version: 66.11
glider: 121
mission: 10
dive: 134
start: 3 19 113 3 39 8
data:
$ID,121
$MISSION,10
$DIVE,134
$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,-100663.02
$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,51
$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
$GPS1,190313,033154,1922.800,12006.814,282,1.5,282,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-64.9
$GPS2,190313,033841,1922.838,12006.729,18,0.9,19,-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,10.9,263539,-18.5,-9.259,-21.12,2828
$D_GRID,4077
$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,-170.3,86,1942,333,474,0.0,0.0,0,44,0.00,0.00,-24.25,0.000,16386,0.000,0.000,86,1942,1034,1012,1057,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.35,-170.3,86,1942,1012,1058,3.2,-9.1,3,152,7.80,2.22,-86.88,0.000,18692,0.220,0.044,2052,3374,3337,3243,3431,0,0,0,0,0,0,25.83,26.17,26.45
$GC,231,-1.35,-170.3,1224,3372,3220,3428,20.2,-9.2,31,239,0.00,2.12,0.00,0.000,1030,0.000,0.027,2060,1974,3339,3248,3431,0,0,0,0,0,0,28.83,26.26,28.83
$GC,551,-1.35,-170.3,2059,1974,3251,3431,48.8,-9.0,67,557,0.00,2.12,0.00,0.000,516,0.000,0.040,2070,572,3341,3251,3431,0,0,0,0,0,0,28.83,26.41,28.83
$GC,679,-1.35,-170.3,2071,572,3253,3431,60.5,-9.1,74,685,0.00,2.05,0.00,0.000,1030,0.000,0.016,2062,2001,3342,3253,3431,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1004,-1.35,-170.3,2062,2002,3253,3431,89.3,-8.7,90,1010,0.00,2.20,0.00,0.000,516,0.000,0.038,2071,567,3342,3253,3431,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1043,-1.35,-170.3,2070,567,3254,3431,91.5,-8.7,91,1052,0.00,2.03,0.00,0.000,1030,0.000,0.015,2062,1984,3341,3253,3430,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1350,-1.35,-170.3,2062,1984,3253,3431,120.4,-8.9,107,1351,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,1984,3342,3253,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1651,-1.35,-170.3,2062,1985,3254,3431,147.5,-9.2,122,1657,0.00,2.17,0.00,0.000,516,0.000,0.041,2070,567,3341,3253,3430,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1815,-1.35,-170.3,1248,567,3227,3426,160.9,-8.9,129,1823,0.00,2.03,0.00,0.000,1030,0.000,0.016,2062,1986,3341,3253,3429,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2121,-1.35,-170.3,2061,1989,3254,3426,190.0,-9.2,145,2127,0.00,2.17,0.00,0.000,516,0.000,0.041,2070,570,3339,3254,3425,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2190,-1.35,-170.3,2070,570,3255,3425,196.0,-9.0,148,2196,0.00,2.00,0.00,0.000,1030,0.000,0.016,2062,1972,3339,3254,3424,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2510,-1.35,-170.3,2062,1972,3254,3421,225.3,-9.1,164,2516,0.00,2.15,0.00,0.000,516,0.000,0.041,2069,572,3337,3254,3421,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2557,-1.35,-170.3,2068,573,3254,3421,229.5,-9.0,166,2562,0.00,2.00,0.00,0.000,1030,0.000,0.016,2060,1974,3337,3254,3421,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2881,-1.35,-170.3,2060,1974,3254,3417,258.5,-9.0,182,2888,0.00,2.15,0.00,0.000,516,0.000,0.041,2064,573,3335,3254,3417,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2941,-1.35,-170.3,1296,574,3230,3413,262.8,-9.0,184,2949,0.00,2.00,0.00,0.000,1030,0.000,0.016,2056,1971,3334,3253,3416,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3248,-1.35,-170.3,2056,1971,3253,3415,291.9,-9.0,200,3254,0.00,2.15,0.00,0.000,516,0.000,0.042,2061,574,3333,3253,3414,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3304,-1.35,-170.3,2061,574,3253,3414,296.2,-9.1,202,3310,0.00,2.03,0.00,0.000,1030,0.000,0.017,2053,1980,3333,3252,3414,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3619,-1.35,-170.3,2053,1981,3250,3412,325.6,-9.1,218,3625,0.00,2.17,0.00,0.000,516,0.000,0.043,2058,574,3330,3250,3411,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3648,-1.35,-170.3,2058,575,3250,3411,327.8,-9.2,219,3653,0.00,2.03,0.00,0.000,1030,0.000,0.017,2049,1977,3330,3250,3411,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,3905,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3905,begin apogee
$GC,3910,-0.25,0.0,2047,2304,3248,3408,350.8,-8.7,232,4074,0.82,0.00,153.48,1.015,10246,0.129,0.000,2312,2304,2639,2590,2689,0,0,0,0,1,0,26.50,28.83,24.22
$STATE,4077,end apogee,CONTROL_FINISHED_OK
$STATE,4077,begin climb
$GC,4079,1.35,170.3,2312,2305,2590,2689,336.8,0.0,239,4246,1.02,2.28,154.48,0.874,10500,0.070,0.035,2665,3679,1935,1903,1968,0,0,0,0,0,0,25.12,24.93,24.28
$GC,4285,1.37,179.1,2665,3680,1902,1955,317.6,8.9,248,4299,0.00,2.17,2.92,0.434,9222,0.000,0.024,2675,2300,1910,1883,1937,0,0,0,0,0,0,28.83,25.37,24.50
$GC,4597,1.39,184.0,2675,2300,1883,1939,288.6,9.1,264,4609,0.00,2.17,5.12,0.730,8452,0.000,0.034,2675,3688,1889,1862,1917,0,0,0,0,0,0,28.83,26.01,25.18
$GC,4698,1.40,188.6,2675,3688,1862,1918,280.7,9.1,268,4713,0.00,2.12,8.95,0.802,9222,0.000,0.024,2685,2296,1868,1841,1895,0,0,0,0,0,0,28.83,26.15,25.23
$GC,5034,1.42,198.7,2685,2296,1839,1888,249.7,8.9,285,5050,0.00,0.00,11.15,0.799,8710,0.000,0.000,2685,2296,1824,1796,1852,0,0,0,0,0,0,28.83,28.83,25.39
$GC,5358,1.44,203.2,2685,2296,1795,1846,220.7,9.1,301,5363,0.00,0.00,2.97,0.485,8198,0.000,0.000,2685,2296,1810,1783,1837,0,0,0,0,0,0,28.83,28.83,25.26
$GC,5659,1.44,203.2,2685,2296,1783,1837,193.5,9.3,316,5665,0.00,2.17,0.00,0.000,516,0.000,0.042,2696,887,1810,1783,1837,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5757,1.47,217.2,2696,888,1783,1837,185.7,8.8,320,5780,0.00,2.08,16.77,0.758,9222,0.000,0.018,2696,2300,1749,1717,1782,0,0,0,0,0,0,28.83,26.51,25.50
$GC,6095,1.48,223.0,2696,2300,1716,1773,154.0,9.0,337,6107,0.00,2.17,4.30,0.645,8452,0.000,0.035,2696,3689,1729,1698,1761,0,0,0,0,0,0,28.83,26.34,25.36
$GC,6192,1.50,230.0,2696,3689,1698,1761,146.0,9.0,341,6206,0.00,2.10,9.38,0.735,9222,0.000,0.025,2706,2301,1702,1668,1736,0,0,0,0,0,0,28.83,26.40,25.52
$GC,6503,1.53,240.8,2706,2301,1664,1727,116.8,8.9,357,6520,0.00,2.20,11.15,0.708,8708,0.000,0.041,2716,893,1653,1611,1696,0,0,0,0,0,0,28.83,26.22,25.56
$GC,6561,1.55,248.5,2716,893,1606,1694,112.6,9.0,359,6575,0.00,2.10,7.57,0.701,9222,0.000,0.018,2717,2311,1624,1577,1672,0,0,0,0,0,0,28.83,26.33,25.49
$GC,6896,1.60,269.7,2716,2311,1576,1664,81.6,8.5,376,6924,0.00,2.12,21.95,0.665,8452,0.000,0.034,2717,3693,1534,1482,1586,0,0,0,0,0,0,28.83,26.08,25.45
$GC,6959,1.64,284.7,2716,3693,1481,1583,77.1,8.7,378,6982,0.00,2.15,15.35,0.662,9222,0.000,0.026,2726,2294,1473,1423,1523,0,0,0,0,0,0,28.83,26.15,25.33
$GC,7291,1.66,293.6,2726,2294,1423,1514,46.2,8.9,397,7306,0.00,2.28,8.50,0.638,8708,0.000,0.044,2738,890,1439,1393,1485,0,0,0,0,0,0,28.83,26.16,25.52
$GC,7408,1.70,307.9,2737,890,1393,1480,35.8,8.7,407,7433,0.00,2.10,15.50,0.617,9222,0.000,0.018,2738,2305,1377,1339,1416,0,0,0,0,0,0,28.83,26.32,25.46
$GC,7749,1.71,312.1,1728,2303,1316,1403,5.2,9.1,459,7757,0.00,2.10,0.00,0.000,260,0.000,0.036,2737,3691,1373,1339,1408,0,0,0,0,0,0,28.83,26.34,28.83
$STATE,7774,end climb,SURFACE_DEPTH_REACHED
$STATE,7774,begin surface coast
$FINISH,0.0,1.025684
$STATE,7809,end surface coast,CONTROL_FINISHED_OK
$STATE,7809,begin surface
$SM_CCo,7828,200.48,0.754,3,0,399,549.47
$SM_CCo,8047,-0.05,0.000,0,0,401,549.47
$SM_CCo,8050,0.45,0.128,0,0,401,549.47
$SM_GC,-23.93,7.57,2.70,0.45,0.080,0.033,0.128,85,1972,401,-10.39,1.07,549.47,0,0,0,0,0,0,26.37,26.36,25.11
$IRIDIUM_FIX,1913.80,12009.63,190313,010149
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.42
$INTERNAL_PRESSURE,9.0776
$TCM_TEMP,18.60
$XPDR_PINGS,1
$SC_FREEKB,3971584
$24V_AH,24.2,23.613
$10V_AH,10.2,13.990
$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,17.225,73.250,449.550,200.925,0.000,0.000,0.000,240.425,0.250,0.000,20.103,1813.934,4112.977,772.914,1469.044,272.957,0.000,1801.538,0.000,1215.202,0.000,1.484,0.000
$DEVICE_MAMPS,220.320,43.605,1015.155,753.525,0.000,0.000,0.000,132.345,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7820.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.897,0.000,0.000,0.000
$MEM,323912
$DATA_FILE_SIZE,16742,469
$CAP_FILE_SIZE,359578,1851
$CFSIZE,260034560,235388928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$CURRENT,0.075,355.9,1
$GPS,190313,055853,1923.945,12006.737,296,1.6,296,-2.5