version: 66.11
glider: 121
mission: 10
dive: 130
start: 3 18 113 17 45 20
data:
$ID,121
$MISSION,10
$DIVE,130
$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,-100657.96
$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,51
$R_STBD_OVSHOOT,53
$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
$GPS1,180313,173804,1919.544,12007.321,413,0.8,413,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-67.2
$GPS2,180313,174453,1919.567,12007.372,19,0.9,20,-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,335.4,269640,-18.5,-9.259,-21.12,2828
$D_GRID,3634
$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,-170.3,80,1948,493,587,0.0,0.0,0,43,0.00,0.00,-23.38,0.000,16386,0.000,0.000,80,1948,1156,1135,1177,0,0,0,0,0,0,28.83,28.83,28.83
$GC,45,-1.35,-170.3,80,1948,1135,1180,3.1,-8.9,3,144,7.88,2.17,-81.72,0.000,18692,0.223,0.042,2053,3376,3492,3406,3578,0,0,0,0,0,0,25.84,26.17,26.46
$GC,301,-1.35,-170.3,2052,3376,3408,3578,26.1,-9.1,43,310,0.00,2.10,0.00,0.000,1030,0.000,0.025,2061,1984,3493,3408,3578,0,0,0,0,0,0,28.83,26.31,28.83
$GC,609,-1.35,-170.3,2061,1983,3411,3578,53.7,-8.8,72,615,0.00,2.15,0.00,0.000,516,0.000,0.041,2071,572,3495,3412,3578,0,0,0,0,0,0,28.83,26.43,28.83
$GC,690,-1.35,-170.3,2071,572,3412,3578,59.7,-8.8,75,699,0.00,2.05,0.00,0.000,1030,0.000,0.016,2063,1991,3495,3413,3578,0,0,0,0,0,0,28.83,26.52,28.83
$GC,998,-1.35,-170.3,2063,1993,3413,3578,88.5,-9.0,91,1004,0.00,2.20,0.00,0.000,516,0.000,0.039,2071,565,3495,3413,3578,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1065,-1.35,-170.3,2071,565,3413,3578,94.6,-8.9,94,1071,0.00,2.03,0.00,0.000,1030,0.000,0.016,2063,1978,3495,3413,3578,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1391,-1.35,-170.3,2063,1978,3413,3578,123.6,-9.0,110,1392,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,1979,3495,3413,3578,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1691,-1.35,-170.3,2063,1979,3412,3578,150.4,-9.0,125,1692,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,1979,3495,3413,3578,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1991,-1.35,-170.3,2063,1979,3413,3576,177.9,-9.3,140,1997,0.00,2.17,0.00,0.000,516,0.000,0.040,2071,563,3494,3413,3576,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2053,-1.35,-170.3,2071,563,3413,3575,182.1,-9.0,142,2062,0.00,2.03,0.00,0.000,1030,0.000,0.016,2063,1974,3494,3413,3575,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2359,-1.35,-170.3,2062,1975,3413,3573,211.2,-9.1,158,2366,0.00,2.15,0.00,0.000,516,0.000,0.041,2071,570,3492,3413,3572,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2389,-1.35,-170.3,2070,570,3413,3572,213.6,-9.2,159,2394,0.00,2.03,0.00,0.000,1030,0.000,0.016,2062,1981,3492,3413,3572,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2708,-1.35,-170.3,2061,1985,3412,3569,243.0,-8.9,175,2714,0.00,2.05,0.00,0.000,260,0.000,0.033,2052,3365,3490,3412,3568,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2734,-1.35,-170.3,2052,3365,3412,3568,245.2,-9.0,176,2740,0.00,2.10,0.00,0.000,1030,0.000,0.026,2056,1961,3490,3412,3568,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3059,-1.35,-170.3,2056,1961,3412,3565,274.3,-8.8,192,3065,0.00,2.12,0.00,0.000,516,0.000,0.044,2065,569,3488,3412,3565,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3149,-1.35,-170.3,2065,570,3411,3565,282.3,-9.2,196,3155,0.00,2.03,0.00,0.000,1030,0.000,0.017,2057,1972,3488,3411,3565,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3470,-1.35,-170.3,2057,1973,3409,3562,311.5,-9.2,212,3471,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,1974,3485,3409,3562,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3769,-1.35,-170.3,2057,1974,3407,3560,338.5,-8.9,227,3776,0.00,2.17,0.00,0.000,516,0.000,0.044,2065,570,3483,3407,3559,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3892,-1.35,-170.3,2064,570,3406,3558,348.2,-9.0,232,3900,0.00,2.05,0.00,0.000,1030,0.000,0.017,2056,1984,3482,3406,3559,0,0,0,0,0,0,28.83,26.73,28.83
$STATE,3917,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3917,begin apogee
$GC,3922,-0.25,0.0,2054,2302,3406,3558,351.8,-8.9,234,4078,0.77,0.00,142.68,1.047,10246,0.125,0.000,2305,2303,2795,2757,2833,0,0,0,0,1,0,26.51,28.83,24.20
$STATE,4080,end apogee,CONTROL_FINISHED_OK
$STATE,4080,begin climb
$GC,4081,1.35,170.3,2305,2302,2757,2833,337.7,0.0,241,4244,1.02,2.33,149.40,1.097,10500,0.064,0.034,2666,3685,2099,2062,2136,0,0,0,0,1,0,25.14,24.74,23.94
$GC,4476,1.38,180.7,2666,3687,2062,2135,301.8,8.9,259,4499,0.00,2.15,12.82,0.868,9222,0.000,0.024,2676,2296,2051,2015,2088,0,0,0,0,0,0,28.83,25.88,24.95
$GC,4797,1.41,191.6,2676,2297,2014,2081,273.0,8.9,275,4814,0.00,2.20,11.07,0.850,8708,0.000,0.041,2687,900,2008,1972,2044,0,0,0,0,0,0,28.83,25.96,25.20
$GC,4873,1.42,196.6,2686,899,1970,2043,266.9,9.1,278,4886,0.00,2.10,3.85,0.653,9222,0.000,0.018,2687,2302,1993,1956,2030,0,0,0,0,0,0,28.83,26.13,25.01
$GC,5185,1.47,216.3,2687,2302,1955,2029,238.4,8.5,294,5208,0.00,0.00,21.60,0.835,8198,0.000,0.000,2687,2302,1912,1882,1942,0,0,0,0,0,0,28.83,28.83,25.21
$GC,5504,1.49,225.5,2686,2302,1878,1929,209.3,8.9,310,5521,0.00,2.17,9.05,0.812,8452,0.000,0.035,2687,3683,1870,1844,1897,0,0,0,0,0,0,28.83,26.14,25.36
$GC,5565,1.50,230.3,2686,3683,1843,1895,204.9,9.1,312,5574,0.00,2.10,3.97,0.654,9222,0.000,0.024,2697,2304,1855,1828,1882,0,0,0,0,0,0,28.83,26.20,25.13
$GC,5872,1.52,239.0,2696,2304,1827,1882,176.0,8.9,328,5892,0.00,0.00,11.38,0.791,8198,0.000,0.000,2696,2304,1816,1787,1845,0,0,0,0,0,0,28.83,28.83,25.41
$GC,6192,1.55,250.2,2696,2304,1787,1839,147.2,8.8,344,6208,0.00,2.28,11.90,0.772,8708,0.000,0.043,2707,898,1770,1740,1801,0,0,0,0,0,0,28.83,26.15,25.44
$GC,6309,1.58,261.5,2707,897,1738,1797,137.6,8.8,349,6328,0.00,2.10,12.10,0.761,9222,0.000,0.018,2707,2308,1724,1691,1757,0,0,0,0,0,0,28.83,26.31,25.37
$GC,6647,1.59,265.0,2707,2308,1688,1750,106.3,9.1,366,6653,0.00,2.10,0.00,0.000,260,0.000,0.037,2707,3690,1719,1689,1750,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6780,1.61,273.0,2706,3689,1686,1749,94.4,9.0,372,6796,0.00,2.12,11.18,0.728,9222,0.000,0.025,2717,2297,1682,1647,1718,0,0,0,0,0,0,28.83,26.41,25.52
$GC,7106,1.63,280.5,2719,2297,1641,1707,64.9,9.0,388,7117,0.00,0.00,6.97,0.706,8454,0.000,0.000,2717,2297,1649,1605,1693,0,0,0,0,0,0,28.83,28.83,25.55
$GC,7421,1.63,282.0,2716,2297,1599,1691,36.6,9.2,410,7426,0.00,2.15,0.00,0.000,260,0.000,0.034,2717,3692,1645,1600,1690,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7483,1.68,302.8,2716,3692,1598,1690,31.4,8.5,415,7518,0.00,2.12,23.42,0.662,9222,0.000,0.026,2727,2293,1554,1502,1607,0,0,0,0,0,0,28.83,26.46,25.48
$STATE,7797,end climb,SURFACE_DEPTH_REACHED
$STATE,7797,begin surface coast
$FINISH,0.0,1.026344
$STATE,7838,end surface coast,CONTROL_FINISHED_OK
$STATE,7838,begin surface
$SM_CCo,7854,212.35,0.842,1,0,511,560.02
$SM_GC,-23.93,7.47,0.47,212.35,0.077,0.043,0.842,87,1960,511,-10.38,1.19,560.02,0,0,0,0,1,0,26.36,26.40,24.34
$IRIDIUM_FIX,1911.51,12008.48,180313,151519
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.62
$INTERNAL_PRESSURE,9.02877
$TCM_TEMP,17.50
$XPDR_PINGS,2
$SC_FREEKB,3973120
$24V_AH,23.9,22.981
$10V_AH,10.1,13.733
$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,17.150,60.425,431.400,212.350,0.000,0.000,0.000,241.925,0.500,0.000,20.407,1833.981,4109.312,755.048,1487.619,277.479,0.000,1746.719,0.000,1233.180,0.000,1.483,0.000
$DEVICE_MAMPS,223.380,44.370,1097.010,842.265,0.000,0.000,0.000,132.345,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7839.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.312,0.000,0.000,0.000
$MEM,323864
$DATA_FILE_SIZE,16727,474
$CAP_FILE_SIZE,380239,1876
$CFSIZE,260034560,235798528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$CURRENT,0.141, 54.0,1
$GPS,180313,200854,1920.584,12007.479,504,1.7,504,-2.5