.83
$GC,679,-1.35,-170.3,2089,3382,3252,3430,59.7,-9.0,74,685,0.00,2.10,0.00,0.000,1030,0.000,0.024,2089,1972,3341,3252,3430,0,0,0,0,0,0,28.83,26.48,28.83
$GC,994,-1.35,-170.3,2089,1972,3254,3430,88.3,-8.6,90,999,0.00,2.12,0.00,0.000,516,0.000,0.040,2099,569,3342,3254,3430,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1094,-1.35,-170.3,2099,568,3254,3430,96.1,-9.1,94,1102,0.00,2.05,0.00,0.000,1030,0.000,0.015,2091,2002,3342,3254,3430,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1401,-1.35,-170.3,2090,2003,3254,3430,124.5,-8.9,110,1406,0.00,2.00,0.00,0.000,260,0.000,0.031,2080,3359,3342,3254,3430,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1430,-1.35,-170.3,2080,3359,3254,3430,126.6,-8.9,111,1436,0.10,2.08,0.00,0.000,3078,0.166,0.025,2105,1964,3342,3254,3430,0,0,0,0,0,0,26.45,26.61,28.83
$GC,1750,-1.35,-170.3,2105,1964,3254,3429,155.8,-8.9,127,1751,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,1964,3342,3254,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2051,-1.35,-170.3,2105,1964,3254,3427,182.3,-9.0,142,2052,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,1964,3340,3254,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2352,-1.35,-170.3,2105,1963,3254,3423,208.8,-8.6,157,2354,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,1963,3339,3255,3423,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2651,-1.35,-170.3,2105,1963,3255,3421,235.9,-9.1,172,2652,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,1963,3337,3254,3421,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2951,-1.35,-170.3,2105,1963,3254,3417,262.5,-8.8,187,2957,0.00,2.12,0.00,0.000,516,0.000,0.043,2115,568,3336,3255,3417,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3194,-1.35,-170.3,2115,568,3253,3416,283.6,-8.8,198,3200,0.00,2.03,0.00,0.000,1030,0.000,0.016,2107,1977,3334,3253,3415,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3509,-1.35,-170.3,2107,1978,3252,3412,312.9,-9.2,214,3515,0.00,2.17,0.00,0.000,516,0.000,0.042,2115,572,3331,3251,3412,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3734,-1.35,-170.3,2115,572,3249,3411,331.9,-9.0,224,3742,0.00,2.03,0.00,0.000,1030,0.000,0.017,2107,1978,3330,3249,3411,0,0,0,0,0,0,28.83,26.73,28.83
$STATE,3918,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3918,begin apogee
$GC,3924,-0.25,0.0,2105,2304,3248,3409,350.3,-8.8,234,4082,0.73,0.00,148.20,0.831,10246,0.116,0.000,2343,2305,2629,2579,2680,0,0,0,0,0,0,26.51,28.83,24.58
$STATE,4083,end apogee,CONTROL_FINISHED_OK
$STATE,4083,begin climb
$GC,4085,1.35,170.3,2342,2305,2578,2679,335.9,0.0,241,4247,1.00,2.28,151.45,0.818,10500,0.061,0.033,2701,3680,1934,1898,1971,0,0,0,0,0,0,25.32,25.06,24.43
$GC,4486,1.38,180.1,1728,3679,1850,1942,299.6,8.9,259,4497,0.00,2.10,2.97,0.425,9222,0.000,0.023,2710,2306,1904,1875,1933,0,0,0,0,0,0,28.83,26.03,25.03
$GC,4805,1.42,196.8,2710,2306,1875,1940,271.1,8.7,275,4834,0.00,2.15,22.00,0.760,8452,0.000,0.031,2711,3681,1827,1795,1859,0,0,0,0,0,0,28.83,25.98,25.28
$GC,4999,1.43,201.1,2710,3681,1793,1849,253.5,9.1,284,5005,0.00,2.10,0.00,0.000,1030,0.000,0.024,2720,2300,1821,1793,1849,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5324,1.45,207.7,2720,2300,1793,1847,224.1,9.0,300,5336,0.00,2.20,5.30,0.693,8708,0.000,0.039,2731,894,1793,1763,1823,0,0,0,0,0,0,28.83,26.31,25.51
$GC,5425,1.46,213.6,2731,894,1763,1823,216.2,9.0,304,5445,0.00,2.08,10.10,0.741,9222,0.000,0.017,2731,2303,1763,1732,1795,0,0,0,0,0,0,28.83,26.43,25.51
$GC,5760,1.47,216.9,2731,2303,1731,1791,185.3,9.1,321,5765,0.00,2.10,0.00,0.000,260,0.000,0.034,2731,3692,1760,1731,1790,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5815,1.47,217.5,2731,3693,1731,1790,180.9,9.2,323,5822,0.00,2.10,0.00,0.000,1030,0.000,0.024,2741,2299,1760,1731,1790,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6131,1.50,229.3,2741,2299,1731,1789,152.4,8.8,339,6154,0.00,2.22,15.25,0.674,8452,0.000,0.033,2741,3690,1699,1665,1733,0,0,0,0,0,0,28.83,26.29,25.65
$GC,6222,1.52,236.1,2741,3690,1664,1731,144.3,9.0,343,6233,0.00,2.12,5.20,0.649,9222,0.000,0.025,2751,2291,1677,1644,1710,0,0,0,0,0,0,28.83,26.36,25.56
$GC,6547,1.55,249.9,2750,2290,1644,1710,115.5,8.8,359,6570,0.00,2.17,15.90,0.638,8452,0.000,0.032,2751,3692,1614,1568,1660,0,0,0,0,0,0,28.83,26.23,25.61
$GC,6763,1.56,254.1,2751,3692,1565,1656,96.4,9.1,369,6768,0.00,2.12,0.00,0.000,1030,0.000,0.025,2761,2294,1610,1565,1656,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7082,1.56,254.1,2760,2294,1565,1654,66.9,9.7,385,7088,0.00,2.15,0.00,0.000,516,0.000,0.041,2771,897,1609,1565,1654,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7107,1.56,254.1,2771,897,1566,1654,64.7,9.4,386,7114,0.12,2.08,0.00,0.000,5126,0.187,0.018,2743,2313,1609,1565,1654,0,0,0,0,0,0,26.27,26.53,28.83
$GC,7423,1.59,265.3,2742,2313,1565,1651,36.6,8.9,409,7449,0.00,2.15,14.20,0.560,8452,0.000,0.035,2743,3688,1551,1501,1602,0,0,0,0,0,0,28.83,26.38,25.78
$GC,7495,1.60,268.7,2743,3688,1500,1600,29.9,9.1,415,7501,0.00,2.10,0.00,0.000,1030,0.000,0.025,2751,2298,1550,1500,1600,0,0,0,0,0,0,28.83,26.42,28.83
$STATE,7794,end climb,SURFACE_DEPTH_REACHED
$STATE,7794,begin surface coast
$FINISH,0.0,1.024827
$STATE,7829,end surface coast,CONTROL_FINISHED_OK
$STATE,7829,begin surface
$SM_CCo,7845,233.52,0.688,3,0,400,549.47
$SM_CCo,8097,-0.03,0.000,0,0,399,549.47
$SM_CCo,8100,-0.03,0.000,0,0,400,549.47
$SM_GC,-23.93,7.45,0.47,-0.03,0.073,0.041,0.000,82,1960,400,-10.57,1.27,549.47,0,0,0,0,0,0,26.51,26.55,25.13
$IRIDIUM_FIX,1936.66,12000.88,210313,040451
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.00
$INTERNAL_PRESSURE,9.15573
$TCM_TEMP,19.90
$XPDR_PINGS,0
$SC_FREEKB,3963520
$24V_AH,24.4,26.821
$10V_AH,10.2,15.253
$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,17.350,60.325,390.575,233.525,0.000,0.000,0.000,216.850,0.000,0.000,17.725,1943.338,3935.354,746.826,1537.769,306.133,0.000,1793.236,0.000,1323.264,0.000,1.485,0.000
$DEVICE_MAMPS,218.790,42.840,830.790,687.735,0.000,0.000,0.000,134.640,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7831.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.894,0.000,0.000,0.000
$MEM,323900
$DATA_FILE_SIZE,16798,471
$CAP_FILE_SIZE,380107,2074
$CFSIZE,260034560,233156608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,2,0
$CURRENT,0.091,319.9,1
$GPS,210313,085042,1946.393,12004.992,37,1.5,37,-2.6