version: 66.11
glider: 121
mission: 10
dive: 223
start: 3 28 113 21 3 5
data:
$ID,121
$MISSION,10
$DIVE,223
$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,-7
$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,-100775.12
$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
$GPS1,280313,205505,2113.028,12006.105,62,0.9,63,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-63.8
$GPS2,280313,210238,2113.063,12006.163,20,0.9,21,-2.9
$SPEED_LIMITS,0.160,0.240
$TGT_NAME,W1
$TGT_LATLONG,2207.170,12035.130
$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,37.1,111853,-18.5,-9.259,-21.12,2828
$D_GRID,2788
$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,-170.3,87,1952,345,481,0.0,0.0,0,44,0.00,0.00,-23.65,0.000,16386,0.000,0.000,87,1953,1030,1024,1036,0,0,0,0,0,0,28.83,28.83,28.83
$GC,47,-1.35,-170.3,87,1952,1024,1041,3.2,-8.8,3,147,7.65,2.25,-85.85,0.000,18692,0.201,0.043,2095,3378,3338,3249,3427,0,0,0,0,0,0,25.77,26.15,26.45
$GC,177,-1.35,-170.3,1248,3377,3224,3423,15.2,-9.5,21,186,0.00,2.15,0.00,0.000,1030,0.000,0.027,2103,1972,3339,3251,3427,0,0,0,0,0,0,28.83,26.18,28.83
$GC,497,-1.35,-170.3,2103,1971,3253,3427,44.2,-9.1,61,504,0.00,2.15,0.00,0.000,516,0.000,0.041,2113,572,3340,3253,3427,0,0,0,0,0,0,28.83,26.34,28.83
$GC,669,-1.35,-170.3,2113,573,3254,3426,59.9,-9.2,72,676,0.00,2.05,0.00,0.000,1030,0.000,0.015,2105,1993,3340,3254,3426,0,0,0,0,0,0,28.83,26.49,28.83
$GC,995,-1.35,-170.3,2104,1994,3258,3427,89.0,-9.0,88,1001,0.00,2.03,0.00,0.000,260,0.000,0.031,2094,3356,3342,3258,3427,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1139,-1.35,-170.3,2094,3356,3258,3427,100.7,-9.0,94,1147,0.00,2.08,0.00,0.000,1030,0.000,0.024,2102,1967,3342,3258,3427,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1446,-1.35,-170.3,2102,1967,3258,3427,130.0,-9.0,110,1447,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,1967,3342,3258,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1748,-1.35,-170.3,2102,1967,3258,3427,157.0,-8.9,125,1754,0.00,2.12,0.00,0.000,516,0.000,0.042,2112,575,3342,3258,3427,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1805,-1.35,-170.3,2112,575,3258,3427,161.4,-9.0,127,1811,0.00,2.03,0.00,0.000,1030,0.000,0.015,2104,1988,3342,3258,3427,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2119,-1.35,-170.3,2103,1988,3258,3424,191.3,-9.3,143,2126,0.00,2.17,0.00,0.000,516,0.000,0.041,2109,577,3340,3258,3423,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2150,-1.35,-170.3,2108,576,3258,3423,193.5,-9.1,144,2155,0.00,2.03,0.00,0.000,1030,0.000,0.015,2100,1987,3340,3258,3423,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2470,-1.35,-170.3,2100,1986,3258,3421,223.1,-9.0,160,2471,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,1987,3339,3258,3421,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2772,-1.35,-170.3,2101,1988,3257,3417,249.8,-8.9,175,2774,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,1988,3337,3257,3417,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3072,-1.35,-170.3,2100,1988,3254,3415,276.5,-9.1,190,3078,0.00,2.05,0.00,0.000,260,0.000,0.033,2090,3358,3334,3255,3414,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3187,-1.35,-170.3,2090,3357,3254,3413,286.7,-8.8,195,3193,0.00,2.08,0.00,0.000,1030,0.000,0.029,2090,1982,3333,3253,3413,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3507,-1.35,-170.3,2090,1981,3253,3410,316.0,-8.9,211,3514,0.00,2.17,0.00,0.000,516,0.000,0.046,2099,573,3331,3253,3409,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3618,-1.35,-170.3,2098,573,3252,3409,325.8,-8.9,216,3624,0.00,2.05,0.00,0.000,1030,0.000,0.017,2090,1978,3330,3252,3409,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3943,-1.35,-170.3,2090,1978,3249,3407,355.3,-9.2,232,3944,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,1978,3328,3249,3407,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4244,-1.35,-170.3,2090,1978,3247,3405,381.9,-9.0,247,4250,0.00,2.20,0.00,0.000,516,0.000,0.044,2097,573,3326,3247,3405,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4315,-1.35,-170.3,2096,573,3246,3405,388.1,-9.2,250,4321,0.00,2.05,0.00,0.000,1030,0.000,0.017,2088,1983,3325,3246,3405,0,0,0,0,0,0,28.83,26.65,28.83
$STATE,4453,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4453,begin apogee
$GC,4458,-0.25,0.0,2086,2300,3244,3403,400.8,-8.8,257,4623,0.80,0.00,153.93,1.017,10246,0.118,0.000,2345,2300,2639,2590,2688,0,0,0,0,1,0,26.32,28.83,24.18
$STATE,4625,end apogee,CONTROL_FINISHED_OK
$STATE,4625,begin climb
$GC,4627,1.35,170.3,2345,2300,2590,2688,386.5,0.0,264,4796,1.00,2.25,158.15,0.863,10500,0.054,0.034,2704,3684,1935,1903,1968,0,0,0,0,0,0,25.11,24.89,24.21
$GC,5010,1.39,186.9,2706,3684,1899,1945,352.2,8.7,281,5029,0.00,2.15,13.70,0.822,9222,0.000,0.025,2714,2300,1874,1849,1899,0,0,0,0,0,0,28.83,25.91,24.94
$GC,5350,1.41,193.0,2714,2300,1842,1884,320.9,9.0,298,5357,0.00,2.22,1.35,0.057,8708,0.000,0.042,2725,899,1850,1827,1874,0,0,0,0,0,0,28.83,26.15,26.12
$GC,5398,1.44,204.9,2725,899,1827,1874,316.6,8.8,300,5422,0.00,2.10,15.98,0.800,9222,0.000,0.018,2725,2303,1799,1771,1827,0,0,0,0,0,0,28.83,26.29,25.26
$GC,5718,1.44,205.7,2725,2303,1769,1820,287.4,9.2,316,5723,0.00,2.22,0.00,0.000,516,0.000,0.043,2735,900,1794,1768,1820,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5801,1.45,208.6,1732,899,1726,1811,281.4,9.2,319,5809,0.00,2.10,0.00,0.000,1030,0.000,0.018,2735,2308,1794,1769,1819,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6108,1.46,212.7,2735,2308,1769,1817,252.5,9.1,335,6120,0.00,2.33,6.00,0.731,8708,0.000,0.042,2746,892,1773,1744,1802,0,0,0,0,0,0,28.83,26.30,25.49
$GC,6200,1.48,222.4,1792,892,1704,1793,244.7,8.9,339,6220,0.10,2.10,11.88,0.742,13318,0.197,0.018,2724,2304,1728,1696,1761,0,0,0,0,0,0,26.14,26.41,25.47
$GC,6517,1.52,237.2,2724,2303,1695,1754,215.9,8.7,355,6537,0.00,0.00,14.95,0.715,8198,0.000,0.000,2724,2304,1668,1632,1705,0,0,0,0,0,0,28.83,28.83,25.46
$GC,6838,1.54,244.2,2724,2304,1619,1703,186.9,9.0,371,6844,0.00,0.00,4.60,0.637,8198,0.000,0.000,2724,2304,1644,1598,1690,0,0,0,0,0,0,28.83,28.83,25.30
$GC,7139,1.56,253.5,2723,2304,1598,1689,159.8,8.9,386,7156,0.00,2.33,12.12,0.669,8708,0.000,0.043,2733,896,1601,1551,1652,0,0,0,0,0,0,28.83,26.22,25.55
$GC,7214,1.58,261.3,2733,896,1550,1648,153.7,9.0,389,7228,0.00,2.10,8.12,0.666,9222,0.000,0.018,2733,2299,1572,1521,1624,0,0,0,0,0,0,28.83,26.32,25.47
$GC,7526,1.59,266.1,2733,2299,1517,1616,125.1,9.1,405,7538,0.00,2.28,3.58,0.510,8708,0.000,0.043,2744,903,1554,1502,1606,0,0,0,0,0,0,28.83,26.29,25.29
$GC,7594,1.60,269.0,2743,903,1503,1607,118.9,9.2,408,7606,0.00,2.10,3.95,0.546,9222,0.000,0.018,2743,2304,1542,1491,1594,0,0,0,0,0,0,28.83,26.39,25.30
$GC,7920,1.61,271.4,2743,2303,1491,1595,89.4,9.2,424,7925,0.00,0.00,3.65,0.498,8198,0.000,0.000,2744,2304,1533,1481,1586,0,0,0,0,0,0,28.83,28.83,25.34
$GC,8222,1.62,275.8,2743,2304,1481,1586,62.6,9.1,439,8238,0.00,2.30,7.12,0.584,8708,0.000,0.043,2753,894,1512,1460,1565,0,0,0,0,0,0,28.83,26.35,25.65
$GC,8289,1.63,281.4,2753,894,1460,1564,56.4,9.1,442,8300,0.00,2.10,5.20,0.571,9222,0.000,0.018,2752,2308,1492,1440,1545,0,0,0,0,0,0,28.83,26.44,25.56
$GC,8605,1.67,296.3,2753,2309,1440,1545,28.9,8.7,469,8631,0.00,2.15,16.83,0.532,8452,0.000,0.037,2753,3695,1426,1379,1473,0,0,0,0,0,0,28.83,26.26,25.65
$GC,8759,1.69,304.5,1712,3694,1353,1462,15.1,9.0,492,8775,0.00,2.12,8.45,0.530,9222,0.000,0.027,2763,2299,1393,1353,1433,0,0,0,0,0,0,28.83,26.34,25.61
$STATE,8895,end climb,SURFACE_DEPTH_REACHED
$STATE,8895,begin surface coast
$FINISH,0.0,1.023626
$STATE,8930,end surface coast,CONTROL_FINISHED_OK
$STATE,8930,begin surface
$SM_CCo,8946,185.45,0.663,1,0,399,549.47
$SM_CCo,9140,-0.17,0.000,0,0,400,549.47
$SM_CCo,9144,0.00,0.000,0,0,400,549.47
$SM_GC,-23.93,7.47,0.50,0.00,0.068,0.044,0.000,87,1958,400,-10.54,0.96,549.47,0,0,0,0,0,0,26.32,26.36,28.83
$IRIDIUM_FIX,2101.76,12005.90,280313,181830
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.14
$INTERNAL_PRESSURE,9.1948
$TCM_TEMP,20.70
$XPDR_PINGS,0
$SC_FREEKB,3937664
$24V_AH,24.2,37.269
$10V_AH,10.1,19.550
$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,17.025,69.525,449.550,185.450,0.000,0.000,0.000,258.875,0.000,0.000,21.688,2045.194,4767.017,736.356,1621.453,403.992,0.000,1856.216,0.000,1364.229,0.000,1.486,0.000
$DEVICE_MAMPS,201.195,45.900,1017.450,663.255,0.000,0.000,0.000,130.815,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8939.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.584,0.000,0.000,0.000
$MEM,324420
$DATA_FILE_SIZE,20105,521
$CAP_FILE_SIZE,399079,2099
$CFSIZE,260034560,225345536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.164,  3.8,1
$GPS,280313,233634,2114.594,12006.747,25,1.0,25,-2.9