version: 66.11
glider: 121
mission: 10
dive: 166
start: 3 22 113 10 46 51
data:
$ID,121
$MISSION,10
$DIVE,166
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,400
$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,144
$T_MISSION,160
$T_ABORT,190
$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,-100703.37
$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,63
$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
$GPS1,220313,103928,1958.155,12004.640,134,1.1,134,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-65.4
$GPS2,220313,104623,1958.197,12004.658,16,1.2,17,-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,11.2,197961,-18.5,-9.259,-21.12,2828
$D_GRID,3717
$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,18,-1.35,-170.3,82,1939,342,481,0.0,0.0,0,43,0.00,0.00,-23.58,0.000,16386,0.000,0.000,83,1938,1025,1006,1044,0,0,0,0,0,0,28.83,28.83,28.83
$GC,45,-1.35,-170.3,83,1939,1007,1046,3.2,-9.1,3,160,8.07,2.22,-93.47,0.000,18692,0.223,0.046,2091,3359,3337,3248,3427,0,0,0,0,0,0,25.77,26.17,26.46
$GC,228,-1.35,-170.3,1232,3357,3222,3424,19.9,-9.2,30,236,0.00,2.10,0.00,0.000,1030,0.000,0.026,2099,1976,3338,3250,3427,0,0,0,0,0,0,28.83,26.25,28.83
$GC,549,-1.35,-170.3,2099,1976,3253,3427,48.9,-9.2,66,556,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,1976,3340,3253,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,868,-1.35,-170.3,2099,1976,3255,3427,77.8,-9.1,83,874,0.00,2.10,0.00,0.000,260,0.000,0.029,2091,3368,3341,3255,3427,0,0,0,0,0,0,28.83,26.51,28.83
$GC,919,-1.35,-170.3,2091,3368,3255,3427,82.1,-9.1,85,925,0.00,2.10,0.00,0.000,1030,0.000,0.024,2096,1962,3341,3255,3427,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1239,-1.35,-170.3,2095,1961,3256,3427,111.6,-8.9,101,1240,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,1961,3341,3256,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1540,-1.35,-170.3,2095,1961,3256,3427,138.3,-8.8,116,1546,0.00,2.12,0.00,0.000,260,0.000,0.029,2087,3374,3341,3256,3427,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1612,-1.35,-170.3,2087,3374,3256,3427,144.4,-8.9,119,1617,0.00,2.10,0.00,0.000,1030,0.000,0.024,2094,1964,3342,3256,3428,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1932,-1.35,-170.3,2094,1963,3256,3425,174.1,-9.0,135,1938,0.00,2.12,0.00,0.000,516,0.000,0.042,2105,567,3340,3256,3424,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2110,-1.35,-170.3,2103,567,3256,3423,189.5,-8.9,143,2116,0.00,2.03,0.00,0.000,1030,0.000,0.016,2095,1981,3339,3256,3423,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2425,-1.35,-170.3,2095,1982,3255,3421,219.0,-9.2,159,2431,0.00,2.05,0.00,0.000,260,0.000,0.031,2085,3365,3337,3255,3420,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2459,-1.35,-170.3,2085,3365,3255,3419,221.3,-9.3,160,2466,0.00,2.08,0.00,0.000,1030,0.000,0.026,2089,1975,3337,3256,3419,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2775,-1.35,-170.3,2090,1975,3255,3416,249.7,-8.7,176,2777,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,1975,3335,3255,3416,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3077,-1.35,-170.3,2089,1975,3253,3414,276.7,-8.4,191,3084,0.00,2.15,0.00,0.000,516,0.000,0.044,2099,569,3333,3253,3413,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3154,-1.35,-170.3,2099,569,3253,3413,283.0,-9.0,194,3160,0.00,2.03,0.00,0.000,1030,0.000,0.017,2090,1974,3333,3253,3413,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3469,-1.35,-170.3,2090,1975,3252,3410,312.0,-8.9,210,3470,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,1975,3331,3252,3410,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3770,-1.35,-170.3,2090,1975,3249,3408,339.1,-9.2,225,3771,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,1975,3328,3249,3408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4071,-1.35,-170.3,2089,1979,3247,3406,365.8,-9.1,240,4076,0.00,2.17,0.00,0.000,516,0.000,0.044,2099,578,3326,3247,3406,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4131,-1.35,-170.3,1320,575,3223,3402,370.1,-9.1,242,4140,0.00,2.03,0.00,0.000,1030,0.000,0.017,2090,1973,3326,3246,3406,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4438,-1.35,-170.3,2090,1973,3243,3403,399.2,-9.2,258,4445,0.00,2.17,0.00,0.000,516,0.000,0.045,2098,579,3323,3243,3404,0,0,0,0,0,0,28.83,26.62,28.83
$STATE,4463,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4463,begin apogee
$GC,4470,-0.25,0.0,2088,2296,3243,3403,401.6,-9.1,259,4636,0.77,0.00,152.73,1.031,10246,0.118,0.000,2342,2297,2639,2588,2690,0,0,0,0,1,0,26.46,28.83,24.22
$STATE,4638,end apogee,CONTROL_FINISHED_OK
$STATE,4638,begin climb
$GC,4640,1.35,170.3,2342,2297,2587,2690,386.7,0.0,266,4842,1.00,2.33,189.65,0.801,10500,0.055,0.034,2702,3695,1936,1899,1973,0,0,0,0,0,0,25.15,24.98,24.39
$GC,5082,1.37,178.0,2701,3695,1895,1954,346.2,9.0,286,5089,0.00,2.15,1.62,0.047,9222,0.000,0.024,2712,2301,1912,1883,1942,0,0,0,0,0,0,28.83,25.97,25.94
$GC,5403,1.40,189.5,2711,2301,1883,1945,317.4,8.8,302,5427,0.00,2.30,16.85,0.802,8708,0.000,0.042,2722,890,1858,1828,1889,0,0,0,0,0,0,28.83,25.98,25.27
$GC,5575,1.43,199.5,2722,890,1820,1879,301.8,8.9,310,5583,0.00,2.12,3.08,0.419,9222,0.000,0.017,2722,2312,1825,1794,1857,0,0,0,0,0,0,28.83,26.25,25.18
$GC,5903,1.48,219.7,2722,2312,1793,1870,272.7,8.5,326,5938,0.00,2.20,27.70,0.778,8452,0.000,0.034,2722,3687,1734,1700,1769,0,0,0,0,0,0,28.83,25.95,25.27
$GC,6056,1.50,227.5,2722,3687,1693,1755,258.9,9.0,333,6062,0.00,2.12,1.67,0.052,9222,0.000,0.024,2733,2297,1710,1678,1742,0,0,0,0,0,0,28.83,26.15,26.10
$GC,6382,1.50,229.0,2732,2297,1678,1752,229.5,9.2,349,6388,0.00,2.15,0.00,0.000,260,0.000,0.033,2732,3693,1714,1678,1751,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6451,1.52,235.2,2732,3693,1678,1751,223.6,9.0,352,6470,0.00,2.12,12.55,0.732,9222,0.000,0.025,2743,2294,1677,1642,1713,0,0,0,0,0,0,28.83,26.39,25.48
$GC,6769,1.52,238.4,2742,2294,1637,1702,194.5,9.1,368,6774,0.00,2.15,0.00,0.000,260,0.000,0.034,2743,3688,1669,1637,1702,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6825,1.53,242.4,2742,3688,1637,1702,190.2,9.1,370,6840,0.00,2.12,4.62,0.646,9222,0.000,0.025,2752,2291,1649,1608,1691,0,0,0,0,0,0,28.83,26.40,25.37
$GC,7136,1.53,242.4,2751,2290,1608,1694,161.5,9.4,386,7143,0.00,2.17,0.00,0.000,516,0.000,0.044,2763,887,1651,1608,1694,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7163,1.54,243.5,2762,888,1608,1694,159.3,9.2,387,7170,0.12,2.10,0.00,0.000,5126,0.187,0.018,2734,2312,1651,1608,1694,0,0,0,0,0,0,26.24,26.50,28.83
$GC,7489,1.56,254.6,2734,2312,1608,1694,129.7,8.9,403,7512,0.00,2.10,15.40,0.662,8452,0.000,0.035,2734,3685,1595,1546,1645,0,0,0,0,0,0,28.83,26.30,25.65
$GC,7550,1.58,261.2,2734,3685,1546,1643,125.4,9.0,405,7563,0.00,2.12,4.82,0.631,9222,0.000,0.028,2743,2296,1574,1523,1625,0,0,0,0,0,0,28.83,26.34,25.40
$GC,7884,1.59,264.7,2743,2297,1523,1626,94.2,9.1,422,7895,0.00,2.20,4.25,0.568,8708,0.000,0.044,2754,897,1560,1508,1613,0,0,0,0,0,0,28.83,26.35,25.44
$GC,7966,1.61,273.4,2754,897,1509,1614,88.1,8.9,425,7985,0.00,2.08,12.95,0.621,9222,0.000,0.018,2754,2296,1522,1469,1576,0,0,0,0,0,0,28.83,26.45,25.60
$GC,8301,1.61,273.4,2754,2296,1465,1568,56.4,9.3,442,8307,0.00,2.15,0.00,0.000,260,0.000,0.037,2754,3701,1516,1465,1568,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8435,1.61,274.7,2754,3701,1465,1567,44.3,9.2,450,8440,0.00,2.12,0.00,0.000,1030,0.000,0.027,2763,2300,1516,1465,1567,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8752,1.62,278.9,1728,2297,1436,1560,15.4,9.1,490,8760,0.00,0.00,3.97,0.490,8198,0.000,0.000,2763,2299,1501,1450,1553,0,0,0,0,0,0,28.83,28.83,25.58
$STATE,8889,end climb,SURFACE_DEPTH_REACHED
$STATE,8889,begin surface coast
$FINISH,0.0,1.024785
$STATE,8925,end surface coast,CONTROL_FINISHED_OK
$STATE,8925,begin surface
$SM_CCo,8941,221.73,0.697,3,0,399,549.47
$SM_CCo,9181,-0.03,0.000,0,0,400,549.47
$SM_CCo,9184,0.03,0.307,0,0,401,549.47
$SM_GC,-23.93,7.50,0.50,0.03,0.074,0.042,0.307,88,1951,401,-10.54,0.90,549.47,0,0,0,0,0,0,26.49,26.54,25.21
$IRIDIUM_FIX,1950.41,12003.17,220313,070726
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.89
$INTERNAL_PRESSURE,9.1362
$TCM_TEMP,19.40
$XPDR_PINGS,2
$SC_FREEKB,3959296
$24V_AH,24.2,28.488
$10V_AH,10.2,15.931
$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,17.475,73.500,451.875,221.750,0.000,0.000,0.000,236.950,0.500,0.000,18.401,2069.089,4734.750,798.461,1630.941,346.632,0.000,1935.896,0.000,1416.332,0.000,1.488,0.000
$DEVICE_MAMPS,223.380,45.900,1031.220,696.915,0.000,0.000,0.000,133.875,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8935.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.558,0.000,0.000,0.000
$MEM,323852
$DATA_FILE_SIZE,16759,521
$CAP_FILE_SIZE,405537,2149
$CFSIZE,260034560,231911424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,2,0
$CURRENT,0.209, 26.6,1
$GPS,220313,132234,2000.044,12005.208,119,1.0,119,-2.6