version: 66.11
glider: 121
mission: 10
dive: 173
start: 3 23 113 5 43 50
data:
$ID,121
$MISSION,10
$DIVE,173
$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,-100712.24
$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,73
$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
$GPS1,230313,053634,2007.499,12005.147,30,1.3,30,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-65.1
$GPS2,230313,054323,2007.525,12005.138,15,1.2,16,-2.7
$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,354.9,180739,-18.5,-9.259,-21.12,2828
$D_GRID,3572
$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,-170.3,85,2004,331,471,0.0,0.0,0,44,0.00,0.00,-23.98,0.000,16386,0.000,0.000,85,2004,1025,1005,1045,0,0,0,0,0,0,28.83,28.83,28.83
$GC,47,-1.35,-170.3,85,2005,1004,1046,3.3,-8.2,3,153,7.88,2.08,-88.38,0.000,18692,0.214,0.043,2093,3364,3335,3242,3429,0,0,0,0,0,0,25.81,26.15,26.44
$GC,312,-1.35,-170.3,2092,3364,3246,3429,27.8,-8.9,44,318,0.00,2.12,0.00,0.000,1030,0.000,0.032,2101,1967,3337,3246,3429,0,0,0,0,0,0,28.83,26.30,28.83
$GC,638,-1.35,-170.3,2101,1966,3249,3429,57.2,-9.0,72,644,0.00,2.10,0.00,0.000,260,0.000,0.029,2093,3358,3338,3248,3429,0,0,0,0,0,0,28.83,26.45,28.83
$GC,878,-1.35,-170.3,2093,3357,3252,3429,77.8,-8.9,83,884,0.00,2.08,0.00,0.000,1030,0.000,0.025,2101,1968,3340,3252,3429,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1193,-1.35,-170.3,2100,1968,3252,3428,106.8,-8.9,99,1199,0.00,2.10,0.00,0.000,260,0.000,0.030,2092,3364,3341,3253,3429,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1349,-1.35,-170.3,2092,3364,3252,3431,120.5,-8.9,106,1355,0.00,2.08,0.00,0.000,1030,0.000,0.026,2100,1974,3339,3251,3428,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1669,-1.35,-170.3,2100,1974,3252,3428,150.0,-9.1,122,1676,0.00,2.15,0.00,0.000,516,0.000,0.042,2110,566,3339,3252,3427,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1726,-1.35,-170.3,2109,566,3252,3427,154.3,-9.0,124,1732,0.00,2.03,0.00,0.000,1030,0.000,0.016,2101,1985,3341,3255,3427,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2041,-1.35,-170.3,2101,1986,3252,3425,183.7,-9.1,140,2047,0.00,2.03,0.00,0.000,260,0.000,0.031,2091,3355,3338,3252,3425,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2107,-1.35,-170.3,2091,3355,3252,3423,189.8,-9.0,143,2113,0.00,2.08,0.00,0.000,1030,0.000,0.028,2093,1970,3337,3252,3422,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2433,-1.35,-170.3,2093,1970,3252,3421,219.1,-9.1,159,2434,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,1970,3336,3252,3421,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2734,-1.35,-170.3,2093,1970,3252,3417,246.0,-9.1,174,2740,0.00,2.12,0.00,0.000,516,0.000,0.044,2102,577,3334,3252,3417,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2763,-1.35,-170.3,2103,577,3252,3417,248.4,-9.0,175,2769,0.00,2.00,0.00,0.000,1030,0.000,0.016,2094,1971,3334,3252,3417,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3083,-1.35,-170.3,2094,1971,3252,3414,277.3,-8.9,191,3090,0.00,2.05,0.00,0.000,260,0.000,0.032,2084,3355,3332,3252,3413,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3150,-1.35,-170.3,2084,3355,3252,3412,283.5,-8.9,194,3157,0.00,2.08,0.00,0.000,1030,0.000,0.029,2087,1978,3332,3252,3412,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3476,-1.35,-170.3,2087,1979,3249,3409,312.3,-8.5,210,3482,0.00,2.15,0.00,0.000,516,0.000,0.045,2097,574,3329,3250,3408,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3544,-1.35,-170.3,2097,574,3249,3409,318.2,-8.7,213,3549,0.00,2.03,0.00,0.000,1030,0.000,0.016,2089,1973,3329,3249,3409,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3868,-1.35,-170.3,2088,1974,3248,3406,347.9,-9.0,229,3869,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,1974,3327,3248,3406,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4171,-1.35,-170.3,2088,1974,3245,3404,374.4,-8.7,244,4177,0.00,2.17,0.00,0.000,516,0.000,0.044,2097,575,3323,3244,3403,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4211,-1.35,-170.3,2097,576,3244,3403,376.9,-8.7,245,4220,0.00,2.03,0.00,0.000,1030,0.000,0.017,2090,1977,3323,3244,3403,0,0,0,0,0,0,28.83,26.71,28.83
$STATE,4456,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4456,begin apogee
$GC,4461,-0.25,0.0,2086,2302,3242,3401,400.4,-9.0,258,4678,0.77,0.00,210.60,0.752,10246,0.118,0.000,2341,2302,2639,2590,2689,0,0,0,0,0,0,26.46,28.83,24.60
$STATE,4681,end apogee,CONTROL_FINISHED_OK
$STATE,4681,begin climb
$GC,4683,1.35,170.3,2341,2302,2584,2681,381.5,0.0,267,4849,1.00,2.22,156.88,0.848,10500,0.058,0.033,2698,3683,1936,1904,1968,0,0,0,0,0,0,25.25,24.98,24.34
$GC,5092,1.37,176.0,2698,3684,1901,1946,342.9,9.1,286,5098,0.00,2.15,0.00,0.000,1030,0.000,0.024,2708,2296,1923,1901,1946,0,0,0,0,0,0,28.83,25.99,28.83
$GC,5417,1.39,186.2,2707,2296,1900,1942,312.9,8.9,302,5440,0.00,2.22,12.57,0.786,8452,0.000,0.032,2707,3685,1872,1849,1896,0,0,0,0,0,0,28.83,26.10,25.46
$GC,5464,1.42,196.4,2707,3685,1847,1894,308.7,8.9,304,5481,0.00,2.12,9.50,0.800,9222,0.000,0.025,2717,2301,1836,1811,1862,0,0,0,0,0,0,28.83,26.15,25.25
$GC,5789,1.42,196.4,2717,2301,1807,1851,279.2,9.7,320,5790,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2301,1829,1807,1851,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6090,1.43,202.5,2717,2301,1808,1849,251.5,9.0,335,6095,0.00,0.00,2.80,0.409,8198,0.000,0.000,2717,2301,1813,1788,1838,0,0,0,0,0,0,28.83,28.83,25.32
$GC,6391,1.49,223.6,2717,2301,1788,1842,224.6,8.5,350,6426,0.00,2.28,25.33,0.743,8708,0.000,0.044,2728,900,1722,1691,1753,0,0,0,0,0,0,28.83,26.08,25.46
$GC,6438,1.50,230.2,2728,900,1691,1752,220.6,9.0,352,6450,0.00,2.08,4.70,0.682,9222,0.000,0.017,2728,2291,1699,1667,1732,0,0,0,0,0,0,28.83,26.18,25.21
$GC,6760,1.51,234.0,2728,2291,1667,1732,191.4,9.1,368,6771,0.00,2.15,4.53,0.660,8452,0.000,0.034,2728,3698,1684,1650,1718,0,0,0,0,0,0,28.83,26.28,25.32
$GC,6914,1.53,240.2,2728,3698,1651,1719,177.6,9.0,375,6930,0.00,2.15,8.65,0.717,9222,0.000,0.026,2738,2295,1656,1613,1699,0,0,0,0,0,0,28.83,26.36,25.54
$GC,7238,1.56,252.9,2738,2294,1607,1696,148.5,8.8,391,7259,0.00,0.00,13.27,0.685,8198,0.000,0.000,2738,2295,1602,1553,1652,0,0,0,0,0,0,28.83,28.83,25.57
$GC,7558,1.57,257.6,2738,2294,1552,1647,119.3,9.1,407,7566,0.00,2.25,3.22,0.476,8452,0.000,0.034,2738,3699,1588,1539,1638,0,0,0,0,0,0,28.83,26.36,25.39
$GC,7739,1.58,262.6,2738,3699,1539,1639,103.8,9.1,415,7753,0.00,2.12,7.43,0.652,9222,0.000,0.027,2748,2300,1566,1515,1618,0,0,0,0,0,0,28.83,26.44,25.65
$GC,8050,1.61,274.4,2748,2300,1514,1614,75.6,8.8,431,8074,0.00,2.25,12.95,0.614,8708,0.000,0.044,2759,900,1516,1463,1569,0,0,0,0,0,0,28.83,26.27,25.66
$GC,8140,1.63,281.2,2758,900,1461,1565,67.5,9.0,435,8153,0.00,2.08,6.85,0.612,9222,0.000,0.018,2759,2300,1492,1440,1544,0,0,0,0,0,0,28.83,26.38,25.59
$GC,8458,1.64,286.3,2758,2300,1438,1538,39.2,9.1,456,8472,0.00,2.12,4.43,0.541,8452,0.000,0.036,2759,3688,1471,1422,1521,0,0,0,0,0,0,28.83,26.36,25.48
$GC,8721,1.69,305.7,1728,3687,1394,1515,15.6,8.6,489,8753,0.00,2.12,21.73,0.532,9222,0.000,0.026,2768,2292,1386,1347,1426,0,0,0,0,0,0,28.83,26.46,25.65
$STATE,8861,end climb,SURFACE_DEPTH_REACHED
$STATE,8861,begin surface coast
$FINISH,0.0,1.024592
$STATE,8895,end surface coast,CONTROL_FINISHED_OK
$STATE,8895,begin surface
$SM_CCo,8913,199.62,0.696,2,0,400,549.47
$SM_CCo,9125,-0.08,0.000,0,0,401,549.47
$SM_CCo,9128,1.45,0.139,0,0,401,549.47
$SM_GC,-23.93,7.53,0.47,1.45,0.072,0.043,0.139,88,1960,401,-10.53,1.19,549.47,0,0,0,0,0,0,26.33,26.36,25.13
$IRIDIUM_FIX,1959.59,12003.49,230313,020201
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.46
$INTERNAL_PRESSURE,9.1655
$TCM_TEMP,19.80
$XPDR_PINGS,4
$SC_FREEKB,3956736
$24V_AH,24.3,29.584
$10V_AH,10.1,16.373
$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,17.175,68.675,505.425,201.075,0.000,0.000,0.000,230.100,1.000,0.000,17.274,2083.828,4637.492,802.955,1645.096,348.042,0.000,1924.349,0.000,1419.431,0.000,1.487,0.000
$DEVICE_MAMPS,214.200,45.135,847.620,696.150,0.000,0.000,0.000,134.640,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8910.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.554,0.000,0.000,0.000
$MEM,323884
$DATA_FILE_SIZE,16775,519
$CAP_FILE_SIZE,408902,2191
$CFSIZE,260034560,231129088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$CURRENT,0.033,279.3,1
$GPS,230313,081803,2008.391,12004.746,84,0.8,84,-2.7