version: 66.11
glider: 121
mission: 10
dive: 142
start: 3 19 113 23 12 25
data:
$ID,121
$MISSION,10
$DIVE,142
$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,-100673.1
$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,2400
$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,53
$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
$GPS1,190313,230528,1932.775,12006.838,289,0.7,289,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-66.4
$GPS2,190313,231157,1932.735,12006.894,18,0.6,19,-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,343.0,245241,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.35,-170.3,81,1947,330,474,0.0,0.0,0,43,0.00,0.00,-23.65,0.000,16386,0.000,0.000,81,1948,1016,1000,1033,0,0,0,0,0,0,28.83,28.83,28.83
$GC,45,-1.35,-170.3,81,1947,1000,1035,3.2,-9.2,3,150,7.95,2.22,-86.22,0.000,18692,0.219,0.044,2089,3375,3337,3245,3430,0,0,0,0,0,0,25.82,26.17,26.45
$GC,213,-1.35,-170.3,2089,3375,3248,3432,18.7,-9.1,28,221,0.00,2.12,0.00,0.000,1030,0.000,0.025,2097,1974,3339,3248,3430,0,0,0,0,0,0,28.83,26.25,28.83
$GC,530,-1.35,-170.3,2097,1974,3252,3430,47.3,-9.3,65,536,0.00,2.15,0.00,0.000,516,0.000,0.041,2108,570,3340,3251,3430,0,0,0,0,0,0,28.83,26.39,28.83
$GC,570,-1.35,-170.3,2107,570,3252,3430,50.6,-8.9,68,578,0.00,2.05,0.00,0.000,1030,0.000,0.015,2101,1992,3341,3252,3430,0,0,0,0,0,0,28.83,26.47,28.83
$GC,878,-1.35,-170.3,2099,1994,3254,3430,78.0,-8.6,84,884,0.00,2.03,0.00,0.000,260,0.000,0.030,2089,3365,3342,3254,3430,0,0,0,0,0,0,28.83,26.51,28.83
$GC,986,-1.35,-170.3,2089,3365,3254,3430,87.7,-8.9,89,992,0.00,2.10,0.00,0.000,1030,0.000,0.025,2097,1962,3342,3254,3430,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1311,-1.35,-170.3,2097,1962,3255,3430,116.6,-8.8,105,1317,0.00,2.10,0.00,0.000,516,0.000,0.041,2107,575,3342,3255,3430,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1391,-1.35,-170.3,2107,575,3255,3430,122.7,-9.3,108,1399,0.00,2.00,0.00,0.000,1030,0.000,0.016,2098,1977,3342,3255,3430,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1697,-1.35,-170.3,2098,1978,3255,3430,151.6,-9.1,124,1703,0.00,2.05,0.00,0.000,260,0.000,0.031,2088,3368,3342,3255,3429,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1758,-1.35,-170.3,2088,3368,3255,3428,155.7,-9.0,126,1767,0.00,2.08,0.00,0.000,1030,0.000,0.026,2089,1975,3341,3255,3428,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2064,-1.35,-170.3,2089,1975,3255,3426,185.2,-9.8,142,2071,0.00,2.15,0.00,0.000,516,0.000,0.044,2098,566,3340,3255,3426,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2111,-1.35,-170.3,2098,566,3254,3426,189.4,-9.3,144,2117,0.00,2.03,0.00,0.000,1030,0.000,0.016,2090,1980,3340,3255,3425,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2436,-1.35,-170.3,2090,1980,3255,3422,218.4,-9.0,160,2437,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,1980,3338,3254,3422,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2737,-1.35,-170.3,2090,1981,3254,3420,245.7,-9.2,175,2738,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,1981,3337,3254,3420,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3038,-1.35,-170.3,2090,1981,3254,3416,272.5,-9.0,190,3043,0.00,2.05,0.00,0.000,260,0.000,0.032,2080,3364,3335,3254,3416,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3067,-1.35,-170.3,2080,3364,3254,3416,275.0,-9.3,191,3074,0.10,2.08,0.00,0.000,3078,0.168,0.028,2105,1976,3335,3254,3416,0,0,0,0,0,0,26.51,26.67,28.83
$GC,3388,-1.35,-170.3,2104,1976,3253,3414,304.1,-9.1,207,3389,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,1976,3333,3253,3414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3688,-1.35,-170.3,2105,1975,3252,3412,330.8,-8.9,222,3694,0.00,2.10,0.00,0.000,260,0.000,0.032,2096,3362,3331,3252,3411,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3882,-1.35,-170.3,2096,3362,3251,3409,348.0,-9.0,231,3889,0.00,2.08,0.00,0.000,1030,0.000,0.028,2097,1979,3329,3250,3409,0,0,0,0,0,0,28.83,26.68,28.83
$STATE,3900,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3900,begin apogee
$GC,3906,-0.25,0.0,2097,2309,3250,3409,350.2,-9.0,232,4064,0.75,0.00,150.38,0.806,10246,0.119,0.000,2342,2309,2633,2582,2684,0,0,0,0,0,0,26.51,28.83,24.56
$STATE,4065,end apogee,CONTROL_FINISHED_OK
$STATE,4065,begin climb
$GC,4067,1.35,170.3,2342,2309,2578,2680,335.9,0.0,239,4229,1.00,2.28,152.52,0.800,10500,0.064,0.034,2697,3680,1937,1901,1973,0,0,0,0,0,0,25.28,25.03,24.41
$GC,4427,1.37,177.8,2697,3680,1897,1952,303.4,9.0,255,4433,0.00,2.12,1.33,0.050,9222,0.000,0.024,2707,2299,1913,1886,1941,0,0,0,0,0,0,28.83,25.92,25.87
$GC,4747,1.38,182.2,2707,2299,1887,1943,274.2,9.1,271,4752,0.00,0.00,3.35,0.500,8198,0.000,0.000,2707,2299,1896,1867,1925,0,0,0,0,0,0,28.83,28.83,25.23
$GC,5048,1.40,188.9,2706,2299,1867,1936,247.5,9.0,286,5067,0.00,0.00,12.65,0.741,8198,0.000,0.000,2706,2299,1861,1831,1892,0,0,0,0,0,0,28.83,28.83,25.49
$GC,5367,1.47,217.0,2706,2299,1830,1886,219.3,8.2,302,5402,0.00,2.17,27.25,0.717,8452,0.000,0.031,2706,3690,1747,1715,1779,0,0,0,0,0,0,28.83,26.00,25.35
$GC,5435,1.49,226.8,1712,3689,1673,1766,213.3,8.9,305,5452,0.00,2.12,9.10,0.713,9222,0.000,0.023,2716,2298,1709,1678,1740,0,0,0,0,0,0,28.83,26.09,25.29
$GC,5761,1.50,229.4,2716,2298,1678,1731,183.8,9.2,321,5762,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2298,1704,1677,1731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6062,1.51,234.4,2716,2298,1678,1729,156.6,9.1,336,6073,0.00,2.15,5.03,0.644,8452,0.000,0.031,2716,3692,1683,1653,1713,0,0,0,0,0,0,28.83,26.36,25.51
$GC,6092,1.53,240.4,2716,3692,1653,1713,154.3,9.0,337,6111,0.00,2.12,9.00,0.675,9222,0.000,0.025,2726,2293,1653,1613,1693,0,0,0,0,0,0,28.83,26.39,25.58
$GC,6409,1.55,247.6,2726,2293,1606,1692,124.6,9.0,353,6421,0.00,2.17,5.15,0.634,8708,0.000,0.043,2737,899,1629,1583,1676,0,0,0,0,0,0,28.83,26.32,25.58
$GC,6528,1.55,249.3,2737,899,1583,1676,114.8,9.2,358,6534,0.00,2.05,0.00,0.000,1030,0.000,0.018,2737,2293,1629,1583,1676,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6842,1.57,255.4,2737,2293,1583,1676,85.6,9.0,374,6859,0.00,2.12,10.10,0.612,8452,0.000,0.034,2737,3690,1594,1543,1645,0,0,0,0,0,0,28.83,26.35,25.72
$GC,6949,1.58,261.3,2737,3690,1541,1642,76.1,9.0,379,6961,0.00,2.10,4.82,0.581,9222,0.000,0.025,2747,2298,1573,1521,1626,0,0,0,0,0,0,28.83,26.41,25.48
$GC,7265,1.58,261.4,2746,2298,1521,1626,47.3,9.3,395,7271,0.00,2.17,0.00,0.000,516,0.000,0.042,2757,887,1573,1521,1626,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7332,1.60,270.9,2757,888,1521,1626,41.2,8.9,401,7351,0.00,2.08,11.90,0.565,9222,0.000,0.018,2757,2301,1531,1478,1585,0,0,0,0,0,0,28.83,26.53,25.73
$GC,7666,1.62,278.5,2757,2301,1477,1580,11.1,9.0,446,7681,0.00,2.20,8.10,0.542,8708,0.000,0.039,2767,900,1498,1446,1550,0,0,0,0,0,0,28.83,26.35,25.76
$GC,7734,1.66,292.3,1728,899,1417,1542,5.2,8.8,457,7757,0.00,2.08,13.90,0.524,9222,0.000,0.018,2767,2309,1441,1393,1490,0,0,0,0,0,0,28.83,26.45,25.69
$STATE,7764,end climb,SURFACE_DEPTH_REACHED
$STATE,7764,begin surface coast
$FINISH,0.0,1.024679
$STATE,7797,end surface coast,CONTROL_FINISHED_OK
$STATE,7799,begin surface
$SM_CCo,7815,206.95,0.686,2,0,398,549.47
$SM_CCo,8035,-0.17,0.000,0,0,402,549.47
$SM_CCo,8039,1.38,0.095,0,0,400,549.47
$SM_GC,-23.93,7.57,0.55,1.38,0.076,0.034,0.095,91,1954,400,-10.53,0.93,549.47,0,0,0,0,0,0,26.29,26.33,25.15
$IRIDIUM_FIX,1925.22,11938.17,190313,202027
$TT8_MAMPS,0.023968,0.023968
$HUMID,47.63
$INTERNAL_PRESSURE,9.1362
$TCM_TEMP,19.50
$XPDR_PINGS,1
$SC_FREEKB,3968512
$24V_AH,24.4,24.872
$10V_AH,10.2,14.482
$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,17.375,64.350,424.575,208.325,0.000,0.000,0.000,221.675,0.250,0.000,20.093,1799.694,4161.979,750.198,1428.248,274.625,0.000,1729.500,0.000,1187.075,0.000,1.483,0.000
$DEVICE_MAMPS,218.790,43.605,806.310,686.205,0.000,0.000,0.000,132.345,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7801.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.941,0.000,0.000,0.000
$MEM,323892
$DATA_FILE_SIZE,16799,467
$CAP_FILE_SIZE,354503,1825
$CFSIZE,260034560,234549248
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.037, 95.4,1
$GPS,200313,012833,1933.438,12006.869,89,1.1,89,-2.6