version: 66.11
glider: 121
mission: 10
dive: 107
start: 3 16 113 8 17 15
data:
$ID,121
$MISSION,10
$DIVE,107
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,350
$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,126
$T_MISSION,150
$T_ABORT,180
$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,-100628.98
$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,2350
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27
$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,52
$R_STBD_OVSHOOT,60
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3600
$C_VBD,2795
$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
$GPS1,160313,081025,1855.121,12007.922,691,0.8,692,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-57.7
$GPS2,160313,081648,1855.242,12007.915,21,0.9,21,-2.4
$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,319.9,314686,-18.5,-9.259,-21.12,2828
$D_GRID,2181
$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,17,-1.11,-170.3,82,1947,465,557,0.0,0.0,0,43,0.00,0.00,-23.60,0.000,16386,0.000,0.000,82,1947,1135,1124,1146,0,0,0,0,0,0,28.83,28.83,28.83
$GC,45,-1.11,-170.3,83,1948,1124,1151,3.2,-9.0,3,137,7.90,2.25,-78.28,0.000,18692,0.220,0.044,2093,3381,3492,3408,3577,0,0,0,0,0,0,25.91,26.23,26.51
$GC,277,-1.11,-170.3,1248,3379,3392,3576,24.6,-9.2,41,287,0.00,2.12,0.00,0.000,1030,0.000,0.028,2101,1979,3494,3410,3579,0,0,0,0,0,0,28.83,26.34,28.83
$GC,585,-1.11,-170.3,2101,1979,3412,3579,52.1,-9.0,71,591,0.00,2.15,0.00,0.000,516,0.000,0.041,2111,567,3496,3413,3579,0,0,0,0,0,0,28.83,26.46,28.83
$GC,809,-1.11,-170.3,2111,567,3415,3579,70.9,-9.1,81,818,0.00,2.05,0.00,0.000,1030,0.000,0.015,2103,1993,3497,3415,3579,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1115,-1.11,-170.3,2103,1994,3416,3579,99.8,-8.9,97,1116,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,1995,3497,3416,3579,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1415,-1.11,-170.3,2103,1994,3416,3579,126.7,-8.7,112,1416,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,1995,3497,3416,3579,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1716,-1.11,-170.3,2103,1994,3416,3579,153.3,-8.9,127,1722,0.00,2.17,0.00,0.000,516,0.000,0.038,2111,571,3497,3416,3579,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1765,-1.11,-170.3,2111,571,3416,3578,157.5,-8.9,129,1772,0.00,2.00,0.00,0.000,1030,0.000,0.016,2103,1975,3497,3416,3579,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2086,-1.11,-170.3,2103,1978,3416,3576,186.1,-9.2,145,2087,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,1978,3496,3416,3576,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2387,-1.11,-170.3,2103,1978,3416,3573,212.7,-9.0,160,2392,0.00,2.17,0.00,0.000,516,0.000,0.040,2111,560,3494,3416,3573,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2479,-1.11,-170.3,2111,560,3416,3572,220.7,-8.9,164,2484,0.00,2.03,0.00,0.000,1030,0.000,0.016,2103,1979,3494,3416,3573,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2799,-1.11,-170.3,2103,1980,3416,3569,249.3,-8.9,180,2805,0.00,2.03,0.00,0.000,260,0.000,0.031,2093,3348,3492,3416,3568,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2839,-1.11,-170.3,2093,3348,3416,3567,251.6,-9.0,181,2847,0.00,2.05,0.00,0.000,1030,0.000,0.025,2093,1969,3491,3416,3567,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3145,-1.11,-170.3,2093,1969,3414,3566,280.3,-8.8,197,3151,0.00,2.12,0.00,0.000,516,0.000,0.044,2102,571,3490,3414,3566,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3205,-1.11,-170.3,2102,571,3414,3566,284.5,-8.9,199,3213,0.00,2.03,0.00,0.000,1030,0.000,0.017,2094,1982,3489,3413,3565,0,0,0,0,0,0,28.83,26.75,28.83
$GC,3512,-1.11,-170.3,2094,1982,3411,3564,312.9,-8.9,215,3518,0.00,2.03,0.00,0.000,260,0.000,0.032,2083,3352,3487,3412,3563,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3546,-1.11,-170.3,2082,3352,3411,3563,315.1,-8.9,216,3554,0.10,2.05,0.00,0.000,3078,0.162,0.026,2108,1975,3487,3411,3563,0,0,0,0,0,0,26.57,26.72,28.83
$GC,3863,-1.11,-170.3,2108,1975,3410,3562,344.5,-8.7,232,3868,0.00,2.15,0.00,0.000,516,0.000,0.044,2118,567,3485,3410,3561,0,0,0,0,0,0,28.83,26.68,28.83
$STATE,3929,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3929,begin apogee
$GC,3936,-0.19,0.0,2108,2294,3409,3560,350.7,-9.2,235,4091,0.60,0.00,145.80,0.870,10246,0.116,0.000,2307,2294,2787,2748,2827,0,0,0,0,0,0,26.57,28.83,24.52
$STATE,4093,end apogee,CONTROL_FINISHED_OK
$STATE,4093,begin climb
$GC,4094,1.11,170.3,2306,2294,2746,2824,336.4,0.0,242,4260,0.82,2.30,152.18,0.828,10500,0.069,0.033,2598,3691,2089,2053,2125,0,0,0,0,0,0,25.29,25.05,24.40
$GC,4364,1.13,175.8,2598,3691,2049,2117,311.4,9.1,254,4370,0.00,2.15,0.00,0.000,1030,0.000,0.022,2608,2297,2082,2049,2116,0,0,0,0,0,0,28.83,25.74,28.83
$GC,4689,1.13,175.8,2608,2297,2046,2113,281.6,9.6,270,4696,0.00,2.17,0.00,0.000,516,0.000,0.041,2618,897,2079,2046,2113,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4800,1.14,181.7,1664,896,1991,2102,271.8,9.0,275,4811,0.00,2.08,4.22,0.640,9222,0.000,0.016,2618,2312,2053,2018,2089,0,0,0,0,0,0,28.83,26.35,25.28
$GC,5120,1.15,183.9,2618,2312,2018,2096,242.7,9.2,291,5132,0.00,2.15,2.55,0.340,8452,0.000,0.033,2618,3687,2044,2007,2082,0,0,0,0,0,0,28.83,26.39,25.29
$GC,5160,1.15,186.8,1672,3686,1955,2075,240.3,9.2,292,5174,0.12,2.10,8.52,0.792,13318,0.173,0.024,2598,2291,2031,1994,2069,0,0,0,0,0,0,26.25,26.42,25.51
$GC,5493,1.21,207.7,2597,2291,1992,2063,209.3,8.5,309,5516,0.00,0.00,21.65,0.791,8198,0.000,0.000,2598,2291,1946,1910,1983,0,0,0,0,0,0,28.83,28.83,25.39
$GC,5813,1.21,208.6,2597,2291,1905,1972,180.9,9.2,325,5819,0.00,2.15,0.00,0.000,516,0.000,0.041,2607,901,1938,1905,1972,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5859,1.23,216.9,2607,901,1904,1971,176.9,9.0,327,5876,0.00,2.05,8.68,0.782,9222,0.000,0.016,2606,2300,1906,1875,1937,0,0,0,0,0,0,28.83,26.44,25.50
$GC,6186,1.25,225.0,2607,2300,1874,1930,147.2,9.0,343,6202,0.00,2.15,8.18,0.770,8452,0.000,0.034,2607,3680,1873,1844,1902,0,0,0,0,0,0,28.83,26.29,25.56
$GC,6296,1.26,230.5,1616,3679,1796,1889,137.0,9.1,348,6307,0.00,2.08,4.43,0.672,9222,0.000,0.024,2617,2302,1854,1825,1883,0,0,0,0,0,0,28.83,26.36,25.34
$GC,6621,1.28,237.4,2616,2301,1825,1883,107.3,9.0,364,6638,0.00,2.25,9.32,0.751,8708,0.000,0.043,2627,896,1823,1792,1854,0,0,0,0,0,0,28.83,26.28,25.57
$GC,6775,1.30,245.5,2627,896,1790,1851,93.9,9.0,371,6792,0.00,2.08,8.68,0.743,9222,0.000,0.016,2627,2308,1789,1758,1821,0,0,0,0,0,0,28.83,26.44,25.53
$GC,7091,1.32,253.0,2626,2308,1756,1816,65.0,9.0,387,7101,0.00,0.00,7.93,0.732,8198,0.000,0.000,2627,2308,1762,1731,1794,0,0,0,0,0,0,28.83,28.83,25.58
$GC,7392,1.34,259.6,2627,2308,1726,1786,37.8,9.0,408,7402,0.00,0.00,5.57,0.698,8198,0.000,0.000,2627,2308,1737,1706,1768,0,0,0,0,0,0,28.83,28.83,25.58
$GC,7711,1.36,269.3,1616,2305,1663,1758,8.8,8.9,455,7729,0.00,2.30,11.98,0.696,8708,0.000,0.040,2637,897,1693,1658,1728,0,0,0,0,0,0,28.83,26.29,25.64
$STATE,7778,end climb,SURFACE_DEPTH_REACHED
$STATE,7779,begin surface coast
$FINISH,0.0,1.026456
$STATE,7812,end surface coast,CONTROL_FINISHED_OK
$STATE,7812,begin surface
$SM_CCo,7829,242.27,0.887,1,0,511,560.02
$SM_GC,-23.93,6.97,1.62,242.27,0.061,0.015,0.887,92,1987,511,-10.30,-1.95,560.02,0,0,0,0,1,0,26.34,26.44,24.31
$IRIDIUM_FIX,1846.42,12008.99,160313,050544
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.34
$INTERNAL_PRESSURE,9.02877
$TCM_TEMP,17.60
$XPDR_PINGS,1
$SC_FREEKB,3981952
$24V_AH,24.3,19.352
$10V_AH,10.3,12.152
$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,16.525,63.625,399.675,242.275,0.000,0.000,0.000,220.000,0.250,0.000,22.907,1836.293,4148.118,748.963,1460.614,250.960,0.000,1710.302,0.000,1215.318,0.000,1.484,0.000
$DEVICE_MAMPS,220.320,44.370,869.805,887.400,0.000,0.000,0.000,134.640,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7813.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.284,0.000,0.000,0.000
$MEM,323904
$DATA_FILE_SIZE,16820,472
$CAP_FILE_SIZE,377957,1865
$CFSIZE,260034560,238309376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.178, 69.7,1
$GPS,160313,104434,1856.182,12008.086,724,1.0,724,-2.4