version: 66.11
glider: 121
mission: 10
dive: 179
start: 3 23 113 21 55 15
data:
$ID,121
$MISSION,10
$DIVE,179
$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,-100719.77
$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,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
$GPS1,230313,214733,2017.419,12004.417,124,1.3,124,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-67.3
$GPS2,230313,215448,2017.453,12004.543,16,0.8,18,-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,348.7,162325,-18.5,-9.259,-21.12,2828
$D_GRID,3528
$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,-170.3,83,1947,354,500,0.0,0.0,0,44,0.00,0.00,-23.75,0.000,16386,0.000,0.000,82,1948,1047,1028,1067,0,0,0,0,0,0,28.83,28.83,28.83
$GC,47,-1.35,-170.3,82,1948,1025,1068,3.3,-9.6,3,146,7.88,2.17,-81.93,0.000,18692,0.214,0.042,2087,3371,3336,3244,3428,0,0,0,0,0,0,25.79,26.15,26.44
$GC,182,-1.35,-170.3,1248,3370,3217,3425,15.8,-9.5,22,190,0.00,2.12,0.00,0.000,1030,0.000,0.026,2097,1976,3337,3245,3429,0,0,0,0,0,0,28.83,26.20,28.83
$GC,499,-1.35,-170.3,2096,1977,3248,3429,43.9,-8.5,62,505,0.00,2.15,0.00,0.000,516,0.000,0.040,2106,572,3338,3248,3428,0,0,0,0,0,0,28.83,26.37,28.83
$GC,627,-1.35,-170.3,2106,572,3249,3429,54.0,-9.0,70,635,0.00,2.05,0.00,0.000,1030,0.000,0.015,2098,1992,3339,3249,3429,0,0,0,0,0,0,28.83,26.49,28.83
$GC,932,-1.35,-170.3,2098,1994,3252,3428,83.5,-9.2,86,938,0.00,2.20,0.00,0.000,516,0.000,0.038,2106,566,3340,3252,3428,0,0,0,0,0,0,28.83,26.49,28.83
$GC,967,-1.35,-170.3,2105,565,3252,3429,85.7,-9.1,87,973,0.00,2.03,0.00,0.000,1030,0.000,0.015,2098,1974,3340,3252,3428,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1282,-1.35,-170.3,2098,1975,3252,3428,115.0,-9.2,103,1283,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,1975,3340,3252,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1583,-1.35,-170.3,2098,1975,3253,3428,141.8,-8.8,118,1588,0.00,2.05,0.00,0.000,260,0.000,0.031,2088,3361,3340,3252,3428,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1612,-1.35,-170.3,2087,3361,3252,3427,143.9,-8.6,119,1618,0.00,2.08,0.00,0.000,1030,0.000,0.026,2091,1972,3339,3252,3427,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1933,-1.35,-170.3,2090,1972,3252,3426,173.0,-8.8,135,1935,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,1972,3339,3252,3426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2233,-1.35,-170.3,2090,1972,3253,3423,199.8,-9.3,150,2239,0.00,2.12,0.00,0.000,516,0.000,0.042,2101,574,3337,3252,3422,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2310,-1.35,-170.3,2100,574,3252,3422,206.0,-9.1,153,2316,0.00,2.03,0.00,0.000,1030,0.000,0.016,2092,1983,3336,3251,3422,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2624,-1.35,-170.3,2092,1984,3252,3419,234.8,-8.8,169,2630,0.00,2.05,0.00,0.000,260,0.000,0.033,2082,3361,3334,3251,3418,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2702,-1.35,-170.3,2082,3361,3252,3417,240.8,-9.0,172,2708,0.10,2.08,0.00,0.000,3078,0.159,0.028,2109,1975,3334,3252,3417,0,0,0,0,0,0,26.48,26.64,28.83
$GC,3017,-1.35,-170.3,2109,1975,3252,3415,269.9,-9.0,188,3018,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,1975,3333,3252,3415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3318,-1.35,-170.3,2109,1975,3250,3411,296.7,-8.9,203,3324,0.00,2.15,0.00,0.000,516,0.000,0.045,2119,575,3330,3250,3410,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3370,-1.35,-170.3,2119,575,3250,3411,300.9,-8.9,205,3375,0.00,2.03,0.00,0.000,1030,0.000,0.016,2111,1974,3330,3250,3411,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3689,-1.35,-170.3,2111,1974,3248,3408,330.4,-9.3,221,3690,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,1974,3328,3248,3408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3991,-1.35,-170.3,2110,1974,3247,3406,357.3,-8.9,236,3996,0.00,2.08,0.00,0.000,260,0.000,0.035,2101,3358,3326,3247,3405,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4038,-1.35,-170.3,2100,3358,3246,3405,361.4,-8.8,238,4044,0.00,2.10,0.00,0.000,1030,0.000,0.029,2102,1977,3325,3246,3405,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4365,-1.35,-170.3,2102,1976,3243,3403,390.6,-9.1,254,4366,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,1976,3323,3243,3403,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4481,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4481,begin apogee
$GC,4486,-0.25,0.0,2101,2306,3242,3402,401.3,-8.6,260,4648,0.73,0.00,143.52,1.053,10246,0.110,0.000,2343,2307,2639,2590,2689,0,0,0,0,1,0,26.46,28.83,24.24
$STATE,4649,end apogee,CONTROL_FINISHED_OK
$STATE,4649,begin climb
$GC,4651,1.35,170.3,2342,2307,2590,2689,387.0,0.0,267,4814,1.00,2.33,148.07,1.090,10500,0.054,0.034,2706,3685,1944,1908,1980,0,0,0,0,1,0,25.21,24.74,23.94
$GC,5054,1.37,176.2,2705,3685,1908,1980,350.6,9.0,285,5072,0.00,2.15,8.40,0.831,9222,0.000,0.024,2715,2300,1916,1888,1945,0,0,0,0,0,0,28.83,25.91,24.98
$GC,5371,1.40,187.5,2714,2300,1888,1940,321.6,8.8,301,5388,0.00,2.25,11.90,0.822,8452,0.000,0.032,2715,3690,1871,1845,1897,0,0,0,0,0,0,28.83,26.02,25.27
$GC,5510,1.43,201.9,2715,3690,1845,1891,310.2,8.7,307,5534,0.00,2.12,15.07,0.819,9222,0.000,0.024,2725,2301,1811,1784,1839,0,0,0,0,0,0,28.83,26.18,25.21
$GC,5848,1.47,217.3,2725,2301,1784,1830,279.1,8.7,324,5871,0.00,0.00,15.27,0.793,8710,0.000,0.000,2725,2301,1749,1722,1776,0,0,0,0,0,0,28.83,28.83,25.34
$GC,6168,1.49,225.5,2725,2301,1721,1770,250.0,9.0,340,6185,0.00,2.22,8.30,0.774,8708,0.000,0.044,2736,893,1716,1687,1746,0,0,0,0,0,0,28.83,26.16,25.44
$GC,6219,1.51,234.1,2735,893,1685,1745,245.8,8.9,342,6238,0.00,2.10,9.62,0.774,9222,0.000,0.018,2736,2299,1679,1645,1714,0,0,0,0,0,0,28.83,26.27,25.36
$GC,6535,1.54,243.6,2736,2301,1645,1707,217.2,8.9,358,6551,0.00,2.12,9.10,0.753,8452,0.000,0.034,2736,3687,1642,1599,1686,0,0,0,0,0,0,28.83,26.18,25.45
$GC,6633,1.55,247.7,2736,3687,1595,1684,209.1,9.1,362,6648,0.00,2.12,3.15,0.502,9222,0.000,0.026,2746,2303,1628,1581,1675,0,0,0,0,0,0,28.83,26.26,25.21
$GC,6946,1.59,264.3,2746,2303,1581,1676,180.6,8.7,378,6968,0.00,0.00,20.05,0.700,8198,0.000,0.000,2746,2303,1561,1508,1614,0,0,0,0,0,0,28.83,28.83,25.45
$GC,7265,1.62,276.0,2745,2302,1503,1602,152.1,8.8,394,7282,0.00,2.30,12.10,0.679,8708,0.000,0.044,2756,893,1510,1458,1563,0,0,0,0,0,0,28.83,26.15,25.50
$GC,7326,1.64,284.3,2756,894,1457,1558,147.9,9.0,396,7341,0.00,2.10,8.65,0.678,9222,0.000,0.018,2756,2298,1478,1427,1530,0,0,0,0,0,0,28.83,26.26,25.44
$GC,7661,1.65,289.3,2756,2298,1426,1521,116.3,9.1,413,7673,0.00,2.15,3.95,0.551,8452,0.000,0.037,2756,3692,1460,1412,1508,0,0,0,0,0,0,28.83,26.29,25.34
$GC,7717,1.67,298.4,2755,3692,1413,1508,112.0,8.9,415,7736,0.00,2.15,12.57,0.636,9222,0.000,0.028,2766,2295,1420,1373,1467,0,0,0,0,0,0,28.83,26.32,25.51
$GC,8056,1.70,309.3,2766,2295,1371,1458,80.6,8.9,432,8073,0.00,2.28,11.70,0.601,8708,0.000,0.044,2776,895,1373,1335,1411,0,0,0,0,0,0,28.83,26.20,25.59
$GC,8137,1.72,316.1,2776,895,1334,1407,74.5,9.0,435,8151,0.00,2.10,5.10,0.585,9222,0.000,0.018,2777,2304,1350,1315,1386,0,0,0,0,0,0,28.83,26.32,25.48
$GC,8460,1.73,319.7,2776,2304,1314,1386,44.8,9.1,454,8474,0.00,2.25,4.40,0.526,8708,0.000,0.043,2785,896,1335,1304,1367,0,0,0,0,0,0,28.83,26.32,25.44
$GC,8635,1.76,332.2,2786,896,1304,1369,29.3,8.8,469,8657,0.00,2.08,15.75,0.533,9222,0.000,0.018,2785,2301,1281,1258,1304,0,0,0,0,0,0,28.83,26.46,25.65
$STATE,8924,end climb,SURFACE_DEPTH_REACHED
$STATE,8924,begin surface coast
$FINISH,0.0,1.023321
$STATE,8959,end surface coast,CONTROL_FINISHED_OK
$STATE,8959,begin surface
$SM_CCo,8976,166.70,0.663,1,0,399,549.47
$SM_CCo,9150,-0.17,0.000,0,0,400,549.47
$SM_CCo,9154,0.10,0.120,0,0,401,549.47
$SM_GC,-23.93,7.57,0.52,0.10,0.073,0.034,0.120,83,1959,401,-10.56,1.10,549.47,0,0,0,0,0,0,26.41,26.44,25.27
$IRIDIUM_FIX,2006.47,12004.64,230313,191906
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.30
$INTERNAL_PRESSURE,9.17526
$TCM_TEMP,20.20
$XPDR_PINGS,0
$SC_FREEKB,3954432
$24V_AH,23.9,30.504
$10V_AH,10.1,16.750
$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,17.275,69.300,466.700,166.800,0.000,0.000,0.000,253.050,0.000,0.000,18.536,2028.520,4810.398,740.955,1627.110,360.623,0.000,1836.939,0.000,1370.838,0.000,1.486,0.000
$DEVICE_MAMPS,214.200,45.135,1090.125,663.255,0.000,0.000,0.000,129.285,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8964.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.513,0.000,0.000,0.000
$MEM,323860
$DATA_FILE_SIZE,16845,524
$CAP_FILE_SIZE,419869,2068
$CFSIZE,260034560,230432768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,2,0
$CURRENT,0.107,351.8,1
$GPS,240313,002903,2018.843,12004.164,32,1.3,34,-2.7