version: 66.11
glider: 121
mission: 10
dive: 153
start: 3 21 113 1 41 29
data:
$ID,121
$MISSION,10
$DIVE,153
$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,-100686.93
$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,53
$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,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
$GPS1,210313,013434,1943.727,12006.034,171,0.9,171,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-65.8
$GPS2,210313,014101,1943.717,12006.043,17,1.1,18,-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,347.0,224856,-18.5,-9.259,-21.12,2828
$D_GRID,3984
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.35,-170.3,85,1948,333,482,0.0,0.0,0,43,0.00,0.00,-23.77,0.000,16386,0.000,0.000,85,1949,1030,1007,1054,0,0,0,0,0,0,28.83,28.83,28.83
$GC,45,-1.35,-170.3,85,1948,1008,1054,3.3,-8.9,3,152,8.07,2.25,-92.75,0.000,18692,0.223,0.043,2090,3375,3337,3244,3430,0,0,0,0,0,0,25.82,26.17,26.46
$GC,357,-1.35,-170.3,2089,3378,3248,3430,31.6,-8.9,48,363,0.00,2.10,0.00,0.000,1030,0.000,0.024,2098,1983,3339,3249,3430,0,0,0,0,0,0,28.83,26.34,28.83
$GC,671,-1.35,-170.3,2097,1983,3252,3432,59.5,-8.8,74,678,0.00,2.10,0.00,0.000,260,0.000,0.028,2089,3378,3341,3252,3430,0,0,0,0,0,0,28.83,26.46,28.83
$GC,738,-1.35,-170.3,2089,3378,3253,3430,65.5,-8.8,77,745,0.00,2.10,0.00,0.000,1030,0.000,0.022,2096,1961,3341,3253,3430,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1064,-1.35,-170.3,2095,1961,3255,3430,94.6,-9.0,93,1070,0.00,2.10,0.00,0.000,516,0.000,0.039,2105,571,3342,3255,3430,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1150,-1.35,-170.3,1280,571,3229,3427,102.3,-8.9,97,1156,0.00,2.03,0.00,0.000,1030,0.000,0.015,2097,1988,3342,3254,3430,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1475,-1.35,-170.3,2097,1989,3255,3430,131.3,-9.2,113,1481,0.00,2.17,0.00,0.000,516,0.000,0.038,2105,568,3342,3255,3430,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1525,-1.35,-170.3,1280,568,3229,3427,135.5,-9.1,115,1531,0.00,2.03,0.00,0.000,1030,0.000,0.015,2097,1986,3342,3255,3430,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1845,-1.35,-170.3,2096,1986,3254,3428,164.9,-8.9,131,1851,0.00,2.03,0.00,0.000,260,0.000,0.031,2086,3357,3340,3254,3427,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1913,-1.35,-170.3,2086,3357,3254,3427,171.0,-8.9,134,1919,0.00,2.08,0.00,0.000,1030,0.000,0.025,2087,1971,3340,3254,3427,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2237,-1.35,-170.3,2086,1971,3255,3423,200.2,-8.8,150,2244,0.00,2.12,0.00,0.000,516,0.000,0.042,2096,571,3339,3255,3423,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2273,-1.35,-170.3,2095,571,3255,3422,202.4,-8.8,151,2279,0.00,2.03,0.00,0.000,1030,0.000,0.016,2086,1981,3339,3255,3423,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2587,-1.35,-170.3,2087,1981,3255,3420,231.9,-9.0,167,2589,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,1981,3338,3256,3421,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2890,-1.35,-170.3,2086,1981,3255,3416,257.9,-9.0,182,2891,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,1982,3335,3255,3416,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3189,-1.35,-170.3,2087,1982,3253,3414,285.2,-9.0,197,3195,0.00,2.17,0.00,0.000,516,0.000,0.041,2095,574,3333,3253,3414,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3267,-1.35,-170.3,2094,574,3253,3414,291.4,-8.9,200,3273,0.00,2.03,0.00,0.000,1030,0.000,0.016,2086,1980,3333,3253,3413,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3582,-1.35,-170.3,2086,1981,3251,3411,320.4,-9.0,216,3583,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,1981,3331,3251,3411,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3883,-1.35,-170.3,2086,1981,3249,3409,347.2,-8.8,231,3888,0.00,2.05,0.00,0.000,260,0.000,0.033,2076,3359,3328,3249,3408,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3918,-1.35,-170.3,2075,3359,3248,3408,349.5,-8.9,232,3924,0.12,2.08,0.00,0.000,3078,0.154,0.028,2109,1977,3327,3248,3407,0,0,0,0,0,0,26.50,26.67,28.83
$STATE,3930,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3930,begin apogee
$GC,3936,-0.25,0.0,2108,2305,3248,3408,351.8,-9.0,233,4101,0.73,0.00,152.60,0.994,10246,0.114,0.000,2348,2306,2639,2589,2689,0,0,0,0,1,0,26.50,28.83,24.29
$STATE,4104,end apogee,CONTROL_FINISHED_OK
$STATE,4104,begin climb
$GC,4106,1.35,170.3,2348,2306,2589,2689,337.3,0.0,240,4273,0.98,2.22,155.55,0.855,10500,0.057,0.032,2698,3689,1934,1898,1970,0,0,0,0,0,0,25.18,24.97,24.32
$GC,4460,1.37,176.6,2698,3688,1896,1948,304.6,9.0,256,4466,0.00,2.15,0.00,0.000,1030,0.000,0.024,2708,2295,1922,1896,1948,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4780,1.39,184.2,2708,2295,1896,1944,275.4,9.0,272,4792,0.00,2.17,5.05,0.696,8452,0.000,0.032,2708,3691,1889,1863,1915,0,0,0,0,0,0,28.83,26.19,25.34
$GC,4898,1.39,186.0,2708,3690,1862,1920,265.5,9.2,277,4911,0.00,2.12,4.18,0.640,9222,0.000,0.024,2718,2294,1880,1855,1905,0,0,0,0,0,0,28.83,26.29,25.25
$GC,5209,1.39,186.0,2718,2294,1855,1910,236.5,9.4,293,5215,0.00,2.15,0.00,0.000,516,0.000,0.041,2729,899,1882,1855,1910,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5238,1.39,186.1,2729,899,1855,1910,234.3,9.3,294,5246,0.12,2.08,0.00,0.000,5126,0.182,0.017,2699,2312,1882,1855,1910,0,0,0,0,0,0,26.21,26.45,28.83
$GC,5560,1.40,190.1,2699,2312,1855,1910,204.9,9.1,310,5569,0.00,0.00,7.20,0.743,8198,0.000,0.000,2700,2312,1863,1837,1890,0,0,0,0,0,0,28.83,28.83,25.62
$GC,5861,1.40,190.1,2699,2312,1835,1886,177.1,9.4,325,5862,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2312,1860,1834,1886,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6161,1.40,190.1,2699,2312,1835,1885,150.0,9.6,340,6162,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2312,1860,1835,1885,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6460,1.40,190.1,2699,2312,1835,1883,121.7,9.7,355,6462,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2312,1858,1834,1883,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6761,1.41,191.9,2699,2312,1835,1882,94.6,9.2,370,6767,0.00,2.08,0.00,0.000,260,0.000,0.035,2700,3689,1858,1835,1882,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6877,1.42,195.5,2699,3689,1835,1882,84.7,9.1,375,6891,0.00,2.10,4.88,0.649,9222,0.000,0.025,2709,2292,1841,1815,1867,0,0,0,0,0,0,28.83,26.61,25.58
$GC,7189,1.43,202.0,2708,2293,1815,1867,55.0,9.0,391,7200,0.00,0.00,8.75,0.666,8198,0.000,0.000,2709,2293,1815,1788,1842,0,0,0,0,0,0,28.83,28.83,25.77
$GC,7491,1.45,209.2,2709,2293,1784,1835,28.0,9.0,418,7505,0.00,2.22,7.35,0.646,8452,0.000,0.034,2709,3688,1783,1755,1812,0,0,0,0,0,0,28.83,26.43,25.75
$GC,7676,1.45,209.2,2709,3688,1755,1808,11.0,9.7,448,7684,0.00,2.10,0.00,0.000,1030,0.000,0.024,2718,2295,1781,1755,1808,0,0,0,0,0,0,28.83,26.50,28.83
$STATE,7766,end climb,SURFACE_DEPTH_REACHED
$STATE,7766,begin surface coast
$FINISH,0.0,1.026143
$STATE,7800,end surface coast,CONTROL_FINISHED_OK
$STATE,7801,begin surface
$SM_CCo,7817,285.80,0.789,3,0,399,549.47
$SM_CCo,8121,-0.12,0.000,0,0,403,549.47
$SM_CCo,8124,2.97,0.368,0,0,400,549.47
$SM_GC,-23.93,7.40,0.47,2.97,0.075,0.042,0.368,82,1962,400,-10.57,1.22,549.47,0,0,0,0,0,0,26.51,26.55,24.54
$IRIDIUM_FIX,1934.38,12005.99,200313,232312
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.46
$INTERNAL_PRESSURE,9.05807
$TCM_TEMP,18.10
$XPDR_PINGS,0
$SC_FREEKB,3964288
$24V_AH,24.3,26.526
$10V_AH,10.1,15.129
$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,17.425,55.800,345.550,288.775,0.000,0.000,0.000,218.875,0.000,0.000,18.994,1798.291,4263.925,759.899,1396.091,282.499,0.000,1714.447,0.000,1167.587,0.000,1.485,0.000
$DEVICE_MAMPS,222.615,42.840,993.735,788.715,0.000,0.000,0.000,135.405,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7809.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.894,0.000,0.000,0.000
$MEM,323860
$DATA_FILE_SIZE,16777,470
$CAP_FILE_SIZE,346658,1792
$CFSIZE,260034560,233394176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,3,0
$CURRENT,0.022, 77.9,1
$GPS,210313,040247,1944.462,12005.838,312,1.0,312,-2.6