version: 66.11
glider: 121
mission: 10
dive: 154
start: 3 21 113 4 9 58
data:
$ID,121
$MISSION,10
$DIVE,154
$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,-100688.19
$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,66
$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
$GPS1,210313,040247,1944.462,12005.838,312,1.0,312,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-66.1
$GPS2,210313,040931,1944.463,12005.753,24,0.7,25,-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,354.9,223453,-18.5,-9.259,-21.12,2828
$D_GRID,3973
$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,19,-1.35,-170.3,80,1952,330,479,0.0,0.0,0,44,0.00,0.00,-23.48,0.000,16386,0.000,0.000,81,1952,1015,998,1033,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.35,-170.3,81,1952,998,1035,3.2,-9.5,3,152,8.02,2.17,-87.22,0.000,18692,0.222,0.044,2094,3371,3337,3245,3430,0,0,0,0,0,0,25.84,26.19,26.48
$GC,344,-1.35,-170.3,2094,3371,3248,3430,30.5,-9.1,47,350,0.00,2.10,0.00,0.000,1030,0.000,0.024,2102,1976,3339,3249,3430,0,0,0,0,0,0,28.83,26.35,28.83
$GC,669,-1.35,-170.3,2102,1976,3252,3431,59.7,-8.9,74,675,0.00,2.10,0.00,0.000,260,0.000,0.028,2093,3371,3341,3252,3430,0,0,0,0,0,0,28.83,26.47,28.83
$GC,811,-1.35,-170.3,2092,3371,3253,3430,71.2,-8.8,80,818,0.00,2.10,0.00,0.000,1030,0.000,0.024,2098,1963,3341,3253,3430,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1119,-1.35,-170.3,2097,1962,3254,3430,100.1,-8.9,96,1125,0.00,2.10,0.00,0.000,516,0.000,0.040,2107,573,3342,3254,3430,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1186,-1.35,-170.3,2107,571,3254,3430,106.1,-8.9,99,1192,0.00,2.03,0.00,0.000,1030,0.000,0.015,2099,1988,3342,3255,3430,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1511,-1.35,-170.3,2098,1990,3254,3430,136.4,-9.3,115,1517,0.00,2.17,0.00,0.000,516,0.000,0.038,2106,567,3342,3254,3430,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1551,-1.35,-170.3,2106,567,3254,3430,138.7,-9.3,116,1560,0.00,2.03,0.00,0.000,1030,0.000,0.015,2098,1984,3341,3253,3430,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1859,-1.35,-170.3,2097,1984,3254,3428,167.6,-8.5,132,1866,0.00,2.03,0.00,0.000,260,0.000,0.031,2087,3357,3340,3254,3427,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1955,-1.35,-170.3,2087,3357,3254,3427,175.5,-9.0,136,1961,0.00,2.08,0.00,0.000,1030,0.000,0.025,2088,1964,3340,3254,3427,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2270,-1.35,-170.3,2087,1964,3254,3423,205.0,-9.0,152,2271,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,1964,3338,3254,3423,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2572,-1.35,-170.3,2087,1964,3254,3421,232.1,-8.7,167,2574,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,1964,3337,3254,3421,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2872,-1.35,-170.3,2087,1964,3254,3417,259.3,-8.8,182,2877,0.00,2.12,0.00,0.000,516,0.000,0.043,2096,570,3335,3254,3416,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2954,-1.35,-170.3,2096,570,3254,3417,265.6,-9.0,185,2962,0.00,2.03,0.00,0.000,1030,0.000,0.016,2088,1977,3335,3254,3416,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3260,-1.35,-170.3,2087,1978,3253,3414,294.4,-9.1,201,3266,0.00,2.05,0.00,0.000,260,0.000,0.033,2077,3358,3333,3253,3413,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3307,-1.35,-170.3,2077,3358,3252,3413,298.6,-9.1,203,3315,0.12,2.08,0.00,0.000,3078,0.153,0.028,2110,1978,3333,3253,3413,0,0,0,0,0,0,26.49,26.67,28.83
$GC,3634,-1.35,-170.3,2109,1978,3251,3410,327.9,-9.0,219,3635,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,1978,3330,3251,3410,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3891,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3891,begin apogee
$GC,3896,-0.25,0.0,2110,2298,3250,3408,350.9,-8.9,232,4125,0.70,0.00,218.25,0.721,10246,0.113,0.000,2342,2299,2634,2584,2684,0,0,0,0,0,0,26.50,28.83,24.60
$STATE,4126,end apogee,CONTROL_FINISHED_OK
$STATE,4126,begin climb
$GC,4128,1.35,170.3,2341,2298,2583,2681,330.4,0.0,242,4296,1.00,2.25,155.38,0.830,10500,0.061,0.033,2699,3688,1935,1903,1968,0,0,0,0,0,0,25.28,25.00,24.36
$GC,4534,1.37,175.3,2699,3688,1900,1948,293.8,9.1,260,4540,0.00,2.12,0.00,0.000,1030,0.000,0.023,2709,2302,1924,1900,1948,0,0,0,0,0,0,28.83,26.00,28.83
$GC,4849,1.38,180.1,2708,2302,1900,1945,264.9,9.1,276,4854,0.00,0.00,2.40,0.270,8198,0.000,0.000,2709,2302,1904,1880,1929,0,0,0,0,0,0,28.83,28.83,25.20
$GC,5150,1.40,189.2,2709,2302,1880,1939,238.0,8.9,291,5169,0.00,0.00,15.00,0.768,8198,0.000,0.000,2709,2302,1862,1835,1889,0,0,0,0,0,0,28.83,28.83,25.52
$GC,5469,1.43,199.3,2708,2302,1830,1878,209.4,8.9,307,5477,0.00,0.00,6.18,0.731,8198,0.000,0.000,2709,2302,1828,1802,1855,0,0,0,0,0,0,28.83,28.83,25.51
$GC,5770,1.45,208.0,2708,2302,1801,1855,182.2,8.9,322,5787,0.00,2.28,11.77,0.746,8708,0.000,0.041,2719,892,1787,1757,1817,0,0,0,0,0,0,28.83,26.23,25.56
$GC,5824,1.46,214.2,2719,892,1754,1814,178.1,9.0,324,5839,0.00,2.08,5.10,0.701,9222,0.000,0.017,2719,2295,1765,1734,1796,0,0,0,0,0,0,28.83,26.34,25.45
$GC,6136,1.53,239.7,2719,2295,1734,1796,149.5,8.3,340,6171,0.00,2.15,27.25,0.709,8452,0.000,0.034,2719,3686,1655,1611,1699,0,0,0,0,0,0,28.83,26.02,25.38
$GC,6222,1.55,248.9,2718,3687,1606,1696,141.8,8.9,344,6238,0.00,2.15,8.45,0.708,9222,0.000,0.025,2729,2294,1621,1574,1669,0,0,0,0,0,0,28.83,26.13,25.35
$GC,6548,1.57,256.9,2729,2294,1572,1661,112.3,9.0,360,6564,0.00,2.22,8.18,0.685,8452,0.000,0.033,2729,3689,1587,1537,1638,0,0,0,0,0,0,28.83,26.20,25.51
$GC,6581,1.58,262.0,2729,3690,1536,1638,110.0,9.1,361,6595,0.00,2.12,4.15,0.590,9222,0.000,0.025,2739,2299,1569,1517,1622,0,0,0,0,0,0,28.83,26.23,25.31
$GC,6893,1.63,280.5,2739,2300,1517,1622,81.3,8.6,377,6922,0.00,2.20,21.55,0.644,8708,0.000,0.041,2750,898,1489,1438,1541,0,0,0,0,0,0,28.83,26.08,25.49
$GC,6942,1.65,288.9,2749,898,1437,1539,76.9,9.0,379,6958,0.00,2.10,8.32,0.648,9222,0.000,0.018,2750,2304,1457,1407,1508,0,0,0,0,0,0,28.83,26.18,25.41
$GC,7268,1.68,300.6,2750,2304,1406,1500,46.9,8.8,396,7287,0.00,2.15,12.23,0.617,8452,0.000,0.035,2750,3699,1408,1365,1452,0,0,0,0,0,0,28.83,26.17,25.55
$GC,7344,1.69,304.3,2750,3699,1365,1446,40.2,9.1,402,7352,0.00,2.15,0.00,0.000,1030,0.000,0.027,2760,2301,1405,1365,1446,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7661,1.71,313.6,1736,2298,1341,1438,11.0,8.9,447,7684,0.00,2.25,12.95,0.574,8708,0.000,0.044,2770,896,1355,1322,1388,0,0,0,0,0,0,28.83,26.23,25.65
$GC,7741,1.75,329.2,1744,896,1300,1380,3.7,8.7,460,7758,0.00,2.08,12.40,0.565,9218,0.000,0.018,2769,2300,1309,1283,1335,0,0,0,0,0,0,28.83,26.35,28.83
$STATE,7759,end climb,SURFACE_DEPTH_REACHED
$STATE,7759,begin surface coast
$FINISH,0.0,1.025367
$STATE,7792,end surface coast,CONTROL_FINISHED_OK
$STATE,7793,begin surface
$SM_CCo,7809,186.12,0.731,3,0,399,549.47
$SM_CCo,8014,-0.10,0.000,0,0,401,549.47
$SM_CCo,8017,3.22,0.404,0,0,400,549.47
$SM_GC,-23.93,7.68,0.52,3.22,0.080,0.034,0.404,82,1960,400,-10.56,1.16,549.47,0,0,0,0,0,0,26.21,26.24,24.68
$IRIDIUM_FIX,1936.66,12007.97,210313,010121
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.44
$INTERNAL_PRESSURE,9.1069
$TCM_TEMP,19.00
$XPDR_PINGS,2
$SC_FREEKB,3963904
$24V_AH,24.4,26.682
$10V_AH,10.1,15.191
$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,17.525,60.450,529.550,189.350,0.000,0.000,0.000,228.025,0.500,0.000,26.137,1744.568,4140.534,812.839,1425.091,285.617,0.000,1813.071,0.000,1186.636,0.000,1.484,0.000
$DEVICE_MAMPS,221.850,43.605,830.025,730.575,0.000,0.000,0.000,127.755,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7795.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.933,0.000,0.000,0.000
$MEM,323848
$DATA_FILE_SIZE,16774,468
$CAP_FILE_SIZE,347446,1767
$CFSIZE,260034560,233291776
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,2,0
$CURRENT,0.065,314.9,1
$GPS,210313,062734,1945.416,12005.400,197,1.4,197,-2.6