version: 66.11
glider: 121
mission: 10
dive: 139
start: 3 19 113 15 52 46
data:
$ID,121
$MISSION,10
$DIVE,139
$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,-100669.31
$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,39
$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
$GPS1,190313,154558,1929.712,12006.830,199,0.8,199,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-64.3
$GPS2,190313,155220,1929.763,12006.829,20,0.8,21,-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,329.8,250734,-18.5,-9.259,-21.12,2828
$D_GRID,4148
$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,-170.3,83,1948,329,473,0.0,0.0,0,44,0.00,0.00,-23.92,0.000,16386,0.000,0.000,83,1948,1018,999,1038,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.35,-170.3,84,1949,999,1040,3.2,-8.9,3,152,7.95,2.25,-90.28,0.000,18692,0.226,0.042,2056,3382,3337,3243,3431,0,0,0,0,0,0,25.84,26.17,26.45
$GC,317,-1.35,-170.3,2055,3382,3248,3430,27.9,-9.0,44,323,0.00,2.15,0.00,0.000,1030,0.000,0.027,2061,1965,3339,3248,3430,0,0,0,0,0,0,28.83,26.31,28.83
$GC,643,-1.35,-170.3,2061,1964,3252,3430,57.4,-9.1,72,644,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,1964,3341,3252,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,943,-1.35,-170.3,2061,1964,3254,3430,84.2,-9.0,87,948,0.00,2.12,0.00,0.000,260,0.000,0.028,2052,3380,3342,3254,3431,0,0,0,0,0,0,28.83,26.53,28.83
$GC,998,-1.35,-170.3,2052,3381,3254,3430,88.6,-9.2,89,1005,0.00,2.10,0.00,0.000,1030,0.000,0.024,2053,1968,3342,3254,3430,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1315,-1.35,-170.3,2052,1968,3255,3431,117.7,-9.2,105,1320,0.00,2.10,0.00,0.000,516,0.000,0.040,2061,578,3342,3255,3430,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1406,-1.35,-170.3,2060,578,3255,3430,125.7,-9.0,109,1412,0.00,2.03,0.00,0.000,1030,0.000,0.015,2052,1997,3342,3255,3430,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1726,-1.35,-170.3,2052,2000,3258,3428,154.6,-9.1,125,1727,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,1999,3343,3258,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2027,-1.35,-170.3,2052,1999,3257,3425,181.6,-9.1,140,2033,0.00,2.20,0.00,0.000,516,0.000,0.040,2056,567,3340,3257,3424,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2096,-1.35,-170.3,2056,567,3257,3424,187.6,-8.8,143,2104,0.10,2.03,0.00,0.000,3078,0.183,0.016,2070,1986,3340,3257,3424,0,0,0,0,0,0,26.48,26.70,28.83
$GC,2418,-1.35,-170.3,2069,1987,3257,3421,216.1,-9.0,159,2423,0.00,2.17,0.00,0.000,516,0.000,0.041,2080,574,3338,3257,3420,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2477,-1.35,-170.3,1296,574,3233,3417,220.3,-8.9,161,2485,0.00,2.03,0.00,0.000,1030,0.000,0.016,2071,1975,3338,3257,3420,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2784,-1.35,-170.3,2071,1975,3255,3417,248.9,-9.0,177,2785,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,1975,3336,3255,3417,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3085,-1.35,-170.3,2071,1975,3253,3415,276.3,-9.1,192,3086,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,1975,3333,3253,3414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3385,-1.35,-170.3,2071,1975,3252,3412,303.3,-9.1,207,3391,0.00,2.15,0.00,0.000,516,0.000,0.043,2080,577,3331,3252,3411,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3420,-1.35,-170.3,2079,577,3252,3411,305.5,-9.0,208,3426,0.00,2.03,0.00,0.000,1030,0.000,0.016,2071,1984,3332,3252,3412,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3735,-1.35,-170.3,2070,1984,3249,3409,334.7,-9.2,224,3740,0.00,2.17,0.00,0.000,516,0.000,0.044,2079,579,3329,3249,3409,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3815,-1.35,-170.3,2078,579,3248,3409,340.7,-9.1,227,3823,0.00,2.03,0.00,0.000,1030,0.000,0.017,2070,1981,3328,3248,3409,0,0,0,0,0,0,28.83,26.73,28.83
$STATE,3918,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3918,begin apogee
$GC,3923,-0.25,0.0,2067,2303,3248,3408,351.6,-9.2,233,4085,0.75,0.00,149.80,1.029,10246,0.125,0.000,2310,2303,2639,2590,2689,0,0,0,0,1,0,26.49,28.83,24.21
$STATE,4087,end apogee,CONTROL_FINISHED_OK
$STATE,4087,begin climb
$GC,4089,1.35,170.3,2309,2302,2590,2689,337.5,0.0,240,4257,1.02,2.30,158.57,0.868,10500,0.073,0.035,2663,3678,1937,1904,1971,0,0,0,0,0,0,25.11,24.93,24.27
$GC,4323,1.38,180.8,2662,3679,1901,1953,316.5,8.9,250,4337,0.00,2.15,3.95,0.612,9222,0.000,0.024,2673,2309,1901,1875,1927,0,0,0,0,0,0,28.83,25.48,24.57
$GC,4634,1.38,181.6,2672,2309,1876,1931,287.6,9.2,266,4635,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2309,1903,1876,1931,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4935,1.38,181.6,2672,2309,1875,1931,260.6,9.7,281,4941,0.00,2.20,0.00,0.000,516,0.000,0.042,2683,890,1903,1875,1932,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4994,1.40,188.7,2683,890,1875,1931,256.5,9.0,283,5014,0.00,2.08,12.18,0.802,9222,0.000,0.018,2683,2295,1864,1836,1892,0,0,0,0,0,0,28.83,26.40,25.41
$GC,5329,1.41,193.1,2683,2295,1833,1882,225.2,9.1,300,5334,0.00,2.12,0.00,0.000,260,0.000,0.034,2683,3697,1857,1833,1882,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5353,1.43,199.6,1680,3697,1787,1872,223.0,9.0,301,5370,0.00,2.12,10.10,0.785,9222,0.000,0.025,2693,2294,1822,1794,1850,0,0,0,0,0,0,28.83,26.39,25.47
$GC,5679,1.46,212.1,2693,2294,1790,1841,193.9,8.8,317,5703,0.00,2.25,12.65,0.765,8708,0.000,0.043,2704,893,1768,1738,1799,0,0,0,0,0,0,28.83,26.18,25.48
$GC,5720,1.47,218.8,2704,893,1738,1798,192.0,9.0,318,5730,0.00,2.10,4.85,0.697,9222,0.000,0.018,2704,2299,1748,1716,1780,0,0,0,0,0,0,28.83,26.27,25.23
$GC,6026,1.49,223.2,2704,2299,1715,1780,162.6,9.1,334,6039,0.00,2.22,7.12,0.744,8452,0.000,0.037,2704,3702,1726,1693,1759,0,0,0,0,0,0,28.83,26.25,25.50
$GC,6118,1.51,234.4,1728,3701,1654,1747,154.8,8.9,338,6136,0.00,2.15,12.15,0.743,9222,0.000,0.026,2714,2290,1681,1647,1716,0,0,0,0,0,0,28.83,26.32,25.44
$GC,6435,1.55,250.0,2714,2290,1644,1707,126.6,8.7,354,6455,0.00,0.00,15.93,0.711,8198,0.000,0.000,2714,2290,1615,1569,1661,0,0,0,0,0,0,28.83,28.83,25.45
$GC,6755,1.58,259.1,2714,2290,1566,1654,97.4,8.9,370,6771,0.00,2.25,8.65,0.692,8708,0.000,0.044,2724,896,1578,1529,1628,0,0,0,0,0,0,28.83,26.21,25.53
$GC,6803,1.61,272.4,2724,896,1528,1626,93.5,8.8,372,6823,0.00,2.10,14.43,0.676,9222,0.000,0.018,2725,2302,1527,1476,1579,0,0,0,0,0,0,28.83,26.30,25.42
$GC,7120,1.61,272.5,2725,2302,1471,1569,64.7,9.3,388,7126,0.00,2.15,0.00,0.000,260,0.000,0.037,2725,3702,1519,1471,1568,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7194,1.62,277.3,2724,3702,1471,1568,58.7,9.1,391,7202,0.00,2.12,3.00,0.427,9222,0.000,0.027,2735,2302,1508,1457,1559,0,0,0,0,0,0,28.83,26.36,25.35
$GC,7511,1.65,290.7,2734,2302,1458,1560,29.6,8.8,418,7531,0.00,0.00,16.92,0.607,8198,0.000,0.000,2735,2302,1452,1403,1501,0,0,0,0,0,0,28.83,28.83,25.61
$STATE,7803,end climb,SURFACE_DEPTH_REACHED
$STATE,7803,begin surface coast
$FINISH,0.0,1.025827
$STATE,7843,end surface coast,CONTROL_FINISHED_OK
$STATE,7843,begin surface
$SM_CCo,7859,213.12,0.751,3,0,400,549.47
$SM_CCo,8090,-0.12,0.000,0,0,404,549.47
$SM_CCo,8093,2.67,0.310,0,0,400,549.47
$SM_GC,-23.93,7.47,0.50,2.67,0.077,0.042,0.310,90,1955,400,-10.37,0.99,549.47,0,0,0,0,0,0,26.41,26.45,24.61
$IRIDIUM_FIX,1922.94,12005.68,190313,131332
$TT8_MAMPS,0.023968,0.023968
$HUMID,49.48
$INTERNAL_PRESSURE,9.05807
$TCM_TEMP,18.20
$XPDR_PINGS,1
$SC_FREEKB,3969664
$24V_AH,24.2,24.416
$10V_AH,10.1,14.299
$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,17.300,60.800,430.300,215.800,0.000,0.000,0.000,212.550,0.250,0.000,21.844,1756.228,4304.147,752.252,1378.475,269.737,0.000,1704.743,0.000,1150.965,0.000,1.482,0.000
$DEVICE_MAMPS,225.675,43.605,1028.925,751.230,0.000,0.000,0.000,136.935,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7849.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.921,0.000,0.000,0.000
$MEM,323872
$DATA_FILE_SIZE,16757,475
$CAP_FILE_SIZE,343750,1730
$CFSIZE,260034560,234876928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$CURRENT,0.168, 40.9,1
$GPS,190313,181235,1931.006,12006.857,255,0.7,255,-2.5