version: 66.11
glider: 121
mission: 10
dive: 151
start: 3 20 113 20 52 50
data:
$ID,121
$MISSION,10
$DIVE,151
$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,-100684.41
$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,2400
$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
$GPS1,200313,204534,1942.066,12006.140,134,1.4,134,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-63.2
$GPS2,200313,205223,1942.122,12006.160,14,1.1,15,-2.6
$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,341.8,227816,-18.5,-9.259,-21.12,2828
$D_GRID,3998
$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,-170.3,83,1946,344,495,0.0,0.0,0,51,0.00,0.00,-30.67,0.000,16386,0.000,0.000,82,1946,1204,1176,1233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,53,-1.35,-170.3,82,1946,1177,1234,3.4,-8.8,4,145,8.12,2.25,-76.53,0.000,18692,0.226,0.043,2089,3377,3336,3242,3431,0,0,0,0,0,0,25.79,26.16,26.44
$GC,282,-1.35,-170.3,1248,3375,3215,3428,24.2,-9.0,41,291,0.00,2.10,0.00,0.000,1030,0.000,0.024,2097,1979,3337,3244,3431,0,0,0,0,0,0,28.83,26.29,28.83
$GC,609,-1.35,-170.3,2097,1979,3248,3431,53.9,-9.1,72,615,0.00,2.12,0.00,0.000,516,0.000,0.038,2107,575,3339,3248,3431,0,0,0,0,0,0,28.83,26.43,28.83
$GC,718,-1.35,-170.3,2107,575,3249,3431,63.6,-8.9,77,724,0.00,2.05,0.00,0.000,1030,0.000,0.015,2099,1999,3340,3249,3431,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1042,-1.35,-170.3,2099,2000,3252,3430,92.4,-9.0,93,1044,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2000,3341,3251,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1346,-1.35,-170.3,2099,2000,3251,3431,119.5,-8.9,108,1352,0.00,2.20,0.00,0.000,516,0.000,0.037,2107,566,3341,3252,3431,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1470,-1.35,-170.3,2107,566,3252,3431,129.5,-9.0,113,1479,0.00,2.03,0.00,0.000,1030,0.000,0.015,2099,1984,3341,3252,3431,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1778,-1.35,-170.3,2099,1984,3252,3429,157.9,-8.8,129,1785,0.00,2.03,0.00,0.000,260,0.000,0.031,2089,3357,3340,3251,3429,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1808,-1.35,-170.3,2088,3357,3251,3428,160.1,-8.9,130,1814,0.00,2.05,0.00,0.000,1030,0.000,0.024,2095,1974,3340,3252,3428,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2128,-1.35,-170.3,2095,1974,3252,3426,188.9,-8.5,146,2134,0.00,2.12,0.00,0.000,516,0.000,0.041,2105,570,3338,3251,3425,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2195,-1.35,-170.3,2105,570,3251,3425,194.8,-9.1,149,2201,0.00,2.00,0.00,0.000,1030,0.000,0.016,2097,1970,3338,3251,3425,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2519,-1.35,-170.3,2096,1974,3252,3421,224.0,-9.0,165,2520,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,1974,3336,3251,3421,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2822,-1.35,-170.3,2096,1974,3252,3417,250.4,-8.9,180,2828,0.00,2.15,0.00,0.000,516,0.000,0.041,2105,571,3334,3252,3417,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2858,-1.35,-170.3,2105,571,3252,3417,252.9,-9.0,181,2864,0.00,2.03,0.00,0.000,1030,0.000,0.016,2097,1977,3334,3252,3417,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3172,-1.35,-170.3,2096,1978,3252,3413,282.5,-8.9,197,3174,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,1978,3333,3252,3414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3475,-1.35,-170.3,2097,1978,3250,3410,309.4,-9.0,212,3480,0.00,2.05,0.00,0.000,260,0.000,0.032,2087,3359,3329,3249,3410,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3504,-1.35,-170.3,2086,3358,3249,3410,311.9,-9.0,213,3511,0.00,2.08,0.00,0.000,1030,0.000,0.027,2090,1970,3329,3249,3410,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3824,-1.35,-170.3,2090,1970,3248,3408,341.1,-9.5,229,3830,0.00,2.10,0.00,0.000,260,0.000,0.032,2081,3356,3328,3248,3408,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3864,-1.35,-170.3,2081,3356,3248,3408,343.2,-9.3,230,3872,0.10,2.08,0.00,0.000,3078,0.161,0.028,2107,1974,3327,3247,3408,0,0,0,0,0,0,26.51,26.67,28.83
$STATE,3929,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3929,begin apogee
$GC,3934,-0.25,0.0,2106,2302,3247,3407,350.5,-9.0,234,4098,0.73,0.00,152.93,0.966,10246,0.117,0.000,2345,2303,2640,2590,2690,0,0,0,0,1,0,26.50,28.83,24.29
$STATE,4101,end apogee,CONTROL_FINISHED_OK
$STATE,4101,begin climb
$GC,4102,1.35,170.3,2345,2303,2590,2689,335.7,0.0,241,4283,1.00,2.30,170.05,0.801,10500,0.056,0.033,2703,3688,1938,1903,1973,0,0,0,0,0,0,25.17,25.02,24.44
$GC,4523,1.37,178.9,2703,3688,1897,1953,297.2,8.9,260,4530,0.00,2.12,2.22,0.180,9222,0.000,0.024,2713,2304,1909,1881,1937,0,0,0,0,0,0,28.83,25.99,24.97
$GC,4843,1.39,183.7,2713,2304,1879,1944,267.4,9.1,276,4851,0.00,2.20,3.45,0.479,8452,0.000,0.031,2713,3680,1890,1860,1921,0,0,0,0,0,0,28.83,26.25,25.26
$GC,4896,1.41,194.8,2713,3683,1860,1923,263.2,8.9,278,4924,0.00,2.10,16.85,0.771,9222,0.000,0.024,2723,2299,1843,1814,1873,0,0,0,0,1,0,28.83,26.29,25.31
$GC,5240,1.41,194.8,2723,2299,1813,1871,231.5,9.4,295,5246,0.00,2.12,0.00,0.000,260,0.000,0.032,2723,3683,1842,1813,1871,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5340,1.45,208.4,1760,3682,1770,1862,223.8,8.8,299,5363,0.00,2.10,15.15,0.752,9222,0.000,0.024,2733,2295,1785,1753,1817,0,0,0,0,0,0,28.83,26.39,25.44
$GC,5674,1.48,220.3,2733,2295,1750,1811,192.9,8.8,316,5692,0.00,0.00,12.35,0.737,8198,0.000,0.000,2733,2295,1734,1702,1767,0,0,0,0,0,0,28.83,28.83,25.48
$GC,5992,1.50,227.7,2733,2295,1701,1762,164.3,9.0,332,6000,0.00,0.00,5.47,0.690,8198,0.000,0.000,2733,2295,1711,1678,1745,0,0,0,0,0,0,28.83,28.83,25.51
$GC,6294,1.52,236.5,2732,2295,1678,1745,137.3,8.9,347,6312,0.00,0.00,11.62,0.684,8198,0.000,0.000,2733,2295,1669,1633,1706,0,0,0,0,0,0,28.83,28.83,25.60
$GC,6613,1.54,243.9,2733,2295,1632,1700,108.3,9.0,363,6620,0.00,0.00,5.28,0.644,8198,0.000,0.000,2733,2295,1645,1604,1686,0,0,0,0,0,0,28.83,28.83,25.58
$GC,6913,1.59,266.4,2733,2295,1604,1686,82.1,8.4,378,6949,0.00,2.20,25.42,0.615,8452,0.000,0.032,2733,3676,1547,1497,1598,0,0,0,0,0,0,28.83,26.15,25.55
$GC,6996,1.63,279.1,2732,3676,1497,1594,76.0,8.8,381,7016,0.00,2.12,13.27,0.614,9222,0.000,0.025,2743,2292,1498,1446,1550,0,0,0,0,0,0,28.83,26.22,25.46
$GC,7321,1.65,289.2,2742,2292,1445,1539,44.7,8.9,400,7338,0.00,2.25,9.93,0.593,8708,0.000,0.043,2753,891,1455,1408,1503,0,0,0,0,0,0,28.83,26.19,25.58
$GC,7405,1.67,298.2,2753,891,1408,1500,37.5,8.9,407,7420,0.00,2.08,9.45,0.587,9222,0.000,0.018,2753,2292,1422,1377,1467,0,0,0,0,0,0,28.83,26.32,25.54
$GC,7736,1.69,303.6,2753,2293,1374,1455,7.5,9.1,456,7746,0.00,2.20,3.85,0.480,8452,0.000,0.034,2753,3690,1402,1364,1440,0,0,0,0,0,0,28.83,26.34,25.46
$STATE,7785,end climb,SURFACE_DEPTH_REACHED
$STATE,7785,begin surface coast
$FINISH,2.3,1.025098
$STATE,7792,end surface coast,CONTROL_FINISHED_OK
$STATE,7792,begin surface
$SM_CCo,7810,208.27,0.709,3,0,399,549.47
$SM_CCo,8037,-0.05,0.000,0,0,401,549.47
$SM_CCo,8040,1.65,0.146,0,0,401,549.47
$SM_GC,-23.93,7.60,2.70,1.65,0.078,0.028,0.146,86,1972,401,-10.56,1.10,549.47,0,0,0,0,0,0,26.35,26.37,25.12
$IRIDIUM_FIX,1934.38,12000.88,200313,181848
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.93
$INTERNAL_PRESSURE,9.11667
$TCM_TEMP,18.90
$XPDR_PINGS,0
$SC_FREEKB,3965056
$24V_AH,24.3,26.224
$10V_AH,10.1,15.013
$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,17.550,60.400,457.300,209.925,0.000,0.000,0.000,243.100,0.000,0.000,16.379,1769.405,4189.717,772.268,1423.519,280.850,0.000,1775.615,0.000,1181.744,0.000,1.485,0.000
$DEVICE_MAMPS,226.440,42.840,966.195,709.155,0.000,0.000,0.000,131.580,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7798.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.917,0.000,0.000,0.000
$MEM,323852
$DATA_FILE_SIZE,16785,465
$CAP_FILE_SIZE,346788,1776
$CFSIZE,260034560,233603072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,2,0
$CURRENT,0.084, 71.0,1
$GPS,200313,230924,1942.936,12006.163,113,1.2,113,-2.6