version: 66.11
glider: 121
mission: 10
dive: 136
start: 3 19 113 8 33 13
data:
$ID,121
$MISSION,10
$DIVE,136
$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,-100665.53
$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,37
$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
$GPS1,190313,082552,1925.121,12006.709,296,1.0,296,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-65.5
$GPS2,190313,083246,1925.081,12006.674,25,0.8,25,-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,346.8,259384,-18.5,-9.259,-21.12,2828
$D_GRID,4185
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.35,-170.3,79,1957,334,482,0.0,0.0,0,43,0.00,0.00,-23.50,0.000,16386,0.000,0.000,79,1957,1017,997,1038,0,0,0,0,0,0,28.83,28.83,28.83
$GC,45,-1.35,-170.3,79,1957,998,1038,3.1,-9.1,3,152,7.88,2.22,-89.75,0.000,18692,0.223,0.043,2053,3379,3337,3244,3431,0,0,0,0,0,0,25.84,26.20,26.47
$GC,266,-1.35,-170.3,1216,3378,3220,3428,23.4,-8.7,38,275,0.00,2.12,0.00,0.000,1030,0.000,0.024,2060,1968,3340,3248,3432,0,0,0,0,0,0,28.83,26.30,28.83
$GC,590,-1.35,-170.3,2059,1966,3252,3432,52.4,-9.0,70,597,0.00,2.12,0.00,0.000,516,0.000,0.040,2069,570,3342,3252,3432,0,0,0,0,0,0,28.83,26.43,28.83
$GC,646,-1.35,-170.3,2069,570,3253,3431,56.7,-9.0,72,652,0.00,2.05,0.00,0.000,1030,0.000,0.015,2061,1998,3342,3253,3431,0,0,0,0,0,0,28.83,26.52,28.83
$GC,960,-1.35,-170.3,2061,2000,3254,3431,86.0,-9.3,88,966,0.00,2.00,0.00,0.000,260,0.000,0.031,2051,3355,3343,3255,3431,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1016,-1.35,-170.3,2050,3354,3254,3431,90.1,-9.1,90,1022,0.00,2.05,0.00,0.000,1030,0.000,0.024,2052,1973,3343,3254,3432,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1330,-1.35,-170.3,2051,1972,3255,3431,119.8,-9.1,106,1331,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,1973,3342,3254,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1631,-1.35,-170.3,2051,1972,3257,3429,146.8,-8.7,121,1637,0.00,2.12,0.00,0.000,516,0.000,0.041,2061,576,3343,3257,3429,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1804,-1.35,-170.3,2061,576,3257,3429,162.7,-9.3,129,1809,0.00,2.00,0.00,0.000,1030,0.000,0.015,2053,1979,3343,3257,3429,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2128,-1.35,-170.3,2053,1979,3257,3425,191.9,-8.7,145,2134,0.00,2.15,0.00,0.000,516,0.000,0.040,2059,576,3340,3256,3425,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2241,-1.35,-170.3,2059,575,3256,3424,201.8,-9.0,150,2247,0.00,2.00,0.00,0.000,1030,0.000,0.015,2050,1975,3341,3256,3426,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2561,-1.35,-170.3,2050,1975,3256,3421,231.2,-9.1,166,2566,0.00,2.15,0.00,0.000,516,0.000,0.041,2056,570,3338,3256,3420,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2616,-1.35,-170.3,2056,570,3256,3420,235.4,-9.2,168,2623,0.10,2.03,0.00,0.000,3078,0.184,0.016,2070,1985,3338,3256,3420,0,0,0,0,0,0,26.50,26.72,28.83
$GC,2931,-1.35,-170.3,2069,1986,3255,3416,264.4,-8.9,184,2932,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,1986,3335,3255,3416,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3233,-1.35,-170.3,2069,1986,3252,3414,291.7,-9.0,199,3238,0.00,2.17,0.00,0.000,516,0.000,0.042,2079,575,3333,3253,3414,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3267,-1.35,-170.3,2081,575,3253,3414,294.0,-9.0,200,3273,0.00,2.00,0.00,0.000,1030,0.000,0.016,2071,1971,3333,3253,3413,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3582,-1.35,-170.3,2071,1971,3250,3411,322.8,-9.0,216,3589,0.00,2.08,0.00,0.000,260,0.000,0.033,2060,3370,3330,3250,3411,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3617,-1.35,-170.3,2060,3370,3250,3410,325.1,-9.0,217,3623,0.00,2.10,0.00,0.000,1030,0.000,0.028,2061,1968,3330,3250,3411,0,0,0,0,0,0,28.83,26.68,28.83
$STATE,3891,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3891,begin apogee
$GC,3895,-0.25,0.0,2059,2303,3248,3408,350.4,-8.9,231,4051,0.77,0.00,143.32,1.070,10246,0.129,0.000,2307,2304,2639,2590,2689,0,0,0,0,1,0,26.50,28.83,24.22
$STATE,4053,end apogee,CONTROL_FINISHED_OK
$STATE,4053,begin climb
$GC,4055,1.35,170.3,2307,2304,2590,2689,336.2,0.0,238,4231,1.02,2.28,162.88,0.873,10500,0.073,0.034,2661,3681,1935,1902,1968,0,0,0,0,0,0,25.13,24.92,24.25
$GC,4291,1.35,170.3,2660,3681,1901,1953,314.9,9.3,248,4297,0.00,2.17,0.00,0.000,1030,0.000,0.024,2670,2298,1926,1901,1952,0,0,0,0,0,0,28.83,25.47,28.83
$GC,4606,1.37,178.5,2670,2298,1901,1946,285.6,9.0,264,4609,0.00,0.00,1.55,0.057,8198,0.000,0.000,2670,2298,1911,1887,1936,0,0,0,0,0,0,28.83,28.83,26.05
$GC,4908,1.39,185.9,2670,2298,1886,1940,258.1,9.0,279,4925,0.00,2.22,11.77,0.828,8452,0.000,0.032,2670,3681,1876,1850,1903,0,0,0,0,0,0,28.83,26.13,25.39
$GC,4994,1.42,195.1,2670,3681,1845,1896,250.2,8.9,283,5011,0.00,2.12,9.02,0.815,9222,0.000,0.024,2680,2293,1839,1812,1866,0,0,0,0,0,0,28.83,26.22,25.29
$GC,5319,1.48,222.9,2681,2293,1811,1858,221.3,8.3,299,5349,0.00,0.00,27.85,0.801,8710,0.000,0.000,2680,2293,1730,1700,1761,0,0,0,0,0,0,28.83,28.83,25.20
$GC,5640,1.51,231.9,2680,2293,1691,1745,192.9,8.9,315,5650,0.00,0.00,8.10,0.776,8198,0.000,0.000,2680,2292,1693,1662,1725,0,0,0,0,0,0,28.83,28.83,25.38
$GC,5941,1.54,245.5,2680,2293,1656,1716,166.3,8.8,330,5964,0.00,2.25,13.55,0.765,8708,0.000,0.044,2691,898,1633,1590,1677,0,0,0,0,0,0,28.83,26.12,25.43
$GC,5997,1.57,256.3,2691,898,1589,1674,161.9,8.9,332,6016,0.00,2.08,11.23,0.758,9222,0.000,0.018,2691,2292,1590,1542,1638,0,0,0,0,0,0,28.83,26.24,25.33
$GC,6336,1.60,269.9,2691,2292,1540,1631,131.0,8.8,349,6353,0.10,0.00,14.05,0.737,10502,0.104,0.000,2735,2292,1538,1487,1590,0,0,0,0,0,0,26.36,28.83,25.41
$GC,6661,1.62,277.2,2734,2292,1481,1580,101.8,9.0,365,6673,0.00,2.22,5.30,0.688,8708,0.000,0.040,2745,888,1510,1459,1561,0,0,0,0,0,0,28.83,26.25,25.47
$GC,6707,1.64,283.4,1744,887,1431,1555,97.7,9.0,367,6725,0.12,2.10,9.40,0.712,13318,0.191,0.018,2716,2308,1480,1429,1531,0,0,0,0,0,0,26.12,26.35,25.48
$GC,7034,1.64,286.8,2716,2308,1428,1524,67.8,9.1,383,7035,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2308,1476,1428,1524,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7334,1.67,298.0,2716,2308,1428,1522,41.3,8.9,402,7360,0.00,2.30,15.18,0.649,8708,0.000,0.042,2725,896,1419,1376,1462,0,0,0,0,0,0,28.83,26.24,25.61
$GC,7395,1.71,312.2,2725,896,1377,1459,35.9,8.7,407,7414,0.00,2.08,14.82,0.642,9222,0.000,0.018,2725,2295,1367,1329,1405,0,0,0,0,0,0,28.83,26.34,25.50
$GC,7732,1.71,314.9,1712,2292,1302,1385,5.4,9.2,458,7739,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2295,1356,1324,1389,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7761,end climb,SURFACE_DEPTH_REACHED
$STATE,7761,begin surface coast
$FINISH,0.0,1.025946
$STATE,7795,end surface coast,CONTROL_FINISHED_OK
$STATE,7796,begin surface
$SM_CCo,7811,199.98,0.778,3,0,400,549.47
$SM_CCo,8029,0.00,0.000,0,0,400,549.47
$SM_CCo,8032,0.00,0.000,0,0,400,549.47
$SM_GC,-23.93,7.43,0.52,0.00,0.075,0.035,0.000,88,1953,400,-10.37,0.93,549.47,0,0,0,0,0,0,26.39,26.41,28.83
$IRIDIUM_FIX,1916.08,12006.51,190313,060636
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.89
$INTERNAL_PRESSURE,9.04831
$TCM_TEMP,18.20
$XPDR_PINGS,0
$SC_FREEKB,3970816
$24V_AH,24.2,23.935
$10V_AH,10.1,14.113
$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,17.425,56.200,448.025,199.975,0.000,0.000,0.000,241.050,0.000,0.000,27.364,1735.670,4271.964,748.242,1409.683,265.418,0.000,1732.803,0.000,1152.314,0.000,1.484,0.000
$DEVICE_MAMPS,223.380,43.605,1070.235,778.005,0.000,0.000,0.000,127.755,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7797.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.947,0.000,0.000,0.000
$MEM,323864
$DATA_FILE_SIZE,16758,469
$CAP_FILE_SIZE,340639,1718
$CFSIZE,260034560,235192320
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$CURRENT,0.174, 32.1,1
$GPS,190313,105300,1926.536,12006.829,317,1.4,317,-2.5