version: 66.11
glider: 121
mission: 10
dive: 174
start: 3 23 113 8 27 33
data:
$ID,121
$MISSION,10
$DIVE,174
$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,-100713.49
$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,49
$R_STBD_OVSHOOT,57
$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
$GPS1,230313,081803,2008.391,12004.746,84,0.8,84,-2.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-66.1
$GPS2,230313,082705,2008.442,12004.669,16,1.1,17,-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,7.8,179006,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.35,-170.3,88,1949,335,472,0.0,0.0,0,43,0.00,0.00,-23.65,0.000,16386,0.000,0.000,88,1950,1024,1005,1043,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.35,-170.3,88,1949,1006,1043,3.2,-9.3,3,145,7.88,2.25,-84.57,0.000,18692,0.215,0.043,2092,3379,3338,3245,3431,0,0,0,0,0,0,25.80,26.16,26.46
$GC,357,-1.35,-170.3,2092,3379,3249,3431,31.3,-9.2,48,362,0.00,2.12,0.00,0.000,1030,0.000,0.025,2101,1970,3340,3250,3431,0,0,0,0,0,0,28.83,26.34,28.83
$GC,681,-1.35,-170.3,2100,1970,3252,3431,60.8,-9.1,74,688,0.00,2.12,0.00,0.000,516,0.000,0.039,2111,571,3341,3252,3431,0,0,0,0,0,0,28.83,26.45,28.83
$GC,924,-1.35,-170.3,2110,570,3253,3431,81.7,-8.9,85,930,0.00,2.05,0.00,0.000,1030,0.000,0.015,2102,2007,3342,3254,3431,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1238,-1.35,-170.3,2102,2008,3254,3431,111.2,-9.3,101,1239,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2007,3342,3254,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1541,-1.35,-170.3,2102,2009,3254,3430,137.8,-8.7,116,1546,0.00,2.20,0.00,0.000,516,0.000,0.038,2111,568,3342,3254,3431,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1649,-1.35,-170.3,2111,568,3254,3430,147.9,-9.2,121,1655,0.00,2.03,0.00,0.000,1030,0.000,0.015,2102,1983,3342,3254,3430,0,0,0,0,0,0,28.83,26.68,28.83
$GC,1974,-1.35,-170.3,2102,1984,3253,3427,177.0,-8.9,137,1975,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,1984,3340,3254,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2275,-1.35,-170.3,2102,1984,3254,3423,203.6,-8.8,152,2281,0.00,2.03,0.00,0.000,260,0.000,0.031,2092,3357,3338,3253,3423,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2322,-1.35,-170.3,2092,3358,3254,3422,207.8,-8.9,154,2329,0.00,2.08,0.00,0.000,1030,0.000,0.026,2093,1965,3339,3256,3422,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2647,-1.35,-170.3,2093,1965,3254,3420,236.7,-8.8,170,2653,0.00,2.12,0.00,0.000,516,0.000,0.042,2103,567,3336,3253,3419,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2788,-1.35,-170.3,2103,567,3253,3418,248.5,-9.1,176,2794,0.00,2.03,0.00,0.000,1030,0.000,0.016,2095,1977,3335,3253,3417,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3102,-1.35,-170.3,2094,1978,3253,3414,277.9,-8.7,192,3108,0.00,2.05,0.00,0.000,260,0.000,0.031,2085,3361,3333,3253,3414,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3153,-1.35,-170.3,2084,3361,3252,3413,282.0,-8.9,194,3159,0.00,2.08,0.00,0.000,1030,0.000,0.028,2086,1977,3333,3253,3413,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3473,-1.35,-170.3,2085,1977,3252,3410,311.0,-8.9,210,3479,0.00,2.15,0.00,0.000,516,0.000,0.044,2096,570,3331,3252,3410,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3544,-1.35,-170.3,2096,570,3251,3409,316.8,-8.6,213,3550,0.00,2.03,0.00,0.000,1030,0.000,0.016,2089,1979,3329,3250,3409,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3864,-1.35,-170.3,2087,1980,3248,3407,346.1,-8.7,229,3870,0.00,2.17,0.00,0.000,516,0.000,0.043,2096,575,3327,3248,3407,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3911,-1.35,-170.3,2095,577,3248,3407,350.3,-8.8,231,3917,0.00,2.03,0.00,0.000,1030,0.000,0.016,2089,1977,3327,3248,3407,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4236,-1.35,-170.3,2087,1977,3245,3403,379.8,-9.0,247,4242,0.00,2.17,0.00,0.000,516,0.000,0.044,2096,575,3324,3245,3403,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4286,-1.35,-170.3,2095,575,3245,3404,383.8,-8.9,249,4294,0.00,2.05,0.00,0.000,1030,0.000,0.016,2087,1982,3324,3244,3404,0,0,0,0,0,0,28.83,26.71,28.83
$STATE,4465,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4465,begin apogee
$GC,4470,-0.25,0.0,2084,2304,3242,3402,400.4,-9.2,258,4635,0.80,0.00,151.10,1.019,10246,0.116,0.000,2347,2304,2638,2590,2687,0,0,0,0,1,0,26.46,28.83,24.28
$STATE,4638,end apogee,CONTROL_FINISHED_OK
$STATE,4638,begin climb
$GC,4640,1.35,170.3,2347,2304,2589,2687,386.0,0.0,265,4803,0.98,0.00,155.35,0.871,10502,0.056,0.000,2699,2308,1938,1905,1971,0,0,0,0,0,0,25.20,28.83,24.31
$GC,5094,1.37,175.3,2698,2308,1899,1945,344.3,9.1,288,5100,0.00,2.12,0.00,0.000,260,0.000,0.034,2699,3690,1921,1899,1944,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5145,1.39,185.4,2699,3690,1898,1943,340.1,8.9,290,5165,0.00,2.12,11.60,0.816,9222,0.000,0.024,2709,2305,1878,1854,1902,0,0,0,0,0,0,28.83,26.13,25.20
$GC,5461,1.42,195.6,2709,2305,1850,1892,311.1,8.9,306,5472,0.00,0.00,9.23,0.799,8198,0.000,0.000,2712,2305,1841,1817,1866,0,0,0,0,0,0,28.83,28.83,25.38
$GC,5762,1.47,216.6,2708,2305,1811,1855,284.5,8.5,321,5790,0.00,2.17,20.88,0.786,8452,0.000,0.033,2709,3688,1750,1721,1779,0,0,0,0,0,0,28.83,26.03,25.35
$GC,5897,1.50,227.2,2709,3688,1719,1774,272.8,8.9,327,5916,0.00,2.12,10.15,0.779,9222,0.000,0.024,2718,2302,1708,1677,1740,0,0,0,0,0,0,28.83,26.20,25.32
$GC,6214,1.51,232.7,2718,2300,1676,1732,243.7,9.1,343,6225,0.00,2.17,3.83,0.607,8452,0.000,0.033,2718,3673,1690,1658,1722,0,0,0,0,0,0,28.83,26.28,25.28
$GC,6304,1.52,238.9,1760,3672,1624,1714,235.8,9.0,347,6324,0.00,2.10,9.05,0.757,9222,0.000,0.025,2728,2295,1658,1617,1700,0,0,0,0,0,0,28.83,26.34,25.46
$GC,6622,1.54,243.4,2728,2294,1612,1699,206.8,9.1,363,6628,0.00,2.15,0.00,0.000,260,0.000,0.033,2728,3690,1655,1612,1699,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6670,1.56,253.8,2728,3691,1610,1699,202.6,8.9,365,6693,0.00,2.12,14.55,0.722,9222,0.000,0.026,2738,2293,1599,1549,1650,0,0,0,0,0,0,28.83,26.41,25.52
$GC,6990,1.59,263.9,2738,2293,1548,1644,173.8,8.9,381,7009,0.00,0.00,10.32,0.698,8198,0.000,0.000,2739,2293,1558,1506,1610,0,0,0,0,0,0,28.83,28.83,25.56
$GC,7309,1.60,269.1,2738,2293,1505,1606,144.6,9.1,397,7321,0.00,2.20,3.70,0.541,8452,0.000,0.033,2739,3681,1542,1491,1594,0,0,0,0,0,0,28.83,26.37,25.41
$GC,7350,1.63,280.6,2738,3681,1491,1594,142.3,8.8,398,7374,0.00,2.12,15.20,0.666,9222,0.000,0.028,2748,2294,1490,1438,1542,0,0,0,0,0,0,28.83,26.39,25.55
$GC,7683,1.67,295.8,2748,2294,1437,1534,111.4,8.7,415,7707,0.00,2.15,15.20,0.630,8452,0.000,0.032,2748,3678,1428,1382,1474,0,0,0,0,0,0,28.83,26.20,25.56
$GC,7744,1.69,304.5,2748,3679,1382,1469,107.0,8.9,417,7758,0.00,2.12,9.27,0.633,9222,0.000,0.027,2758,2297,1396,1356,1437,0,0,0,0,0,0,28.83,26.25,25.50
$GC,8079,1.69,305.1,2758,2297,1352,1425,75.5,9.2,434,8085,0.00,2.20,0.00,0.000,516,0.000,0.044,2768,886,1388,1352,1425,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8148,1.69,305.4,2768,886,1352,1425,69.2,9.2,437,8154,0.00,2.08,0.00,0.000,1030,0.000,0.017,2769,2290,1388,1352,1425,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8459,1.74,323.2,2768,2290,1352,1424,41.2,8.6,457,8485,0.00,2.22,18.12,0.545,8452,0.000,0.035,2768,3699,1316,1291,1341,0,0,0,0,0,0,28.83,26.29,25.70
$GC,8621,1.76,334.6,2768,3699,1291,1335,26.9,8.8,471,8639,0.00,2.15,11.25,0.535,9222,0.000,0.026,2778,2291,1269,1253,1286,0,0,0,0,0,0,28.83,26.38,25.66
$STATE,8883,end climb,SURFACE_DEPTH_REACHED
$STATE,8883,begin surface coast
$FINISH,0.0,1.023564
$STATE,8919,end surface coast,CONTROL_FINISHED_OK
$STATE,8919,begin surface
$SM_CCo,8935,170.62,0.666,2,0,399,549.47
$SM_CCo,9119,-0.20,0.000,0,0,401,549.47
$SM_CCo,9123,0.77,0.103,0,0,400,549.47
$SM_GC,-23.93,7.45,0.47,0.77,0.066,0.043,0.103,87,1960,400,-10.55,1.10,549.47,0,0,0,0,0,0,26.41,26.44,25.27
$IRIDIUM_FIX,2001.88,12008.61,230313,080856
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.62
$INTERNAL_PRESSURE,9.1948
$TCM_TEMP,20.40
$XPDR_PINGS,1
$SC_FREEKB,3956352
$24V_AH,24.3,29.740
$10V_AH,10.2,16.439
$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,17.100,73.000,468.800,171.400,0.000,0.000,0.000,355.900,0.250,0.000,18.430,2062.699,4742.360,754.605,1737.618,347.453,0.000,1971.345,0.000,1363.276,0.000,1.486,0.000
$DEVICE_MAMPS,214.965,44.370,1018.980,665.550,0.000,0.000,0.000,134.640,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8929.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.584,0.000,0.000,0.000
$MEM,323896
$DATA_FILE_SIZE,20063,523
$CAP_FILE_SIZE,405202,2126
$CFSIZE,260034560,231018496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,2,0
$CURRENT,0.180,308.8,1
$GPS,230313,110031,2009.875,12003.933,15,1.3,15,-2.7