version: 66.11
glider: 121
mission: 10
dive: 175
start: 3 23 113 11 8 10
data:
$ID,121
$MISSION,10
$DIVE,175
$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,-100714.74
$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,56
$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
$GPS1,230313,110031,2009.875,12003.933,15,1.3,15,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-66.6
$GPS2,230313,110743,2009.937,12003.913,18,1.3,19,-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,34.9,176186,-18.5,-9.259,-21.12,2828
$D_GRID,3571
$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,-170.3,86,1949,331,472,0.0,0.0,0,44,0.00,0.00,-24.08,0.000,16386,0.000,0.000,85,1949,1028,1006,1050,0,0,0,0,0,0,28.83,28.83,28.83
$GC,47,-1.35,-170.3,86,1950,1009,1051,3.2,-8.8,3,146,7.95,2.25,-84.07,0.000,18692,0.217,0.043,2093,3377,3337,3245,3430,0,0,0,0,0,0,25.81,26.17,26.46
$GC,312,-1.35,-170.3,2093,3377,3250,3429,27.5,-9.2,44,318,0.00,2.12,0.00,0.000,1030,0.000,0.024,2101,1974,3339,3249,3429,0,0,0,0,0,0,28.83,26.32,28.83
$GC,628,-1.35,-170.3,2100,1974,3253,3429,55.8,-9.4,72,634,0.00,2.12,0.00,0.000,516,0.000,0.040,2111,578,3341,3253,3429,0,0,0,0,0,0,28.83,26.44,28.83
$GC,807,-1.35,-170.3,2111,578,3254,3430,70.8,-8.7,80,814,0.00,2.03,0.00,0.000,1030,0.000,0.015,2103,1991,3341,3253,3430,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1123,-1.35,-170.3,2102,1992,3255,3430,99.1,-9.0,96,1129,0.00,2.05,0.00,0.000,260,0.000,0.031,2093,3368,3343,3256,3430,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1226,-1.35,-170.3,2092,3368,3256,3430,107.2,-9.2,100,1235,0.00,2.08,0.00,0.000,1030,0.000,0.024,2099,1967,3342,3255,3430,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1532,-1.35,-170.3,2099,1967,3255,3429,136.1,-9.0,116,1539,0.00,2.10,0.00,0.000,516,0.000,0.040,2109,574,3342,3255,3429,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1641,-1.35,-170.3,2109,574,3255,3429,145.9,-9.1,121,1648,0.00,2.00,0.00,0.000,1030,0.000,0.015,2101,1977,3342,3255,3429,0,0,0,0,0,0,28.83,26.69,28.83
$GC,1967,-1.35,-170.3,2101,1978,3255,3427,175.6,-8.9,137,1973,0.00,2.05,0.00,0.000,260,0.000,0.031,2091,3367,3341,3255,3427,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1996,-1.35,-170.3,2090,3367,3255,3426,177.8,-8.9,138,2002,0.00,2.08,0.00,0.000,1030,0.000,0.026,2098,1974,3340,3255,3426,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2317,-1.35,-170.3,2098,1974,3255,3423,207.3,-9.1,154,2322,0.00,2.12,0.00,0.000,516,0.000,0.041,2107,571,3339,3255,3423,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2398,-1.35,-170.3,2107,571,3255,3423,213.3,-9.0,157,2406,0.00,2.03,0.00,0.000,1030,0.000,0.016,2099,1983,3338,3255,3422,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2704,-1.35,-170.3,2099,1983,3255,3419,242.0,-8.8,173,2705,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,1983,3337,3255,3419,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3004,-1.35,-170.3,2099,1984,3254,3416,269.4,-9.3,188,3011,0.00,2.17,0.00,0.000,516,0.000,0.041,2107,572,3335,3254,3416,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3034,-1.35,-170.3,2107,572,3254,3416,271.7,-9.2,189,3040,0.00,2.03,0.00,0.000,1030,0.000,0.016,2098,1979,3334,3254,3415,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3354,-1.35,-170.3,2098,1980,3253,3413,301.1,-9.0,205,3355,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,1980,3333,3253,3413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3655,-1.35,-170.3,2098,1980,3252,3410,328.2,-9.0,220,3656,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,1980,3331,3252,3410,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3957,-1.35,-170.3,2098,1981,3249,3408,354.9,-8.9,235,3962,0.00,2.05,0.00,0.000,260,0.000,0.033,2088,3356,3328,3249,3408,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3983,-1.35,-170.3,2088,3356,3248,3407,357.4,-9.0,236,3989,0.00,2.08,0.00,0.000,1030,0.000,0.028,2088,1980,3328,3249,3407,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4308,-1.35,-170.3,2088,1980,3247,3405,386.6,-9.1,252,4314,0.00,2.15,0.00,0.000,516,0.000,0.045,2098,575,3326,3247,3405,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4390,-1.35,-170.3,2097,575,3246,3405,392.6,-9.0,255,4398,0.00,2.03,0.00,0.000,1030,0.000,0.017,2089,1975,3325,3245,3405,0,0,0,0,0,0,28.83,26.71,28.83
$STATE,4473,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4473,begin apogee
$GC,4478,-0.25,0.0,2087,2311,3245,3404,401.4,-8.6,260,4696,0.77,0.00,209.68,0.730,10246,0.115,0.000,2342,2311,2636,2587,2686,0,0,0,0,0,0,26.46,28.83,24.63
$STATE,4698,end apogee,CONTROL_FINISHED_OK
$STATE,4698,begin climb
$GC,4700,1.35,170.3,2342,2311,2584,2681,383.3,0.0,269,4863,1.00,2.20,153.85,0.842,10500,0.057,0.032,2703,3680,1935,1903,1968,0,0,0,0,0,0,25.29,25.01,24.35
$GC,5056,1.35,170.3,2702,3681,1898,1948,350.3,9.3,285,5064,0.00,2.12,0.00,0.000,1030,0.000,0.024,2712,2302,1922,1898,1947,0,0,0,0,0,0,28.83,25.93,28.83
$GC,5362,1.38,179.4,2712,2301,1898,1944,321.7,8.9,301,5370,0.00,2.22,1.73,0.059,8452,0.000,0.031,2712,3691,1906,1882,1931,0,0,0,0,0,0,28.83,26.25,26.15
$GC,5395,1.39,186.6,2712,3691,1882,1933,319.3,9.0,302,5413,0.00,2.12,12.18,0.802,9222,0.000,0.024,2722,2299,1875,1850,1901,0,0,0,0,0,0,28.83,26.29,25.36
$GC,5710,1.41,191.4,2722,2298,1846,1892,290.6,9.1,318,5717,0.00,2.22,1.62,0.095,8452,0.000,0.032,2724,3692,1860,1836,1884,0,0,0,0,0,0,28.83,26.33,26.10
$GC,5751,1.42,197.9,2722,3692,1836,1886,288.3,9.0,319,5770,0.10,2.12,10.73,0.773,13318,0.198,0.024,2711,2295,1828,1801,1855,0,0,0,0,0,0,26.15,26.36,25.47
$GC,6086,1.45,209.3,2711,2295,1800,1849,257.3,8.8,336,6103,0.00,2.22,11.35,0.752,8452,0.000,0.033,2711,3681,1782,1753,1812,0,0,0,0,0,0,28.83,26.22,25.52
$GC,6237,1.47,218.8,2711,3681,1749,1806,243.9,8.9,343,6256,0.00,2.10,9.75,0.744,9222,0.000,0.025,2720,2301,1743,1713,1774,0,0,0,0,0,0,28.83,26.33,25.46
$GC,6555,1.49,226.0,2719,2301,1712,1768,215.1,9.0,359,6565,0.00,0.00,7.22,0.724,8454,0.000,0.000,2720,2301,1715,1683,1748,0,0,0,0,0,0,28.83,28.83,25.53
$GC,6879,1.50,230.1,2720,2301,1681,1741,185.9,9.1,375,6880,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2301,1711,1681,1741,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7180,1.52,238.7,2720,2301,1681,1740,158.5,8.9,390,7199,0.00,0.00,12.90,0.666,8198,0.000,0.000,2720,2301,1660,1620,1701,0,0,0,0,0,0,28.83,28.83,25.67
$GC,7500,1.55,249.3,2719,2301,1612,1700,129.5,8.9,406,7518,0.00,0.00,10.43,0.645,8198,0.000,0.000,2720,2301,1617,1569,1665,0,0,0,0,0,0,28.83,28.83,25.66
$GC,7818,1.55,249.3,2720,2301,1568,1660,100.5,9.4,422,7824,0.00,2.20,0.00,0.000,516,0.000,0.044,2731,892,1614,1568,1660,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7894,1.56,252.7,2730,893,1568,1660,94.5,9.1,425,7900,0.00,2.08,0.00,0.000,1030,0.000,0.017,2731,2303,1614,1568,1660,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8209,1.60,268.2,2730,2304,1568,1659,66.3,8.7,441,8233,0.00,2.20,18.20,0.575,8452,0.000,0.035,2731,3695,1540,1488,1593,0,0,0,0,0,0,28.83,26.32,25.73
$GC,8333,1.61,274.4,2730,3696,1487,1588,56.3,9.0,446,8342,0.00,2.12,4.55,0.542,9222,0.000,0.025,2741,2298,1520,1468,1573,0,0,0,0,0,0,28.83,26.39,25.47
$GC,8640,1.66,291.1,2740,2298,1467,1572,27.4,8.7,474,8666,0.00,2.22,18.50,0.535,8452,0.000,0.033,2740,3687,1447,1399,1495,0,0,0,0,0,0,28.83,26.25,25.67
$GC,8793,1.69,306.9,1728,3686,1373,1483,13.5,8.7,498,8816,0.00,2.10,15.35,0.522,9222,0.000,0.025,2750,2300,1383,1347,1420,0,0,0,0,0,0,28.83,26.36,25.61
$STATE,8910,end climb,SURFACE_DEPTH_REACHED
$STATE,8910,begin surface coast
$FINISH,0.0,1.024345
$STATE,8943,end surface coast,CONTROL_FINISHED_OK
$STATE,8943,begin surface
$SM_CCo,8960,197.40,0.678,2,0,400,549.47
$SM_CCo,9170,-0.15,0.000,0,0,401,549.47
$SM_CCo,9174,0.98,0.073,0,0,400,549.47
$SM_GC,-23.93,7.45,0.50,0.98,0.070,0.040,0.073,88,1948,400,-10.53,0.90,549.47,0,0,0,0,0,0,26.30,26.34,25.25
$IRIDIUM_FIX,2004.18,12000.35,230313,080848
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.51
$INTERNAL_PRESSURE,9.17526
$TCM_TEMP,20.20
$XPDR_PINGS,0
$SC_FREEKB,3955968
$24V_AH,24.4,29.890
$10V_AH,10.2,16.501
$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,17.275,68.750,498.025,198.375,0.000,0.000,0.000,250.200,0.000,0.000,20.141,2022.721,4815.317,796.372,1610.135,341.177,0.000,1909.574,0.000,1356.403,0.000,1.485,0.000
$DEVICE_MAMPS,217.260,45.135,842.265,677.790,0.000,0.000,0.000,132.345,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8963.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.560,0.000,0.000,0.000
$MEM,323892
$DATA_FILE_SIZE,20097,524
$CAP_FILE_SIZE,397398,2080
$CFSIZE,260034560,230907904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$CURRENT,0.216, 10.5,1
$GPS,230313,134235,2011.801,12004.548,51,1.0,51,-2.7