version: 66.11
glider: 121
mission: 10
dive: 152
start: 3 20 113 23 16 25
data:
$ID,121
$MISSION,10
$DIVE,152
$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,-100685.67
$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,38
$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
$GPS1,200313,230924,1942.936,12006.163,113,1.2,113,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-64.4
$GPS2,200313,231558,1942.987,12006.165,23,0.7,24,-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,340.2,226216,-18.5,-9.259,-21.12,2828
$D_GRID,3984
$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,-170.3,84,1962,327,476,0.0,0.0,0,44,0.00,0.00,-23.65,0.000,16386,0.000,0.000,84,1962,1013,996,1030,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.35,-170.3,84,1962,996,1032,3.1,-9.4,3,153,8.02,2.22,-90.90,0.000,18692,0.222,0.044,2092,3375,3337,3245,3430,0,0,0,0,0,0,25.84,26.17,26.45
$GC,309,-1.35,-170.3,2092,3375,3249,3430,27.0,-9.3,44,318,0.00,2.12,0.00,0.000,1030,0.000,0.024,2096,1968,3339,3249,3430,0,0,0,0,0,0,28.83,26.31,28.83
$GC,627,-1.35,-170.3,2095,1968,3252,3430,55.5,-9.0,73,628,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,1968,3341,3252,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,927,-1.35,-170.3,2096,1968,3255,3430,82.6,-9.2,88,928,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,1968,3342,3255,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1227,-1.35,-170.3,2096,1968,3256,3430,109.6,-9.1,103,1228,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,1968,3343,3256,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1529,-1.35,-170.3,2096,1968,3256,3430,136.7,-9.0,118,1534,0.00,2.12,0.00,0.000,516,0.000,0.040,2106,567,3343,3256,3430,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1604,-1.35,-170.3,2105,567,3256,3430,142.9,-9.1,121,1611,0.00,2.05,0.00,0.000,1030,0.000,0.015,2097,2002,3343,3256,3430,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1920,-1.35,-170.3,2097,2003,3258,3428,171.2,-8.8,137,1921,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2003,3342,3256,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2220,-1.35,-170.3,2096,2005,3255,3424,197.8,-9.0,152,2227,0.00,2.00,0.00,0.000,260,0.000,0.031,2087,3356,3339,3256,3423,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2255,-1.35,-170.3,2087,3356,3255,3422,200.3,-9.0,153,2261,0.00,2.08,0.00,0.000,1030,0.000,0.025,2089,1962,3339,3256,3423,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2570,-1.35,-170.3,2087,1962,3255,3421,230.0,-9.1,169,2575,0.00,2.12,0.00,0.000,516,0.000,0.043,2097,565,3338,3256,3421,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2629,-1.35,-170.3,2096,565,3255,3421,234.1,-8.8,171,2637,0.00,2.03,0.00,0.000,1030,0.000,0.016,2088,1975,3337,3255,3420,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2937,-1.35,-170.3,2088,1975,3255,3417,263.1,-9.0,187,2938,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,1976,3336,3255,3417,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3238,-1.35,-170.3,2088,1976,3253,3415,289.9,-9.0,202,3239,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,1976,3334,3253,3415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3538,-1.35,-170.3,2088,1976,3252,3412,317.0,-9.0,217,3544,0.00,2.05,0.00,0.000,260,0.000,0.033,2078,3353,3331,3252,3411,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3589,-1.35,-170.3,2077,3353,3251,3411,321.4,-9.0,219,3596,0.12,2.08,0.00,0.000,3078,0.153,0.028,2110,1968,3331,3252,3411,0,0,0,0,0,0,26.51,26.67,28.83
$STATE,3908,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3908,begin apogee
$GC,3913,-0.25,0.0,2110,2301,3249,3409,350.4,-9.0,235,4073,0.70,0.00,150.10,0.849,10246,0.112,0.000,2342,2301,2629,2579,2680,0,0,0,0,0,0,26.51,28.83,24.53
$STATE,4075,end apogee,CONTROL_FINISHED_OK
$STATE,4075,begin climb
$GC,4078,1.35,170.3,2342,2301,2578,2678,335.8,0.0,242,4243,1.00,2.30,156.18,0.817,10500,0.060,0.033,2701,3687,1937,1901,1973,0,0,0,0,0,0,25.32,25.03,24.42
$GC,4458,1.38,179.7,2701,3687,1896,1951,301.5,8.9,259,4469,0.00,2.12,2.40,0.258,9222,0.000,0.024,2711,2304,1906,1878,1935,0,0,0,0,0,0,28.83,25.96,24.96
$GC,4777,1.39,183.4,2711,2304,1877,1942,272.5,9.1,275,4789,0.00,2.20,3.47,0.527,8452,0.000,0.031,2711,3680,1892,1862,1923,0,0,0,0,0,0,28.83,26.24,25.26
$GC,4879,1.41,191.4,2711,3680,1862,1930,264.6,9.0,279,4899,0.00,2.12,14.70,0.773,9222,0.000,0.024,2720,2290,1859,1829,1889,0,0,0,0,0,0,28.83,26.32,25.39
$GC,5213,1.41,191.4,2720,2290,1820,1874,232.6,9.3,296,5214,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2290,1847,1820,1874,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5513,1.42,198.4,2720,2290,1820,1872,205.8,9.0,311,5519,0.00,0.00,3.75,0.560,8198,0.000,0.000,2720,2290,1830,1801,1859,0,0,0,0,0,0,28.83,28.83,25.43
$GC,5814,1.44,204.4,2720,2290,1802,1859,178.6,9.0,326,5831,0.00,0.00,9.20,0.715,8198,0.000,0.000,2720,2290,1802,1772,1832,0,0,0,0,0,0,28.83,28.83,25.67
$GC,6132,1.45,210.7,2720,2290,1770,1832,149.8,9.0,342,6144,0.00,2.15,5.53,0.682,8452,0.000,0.031,2720,3687,1780,1748,1812,0,0,0,0,0,0,28.83,26.39,25.63
$GC,6274,1.47,218.0,2720,3687,1748,1812,138.0,9.0,348,6289,0.00,2.10,9.70,0.690,9222,0.000,0.024,2730,2298,1749,1716,1782,0,0,0,0,0,0,28.83,26.46,25.63
$GC,6585,1.47,218.0,2730,2298,1711,1774,108.9,9.3,364,6592,0.00,2.17,0.00,0.000,516,0.000,0.041,2741,897,1743,1713,1774,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6645,1.47,218.0,2741,897,1713,1774,104.5,9.3,366,6653,0.00,2.05,0.00,0.000,1030,0.000,0.018,2741,2293,1743,1713,1774,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6953,1.48,222.8,2741,2293,1713,1773,76.0,9.1,382,6965,0.00,2.15,3.45,0.483,8452,0.000,0.035,2741,3680,1730,1700,1761,0,0,0,0,0,0,28.83,26.49,25.54
$GC,7154,1.49,226.9,2741,3680,1700,1762,58.8,9.1,391,7168,0.12,2.08,4.75,0.588,13318,0.193,0.024,2722,2299,1714,1682,1746,0,0,0,0,0,0,26.31,26.54,25.60
$GC,7467,1.51,233.3,2723,2299,1683,1747,29.5,9.0,418,7481,0.00,2.25,9.10,0.589,8708,0.000,0.042,2732,894,1684,1651,1718,0,0,0,0,0,0,28.83,26.41,25.79
$GC,7562,1.53,240.3,1696,894,1610,1707,21.1,9.0,430,7578,0.00,2.08,6.32,0.584,9222,0.000,0.018,2732,2303,1659,1620,1698,0,0,0,0,0,0,28.83,26.51,25.72
$STATE,7763,end climb,SURFACE_DEPTH_REACHED
$STATE,7763,begin surface coast
$FINISH,0.0,1.025516
$STATE,7796,end surface coast,CONTROL_FINISHED_OK
$STATE,7796,begin surface
$SM_CCo,7813,251.07,0.729,2,0,400,549.47
$SM_CCo,8077,0.00,0.000,0,0,400,549.47
$SM_CCo,8079,0.00,0.000,0,0,400,549.47
$SM_GC,-23.93,7.40,0.52,0.00,0.073,0.034,0.000,86,1957,400,-10.55,1.13,549.47,0,0,0,0,0,0,26.46,26.51,28.83
$IRIDIUM_FIX,1934.38,12007.97,200313,202021
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.87
$INTERNAL_PRESSURE,9.11667
$TCM_TEMP,19.00
$XPDR_PINGS,2
$SC_FREEKB,3964672
$24V_AH,24.4,26.368
$10V_AH,10.2,15.070
$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,17.375,47.650,378.650,251.075,0.000,0.000,0.000,219.625,0.500,0.000,24.762,1781.642,4263.262,735.751,1400.704,276.650,0.000,1698.569,0.000,1189.191,0.000,1.487,0.000
$DEVICE_MAMPS,221.850,43.605,849.150,729.045,0.000,0.000,0.000,135.405,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,5.941,0.000,0.000,0.000
$MEM,323884
$DATA_FILE_SIZE,16767,472
$CAP_FILE_SIZE,344390,1791
$CFSIZE,260034560,233496576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$CURRENT,0.055, 77.4,1
$GPS,210313,013434,1943.727,12006.034,171,0.9,171,-2.6