version: 66.11
glider: 121
mission: 10
dive: 156
start: 3 21 113 8 59 10
data:
$ID,121
$MISSION,10
$DIVE,156
$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,-100690.8
$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,63
$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
$GPS1,210313,085042,1946.393,12004.992,37,1.5,37,-2.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-65.1
$GPS2,210313,085842,1946.408,12004.970,17,1.6,18,-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,13.8,219799,-18.5,-9.259,-21.12,2828
$D_GRID,3913
$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,-170.3,79,1950,333,472,0.0,0.0,0,43,0.00,0.00,-23.10,0.000,16386,0.000,0.000,79,1950,1001,981,1021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,45,-1.35,-170.3,79,1950,982,1021,3.1,-9.1,3,160,7.95,2.20,-92.97,0.000,18692,0.217,0.044,2091,3358,3337,3245,3430,0,0,0,0,0,0,25.85,26.18,26.46
$GC,207,-1.35,-170.3,1232,3356,3220,3427,17.8,-9.2,26,215,0.00,2.10,0.00,0.000,1030,0.000,0.024,2097,1971,3339,3248,3430,0,0,0,0,0,0,28.83,26.25,28.83
$GC,528,-1.35,-170.3,2097,1971,3251,3430,46.9,-9.2,64,529,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,1971,3340,3251,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,828,-1.35,-170.3,2097,1971,3253,3430,73.8,-8.7,81,829,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,1971,3341,3253,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1129,-1.35,-170.3,2098,1971,3253,3430,101.0,-9.2,96,1130,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,1971,3341,3253,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1429,-1.35,-170.3,2097,1971,3253,3430,127.9,-9.1,111,1435,0.00,2.12,0.00,0.000,516,0.000,0.040,2107,565,3341,3253,3430,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1523,-1.35,-170.3,2106,565,3253,3430,135.7,-9.0,115,1530,0.00,2.03,0.00,0.000,1030,0.000,0.015,2098,1988,3341,3253,3430,0,0,0,0,0,0,28.83,26.68,28.83
$GC,1840,-1.35,-170.3,2098,1988,3253,3428,164.4,-9.0,131,1846,0.00,2.03,0.00,0.000,260,0.000,0.031,2088,3364,3340,3253,3428,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1959,-1.35,-170.3,2088,3364,3253,3427,174.2,-8.9,136,1964,0.00,2.08,0.00,0.000,1030,0.000,0.024,2088,1967,3340,3253,3427,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2273,-1.35,-170.3,2088,1967,3253,3424,204.0,-9.2,152,2280,0.00,2.12,0.00,0.000,516,0.000,0.042,2098,566,3338,3253,3423,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2314,-1.35,-170.3,2097,565,3253,3423,206.4,-9.3,153,2322,0.00,2.03,0.00,0.000,1030,0.000,0.016,2089,1979,3338,3253,3423,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2620,-1.35,-170.3,2089,1982,3253,3421,235.4,-9.1,169,2626,0.00,2.05,0.00,0.000,260,0.000,0.032,2079,3366,3337,3253,3421,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2667,-1.35,-170.3,2078,3366,3253,3423,239.4,-8.7,171,2673,0.10,2.08,0.00,0.000,3078,0.163,0.026,2104,1973,3336,3253,3420,0,0,0,0,0,0,26.51,26.67,28.83
$GC,2992,-1.35,-170.3,2103,1974,3253,3416,268.6,-9.1,187,2998,0.00,2.12,0.00,0.000,516,0.000,0.044,2114,576,3334,3253,3416,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3120,-1.35,-170.3,2113,577,3253,3415,280.2,-9.1,193,3126,0.00,2.00,0.00,0.000,1030,0.000,0.017,2105,1970,3334,3253,3415,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3446,-1.35,-170.3,2105,1971,3252,3411,309.3,-9.0,209,3447,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,1971,3331,3252,3411,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3746,-1.35,-170.3,2105,1971,3249,3409,336.6,-9.3,224,3752,0.00,2.08,0.00,0.000,260,0.000,0.033,2095,3366,3328,3249,3408,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3805,-1.35,-170.3,2095,3366,3249,3408,340.9,-9.3,226,3813,0.00,2.10,0.00,0.000,1030,0.000,0.028,2095,1971,3328,3249,3408,0,0,0,0,0,0,28.83,26.67,28.83
$STATE,3891,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3891,begin apogee
$GC,3896,-0.25,0.0,2094,2300,3248,3408,350.1,-9.2,231,4049,0.77,0.00,145.23,0.832,10246,0.118,0.000,2347,2302,2631,2582,2681,0,0,0,0,0,0,26.50,28.83,24.60
$STATE,4051,end apogee,CONTROL_FINISHED_OK
$STATE,4051,begin climb
$GC,4052,1.35,170.3,2348,2302,2579,2678,337.7,0.0,237,4215,0.98,2.28,150.45,0.809,10500,0.060,0.034,2698,3677,1934,1899,1969,0,0,0,0,0,0,25.33,25.08,24.46
$GC,4437,1.37,178.0,2697,3677,1898,1951,301.5,9.0,255,4444,0.00,2.12,1.50,0.053,9222,0.000,0.024,2708,2294,1913,1886,1940,0,0,0,0,0,0,28.83,26.01,25.94
$GC,4763,1.38,180.2,2707,2295,1886,1941,272.0,9.2,271,4769,0.00,2.15,0.00,0.000,260,0.000,0.033,2708,3690,1913,1886,1941,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4859,1.39,185.8,2707,3690,1886,1942,264.1,9.1,275,4878,0.00,2.12,11.50,0.753,9222,0.000,0.024,2718,2289,1875,1847,1904,0,0,0,0,0,0,28.83,26.37,25.48
$GC,5197,1.42,198.3,2717,2289,1845,1896,233.5,8.8,292,5214,0.00,2.22,12.02,0.736,8452,0.000,0.032,2717,3680,1825,1796,1855,0,0,0,0,0,0,28.83,26.22,25.53
$GC,5236,1.45,209.3,2717,3680,1793,1850,231.2,8.9,293,5255,0.00,2.10,10.68,0.724,9222,0.000,0.025,2727,2301,1780,1749,1812,0,0,0,0,0,0,28.83,26.26,25.42
$GC,5569,1.45,209.3,2727,2301,1748,1804,199.9,9.5,310,5575,0.00,2.17,0.00,0.000,516,0.000,0.042,2738,898,1776,1748,1804,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5656,1.48,219.4,2738,898,1748,1804,192.1,8.9,314,5672,0.00,2.05,9.55,0.705,9222,0.000,0.018,2738,2293,1741,1713,1770,0,0,0,0,0,0,28.83,26.45,25.58
$GC,5982,1.48,221.7,2738,2293,1712,1763,163.1,9.2,330,5988,0.00,2.12,0.00,0.000,260,0.000,0.035,2739,3697,1737,1712,1763,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6033,1.50,229.1,2738,3697,1712,1762,158.9,9.0,332,6053,0.10,2.12,9.45,0.675,13318,0.206,0.025,2727,2294,1701,1672,1731,0,0,0,0,0,0,26.25,26.46,25.64
$GC,6349,1.52,236.6,2727,2294,1670,1727,130.1,9.0,348,6365,0.00,2.25,7.68,0.653,8708,0.000,0.042,2738,893,1671,1638,1704,0,0,0,0,0,0,28.83,26.32,25.68
$GC,6382,1.53,240.8,1792,893,1603,1696,127.9,9.1,349,6395,0.00,2.08,3.40,0.491,9222,0.000,0.018,2738,2296,1657,1619,1695,0,0,0,0,0,0,28.83,26.41,25.44
$GC,6694,1.53,240.8,2737,2297,1619,1695,98.7,9.4,365,6699,0.00,2.12,0.00,0.000,260,0.000,0.036,2738,3701,1656,1618,1695,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6823,1.55,249.3,2737,3700,1616,1695,87.3,9.0,371,6839,0.00,2.12,10.38,0.608,9222,0.000,0.025,2747,2301,1620,1573,1667,0,0,0,0,0,0,28.83,26.51,25.73
$GC,7147,1.55,249.3,2747,2301,1570,1661,57.9,9.4,387,7149,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2301,1615,1570,1661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7448,1.55,249.3,2747,2301,1570,1660,30.6,9.3,412,7454,0.00,2.15,0.00,0.000,260,0.000,0.034,2746,3698,1615,1570,1660,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7537,1.55,249.3,1728,3697,1536,1652,22.6,9.5,422,7546,0.00,2.10,0.00,0.000,1030,0.000,0.026,2757,2301,1614,1570,1659,0,0,0,0,0,0,28.83,26.57,28.83
$STATE,7759,end climb,SURFACE_DEPTH_REACHED
$STATE,7759,begin surface coast
$FINISH,0.0,1.024565
$STATE,7792,end surface coast,CONTROL_FINISHED_OK
$STATE,7792,begin surface
$SM_CCo,7808,234.73,0.682,1,0,399,549.47
$SM_CCo,8051,-0.17,0.000,0,0,400,549.47
$SM_CCo,8054,0.05,0.188,0,0,401,549.47
$SM_GC,-23.93,7.43,0.47,0.05,0.072,0.041,0.188,81,1963,401,-10.57,1.33,549.47,0,0,0,0,0,0,26.58,26.63,25.20
$IRIDIUM_FIX,1941.24,12004.01,210313,080831
$TT8_MAMPS,0.023968,0.023968
$HUMID,47.51
$INTERNAL_PRESSURE,9.1655
$TCM_TEMP,19.90
$XPDR_PINGS,0
$SC_FREEKB,3963136
$24V_AH,24.5,26.959
$10V_AH,10.2,15.312
$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,17.325,64.375,371.825,234.775,0.000,0.000,0.000,302.100,0.000,0.000,18.728,1834.590,4125.827,728.090,1535.896,294.706,0.000,1832.000,0.000,1248.110,0.000,1.486,0.000
$DEVICE_MAMPS,217.260,43.605,832.320,682.380,0.000,0.000,0.000,133.875,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7808.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.992,0.000,0.000,0.000
$MEM,323844
$DATA_FILE_SIZE,16759,468
$CAP_FILE_SIZE,360260,1883
$CFSIZE,260034560,233066496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.177, 34.7,1
$GPS,210313,111434,1947.823,12005.566,31,0.8,31,-2.6