version: 66.11
glider: 121
mission: 10
dive: 125
start: 3 18 113 5 24 54
data:
$ID,121
$MISSION,10
$DIVE,125
$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,-100651.66
$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,52
$R_STBD_OVSHOOT,61
$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
$GPS1,180313,051741,1912.540,12007.245,376,1.0,376,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-66.3
$GPS2,180313,052427,1912.503,12007.317,26,1.0,26,-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,9.3,282704,-18.5,-9.259,-21.12,2828
$D_GRID,3124
$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,-170.3,82,1943,460,550,0.0,0.0,0,43,0.00,0.00,-23.42,0.000,16386,0.000,0.000,82,1944,1119,1105,1133,0,0,0,0,0,0,28.83,28.83,28.83
$GC,45,-1.35,-170.3,82,1944,1105,1139,3.1,-8.9,3,161,7.85,2.12,-96.22,0.000,18948,0.223,0.050,2077,580,3491,3405,3578,0,0,0,0,0,0,25.86,26.18,26.48
$GC,336,-1.35,-170.3,2076,579,3408,3579,29.6,-8.8,46,342,0.00,2.05,0.00,0.000,1030,0.000,0.015,2068,1994,3493,3408,3579,0,0,0,0,0,0,28.83,26.38,28.83
$GC,651,-1.35,-170.3,2068,1995,3413,3579,57.9,-9.0,73,657,0.00,2.17,0.00,0.000,516,0.000,0.037,2077,580,3496,3414,3579,0,0,0,0,0,0,28.83,26.46,28.83
$GC,711,-1.35,-170.3,2076,580,3415,3579,62.1,-9.1,75,720,0.00,2.03,0.00,0.000,1030,0.000,0.015,2068,1988,3496,3414,3579,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1018,-1.35,-170.3,2068,1989,3415,3580,90.6,-8.9,91,1020,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,1988,3498,3416,3580,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1319,-1.35,-170.3,2067,1989,3415,3580,117.2,-8.7,106,1325,0.00,2.17,0.00,0.000,516,0.000,0.037,2076,569,3497,3415,3580,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1409,-1.35,-170.3,2076,569,3415,3580,125.0,-8.8,110,1416,0.00,2.03,0.00,0.000,1030,0.000,0.015,2068,1981,3497,3415,3580,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1729,-1.35,-170.3,2069,1981,3415,3580,154.4,-9.5,126,1735,0.00,2.15,0.00,0.000,516,0.000,0.037,2076,577,3497,3415,3580,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1799,-1.35,-170.3,1256,577,3399,3576,160.2,-8.9,129,1805,0.00,2.00,0.00,0.000,1030,0.000,0.016,2067,1973,3497,3415,3579,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2119,-1.35,-170.3,2067,1974,3415,3577,189.5,-9.0,145,2120,0.00,0.00,0.00,0.000,6,0.000,0.000,2067,1974,3496,3415,3577,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2420,-1.35,-170.3,2067,1975,3415,3572,216.6,-8.9,160,2426,0.00,2.12,0.00,0.000,516,0.000,0.039,2076,579,3493,3415,3572,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2537,-1.35,-170.3,2075,579,3414,3572,226.4,-9.1,165,2543,0.00,2.03,0.00,0.000,1030,0.000,0.016,2067,1983,3492,3414,3571,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2851,-1.35,-170.3,2067,1983,3414,3568,255.5,-9.2,181,2857,0.00,2.17,0.00,0.000,516,0.000,0.040,2075,572,3490,3414,3567,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2959,-1.35,-170.3,2075,572,3413,3567,265.4,-9.3,186,2965,0.00,2.03,0.00,0.000,1030,0.000,0.016,2067,1981,3490,3413,3567,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3284,-1.35,-170.3,2068,1981,3410,3565,294.7,-9.2,202,3285,0.00,0.00,0.00,0.000,6,0.000,0.000,2067,1981,3487,3410,3565,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3584,-1.35,-170.3,2066,1981,3409,3562,321.8,-9.3,217,3586,0.00,0.00,0.00,0.000,6,0.000,0.000,2067,1981,3486,3409,3563,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3885,-1.35,-170.3,2066,1982,3407,3561,349.3,-9.1,232,3892,0.00,2.17,0.00,0.000,516,0.000,0.041,2075,572,3483,3407,3560,0,0,0,0,0,0,28.83,26.67,28.83
$STATE,3909,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3909,begin apogee
$GC,3916,-0.25,0.0,2064,2292,3407,3560,351.7,-9.1,233,4065,0.75,0.00,139.07,0.889,10246,0.123,0.000,2308,2294,2791,2754,2829,0,0,0,0,0,0,26.53,28.83,24.49
$STATE,4067,end apogee,CONTROL_FINISHED_OK
$STATE,4067,begin climb
$GC,4068,1.35,170.3,2307,2293,2753,2828,339.2,0.0,239,4222,1.02,2.33,144.45,0.869,10500,0.071,0.034,2663,3694,2094,2058,2131,0,0,0,0,0,0,25.27,25.00,24.32
$GC,4304,1.35,170.3,2662,3694,2055,2123,315.9,9.3,250,4310,0.00,2.17,0.00,0.000,1030,0.000,0.023,2673,2304,2088,2055,2122,0,0,0,0,0,0,28.83,25.61,28.83
$GC,4631,1.39,183.7,2672,2304,2051,2119,286.4,8.8,266,4648,0.00,2.20,11.30,0.799,8708,0.000,0.038,2683,900,2042,2005,2080,0,0,0,0,0,0,28.83,25.98,25.26
$GC,4691,1.42,196.9,2683,900,2002,2078,282.0,8.8,268,4710,0.00,2.10,12.93,0.803,9222,0.000,0.017,2683,2309,1989,1952,2026,0,0,0,0,0,0,28.83,26.12,25.15
$GC,5025,1.44,204.1,2683,2309,1950,2016,250.5,9.0,285,5038,0.00,2.17,6.62,0.761,8452,0.000,0.034,2683,3684,1960,1926,1995,0,0,0,0,0,0,28.83,26.17,25.39
$GC,5117,1.48,221.6,2683,3684,1926,1993,242.7,8.6,289,5141,0.00,2.10,17.45,0.782,9222,0.000,0.024,2693,2302,1888,1858,1918,0,0,0,0,0,0,28.83,26.26,25.26
$GC,5459,1.49,226.6,2693,2302,1857,1906,212.0,9.1,306,5471,0.00,2.20,3.47,0.558,8452,0.000,0.033,2693,3683,1871,1845,1897,0,0,0,0,0,0,28.83,26.28,25.25
$GC,5521,1.52,235.1,2693,3683,1844,1897,207.8,8.9,308,5539,0.00,2.10,11.00,0.754,9222,0.000,0.025,2703,2301,1832,1803,1862,0,0,0,0,0,0,28.83,26.32,25.41
$GC,5855,1.54,244.1,2703,2301,1802,1855,176.1,8.9,325,5871,0.00,2.20,8.82,0.731,8708,0.000,0.043,2714,897,1796,1766,1827,0,0,0,0,0,0,28.83,26.22,25.51
$GC,5915,1.58,259.9,2713,897,1765,1825,171.9,8.7,327,5938,0.00,2.08,16.25,0.724,9222,0.000,0.018,2714,2298,1731,1698,1765,0,0,0,0,0,0,28.83,26.32,25.38
$GC,6248,1.63,281.1,2714,2297,1697,1756,141.6,8.5,344,6270,0.00,0.00,19.73,0.700,8198,0.000,0.000,2714,2298,1648,1602,1694,0,0,0,0,0,0,28.83,28.83,25.39
$GC,6567,1.64,285.0,2713,2297,1594,1685,113.1,9.1,360,6573,0.00,2.12,0.00,0.000,260,0.000,0.035,2716,3694,1639,1594,1685,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6648,1.65,288.5,2713,3695,1592,1684,106.9,9.1,363,6662,0.00,2.12,6.82,0.667,9222,0.000,0.025,2723,2299,1615,1565,1665,0,0,0,0,0,0,28.83,26.38,25.56
$GC,6981,1.67,296.0,2724,2299,1565,1660,75.7,9.0,380,6991,0.00,0.00,7.85,0.642,8198,0.000,0.000,2723,2300,1587,1535,1640,0,0,0,0,0,0,28.83,28.83,25.64
$GC,7282,1.68,301.6,2723,2299,1531,1633,48.4,9.1,395,7295,0.00,2.17,4.93,0.590,8708,0.000,0.041,2734,896,1564,1511,1617,0,0,0,0,0,0,28.83,26.36,25.51
$GC,7320,1.70,309.9,2734,896,1511,1617,45.1,9.0,398,7339,0.00,2.08,10.80,0.603,9222,0.000,0.018,2734,2303,1526,1472,1581,0,0,0,0,0,0,28.83,26.45,25.65
$GC,7651,1.71,314.9,2734,2304,1471,1575,15.3,9.1,439,7660,0.00,2.17,3.70,0.481,8452,0.000,0.034,2734,3690,1511,1458,1564,0,0,0,0,0,0,28.83,26.39,25.51
$GC,7782,1.75,328.4,1696,3689,1428,1558,3.2,8.8,462,7791,0.00,2.10,4.72,0.545,9218,0.000,0.025,2744,2300,1496,1444,1549,0,0,0,0,0,0,28.83,26.46,28.83
$STATE,7792,end climb,SURFACE_DEPTH_REACHED
$STATE,7792,begin surface coast
$FINISH,0.0,1.025497
$STATE,7827,end surface coast,CONTROL_FINISHED_OK
$STATE,7827,begin surface
$SM_CCo,7843,193.77,0.725,1,0,512,560.02
$SM_GC,-23.93,7.50,0.50,193.77,0.076,0.042,0.725,84,1953,512,-10.40,0.93,560.02,0,0,0,0,1,0,26.40,26.43,24.53
$IRIDIUM_FIX,1906.95,12007.34,180313,020247
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.30
$INTERNAL_PRESSURE,9.09714
$TCM_TEMP,16.20
$XPDR_PINGS,0
$SC_FREEKB,3975040
$24V_AH,24.3,22.174
$10V_AH,10.1,13.398
$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,17.125,64.775,429.925,193.775,0.000,0.000,0.000,232.925,0.000,0.000,27.589,1778.805,4211.414,728.584,1443.533,269.581,0.000,1699.004,0.000,1195.895,0.000,1.484,0.000
$DEVICE_MAMPS,222.615,50.490,888.930,725.220,0.000,0.000,0.000,134.640,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7843.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.239,0.000,0.000,0.000
$MEM,323920
$DATA_FILE_SIZE,16747,469
$CAP_FILE_SIZE,369214,1793
$CFSIZE,260034560,236351488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.171, 24.4,1
$GPS,180313,074334,1914.015,12007.633,239,0.9,239,-2.5