version: 66.11
glider: 121
mission: 10
dive: 137
start: 3 19 113 11 0 15
data:
$ID,121
$MISSION,10
$DIVE,137
$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,-100666.8
$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,55
$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
$GPS1,190313,105300,1926.536,12006.829,317,1.4,317,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-65.6
$GPS2,190313,105948,1926.585,12006.815,17,0.9,17,-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,335.5,256612,-18.5,-9.259,-21.12,2828
$D_GRID,4176
$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,-170.3,86,1942,327,475,0.0,0.0,0,43,0.00,0.00,-23.42,0.000,16386,0.000,0.000,86,1942,1006,985,1027,0,0,0,0,0,0,28.83,28.83,28.83
$GC,45,-1.35,-170.3,86,1942,984,1028,3.1,-9.1,3,152,8.00,2.25,-92.15,0.000,18692,0.229,0.043,2056,3374,3336,3242,3431,0,0,0,0,0,0,25.83,26.17,26.46
$GC,300,-1.35,-170.3,2056,3374,3247,3431,26.8,-9.3,43,306,0.00,2.12,0.00,0.000,1030,0.000,0.028,2064,1975,3339,3248,3431,0,0,0,0,0,0,28.83,26.30,28.83
$GC,625,-1.35,-170.3,2064,1975,3251,3431,55.7,-9.3,72,630,0.00,2.15,0.00,0.000,516,0.000,0.040,2075,561,3341,3251,3431,0,0,0,0,0,0,28.83,26.44,28.83
$GC,680,-1.35,-170.3,2074,561,3252,3431,59.9,-9.1,74,687,0.00,2.08,0.00,0.000,1030,0.000,0.015,2067,1992,3341,3252,3431,0,0,0,0,0,0,28.83,26.51,28.83
$GC,995,-1.35,-170.3,2066,1993,3253,3431,89.2,-9.5,90,1001,0.00,2.03,0.00,0.000,260,0.000,0.031,2056,3362,3342,3253,3431,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1066,-1.35,-170.3,2056,3362,3253,3430,95.2,-9.2,93,1072,0.00,2.08,0.00,0.000,1030,0.000,0.024,2062,1962,3342,3253,3431,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1385,-1.35,-170.3,2062,1961,3253,3431,124.4,-9.6,109,1387,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,1961,3342,3253,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1687,-1.35,-170.3,2062,1961,3254,3428,151.4,-9.0,124,1692,0.00,2.10,0.00,0.000,516,0.000,0.040,2073,572,3341,3255,3428,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1819,-1.35,-170.3,2072,572,3254,3428,163.1,-9.0,130,1825,0.00,2.00,0.00,0.000,1030,0.000,0.015,2064,1978,3341,3255,3428,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2139,-1.35,-170.3,2064,1979,3254,3426,192.5,-9.0,146,2140,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,1979,3340,3254,3426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2439,-1.35,-170.3,2064,1980,3255,3422,219.4,-9.1,161,2446,0.00,2.15,0.00,0.000,516,0.000,0.040,2073,575,3338,3254,3422,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2562,-1.35,-170.3,2072,576,3254,3422,229.1,-9.0,166,2570,0.00,2.00,0.00,0.000,1030,0.000,0.015,2064,1977,3337,3254,3420,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2868,-1.35,-170.3,2063,1977,3254,3418,258.3,-9.3,182,2869,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,1977,3336,3254,3418,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3169,-1.35,-170.3,2064,1978,3253,3416,285.7,-9.5,197,3170,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,1978,3334,3253,3416,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3471,-1.35,-170.3,2063,1978,3252,3413,313.1,-9.2,212,3477,0.00,2.15,0.00,0.000,516,0.000,0.041,2069,578,3332,3252,3413,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3542,-1.35,-170.3,2069,578,3252,3413,319.5,-9.0,215,3548,0.00,2.00,0.00,0.000,1030,0.000,0.016,2061,1973,3332,3251,3413,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3862,-1.35,-170.3,2061,1974,3249,3410,348.6,-9.0,231,3868,0.00,2.05,0.00,0.000,260,0.000,0.033,2051,3355,3329,3249,3410,0,0,0,0,0,0,28.83,26.67,28.83
$STATE,3886,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3886,begin apogee
$GC,3892,-0.25,0.0,2051,2297,3249,3410,350.8,-8.8,232,4119,0.80,0.00,216.00,0.745,10246,0.129,0.000,2309,2297,2633,2583,2684,0,0,0,0,0,0,26.51,28.83,24.57
$STATE,4120,end apogee,CONTROL_FINISHED_OK
$STATE,4120,begin climb
$GC,4122,1.35,170.3,2309,2297,2582,2681,330.2,0.0,242,4290,1.02,2.33,158.20,0.854,10500,0.073,0.032,2663,3676,1938,1905,1972,0,0,0,0,0,0,25.24,24.94,24.29
$GC,4529,1.37,176.5,2662,3676,1900,1949,293.7,9.0,260,4535,0.00,2.10,0.00,0.000,1030,0.000,0.023,2672,2305,1924,1900,1949,0,0,0,0,0,0,28.83,25.96,28.83
$GC,4843,1.40,187.3,2672,2305,1900,1946,265.1,8.9,276,4859,0.00,0.00,14.25,0.806,8454,0.000,0.000,2672,2305,1876,1851,1901,0,0,0,0,0,0,28.83,28.83,25.31
$GC,5168,1.44,204.1,2672,2305,1841,1884,236.1,8.6,292,5192,0.00,2.30,16.20,0.802,8708,0.000,0.042,2683,890,1799,1771,1827,0,0,0,0,0,0,28.83,26.03,25.34
$GC,5241,1.45,210.5,2683,889,1768,1823,229.8,9.0,295,5249,0.00,2.10,3.20,0.500,9222,0.000,0.017,2683,2299,1781,1752,1810,0,0,0,0,0,0,28.83,26.17,25.11
$GC,5563,1.46,213.0,2683,2299,1750,1810,200.6,9.2,311,5574,0.00,2.17,3.58,0.572,8452,0.000,0.035,2683,3690,1770,1741,1800,0,0,0,0,0,0,28.83,26.30,25.26
$GC,5649,1.48,220.0,2683,3690,1741,1800,192.7,9.0,315,5666,0.00,2.12,10.50,0.776,9222,0.000,0.024,2693,2293,1739,1708,1771,0,0,0,0,0,0,28.83,26.36,25.45
$GC,5976,1.52,236.6,2693,2293,1706,1765,163.4,8.7,331,6000,0.00,2.25,17.17,0.755,8452,0.000,0.033,2693,3691,1669,1635,1704,0,0,0,0,0,0,28.83,26.13,25.42
$GC,6108,1.53,242.9,2693,3691,1632,1700,151.4,9.0,337,6120,0.00,2.12,4.28,0.644,9222,0.000,0.024,2703,2295,1648,1606,1690,0,0,0,0,0,0,28.83,26.25,25.25
$GC,6434,1.55,249.5,2703,2295,1606,1690,122.7,9.0,353,6450,0.00,2.22,9.15,0.724,8708,0.000,0.044,2714,904,1617,1570,1664,0,0,0,0,0,0,28.83,26.22,25.53
$GC,6502,1.55,249.5,2713,904,1569,1661,116.5,9.3,356,6508,0.00,2.08,0.00,0.000,1030,0.000,0.018,2714,2304,1614,1568,1661,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6822,1.59,266.9,2713,2304,1569,1659,87.0,8.6,372,6842,0.00,0.00,18.05,0.687,8198,0.000,0.000,2714,2304,1550,1498,1602,0,0,0,0,0,0,28.83,28.83,25.52
$GC,7142,1.62,277.5,2713,2305,1493,1592,58.4,8.9,388,7159,0.00,2.22,11.05,0.670,8708,0.000,0.040,2723,900,1503,1452,1555,0,0,0,0,0,0,28.83,26.20,25.56
$GC,7188,1.64,284.6,2723,900,1451,1551,54.2,9.0,390,7200,0.00,2.08,6.95,0.663,9222,0.000,0.018,2723,2300,1478,1428,1528,0,0,0,0,0,0,28.83,26.30,25.48
$GC,7503,1.66,291.6,2723,2300,1426,1520,25.7,9.0,418,7513,0.00,0.00,7.62,0.641,8198,0.000,0.000,2724,2300,1449,1401,1498,0,0,0,0,0,0,28.83,28.83,25.58
$STATE,7761,end climb,SURFACE_DEPTH_REACHED
$STATE,7761,begin surface coast
$FINISH,0.0,1.026064
$STATE,7794,end surface coast,CONTROL_FINISHED_OK
$STATE,7794,begin surface
$SM_CCo,7810,217.40,0.783,3,0,399,549.47
$SM_CCo,8045,-0.03,0.000,0,0,401,549.47
$SM_CCo,8049,1.58,0.150,0,0,400,549.47
$SM_GC,-23.93,7.43,0.52,1.58,0.076,0.034,0.150,86,1956,400,-10.37,1.05,549.47,0,0,0,0,0,0,26.42,26.45,25.04
$IRIDIUM_FIX,1918.37,12007.65,190313,080839
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.85
$INTERNAL_PRESSURE,9.04831
$TCM_TEMP,18.10
$XPDR_PINGS,0
$SC_FREEKB,3970432
$24V_AH,24.3,24.099
$10V_AH,10.1,14.176
$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,17.250,55.400,496.200,218.975,0.000,0.000,0.000,243.350,0.000,0.000,19.277,1816.399,4097.779,783.173,1478.992,267.981,0.000,1819.499,0.000,1230.207,0.000,1.483,0.000
$DEVICE_MAMPS,228.735,43.605,853.740,783.360,0.000,0.000,0.000,130.815,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,5.868,0.000,0.000,0.000
$MEM,323920
$DATA_FILE_SIZE,16762,471
$CAP_FILE_SIZE,356114,1863
$CFSIZE,260034560,235077632
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$CURRENT,0.165, 10.1,1
$GPS,190313,132053,1927.917,12006.531,349,1.8,349,-2.5