version: 66.11
glider: 121
mission: 10
dive: 209
start: 3 27 113 7 7 14
data:
$ID,121
$MISSION,10
$DIVE,209
$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,-100757.55
$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,36
$R_STBD_OVSHOOT,65
$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
$GPS1,270313,065934,2055.838,12001.086,25,1.2,25,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-62.1
$GPS2,270313,070647,2055.875,12001.008,19,1.1,20,-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,335.5,90996,-18.5,-9.259,-21.12,2828
$D_GRID,3508
$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,19,-1.35,-170.3,83,2000,331,469,0.0,0.0,0,44,0.00,0.00,-23.52,0.000,16386,0.000,0.000,83,2000,1007,993,1021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,47,-1.35,-170.3,83,2001,993,1023,3.3,-9.5,3,155,7.75,2.15,-93.55,0.000,18692,0.206,0.046,2093,3361,3337,3247,3427,0,0,0,0,0,0,25.75,26.13,26.44
$GC,197,-1.35,-170.3,1232,3360,3221,3424,16.9,-8.5,24,205,0.00,2.15,0.00,0.000,1030,0.000,0.028,2101,1960,3338,3249,3427,0,0,0,0,0,0,28.83,26.19,28.83
$GC,521,-1.35,-170.3,2100,1960,3253,3427,46.2,-8.7,63,527,0.00,2.15,0.00,0.000,260,0.000,0.031,2092,3370,3339,3252,3427,0,0,0,0,0,0,28.83,26.37,28.83
$GC,697,-1.35,-170.3,1248,3368,3226,3424,61.6,-8.9,73,703,0.00,2.10,0.00,0.000,1030,0.000,0.025,2099,1971,3340,3253,3427,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1017,-1.35,-170.3,2099,1971,3256,3427,89.5,-7.8,89,1023,0.00,2.12,0.00,0.000,516,0.000,0.041,2110,576,3341,3256,3427,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1129,-1.35,-170.3,2110,576,3257,3427,99.4,-8.9,94,1135,0.00,2.03,0.00,0.000,1030,0.000,0.015,2101,1986,3342,3257,3427,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1455,-1.35,-170.3,2101,1986,3256,3427,129.0,-8.8,110,1461,0.00,2.05,0.00,0.000,260,0.000,0.032,2091,3367,3341,3256,3427,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1651,-1.35,-170.3,2090,3366,3257,3427,146.4,-8.9,119,1657,0.00,2.10,0.00,0.000,1030,0.000,0.026,2095,1965,3341,3256,3427,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1973,-1.35,-170.3,2095,1965,3256,3426,175.3,-8.8,135,1978,0.00,2.12,0.00,0.000,516,0.000,0.043,2105,572,3340,3256,3425,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2060,-1.35,-170.3,2105,573,3256,3425,183.4,-9.2,139,2066,0.00,2.03,0.00,0.000,1030,0.000,0.016,2097,1974,3341,3258,3425,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2387,-1.35,-170.3,2096,1974,3256,3422,213.3,-8.9,155,2393,0.00,2.08,0.00,0.000,260,0.000,0.033,2087,3368,3338,3256,3421,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2435,-1.35,-170.3,1248,3367,3230,3417,217.7,-9.1,157,2441,0.00,2.10,0.00,0.000,1030,0.000,0.028,2089,1970,3338,3256,3421,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2762,-1.35,-170.3,2088,1970,3256,3417,246.5,-8.8,173,2763,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,1970,3336,3255,3417,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3061,-1.35,-170.3,2088,1970,3253,3415,273.7,-8.8,188,3068,0.00,2.15,0.00,0.000,516,0.000,0.045,2098,570,3334,3254,3414,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3135,-1.35,-170.3,2098,570,3254,3415,279.8,-8.9,191,3141,0.00,2.03,0.00,0.000,1030,0.000,0.017,2090,1972,3334,3253,3415,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3454,-1.35,-170.3,2090,1972,3253,3411,309.3,-9.3,207,3455,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,1972,3331,3252,3411,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3756,-1.35,-170.3,2090,1973,3250,3409,336.4,-9.1,222,3761,0.00,2.17,0.00,0.000,516,0.000,0.044,2099,575,3329,3250,3408,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3796,-1.35,-170.3,2098,575,3250,3408,338.6,-8.8,223,3804,0.00,2.03,0.00,0.000,1030,0.000,0.017,2090,1974,3329,3250,3408,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4103,-1.35,-170.3,2089,1974,3248,3407,367.4,-9.1,239,4109,0.00,2.20,0.00,0.000,516,0.000,0.045,2098,570,3327,3248,3406,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4152,-1.35,-170.3,2098,570,3248,3407,371.7,-8.9,241,4158,0.00,2.05,0.00,0.000,1030,0.000,0.017,2089,1972,3327,3248,3407,0,0,0,0,0,0,28.83,26.67,28.83
$STATE,4477,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4478,begin apogee
$GC,4483,-0.25,0.0,2087,2304,3244,3404,400.8,-9.0,257,4646,0.77,0.00,151.57,0.874,10246,0.115,0.000,2341,2304,2629,2579,2679,0,0,0,0,0,0,26.37,28.83,24.49
$STATE,4648,end apogee,CONTROL_FINISHED_OK
$STATE,4648,begin climb
$GC,4650,1.35,170.3,2341,2304,2578,2677,385.9,0.0,264,4817,1.00,2.22,158.07,0.842,10500,0.058,0.034,2699,3681,1936,1902,1970,0,0,0,0,0,0,25.29,24.97,24.30
$GC,5059,1.36,174.6,2699,3681,1898,1946,348.9,9.1,282,5065,0.00,2.12,0.00,0.000,1030,0.000,0.025,2709,2306,1922,1898,1946,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5374,1.39,184.7,2709,2305,1898,1943,319.3,8.9,298,5385,0.00,0.00,6.93,0.773,8454,0.000,0.000,2709,2305,1887,1862,1913,0,0,0,0,0,0,28.83,28.83,25.35
$GC,5700,1.39,184.7,2709,2305,1862,1914,289.9,9.3,314,5701,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2305,1887,1862,1913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6000,1.41,194.0,2709,2305,1862,1913,262.6,8.9,329,6024,0.00,2.28,13.30,0.773,8708,0.000,0.044,2720,893,1839,1812,1867,0,0,0,0,0,0,28.83,26.22,25.53
$GC,6119,1.43,199.2,2719,893,1809,1864,252.7,9.1,334,6126,0.00,2.10,0.00,0.000,1030,0.000,0.018,2719,2302,1836,1809,1864,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6436,1.45,208.8,2719,2302,1809,1859,224.0,8.9,350,6459,0.00,2.15,14.25,0.736,8452,0.000,0.035,2720,3698,1779,1749,1810,0,0,0,0,0,0,28.83,26.21,25.54
$GC,6534,1.47,218.9,2719,3698,1748,1805,216.1,8.9,354,6549,0.00,2.15,9.50,0.723,9222,0.000,0.026,2730,2295,1746,1716,1777,0,0,0,0,0,0,28.83,26.27,25.42
$GC,6846,1.50,230.4,2729,2295,1712,1768,188.0,8.8,370,6863,0.00,2.28,11.88,0.708,8708,0.000,0.044,2740,897,1696,1662,1731,0,0,0,0,0,0,28.83,26.16,25.48
$GC,6887,1.54,244.9,2740,897,1659,1728,185.8,8.7,371,6906,0.00,2.10,14.70,0.698,9222,0.000,0.018,2741,2298,1640,1594,1686,0,0,0,0,0,0,28.83,26.25,25.36
$GC,7220,1.54,244.9,2740,2298,1587,1674,154.1,9.3,388,7221,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2298,1630,1587,1674,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7522,1.55,251.0,2740,2297,1585,1674,126.7,9.0,403,7533,0.00,2.25,4.00,0.562,8708,0.000,0.043,2750,891,1615,1568,1662,0,0,0,0,0,0,28.83,26.34,25.38
$GC,7602,1.57,258.6,1760,891,1536,1656,120.7,9.0,406,7620,0.00,2.10,10.70,0.649,9222,0.000,0.018,2750,2300,1580,1528,1632,0,0,0,0,0,0,28.83,26.44,25.58
$GC,7936,1.60,269.0,2750,2301,1527,1626,90.2,8.9,423,7952,0.00,2.22,10.70,0.621,8452,0.000,0.037,2750,3699,1538,1485,1591,0,0,0,0,0,0,28.83,26.26,25.61
$GC,7983,1.62,276.4,2750,3699,1482,1589,85.8,9.0,425,7999,0.00,2.15,7.75,0.620,9222,0.000,0.028,2760,2297,1509,1455,1563,0,0,0,0,0,0,28.83,26.29,25.54
$GC,8309,1.65,289.3,2761,2298,1455,1557,56.6,8.8,441,8332,0.00,2.25,13.40,0.578,8708,0.000,0.044,2771,900,1455,1405,1505,0,0,0,0,0,0,28.83,26.20,25.58
$GC,8396,1.67,296.4,2770,900,1404,1501,48.7,9.0,445,8410,0.00,2.10,7.07,0.582,9222,0.000,0.018,2771,2300,1429,1381,1477,0,0,0,0,0,0,28.83,26.32,25.51
$GC,8716,1.67,298.1,2771,2300,1381,1470,19.7,9.2,481,8724,0.00,2.22,0.00,0.000,516,0.000,0.042,2780,890,1425,1381,1470,0,0,0,0,0,0,28.83,26.32,28.83
$STATE,8898,end climb,SURFACE_DEPTH_REACHED
$STATE,8898,begin surface coast
$FINISH,0.0,1.024330
$STATE,8933,end surface coast,CONTROL_FINISHED_OK
$STATE,8934,begin surface
$SM_CCo,8952,206.50,0.682,2,0,399,549.47
$SM_CCo,9172,-0.15,0.000,0,0,401,549.47
$SM_CCo,9175,1.20,0.135,0,0,400,549.47
$SM_GC,-23.93,7.53,1.65,1.20,0.071,0.015,0.135,87,1993,400,-10.54,-1.61,549.47,0,0,0,0,0,0,26.42,26.51,25.13
$IRIDIUM_FIX,2045.60,12000.44,270313,040410
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.18
$INTERNAL_PRESSURE,9.1655
$TCM_TEMP,20.00
$XPDR_PINGS,1
$SC_FREEKB,3942912
$24V_AH,24.3,35.116
$10V_AH,10.2,18.660
$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,17.050,72.600,433.825,207.700,0.000,0.000,0.000,241.650,0.250,0.000,21.217,2077.170,4701.944,753.121,1648.379,405.468,0.000,1872.638,0.000,1435.660,0.000,1.487,0.000
$DEVICE_MAMPS,205.785,45.900,874.395,682.380,0.000,0.000,0.000,136.170,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8940.000,0.000,0.000,0.000
$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,16805,520
$CAP_FILE_SIZE,428942,2154
$CFSIZE,260034560,226934784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.072,  0.5,1
$GPS,270313,094134,2057.015,12000.613,44,1.0,44,-2.9