version: 66.11
glider: 121
mission: 10
dive: 177
start: 3 23 113 16 31 2
data:
$ID,121
$MISSION,10
$DIVE,177
$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,-100717.24
$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,38
$R_STBD_OVSHOOT,66
$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
$GPS1,230313,162334,2013.816,12004.596,36,0.8,36,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-67.2
$GPS2,230313,163035,2013.907,12004.613,16,1.0,17,-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,341.6,168890,-18.5,-9.259,-21.12,2828
$D_GRID,3476
$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,-170.3,82,2008,330,471,0.0,0.0,0,44,0.00,0.00,-23.83,0.000,16386,0.000,0.000,82,2008,1017,995,1040,0,0,0,0,0,0,28.83,28.83,28.83
$GC,47,-1.35,-170.3,82,2008,996,1040,3.3,-9.2,3,146,7.93,2.33,-82.60,0.000,18948,0.217,0.051,2107,569,3337,3245,3430,0,0,0,0,0,0,25.79,26.13,26.44
$GC,322,-1.35,-170.3,2107,569,3249,3430,28.3,-9.0,45,328,0.00,2.05,0.00,0.000,1030,0.000,0.016,2099,1975,3339,3249,3430,0,0,0,0,0,0,28.83,26.35,28.83
$GC,647,-1.35,-170.3,2099,1977,3252,3430,57.6,-9.1,73,653,0.00,2.08,0.00,0.000,260,0.000,0.031,2089,3371,3341,3252,3430,0,0,0,0,0,0,28.83,26.45,28.83
$GC,673,-1.35,-170.3,2088,3371,3252,3430,59.9,-9.1,74,680,0.00,2.10,0.00,0.000,1030,0.000,0.024,2096,1967,3341,3252,3430,0,0,0,0,0,0,28.83,26.46,28.83
$GC,999,-1.35,-170.3,2096,1967,3255,3430,89.5,-8.9,90,1005,0.00,2.12,0.00,0.000,516,0.000,0.040,2106,565,3342,3254,3430,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1066,-1.35,-170.3,2106,565,3255,3430,95.6,-9.0,93,1072,0.00,2.05,0.00,0.000,1030,0.000,0.016,2098,1992,3342,3255,3430,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1390,-1.35,-170.3,2099,1992,3255,3430,124.9,-9.3,109,1392,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,1993,3342,3255,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1692,-1.35,-170.3,2098,1994,3255,3430,152.3,-9.2,124,1698,0.00,2.17,0.00,0.000,516,0.000,0.039,2107,574,3341,3254,3429,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1741,-1.35,-170.3,2106,574,3255,3429,156.6,-9.0,126,1747,0.00,2.03,0.00,0.000,1030,0.000,0.015,2098,1980,3341,3254,3429,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2067,-1.35,-170.3,2098,1981,3255,3426,185.9,-8.9,142,2074,0.00,2.05,0.00,0.000,260,0.000,0.032,2088,3363,3339,3254,3425,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2099,-1.35,-170.3,2087,3363,3254,3425,188.5,-9.1,143,2105,0.00,2.08,0.00,0.000,1030,0.000,0.027,2093,1975,3339,3254,3425,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2418,-1.35,-170.3,2090,1975,3254,3422,217.7,-9.1,159,2424,0.00,2.15,0.00,0.000,516,0.000,0.043,2101,564,3338,3254,3422,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2474,-1.35,-170.3,2101,564,3254,3422,221.9,-8.9,161,2480,0.00,2.03,0.00,0.000,1030,0.000,0.016,2093,1973,3338,3254,3422,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2789,-1.35,-170.3,2092,1974,3254,3418,251.1,-9.0,177,2790,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,1974,3336,3254,3418,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3091,-1.35,-170.3,2092,1974,3253,3415,278.4,-9.2,192,3097,0.00,2.17,0.00,0.000,516,0.000,0.042,2100,568,3334,3253,3415,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3120,-1.35,-170.3,2100,568,3253,3415,280.7,-9.0,193,3126,0.00,2.03,0.00,0.000,1030,0.000,0.016,2092,1974,3334,3253,3415,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3440,-1.35,-170.3,2092,1975,3252,3412,309.4,-8.7,209,3441,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,1975,3332,3252,3412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3742,-1.35,-170.3,2092,1977,3250,3409,336.7,-9.1,224,3743,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,1975,3329,3250,3409,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4041,-1.35,-170.3,2091,1975,3248,3407,363.4,-8.7,239,4043,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,1975,3328,3248,3408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4342,-1.35,-170.3,2092,1975,3246,3405,389.7,-8.9,254,4343,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,1975,3325,3246,3405,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4458,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4458,begin apogee
$GC,4463,-0.25,0.0,2089,2314,3245,3404,400.5,-9.1,260,4622,0.77,0.00,144.52,1.079,10246,0.115,0.000,2344,2314,2639,2589,2689,0,0,0,0,1,0,26.45,28.83,24.25
$STATE,4623,end apogee,CONTROL_FINISHED_OK
$STATE,4623,begin climb
$GC,4625,1.35,170.3,2344,2314,2589,2689,386.3,0.0,267,4793,1.00,2.25,155.88,0.861,10500,0.056,0.034,2705,3675,1934,1899,1969,0,0,0,0,0,0,25.17,24.95,24.29
$GC,4949,1.37,176.5,2705,3675,1897,1952,357.3,9.0,281,4955,0.00,2.12,0.00,0.000,1030,0.000,0.024,2714,2306,1924,1897,1952,0,0,0,0,0,0,28.83,25.81,28.83
$GC,5264,1.41,191.9,2714,2307,1896,1947,328.2,8.7,297,5287,0.00,0.00,18.75,0.806,8454,0.000,0.000,2714,2307,1850,1823,1878,0,0,0,0,0,0,28.83,28.83,25.21
$GC,5584,1.41,192.8,2714,2306,1816,1866,299.2,9.2,313,5589,0.00,2.15,0.00,0.000,260,0.000,0.033,2714,3690,1841,1816,1866,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5623,1.42,195.6,1760,3689,1774,1857,297.1,9.2,314,5631,0.00,2.12,0.00,0.000,1030,0.000,0.024,2725,2297,1841,1816,1866,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5931,1.43,202.3,2724,2297,1815,1864,267.7,9.0,330,5941,0.00,0.00,8.05,0.763,8198,0.000,0.000,2724,2297,1814,1787,1842,0,0,0,0,0,0,28.83,28.83,25.54
$GC,6232,1.48,219.9,2723,2297,1781,1834,241.8,8.6,345,6256,0.00,2.22,18.33,0.741,8452,0.000,0.032,2725,3679,1738,1706,1770,0,0,0,0,0,0,28.83,26.15,25.48
$GC,6332,1.48,222.9,2724,3678,1704,1764,233.5,9.2,349,6337,0.00,2.12,0.00,0.000,1030,0.000,0.025,2734,2292,1734,1704,1764,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6646,1.50,227.5,2734,2292,1704,1760,204.4,9.1,365,6658,0.00,2.17,5.35,0.695,8708,0.000,0.043,2745,897,1713,1683,1743,0,0,0,0,0,0,28.83,26.30,25.53
$GC,6682,1.50,230.8,2745,900,1683,1742,202.0,9.1,366,6695,0.00,2.08,4.47,0.650,9222,0.000,0.017,2745,2298,1698,1667,1729,0,0,0,0,0,0,28.83,26.39,25.37
$GC,6994,1.53,239.4,2745,2299,1667,1729,173.0,8.9,382,7011,0.00,2.15,11.27,0.685,8452,0.000,0.034,2745,3695,1656,1615,1698,0,0,0,0,0,0,28.83,26.26,25.59
$GC,7041,1.55,248.3,2745,3695,1614,1697,168.7,8.9,384,7058,0.00,2.15,8.73,0.681,9222,0.000,0.027,2755,2292,1623,1576,1671,0,0,0,0,0,0,28.83,26.29,25.52
$GC,7368,1.59,265.1,2754,2292,1576,1664,139.9,8.7,400,7387,0.00,0.00,17.42,0.645,8198,0.000,0.000,2755,2292,1557,1505,1610,0,0,0,0,0,0,28.83,28.83,25.51
$GC,7687,1.62,275.7,2754,2291,1501,1598,111.3,8.9,416,7702,0.00,0.00,10.55,0.630,8710,0.000,0.000,2755,2291,1511,1459,1564,0,0,0,0,0,0,28.83,28.83,25.58
$GC,8011,1.64,284.6,2755,2291,1459,1558,82.3,8.9,432,8027,0.00,2.17,9.55,0.601,8708,0.000,0.042,2765,895,1473,1423,1524,0,0,0,0,0,0,28.83,26.25,25.64
$GC,8093,1.66,293.1,2765,895,1423,1520,76.2,9.0,435,8108,0.00,2.10,8.68,0.598,9222,0.000,0.018,2765,2311,1442,1393,1491,0,0,0,0,0,0,28.83,26.37,25.58
$GC,8417,1.67,295.4,2765,2311,1392,1482,45.6,9.2,453,8424,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2313,1437,1392,1482,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8734,1.67,296.4,1712,2308,1366,1476,17.0,9.2,492,8743,0.00,2.08,0.00,0.000,260,0.000,0.035,2765,3687,1436,1392,1481,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8833,1.68,300.6,1728,3686,1365,1475,8.0,9.1,509,8848,0.00,2.10,7.47,0.525,9222,0.000,0.025,2775,2295,1410,1367,1453,0,0,0,0,0,0,28.83,26.51,25.80
$STATE,8887,end climb,SURFACE_DEPTH_REACHED
$STATE,8887,begin surface coast
$FINISH,0.0,1.022971
$STATE,8921,end surface coast,CONTROL_FINISHED_OK
$STATE,8921,begin surface
$SM_CCo,8938,179.65,0.659,1,0,399,549.47
$SM_CCo,9126,-0.30,0.000,0,0,400,549.47
$SM_CCo,9129,0.00,0.000,0,0,400,549.47
$SM_GC,-23.93,7.45,0.47,0.00,0.067,0.042,0.000,81,1965,400,-10.57,1.22,549.47,0,0,0,0,0,0,26.46,26.48,28.83
$IRIDIUM_FIX,2006.47,12006.62,230313,131325
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.36
$INTERNAL_PRESSURE,9.1948
$TCM_TEMP,20.50
$XPDR_PINGS,2
$SC_FREEKB,3955200
$24V_AH,24.3,30.187
$10V_AH,10.2,16.623
$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,17.150,60.350,429.025,179.650,0.000,0.000,0.000,242.025,0.500,0.000,17.499,1907.868,5076.454,709.547,1501.499,333.481,0.000,1720.753,0.000,1245.375,0.000,1.487,0.000
$DEVICE_MAMPS,217.260,51.255,1078.650,658.665,0.000,0.000,0.000,133.875,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8925.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.491,0.000,0.000,0.000
$MEM,323904
$DATA_FILE_SIZE,16801,524
$CAP_FILE_SIZE,388932,1855
$CFSIZE,260034560,230690816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$CURRENT,0.242, 20.2,1
$GPS,230313,190406,2015.896,12004.669,16,0.9,16,-2.7