version: 66.11
glider: 121
mission: 10
dive: 108
start: 3 16 113 10 51 50
data:
$ID,121
$MISSION,10
$DIVE,108
$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,-100630.23
$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,40
$R_STBD_OVSHOOT,76
$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
$GPS1,160313,104434,1856.182,12008.086,724,1.0,724,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-58.3
$GPS2,160313,105123,1856.343,12008.128,16,1.0,16,-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,319.8,312666,-18.5,-9.259,-21.12,2828
$D_GRID,2318
$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,-170.3,88,2006,460,560,0.0,0.0,0,43,0.00,0.00,-23.65,0.000,16386,0.000,0.000,87,2009,1133,1104,1162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,45,-1.11,-170.3,87,2009,1109,1161,3.1,-8.6,3,144,7.90,2.12,-82.35,0.000,18692,0.221,0.044,2097,3362,3493,3408,3578,0,0,0,0,0,0,25.92,26.22,26.50
$GC,388,-1.11,-170.3,2097,3362,3411,3579,34.2,-8.8,52,395,0.00,2.10,0.00,0.000,1030,0.000,0.025,2105,1964,3495,3411,3579,0,0,0,0,0,0,28.83,26.40,28.83
$GC,713,-1.11,-170.3,2105,1963,3415,3580,63.1,-8.6,77,719,0.00,2.12,0.00,0.000,516,0.000,0.041,2115,568,3497,3415,3580,0,0,0,0,0,0,28.83,26.49,28.83
$GC,821,-1.11,-170.3,2115,568,3415,3580,73.1,-9.1,82,827,0.00,2.03,0.00,0.000,1030,0.000,0.016,2107,1972,3497,3415,3580,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1147,-1.11,-170.3,2107,1974,3416,3580,102.4,-9.0,98,1153,0.00,2.05,0.00,0.000,260,0.000,0.031,2097,3354,3497,3416,3579,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1219,-1.11,-170.3,2096,3354,3416,3580,108.6,-8.9,101,1224,0.00,2.05,0.00,0.000,1030,0.000,0.025,2097,1974,3498,3416,3580,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1539,-1.11,-170.3,2096,1974,3416,3579,138.3,-9.2,117,1546,0.00,2.12,0.00,0.000,516,0.000,0.041,2106,570,3497,3416,3579,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1595,-1.11,-170.3,1288,570,3400,3577,142.4,-8.9,119,1600,0.00,2.03,0.00,0.000,1030,0.000,0.016,2098,1985,3497,3415,3580,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1910,-1.11,-170.3,2097,1987,3416,3578,171.4,-9.1,135,1915,0.00,2.17,0.00,0.000,516,0.000,0.041,2105,570,3497,3416,3578,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2025,-1.11,-170.3,2106,570,3416,3578,181.0,-9.0,140,2031,0.00,2.03,0.00,0.000,1030,0.000,0.016,2098,1986,3497,3416,3578,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2340,-1.11,-170.3,2097,1986,3416,3574,209.8,-8.6,156,2346,0.00,2.03,0.00,0.000,260,0.000,0.032,2087,3357,3495,3416,3574,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2415,-1.11,-170.3,2087,3357,3416,3573,215.8,-9.1,159,2421,0.00,2.08,0.00,0.000,1030,0.000,0.026,2087,1963,3494,3416,3573,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2730,-1.11,-170.3,2087,1963,3417,3571,245.3,-9.0,175,2736,0.00,2.12,0.00,0.000,516,0.000,0.044,2096,567,3493,3416,3570,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2823,-1.11,-170.3,2096,567,3416,3570,253.5,-9.0,179,2829,0.00,2.03,0.00,0.000,1030,0.000,0.016,2088,1983,3493,3416,3570,0,0,0,0,0,0,28.83,26.75,28.83
$GC,3142,-1.11,-170.3,2087,1983,3414,3567,283.1,-9.4,195,3149,0.00,2.17,0.00,0.000,516,0.000,0.042,2096,572,3490,3414,3566,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3198,-1.11,-170.3,1296,572,3399,3563,287.4,-9.4,197,3203,0.00,2.00,0.00,0.000,1030,0.000,0.016,2087,1974,3490,3414,3566,0,0,0,0,0,0,28.83,26.76,28.83
$GC,3512,-1.11,-170.3,2087,1974,3412,3565,316.8,-9.2,213,3518,0.00,2.05,0.00,0.000,260,0.000,0.032,2077,3360,3488,3412,3565,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3558,-1.11,-170.3,2076,3360,3411,3565,321.1,-9.3,215,3564,0.12,2.08,0.00,0.000,3078,0.155,0.027,2110,1974,3488,3411,3565,0,0,0,0,0,0,26.55,26.71,28.83
$STATE,3882,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3882,begin apogee
$GC,3886,-0.19,0.0,2110,2293,3409,3562,350.2,-8.8,231,4036,0.60,0.00,142.90,0.841,10246,0.116,0.000,2309,2294,2790,2752,2828,0,0,0,0,0,0,26.58,28.83,24.56
$STATE,4038,end apogee,CONTROL_FINISHED_OK
$STATE,4038,begin climb
$GC,4040,1.11,170.3,2309,2294,2749,2827,338.1,0.0,237,4198,0.82,2.28,146.18,0.824,10500,0.073,0.034,2596,3683,2090,2055,2125,0,0,0,0,0,0,25.29,25.07,24.41
$GC,4248,1.13,178.0,2596,3683,2051,2117,318.8,9.0,246,4258,0.00,2.15,2.45,0.291,9222,0.000,0.022,2607,2301,2068,2033,2103,0,0,0,0,0,0,28.83,25.55,24.68
$GC,4554,1.15,184.5,2606,2301,2033,2108,290.1,9.0,262,4571,0.00,2.20,10.52,0.782,8708,0.000,0.039,2617,900,2035,1999,2072,0,0,0,0,0,0,28.83,25.98,25.30
$GC,4621,1.18,198.0,2617,900,1997,2069,284.2,8.8,265,4644,0.00,2.10,13.27,0.786,9222,0.000,0.016,2617,2309,1980,1946,2015,0,0,0,0,0,0,28.83,26.13,25.20
$GC,4942,1.19,201.8,2617,2309,1945,2006,255.2,9.1,281,4947,0.00,2.08,0.00,0.000,260,0.000,0.034,2617,3682,1975,1945,2006,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4988,1.21,209.4,2617,3683,1945,2006,251.0,9.0,283,5005,0.00,2.10,10.48,0.773,9222,0.000,0.024,2627,2292,1937,1905,1970,0,0,0,0,0,0,28.83,26.32,25.41
$GC,5315,1.25,225.3,2626,2291,1904,1957,222.3,8.7,299,5334,0.00,0.00,15.35,0.775,8198,0.000,0.000,2627,2292,1872,1846,1898,0,0,0,0,0,0,28.83,28.83,25.42
$GC,5634,1.27,233.2,2626,2292,1844,1889,193.3,9.0,315,5650,0.00,2.20,7.55,0.758,8452,0.000,0.032,2627,3677,1839,1814,1865,0,0,0,0,0,0,28.83,26.26,25.50
$GC,5683,1.30,246.0,2626,3677,1814,1862,189.3,8.8,317,5703,0.00,2.10,13.40,0.754,9222,0.000,0.024,2636,2295,1788,1761,1815,0,0,0,0,0,0,28.83,26.30,25.40
$GC,6001,1.30,246.0,2636,2295,1759,1805,160.3,9.3,333,6007,0.00,2.17,0.00,0.000,516,0.000,0.041,2647,898,1782,1759,1805,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6069,1.32,252.5,2647,898,1759,1805,154.3,9.0,336,6080,0.00,2.08,4.55,0.654,9222,0.000,0.017,2647,2309,1764,1738,1791,0,0,0,0,0,0,28.83,26.44,25.37
$GC,6394,1.33,258.2,2647,2309,1738,1791,124.5,9.1,352,6407,0.00,2.17,8.07,0.712,8452,0.000,0.034,2647,3692,1739,1711,1767,0,0,0,0,0,0,28.83,26.34,25.62
$GC,6487,1.35,265.3,2647,3692,1707,1766,116.4,9.0,356,6505,0.00,2.12,7.68,0.704,9222,0.000,0.024,2657,2290,1708,1676,1741,0,0,0,0,0,0,28.83,26.40,25.58
$GC,6803,1.39,279.9,2657,2290,1676,1735,87.7,8.7,372,6827,0.00,2.20,14.80,0.682,8708,0.000,0.041,2668,890,1646,1602,1691,0,0,0,0,0,0,28.83,26.20,25.57
$GC,6881,1.42,292.2,2667,890,1601,1688,81.8,8.8,375,6899,0.00,2.08,12.27,0.676,9222,0.000,0.017,2667,2297,1599,1551,1648,0,0,0,0,0,0,28.83,26.33,25.47
$GC,7218,1.42,294.8,2668,2297,1548,1640,50.5,9.2,392,7224,0.00,2.10,0.00,0.000,260,0.000,0.034,2668,3687,1594,1548,1640,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7265,1.45,304.4,2668,3687,1546,1640,46.3,8.9,395,7285,0.00,2.10,11.85,0.653,9222,0.000,0.024,2678,2299,1549,1498,1601,0,0,0,0,0,0,28.83,26.41,25.58
$GC,7593,1.45,304.4,1664,2297,1465,1587,16.6,9.5,435,7602,0.00,2.17,0.00,0.000,516,0.000,0.042,2688,897,1545,1496,1594,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7734,1.48,317.1,1672,897,1465,1587,4.2,8.8,460,7750,0.00,2.08,11.60,0.614,9218,0.000,0.017,2688,2311,1506,1454,1558,0,0,0,0,0,0,28.83,26.52,28.83
$STATE,7751,end climb,SURFACE_DEPTH_REACHED
$STATE,7752,begin surface coast
$FINISH,0.0,1.026052
$STATE,7786,end surface coast,CONTROL_FINISHED_OK
$STATE,7786,begin surface
$SM_CCo,7801,200.98,0.789,1,0,511,560.02
$SM_GC,-23.93,7.22,0.55,200.98,0.068,0.034,0.789,87,1954,511,-10.32,0.96,560.02,0,0,0,0,1,0,26.33,26.37,24.46
$IRIDIUM_FIX,1846.42,12008.99,160313,080855
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.46
$INTERNAL_PRESSURE,9.06784
$TCM_TEMP,18.40
$XPDR_PINGS,0
$SC_FREEKB,3981568
$24V_AH,24.4,19.502
$10V_AH,10.2,12.225
$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,16.675,76.850,432.925,200.975,0.000,0.000,0.000,251.500,0.000,0.000,17.481,1834.655,4071.292,742.151,1499.239,254.652,0.000,1758.823,0.000,1228.305,0.000,1.482,0.000
$DEVICE_MAMPS,221.085,44.370,840.735,789.480,0.000,0.000,0.000,128.520,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7800.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.239,0.000,0.000,0.000
$MEM,323876
$DATA_FILE_SIZE,16802,468
$CAP_FILE_SIZE,382085,1865
$CFSIZE,260034560,238194688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.022,129.3,1
$GPS,160313,131345,1856.906,12007.602,469,1.1,469,-2.4