version: 66.11
glider: 121
mission: 10
dive: 158
start: 3 21 113 13 42 45
data:
$ID,121
$MISSION,10
$DIVE,158
$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,-100693.33
$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,38
$R_STBD_OVSHOOT,59
$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
$GPS1,210313,133552,1949.294,12005.512,27,0.9,27,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-62.1
$GPS2,210313,134218,1949.266,12005.513,14,1.3,15,-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,340.7,214548,-18.5,-9.259,-21.12,2828
$D_GRID,3846
$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,-170.3,81,1961,329,471,0.0,0.0,0,44,0.00,0.00,-24.02,0.000,16386,0.000,0.000,81,1960,1022,1003,1041,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.35,-170.3,81,1957,1003,1043,3.1,-9.2,3,152,7.97,2.22,-89.88,0.000,18692,0.218,0.043,2090,3381,3338,3247,3430,0,0,0,0,0,0,25.83,26.19,26.47
$GC,274,-1.35,-170.3,1232,3379,3221,3427,24.3,-8.8,39,282,0.00,2.12,0.00,0.000,1030,0.000,0.026,2098,1971,3340,3250,3430,0,0,0,0,0,0,28.83,26.31,28.83
$GC,603,-1.35,-170.3,2098,1970,3252,3430,53.8,-9.1,70,609,0.00,2.12,0.00,0.000,260,0.000,0.029,2089,3381,3341,3253,3430,0,0,0,0,0,0,28.83,26.46,28.83
$GC,848,-1.35,-170.3,2089,3381,3254,3430,75.3,-8.9,81,854,0.00,2.10,0.00,0.000,1030,0.000,0.024,2090,1964,3342,3254,3430,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1162,-1.35,-170.3,2090,1964,3257,3430,104.6,-9.2,97,1169,0.00,2.12,0.00,0.000,260,0.000,0.030,2081,3373,3343,3256,3430,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1315,-1.35,-170.3,2081,3373,3257,3430,118.1,-9.1,104,1322,0.10,2.08,0.00,0.000,3078,0.161,0.024,2106,1970,3343,3257,3430,0,0,0,0,0,0,26.46,26.62,28.83
$GC,1636,-1.35,-170.3,2105,1970,3258,3430,147.0,-9.0,120,1642,0.00,2.12,0.00,0.000,260,0.000,0.030,2097,3378,3344,3258,3430,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1675,-1.35,-170.3,1288,3376,3233,3427,149.2,-8.9,121,1683,0.00,2.08,0.00,0.000,1030,0.000,0.024,2105,1976,3345,3258,3433,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1982,-1.35,-170.3,2105,1977,3258,3429,178.2,-8.8,137,1988,0.00,2.15,0.00,0.000,516,0.000,0.044,2114,568,3343,3257,3429,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2058,-1.35,-170.3,2114,568,3258,3428,184.1,-9.0,140,2065,0.00,2.03,0.00,0.000,1030,0.000,0.016,2105,1988,3342,3257,3428,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2374,-1.35,-170.3,2105,1989,3257,3425,212.5,-8.7,156,2380,0.00,2.17,0.00,0.000,516,0.000,0.040,2110,571,3341,3258,3424,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2414,-1.35,-170.3,2110,571,3259,3424,214.9,-8.9,157,2423,0.00,2.03,0.00,0.000,1030,0.000,0.016,2102,1985,3340,3257,3423,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2722,-1.35,-170.3,2102,1985,3257,3421,243.8,-8.8,173,2723,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,1985,3339,3257,3421,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3022,-1.35,-170.3,2101,1986,3255,3417,270.5,-8.8,188,3028,0.00,2.17,0.00,0.000,516,0.000,0.041,2105,572,3335,3255,3416,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3103,-1.35,-170.3,2104,572,3254,3416,276.7,-9.2,191,3111,0.00,2.03,0.00,0.000,1030,0.000,0.017,2096,1978,3335,3254,3416,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3409,-1.35,-170.3,2096,1981,3253,3414,305.9,-8.9,207,3410,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,1981,3333,3252,3414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3711,-1.35,-170.3,2095,1981,3252,3410,332.4,-9.1,222,3712,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,1982,3331,3252,3410,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3907,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3907,begin apogee
$GC,3911,-0.25,0.0,2094,2302,3251,3408,350.3,-8.8,232,4063,0.75,0.00,143.88,0.825,10246,0.116,0.000,2341,2302,2634,2583,2686,0,0,0,0,0,0,26.50,28.83,24.60
$STATE,4064,end apogee,CONTROL_FINISHED_OK
$STATE,4064,begin climb
$GC,4066,1.35,170.3,2341,2302,2582,2684,338.0,0.0,238,4224,1.00,2.28,146.82,0.816,10500,0.061,0.034,2698,3684,1935,1899,1972,0,0,0,0,0,0,25.33,25.10,24.47
$GC,4443,1.37,175.1,2697,3684,1898,1954,303.3,9.1,255,4451,0.00,2.12,0.00,0.000,1030,0.000,0.024,2707,2297,1926,1898,1954,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4750,1.37,177.5,2707,2298,1898,1950,274.0,9.2,271,4756,0.00,2.17,0.00,0.000,516,0.000,0.041,2718,892,1923,1897,1950,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4776,1.38,180.2,2718,892,1897,1950,271.6,9.2,272,4784,0.00,2.08,3.38,0.515,9222,0.000,0.017,2718,2295,1905,1878,1933,0,0,0,0,0,0,28.83,26.37,25.32
$GC,5104,1.40,190.0,2718,2296,1877,1937,242.7,8.9,288,5127,0.00,2.17,13.68,0.740,8452,0.000,0.034,2718,3688,1858,1830,1887,0,0,0,0,0,0,28.83,26.24,25.56
$GC,5202,1.42,197.1,2718,3688,1830,1881,234.5,9.0,292,5216,0.00,2.10,6.70,0.721,9222,0.000,0.024,2728,2298,1834,1807,1861,0,0,0,0,0,0,28.83,26.32,25.49
$GC,5513,1.44,206.9,2728,2298,1805,1855,204.8,8.9,308,5530,0.00,2.20,10.57,0.718,8708,0.000,0.040,2742,896,1791,1763,1820,0,0,0,0,0,0,28.83,26.23,25.57
$GC,5594,1.46,212.8,2739,896,1761,1817,198.9,9.0,311,5604,0.10,2.08,4.72,0.658,13318,0.195,0.018,2718,2303,1771,1742,1801,0,0,0,0,0,0,26.13,26.35,25.36
$GC,5900,1.48,222.1,2717,2303,1741,1800,170.4,8.9,327,5916,0.00,2.20,11.55,0.690,8452,0.000,0.035,2718,3695,1729,1698,1760,0,0,0,0,0,0,28.83,26.25,25.59
$GC,6011,1.50,229.5,2717,3695,1697,1755,160.7,9.0,332,6027,0.00,2.12,7.38,0.680,9222,0.000,0.025,2726,2296,1699,1667,1731,0,0,0,0,0,0,28.83,26.34,25.55
$GC,6335,1.56,253.7,2727,2296,1666,1727,131.4,8.4,348,6365,0.00,2.28,23.67,0.646,8708,0.000,0.042,2738,893,1600,1553,1648,0,0,0,0,0,0,28.83,26.09,25.51
$GC,6435,1.58,260.3,2738,893,1552,1643,123.3,9.0,352,6448,0.00,2.10,4.90,0.625,9222,0.000,0.018,2738,2300,1577,1528,1626,0,0,0,0,0,0,28.83,26.25,25.33
$GC,6747,1.58,260.3,2738,2301,1528,1626,94.0,9.3,368,6752,0.00,2.20,0.00,0.000,516,0.000,0.041,2747,899,1577,1529,1626,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6781,1.59,266.7,2747,898,1528,1626,91.8,9.0,369,6795,0.00,2.08,8.43,0.621,9222,0.000,0.018,2747,2301,1550,1499,1602,0,0,0,0,0,0,28.83,26.44,25.64
$GC,7093,1.61,271.3,2747,2301,1496,1594,63.4,9.1,385,7104,0.00,2.17,3.38,0.457,8452,0.000,0.036,2747,3694,1533,1482,1584,0,0,0,0,0,0,28.83,26.40,25.50
$GC,7148,1.62,279.1,2747,3694,1482,1584,59.2,9.0,387,7167,0.00,2.12,10.88,0.587,9222,0.000,0.026,2757,2292,1497,1446,1549,0,0,0,0,0,0,28.83,26.43,25.69
$GC,7477,1.65,290.2,2757,2292,1445,1542,28.2,8.9,415,7496,0.00,2.22,10.88,0.555,8452,0.000,0.034,2757,3691,1452,1403,1501,0,0,0,0,0,0,28.83,26.32,25.73
$GC,7641,1.67,296.1,1752,3690,1377,1489,13.2,9.0,441,7651,0.00,2.12,4.80,0.529,9222,0.000,0.025,2767,2290,1430,1385,1476,0,0,0,0,0,0,28.83,26.41,25.53
$STATE,7758,end climb,SURFACE_DEPTH_REACHED
$STATE,7758,begin surface coast
$FINISH,0.0,1.024041
$STATE,7792,end surface coast,CONTROL_FINISHED_OK
$STATE,7792,begin surface
$SM_CCo,7808,197.48,0.672,2,0,400,549.47
$SM_CCo,8018,-0.25,0.000,0,0,402,549.47
$SM_CCo,8022,1.33,0.080,0,0,400,549.47
$SM_GC,-23.93,7.45,0.47,1.33,0.070,0.042,0.080,85,1959,400,-10.54,1.10,549.47,0,0,0,0,0,0,26.44,26.46,25.27
$IRIDIUM_FIX,1941.24,12004.01,210313,111119
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.54
$INTERNAL_PRESSURE,9.18503
$TCM_TEMP,20.00
$XPDR_PINGS,2
$SC_FREEKB,3962368
$24V_AH,24.5,27.224
$10V_AH,10.2,15.426
$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,17.375,69.275,415.600,198.800,0.000,0.000,0.000,216.550,0.500,0.000,16.419,1865.879,4032.076,726.556,1471.299,297.954,0.000,1757.331,0.000,1270.919,0.000,1.487,0.000
$DEVICE_MAMPS,218.025,43.605,825.435,671.670,0.000,0.000,0.000,136.170,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7811.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.894,0.000,0.000,0.000
$MEM,323896
$DATA_FILE_SIZE,16748,468
$CAP_FILE_SIZE,366875,1925
$CFSIZE,260034560,232845312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$CURRENT,0.232, 52.1,1
$GPS,210313,155734,1950.576,12006.069,27,1.0,27,-2.6