version: 66.11
glider: 121
mission: 10
dive: 183
start: 3 24 113 8 39 5
data:
$ID,121
$MISSION,10
$DIVE,183
$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,-100724.79
$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,39
$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
$GPS1,240313,083125,2022.438,12003.758,33,1.7,33,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-59.2
$GPS2,240313,083837,2022.380,12003.688,16,0.7,17,-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,8.3,153144,-18.5,-9.259,-21.12,2828
$D_GRID,3470
$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,18,-1.35,-170.3,87,1951,331,471,0.0,0.0,0,43,0.00,0.00,-23.42,0.000,16386,0.000,0.000,86,1951,1008,999,1018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,45,-1.35,-170.3,87,1951,999,1020,3.2,-8.6,3,162,7.85,2.20,-95.30,0.000,18948,0.212,0.054,2112,570,3338,3247,3429,0,0,0,0,0,0,25.82,26.18,26.48
$GC,218,-1.35,-170.3,1248,569,3221,3425,19.3,-8.8,28,226,0.00,2.08,0.00,0.000,1030,0.000,0.015,2104,1994,3338,3249,3428,0,0,0,0,0,0,28.83,26.30,28.83
$GC,532,-1.35,-170.3,2105,1996,3252,3428,47.8,-9.0,64,538,0.00,2.05,0.00,0.000,260,0.000,0.031,2094,3366,3340,3252,3428,0,0,0,0,0,0,28.83,26.42,28.83
$GC,667,-1.35,-170.3,2093,3366,3253,3428,59.5,-9.0,71,673,0.00,2.10,0.00,0.000,1030,0.000,0.024,2101,1956,3341,3253,3429,0,0,0,0,0,0,28.83,26.49,28.83
$GC,988,-1.35,-170.3,2101,1956,3256,3428,88.5,-8.7,87,993,0.00,2.08,0.00,0.000,516,0.000,0.039,2111,575,3342,3256,3429,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1078,-1.35,-170.3,2111,575,3258,3428,96.5,-9.2,91,1083,0.00,2.00,0.00,0.000,1030,0.000,0.015,2103,1981,3343,3258,3429,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1398,-1.35,-170.3,2103,1983,3257,3429,125.7,-9.0,107,1399,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,1981,3343,3258,3429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1698,-1.35,-170.3,2103,1982,3257,3429,152.7,-9.0,122,1699,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,1982,3342,3257,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1998,-1.35,-170.3,2103,1982,3257,3426,180.4,-9.0,137,2004,0.00,2.15,0.00,0.000,516,0.000,0.038,2110,574,3341,3257,3426,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2086,-1.35,-170.3,2110,574,3257,3426,188.5,-9.1,141,2092,0.00,2.00,0.00,0.000,1030,0.000,0.015,2102,1979,3341,3257,3426,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2410,-1.35,-170.3,2102,1980,3257,3422,217.8,-9.4,157,2412,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,1980,3339,3257,3422,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2712,-1.35,-170.3,2102,1980,3257,3418,244.6,-8.9,172,2718,0.00,2.03,0.00,0.000,260,0.000,0.031,2092,3350,3337,3257,3417,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2761,-1.35,-170.3,2092,3351,3256,3417,249.0,-9.0,174,2767,0.00,2.05,0.00,0.000,1030,0.000,0.026,2092,1979,3338,3259,3417,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3087,-1.35,-170.3,2093,1979,3253,3414,278.9,-9.3,190,3088,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,1978,3333,3253,3414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3387,-1.35,-170.3,2092,1978,3252,3411,305.7,-9.2,205,3393,0.00,2.15,0.00,0.000,516,0.000,0.043,2100,571,3331,3252,3410,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3537,-1.35,-170.3,2100,571,3252,3410,319.2,-9.2,212,3543,0.00,2.03,0.00,0.000,1030,0.000,0.016,2092,1970,3330,3251,3410,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3864,-1.35,-170.3,2092,1971,3248,3407,349.4,-9.1,228,3865,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,1971,3327,3248,3407,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4164,-1.35,-170.3,2092,1971,3246,3405,376.1,-9.1,243,4165,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,1971,3325,3246,3405,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4441,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4442,begin apogee
$GC,4446,-0.25,0.0,2089,2310,3243,3402,401.5,-8.8,257,4598,0.77,0.00,146.00,0.893,10246,0.116,0.000,2343,2310,2637,2588,2686,0,0,0,0,0,0,26.45,28.83,24.51
$STATE,4601,end apogee,CONTROL_FINISHED_OK
$STATE,4601,begin climb
$GC,4603,1.35,170.3,2343,2309,2583,2681,388.8,0.0,263,4762,1.00,2.28,149.93,0.881,10500,0.058,0.033,2701,3679,1938,1904,1972,0,0,0,0,0,0,25.27,25.01,24.34
$GC,4935,1.36,171.9,2701,3679,1900,1950,357.4,9.2,278,4941,0.00,2.12,0.00,0.000,1030,0.000,0.024,2711,2307,1925,1900,1950,0,0,0,0,0,0,28.83,25.89,28.83
$GC,5250,1.39,187.0,2711,2307,1900,1946,328.6,8.7,294,5273,0.00,2.20,13.80,0.826,8452,0.000,0.032,2711,3681,1868,1843,1893,0,0,0,0,0,0,28.83,26.05,25.30
$GC,5323,1.42,196.0,2711,3682,1841,1889,322.6,8.9,297,5334,0.00,2.12,5.75,0.762,9222,0.000,0.024,2720,2297,1840,1813,1868,0,0,0,0,0,0,28.83,26.14,25.21
$GC,5643,1.44,205.2,2720,2297,1813,1867,294.0,8.9,313,5662,0.00,0.00,11.73,0.800,8198,0.000,0.000,2720,2297,1799,1770,1828,0,0,0,0,0,0,28.83,28.83,25.41
$GC,5963,1.45,209.0,2720,2297,1769,1821,265.0,9.1,329,5968,0.00,2.17,0.00,0.000,516,0.000,0.042,2732,898,1795,1768,1822,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5998,1.45,211.0,2731,898,1768,1822,262.8,9.2,330,6011,0.00,2.08,4.55,0.692,9222,0.000,0.017,2732,2304,1778,1748,1808,0,0,0,0,0,0,28.83,26.44,25.33
$GC,6310,1.47,218.7,2731,2304,1748,1808,233.8,9.0,346,6326,0.00,2.12,10.07,0.754,8452,0.000,0.033,2731,3695,1744,1712,1776,0,0,0,0,0,0,28.83,26.29,25.58
$GC,6433,1.49,225.0,2731,3695,1712,1772,223.9,9.0,351,6447,0.00,2.12,6.25,0.737,9222,0.000,0.025,2741,2299,1721,1689,1754,0,0,0,0,0,0,28.83,26.36,25.49
$GC,6768,1.49,225.5,2741,2299,1688,1748,192.9,9.2,368,6769,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2299,1718,1688,1748,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7067,1.51,231.5,2741,2299,1688,1747,165.9,9.0,383,7080,0.00,2.22,7.32,0.696,8452,0.000,0.033,2741,3691,1692,1658,1726,0,0,0,0,0,0,28.83,26.39,25.67
$GC,7156,1.52,238.6,2741,3691,1656,1724,157.6,9.0,387,7169,0.00,2.12,7.68,0.690,9222,0.000,0.025,2751,2292,1666,1630,1703,0,0,0,0,0,0,28.83,26.43,25.63
$GC,7484,1.56,252.3,2751,2292,1613,1701,128.9,8.8,403,7507,0.00,2.25,13.40,0.653,8708,0.000,0.044,2762,894,1606,1557,1656,0,0,0,0,0,0,28.83,26.25,25.63
$GC,7532,1.60,267.3,2762,894,1556,1654,124.6,8.7,405,7555,0.00,2.10,15.32,0.643,9222,0.000,0.018,2762,2307,1545,1493,1598,0,0,0,0,0,0,28.83,26.34,25.50
$GC,7851,1.61,272.5,2762,2307,1492,1591,95.9,9.1,421,7862,0.00,2.25,3.88,0.529,8708,0.000,0.041,2772,898,1528,1477,1580,0,0,0,0,0,0,28.83,26.29,25.38
$GC,7959,1.63,281.4,2772,898,1477,1581,86.1,8.9,426,7976,0.00,2.10,11.38,0.610,9222,0.000,0.017,2772,2308,1491,1438,1544,0,0,0,0,0,0,28.83,26.41,25.59
$GC,8286,1.65,287.1,2771,2309,1435,1535,56.5,9.0,442,8297,0.00,2.12,4.60,0.549,8452,0.000,0.034,2772,3693,1468,1417,1519,0,0,0,0,0,0,28.83,26.35,25.47
$GC,8355,1.66,293.7,2772,3693,1417,1519,50.2,9.0,445,8371,0.00,2.12,9.18,0.575,9222,0.000,0.026,2781,2300,1438,1389,1488,0,0,0,0,0,0,28.83,26.39,25.65
$GC,8678,1.68,300.9,1744,2297,1363,1474,20.7,9.0,479,8693,0.00,2.20,7.38,0.545,8708,0.000,0.041,2792,884,1409,1365,1453,0,0,0,0,0,0,28.83,26.32,25.71
$GC,8758,1.72,317.6,1792,883,1341,1446,13.4,8.6,492,8782,0.00,2.10,16.55,0.521,9222,0.000,0.018,2792,2305,1340,1305,1375,0,0,0,0,0,0,28.83,26.44,25.63
$STATE,8877,end climb,SURFACE_DEPTH_REACHED
$STATE,8877,begin surface coast
$FINISH,0.0,1.023759
$STATE,8912,end surface coast,CONTROL_FINISHED_OK
$STATE,8912,begin surface
$SM_CCo,8928,179.70,0.685,1,0,399,549.47
$SM_CCo,9116,-0.17,0.000,0,0,401,549.47
$SM_CCo,9120,0.03,0.291,0,0,401,549.47
$SM_GC,-23.93,7.60,0.55,0.03,0.072,0.035,0.291,88,1949,401,-10.53,0.79,549.47,0,0,0,0,0,0,26.32,26.35,25.22
$IRIDIUM_FIX,2015.67,12003.80,240313,050525
$TT8_MAMPS,0.023968,0.023968
$HUMID,47.99
$INTERNAL_PRESSURE,9.1948
$TCM_TEMP,20.40
$XPDR_PINGS,1
$SC_FREEKB,3952896
$24V_AH,24.3,31.081
$10V_AH,10.1,16.996
$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,17.225,64.725,444.750,179.725,0.000,0.000,0.000,250.675,0.250,0.000,18.022,1997.605,4855.285,726.790,1592.496,360.122,0.000,1787.559,0.000,1326.622,0.000,1.486,0.000
$DEVICE_MAMPS,211.905,53.550,892.755,684.675,0.000,0.000,0.000,133.110,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8931.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.465,0.000,0.000,0.000
$MEM,323904
$DATA_FILE_SIZE,16753,518
$CAP_FILE_SIZE,411387,2028
$CFSIZE,260034560,229978112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.206,286.8,1
$GPS,240313,111222,2023.590,12002.607,37,0.9,37,-2.7