version: 66.11
glider: 121
mission: 10
dive: 113
start: 3 16 113 23 25 2
data:
$ID,121
$MISSION,10
$DIVE,113
$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,-100636.52
$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,50
$R_STBD_OVSHOOT,55
$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
$GPS1,160313,231834,1901.289,12007.996,704,0.7,704,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-60.6
$GPS2,160313,232435,1901.325,12008.044,15,0.9,15,-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,350.3,303442,-18.5,-9.259,-21.12,2828
$D_GRID,3006
$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,-170.3,85,1941,466,553,0.0,0.0,0,44,0.00,0.00,-23.85,0.000,16386,0.000,0.000,85,1942,1132,1115,1150,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.35,-170.3,85,1940,1117,1153,3.3,-9.3,3,138,7.88,2.25,-77.72,0.000,18692,0.227,0.044,2054,3373,3493,3408,3578,0,0,0,0,0,0,25.90,26.22,26.49
$GC,280,-1.35,-170.3,1232,3371,3394,3578,24.6,-8.9,41,289,0.00,2.12,0.00,0.000,1030,0.000,0.026,2062,1975,3496,3411,3581,0,0,0,0,0,0,28.83,26.33,28.83
$GC,587,-1.35,-170.3,2062,1975,3415,3581,52.4,-9.0,71,593,0.00,2.15,0.00,0.000,516,0.000,0.042,2073,570,3498,3415,3581,0,0,0,0,0,0,28.83,26.44,28.83
$GC,726,-1.35,-170.3,2072,570,3416,3581,64.0,-8.9,77,733,0.00,2.05,0.00,0.000,1030,0.000,0.016,2065,1990,3498,3416,3581,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1042,-1.35,-170.3,2064,1991,3417,3580,93.4,-9.1,93,1047,0.00,2.05,0.00,0.000,260,0.000,0.031,2054,3368,3499,3417,3581,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1098,-1.35,-170.3,2054,3368,3417,3581,97.6,-9.0,95,1104,0.00,2.10,0.00,0.000,1030,0.000,0.025,2062,1969,3499,3417,3581,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1412,-1.35,-170.3,2062,1969,3417,3581,126.5,-9.0,111,1419,0.00,2.12,0.00,0.000,516,0.000,0.042,2072,574,3499,3417,3581,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1448,-1.35,-170.3,2072,574,3417,3581,128.9,-9.1,112,1453,0.00,2.03,0.00,0.000,1030,0.000,0.016,2064,1984,3499,3417,3581,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1762,-1.35,-170.3,2064,1986,3417,3580,158.3,-9.2,128,1763,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,1987,3498,3417,3580,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2063,-1.35,-170.3,2064,1986,3417,3578,185.0,-8.7,143,2069,0.00,2.17,0.00,0.000,516,0.000,0.041,2072,571,3497,3417,3578,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2225,-1.35,-170.3,2072,571,3417,3578,198.5,-9.3,150,2233,0.00,2.03,0.00,0.000,1030,0.000,0.016,2064,1984,3497,3417,3577,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2531,-1.35,-170.3,2064,1984,3417,3574,227.2,-9.0,166,2537,0.00,2.17,0.00,0.000,516,0.000,0.041,2072,575,3495,3417,3573,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2600,-1.35,-170.3,2072,575,3417,3573,233.3,-9.0,169,2605,0.00,2.03,0.00,0.000,1030,0.000,0.016,2064,1978,3495,3417,3573,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2925,-1.35,-170.3,2064,1979,3416,3571,262.9,-9.2,185,2931,0.00,2.17,0.00,0.000,516,0.000,0.041,2072,569,3493,3416,3570,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2955,-1.35,-170.3,2072,569,3416,3570,265.3,-9.1,186,2960,0.00,2.03,0.00,0.000,1030,0.000,0.016,2064,1977,3493,3416,3570,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3274,-1.35,-170.3,2063,1978,3414,3568,294.7,-9.1,202,3280,0.00,2.17,0.00,0.000,516,0.000,0.042,2071,570,3490,3414,3567,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3309,-1.35,-170.3,2071,570,3414,3567,297.0,-9.2,203,3315,0.00,2.03,0.00,0.000,1030,0.000,0.016,2063,1975,3490,3414,3567,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3623,-1.35,-170.3,2063,1976,3413,3565,326.2,-8.9,219,3629,0.00,2.17,0.00,0.000,516,0.000,0.042,2069,570,3489,3412,3566,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3692,-1.35,-170.3,1280,569,3396,3562,332.1,-9.0,222,3698,0.00,2.03,0.00,0.000,1030,0.000,0.017,2061,1975,3488,3411,3565,0,0,0,0,0,0,28.83,26.74,28.83
$STATE,3891,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3891,begin apogee
$GC,3896,-0.25,0.0,2058,2300,3410,3564,350.7,-9.1,232,4052,0.77,0.00,146.95,0.903,10246,0.122,0.000,2311,2301,2788,2750,2827,0,0,0,0,0,0,26.55,28.83,24.48
$STATE,4054,end apogee,CONTROL_FINISHED_OK
$STATE,4054,begin climb
$GC,4055,1.35,170.3,2311,2301,2749,2825,336.6,0.0,239,4218,1.00,2.28,151.15,0.877,10500,0.065,0.034,2666,3680,2089,2052,2126,0,0,0,0,0,0,25.25,24.97,24.30
$GC,4369,1.39,183.9,2665,3680,2047,2116,308.4,8.8,253,4388,0.00,2.12,11.07,0.830,9222,0.000,0.022,2675,2300,2040,2003,2078,0,0,0,0,0,0,28.83,25.81,24.96
$GC,4686,1.41,191.9,2675,2300,1998,2066,279.4,9.0,269,4692,0.00,0.00,3.45,0.552,8198,0.000,0.000,2675,2299,2012,1976,2048,0,0,0,0,0,0,28.83,28.83,25.11
$GC,4987,1.41,191.9,2675,2299,1975,2057,251.8,9.7,284,4992,0.00,2.17,0.00,0.000,516,0.000,0.041,2686,891,2016,1975,2057,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5084,1.43,201.2,2686,891,1975,2057,244.1,8.9,288,5108,0.00,2.08,14.70,0.809,9222,0.000,0.017,2686,2299,1965,1928,2003,0,0,0,0,0,0,28.83,26.43,25.41
$GC,5421,1.43,201.2,2688,2299,1927,1994,211.9,9.6,305,5422,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2299,1960,1927,1994,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5722,1.44,205.3,2686,2300,1927,1992,184.8,9.1,320,5728,0.00,2.10,0.00,0.000,260,0.000,0.034,2686,3691,1959,1927,1992,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5771,1.46,213.6,2686,3691,1927,1992,180.5,9.0,322,5787,0.00,2.10,10.82,0.770,9222,0.000,0.024,2696,2295,1922,1891,1954,0,0,0,0,0,0,28.83,26.50,25.57
$GC,6096,1.50,228.8,2696,2295,1888,1941,151.6,8.7,338,6119,0.00,2.17,15.32,0.755,8708,0.000,0.040,2706,901,1857,1829,1885,0,0,0,0,0,0,28.83,26.19,25.51
$GC,6143,1.52,238.3,2706,901,1827,1884,147.3,8.9,340,6159,0.00,2.08,9.77,0.750,9222,0.000,0.018,2706,2300,1819,1790,1849,0,0,0,0,0,0,28.83,26.29,25.40
$GC,6469,1.53,242.5,2706,2299,1788,1839,117.7,9.1,356,6470,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2300,1813,1788,1839,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6769,1.55,249.5,2707,2300,1788,1837,90.6,9.0,371,6785,0.00,2.20,11.02,0.715,8452,0.000,0.035,2706,3694,1772,1744,1801,0,0,0,0,0,0,28.83,26.29,25.61
$GC,6878,1.57,256.9,2706,3694,1742,1797,81.0,9.0,376,6891,0.00,2.12,7.47,0.706,9222,0.000,0.025,2716,2295,1746,1717,1776,0,0,0,0,0,0,28.83,26.37,25.55
$GC,7200,1.59,265.6,2716,2294,1713,1768,51.9,8.9,392,7216,0.00,2.20,9.02,0.689,8708,0.000,0.043,2727,891,1708,1676,1740,0,0,0,0,0,0,28.83,26.27,25.60
$GC,7283,1.61,273.7,2727,891,1673,1738,44.6,9.0,398,7298,0.00,2.10,8.70,0.681,9222,0.000,0.018,2728,2310,1676,1641,1711,0,0,0,0,0,0,28.83,26.38,25.55
$GC,7608,1.61,273.7,1696,2307,1598,1697,14.9,9.5,439,7616,0.00,2.10,0.00,0.000,260,0.000,0.036,2727,3694,1671,1637,1705,0,0,0,0,0,0,28.83,26.39,28.83
$STATE,7741,end climb,SURFACE_DEPTH_REACHED
$STATE,7741,begin surface coast
$FINISH,0.0,1.026194
$STATE,7775,end surface coast,CONTROL_FINISHED_OK
$STATE,7775,begin surface
$SM_CCo,7793,224.32,0.809,1,0,511,560.02
$SM_GC,-23.93,7.50,2.70,224.32,0.080,0.027,0.809,82,1959,511,-10.40,0.88,560.02,0,0,0,0,1,0,26.45,26.47,24.41
$IRIDIUM_FIX,1850.98,12010.14,160313,202054
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.03
$INTERNAL_PRESSURE,9.04831
$TCM_TEMP,18.10
$XPDR_PINGS,0
$SC_FREEKB,3979648
$24V_AH,24.3,20.289
$10V_AH,10.1,12.569
$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,17.150,68.825,399.475,224.325,0.000,0.000,0.000,202.600,0.000,0.000,17.236,1820.752,4140.733,723.410,1431.975,252.626,0.000,1676.330,0.000,1222.900,0.000,1.484,0.000
$DEVICE_MAMPS,227.205,43.605,902.700,809.370,0.000,0.000,0.000,132.345,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7775.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.261,0.000,0.000,0.000
$MEM,323900
$DATA_FILE_SIZE,16785,469
$CAP_FILE_SIZE,375924,1847
$CFSIZE,260034560,237662208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.128,256.9,1
$GPS,170313,014824,1901.950,12007.164,541,1.3,541,-2.4