version: 66.11
glider: 121
mission: 10
dive: 132
start: 3 18 113 22 43 58
data:
$ID,121
$MISSION,10
$DIVE,132
$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,-100660.49
$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,58
$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
$GPS1,180313,223658,1921.287,12007.590,340,0.7,340,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-66.6
$GPS2,180313,224331,1921.238,12007.632,19,0.9,19,-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,334.2,266570,-18.5,-9.259,-21.12,2828
$D_GRID,3907
$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,-170.3,86,1936,330,472,0.0,0.0,0,44,0.00,0.00,-24.12,0.000,16386,0.000,0.000,86,1937,1020,999,1042,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.35,-170.3,86,1937,999,1042,3.1,-9.0,3,152,7.88,2.17,-88.20,0.000,18692,0.223,0.041,2059,3371,3336,3242,3431,0,0,0,0,0,0,25.83,26.17,26.45
$GC,376,-1.35,-170.3,2059,3372,3248,3431,33.4,-9.3,50,382,0.00,2.10,0.00,0.000,1030,0.000,0.024,2067,1972,3339,3248,3431,0,0,0,0,0,0,28.83,26.35,28.83
$GC,690,-1.35,-170.3,2067,1972,3252,3431,61.6,-8.9,75,696,0.00,2.12,0.00,0.000,516,0.000,0.039,2078,571,3341,3252,3431,0,0,0,0,0,0,28.83,26.45,28.83
$GC,746,-1.35,-170.3,2078,571,3252,3431,65.6,-8.9,77,752,0.00,2.05,0.00,0.000,1030,0.000,0.015,2069,1997,3341,3252,3431,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1061,-1.35,-170.3,2070,1998,3253,3430,94.8,-9.1,93,1062,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,1998,3342,3253,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1362,-1.35,-170.3,2069,1999,3254,3431,121.6,-9.0,108,1368,0.00,2.20,0.00,0.000,516,0.000,0.038,2077,567,3342,3253,3431,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1523,-1.35,-170.3,2077,567,3254,3430,135.5,-9.1,115,1529,0.00,2.03,0.00,0.000,1030,0.000,0.015,2069,1980,3342,3254,3430,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1838,-1.35,-170.3,2069,1981,3254,3428,164.9,-8.8,131,1845,0.00,2.03,0.00,0.000,260,0.000,0.031,2058,3354,3340,3254,3427,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1879,-1.35,-170.3,2058,3354,3254,3427,167.3,-8.9,132,1886,0.00,2.05,0.00,0.000,1030,0.000,0.024,2066,1971,3340,3254,3427,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2186,-1.35,-170.3,2066,1971,3254,3424,196.0,-8.9,148,2192,0.00,2.12,0.00,0.000,516,0.000,0.042,2077,570,3339,3255,3423,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2255,-1.35,-170.3,2076,570,3254,3423,202.0,-9.0,151,2262,0.00,2.03,0.00,0.000,1030,0.000,0.016,2068,1980,3338,3254,3423,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2576,-1.35,-170.3,2068,1981,3254,3421,230.2,-8.6,167,2577,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,1981,3337,3254,3421,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2877,-1.35,-170.3,2068,1981,3254,3417,256.9,-9.0,182,2878,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,1981,3335,3254,3417,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3178,-1.35,-170.3,2068,1981,3253,3415,283.4,-9.0,197,3185,0.00,2.17,0.00,0.000,516,0.000,0.041,2076,570,3334,3253,3415,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3214,-1.35,-170.3,2076,570,3253,3414,286.0,-9.1,198,3220,0.00,2.03,0.00,0.000,1030,0.000,0.016,2068,1976,3333,3253,3414,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3529,-1.35,-170.3,2068,1977,3252,3412,316.1,-9.2,214,3535,0.00,2.05,0.00,0.000,260,0.000,0.032,2058,3357,3332,3252,3412,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3558,-1.35,-170.3,2057,3357,3252,3411,318.3,-9.2,215,3565,0.00,2.08,0.00,0.000,1030,0.000,0.027,2060,1968,3331,3252,3411,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3878,-1.35,-170.3,2059,1968,3249,3409,347.5,-8.7,231,3884,0.00,2.12,0.00,0.000,516,0.000,0.045,2069,575,3329,3249,3409,0,0,0,0,0,0,28.83,26.65,28.83
$STATE,3922,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3922,begin apogee
$GC,3929,-0.25,0.0,2061,2294,3248,3409,351.6,-8.7,233,4085,0.77,0.00,149.93,0.875,10246,0.127,0.000,2308,2295,2639,2589,2689,0,0,0,0,0,0,26.51,28.83,24.49
$STATE,4086,end apogee,CONTROL_FINISHED_OK
$STATE,4086,begin climb
$GC,4088,1.35,170.3,2308,2295,2581,2680,337.4,0.0,240,4249,1.02,2.33,153.48,0.852,10500,0.074,0.034,2661,3692,1938,1905,1972,0,0,0,0,0,0,25.20,24.96,24.33
$GC,4348,1.37,177.2,2661,3694,1901,1951,314.4,9.0,251,4355,0.00,2.17,1.27,0.052,9222,0.000,0.024,2671,2302,1915,1890,1941,0,0,0,0,0,0,28.83,25.63,25.59
$GC,4663,1.38,181.7,2670,2302,1890,1944,284.2,9.1,267,4675,0.00,2.28,3.35,0.526,8708,0.000,0.042,2682,899,1899,1872,1926,0,0,0,0,0,0,28.83,26.10,25.13
$GC,4731,1.40,189.0,2681,899,1872,1929,278.1,9.0,270,4754,0.00,2.10,13.30,0.810,9222,0.000,0.017,2682,2308,1861,1834,1888,0,0,0,0,0,0,28.83,26.22,25.24
$GC,5051,1.42,195.7,2681,2308,1833,1882,249.3,9.0,286,5063,0.00,2.12,4.50,0.687,8452,0.000,0.034,2682,3692,1841,1815,1868,0,0,0,0,0,0,28.83,26.22,25.23
$GC,5205,1.43,203.0,2681,3692,1815,1868,236.0,9.0,293,5224,0.00,2.12,9.93,0.790,9222,0.000,0.024,2692,2294,1808,1779,1837,0,0,0,0,0,0,28.83,26.33,25.41
$GC,5522,1.44,204.2,2691,2294,1778,1832,206.6,9.2,309,5523,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2294,1805,1778,1832,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5823,1.46,214.1,2691,2294,1778,1830,179.7,8.9,324,5838,0.00,0.00,11.45,0.764,8454,0.000,0.000,2692,2295,1764,1734,1794,0,0,0,0,0,0,28.83,28.83,25.57
$GC,6146,1.51,231.1,2691,2294,1731,1787,150.5,8.6,340,6170,0.00,2.25,17.27,0.742,8452,0.000,0.034,2692,3690,1692,1657,1727,0,0,0,0,0,0,28.83,26.16,25.48
$GC,6197,1.52,238.2,2692,3690,1655,1723,146.1,9.0,342,6208,0.00,2.12,5.53,0.716,9222,0.000,0.025,2702,2300,1669,1634,1705,0,0,0,0,0,0,28.83,26.22,25.37
$GC,6517,1.55,248.4,2701,2300,1634,1704,116.9,8.9,358,6537,0.00,0.00,12.25,0.717,8198,0.000,0.000,2702,2299,1622,1576,1669,0,0,0,0,0,0,28.83,28.83,25.50
$GC,6837,1.58,261.5,2701,2300,1575,1663,88.5,8.8,374,6860,0.00,2.25,13.45,0.688,8708,0.000,0.044,2712,899,1567,1516,1618,0,0,0,0,0,0,28.83,26.17,25.52
$GC,6884,1.60,269.7,2712,899,1516,1616,84.4,9.0,376,6901,0.00,2.10,8.73,0.684,9222,0.000,0.018,2712,2309,1534,1482,1587,0,0,0,0,0,0,28.83,26.26,25.44
$GC,7209,1.61,274.5,2712,2308,1481,1582,54.8,9.1,392,7221,0.00,2.15,3.38,0.493,8452,0.000,0.036,2712,3682,1520,1470,1571,0,0,0,0,0,0,28.83,26.30,25.35
$GC,7255,1.62,278.2,1728,3681,1442,1565,50.7,9.1,394,7266,0.00,2.10,5.10,0.644,9222,0.000,0.026,2722,2302,1505,1453,1557,0,0,0,0,0,0,28.83,26.34,25.49
$GC,7572,1.65,290.6,1696,2299,1425,1551,22.2,8.8,427,7596,0.00,2.20,15.32,0.625,8708,0.000,0.042,2733,896,1449,1400,1499,0,0,0,0,0,0,28.83,26.20,25.59
$GC,7711,1.67,296.0,1712,895,1374,1489,9.6,9.1,451,7721,0.00,2.10,4.10,0.546,9222,0.000,0.018,2732,2309,1432,1385,1479,0,0,0,0,0,0,28.83,26.36,25.39
$STATE,7787,end climb,SURFACE_DEPTH_REACHED
$STATE,7787,begin surface coast
$FINISH,0.0,1.026038
$STATE,7822,end surface coast,CONTROL_FINISHED_OK
$STATE,7822,begin surface
$SM_CCo,7839,217.75,0.783,3,0,400,549.47
$SM_CCo,8074,-0.12,0.000,0,0,404,549.23
$SM_CCo,8077,2.72,0.291,0,0,400,549.47
$SM_GC,-23.93,7.50,0.55,2.72,0.076,0.034,0.291,81,1953,400,-10.41,0.90,549.47,0,0,0,0,0,0,26.33,26.36,24.57
$IRIDIUM_FIX,1913.80,12006.51,180313,202031
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.95
$INTERNAL_PRESSURE,9.03854
$TCM_TEMP,16.10
$XPDR_PINGS,0
$SC_FREEKB,3972352
$24V_AH,24.3,23.292
$10V_AH,10.2,13.865
$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,17.175,64.900,432.325,220.475,0.000,0.000,0.000,227.100,0.000,0.000,20.948,1775.680,4241.061,766.045,1410.919,264.464,0.000,1750.542,0.000,1180.498,0.000,1.482,0.000
$DEVICE_MAMPS,223.380,45.135,875.160,783.360,0.000,0.000,0.000,131.580,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7823.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.870,0.000,0.000,0.000
$MEM,323916
$DATA_FILE_SIZE,16767,470
$CAP_FILE_SIZE,347920,1765
$CFSIZE,260034560,235614208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$CURRENT,0.019,116.3,1
$GPS,190313,010504,1921.867,12007.238,348,1.2,348,-2.5