version: 66.11
glider: 121
mission: 10
dive: 109
start: 3 16 113 13 20 27
data:
$ID,121
$MISSION,10
$DIVE,109
$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,-100631.49
$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,50
$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
$GPS1,160313,131345,1856.906,12007.602,469,1.1,469,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-56.8
$GPS2,160313,132000,1856.997,12007.757,16,1.4,17,-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,356.0,311428,-18.5,-9.259,-21.12,2828
$D_GRID,2420
$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,-1.11,-170.3,85,1945,459,558,0.0,0.0,0,44,0.00,0.00,-24.33,0.000,16386,0.000,0.000,85,1945,1145,1139,1152,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.11,-170.3,85,1945,1139,1159,3.1,-8.8,3,153,7.62,2.25,-85.90,0.000,18692,0.209,0.044,2095,3374,3493,3408,3579,0,0,0,0,0,0,25.88,26.22,26.50
$GC,340,-1.11,-170.3,2095,3375,3411,3580,30.0,-9.1,46,348,0.00,2.10,0.00,0.000,1030,0.000,0.026,2103,1982,3496,3412,3580,0,0,0,0,0,0,28.83,26.37,28.83
$GC,659,-1.11,-170.3,2103,1982,3415,3580,59.3,-9.2,73,665,0.00,2.15,0.00,0.000,516,0.000,0.041,2113,569,3497,3415,3580,0,0,0,0,0,0,28.83,26.48,28.83
$GC,843,-1.11,-170.3,2113,569,3416,3581,74.5,-8.9,81,851,0.00,2.05,0.00,0.000,1030,0.000,0.016,2105,1994,3499,3416,3583,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1149,-1.11,-170.3,2105,1995,3416,3581,103.4,-9.1,97,1155,0.00,2.03,0.00,0.000,260,0.000,0.031,2095,3358,3498,3416,3581,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1188,-1.11,-170.3,2094,3359,3416,3581,105.6,-9.2,98,1197,0.00,2.08,0.00,0.000,1030,0.000,0.025,2095,1966,3498,3416,3581,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1495,-1.11,-170.3,2094,1965,3416,3581,134.5,-9.0,114,1502,0.00,2.12,0.00,0.000,516,0.000,0.042,2104,571,3498,3416,3581,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1535,-1.11,-170.3,2103,571,3416,3581,136.7,-8.9,115,1543,0.00,2.03,0.00,0.000,1030,0.000,0.017,2095,1983,3498,3416,3581,0,0,0,0,0,0,28.83,26.68,28.83
$GC,1842,-1.11,-170.3,2094,1985,3417,3579,165.7,-8.8,131,1848,0.00,2.17,0.00,0.000,516,0.000,0.041,2103,574,3498,3417,3579,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1973,-1.11,-170.3,2103,574,3417,3579,177.2,-9.0,137,1980,0.00,2.03,0.00,0.000,1030,0.000,0.016,2095,1989,3498,3417,3579,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2295,-1.11,-170.3,2095,1989,3417,3576,206.8,-9.0,153,2300,0.00,2.03,0.00,0.000,260,0.000,0.031,2085,3359,3496,3417,3575,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2334,-1.11,-170.3,2085,3359,3417,3575,209.0,-8.9,154,2343,0.10,2.08,0.00,0.000,3078,0.161,0.025,2110,1963,3496,3417,3575,0,0,0,0,0,0,26.55,26.69,28.83
$GC,2641,-1.11,-170.3,2110,1964,3417,3572,238.4,-8.6,170,2646,0.00,2.12,0.00,0.000,516,0.000,0.044,2121,567,3494,3417,3572,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2718,-1.11,-170.3,2120,567,3417,3572,244.5,-9.0,173,2724,0.00,2.03,0.00,0.000,1030,0.000,0.016,2112,1978,3494,3417,3571,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3032,-1.11,-170.3,2112,1978,3417,3567,273.9,-9.1,189,3039,0.00,2.17,0.00,0.000,516,0.000,0.042,2121,570,3492,3417,3567,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3087,-1.11,-170.3,2120,570,3416,3567,278.0,-9.0,191,3093,0.00,2.03,0.00,0.000,1030,0.000,0.016,2112,1978,3491,3416,3567,0,0,0,0,0,0,28.83,26.75,28.83
$GC,3402,-1.11,-170.3,2112,1978,3413,3565,306.9,-8.8,207,3408,0.00,2.05,0.00,0.000,260,0.000,0.032,2102,3362,3489,3413,3565,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3478,-1.11,-170.3,2102,3362,3413,3565,312.9,-9.0,210,3484,0.00,2.08,0.00,0.000,1030,0.000,0.027,2102,1972,3488,3412,3565,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3792,-1.11,-170.3,2101,1972,3410,3563,342.6,-9.2,226,3793,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,1972,3486,3410,3563,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3890,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3890,begin apogee
$GC,3895,-0.19,0.0,2100,2310,3410,3562,351.3,-8.6,231,4044,0.62,0.00,142.02,0.834,10246,0.119,0.000,2306,2311,2792,2753,2831,0,0,0,0,0,0,26.56,28.83,24.57
$STATE,4046,end apogee,CONTROL_FINISHED_OK
$STATE,4046,begin climb
$GC,4047,1.11,170.3,2306,2311,2748,2827,339.3,0.0,237,4201,0.82,2.25,144.60,0.816,10500,0.074,0.034,2592,3674,2092,2057,2127,0,0,0,0,0,0,25.29,25.08,24.42
$GC,4233,1.13,177.6,1664,3674,2002,2109,321.7,9.0,245,4243,0.00,2.15,2.90,0.420,9222,0.000,0.022,2602,2299,2070,2035,2105,0,0,0,0,0,0,28.83,25.44,24.59
$GC,4541,1.16,188.2,2602,2299,2034,2105,292.7,8.9,261,4564,0.00,2.28,13.50,0.771,8708,0.000,0.041,2612,896,2020,1984,2057,0,0,0,0,0,0,28.83,25.92,25.25
$GC,4592,1.18,196.6,2612,896,1983,2054,288.6,9.0,263,4610,0.00,2.08,8.10,0.753,9222,0.000,0.016,2612,2294,1989,1954,2024,0,0,0,0,0,0,28.83,26.06,25.21
$GC,4909,1.19,201.6,2612,2294,1953,2016,259.5,9.1,279,4921,0.00,2.17,3.30,0.523,8452,0.000,0.034,2613,3690,1973,1940,2006,0,0,0,0,0,0,28.83,26.27,25.25
$GC,4945,1.21,209.2,2612,3690,1940,2006,257.1,9.0,280,4963,0.00,2.10,10.70,0.760,9222,0.000,0.024,2622,2302,1938,1905,1971,0,0,0,0,0,0,28.83,26.28,25.38
$GC,5282,1.21,210.0,2622,2302,1904,1958,226.0,9.2,297,5288,0.00,2.20,0.00,0.000,516,0.000,0.041,2633,895,1930,1904,1957,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5322,1.22,211.3,2632,895,1904,1958,223.8,9.2,298,5330,0.00,2.08,0.00,0.000,1030,0.000,0.017,2633,2309,1931,1904,1958,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5629,1.23,217.0,2632,2309,1904,1956,195.1,9.1,314,5637,0.00,0.00,6.62,0.725,8198,0.000,0.000,2633,2309,1910,1884,1937,0,0,0,0,0,0,28.83,28.83,25.61
$GC,5928,1.24,222.3,2632,2309,1880,1930,168.2,9.1,329,5940,0.00,2.22,4.88,0.675,8708,0.000,0.040,2643,900,1887,1861,1913,0,0,0,0,0,0,28.83,26.40,25.46
$GC,6016,1.27,231.6,2643,900,1861,1914,160.5,8.9,333,6033,0.00,2.08,11.73,0.717,9222,0.000,0.017,2643,2305,1848,1821,1875,0,0,0,0,0,0,28.83,26.51,25.60
$GC,6342,1.27,234.2,2643,2305,1818,1866,131.0,9.2,349,6343,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2305,1842,1818,1866,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6642,1.27,234.2,2642,2305,1818,1864,104.0,9.3,364,6648,0.00,2.20,0.00,0.000,516,0.000,0.041,2653,896,1841,1818,1864,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6751,1.28,237.5,1728,895,1776,1855,94.3,9.1,369,6764,0.10,2.05,4.25,0.599,13318,0.174,0.017,2630,2304,1825,1799,1851,0,0,0,0,0,0,26.41,26.60,25.54
$GC,7073,1.30,244.5,2630,2304,1800,1851,64.6,9.0,385,7089,0.00,2.10,9.23,0.665,8452,0.000,0.034,2630,3691,1793,1766,1820,0,0,0,0,0,0,28.83,26.42,25.75
$GC,7217,1.32,253.3,2629,3691,1765,1817,52.9,8.9,391,7232,0.00,2.10,9.32,0.654,9222,0.000,0.024,2638,2297,1760,1731,1789,0,0,0,0,0,0,28.83,26.50,25.70
$GC,7538,1.34,262.1,1632,2294,1683,1772,22.9,8.9,423,7554,0.00,2.25,9.02,0.638,8708,0.000,0.043,2649,896,1722,1691,1753,0,0,0,0,0,0,28.83,26.34,25.71
$GC,7654,1.35,266.8,1632,895,1649,1742,12.3,9.1,443,7663,0.00,2.05,3.70,0.514,9222,0.000,0.017,2649,2294,1706,1674,1739,0,0,0,0,0,0,28.83,26.47,25.49
$STATE,7760,end climb,SURFACE_DEPTH_REACHED
$STATE,7760,begin surface coast
$FINISH,0.0,1.026194
$STATE,7794,end surface coast,CONTROL_FINISHED_OK
$STATE,7794,begin surface
$SM_CCo,7809,241.75,0.788,1,0,511,560.02
$SM_GC,-23.93,7.03,0.50,241.75,0.063,0.034,0.788,86,1963,511,-10.33,1.33,560.02,0,0,0,0,1,0,26.42,26.48,24.43
$IRIDIUM_FIX,1848.70,12202.74,160313,101032
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.75
$INTERNAL_PRESSURE,9.05807
$TCM_TEMP,18.20
$XPDR_PINGS,0
$SC_FREEKB,3981184
$24V_AH,24.4,19.648
$10V_AH,10.2,12.293
$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,16.300,72.900,383.875,241.750,0.000,0.000,0.000,215.700,0.000,0.000,17.727,1829.935,4129.155,756.100,1448.579,251.522,0.000,1722.241,0.000,1216.402,0.000,1.487,0.000
$DEVICE_MAMPS,208.845,43.605,833.850,787.950,0.000,0.000,0.000,132.345,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7809.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.266,0.000,0.000,0.000
$MEM,323888
$DATA_FILE_SIZE,16776,468
$CAP_FILE_SIZE,380761,1861
$CFSIZE,260034560,238088192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.026, 45.7,1
$GPS,160313,154234,1857.987,12007.743,433,1.0,433,-2.4