version: 66.11
glider: 121
mission: 10
dive: 198
start: 3 26 113 1 26 33
data:
$ID,121
$MISSION,10
$DIVE,198
$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,-100743.73
$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,48
$R_STBD_OVSHOOT,53
$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
$GPS1,260313,011332,2042.808,12001.175,42,1.0,42,-2.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-62.1
$GPS2,260313,012605,2042.776,12001.265,17,1.2,18,-2.8
$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,11.6,115260,-18.5,-9.259,-21.12,2828
$D_GRID,3510
$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,-170.3,83,1944,337,477,0.0,0.0,0,43,0.00,0.00,-23.25,0.000,16386,0.000,0.000,83,1942,1017,998,1036,0,0,0,0,0,0,28.83,28.83,28.83
$GC,45,-1.35,-170.3,83,1942,1000,1037,3.1,-8.3,3,153,8.02,2.25,-87.35,0.000,18692,0.218,0.047,2095,3370,3338,3248,3428,0,0,0,0,0,0,25.82,26.16,26.46
$GC,275,-1.35,-170.3,1248,3368,3220,3424,24.4,-9.3,39,283,0.00,2.12,0.00,0.000,1030,0.000,0.028,2102,1971,3338,3248,3428,0,0,0,0,0,0,28.83,26.28,28.83
$GC,583,-1.35,-170.3,2102,1971,3251,3428,52.6,-9.2,69,589,0.00,2.15,0.00,0.000,516,0.000,0.042,2111,567,3339,3251,3428,0,0,0,0,0,0,28.83,26.40,28.83
$GC,681,-1.35,-170.3,2111,567,3252,3428,60.8,-9.2,73,686,0.00,2.05,0.00,0.000,1030,0.000,0.015,2103,1994,3340,3252,3428,0,0,0,0,0,0,28.83,26.51,28.83
$GC,995,-1.35,-170.3,2103,1995,3253,3428,90.1,-9.0,89,996,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,1995,3340,3253,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1298,-1.35,-170.3,2103,1995,3253,3428,116.9,-8.7,104,1299,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,1995,3340,3253,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1597,-1.35,-170.3,2103,1995,3252,3426,144.1,-9.1,119,1603,0.00,2.03,0.00,0.000,260,0.000,0.031,2093,3362,3339,3253,3426,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1648,-1.35,-170.3,2093,3362,3252,3426,148.6,-9.3,121,1654,0.00,2.08,0.00,0.000,1030,0.000,0.024,2093,1967,3339,3253,3426,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1968,-1.35,-170.3,2093,1967,3252,3423,177.9,-8.8,137,1975,0.00,2.12,0.00,0.000,516,0.000,0.049,2102,570,3337,3253,3422,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2071,-1.35,-170.3,2102,570,3252,3422,185.8,-8.8,141,2079,0.00,2.03,0.00,0.000,1030,0.000,0.016,2094,1977,3337,3253,3422,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2378,-1.35,-170.3,2093,1977,3252,3419,214.6,-8.9,157,2383,0.00,2.15,0.00,0.000,516,0.000,0.041,2102,576,3335,3252,3418,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2428,-1.35,-170.3,2101,576,3252,3418,218.8,-8.7,159,2434,0.00,2.03,0.00,0.000,1030,0.000,0.016,2093,1984,3335,3253,3418,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2748,-1.35,-170.3,2093,1984,3252,3414,247.6,-8.8,175,2749,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,1984,3333,3252,3414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3050,-1.35,-170.3,2093,1984,3252,3411,274.5,-9.0,190,3056,0.00,2.05,0.00,0.000,260,0.000,0.033,2083,3363,3330,3251,3410,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3118,-1.35,-170.3,2083,3362,3250,3409,280.8,-9.1,193,3125,0.10,2.10,0.00,0.000,3078,0.158,0.027,2110,1970,3330,3251,3409,0,0,0,0,0,0,26.46,26.63,28.83
$GC,3445,-1.35,-170.3,2110,1970,3249,3407,309.9,-8.3,209,3446,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,1970,3328,3249,3407,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3745,-1.35,-170.3,2109,1970,3247,3405,337.0,-9.0,224,3746,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,1970,3326,3247,3405,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4045,-1.35,-170.3,2109,1970,3243,3402,363.6,-9.2,239,4050,0.00,2.12,0.00,0.000,260,0.000,0.033,2101,3364,3322,3243,3402,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4079,-1.35,-170.3,2101,3364,3243,3402,365.9,-9.3,240,4086,0.00,2.10,0.00,0.000,1030,0.000,0.028,2107,1975,3322,3243,3401,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4395,-1.35,-170.3,2107,1975,3242,3400,394.6,-8.9,256,4396,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,1975,3321,3242,3400,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4454,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4454,begin apogee
$GC,4459,-0.25,0.0,2106,2305,3241,3399,400.2,-9.2,259,4625,0.73,0.00,151.95,1.017,10246,0.109,0.000,2348,2306,2638,2590,2686,0,0,0,0,1,0,26.42,28.83,24.24
$STATE,4627,end apogee,CONTROL_FINISHED_OK
$STATE,4627,begin climb
$GC,4629,1.35,170.3,2348,2306,2590,2686,385.9,0.0,266,4796,0.98,0.00,159.68,0.860,10502,0.050,0.000,2704,2308,1938,1906,1970,0,0,0,0,0,0,25.18,28.83,24.30
$GC,5096,1.42,197.8,2702,2308,1898,1941,343.6,8.3,291,5125,0.00,2.25,24.65,0.796,8452,0.000,0.034,2702,3695,1826,1801,1851,0,0,0,0,0,0,28.83,25.70,24.98
$GC,5229,1.43,199.7,2702,3695,1794,1838,331.5,9.2,297,5236,0.00,2.15,0.00,0.000,1030,0.000,0.024,2712,2305,1816,1794,1839,0,0,0,0,0,0,28.83,26.00,28.83
$GC,5556,1.44,206.6,2712,2305,1794,1835,302.1,9.0,313,5563,0.00,2.28,2.20,0.189,8708,0.000,0.042,2723,897,1796,1771,1821,0,0,0,0,0,0,28.83,26.26,25.13
$GC,5608,1.45,209.0,2723,897,1771,1825,297.6,9.2,315,5620,0.00,2.08,5.15,0.723,9222,0.000,0.017,2722,2298,1786,1759,1814,0,0,0,0,0,0,28.83,26.36,25.38
$GC,5930,1.49,224.8,2722,2297,1759,1815,268.9,8.7,331,5952,0.00,0.00,19.42,0.756,8198,0.000,0.000,2723,2298,1723,1692,1754,0,0,0,0,0,0,28.83,28.83,25.41
$GC,6249,1.50,229.9,2722,2298,1688,1744,240.3,9.1,347,6255,0.00,0.00,3.88,0.604,8198,0.000,0.000,2723,2298,1702,1672,1732,0,0,0,0,0,0,28.83,28.83,25.29
$GC,6550,1.53,239.3,2722,2298,1672,1731,213.0,8.9,362,6565,0.00,0.00,12.27,0.716,8710,0.000,0.000,2723,2298,1659,1621,1698,0,0,0,0,0,0,28.83,28.83,25.55
$GC,6875,1.53,239.3,2723,2298,1611,1696,183.0,9.3,378,6881,0.00,2.12,0.00,0.000,260,0.000,0.036,2723,3687,1653,1611,1696,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6922,1.53,239.3,2723,3687,1608,1696,178.7,9.4,380,6928,0.00,2.12,0.00,0.000,1030,0.000,0.026,2733,2290,1652,1608,1696,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7248,1.56,255.1,2733,2291,1608,1696,148.8,8.7,396,7271,0.00,2.17,15.43,0.659,8708,0.000,0.043,2744,899,1595,1545,1645,0,0,0,0,0,0,28.83,26.26,25.64
$GC,7400,1.59,263.3,2743,898,1543,1640,135.2,9.0,403,7417,0.00,2.08,8.45,0.655,9222,0.000,0.018,2744,2298,1561,1510,1613,0,0,0,0,0,0,28.83,26.41,25.57
$GC,7727,1.60,269.9,2743,2298,1509,1608,105.8,9.0,419,7739,0.00,2.20,6.28,0.629,8452,0.000,0.036,2744,3688,1538,1487,1589,0,0,0,0,0,0,28.83,26.32,25.62
$GC,7890,1.62,275.2,2743,3688,1486,1588,92.4,9.1,426,7903,0.00,2.12,5.47,0.610,9222,0.000,0.027,2753,2294,1518,1466,1571,0,0,0,0,0,0,28.83,26.40,25.59
$GC,8225,1.63,282.8,2753,2294,1466,1571,61.2,9.0,443,8240,0.00,2.17,10.20,0.585,8708,0.000,0.042,2764,897,1482,1430,1534,0,0,0,0,0,0,28.83,26.31,25.69
$GC,8285,1.65,288.0,2763,897,1429,1531,56.9,9.1,445,8296,0.00,2.08,4.25,0.527,9222,0.000,0.017,2764,2302,1463,1413,1514,0,0,0,0,0,0,28.83,26.40,25.44
$GC,8592,1.68,300.2,2762,2302,1416,1514,28.3,8.8,473,8618,0.00,2.28,14.50,0.540,8708,0.000,0.041,2774,899,1410,1366,1455,0,0,0,0,0,0,28.83,26.26,25.68
$GC,8627,1.70,310.2,2773,898,1366,1454,26.1,8.9,475,8643,0.00,2.08,10.40,0.539,9222,0.000,0.017,2774,2300,1371,1330,1413,0,0,0,0,0,0,28.83,26.34,25.60
$STATE,8873,end climb,SURFACE_DEPTH_REACHED
$STATE,8873,begin surface coast
$FINISH,0.0,1.024276
$STATE,8909,end surface coast,CONTROL_FINISHED_OK
$STATE,8909,begin surface
$SM_CCo,8926,185.43,0.671,2,0,399,549.47
$SM_CCo,9124,-0.12,0.000,0,0,400,549.47
$SM_CCo,9127,0.75,0.109,0,0,399,549.47
$SM_GC,-23.93,7.55,0.52,0.75,0.071,0.034,0.109,84,1960,399,-10.57,1.13,549.47,0,0,0,0,0,0,26.34,26.39,25.21
$IRIDIUM_FIX,2036.38,12002.12,260313,010135
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.34
$INTERNAL_PRESSURE,9.17526
$TCM_TEMP,20.30
$XPDR_PINGS,3
$SC_FREEKB,3947136
$24V_AH,24.2,33.423
$10V_AH,10.2,17.958
$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,17.375,60.550,454.175,186.175,0.000,0.000,0.000,549.450,0.750,0.000,19.409,1956.991,4931.499,743.894,1849.290,377.503,0.000,2091.550,0.000,1318.406,0.000,1.488,0.000
$DEVICE_MAMPS,218.025,48.960,1017.450,670.905,0.000,0.000,0.000,122.400,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8921.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.490,0.000,0.000,0.000
$MEM,323880
$DATA_FILE_SIZE,20082,525
$CAP_FILE_SIZE,406360,1958
$CFSIZE,260034560,228241408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$CURRENT,0.080,314.7,1
$GPS,260313,035942,2043.996,12001.130,21,1.2,21,-2.8