version: 66.11
glider: 121
mission: 10
dive: 146
start: 3 20 113 8 53 18
data:
$ID,121
$MISSION,10
$DIVE,146
$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,-100678.12
$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
$GPS1,200313,084107,1936.454,12006.446,49,1.5,49,-2.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-65.3
$GPS2,200313,085251,1936.347,12006.219,27,0.7,28,-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,349.7,238506,-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,-170.3,88,1948,333,467,0.0,0.0,0,44,0.00,0.00,-23.88,0.000,16386,0.000,0.000,88,1948,1022,1004,1040,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.35,-170.3,88,1948,1004,1041,3.2,-9.2,3,152,7.90,0.00,-90.68,0.000,19206,0.217,0.000,2098,1950,3337,3245,3429,0,0,0,0,0,0,25.89,28.83,26.50
$GC,470,-1.35,-170.3,2098,1951,3249,3429,41.8,-9.1,60,476,0.00,2.12,0.00,0.000,260,0.000,0.028,2088,3370,3339,3249,3429,0,0,0,0,0,0,28.83,26.43,28.83
$GC,660,-1.35,-170.3,2089,3371,3252,3429,57.7,-9.1,72,668,0.00,2.08,0.00,0.000,1030,0.000,0.023,2097,1971,3340,3252,3429,0,0,0,0,0,0,28.83,26.51,28.83
$GC,967,-1.35,-170.3,2097,1970,3253,3429,86.5,-8.9,88,968,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,1971,3341,3253,3429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1267,-1.35,-170.3,2097,1971,3253,3429,113.4,-9.1,103,1273,0.00,2.10,0.00,0.000,516,0.000,0.039,2106,575,3341,3253,3429,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1335,-1.35,-170.3,2106,575,3253,3429,119.8,-9.2,106,1341,0.00,2.03,0.00,0.000,1030,0.000,0.015,2098,2003,3341,3253,3429,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1660,-1.35,-170.3,2098,2005,3253,3428,148.8,-9.0,122,1666,0.00,1.98,0.00,0.000,260,0.000,0.029,2088,3353,3340,3253,3427,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1737,-1.35,-170.3,2088,3353,3253,3427,154.8,-9.0,125,1743,0.00,2.05,0.00,0.000,1030,0.000,0.024,2089,1972,3340,3253,3427,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2052,-1.35,-170.3,2088,1971,3253,3423,184.3,-9.0,141,2053,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,1971,3337,3252,3423,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2354,-1.35,-170.3,2088,1971,3252,3421,211.2,-8.5,156,2359,0.00,2.12,0.00,0.000,516,0.000,0.041,2097,568,3336,3252,3420,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2393,-1.35,-170.3,2096,568,3253,3420,213.5,-8.7,157,2401,0.00,2.00,0.00,0.000,1030,0.000,0.015,2088,1975,3336,3253,3420,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2700,-1.35,-170.3,2088,1975,3253,3416,242.2,-9.3,173,2706,0.00,2.15,0.00,0.000,516,0.000,0.041,2096,569,3333,3252,3415,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2814,-1.35,-170.3,2096,569,3252,3415,252.1,-9.0,178,2820,0.00,2.00,0.00,0.000,1030,0.000,0.015,2088,1974,3333,3252,3414,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3134,-1.35,-170.3,2087,1974,3251,3411,280.8,-8.7,194,3135,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,1974,3330,3251,3410,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3435,-1.35,-170.3,2087,1978,3248,3408,307.6,-9.0,209,3436,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,1978,3328,3248,3408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3735,-1.35,-170.3,2086,1978,3247,3404,334.9,-9.1,224,3741,0.00,2.15,0.00,0.000,516,0.000,0.041,2097,577,3325,3247,3404,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3775,-1.35,-170.3,2095,577,3247,3404,337.2,-9.1,225,3783,0.00,2.00,0.00,0.000,1030,0.000,0.016,2088,1976,3325,3246,3404,0,0,0,0,0,0,28.83,26.74,28.83
$STATE,3900,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3900,begin apogee
$GC,3905,-0.25,0.0,2085,2304,3244,3403,350.2,-9.1,232,4057,0.80,0.00,145.43,0.853,10246,0.121,0.000,2346,2305,2634,2585,2683,0,0,0,0,0,0,26.51,28.83,24.58
$STATE,4059,end apogee,CONTROL_FINISHED_OK
$STATE,4059,begin climb
$GC,4061,1.35,170.3,2345,2305,2582,2679,337.9,0.0,238,4222,1.00,2.25,150.10,0.837,10500,0.061,0.033,2701,3674,1934,1899,1970,0,0,0,0,0,0,25.31,25.08,24.45
$GC,4444,1.36,175.0,2701,3674,1898,1951,301.2,9.1,256,4450,0.00,2.10,0.00,0.000,1030,0.000,0.023,2711,2305,1924,1898,1951,0,0,0,0,0,0,28.83,26.02,28.83
$GC,4768,1.39,187.1,2711,2305,1898,1947,272.6,8.8,272,4792,0.00,2.25,13.55,0.770,8708,0.000,0.041,2721,907,1868,1844,1893,0,0,0,0,0,0,28.83,26.10,25.41
$GC,4857,1.42,198.4,2721,907,1841,1890,264.8,8.8,276,4874,0.00,2.08,10.50,0.771,9222,0.000,0.017,2722,2302,1827,1801,1853,0,0,0,0,0,0,28.83,26.26,25.32
$GC,5182,1.42,198.4,2721,2302,1797,1840,235.5,9.4,292,5188,0.00,2.10,0.00,0.000,260,0.000,0.033,2722,3685,1818,1797,1840,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5324,1.45,210.0,2721,3687,1797,1838,224.1,8.8,298,5342,0.00,2.10,10.90,0.742,9222,0.000,0.024,2732,2293,1778,1752,1804,0,0,0,0,0,0,28.83,26.42,25.53
$GC,5657,1.48,220.7,2731,2293,1750,1796,193.0,8.9,315,5674,0.00,2.17,10.38,0.723,8708,0.000,0.041,2742,895,1736,1707,1765,0,0,0,0,0,0,28.83,26.25,25.58
$GC,5809,1.51,234.6,2742,895,1705,1761,179.7,8.8,322,5829,0.00,2.08,14.12,0.713,9222,0.000,0.017,2743,2305,1681,1647,1715,0,0,0,0,0,0,28.83,26.41,25.49
$GC,6126,1.54,245.0,2742,2305,1644,1705,150.9,8.9,338,6142,0.00,2.10,9.95,0.690,8452,0.000,0.032,2743,3685,1635,1592,1679,0,0,0,0,0,0,28.83,26.25,25.57
$GC,6176,1.58,259.6,2742,3685,1589,1678,146.8,8.7,340,6196,0.00,2.10,14.93,0.678,9222,0.000,0.025,2752,2302,1581,1531,1631,0,0,0,0,0,0,28.83,26.29,25.45
$GC,6492,1.58,262.1,2752,2302,1524,1618,117.8,9.2,356,6499,0.00,2.12,0.00,0.000,260,0.000,0.033,2752,3685,1571,1524,1618,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6523,1.59,266.7,2752,3685,1522,1618,115.5,9.1,357,6534,0.00,2.10,4.65,0.601,9222,0.000,0.025,2762,2301,1551,1501,1602,0,0,0,0,0,0,28.83,26.37,25.41
$GC,6843,1.63,279.8,2762,2300,1501,1603,86.3,8.8,373,6863,0.00,0.00,16.02,0.604,8198,0.000,0.000,2762,2301,1495,1444,1547,0,0,0,0,0,0,28.83,28.83,25.64
$GC,7162,1.66,293.3,2762,2301,1442,1540,58.1,8.8,389,7186,0.00,2.20,13.55,0.577,8452,0.000,0.033,2762,3687,1437,1392,1483,0,0,0,0,0,0,28.83,26.27,25.67
$GC,7213,1.68,302.3,2762,3687,1392,1480,53.8,8.9,391,7232,0.00,2.12,9.38,0.573,9222,0.000,0.026,2771,2293,1401,1361,1441,0,0,0,0,0,0,28.83,26.31,25.60
$GC,7530,1.68,302.3,2771,2293,1360,1434,24.4,9.4,420,7538,0.00,2.17,0.00,0.000,516,0.000,0.042,2782,893,1397,1360,1434,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7668,1.70,308.6,1744,892,1336,1429,11.8,9.0,445,7679,0.00,2.08,4.47,0.497,9222,0.000,0.018,2781,2306,1380,1346,1415,0,0,0,0,0,0,28.83,26.51,25.57
$STATE,7768,end climb,SURFACE_DEPTH_REACHED
$STATE,7768,begin surface coast
$FINISH,0.0,1.024204
$STATE,7802,end surface coast,CONTROL_FINISHED_OK
$STATE,7802,begin surface
$SM_CCo,7818,193.68,0.663,2,0,399,549.47
$SM_CCo,8025,-0.22,0.000,0,0,401,549.47
$SM_CCo,8029,0.00,0.000,0,0,401,549.47
$SM_GC,-23.93,7.57,0.52,0.00,0.076,0.034,0.000,87,1959,401,-10.54,1.19,549.47,0,0,0,0,0,0,26.45,26.49,28.83
$IRIDIUM_FIX,1932.09,11959.74,200313,080853
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.07
$INTERNAL_PRESSURE,9.1655
$TCM_TEMP,17.70
$XPDR_PINGS,0
$SC_FREEKB,3966976
$24V_AH,24.4,25.469
$10V_AH,10.2,14.720
$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,17.275,59.850,427.925,193.675,0.000,0.000,0.000,504.200,0.000,0.000,28.761,1831.212,4125.776,727.813,1743.192,288.666,0.000,2006.246,0.000,1208.235,0.000,1.487,0.000
$DEVICE_MAMPS,217.260,42.075,852.975,663.255,0.000,0.000,0.000,123.165,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7818.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.968,0.000,0.000,0.000
$MEM,323792
$DATA_FILE_SIZE,16740,468
$CAP_FILE_SIZE,362897,1879
$CFSIZE,260034560,234119168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.163, 41.9,1
$GPS,200313,110822,1937.595,12006.483,37,0.8,37,-2.6