version: 66.11
glider: 121
mission: 10
dive: 133
start: 3 19 113 1 11 50
data:
$ID,121
$MISSION,10
$DIVE,133
$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,-100661.75
$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,2365
$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,50
$R_STBD_OVSHOOT,56
$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
$GPS1,190313,010504,1921.867,12007.238,348,1.2,348,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-65.5
$GPS2,190313,011123,1921.875,12007.209,17,1.0,17,-2.5
$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,355.9,265358,-18.5,-9.259,-21.12,2828
$D_GRID,3966
$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,-170.3,80,1941,331,478,0.0,0.0,0,44,0.00,0.00,-23.83,0.000,16386,0.000,0.000,80,1941,1024,1002,1047,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.35,-170.3,80,1941,1003,1047,3.2,-9.2,3,152,8.00,2.20,-87.53,0.000,18692,0.229,0.044,2055,3382,3337,3243,3432,0,0,0,0,0,0,25.87,26.18,26.46
$GC,257,-1.35,-170.3,2055,3382,3246,3432,22.6,-8.9,36,265,0.00,2.12,0.00,0.000,1030,0.000,0.027,2063,1983,3339,3246,3432,0,0,0,0,0,0,28.83,26.28,28.83
$GC,585,-1.35,-170.3,2063,1983,3250,3433,52.1,-8.8,69,592,0.00,2.10,0.00,0.000,260,0.000,0.029,2054,3372,3341,3250,3432,0,0,0,0,0,0,28.83,26.44,28.83
$GC,688,-1.35,-170.3,2054,3372,3252,3432,60.2,-9.1,73,696,0.00,2.10,0.00,0.000,1030,0.000,0.024,2062,1967,3342,3252,3432,0,0,0,0,0,0,28.83,26.48,28.83
$GC,996,-1.35,-170.3,2062,1967,3254,3432,89.5,-9.3,89,1002,0.00,2.12,0.00,0.000,516,0.000,0.041,2073,574,3342,3253,3432,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1072,-1.35,-170.3,2073,574,3254,3432,95.6,-9.2,92,1078,0.00,2.05,0.00,0.000,1030,0.000,0.015,2065,2002,3343,3254,3433,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1386,-1.35,-170.3,2064,2003,3254,3432,124.5,-8.9,108,1392,0.00,2.20,0.00,0.000,516,0.000,0.039,2073,576,3343,3254,3432,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1456,-1.35,-170.3,1264,575,3227,3429,130.5,-9.0,111,1462,0.00,2.00,0.00,0.000,1030,0.000,0.015,2064,1973,3343,3254,3432,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1776,-1.35,-170.3,2064,1975,3255,3430,159.3,-8.9,127,1782,0.00,2.15,0.00,0.000,516,0.000,0.040,2072,571,3342,3255,3429,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1845,-1.35,-170.3,2072,571,3255,3429,165.5,-9.1,130,1850,0.00,2.03,0.00,0.000,1030,0.000,0.016,2064,1982,3342,3255,3429,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2169,-1.35,-170.3,2064,1983,3255,3426,194.9,-9.2,146,2176,0.00,2.03,0.00,0.000,260,0.000,0.031,2054,3355,3339,3255,3424,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2229,-1.35,-170.3,1280,3353,3231,3421,199.1,-9.0,148,2237,0.00,2.05,0.00,0.000,1030,0.000,0.025,2059,1977,3339,3255,3424,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2537,-1.35,-170.3,2058,1976,3255,3422,227.7,-8.8,164,2543,0.00,2.12,0.00,0.000,516,0.000,0.043,2068,574,3338,3255,3422,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2603,-1.35,-170.3,2068,574,3254,3422,233.6,-8.9,167,2609,0.00,2.03,0.00,0.000,1030,0.000,0.016,2060,1983,3338,3255,3421,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2927,-1.35,-170.3,2059,1984,3255,3418,262.8,-8.9,183,2933,0.00,2.17,0.00,0.000,516,0.000,0.041,2066,571,3336,3254,3418,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2967,-1.35,-170.3,2065,571,3255,3417,264.9,-8.8,184,2975,0.00,2.03,0.00,0.000,1030,0.000,0.016,2058,1976,3336,3255,3417,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3274,-1.35,-170.3,2057,1977,3253,3416,293.9,-9.1,200,3279,0.00,2.17,0.00,0.000,516,0.000,0.042,2062,568,3334,3253,3415,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3314,-1.35,-170.3,2062,568,3253,3415,296.1,-9.0,201,3323,0.00,2.05,0.00,0.000,1030,0.000,0.017,2054,1983,3334,3253,3415,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3621,-1.35,-170.3,2054,1984,3252,3414,325.0,-8.7,217,3628,0.00,2.05,0.00,0.000,260,0.000,0.033,2043,3366,3332,3252,3413,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3677,-1.35,-170.3,2043,3366,3251,3413,329.1,-8.9,219,3683,0.10,2.08,0.00,0.000,3078,0.170,0.027,2070,1975,3331,3251,3412,0,0,0,0,0,0,26.52,26.69,28.83
$STATE,3910,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3910,begin apogee
$GC,3915,-0.25,0.0,2069,2307,3249,3410,350.7,-8.9,231,4081,0.73,0.00,153.85,1.011,10246,0.125,0.000,2305,2307,2639,2589,2690,0,0,0,0,1,0,26.51,28.83,24.23
$STATE,4084,end apogee,CONTROL_FINISHED_OK
$STATE,4084,begin climb
$GC,4086,1.35,170.3,2305,2307,2589,2690,336.4,0.0,238,4257,1.05,2.25,156.27,0.870,10500,0.073,0.034,2664,3670,1932,1902,1963,0,0,0,0,0,0,25.12,24.93,24.27
$GC,4312,1.35,171.0,2664,3670,1901,1954,315.4,9.2,248,4318,0.00,2.15,0.00,0.000,1030,0.000,0.024,2674,2302,1927,1901,1953,0,0,0,0,0,0,28.83,25.46,28.83
$GC,4627,1.39,184.4,2674,2302,1901,1947,286.6,8.8,264,4643,0.00,2.17,11.38,0.819,8452,0.000,0.031,2674,3690,1881,1857,1906,0,0,0,0,0,0,28.83,25.93,25.20
$GC,4693,1.40,190.2,2674,3690,1854,1900,280.7,9.1,267,4701,0.00,2.15,1.67,0.064,9222,0.000,0.024,2684,2297,1862,1837,1888,0,0,0,0,0,0,28.83,26.04,25.91
$GC,5019,1.42,197.5,2684,2297,1837,1892,251.1,9.0,283,5036,0.00,2.22,11.73,0.802,8452,0.000,0.032,2684,3680,1829,1801,1858,0,0,0,0,0,0,28.83,26.12,25.37
$GC,5089,1.45,207.2,2684,3681,1797,1852,245.2,8.9,286,5107,0.00,2.10,9.35,0.787,9222,0.000,0.024,2693,2301,1791,1762,1821,0,0,0,0,0,0,28.83,26.20,25.31
$GC,5405,1.45,207.2,2693,2301,1761,1815,215.8,9.3,302,5411,0.00,2.17,0.00,0.000,516,0.000,0.042,2705,899,1788,1761,1815,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5472,1.45,210.4,2705,898,1761,1815,209.9,9.1,305,5478,0.10,2.08,0.00,0.000,5126,0.184,0.018,2683,2308,1788,1761,1815,0,0,0,0,0,0,26.20,26.40,28.83
$GC,5798,1.48,222.7,2682,2308,1761,1812,180.4,8.8,321,5821,0.00,2.33,15.80,0.752,8708,0.000,0.041,2692,892,1727,1695,1760,0,0,0,0,0,0,28.83,26.19,25.51
$GC,5866,1.50,228.2,2692,891,1693,1756,174.2,9.1,324,5878,0.00,2.10,4.40,0.662,9222,0.000,0.018,2692,2305,1708,1676,1741,0,0,0,0,0,0,28.83,26.30,25.27
$GC,6191,1.56,251.3,2692,2305,1676,1741,145.0,8.4,340,6221,0.00,2.22,24.52,0.724,8452,0.000,0.036,2692,3699,1611,1564,1658,0,0,0,0,0,0,28.83,26.03,25.37
$GC,6285,1.57,256.1,2693,3699,1561,1654,136.8,9.1,344,6296,0.00,2.15,3.65,0.562,9222,0.000,0.026,2702,2300,1594,1545,1643,0,0,0,0,0,0,28.83,26.15,25.18
$GC,6605,1.59,266.0,2701,2299,1546,1643,107.8,8.9,360,6622,0.00,2.28,12.32,0.698,8708,0.000,0.044,2712,896,1551,1499,1603,0,0,0,0,0,0,28.83,26.15,25.49
$GC,6695,1.61,271.6,2712,895,1498,1598,100.0,9.1,364,6707,0.00,2.10,4.57,0.632,9222,0.000,0.018,2712,2307,1531,1480,1582,0,0,0,0,0,0,28.83,26.29,25.28
$GC,7016,1.61,272.7,2712,2308,1480,1582,70.5,9.2,380,7021,0.00,2.10,0.00,0.000,260,0.000,0.036,2714,3693,1531,1480,1583,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7050,1.63,279.2,2712,3692,1480,1582,68.3,9.0,381,7069,0.00,2.12,10.32,0.663,9222,0.000,0.027,2722,2293,1496,1445,1548,0,0,0,0,0,0,28.83,26.40,25.58
$GC,7377,1.63,279.2,2722,2293,1445,1544,38.4,9.3,404,7383,0.00,2.17,0.00,0.000,516,0.000,0.044,2733,888,1494,1445,1544,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7471,1.64,283.7,2733,887,1444,1544,30.2,9.1,412,7481,0.00,2.08,3.28,0.461,9222,0.000,0.018,2733,2300,1482,1432,1532,0,0,0,0,0,0,28.83,26.49,25.46
$STATE,7775,end climb,SURFACE_DEPTH_REACHED
$STATE,7776,begin surface coast
$FINISH,0.0,1.025972
$STATE,7809,end surface coast,CONTROL_FINISHED_OK
$STATE,7810,begin surface
$SM_CCo,7826,228.55,0.761,4,0,398,549.96
$SM_CCo,8078,-0.12,0.000,0,0,403,549.47
$SM_CCo,8081,2.45,0.269,0,0,400,549.47
$SM_GC,-23.93,7.45,0.52,2.45,0.079,0.035,0.269,88,1954,400,-10.37,0.99,549.47,0,0,0,0,0,0,26.50,26.53,24.63
$IRIDIUM_FIX,1916.08,12009.63,180313,222241
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.87
$INTERNAL_PRESSURE,9.04831
$TCM_TEMP,18.50
$XPDR_PINGS,0
$SC_FREEKB,3971968
$24V_AH,24.2,23.453
$10V_AH,10.1,13.928
$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,17.425,81.800,423.125,231.000,0.000,0.000,0.000,214.050,0.000,0.000,19.246,1839.472,4083.626,796.295,1454.275,274.318,0.000,1790.574,0.000,1216.494,0.000,1.481,0.000
$DEVICE_MAMPS,228.735,44.370,1011.330,761.175,0.000,0.000,0.000,132.345,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7822.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.988,0.000,0.000,0.000
$MEM,323884
$DATA_FILE_SIZE,16793,470
$CAP_FILE_SIZE,364843,1873
$CFSIZE,260034560,235487232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,1,0
$CURRENT,0.056,303.4,1
$GPS,190313,033154,1922.800,12006.814,282,1.5,282,-2.5