version: 66.11
glider: 121
mission: 10
dive: 135
start: 3 19 113 6 5 39
data:
$ID,121
$MISSION,10
$DIVE,135
$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,-100664.27
$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,36
$R_STBD_OVSHOOT,54
$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
$GPS1,190313,055853,1923.945,12006.737,296,1.6,296,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-65.5
$GPS2,190313,060512,1923.954,12006.747,14,1.7,15,-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,0.4,261475,-18.5,-9.259,-21.12,2828
$D_GRID,4144
$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,-170.3,84,1959,333,479,0.0,0.0,0,44,0.00,0.00,-24.02,0.000,16386,0.000,0.000,83,1959,1031,1011,1051,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.35,-170.3,83,1959,1011,1053,3.1,-8.8,3,145,7.88,2.22,-84.82,0.000,18692,0.223,0.043,2054,3380,3338,3244,3432,0,0,0,0,0,0,25.85,26.18,26.46
$GC,223,-1.35,-170.3,1216,3377,3221,3428,19.5,-9.5,30,232,0.00,2.15,0.00,0.000,1030,0.000,0.026,2062,1964,3340,3249,3432,0,0,0,0,0,0,28.83,26.26,28.83
$GC,540,-1.35,-170.3,2064,1964,3252,3432,47.7,-8.7,66,546,0.00,2.12,0.00,0.000,516,0.000,0.040,2073,568,3342,3253,3432,0,0,0,0,0,0,28.83,26.41,28.83
$GC,685,-1.35,-170.3,2073,568,3253,3432,59.7,-9.1,73,694,0.00,2.05,0.00,0.000,1030,0.000,0.015,2065,1996,3342,3253,3432,0,0,0,0,0,0,28.83,26.53,28.83
$GC,992,-1.35,-170.3,2064,1998,3255,3432,88.9,-9.0,89,993,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,1998,3343,3255,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1291,-1.35,-170.3,2064,1998,3255,3432,114.9,-8.8,104,1297,0.00,2.03,0.00,0.000,260,0.000,0.031,2054,3363,3343,3255,3431,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1368,-1.35,-170.3,2054,3363,3254,3432,121.1,-9.1,107,1374,0.00,2.08,0.00,0.000,1030,0.000,0.024,2062,1964,3343,3255,3432,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1682,-1.35,-170.3,2061,1964,3255,3431,150.7,-9.8,123,1688,0.00,2.12,0.00,0.000,516,0.000,0.042,2072,571,3343,3255,3431,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1748,-1.35,-170.3,2072,571,3255,3433,156.5,-8.9,126,1754,0.00,2.03,0.00,0.000,1030,0.000,0.016,2063,1981,3343,3255,3431,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2073,-1.35,-170.3,2063,1985,3257,3427,185.5,-8.9,142,2079,0.00,2.17,0.00,0.000,516,0.000,0.041,2072,569,3342,3257,3427,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2124,-1.35,-170.3,2072,568,3257,3426,189.8,-9.1,144,2130,0.00,2.03,0.00,0.000,1030,0.000,0.016,2064,1983,3341,3257,3426,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2443,-1.35,-170.3,2063,1984,3257,3423,219.1,-8.7,160,2450,0.00,2.17,0.00,0.000,516,0.000,0.041,2069,570,3340,3257,3423,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2577,-1.35,-170.3,2069,570,3257,3422,230.8,-9.1,166,2583,0.00,2.03,0.00,0.000,1030,0.000,0.016,2060,1984,3339,3257,3422,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2896,-1.35,-170.3,2060,1984,3257,3418,259.7,-8.6,182,2898,0.00,0.00,0.00,0.000,6,0.000,0.000,2060,1984,3337,3257,3418,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3197,-1.35,-170.3,2060,1985,3254,3416,287.1,-9.5,197,3203,0.00,2.17,0.00,0.000,516,0.000,0.041,2062,571,3335,3254,3416,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3273,-1.35,-170.3,2063,571,3254,3416,293.0,-8.8,200,3279,0.00,2.03,0.00,0.000,1030,0.000,0.017,2055,1978,3334,3254,3415,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3588,-1.35,-170.3,2055,1979,3252,3414,322.2,-8.9,216,3589,0.00,0.00,0.00,0.000,6,0.000,0.000,2055,1978,3333,3252,3414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3889,-1.35,-170.3,2055,1979,3250,3411,349.5,-9.1,231,3890,0.00,0.00,0.00,0.000,6,0.000,0.000,2055,1979,3331,3250,3412,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3906,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3906,begin apogee
$GC,3912,-0.25,0.0,2052,2304,3250,3411,351.3,-8.9,232,4135,0.80,0.00,214.55,0.734,10246,0.128,0.000,2309,2304,2635,2585,2686,0,0,0,0,0,0,26.51,28.83,24.59
$STATE,4137,end apogee,CONTROL_FINISHED_OK
$STATE,4137,begin climb
$GC,4138,1.35,170.3,2309,2304,2582,2682,331.1,0.0,242,4305,1.02,2.28,154.43,0.850,10500,0.073,0.034,2664,3683,1935,1902,1968,0,0,0,0,0,0,25.24,24.96,24.33
$GC,4543,1.38,181.0,2664,3682,1899,1949,295.0,8.9,260,4557,0.00,2.10,3.92,0.613,9222,0.000,0.024,2674,2309,1901,1875,1928,0,0,0,0,0,0,28.83,25.97,25.00
$GC,4855,1.42,195.9,2674,2308,1875,1930,266.6,8.7,276,4879,0.00,2.22,19.17,0.812,8452,0.000,0.032,2674,3684,1835,1807,1864,0,0,0,0,0,0,28.83,25.95,25.25
$GC,4979,1.44,205.9,2674,3684,1803,1856,256.7,8.9,281,4994,0.00,2.12,9.45,0.794,9222,0.000,0.024,2684,2295,1798,1770,1827,0,0,0,0,0,0,28.83,26.13,25.24
$GC,5314,1.45,208.0,2684,2295,1765,1817,225.3,9.2,298,5315,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2295,1791,1765,1817,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5613,1.48,221.3,2684,2295,1765,1815,198.6,8.8,313,5634,0.00,2.22,15.20,0.772,8452,0.000,0.033,2684,3681,1733,1701,1765,0,0,0,0,0,0,28.83,26.19,25.48
$GC,5660,1.49,224.5,2684,3681,1700,1761,194.5,9.1,315,5667,0.00,2.12,0.00,0.000,1030,0.000,0.025,2694,2290,1730,1700,1761,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5981,1.50,229.7,2694,2290,1700,1755,165.4,9.1,331,5997,0.00,2.22,8.02,0.743,8708,0.000,0.044,2705,900,1699,1667,1731,0,0,0,0,0,0,28.83,26.26,25.56
$GC,6009,1.50,230.5,2704,900,1666,1731,163.1,9.2,332,6015,0.00,2.08,0.00,0.000,1030,0.000,0.018,2705,2304,1698,1666,1731,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6330,1.53,239.6,2704,2304,1666,1727,134.7,8.9,348,6348,0.00,0.00,10.62,0.720,8198,0.000,0.000,2705,2304,1656,1616,1696,0,0,0,0,0,0,28.83,28.83,25.59
$GC,6649,1.58,259.5,2704,2304,1608,1696,106.0,8.5,364,6677,0.00,2.30,19.62,0.685,8708,0.000,0.041,2714,897,1575,1526,1624,0,0,0,0,0,0,28.83,26.14,25.51
$GC,6711,1.62,275.9,2714,897,1524,1622,101.7,8.7,366,6735,0.00,2.10,16.62,0.677,9222,0.000,0.018,2714,2307,1510,1459,1562,0,0,0,0,0,0,28.83,26.25,25.37
$GC,7044,1.62,277.6,2714,2307,1458,1554,70.3,9.2,383,7046,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2307,1506,1458,1554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7344,1.64,285.3,2714,2308,1457,1552,43.0,9.0,401,7358,0.00,2.30,9.02,0.636,8708,0.000,0.042,2724,898,1472,1424,1520,0,0,0,0,0,0,28.83,26.29,25.65
$GC,7407,1.66,293.3,2724,898,1422,1518,37.8,9.0,406,7421,0.00,2.08,8.43,0.631,9222,0.000,0.018,2724,2305,1442,1394,1491,0,0,0,0,0,0,28.83,26.39,25.60
$GC,7739,1.66,295.0,1696,2302,1366,1474,7.8,9.2,455,7747,0.00,2.10,0.00,0.000,260,0.000,0.036,2724,3692,1435,1392,1479,0,0,0,0,0,0,28.83,26.41,28.83
$STATE,7790,end climb,SURFACE_DEPTH_REACHED
$STATE,7790,begin surface coast
$FINISH,0.0,1.025872
$STATE,7824,end surface coast,CONTROL_FINISHED_OK
$STATE,7824,begin surface
$SM_CCo,7842,213.55,0.756,3,0,400,549.47
$SM_CCo,8074,-0.05,0.000,0,0,402,549.47
$SM_CCo,8077,1.58,0.131,0,0,400,549.47
$SM_GC,-23.93,7.50,2.70,1.58,0.079,0.034,0.131,80,1970,400,-10.41,1.02,549.47,0,0,0,0,0,0,26.44,26.45,25.11
$IRIDIUM_FIX,1916.08,12004.53,190313,030338
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.38
$INTERNAL_PRESSURE,9.05807
$TCM_TEMP,15.20
$XPDR_PINGS,3
$SC_FREEKB,3971200
$24V_AH,24.3,23.771
$10V_AH,10.2,14.052
$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,17.200,60.775,489.075,215.125,0.000,0.000,0.000,215.950,0.750,0.000,16.187,1795.466,4155.511,793.723,1426.874,270.283,0.000,1803.800,0.000,1221.461,0.000,1.485,0.000
$DEVICE_MAMPS,223.380,43.605,849.915,755.820,0.000,0.000,0.000,132.345,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7826.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.987,0.000,0.000,0.000
$MEM,323948
$DATA_FILE_SIZE,16769,470
$CAP_FILE_SIZE,353422,1831
$CFSIZE,260034560,235286528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$CURRENT,0.110, 27.0,1
$GPS,190313,082552,1925.121,12006.709,296,1.0,296,-2.5