version: 66.11
glider: 121
mission: 10
dive: 149
start: 3 20 113 16 3 39
data:
$ID,121
$MISSION,10
$DIVE,149
$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,-100681.89
$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,35
$R_STBD_OVSHOOT,58
$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
$GPS1,200313,155652,1940.074,12006.365,93,0.9,93,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-63.2
$GPS2,200313,160312,1940.118,12006.330,17,1.0,18,-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,333.7,231538,-18.5,-9.259,-21.12,2828
$D_GRID,4062
$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,-170.3,83,1969,350,490,0.0,0.0,0,43,0.00,0.00,-23.20,0.000,16386,0.000,0.000,83,1969,1029,1013,1046,0,0,0,0,0,0,28.83,28.83,28.83
$GC,45,-1.35,-170.3,83,1969,1013,1047,3.1,-9.2,3,160,7.90,2.17,-93.78,0.000,18692,0.216,0.043,2089,3369,3337,3244,3430,0,0,0,0,0,0,25.83,26.19,26.47
$GC,254,-1.35,-170.3,1248,3368,3219,3427,22.0,-8.5,35,262,0.00,2.12,0.00,0.000,1030,0.000,0.024,2096,1962,3338,3247,3430,0,0,0,0,0,0,28.83,26.29,28.83
$GC,572,-1.35,-170.3,2096,1961,3249,3430,50.3,-8.7,69,578,0.00,2.10,0.00,0.000,516,0.000,0.040,2106,577,3339,3249,3430,0,0,0,0,0,0,28.83,26.43,28.83
$GC,711,-1.35,-170.3,2106,577,3251,3430,61.9,-9.0,75,718,0.00,2.03,0.00,0.000,1030,0.000,0.015,2098,1997,3340,3251,3430,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1027,-1.35,-170.3,2097,1998,3252,3430,91.1,-9.1,91,1033,0.00,2.00,0.00,0.000,260,0.000,0.029,2088,3358,3341,3253,3430,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1117,-1.35,-170.3,2087,3358,3253,3430,99.0,-8.9,95,1123,0.00,2.05,0.00,0.000,1030,0.000,0.024,2092,1971,3340,3252,3429,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1438,-1.35,-170.3,2092,1971,3252,3430,127.9,-8.8,111,1444,0.00,2.10,0.00,0.000,516,0.000,0.040,2102,577,3341,3252,3430,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1510,-1.35,-170.3,2102,577,3253,3430,133.9,-8.8,114,1516,0.00,2.00,0.00,0.000,1030,0.000,0.015,2095,1981,3341,3252,3430,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1830,-1.35,-170.3,2094,1982,3252,3428,163.4,-9.0,130,1836,0.00,2.15,0.00,0.000,516,0.000,0.038,2102,573,3339,3252,3427,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1901,-1.35,-170.3,2102,573,3252,3427,169.5,-9.0,133,1907,0.00,2.00,0.00,0.000,1030,0.000,0.015,2094,1974,3339,3252,3427,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2220,-1.35,-170.3,2094,1974,3252,3423,199.0,-9.0,149,2226,0.00,2.15,0.00,0.000,516,0.000,0.039,2102,574,3337,3252,3423,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2255,-1.35,-170.3,2102,574,3252,3423,201.1,-9.1,150,2261,0.00,2.00,0.00,0.000,1030,0.000,0.016,2094,1975,3337,3252,3423,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2569,-1.35,-170.3,2093,1979,3252,3420,230.1,-9.3,166,2575,0.00,2.05,0.00,0.000,260,0.000,0.031,2084,3364,3336,3252,3420,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2604,-1.35,-170.3,2083,3364,3252,3419,232.3,-9.2,167,2611,0.10,2.08,0.00,0.000,3078,0.164,0.027,2109,1972,3336,3254,3419,0,0,0,0,0,0,26.51,26.67,28.83
$GC,2920,-1.35,-170.3,2109,1972,3252,3416,260.9,-8.9,183,2922,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,1972,3334,3253,3416,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3221,-1.35,-170.3,2109,1972,3252,3411,287.6,-9.2,198,3228,0.00,2.12,0.00,0.000,516,0.000,0.044,2119,577,3331,3252,3411,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3317,-1.35,-170.3,2119,577,3252,3411,295.6,-8.9,202,3323,0.00,2.00,0.00,0.000,1030,0.000,0.016,2111,1971,3331,3252,3411,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3632,-1.35,-170.3,2110,1971,3249,3408,324.3,-9.1,218,3638,0.00,2.08,0.00,0.000,260,0.000,0.033,2101,3367,3328,3249,3408,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3699,-1.35,-170.3,2100,3367,3249,3408,330.3,-8.9,221,3705,0.00,2.10,0.00,0.000,1030,0.000,0.028,2101,1975,3328,3248,3408,0,0,0,0,0,0,28.83,26.67,28.83
$STATE,3922,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3922,begin apogee
$GC,3927,-0.25,0.0,2099,2309,3247,3406,350.7,-8.9,232,4091,0.75,0.00,152.68,0.955,10246,0.119,0.000,2345,2309,2639,2590,2689,0,0,0,0,1,0,26.50,28.83,24.32
$STATE,4093,end apogee,CONTROL_FINISHED_OK
$STATE,4094,begin climb
$GC,4095,1.35,170.3,2344,2308,2590,2688,336.4,0.0,239,4274,1.00,2.25,162.65,0.807,10500,0.055,0.033,2705,3678,1931,1898,1965,0,0,0,0,0,0,25.20,25.04,24.46
$GC,4325,1.36,172.3,2705,3678,1898,1954,314.9,9.2,249,4331,0.00,2.15,0.00,0.000,1030,0.000,0.024,2716,2302,1926,1898,1954,0,0,0,0,0,0,28.83,25.53,28.83
$GC,4644,1.38,179.9,2715,2302,1897,1947,285.8,9.0,265,4652,0.00,2.22,2.28,0.187,8452,0.000,0.031,2716,3690,1903,1878,1929,0,0,0,0,0,0,28.83,26.16,25.15
$GC,4737,1.40,188.5,2715,3690,1879,1936,277.9,8.9,269,4761,0.00,2.12,14.80,0.776,9222,0.000,0.024,2725,2293,1862,1837,1887,0,0,0,0,0,0,28.83,26.25,25.31
$GC,5079,1.45,208.1,2725,2293,1835,1876,246.9,8.5,286,5103,0.00,2.25,18.50,0.763,8452,0.000,0.031,2725,3690,1784,1758,1810,0,0,0,0,0,0,28.83,26.06,25.36
$GC,5157,1.47,217.7,2725,3690,1753,1803,240.7,8.9,289,5170,0.00,2.12,5.10,0.687,9222,0.000,0.024,2736,2300,1752,1726,1779,0,0,0,0,0,0,28.83,26.15,25.28
$GC,5468,1.47,218.4,2735,2300,1725,1782,211.5,9.2,305,5473,0.00,2.17,0.00,0.000,516,0.000,0.041,2746,894,1753,1725,1782,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5501,1.47,218.4,2746,895,1725,1782,209.3,9.4,306,5509,0.12,2.08,0.00,0.000,5126,0.188,0.017,2718,2307,1753,1725,1781,0,0,0,0,0,0,26.16,26.41,28.83
$GC,5817,1.47,218.4,2717,2307,1724,1782,179.5,9.4,322,5823,0.00,2.08,0.00,0.000,260,0.000,0.034,2717,3682,1753,1725,1782,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5877,1.48,223.0,1768,3681,1687,1775,175.2,9.1,324,5892,0.00,2.10,8.57,0.701,9222,0.000,0.025,2726,2292,1727,1698,1757,0,0,0,0,0,0,28.83,26.49,25.63
$GC,6213,1.52,237.9,2726,2292,1695,1751,144.3,8.7,341,6237,0.00,2.25,15.68,0.671,8708,0.000,0.043,2737,896,1661,1624,1699,0,0,0,0,0,0,28.83,26.24,25.61
$GC,6270,1.55,249.4,2737,896,1620,1699,139.9,8.8,343,6289,0.00,2.08,11.12,0.672,9222,0.000,0.018,2737,2295,1617,1572,1663,0,0,0,0,0,0,28.83,26.34,25.52
$GC,6609,1.55,249.4,2737,2295,1570,1657,108.0,9.5,360,6615,0.00,2.22,0.00,0.000,516,0.000,0.041,2747,889,1614,1570,1658,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6685,1.58,259.8,2747,889,1570,1658,102.1,8.9,363,6703,0.00,2.10,10.60,0.633,9222,0.000,0.018,2747,2309,1575,1525,1625,0,0,0,0,0,0,28.83,26.46,25.63
$GC,7024,1.62,277.8,2747,2309,1523,1619,71.3,8.6,380,7047,0.00,2.33,18.33,0.601,8708,0.000,0.041,2757,892,1502,1451,1554,0,0,0,0,0,0,28.83,26.19,25.61
$GC,7091,1.64,286.0,2756,892,1449,1549,64.9,9.0,383,7108,0.00,2.10,8.15,0.604,9222,0.000,0.018,2756,2304,1469,1419,1519,0,0,0,0,0,0,28.83,26.30,25.56
$GC,7417,1.66,293.1,2756,2304,1419,1513,35.8,9.0,406,7431,0.00,2.20,7.45,0.579,8452,0.000,0.036,2756,3698,1440,1394,1486,0,0,0,0,0,0,28.83,26.29,25.65
$GC,7531,1.68,300.5,2756,3698,1394,1481,25.6,9.0,416,7545,0.00,2.12,8.00,0.567,9222,0.000,0.026,2765,2301,1410,1369,1452,0,0,0,0,0,0,28.83,26.37,25.65
$STATE,7781,end climb,SURFACE_DEPTH_REACHED
$STATE,7781,begin surface coast
$FINISH,0.0,1.024756
$STATE,7815,end surface coast,CONTROL_FINISHED_OK
$STATE,7816,begin surface
$SM_CCo,7832,204.80,0.685,3,0,400,549.47
$SM_CCo,8055,-0.12,0.000,0,0,402,549.47
$SM_CCo,8058,3.22,0.389,0,0,400,549.47
$SM_GC,-23.93,7.57,0.50,3.22,0.077,0.042,0.389,86,1953,400,-10.55,0.93,549.47,0,0,0,0,0,0,26.41,26.46,24.74
$IRIDIUM_FIX,1934.38,12007.97,200313,131303
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.46
$INTERNAL_PRESSURE,9.14597
$TCM_TEMP,19.40
$XPDR_PINGS,0
$SC_FREEKB,3965824
$24V_AH,24.3,25.917
$10V_AH,10.2,14.896
$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,17.450,77.225,443.900,208.025,0.000,0.000,0.000,211.575,0.000,0.000,18.969,1842.515,4052.392,778.584,1460.176,292.391,0.000,1797.503,0.000,1239.439,0.000,1.486,0.000
$DEVICE_MAMPS,216.495,44.370,954.720,684.675,0.000,0.000,0.000,135.405,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7823.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.939,0.000,0.000,0.000
$MEM,323904
$DATA_FILE_SIZE,16759,467
$CAP_FILE_SIZE,364978,1886
$CFSIZE,260034560,233795584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$CURRENT,0.151, 43.9,1
$GPS,200313,182011,1941.264,12006.352,92,0.7,92,-2.6