version: 66.11
glider: 121
mission: 10
dive: 144
start: 3 20 113 3 59 57
data:
$ID,121
$MISSION,10
$DIVE,144
$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,-100675.61
$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,53
$R_STBD_OVSHOOT,61
$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
$GPS1,200313,035300,1934.402,12006.523,142,1.8,142,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-66.0
$GPS2,200313,035930,1934.306,12006.499,16,1.6,17,-2.6
$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,5.6,242304,-18.5,-9.259,-21.12,2828
$D_GRID,4097
$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,-170.3,82,1950,330,472,0.0,0.0,0,44,0.00,0.00,-23.92,0.000,16386,0.000,0.000,82,1950,1020,1004,1036,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.35,-170.3,82,1950,1004,1038,3.1,-8.9,3,152,7.97,2.17,-86.47,0.000,18948,0.220,0.054,2108,585,3337,3244,3431,0,0,0,0,0,0,25.85,26.16,26.46
$GC,214,-1.35,-170.3,1256,585,3221,3428,18.7,-8.8,28,222,0.00,2.05,0.00,0.000,1030,0.000,0.015,2100,1998,3339,3248,3431,0,0,0,0,0,0,28.83,26.30,28.83
$GC,535,-1.35,-170.3,2100,1999,3251,3431,47.3,-9.0,65,541,0.00,2.00,0.00,0.000,260,0.000,0.029,2090,3353,3341,3251,3431,0,0,0,0,0,0,28.83,26.43,28.83
$GC,583,-1.35,-170.3,2089,3353,3250,3431,51.5,-8.8,69,589,0.00,2.05,0.00,0.000,1030,0.000,0.024,2098,1979,3340,3250,3431,0,0,0,0,0,0,28.83,26.45,28.83
$GC,908,-1.35,-170.3,2098,1978,3253,3430,81.4,-9.2,85,914,0.00,2.12,0.00,0.000,516,0.000,0.039,2110,577,3341,3252,3431,0,0,0,0,0,0,28.83,26.51,28.83
$GC,999,-1.35,-170.3,2107,576,3253,3431,89.2,-8.9,89,1006,0.00,2.00,0.00,0.000,1030,0.000,0.015,2099,1981,3342,3253,3431,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1320,-1.35,-170.3,2099,1981,3253,3431,118.2,-9.0,105,1321,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,1981,3342,3253,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1622,-1.35,-170.3,2099,1981,3253,3430,145.0,-9.0,120,1623,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,1981,3342,3253,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1921,-1.35,-170.3,2099,1981,3255,3429,172.1,-9.3,135,1927,0.00,2.03,0.00,0.000,260,0.000,0.029,2089,3357,3340,3253,3428,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2043,-1.35,-170.3,2089,3357,3253,3427,182.0,-9.1,140,2051,0.00,2.05,0.00,0.000,1030,0.000,0.024,2096,1974,3340,3253,3427,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2351,-1.35,-170.3,2096,1974,3254,3423,211.1,-9.0,156,2352,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,1974,3338,3254,3423,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2651,-1.35,-170.3,2096,1974,3254,3421,238.1,-9.0,171,2657,0.00,2.08,0.00,0.000,260,0.000,0.029,2087,3354,3337,3254,3420,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2684,-1.35,-170.3,2087,3355,3254,3421,240.3,-8.9,172,2691,0.00,2.08,0.00,0.000,1030,0.000,0.026,2089,1966,3337,3254,3420,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3001,-1.35,-170.3,2088,1965,3254,3417,269.4,-9.0,188,3002,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,1965,3335,3254,3417,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3301,-1.35,-170.3,2088,1965,3253,3415,296.5,-9.1,203,3308,0.00,2.12,0.00,0.000,516,0.000,0.044,2098,575,3333,3252,3414,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3388,-1.35,-170.3,1280,572,3227,3411,304.6,-9.2,207,3395,0.00,2.03,0.00,0.000,1030,0.000,0.016,2089,1980,3333,3253,3414,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3714,-1.35,-170.3,2089,1980,3251,3411,334.9,-9.1,223,3715,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,1980,3331,3251,3411,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3891,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3891,begin apogee
$GC,3896,-0.25,0.0,2087,2308,3250,3410,351.0,-8.9,232,4053,0.77,0.00,148.93,0.847,10246,0.119,0.000,2343,2309,2632,2583,2682,0,0,0,0,0,0,26.51,28.83,24.56
$STATE,4054,end apogee,CONTROL_FINISHED_OK
$STATE,4055,begin climb
$GC,4056,1.35,170.3,2341,2309,2579,2678,337.0,0.0,239,4218,1.02,2.28,153.57,0.821,10500,0.063,0.033,2703,3684,1937,1904,1971,0,0,0,0,0,0,25.29,25.06,24.40
$GC,4435,1.36,174.2,2703,3684,1899,1948,302.7,9.1,256,4441,0.00,2.12,0.00,0.000,1030,0.000,0.023,2713,2298,1923,1899,1948,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4754,1.36,174.2,2713,2298,1899,1945,273.7,9.3,272,4756,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2298,1922,1899,1945,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5056,1.38,182.9,2713,2298,1897,1943,246.8,8.9,287,5067,0.00,2.17,4.25,0.616,8708,0.000,0.041,2723,894,1893,1868,1919,0,0,0,0,0,0,28.83,26.36,25.41
$GC,5116,1.40,189.5,2723,893,1868,1923,242.6,9.0,289,5135,0.00,2.05,12.40,0.762,9222,0.000,0.016,2724,2293,1862,1835,1889,0,0,0,0,0,0,28.83,26.46,25.50
$GC,5449,1.40,189.5,2723,2293,1831,1878,211.0,9.4,306,5455,0.00,2.12,0.00,0.000,260,0.000,0.034,2723,3693,1854,1831,1878,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5488,1.40,190.3,2723,3694,1831,1878,208.8,9.2,307,5497,0.12,2.10,0.00,0.000,5126,0.197,0.024,2705,2299,1854,1831,1878,0,0,0,0,0,0,26.21,26.44,28.83
$GC,5796,1.43,200.2,2705,2300,1831,1877,180.1,8.9,323,5811,0.00,2.17,9.90,0.721,8708,0.000,0.040,2715,896,1818,1791,1846,0,0,0,0,0,0,28.83,26.34,25.65
$GC,5834,1.45,209.7,2715,896,1788,1844,177.8,8.9,324,5849,0.00,2.08,9.40,0.716,9222,0.000,0.018,2715,2302,1784,1754,1814,0,0,0,0,0,0,28.83,26.42,25.56
$GC,6170,1.46,215.1,2715,2302,1749,1804,146.8,9.1,341,6182,0.00,2.15,4.05,0.591,8452,0.000,0.034,2715,3685,1762,1733,1791,0,0,0,0,0,0,28.83,26.38,25.41
$GC,6257,1.48,221.3,1728,3684,1693,1783,138.7,9.0,345,6274,0.00,2.10,9.27,0.698,9222,0.000,0.024,2725,2294,1733,1701,1765,0,0,0,0,0,0,28.83,26.42,25.59
$GC,6582,1.50,229.6,2724,2294,1699,1759,109.3,9.0,361,6595,0.00,2.25,8.10,0.676,8708,0.000,0.041,2735,892,1700,1667,1733,0,0,0,0,0,0,28.83,26.31,25.63
$GC,6630,1.53,241.2,2735,892,1665,1732,105.0,8.8,363,6647,0.00,2.08,12.27,0.667,9222,0.000,0.018,2736,2302,1656,1614,1698,0,0,0,0,0,0,28.83,26.40,25.56
$GC,6956,1.58,261.5,2735,2302,1600,1690,76.2,8.5,379,6984,0.00,2.17,19.77,0.631,8452,0.000,0.034,2735,3682,1566,1514,1618,0,0,0,0,0,0,28.83,26.15,25.52
$GC,7177,1.60,268.2,2735,3683,1514,1613,57.3,9.0,389,7191,0.00,2.10,4.62,0.574,9222,0.000,0.024,2745,2298,1544,1492,1596,0,0,0,0,0,0,28.83,26.33,25.39
$GC,7488,1.61,273.7,2745,2299,1492,1597,28.4,9.1,416,7503,0.00,2.22,7.82,0.590,8452,0.000,0.033,2745,3691,1519,1466,1573,0,0,0,0,0,0,28.83,26.32,25.70
$GC,7549,1.62,277.6,1728,3690,1436,1565,22.9,9.1,423,7558,0.00,2.12,3.03,0.400,9222,0.000,0.024,2755,2289,1507,1455,1560,0,0,0,0,0,0,28.83,26.37,25.47
$STATE,7775,end climb,SURFACE_DEPTH_REACHED
$STATE,7775,begin surface coast
$FINISH,0.0,1.025264
$STATE,7809,end surface coast,CONTROL_FINISHED_OK
$STATE,7809,begin surface
$SM_CCo,7825,226.57,0.718,3,0,396,550.45
$SM_CCo,8071,-0.17,0.000,0,0,403,549.47
$SM_CCo,8074,2.65,0.292,0,0,400,549.47
$SM_GC,-23.93,7.55,0.47,2.65,0.078,0.041,0.292,81,1956,400,-10.57,1.05,549.47,0,0,0,0,0,0,26.45,26.48,24.69
$IRIDIUM_FIX,1925.22,12005.68,200313,010115
$TT8_MAMPS,0.023968,0.023968
$HUMID,47.95
$INTERNAL_PRESSURE,9.11667
$TCM_TEMP,19.30
$XPDR_PINGS,0
$SC_FREEKB,3967744
$24V_AH,24.4,25.173
$10V_AH,10.2,14.598
$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,17.450,59.975,407.400,229.225,0.000,0.000,0.000,223.700,0.000,0.000,18.166,1811.479,4177.771,743.780,1440.001,278.149,0.000,1748.966,0.000,1216.248,0.000,1.486,0.000
$DEVICE_MAMPS,219.555,53.550,846.855,717.570,0.000,0.000,0.000,130.815,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7811.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.895,0.000,0.000,0.000
$MEM,323904
$DATA_FILE_SIZE,16799,470
$CAP_FILE_SIZE,354795,1845
$CFSIZE,260034560,234340352
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$CURRENT,0.066,357.2,1
$GPS,200313,061805,1935.387,12006.477,173,1.7,173,-2.6