version: 66.11
glider: 121
mission: 10
dive: 126
start: 3 18 113 7 50 20
data:
$ID,121
$MISSION,10
$DIVE,126
$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,-100652.91
$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,60
$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
$GPS1,180313,074334,1914.015,12007.633,239,0.9,239,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-66.6
$GPS2,180313,074953,1913.923,12007.728,17,1.2,17,-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,340.7,280110,-18.5,-9.259,-21.12,2828
$D_GRID,3223
$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,-170.3,82,1942,466,560,0.0,0.0,0,43,0.00,0.00,-23.40,0.000,16386,0.000,0.000,82,1942,1133,1112,1154,0,0,0,0,0,0,28.83,28.83,28.83
$GC,45,-1.35,-170.3,82,1941,1112,1156,3.1,-9.2,3,152,8.07,2.17,-86.07,0.000,18948,0.231,0.053,2074,575,3492,3407,3578,0,0,0,0,0,0,25.83,26.17,26.45
$GC,219,-1.35,-170.3,1248,575,3392,3577,19.3,-9.0,29,228,0.00,2.08,0.00,0.000,1030,0.000,0.015,2066,2001,3493,3408,3579,0,0,0,0,0,0,28.83,26.30,28.83
$GC,535,-1.35,-170.3,2065,2001,3414,3580,47.7,-8.9,65,536,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2001,3496,3414,3579,0,0,0,0,0,0,28.83,28.83,28.83
$GC,845,-1.35,-170.3,2065,2001,3416,3581,75.3,-8.9,82,851,0.00,2.20,0.00,0.000,516,0.000,0.037,2074,578,3498,3416,3581,0,0,0,0,0,0,28.83,26.51,28.83
$GC,979,-1.35,-170.3,2074,578,3416,3581,87.6,-9.1,88,985,0.00,2.00,0.00,0.000,1030,0.000,0.016,2065,1974,3498,3416,3581,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1305,-1.35,-170.3,2065,1976,3416,3581,116.7,-9.2,104,1306,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,1974,3498,3416,3581,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1605,-1.35,-170.3,2065,1975,3416,3580,144.2,-9.0,119,1611,0.00,2.15,0.00,0.000,516,0.000,0.038,2074,573,3498,3416,3581,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1644,-1.35,-170.3,2074,573,3416,3581,146.4,-9.0,120,1653,0.00,2.03,0.00,0.000,1030,0.000,0.015,2065,1989,3498,3415,3581,0,0,0,0,0,0,28.83,26.68,28.83
$GC,1951,-1.35,-170.3,2065,1989,3416,3579,175.5,-8.9,136,1953,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,1990,3497,3415,3579,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2253,-1.35,-170.3,2065,1991,3415,3576,202.8,-9.0,151,2258,0.00,2.17,0.00,0.000,516,0.000,0.039,2074,570,3495,3416,3575,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2303,-1.35,-170.3,2073,570,3416,3574,207.1,-9.0,153,2309,0.00,2.03,0.00,0.000,1030,0.000,0.016,2065,1981,3495,3416,3574,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2622,-1.35,-170.3,2064,1986,3415,3572,236.1,-9.4,169,2629,0.00,2.17,0.00,0.000,516,0.000,0.041,2073,570,3493,3415,3571,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2652,-1.35,-170.3,2073,570,3414,3571,238.5,-9.3,170,2658,0.00,2.03,0.00,0.000,1030,0.000,0.016,2065,1977,3493,3415,3571,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2972,-1.35,-170.3,2065,1977,3415,3568,267.0,-8.7,186,2977,0.00,2.15,0.00,0.000,516,0.000,0.041,2072,578,3490,3413,3567,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3048,-1.35,-170.3,2073,578,3413,3567,273.1,-9.0,189,3054,0.00,2.03,0.00,0.000,1030,0.000,0.016,2065,1985,3490,3413,3567,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3363,-1.35,-170.3,2064,1985,3411,3565,302.0,-8.9,205,3369,0.00,2.17,0.00,0.000,516,0.000,0.041,2073,575,3488,3411,3565,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3544,-1.35,-170.3,1280,575,3393,3562,317.1,-9.1,213,3552,0.00,2.03,0.00,0.000,1030,0.000,0.016,2064,1979,3486,3409,3563,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3851,-1.35,-170.3,2064,1979,3408,3561,345.9,-8.9,229,3856,0.00,2.17,0.00,0.000,516,0.000,0.041,2072,574,3484,3408,3560,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3891,-1.35,-170.3,2072,574,3408,3561,348.2,-8.7,230,3900,0.00,2.03,0.00,0.000,1030,0.000,0.017,2064,1974,3484,3407,3561,0,0,0,0,0,0,28.83,26.74,28.83
$STATE,3915,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3915,begin apogee
$GC,3920,-0.25,0.0,2061,2312,3407,3560,352.0,-8.9,232,4136,0.77,0.00,206.02,0.767,10246,0.124,0.000,2312,2312,2790,2752,2828,0,0,0,0,0,0,26.53,28.83,24.56
$STATE,4137,end apogee,CONTROL_FINISHED_OK
$STATE,4137,begin climb
$GC,4139,1.35,170.3,2312,2312,2750,2828,333.9,0.0,241,4293,1.00,2.28,145.48,0.894,10500,0.068,0.034,2662,3675,2094,2056,2132,0,0,0,0,0,0,25.25,24.95,24.28
$GC,4533,1.38,180.6,2662,3677,2049,2117,297.2,8.9,259,4548,0.00,2.10,6.62,0.788,9222,0.000,0.024,2672,2309,2059,2023,2095,0,0,0,0,0,0,28.83,25.98,25.12
$GC,4845,1.42,195.7,2671,2309,2023,2090,268.6,8.7,275,4866,0.00,0.00,15.70,0.826,8198,0.000,0.000,2672,2309,1993,1956,2030,0,0,0,0,0,0,28.83,28.83,25.23
$GC,5165,1.43,201.2,2671,2309,1954,2023,239.6,9.1,291,5177,0.00,2.25,4.43,0.696,8708,0.000,0.041,2683,900,1974,1939,2009,0,0,0,0,0,0,28.83,26.22,25.25
$GC,5226,1.44,206.9,2683,900,1939,2009,235.4,9.1,293,5241,0.00,2.08,7.88,0.793,9222,0.000,0.017,2682,2300,1948,1912,1984,0,0,0,0,0,0,28.83,26.33,25.40
$GC,5559,1.47,216.9,2682,2300,1912,1976,204.3,8.9,310,5571,0.00,0.00,10.12,0.785,8198,0.000,0.000,2682,2300,1909,1880,1939,0,0,0,0,0,0,28.83,28.83,25.48
$GC,5860,1.49,225.6,2682,2300,1877,1929,177.1,8.9,325,5876,0.00,2.12,8.52,0.769,8452,0.000,0.036,2683,3686,1872,1845,1899,0,0,0,0,0,0,28.83,26.25,25.51
$GC,5927,1.52,237.3,2682,3687,1845,1896,171.2,8.8,328,5951,0.00,2.10,12.43,0.767,9222,0.000,0.025,2693,2300,1822,1795,1849,0,0,0,0,0,0,28.83,26.32,25.41
$GC,6248,1.53,243.0,2692,2300,1795,1843,142.1,9.1,344,6259,0.00,2.20,4.40,0.662,8708,0.000,0.042,2703,895,1804,1777,1831,0,0,0,0,0,0,28.83,26.27,25.33
$GC,6311,1.55,247.8,2703,895,1777,1831,137.8,9.1,346,6326,0.00,2.08,7.12,0.741,9222,0.000,0.018,2703,2298,1781,1753,1810,0,0,0,0,0,0,28.83,26.38,25.50
$GC,6644,1.58,263.0,2703,2298,1753,1804,106.2,8.7,363,6668,0.00,2.12,15.73,0.725,8452,0.000,0.034,2703,3687,1717,1685,1750,0,0,0,0,0,0,28.83,26.17,25.50
$GC,6878,1.61,275.0,2703,3687,1682,1745,85.4,8.8,374,6895,0.00,2.10,11.90,0.711,9222,0.000,0.025,2713,2302,1671,1635,1708,0,0,0,0,0,0,28.83,26.35,25.48
$GC,7204,1.63,279.7,2712,2302,1631,1700,56.2,9.1,390,7216,0.00,2.20,3.47,0.527,8452,0.000,0.034,2713,3687,1653,1612,1694,0,0,0,0,0,0,28.83,26.34,25.39
$GC,7260,1.64,283.2,2712,3685,1612,1697,51.8,9.1,392,7273,0.00,2.12,4.35,0.611,9222,0.000,0.026,2722,2292,1640,1594,1686,0,0,0,0,0,0,28.83,26.38,25.40
$GC,7576,1.67,297.7,1680,2290,1557,1678,22.5,8.7,425,7600,0.00,2.25,16.27,0.655,8452,0.000,0.034,2723,3692,1576,1524,1628,0,0,0,0,0,0,28.83,26.22,25.58
$GC,7668,1.68,300.2,1696,3691,1490,1619,14.0,9.2,440,7676,0.00,2.12,0.00,0.000,1030,0.000,0.026,2733,2300,1574,1522,1626,0,0,0,0,0,0,28.83,26.30,28.83
$STATE,7790,end climb,SURFACE_DEPTH_REACHED
$STATE,7790,begin surface coast
$FINISH,0.0,1.026236
$STATE,7825,end surface coast,CONTROL_FINISHED_OK
$STATE,7825,begin surface
$SM_CCo,7841,214.95,0.822,1,0,511,560.02
$SM_GC,-23.93,7.50,0.50,214.95,0.078,0.042,0.822,83,1954,511,-10.40,0.96,560.02,0,0,0,0,1,0,26.36,26.41,24.39
$IRIDIUM_FIX,1906.95,12007.34,180313,050518
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.77
$INTERNAL_PRESSURE,9.03854
$TCM_TEMP,17.80
$XPDR_PINGS,2
$SC_FREEKB,3974656
$24V_AH,24.3,22.339
$10V_AH,10.2,13.462
$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,17.350,64.675,480.450,214.950,0.000,0.000,0.000,215.150,0.500,0.000,18.644,1837.273,4035.205,797.214,1475.723,278.742,0.000,1800.259,0.000,1257.001,0.000,1.487,0.000
$DEVICE_MAMPS,231.030,52.785,893.520,821.610,0.000,0.000,0.000,136.170,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7840.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.213,0.000,0.000,0.000
$MEM,323920
$DATA_FILE_SIZE,16790,468
$CAP_FILE_SIZE,384800,1900
$CFSIZE,260034560,236232704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.164, 27.2,1
$GPS,180313,101306,1915.204,12007.599,467,1.4,467,-2.5