version: 66.11
glider: 121
mission: 10
dive: 203
start: 3 26 113 14 55 8
data:
$ID,121
$MISSION,10
$DIVE,203
$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,-100750.01
$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,49
$R_STBD_OVSHOOT,56
$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
$GPS1,260313,144734,2048.261,12000.425,102,0.7,102,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-63.8
$GPS2,260313,145441,2048.351,12000.360,16,1.2,17,-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,33.7,104916,-18.5,-9.259,-21.12,2828
$D_GRID,3575
$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,-170.3,85,1944,337,472,0.0,0.0,0,44,0.00,0.00,-23.65,0.000,16386,0.000,0.000,85,1944,1025,1009,1041,0,0,0,0,0,0,28.83,28.83,28.83
$GC,47,-1.35,-170.3,85,1943,1010,1043,3.4,-9.4,3,164,7.75,2.28,-99.05,0.000,18692,0.207,0.044,2094,3378,3336,3242,3431,0,0,0,0,0,0,25.76,26.15,26.46
$GC,363,-1.35,-170.3,2093,3378,3244,3431,32.1,-8.9,47,369,0.00,2.12,0.00,0.000,1030,0.000,0.025,2101,1972,3338,3245,3431,0,0,0,0,0,0,28.83,26.32,28.83
$GC,688,-1.35,-170.3,2101,1973,3248,3431,61.3,-9.4,73,695,0.00,2.12,0.00,0.000,260,0.000,0.030,2093,3375,3339,3248,3431,0,0,0,0,0,0,28.83,26.44,28.83
$GC,830,-1.35,-170.3,2093,3375,3250,3431,73.0,-9.0,79,836,0.00,2.10,0.00,0.000,1030,0.000,0.025,2094,1974,3340,3250,3431,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1145,-1.35,-170.3,2094,1973,3252,3431,102.4,-8.9,95,1150,0.00,2.12,0.00,0.000,516,0.000,0.041,2104,572,3341,3252,3431,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1257,-1.35,-170.3,2103,573,3253,3431,112.2,-9.0,100,1264,0.00,2.05,0.00,0.000,1030,0.000,0.015,2095,1996,3341,3252,3430,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1578,-1.35,-170.3,2094,1997,3252,3431,141.6,-9.0,116,1584,0.00,2.20,0.00,0.000,516,0.000,0.039,2103,566,3341,3252,3431,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1645,-1.35,-170.3,1264,565,3225,3428,147.7,-9.2,119,1651,0.00,2.03,0.00,0.000,1030,0.000,0.016,2095,1977,3341,3252,3431,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1971,-1.35,-170.3,2094,1978,3252,3427,176.9,-8.8,135,1977,0.00,2.05,0.00,0.000,260,0.000,0.031,2085,3360,3339,3252,3426,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2045,-1.35,-170.3,2084,3360,3252,3426,183.4,-9.2,138,2051,0.00,2.08,0.00,0.000,1030,0.000,0.027,2087,1974,3339,3253,3426,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2365,-1.35,-170.3,2086,1974,3252,3423,211.6,-8.9,154,2371,0.00,2.15,0.00,0.000,516,0.000,0.043,2096,568,3337,3252,3422,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2433,-1.35,-170.3,2096,568,3252,3422,217.6,-8.8,157,2439,0.00,2.03,0.00,0.000,1030,0.000,0.016,2088,1977,3337,3252,3422,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2759,-1.35,-170.3,2088,1979,3253,3418,247.2,-9.1,173,2765,0.00,2.05,0.00,0.000,260,0.000,0.032,2077,3356,3335,3252,3418,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2858,-1.35,-170.3,2077,3356,3252,3417,255.4,-9.1,177,2865,0.10,2.08,0.00,0.000,3078,0.164,0.028,2103,1975,3334,3252,3417,0,0,0,0,0,0,26.43,26.62,28.83
$GC,3174,-1.35,-170.3,2103,1975,3252,3413,284.6,-9.2,193,3179,0.00,2.15,0.00,0.000,516,0.000,0.045,2113,572,3332,3252,3413,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3250,-1.35,-170.3,2113,572,3252,3413,290.6,-9.0,196,3256,0.00,2.03,0.00,0.000,1030,0.000,0.016,2105,1973,3332,3252,3412,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3565,-1.35,-170.3,2105,1974,3251,3409,320.5,-9.4,212,3571,0.00,2.08,0.00,0.000,260,0.000,0.034,2095,3362,3329,3250,3408,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3605,-1.35,-170.3,2094,3362,3250,3408,322.6,-9.3,213,3614,0.00,2.10,0.00,0.000,1030,0.000,0.029,2095,1973,3329,3250,3408,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3913,-1.35,-170.3,2094,1972,3248,3407,351.3,-9.0,229,3914,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,1973,3327,3248,3407,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4215,-1.35,-170.3,2095,1973,3246,3405,378.2,-9.2,244,4221,0.00,2.17,0.00,0.000,516,0.000,0.047,2104,567,3325,3246,3404,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4283,-1.35,-170.3,2104,566,3246,3404,384.6,-9.1,247,4289,0.00,2.05,0.00,0.000,1030,0.000,0.017,2095,1970,3324,3245,3404,0,0,0,0,0,0,28.83,26.67,28.83
$STATE,4466,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4466,begin apogee
$GC,4472,-0.25,0.0,2093,2302,3243,3402,401.1,-9.2,256,4637,0.77,0.00,150.93,1.050,10246,0.116,0.000,2347,2302,2638,2589,2687,0,0,0,0,1,0,26.37,28.83,24.21
$STATE,4639,end apogee,CONTROL_FINISHED_OK
$STATE,4639,begin climb
$GC,4641,1.35,170.3,2347,2302,2590,2687,386.4,0.0,263,4810,1.00,2.25,160.60,0.879,10500,0.054,0.033,2706,3682,1935,1904,1967,0,0,0,0,0,0,25.15,24.90,24.22
$GC,4990,1.37,178.9,2707,3681,1900,1944,353.9,8.9,279,4997,0.00,2.15,1.67,0.051,9222,0.000,0.024,2717,2298,1908,1885,1932,0,0,0,0,0,0,28.83,25.84,25.78
$GC,5317,1.40,187.5,2717,2298,1886,1937,324.9,8.9,295,5340,0.00,2.22,13.23,0.810,8452,0.000,0.033,2717,3683,1865,1841,1890,0,0,0,0,0,0,28.83,26.04,25.29
$GC,5408,1.41,191.2,2717,3683,1838,1887,316.8,9.1,299,5414,0.00,2.12,0.00,0.000,1030,0.000,0.024,2727,2298,1862,1838,1887,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5729,1.42,196.0,2726,2297,1838,1884,288.3,9.1,315,5741,0.00,2.20,4.10,0.627,8452,0.000,0.033,2727,3678,1840,1815,1866,0,0,0,0,0,0,28.83,26.30,25.27
$GC,5807,1.43,203.0,2726,3678,1815,1867,282.2,9.0,318,5826,0.12,2.10,11.50,0.780,13318,0.188,0.025,2707,2300,1808,1781,1835,0,0,0,0,0,0,26.10,26.34,25.43
$GC,6145,1.45,209.6,2707,2300,1779,1828,250.6,9.0,335,6156,0.00,2.20,5.20,0.719,8708,0.000,0.043,2718,896,1784,1757,1812,0,0,0,0,0,0,28.83,26.27,25.44
$GC,6242,1.47,218.2,2717,896,1757,1812,242.7,8.9,339,6262,0.00,2.10,11.70,0.753,9222,0.000,0.018,2717,2303,1744,1715,1774,0,0,0,0,0,0,28.83,26.39,25.45
$GC,6581,1.50,229.9,2717,2303,1714,1768,211.8,8.8,356,6604,0.00,2.20,11.75,0.728,8452,0.000,0.036,2718,3691,1697,1664,1730,0,0,0,0,0,0,28.83,26.20,25.50
$GC,6678,1.52,236.3,2717,3691,1663,1727,203.8,9.0,360,6693,0.00,2.15,5.00,0.682,9222,0.000,0.027,2728,2294,1674,1639,1709,0,0,0,0,0,0,28.83,26.26,25.27
$GC,6991,1.54,245.2,2727,2294,1641,1709,175.0,8.9,376,7007,0.00,0.00,11.02,0.692,8454,0.000,0.000,2728,2294,1634,1589,1680,0,0,0,0,0,0,28.83,28.83,25.53
$GC,7316,1.55,249.6,2727,2294,1588,1675,145.5,9.1,392,7322,0.00,0.00,3.20,0.465,8454,0.000,0.000,2727,2294,1621,1575,1668,0,0,0,0,0,0,28.83,28.83,25.34
$GC,7644,1.55,249.6,2727,2293,1575,1668,116.5,9.3,408,7645,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2294,1621,1575,1668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7943,1.60,267.2,2727,2293,1575,1668,89.6,8.6,423,7971,0.00,2.25,20.33,0.605,8708,0.000,0.044,2738,903,1544,1492,1596,0,0,0,0,0,0,28.83,26.24,25.64
$GC,8102,1.60,270.3,2738,903,1491,1592,75.3,9.1,430,8107,0.00,2.08,0.00,0.000,1030,0.000,0.018,2738,2301,1541,1491,1591,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8414,1.60,270.3,2738,2302,1491,1589,47.0,9.3,447,8421,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2300,1540,1491,1589,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8726,1.65,288.2,1704,2299,1460,1582,19.0,8.6,484,8758,0.00,2.17,20.08,0.539,8452,0.000,0.035,2738,3684,1457,1409,1505,0,0,0,0,0,0,28.83,26.29,25.72
$GC,8832,1.65,288.2,1744,3683,1384,1496,9.2,9.3,501,8840,0.00,2.12,0.00,0.000,1030,0.000,0.027,2748,2291,1455,1410,1501,0,0,0,0,0,0,28.83,26.35,28.83
$STATE,8901,end climb,SURFACE_DEPTH_REACHED
$STATE,8901,begin surface coast
$FINISH,0.1,1.024429
$STATE,8936,end surface coast,CONTROL_FINISHED_OK
$STATE,8937,begin surface
$SM_CCo,8953,207.77,0.685,2,0,400,549.47
$SM_CCo,9174,-0.17,0.000,0,0,402,549.47
$SM_CCo,9177,1.17,0.075,0,0,400,549.47
$SM_GC,-23.93,7.45,0.47,1.17,0.070,0.043,0.075,89,1960,400,-10.55,1.13,549.47,0,0,0,0,0,0,26.36,26.42,25.22
$IRIDIUM_FIX,2038.68,11936.40,260313,121216
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.48
$INTERNAL_PRESSURE,9.18503
$TCM_TEMP,20.40
$XPDR_PINGS,0
$SC_FREEKB,3945216
$24V_AH,24.2,34.186
$10V_AH,10.1,18.277
$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,17.200,73.275,430.300,208.950,0.000,0.000,0.000,238.500,0.000,0.000,18.384,2077.100,4678.051,775.280,1650.437,400.744,0.000,1899.656,0.000,1441.328,0.000,1.487,0.000
$DEVICE_MAMPS,207.315,46.665,1050.345,684.675,0.000,0.000,0.000,134.640,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8948.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.535,0.000,0.000,0.000
$MEM,323892
$DATA_FILE_SIZE,16819,519
$CAP_FILE_SIZE,431429,2168
$CFSIZE,260034560,227635200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$CURRENT,0.152,  6.2,1
$GPS,260313,172959,2049.857,12000.898,73,1.0,73,-2.8