version: 66.11
glider: 121
mission: 10
dive: 145
start: 3 20 113 6 25 25
data:
$ID,121
$MISSION,10
$DIVE,145
$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,-100676.87
$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,51
$R_STBD_OVSHOOT,60
$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
$GPS1,200313,061805,1935.387,12006.477,173,1.7,173,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-64.4
$GPS2,200313,062459,1935.300,12006.400,15,0.9,16,-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,360.0,240457,-18.5,-9.259,-21.12,2828
$D_GRID,4090
$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,-170.3,80,1945,334,480,0.0,0.0,0,44,0.00,0.00,-24.15,0.000,16386,0.000,0.000,79,1945,1034,1015,1054,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.35,-170.3,80,1945,1015,1055,3.5,-9.3,3,153,7.97,2.20,-90.20,0.000,18948,0.220,0.054,2107,575,3336,3245,3428,0,0,0,0,0,0,25.82,26.17,26.46
$GC,167,-1.35,-170.3,2106,575,3247,3428,14.6,-8.4,19,175,0.00,2.05,0.00,0.000,1030,0.000,0.015,2099,1992,3337,3247,3428,0,0,0,0,0,0,28.83,26.26,28.83
$GC,486,-1.35,-170.3,2098,1993,3250,3429,43.2,-8.6,60,492,0.00,2.03,0.00,0.000,260,0.000,0.029,2088,3359,3339,3250,3428,0,0,0,0,0,0,28.83,26.41,28.83
$GC,607,-1.35,-170.3,2088,3359,3252,3428,53.2,-9.0,69,613,0.00,2.08,0.00,0.000,1030,0.000,0.024,2093,1971,3340,3252,3428,0,0,0,0,0,0,28.83,26.46,28.83
$GC,921,-1.35,-170.3,2093,1971,3253,3428,82.1,-8.7,85,927,0.00,2.12,0.00,0.000,516,0.000,0.040,2103,568,3340,3253,3428,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1023,-1.35,-170.3,2103,568,3254,3428,90.0,-9.2,89,1031,0.00,2.00,0.00,0.000,1030,0.000,0.015,2095,1979,3341,3254,3428,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1329,-1.35,-170.3,2095,1979,3254,3428,118.8,-8.7,105,1335,0.00,2.03,0.00,0.000,260,0.000,0.029,2085,3356,3341,3254,3428,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1381,-1.35,-170.3,2084,3356,3254,3428,123.2,-9.0,107,1387,0.00,2.05,0.00,0.000,1030,0.000,0.024,2092,1973,3341,3254,3428,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1701,-1.35,-170.3,2092,1972,3254,3428,152.6,-9.1,123,1707,0.00,2.08,0.00,0.000,260,0.000,0.028,2083,3359,3341,3254,3428,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1747,-1.35,-170.3,2083,3359,3254,3427,156.7,-8.9,125,1754,0.00,2.05,0.00,0.000,1030,0.000,0.025,2090,1977,3340,3254,3427,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2073,-1.35,-170.3,2090,1977,3254,3425,186.3,-9.2,141,2074,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,1976,3339,3254,3425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2374,-1.35,-170.3,2089,1976,3254,3422,213.1,-8.8,156,2375,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,1976,3338,3254,3422,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2674,-1.35,-170.3,2090,1977,3252,3419,240.8,-9.2,171,2680,0.00,2.12,0.00,0.000,516,0.000,0.042,2100,576,3335,3253,3418,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2731,-1.35,-170.3,2099,576,3253,3418,245.0,-8.8,173,2737,0.00,2.00,0.00,0.000,1030,0.000,0.016,2091,1977,3335,3253,3418,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3045,-1.35,-170.3,2090,1977,3253,3415,273.8,-8.5,189,3052,0.00,2.03,0.00,0.000,260,0.000,0.031,2081,3349,3333,3253,3414,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3080,-1.35,-170.3,2080,3349,3253,3414,275.9,-8.5,190,3087,0.10,2.05,0.00,0.000,3078,0.168,0.032,2106,1978,3333,3253,3414,0,0,0,0,0,0,26.52,26.67,28.83
$GC,3395,-1.35,-170.3,2106,1978,3250,3412,304.6,-8.6,206,3401,0.00,2.15,0.00,0.000,516,0.000,0.044,2116,569,3331,3250,3412,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3430,-1.35,-170.3,2116,569,3250,3412,306.9,-8.7,207,3436,0.00,2.03,0.00,0.000,1030,0.000,0.017,2108,1978,3331,3250,3412,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3745,-1.35,-170.3,2107,1979,3250,3408,335.9,-9.1,223,3746,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,1979,3329,3250,3408,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3903,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3903,begin apogee
$GC,3908,-0.25,0.0,2105,2305,3249,3407,350.4,-9.2,231,4071,0.73,0.00,151.32,0.981,10246,0.118,0.000,2343,2305,2639,2589,2689,0,0,0,0,1,0,26.51,28.83,24.30
$STATE,4074,end apogee,CONTROL_FINISHED_OK
$STATE,4074,begin climb
$GC,4075,1.35,170.3,2343,2305,2589,2689,336.1,0.0,238,4241,1.00,2.25,153.93,0.838,10500,0.060,0.033,2699,3677,1933,1898,1968,0,0,0,0,0,0,25.19,25.02,24.37
$GC,4482,1.37,178.9,2699,3677,1897,1949,300.0,8.9,256,4491,0.00,2.10,1.80,0.052,9222,0.000,0.023,2709,2304,1908,1881,1936,0,0,0,0,0,0,28.83,26.01,25.94
$GC,4788,1.39,183.8,2708,2304,1880,1941,270.7,9.1,272,4800,0.00,2.25,4.62,0.651,8708,0.000,0.041,2719,892,1889,1860,1919,0,0,0,0,0,0,28.83,26.22,25.29
$GC,4845,1.41,192.2,2719,892,1860,1923,266.4,9.0,274,4864,0.00,2.08,14.10,0.773,9222,0.000,0.017,2720,2300,1852,1822,1883,0,0,0,0,0,0,28.83,26.33,25.34
$GC,5185,1.42,198.2,2719,2300,1819,1873,235.1,9.0,291,5196,0.00,2.12,3.97,0.607,8452,0.000,0.034,2719,3694,1831,1802,1860,0,0,0,0,0,0,28.83,26.30,25.31
$GC,5282,1.45,207.9,2719,3693,1801,1861,227.3,8.9,295,5300,0.00,2.12,12.55,0.746,9222,0.000,0.024,2728,2288,1788,1756,1820,0,0,0,0,0,0,28.83,26.37,25.46
$GC,5621,1.47,216.8,2729,2289,1754,1814,195.9,8.9,312,5637,0.00,2.17,9.02,0.718,8708,0.000,0.040,2740,890,1752,1718,1786,0,0,0,0,0,0,28.83,26.24,25.55
$GC,5721,1.50,228.7,2740,890,1717,1783,188.4,8.8,316,5739,0.00,2.10,12.55,0.708,9222,0.000,0.018,2740,2308,1703,1667,1739,0,0,0,0,0,0,28.83,26.37,25.46
$GC,6054,1.52,238.1,2740,2308,1665,1731,157.2,8.9,333,6070,0.00,2.12,9.20,0.685,8452,0.000,0.035,2740,3694,1664,1629,1699,0,0,0,0,0,0,28.83,26.25,25.56
$GC,6109,1.55,247.6,2740,3694,1621,1698,153.1,8.9,335,6124,0.00,2.12,9.50,0.677,9222,0.000,0.024,2750,2297,1627,1580,1674,0,0,0,0,0,0,28.83,26.30,25.51
$GC,6421,1.56,252.7,2750,2297,1577,1666,124.3,9.1,351,6426,0.00,0.00,3.65,0.517,8198,0.000,0.000,2750,2297,1608,1561,1656,0,0,0,0,0,0,28.83,28.83,25.39
$GC,6722,1.57,256.0,2750,2297,1561,1656,97.1,9.1,366,6733,0.00,2.15,4.20,0.554,8452,0.000,0.034,2750,3686,1596,1546,1646,0,0,0,0,0,0,28.83,26.41,25.49
$GC,6840,1.58,262.9,2750,3686,1546,1646,87.3,9.0,371,6858,0.00,2.10,9.68,0.613,9222,0.000,0.024,2759,2296,1564,1511,1617,0,0,0,0,0,0,28.83,26.47,25.69
$GC,7178,1.60,267.7,2759,2296,1509,1612,56.3,9.1,388,7189,0.00,2.22,3.78,0.487,8708,0.000,0.042,2770,894,1548,1496,1600,0,0,0,0,0,0,28.83,26.41,25.53
$GC,7218,1.60,270.0,2769,894,1495,1600,53.9,9.2,389,7227,0.00,2.08,3.58,0.471,9222,0.000,0.017,2767,2303,1538,1485,1591,0,0,0,0,0,0,28.83,26.49,25.53
$GC,7524,1.62,277.9,2766,2304,1485,1591,24.8,9.0,418,7540,0.00,2.17,10.75,0.545,8452,0.000,0.035,2767,3685,1500,1446,1555,0,0,0,0,0,0,28.83,26.37,25.77
$GC,7678,1.63,281.2,2766,3685,1446,1551,10.9,9.1,445,7686,0.00,2.10,0.00,0.000,1030,0.000,0.024,2776,2293,1498,1446,1550,0,0,0,0,0,0,28.83,26.46,28.83
$STATE,7764,end climb,SURFACE_DEPTH_REACHED
$STATE,7764,begin surface coast
$FINISH,0.2,1.024492
$STATE,7793,end surface coast,CONTROL_FINISHED_OK
$STATE,7793,begin surface
$SM_CCo,7810,223.48,0.671,3,0,400,549.47
$SM_CCo,8051,-0.03,0.000,0,0,400,549.47
$SM_CCo,8054,0.00,0.000,0,0,400,549.47
$SM_GC,-23.93,7.60,0.47,0.00,0.080,0.042,0.000,89,1959,400,-10.54,1.13,549.47,0,0,0,0,0,0,26.46,26.52,28.83
$IRIDIUM_FIX,1927.51,12006.82,200313,030345
$TT8_MAMPS,0.023968,0.023968
$HUMID,47.48
$INTERNAL_PRESSURE,9.1655
$TCM_TEMP,20.00
$XPDR_PINGS,1
$SC_FREEKB,3967360
$24V_AH,24.3,25.322
$10V_AH,10.2,14.658
$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,17.400,68.225,418.200,223.475,0.000,0.000,0.000,249.475,0.250,0.000,16.551,1810.523,4132.974,761.093,1461.620,285.863,0.000,1789.280,0.000,1204.659,0.000,1.487,0.000
$DEVICE_MAMPS,220.320,53.550,980.730,670.905,0.000,0.000,0.000,131.580,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,5.965,0.000,0.000,0.000
$MEM,323876
$DATA_FILE_SIZE,16750,465
$CAP_FILE_SIZE,357278,1839
$CFSIZE,260034560,234229760
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$CURRENT,0.097, 23.4,1
$GPS,200313,084107,1936.454,12006.446,49,1.5,49,-2.6