version: 66.11
glider: 121
mission: 10
dive: 141
start: 3 19 113 20 45 58
data:
$ID,121
$MISSION,10
$DIVE,141
$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,-100671.84
$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,49
$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
$GPS1,190313,203837,1931.990,12006.897,225,0.8,226,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-66.4
$GPS2,190313,204531,1932.018,12006.957,18,0.9,19,-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,335.7,246574,-18.5,-9.259,-21.12,2828
$D_GRID,4137
$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,-170.3,84,1952,330,478,0.0,0.0,0,43,0.00,0.00,-23.30,0.000,16386,0.000,0.000,84,1952,1012,994,1030,0,0,0,0,0,0,28.83,28.83,28.83
$GC,45,-1.35,-170.3,84,1952,994,1032,3.1,-8.8,3,151,7.88,2.17,-87.57,0.000,18692,0.219,0.044,2071,3380,3337,3245,3430,0,0,0,0,0,0,25.82,26.17,26.45
$GC,249,-1.35,-170.3,1232,3378,3220,3427,21.9,-9.0,35,257,0.00,2.12,0.00,0.000,1030,0.000,0.025,2080,1974,3339,3248,3430,0,0,0,0,0,0,28.83,26.27,28.83
$GC,577,-1.35,-170.3,2079,1973,3251,3429,51.7,-8.8,69,578,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,1972,3340,3251,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,878,-1.35,-170.3,2079,1973,3253,3430,79.3,-8.5,84,884,0.00,2.12,0.00,0.000,260,0.000,0.028,2071,3384,3341,3253,3430,0,0,0,0,0,0,28.83,26.51,28.83
$GC,945,-1.35,-170.3,2071,3383,3253,3430,85.4,-8.9,87,951,0.00,2.10,0.00,0.000,1030,0.000,0.024,2078,1972,3341,3253,3430,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1270,-1.35,-170.3,2077,1971,3255,3430,114.7,-8.8,103,1276,0.00,2.12,0.00,0.000,516,0.000,0.041,2081,570,3342,3255,3430,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1367,-1.35,-170.3,2081,571,3255,3430,122.6,-8.9,107,1373,0.00,2.05,0.00,0.000,1030,0.000,0.015,2073,2005,3342,3255,3430,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1681,-1.35,-170.3,2073,2005,3254,3429,152.0,-9.2,123,1683,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,2005,3341,3254,3429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1982,-1.35,-170.3,2073,2005,3254,3426,178.9,-9.1,138,1988,0.00,2.20,0.00,0.000,516,0.000,0.040,2078,574,3340,3254,3426,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2062,-1.35,-170.3,1280,573,3230,3423,185.0,-9.2,141,2070,0.00,2.00,0.00,0.000,1030,0.000,0.016,2069,1970,3340,3254,3426,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2369,-1.35,-170.3,2069,1972,3254,3422,213.9,-9.0,157,2375,0.00,2.05,0.00,0.000,260,0.000,0.031,2059,3356,3338,3254,3422,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2424,-1.35,-170.3,2059,3356,3254,3421,218.0,-8.9,159,2432,0.10,2.08,0.00,0.000,3078,0.167,0.027,2084,1965,3338,3254,3422,0,0,0,0,0,0,26.50,26.66,28.83
$GC,2741,-1.35,-170.3,2083,1965,3255,3419,247.2,-8.9,175,2747,0.00,2.12,0.00,0.000,516,0.000,0.044,2094,573,3336,3254,3418,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2810,-1.35,-170.3,2094,573,3254,3418,253.3,-8.9,178,2815,0.00,2.03,0.00,0.000,1030,0.000,0.017,2085,1972,3336,3254,3418,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3134,-1.35,-170.3,2085,1973,3253,3415,282.3,-9.1,194,3136,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,1973,3334,3253,3415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3436,-1.35,-170.3,2085,1974,3252,3412,309.6,-9.5,209,3442,0.00,2.17,0.00,0.000,516,0.000,0.044,2093,574,3332,3253,3412,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3465,-1.35,-170.3,2093,574,3252,3412,312.0,-9.3,210,3472,0.00,2.03,0.00,0.000,1030,0.000,0.017,2085,1977,3331,3252,3411,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3785,-1.35,-170.3,2085,1978,3249,3410,341.5,-9.0,226,3791,0.00,2.08,0.00,0.000,260,0.000,0.034,2075,3370,3329,3249,3409,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3814,-1.35,-170.3,2074,3370,3249,3409,343.7,-9.0,227,3820,0.00,2.10,0.00,0.000,1030,0.000,0.029,2074,1975,3329,3249,3409,0,0,0,0,0,0,28.83,26.67,28.83
$STATE,3892,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3892,begin apogee
$GC,3897,-0.25,0.0,2073,2308,3248,3408,351.2,-8.9,231,4060,0.77,0.00,151.65,1.006,10246,0.124,0.000,2324,2308,2640,2590,2691,0,0,0,0,1,0,26.50,28.83,24.24
$STATE,4063,end apogee,CONTROL_FINISHED_OK
$STATE,4063,begin climb
$GC,4065,1.35,170.3,2324,2308,2590,2689,337.0,0.0,238,4236,1.02,2.22,160.32,0.842,10500,0.068,0.034,2680,3684,1935,1903,1968,0,0,0,0,0,0,25.12,24.94,24.30
$GC,4477,1.36,173.3,2679,3684,1900,1947,298.6,9.2,257,4483,0.00,2.12,0.00,0.000,1030,0.000,0.024,2690,2300,1923,1900,1947,0,0,0,0,0,0,28.83,25.96,28.83
$GC,4802,1.37,176.2,2690,2299,1899,1944,269.2,9.2,273,4808,0.00,2.15,0.00,0.000,260,0.000,0.034,2690,3690,1922,1900,1944,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5017,1.39,184.2,2689,3690,1899,1942,250.3,9.0,283,5028,0.00,2.10,5.15,0.701,9222,0.000,0.024,2700,2299,1889,1864,1914,0,0,0,0,0,0,28.83,26.39,25.47
$GC,5337,1.41,191.5,2700,2299,1865,1922,220.6,9.0,299,5360,0.00,2.22,13.02,0.757,8708,0.000,0.041,2710,906,1850,1822,1878,0,0,0,0,0,0,28.83,26.21,25.53
$GC,5394,1.43,199.3,2710,905,1821,1877,216.4,9.0,301,5407,0.00,2.05,4.80,0.676,9222,0.000,0.018,2710,2291,1826,1796,1856,0,0,0,0,0,0,28.83,26.31,25.28
$GC,5704,1.43,199.3,2710,2291,1796,1856,187.5,9.3,317,5705,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2291,1826,1796,1856,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6006,1.44,205.2,2710,2291,1796,1856,160.5,9.0,332,6021,0.00,2.15,8.35,0.717,8452,0.000,0.036,2710,3690,1800,1770,1831,0,0,0,0,0,0,28.83,26.35,25.63
$GC,6093,1.45,208.6,2710,3690,1770,1828,152.4,9.1,336,6105,0.12,2.10,3.47,0.544,13318,0.190,0.025,2691,2301,1787,1758,1817,0,0,0,0,0,0,26.20,26.41,25.39
$GC,6419,1.47,215.8,2690,2301,1758,1817,122.8,9.0,352,6431,0.00,0.00,9.57,0.700,8198,0.000,0.000,2691,2301,1759,1729,1789,0,0,0,0,0,0,28.83,28.83,25.64
$GC,6720,1.50,229.3,2691,2301,1726,1781,96.1,8.8,367,6743,0.00,2.20,14.32,0.672,8708,0.000,0.042,2701,894,1698,1666,1731,0,0,0,0,0,0,28.83,26.22,25.59
$GC,6780,1.54,243.4,2701,894,1666,1731,91.9,8.7,369,6799,0.00,2.10,14.23,0.666,9222,0.000,0.018,2701,2304,1645,1601,1690,0,0,0,0,0,0,28.83,26.33,25.48
$GC,7114,1.56,252.2,2701,2304,1593,1680,60.6,8.9,386,7130,0.00,2.28,8.43,0.653,8708,0.000,0.041,2711,906,1606,1558,1655,0,0,0,0,0,0,28.83,26.22,25.57
$GC,7168,1.59,265.0,2711,907,1558,1653,56.5,8.8,388,7187,0.00,2.08,13.68,0.637,9222,0.000,0.019,2711,2299,1556,1505,1607,0,0,0,0,0,0,28.83,26.32,25.48
$GC,7497,1.61,273.8,2711,2299,1501,1598,26.1,8.9,417,7511,0.00,2.22,8.95,0.620,8452,0.000,0.037,2711,3698,1519,1468,1570,0,0,0,0,0,0,28.83,26.22,25.58
$GC,7569,1.65,289.0,1680,3697,1436,1561,19.7,8.7,427,7592,0.00,2.12,16.05,0.599,9222,0.000,0.026,2720,2304,1457,1407,1507,0,0,0,0,0,0,28.83,26.29,25.48
$STATE,7756,end climb,SURFACE_DEPTH_REACHED
$STATE,7756,begin surface coast
$FINISH,0.0,1.026023
$STATE,7789,end surface coast,CONTROL_FINISHED_OK
$STATE,7790,begin surface
$SM_CCo,7805,217.05,0.767,2,0,399,549.47
$SM_CCo,8035,-0.10,0.000,0,0,402,549.47
$SM_CCo,8039,3.75,0.465,0,0,400,549.47
$SM_GC,-23.93,7.47,0.50,3.75,0.076,0.042,0.465,82,1959,400,-10.47,1.05,549.47,0,0,0,0,0,0,26.28,26.31,24.55
$IRIDIUM_FIX,1922.94,12005.68,190313,181816
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.42
$INTERNAL_PRESSURE,9.03854
$TCM_TEMP,18.20
$XPDR_PINGS,1
$SC_FREEKB,3968896
$24V_AH,24.2,24.734
$10V_AH,10.1,14.421
$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,17.375,64.650,432.000,220.800,0.000,0.000,0.000,246.225,0.250,0.000,20.509,1823.543,4113.097,755.521,1472.635,276.507,0.000,1781.036,0.000,1222.194,0.000,1.485,0.000
$DEVICE_MAMPS,218.790,44.370,1005.975,767.295,0.000,0.000,0.000,127.755,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,5.895,0.000,0.000,0.000
$MEM,323916
$DATA_FILE_SIZE,16842,466
$CAP_FILE_SIZE,358486,1858
$CFSIZE,260034560,234651648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$CURRENT,0.074, 64.8,1
$GPS,190313,230528,1932.775,12006.838,289,0.7,289,-2.5