version: 66.11
glider: 121
mission: 10
dive: 205
start: 3 26 113 20 18 49
data:
$ID,121
$MISSION,10
$DIVE,205
$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,-100752.51
$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,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
$GPS1,260313,201122,2051.687,12001.277,41,0.9,57,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-58.9
$GPS2,260313,201822,2051.732,12001.296,23,0.9,24,-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,339.3,98677,-18.5,-9.259,-21.12,2828
$D_GRID,3591
$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,-170.3,84,1942,334,468,0.0,0.0,0,44,0.00,0.00,-23.23,0.000,16386,0.000,0.000,84,1942,1000,985,1015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.35,-170.3,84,1942,985,1013,3.1,-8.7,3,146,7.75,2.28,-85.18,0.000,18692,0.207,0.043,2089,3383,3337,3246,3429,0,0,0,0,0,0,25.80,26.16,26.46
$GC,208,-1.35,-170.3,1248,3382,3222,3426,17.9,-8.6,27,216,0.00,2.15,0.00,0.000,1030,0.000,0.027,2097,1979,3339,3249,3429,0,0,0,0,0,0,28.83,26.22,28.83
$GC,531,-1.35,-170.3,2096,1978,3252,3429,46.9,-9.2,65,538,0.00,2.15,0.00,0.000,516,0.000,0.041,2107,570,3340,3251,3429,0,0,0,0,0,0,28.83,26.36,28.83
$GC,594,-1.35,-170.3,2107,569,3252,3429,51.2,-8.9,69,602,0.00,2.08,0.00,0.000,1030,0.000,0.015,2099,2004,3340,3252,3429,0,0,0,0,0,0,28.83,26.48,28.83
$GC,900,-1.35,-170.3,2099,2005,3254,3429,80.6,-9.2,85,906,0.00,2.03,0.00,0.000,260,0.000,0.031,2088,3369,3341,3254,3429,0,0,0,0,0,0,28.83,26.50,28.83
$GC,935,-1.35,-170.3,2088,3369,3254,3429,82.7,-9.3,86,941,0.00,2.10,0.00,0.000,1030,0.000,0.025,2090,1965,3341,3254,3429,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1250,-1.35,-170.3,2090,1965,3255,3429,111.9,-9.0,102,1256,0.00,2.10,0.00,0.000,260,0.000,0.031,2082,3355,3342,3256,3429,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1285,-1.35,-170.3,2081,3355,3255,3429,114.2,-9.1,103,1292,0.10,2.08,0.00,0.000,3078,0.161,0.026,2109,1968,3342,3256,3429,0,0,0,0,0,0,26.39,26.56,28.83
$GC,1602,-1.35,-170.3,2109,1968,3255,3429,143.4,-8.9,119,1608,0.00,2.12,0.00,0.000,516,0.000,0.042,2119,571,3342,3256,3429,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1674,-1.35,-170.3,2119,571,3255,3429,149.5,-8.8,122,1680,0.00,2.03,0.00,0.000,1030,0.000,0.016,2111,1978,3342,3255,3429,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1994,-1.35,-170.3,2110,1979,3255,3427,178.4,-9.2,138,2001,0.00,2.05,0.00,0.000,260,0.000,0.032,2101,3360,3340,3255,3426,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2050,-1.35,-170.3,1312,3358,3232,3422,182.7,-8.9,140,2056,0.00,2.08,0.00,0.000,1030,0.000,0.027,2106,1975,3340,3255,3425,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2364,-1.35,-170.3,2106,1974,3255,3422,211.8,-9.0,156,2370,0.00,2.15,0.00,0.000,516,0.000,0.044,2116,568,3338,3255,3422,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2421,-1.35,-170.3,2116,568,3256,3422,216.0,-9.0,158,2426,0.00,2.03,0.00,0.000,1030,0.000,0.016,2107,1974,3338,3255,3422,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2735,-1.35,-170.3,2107,1975,3255,3418,245.0,-8.9,174,2736,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,1975,3336,3255,3418,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3037,-1.35,-170.3,2107,1975,3253,3415,271.7,-8.8,189,3042,0.00,2.08,0.00,0.000,260,0.000,0.034,2097,3364,3334,3253,3415,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3117,-1.35,-170.3,2097,3364,3253,3414,277.9,-9.0,192,3123,0.00,2.10,0.00,0.000,1030,0.000,0.028,2098,1973,3333,3253,3414,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3431,-1.35,-170.3,2098,1973,3252,3411,307.6,-9.5,208,3432,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,1973,3332,3253,3411,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3733,-1.35,-170.3,2097,1973,3250,3409,335.0,-8.7,223,3734,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,1973,3329,3250,3409,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4033,-1.35,-170.3,2098,1973,3248,3407,361.8,-8.8,238,4039,0.00,2.17,0.00,0.000,516,0.000,0.047,2107,567,3327,3248,3407,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4178,-1.35,-170.3,2107,567,3247,3406,373.3,-9.3,244,4186,0.00,2.05,0.00,0.000,1030,0.000,0.017,2099,1974,3326,3246,3406,0,0,0,0,0,0,28.83,26.67,28.83
$STATE,4462,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4462,begin apogee
$GC,4467,-0.25,0.0,2096,2304,3244,3404,401.0,-9.2,259,4628,0.75,0.00,153.77,0.895,10246,0.114,0.000,2342,2306,2636,2588,2685,0,0,0,0,0,0,26.38,28.83,24.46
$STATE,4630,end apogee,CONTROL_FINISHED_OK
$STATE,4630,begin climb
$GC,4631,1.35,170.3,2342,2305,2581,2678,386.9,0.0,266,4802,1.00,2.25,160.82,0.854,10500,0.057,0.034,2702,3693,1935,1903,1968,0,0,0,0,0,0,25.23,24.95,24.29
$GC,5043,1.37,175.2,2702,3694,1899,1946,350.4,9.1,284,5052,0.00,2.15,0.00,0.000,1030,0.000,0.025,2712,2309,1922,1899,1945,0,0,0,0,0,0,28.83,25.97,28.83
$GC,5351,1.38,181.9,2712,2309,1899,1943,321.1,9.0,300,5356,0.00,0.00,3.53,0.549,8198,0.000,0.000,2712,2309,1897,1872,1922,0,0,0,0,0,0,28.83,28.83,25.18
$GC,5652,1.40,188.9,2712,2309,1872,1929,294.0,9.0,315,5675,0.00,2.30,12.93,0.804,8708,0.000,0.044,2722,893,1860,1832,1888,0,0,0,0,0,0,28.83,26.15,25.48
$GC,5741,1.42,197.7,2723,893,1834,1885,286.0,8.9,319,5753,0.00,2.12,4.30,0.659,9222,0.000,0.018,2723,2307,1833,1804,1863,0,0,0,0,0,0,28.83,26.28,25.18
$GC,6068,1.44,206.5,2723,2307,1803,1867,257.5,8.9,335,6091,0.00,2.20,13.75,0.780,8452,0.000,0.036,2723,3691,1790,1759,1821,0,0,0,0,0,0,28.83,26.16,25.45
$GC,6228,1.46,212.2,1744,3691,1718,1806,243.8,9.1,342,6242,0.00,2.15,4.22,0.653,9222,0.000,0.026,2733,2292,1772,1743,1802,0,0,0,0,0,0,28.83,26.27,25.20
$GC,6540,1.49,223.4,2733,2292,1743,1802,214.9,8.9,358,6559,0.00,0.00,14.25,0.747,8198,0.000,0.000,2733,2292,1723,1692,1755,0,0,0,0,0,0,28.83,28.83,25.46
$GC,6860,1.50,227.9,2733,2292,1692,1749,186.1,9.1,374,6871,0.00,2.22,3.05,0.477,8452,0.000,0.034,2733,3688,1709,1678,1741,0,0,0,0,0,0,28.83,26.32,25.26
$GC,6922,1.51,234.4,2733,3688,1678,1740,181.8,9.0,376,6937,0.00,2.15,9.73,0.724,9222,0.000,0.028,2743,2290,1683,1648,1718,0,0,0,0,0,0,28.83,26.35,25.50
$GC,7256,1.54,244.7,2743,2290,1644,1708,150.9,8.9,393,7272,0.00,2.20,10.50,0.689,8708,0.000,0.044,2754,894,1637,1592,1682,0,0,0,0,0,0,28.83,26.21,25.56
$GC,7311,1.55,249.8,1792,894,1558,1671,146.6,9.1,395,7325,0.00,2.10,4.03,0.580,9222,0.000,0.018,2754,2298,1618,1572,1665,0,0,0,0,0,0,28.83,26.32,25.30
$GC,7623,1.59,266.3,2753,2298,1572,1666,118.1,8.7,411,7645,0.00,0.00,19.60,0.643,8198,0.000,0.000,2754,2298,1553,1501,1606,0,0,0,0,0,0,28.83,28.83,25.49
$GC,7943,1.59,266.3,2753,2297,1496,1594,89.1,9.3,427,7949,0.00,2.25,0.00,0.000,516,0.000,0.044,2763,890,1545,1496,1594,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8023,1.61,272.4,2763,890,1496,1594,83.1,9.0,430,8033,0.00,2.10,4.40,0.566,9222,0.000,0.018,2763,2305,1528,1477,1580,0,0,0,0,0,0,28.83,26.41,25.39
$GC,8331,1.63,279.9,2763,2305,1477,1581,54.4,9.0,446,8348,0.00,2.12,10.20,0.590,8452,0.000,0.036,2763,3691,1494,1442,1547,0,0,0,0,0,0,28.83,26.29,25.65
$GC,8398,1.63,281.5,1760,3690,1415,1538,48.3,9.2,449,8404,0.00,2.15,0.00,0.000,1030,0.000,0.028,2773,2297,1492,1441,1544,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8714,1.70,310.2,1744,2293,1414,1535,20.0,8.2,484,8753,0.00,2.30,30.98,0.524,8708,0.000,0.045,2784,888,1367,1329,1406,0,0,0,0,0,0,28.83,26.10,25.58
$STATE,8901,end climb,SURFACE_DEPTH_REACHED
$STATE,8902,begin surface coast
$FINISH,0.0,1.024397
$STATE,8937,end surface coast,CONTROL_FINISHED_OK
$STATE,8937,begin surface
$SM_CCo,8955,182.85,0.671,2,0,400,549.47
$SM_CCo,9151,0.00,0.000,0,0,400,549.47
$SM_CCo,9154,0.00,0.000,0,0,400,549.47
$SM_GC,-23.93,7.65,1.67,0.00,0.075,0.015,0.000,83,1987,400,-10.56,-1.44,549.47,0,0,0,0,0,0,26.28,26.36,28.83
$IRIDIUM_FIX,2040.99,12001.28,260313,171757
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.46
$INTERNAL_PRESSURE,9.15573
$TCM_TEMP,19.60
$XPDR_PINGS,0
$SC_FREEKB,3944448
$24V_AH,24.3,34.496
$10V_AH,10.1,18.401
$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,17.250,72.700,460.050,182.850,0.000,0.000,0.000,227.400,0.000,0.000,25.295,2008.566,4826.703,760.104,1577.458,379.168,0.000,1833.579,0.000,1386.463,0.000,1.487,0.000
$DEVICE_MAMPS,207.315,47.430,895.050,670.905,0.000,0.000,0.000,132.345,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8942.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.513,0.000,0.000,0.000
$MEM,323904
$DATA_FILE_SIZE,20081,522
$CAP_FILE_SIZE,415317,2040
$CFSIZE,260034560,227418112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.090, 34.0,1
$GPS,260313,225242,2052.889,12001.082,40,0.8,40,-2.8