version: 66.11
glider: 121
mission: 10
dive: 159
start: 3 21 113 16 5 10
data:
$ID,121
$MISSION,10
$DIVE,159
$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,-100694.58
$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,50
$R_STBD_OVSHOOT,56
$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
$GPS1,210313,155734,1950.576,12006.069,27,1.0,27,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-60.2
$GPS2,210313,160442,1950.639,12006.055,17,1.0,18,-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,319.8,212053,-18.5,-9.259,-21.12,2828
$D_GRID,3846
$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,-170.3,84,1949,366,497,0.0,0.0,0,43,0.00,0.00,-23.23,0.000,16386,0.000,0.000,84,1949,1039,1027,1052,0,0,0,0,0,0,28.83,28.83,28.83
$GC,45,-1.35,-170.3,84,1949,1026,1054,3.2,-9.4,3,161,8.00,2.17,-95.57,0.000,18692,0.220,0.042,2090,3379,3335,3243,3428,0,0,0,0,0,0,25.83,26.18,26.48
$GC,406,-1.35,-170.3,2089,3379,3245,3428,35.4,-9.1,52,414,0.00,2.10,0.00,0.000,1030,0.000,0.024,2097,1977,3336,3245,3428,0,0,0,0,0,0,28.83,26.39,28.83
$GC,723,-1.35,-170.3,2097,1977,3249,3428,65.1,-9.2,76,729,0.00,2.10,0.00,0.000,260,0.000,0.029,2089,3371,3338,3249,3428,0,0,0,0,0,0,28.83,26.49,28.83
$GC,774,-1.35,-170.3,2088,3371,3250,3428,69.2,-8.7,78,779,0.00,2.10,0.00,0.000,1030,0.000,0.024,2090,1963,3339,3250,3428,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1094,-1.35,-170.3,2090,1962,3253,3428,97.9,-9.1,94,1100,0.00,2.10,0.00,0.000,516,0.000,0.040,2095,572,3340,3253,3428,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1230,-1.35,-170.3,2095,572,3252,3428,109.9,-9.0,100,1236,0.00,2.03,0.00,0.000,1030,0.000,0.015,2087,1990,3340,3253,3428,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1550,-1.35,-170.3,2087,1991,3253,3428,139.5,-8.9,116,1557,0.00,2.17,0.00,0.000,516,0.000,0.039,2093,571,3340,3253,3428,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1641,-1.35,-170.3,2092,571,3253,3428,147.1,-8.7,120,1648,0.10,2.03,0.00,0.000,3078,0.171,0.016,2108,1978,3340,3253,3427,0,0,0,0,0,0,26.48,26.68,28.83
$GC,1962,-1.35,-170.3,2107,1979,3253,3425,176.1,-9.0,136,1963,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,1978,3338,3252,3425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2263,-1.35,-170.3,2108,1979,3252,3422,203.4,-9.1,151,2268,0.00,2.15,0.00,0.000,516,0.000,0.041,2117,575,3336,3252,3421,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2308,-1.35,-170.3,2117,575,3253,3421,207.8,-9.1,153,2314,0.00,2.00,0.00,0.000,1030,0.000,0.016,2109,1974,3336,3252,3421,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2634,-1.35,-170.3,2109,1974,3252,3416,236.9,-9.2,169,2640,0.00,2.05,0.00,0.000,260,0.000,0.032,2098,3358,3334,3252,3416,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2681,-1.35,-170.3,2098,3358,3253,3415,241.1,-8.9,171,2687,0.00,2.08,0.00,0.000,1030,0.000,0.027,2098,1977,3334,3253,3415,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3006,-1.35,-170.3,2098,1977,3252,3413,269.7,-8.8,187,3013,0.00,2.15,0.00,0.000,516,0.000,0.044,2106,570,3332,3252,3412,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3097,-1.35,-170.3,1312,570,3225,3409,277.7,-9.0,191,3103,0.00,2.03,0.00,0.000,1030,0.000,0.017,2098,1975,3331,3250,3412,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3417,-1.35,-170.3,2098,1975,3249,3408,306.7,-9.0,207,3418,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,1975,3328,3249,3408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3718,-1.35,-170.3,2097,1975,3248,3406,333.7,-8.8,222,3724,0.00,2.17,0.00,0.000,516,0.000,0.044,2104,570,3327,3248,3406,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3757,-1.35,-170.3,2104,570,3248,3406,336.0,-8.9,223,3765,0.00,2.03,0.00,0.000,1030,0.000,0.017,2096,1972,3327,3248,3406,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,3902,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3902,begin apogee
$GC,3907,-0.25,0.0,2093,2312,3246,3405,350.5,-9.1,231,4065,0.75,0.00,142.57,0.977,10246,0.116,0.000,2340,2313,2639,2589,2690,0,0,0,0,1,0,26.49,28.83,24.33
$STATE,4067,end apogee,CONTROL_FINISHED_OK
$STATE,4067,begin climb
$GC,4070,1.35,170.3,2340,2312,2589,2690,336.5,0.0,238,4231,1.00,2.28,146.43,1.041,10500,0.058,0.034,2700,3677,1944,1909,1979,0,0,0,0,1,0,25.26,24.87,24.10
$GC,4469,1.38,179.5,2700,3677,1909,1979,300.1,8.9,256,4488,0.00,2.12,11.40,0.806,9222,0.000,0.023,2710,2292,1903,1875,1931,0,0,0,0,0,0,28.83,25.98,25.08
$GC,4786,1.38,181.0,2710,2292,1874,1923,270.8,9.2,272,4793,0.00,2.15,0.00,0.000,260,0.000,0.031,2710,3685,1898,1874,1923,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4957,1.40,188.2,2710,3685,1874,1922,255.5,9.0,280,4973,0.00,2.12,8.43,0.754,9222,0.000,0.024,2720,2290,1868,1844,1893,0,0,0,0,0,0,28.83,26.36,25.47
$GC,5282,1.41,194.6,2720,2290,1843,1888,225.9,9.0,296,5294,0.00,2.15,5.50,0.717,8452,0.000,0.031,2720,3684,1846,1822,1871,0,0,0,0,0,0,28.83,26.32,25.51
$GC,5476,1.44,203.9,2720,3684,1821,1870,208.8,8.9,305,5492,0.00,2.10,11.52,0.732,9222,0.000,0.024,2730,2298,1805,1779,1832,0,0,0,0,0,0,28.83,26.42,25.54
$GC,5801,1.45,208.8,2729,2298,1775,1822,179.2,9.1,321,5812,0.00,2.17,3.62,0.551,8452,0.000,0.032,2730,3679,1786,1761,1812,0,0,0,0,0,0,28.83,26.38,25.39
$GC,5951,1.46,214.3,2730,3678,1761,1813,165.5,9.1,328,5967,0.00,2.08,7.78,0.702,9222,0.000,0.024,2740,2299,1763,1736,1790,0,0,0,0,0,0,28.83,26.44,25.61
$GC,6277,1.48,220.0,2740,2300,1735,1785,136.4,9.1,344,6288,0.00,2.12,4.88,0.648,8452,0.000,0.031,2740,3680,1741,1714,1769,0,0,0,0,0,0,28.83,26.39,25.46
$GC,6413,1.51,231.5,2740,3680,1714,1769,124.5,8.8,350,6433,0.00,2.10,14.35,0.667,9222,0.000,0.024,2749,2292,1694,1660,1728,0,0,0,0,0,0,28.83,26.45,25.59
$GC,6730,1.51,231.6,2749,2292,1654,1718,95.6,9.3,366,6737,0.00,2.17,0.00,0.000,516,0.000,0.044,2760,898,1686,1654,1718,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6786,1.51,233.4,2760,898,1653,1718,91.3,9.2,368,6793,0.12,2.05,0.00,0.000,5126,0.190,0.017,2732,2297,1685,1654,1717,0,0,0,0,0,0,26.22,26.48,28.83
$GC,7102,1.52,237.7,2731,2297,1654,1716,62.1,9.1,384,7108,0.00,0.00,4.25,0.552,8198,0.000,0.000,2733,2296,1670,1638,1703,0,0,0,0,0,0,28.83,28.83,25.55
$GC,7403,1.55,247.4,2731,2297,1638,1703,34.9,8.9,407,7422,0.00,2.12,11.90,0.590,8452,0.000,0.034,2731,3684,1625,1580,1671,0,0,0,0,0,0,28.83,26.38,25.76
$GC,7474,1.57,257.3,2731,3684,1578,1669,28.6,8.9,413,7492,0.00,2.10,10.02,0.584,9222,0.000,0.026,2741,2298,1586,1536,1636,0,0,0,0,0,0,28.83,26.42,25.69
$STATE,7760,end climb,SURFACE_DEPTH_REACHED
$STATE,7760,begin surface coast
$FINISH,0.0,1.025226
$STATE,7793,end surface coast,CONTROL_FINISHED_OK
$STATE,7794,begin surface
$SM_CCo,7809,240.32,0.721,3,0,399,549.47
$SM_CCo,8068,-0.10,0.000,0,0,402,549.47
$SM_CCo,8071,3.00,0.368,0,0,400,549.47
$SM_GC,-23.93,7.43,0.47,3.00,0.072,0.042,0.368,84,1962,400,-10.55,1.30,549.47,0,0,0,0,0,0,26.45,26.48,24.68
$IRIDIUM_FIX,1938.95,12005.99,210313,131339
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.50
$INTERNAL_PRESSURE,9.1069
$TCM_TEMP,18.80
$XPDR_PINGS,0
$SC_FREEKB,3961984
$24V_AH,24.1,27.382
$10V_AH,10.2,15.485
$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,17.400,64.225,382.650,243.325,0.000,0.000,0.000,255.275,0.000,0.000,18.846,1937.614,3918.676,757.427,1566.515,306.251,0.000,1831.181,0.000,1287.578,0.000,1.486,0.000
$DEVICE_MAMPS,220.320,44.370,1041.165,721.395,0.000,0.000,0.000,131.580,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7798.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.944,0.000,0.000,0.000
$MEM,323880
$DATA_FILE_SIZE,16760,468
$CAP_FILE_SIZE,378808,2042
$CFSIZE,260034560,232726528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,2,0
$CURRENT,0.120, 51.4,1
$GPS,210313,182223,1951.373,12005.825,120,0.7,120,-2.6