version: 66.11
glider: 121
mission: 10
dive: 123
start: 3 18 113 0 28 25
data:
$ID,121
$MISSION,10
$DIVE,123
$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,-100649.14
$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,35
$R_STBD_OVSHOOT,58
$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
$GPS1,180313,002126,1910.955,12007.746,421,0.8,421,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-66.0
$GPS2,180313,002758,1910.939,12007.701,36,0.9,37,-2.5
$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,14.2,285628,-18.5,-9.259,-21.12,2828
$D_GRID,2865
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.35,-170.3,78,1968,464,560,0.0,0.0,0,50,0.00,0.00,-30.52,0.000,16386,0.000,0.000,78,1968,1299,1268,1331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,53,-1.35,-170.3,78,1968,1268,1334,3.5,-8.9,4,145,8.07,2.20,-73.53,0.000,18948,0.233,0.053,2072,557,3492,3407,3578,0,0,0,0,0,0,25.88,26.20,26.48
$GC,387,-1.35,-170.3,2072,557,3410,3579,34.1,-8.9,52,394,0.00,2.08,0.00,0.000,1030,0.000,0.015,2063,1990,3494,3410,3579,0,0,0,0,0,0,28.83,26.42,28.83
$GC,713,-1.35,-170.3,2063,1991,3415,3579,63.4,-9.0,77,714,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,1991,3497,3415,3579,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1015,-1.35,-170.3,2063,1991,3419,3580,91.1,-9.2,92,1016,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,1991,3498,3416,3580,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1313,-1.35,-170.3,2063,1991,3415,3580,118.1,-9.0,107,1314,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,1991,3497,3415,3580,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1613,-1.35,-170.3,2063,1991,3417,3580,144.7,-8.9,122,1614,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,1991,3498,3417,3580,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1914,-1.35,-170.3,2063,1991,3417,3580,171.8,-8.7,137,1920,0.00,2.20,0.00,0.000,516,0.000,0.037,2072,563,3498,3417,3579,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2050,-1.35,-170.3,2072,563,3417,3579,183.2,-9.0,143,2057,0.00,2.03,0.00,0.000,1030,0.000,0.015,2064,1984,3497,3417,3578,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2365,-1.35,-170.3,2063,1985,3417,3575,212.4,-9.0,159,2371,0.00,2.17,0.00,0.000,516,0.000,0.037,2072,561,3495,3416,3575,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2583,-1.35,-170.3,1280,561,3401,3571,231.9,-8.9,169,2589,0.00,2.03,0.00,0.000,1030,0.000,0.016,2064,1978,3495,3417,3573,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2902,-1.35,-170.3,2063,1978,3415,3570,261.3,-9.3,185,2904,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,1978,3492,3415,3570,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3203,-1.35,-170.3,2063,1979,3413,3567,288.8,-9.5,200,3204,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,1979,3490,3413,3567,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3503,-1.35,-170.3,2063,1979,3411,3565,315.6,-8.7,215,3509,0.00,2.17,0.00,0.000,516,0.000,0.039,2072,564,3488,3411,3565,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3625,-1.35,-170.3,2071,564,3410,3565,325.3,-9.0,220,3633,0.00,2.03,0.00,0.000,1030,0.000,0.016,2063,1977,3487,3409,3565,0,0,0,0,0,0,28.83,26.76,28.83
$STATE,3888,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3889,begin apogee
$GC,3894,-0.25,0.0,2060,2307,3408,3562,350.2,-9.1,234,4043,0.77,0.00,142.40,0.908,10246,0.124,0.000,2312,2307,2790,2752,2828,0,0,0,0,0,0,26.53,28.83,24.45
$STATE,4046,end apogee,CONTROL_FINISHED_OK
$STATE,4046,begin climb
$GC,4047,1.35,170.3,2312,2307,2750,2827,337.9,0.0,240,4204,1.00,2.28,144.40,0.899,10500,0.070,0.033,2661,3678,2091,2054,2128,0,0,0,0,0,0,25.24,24.98,24.29
$GC,4380,1.36,175.0,2661,3679,2049,2119,306.3,9.1,256,4386,0.00,2.12,0.00,0.000,1030,0.000,0.022,2670,2294,2084,2049,2119,0,0,0,0,0,0,28.83,25.88,28.83
$GC,4700,1.38,180.8,2671,2294,2046,2116,277.5,9.0,272,4711,0.00,0.00,7.97,0.802,8454,0.000,0.000,2671,2294,2053,2017,2090,0,0,0,0,0,0,28.83,28.83,25.34
$GC,5026,1.41,191.7,2670,2294,2014,2085,248.3,8.9,288,5043,0.00,2.15,10.90,0.804,8452,0.000,0.030,2670,3684,2009,1972,2046,0,0,0,0,0,0,28.83,26.17,25.41
$GC,5128,1.42,198.8,2671,3684,1970,2042,240.3,9.0,292,5142,0.00,2.10,7.35,0.786,9222,0.000,0.023,2681,2298,1981,1944,2018,0,0,0,0,0,0,28.83,26.28,25.37
$GC,5461,1.46,214.5,2680,2299,1942,2011,209.9,8.7,309,5484,0.00,2.17,15.32,0.790,8708,0.000,0.039,2691,903,1916,1884,1949,0,0,0,0,0,0,28.83,26.10,25.39
$GC,5532,1.49,224.2,2691,903,1883,1944,203.9,8.9,312,5551,0.00,2.05,9.62,0.780,9222,0.000,0.017,2692,2290,1876,1847,1906,0,0,0,0,0,0,28.83,26.25,25.32
$GC,5849,1.50,231.0,2693,2290,1847,1898,174.7,9.0,328,5861,0.00,2.20,6.60,0.754,8452,0.000,0.034,2691,3687,1850,1823,1878,0,0,0,0,0,0,28.83,26.22,25.44
$GC,5981,1.53,240.6,2691,3686,1821,1876,163.0,8.9,334,5997,0.00,2.12,10.43,0.757,9222,0.000,0.024,2701,2296,1812,1781,1843,0,0,0,0,0,0,28.83,26.33,25.42
$GC,6306,1.57,257.8,2701,2296,1777,1834,134.0,8.6,350,6327,0.00,0.00,17.23,0.737,8198,0.000,0.000,2701,2296,1739,1706,1773,0,0,0,0,0,0,28.83,28.83,25.41
$GC,6626,1.58,260.6,2701,2296,1704,1765,105.0,9.2,366,6633,0.00,2.17,0.00,0.000,516,0.000,0.042,2712,895,1735,1704,1766,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6656,1.60,267.4,2711,894,1704,1765,102.7,9.0,367,6674,0.00,2.08,9.25,0.715,9222,0.000,0.017,2712,2301,1701,1667,1735,0,0,0,0,0,0,28.83,26.42,25.52
$GC,6973,1.63,281.9,2712,2301,1664,1731,74.2,8.7,383,6989,0.00,0.00,13.98,0.687,8710,0.000,0.000,2712,2301,1644,1598,1690,0,0,0,0,0,0,28.83,28.83,25.53
$GC,7298,1.65,289.1,2712,2301,1591,1681,44.8,9.0,401,7313,0.00,2.30,6.72,0.658,8708,0.000,0.041,2721,895,1613,1564,1662,0,0,0,0,0,0,28.83,26.28,25.59
$GC,7374,1.67,295.2,2721,895,1564,1660,38.2,9.0,407,7387,0.00,2.08,6.80,0.652,9222,0.000,0.017,2722,2301,1588,1537,1640,0,0,0,0,0,0,28.83,26.40,25.56
$GC,7702,1.67,298.0,1696,2297,1502,1628,8.2,9.2,455,7710,0.00,2.10,0.00,0.000,260,0.000,0.035,2722,3687,1585,1535,1635,0,0,0,0,0,0,28.83,26.42,28.83
$STATE,7760,end climb,SURFACE_DEPTH_REACHED
$STATE,7760,begin surface coast
$FINISH,0.8,1.026063
$STATE,7784,end surface coast,CONTROL_FINISHED_OK
$STATE,7784,begin surface
$SM_CCo,7802,217.48,0.801,1,0,511,560.02
$SM_GC,-23.93,7.47,2.67,217.48,0.079,0.028,0.801,87,1973,511,-10.37,1.22,560.02,0,0,0,0,1,0,26.44,26.46,24.40
$IRIDIUM_FIX,1902.38,12007.34,170313,212140
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.42
$INTERNAL_PRESSURE,9.04831
$TCM_TEMP,18.00
$XPDR_PINGS,0
$SC_FREEKB,3975808
$24V_AH,24.3,21.871
$10V_AH,10.2,13.264
$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,17.325,47.925,408.975,217.475,0.000,0.000,0.000,209.800,0.000,0.000,38.133,1802.260,4191.548,701.308,1447.156,258.972,0.000,1644.317,0.000,1211.338,0.000,1.484,0.000
$DEVICE_MAMPS,232.560,52.785,908.055,800.955,0.000,0.000,0.000,135.405,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7800.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.219,0.000,0.000,0.000
$MEM,323924
$DATA_FILE_SIZE,16786,469
$CAP_FILE_SIZE,369279,1846
$CFSIZE,260034560,236568576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.128,254.6,1
$GPS,180313,025004,1911.581,12007.145,436,1.0,436,-2.5