version: 66.11
glider: 121
mission: 10
dive: 140
start: 3 19 113 18 19 32
data:
$ID,121
$MISSION,10
$DIVE,140
$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,-100670.57
$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,2380
$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,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
$GPS1,190313,181235,1931.006,12006.857,255,0.7,255,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-64.5
$GPS2,190313,181905,1931.035,12006.922,25,1.0,26,-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,330.7,248389,-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,-170.3,89,1943,343,490,0.0,0.0,0,43,0.00,0.00,-23.12,0.000,16386,0.000,0.000,88,1944,1019,1002,1036,0,0,0,0,0,0,28.83,28.83,28.83
$GC,45,-1.35,-170.3,88,1945,1002,1038,3.1,-9.0,3,157,7.90,0.00,-95.70,0.000,18694,0.222,0.000,2081,1946,3336,3243,3429,0,0,0,0,0,0,25.86,28.83,26.47
$GC,475,-1.35,-170.3,2081,1945,3248,3428,42.5,-9.4,60,480,0.00,2.10,0.00,0.000,516,0.000,0.038,2091,575,3338,3248,3429,0,0,0,0,0,0,28.83,26.38,28.83
$GC,504,-1.35,-170.3,2090,575,3248,3429,44.8,-9.1,62,512,0.00,2.05,0.00,0.000,1030,0.000,0.015,2082,1996,3339,3248,3430,0,0,0,0,0,0,28.83,26.46,28.83
$GC,822,-1.35,-170.3,2082,1997,3252,3429,73.5,-8.8,81,828,0.00,2.03,0.00,0.000,260,0.000,0.029,2072,3368,3340,3252,3428,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1061,-1.35,-170.3,2071,3368,3253,3428,94.8,-8.7,92,1066,0.00,2.08,0.00,0.000,1030,0.000,0.024,2080,1977,3340,3252,3429,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1385,-1.35,-170.3,2080,1977,3253,3428,123.8,-9.1,108,1392,0.00,2.12,0.00,0.000,516,0.000,0.041,2090,572,3341,3253,3429,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1476,-1.35,-170.3,1296,572,3228,3425,131.6,-9.1,112,1482,0.00,2.03,0.00,0.000,1030,0.000,0.016,2082,1985,3341,3253,3429,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1795,-1.35,-170.3,2081,1987,3255,3426,160.3,-9.3,128,1801,0.00,2.17,0.00,0.000,516,0.000,0.040,2090,577,3340,3254,3426,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1862,-1.35,-170.3,2090,576,3254,3426,166.1,-8.6,131,1868,0.00,2.00,0.00,0.000,1030,0.000,0.016,2082,1974,3340,3255,3426,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2187,-1.35,-170.3,2081,1974,3254,3422,195.2,-8.9,147,2193,0.00,2.15,0.00,0.000,516,0.000,0.041,2090,575,3338,3254,3422,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2226,-1.35,-170.3,2090,575,3254,3422,197.3,-8.9,148,2234,0.00,2.00,0.00,0.000,1030,0.000,0.016,2081,1972,3338,3254,3422,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2533,-1.35,-170.3,2081,1973,3254,3419,226.4,-8.9,164,2539,0.00,2.05,0.00,0.000,260,0.000,0.031,2071,3360,3336,3254,3418,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2559,-1.35,-170.3,2070,3360,3254,3417,228.6,-8.8,165,2565,0.00,2.08,0.00,0.000,1030,0.000,0.027,2073,1970,3335,3254,3417,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2884,-1.35,-170.3,2073,1970,3254,3415,257.8,-9.0,181,2890,0.00,2.12,0.00,0.000,516,0.000,0.044,2083,574,3334,3253,3415,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2919,-1.35,-170.3,2082,574,3253,3415,260.0,-8.9,182,2925,0.00,2.03,0.00,0.000,1030,0.000,0.017,2074,1979,3334,3253,3415,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3234,-1.35,-170.3,2073,1980,3252,3412,289.0,-8.9,198,3235,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,1980,3332,3253,3412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3536,-1.35,-170.3,2073,1980,3250,3410,315.8,-8.7,213,3542,0.00,2.17,0.00,0.000,516,0.000,0.043,2082,575,3330,3250,3410,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3581,-1.35,-170.3,1280,575,3224,3406,320.2,-9.1,215,3587,0.00,2.03,0.00,0.000,1030,0.000,0.016,2073,1975,3329,3249,3410,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3906,-1.35,-170.3,2073,1976,3248,3408,348.8,-9.0,231,3912,0.00,2.17,0.00,0.000,516,0.000,0.044,2082,572,3327,3248,3407,0,0,0,0,0,0,28.83,26.65,28.83
$STATE,3930,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3931,begin apogee
$GC,3938,-0.25,0.0,2071,2295,3248,3407,351.0,-8.9,232,4094,0.77,0.00,142.62,1.042,10246,0.124,0.000,2321,2296,2639,2590,2689,0,0,0,0,1,0,26.50,28.83,24.25
$STATE,4096,end apogee,CONTROL_FINISHED_OK
$STATE,4096,begin climb
$GC,4098,1.35,170.3,2321,2296,2590,2689,336.7,0.0,239,4291,1.02,2.25,183.27,0.798,10500,0.067,0.033,2680,3691,1938,1905,1972,0,0,0,0,0,0,25.15,24.98,24.40
$GC,4378,1.38,180.7,2680,3692,1901,1953,311.9,8.9,251,4392,0.00,2.17,3.38,0.474,9222,0.000,0.024,2691,2299,1901,1874,1928,0,0,0,0,0,0,28.83,25.58,24.71
$GC,4689,1.42,198.9,2690,2299,1874,1937,283.7,8.6,267,4719,0.00,2.30,23.42,0.813,8708,0.000,0.042,2701,899,1821,1791,1851,0,0,0,0,0,0,28.83,25.76,25.06
$GC,4753,1.47,215.4,2701,899,1787,1846,279.4,8.7,269,4776,0.00,2.12,16.10,0.815,9222,0.000,0.018,2700,2311,1754,1723,1785,0,0,0,0,0,0,28.83,25.93,24.95
$GC,5086,1.47,215.4,2701,2311,1719,1774,248.2,9.3,286,5092,0.00,2.12,0.00,0.000,260,0.000,0.035,2701,3695,1746,1719,1774,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5194,1.49,225.8,2701,3695,1719,1773,238.6,8.9,291,5210,0.00,2.12,8.93,0.781,9222,0.000,0.024,2710,2298,1714,1681,1747,0,0,0,0,0,0,28.83,26.29,25.38
$GC,5519,1.49,225.8,2710,2298,1680,1738,209.2,9.4,307,5520,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2298,1709,1680,1738,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5820,1.50,230.9,2710,2298,1680,1737,182.2,9.1,322,5832,0.00,2.20,3.30,0.516,8452,0.000,0.034,2710,3691,1697,1666,1729,0,0,0,0,0,0,28.83,26.42,25.37
$GC,5910,1.51,233.4,2710,3691,1666,1729,174.0,9.2,326,5921,0.00,2.10,3.67,0.581,9222,0.000,0.026,2719,2300,1687,1654,1720,0,0,0,0,0,0,28.83,26.46,25.39
$GC,6234,1.53,241.5,2720,2300,1653,1721,144.2,9.0,342,6254,0.00,0.00,10.90,0.718,8198,0.000,0.000,2720,2300,1649,1605,1694,0,0,0,0,0,0,28.83,28.83,25.62
$GC,6554,1.58,261.9,2720,2300,1601,1692,115.1,8.5,358,6583,0.00,2.20,20.83,0.682,8452,0.000,0.034,2720,3680,1565,1514,1617,0,0,0,0,0,0,28.83,26.17,25.51
$GC,6644,1.61,272.7,2720,3680,1514,1615,107.2,8.9,362,6661,0.00,2.10,11.43,0.689,9222,0.000,0.026,2730,2301,1526,1474,1579,0,0,0,0,0,0,28.83,26.25,25.44
$GC,6969,1.61,272.7,2730,2301,1469,1569,77.3,9.3,378,6970,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2301,1519,1469,1569,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7270,1.61,272.7,2730,2301,1469,1567,50.2,9.3,393,7276,0.00,2.20,0.00,0.000,516,0.000,0.044,2741,889,1518,1469,1567,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7349,1.62,276.5,2741,889,1469,1567,43.0,9.1,399,7356,0.00,2.08,0.00,0.000,1030,0.000,0.018,2741,2296,1518,1469,1567,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7667,1.63,279.4,1728,2294,1440,1560,14.2,9.2,440,7683,0.00,2.20,4.85,0.576,8452,0.000,0.036,2741,3697,1499,1448,1550,0,0,0,0,0,0,28.83,26.46,25.57
$GC,7740,1.65,288.3,2740,3696,1448,1550,7.6,8.9,452,7764,0.00,2.12,11.95,0.585,9222,0.000,0.027,2751,2293,1457,1408,1507,0,0,0,0,0,0,28.83,26.50,25.73
$STATE,7792,end climb,SURFACE_DEPTH_REACHED
$STATE,7792,begin surface coast
$FINISH,0.0,1.025889
$STATE,7826,end surface coast,CONTROL_FINISHED_OK
$STATE,7826,begin surface
$SM_CCo,7843,216.45,0.740,3,0,400,549.47
$SM_CCo,8077,0.00,0.000,0,0,399,549.47
$SM_CCo,8080,0.00,0.000,0,0,399,549.47
$SM_GC,-23.93,7.57,0.47,0.00,0.080,0.043,0.000,86,1963,399,-10.46,1.22,549.47,0,0,0,0,0,0,26.38,26.41,28.83
$IRIDIUM_FIX,1922.94,12005.68,190313,151538
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.66
$INTERNAL_PRESSURE,9.05807
$TCM_TEMP,18.40
$XPDR_PINGS,0
$SC_FREEKB,3969280
$24V_AH,24.2,24.575
$10V_AH,10.2,14.360
$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,17.275,68.750,444.650,216.450,0.000,0.000,0.000,217.300,0.000,0.000,26.468,1781.622,4171.639,794.186,1434.618,273.156,0.000,1796.591,0.000,1199.359,0.000,1.484,0.000
$DEVICE_MAMPS,221.850,43.605,1041.930,739.755,0.000,0.000,0.000,133.110,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7828.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.920,0.000,0.000,0.000
$MEM,323896
$DATA_FILE_SIZE,16743,466
$CAP_FILE_SIZE,352947,1809
$CFSIZE,260034560,234762240
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$CURRENT,0.120, 51.7,1
$GPS,190313,203837,1931.990,12006.897,225,0.8,226,-2.5