version: 66.11
glider: 121
mission: 10
dive: 110
start: 3 16 113 15 52 46
data:
$ID,121
$MISSION,10
$DIVE,110
$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,-100632.74
$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,2365
$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,51
$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
$GPS1,160313,154234,1857.987,12007.743,433,1.0,433,-2.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-59.9
$GPS2,160313,155219,1858.073,12007.896,16,0.9,16,-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,355.2,309448,-18.5,-9.259,-21.12,2828
$D_GRID,2438
$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,-1.35,-170.3,85,1955,465,554,0.0,0.0,0,43,0.00,0.00,-23.27,0.000,16386,0.000,0.000,85,1954,1130,1122,1138,0,0,0,0,0,0,28.83,28.83,28.83
$GC,45,-1.35,-170.3,85,1953,1122,1142,3.3,-9.3,3,144,7.82,2.22,-78.78,0.000,18692,0.222,0.043,2055,3378,3493,3408,3579,0,0,0,0,0,0,25.87,26.19,26.46
$GC,351,-1.35,-170.3,2055,3378,3411,3580,31.0,-9.1,48,357,0.00,2.10,0.00,0.000,1030,0.000,0.024,2064,1974,3495,3411,3580,0,0,0,0,0,0,28.83,26.37,28.83
$GC,666,-1.35,-170.3,2063,1973,3415,3581,59.6,-9.0,74,673,0.00,2.15,0.00,0.000,516,0.000,0.041,2074,568,3498,3415,3581,0,0,0,0,0,0,28.83,26.48,28.83
$GC,806,-1.35,-170.3,2074,568,3416,3582,71.6,-9.1,80,812,0.00,2.05,0.00,0.000,1030,0.000,0.016,2066,1992,3498,3416,3581,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1120,-1.35,-170.3,2065,1994,3416,3581,100.7,-9.2,96,1126,0.00,2.20,0.00,0.000,516,0.000,0.038,2074,568,3498,3416,3581,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1167,-1.35,-170.3,2073,568,3415,3581,104.8,-9.1,98,1173,0.00,2.03,0.00,0.000,1030,0.000,0.016,2066,1981,3498,3416,3581,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1494,-1.35,-170.3,2065,1982,3416,3581,134.1,-9.0,114,1500,0.00,2.17,0.00,0.000,516,0.000,0.039,2074,574,3498,3416,3581,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1642,-1.35,-170.3,2074,573,3416,3579,147.8,-9.3,121,1648,0.00,2.03,0.00,0.000,1030,0.000,0.016,2066,1987,3497,3416,3579,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1967,-1.35,-170.3,2065,1988,3416,3579,176.9,-8.9,137,1973,0.00,2.17,0.00,0.000,516,0.000,0.040,2074,573,3496,3416,3576,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2048,-1.35,-170.3,1296,572,3400,3573,183.0,-8.9,140,2057,0.00,2.03,0.00,0.000,1030,0.000,0.016,2066,1986,3495,3416,3575,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2356,-1.35,-170.3,2065,1987,3415,3571,211.5,-8.5,156,2362,0.00,2.17,0.00,0.000,516,0.000,0.041,2074,571,3493,3416,3571,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2433,-1.35,-170.3,2074,571,3415,3571,217.7,-9.2,159,2438,0.00,2.03,0.00,0.000,1030,0.000,0.016,2065,1984,3493,3415,3571,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2746,-1.35,-170.3,2065,1985,3413,3568,246.8,-9.3,175,2752,0.00,2.17,0.00,0.000,516,0.000,0.041,2074,572,3490,3413,3567,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2802,-1.35,-170.3,2073,573,3413,3567,250.9,-9.2,177,2808,0.00,2.03,0.00,0.000,1030,0.000,0.016,2065,1984,3490,3413,3567,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3117,-1.35,-170.3,2065,1984,3409,3565,279.4,-8.8,193,3122,0.00,2.03,0.00,0.000,260,0.000,0.031,2055,3353,3487,3410,3565,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3162,-1.35,-170.3,1236,3351,3392,3561,283.6,-9.1,195,3168,0.00,2.08,0.00,0.000,1030,0.000,0.026,2055,1970,3486,3409,3564,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3490,-1.35,-170.3,2055,1970,3407,3562,313.6,-9.1,211,3495,0.00,2.12,0.00,0.000,516,0.000,0.044,2065,575,3484,3407,3561,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3540,-1.35,-170.3,2065,575,3408,3561,318.2,-9.2,213,3546,0.00,2.03,0.00,0.000,1030,0.000,0.017,2056,1979,3484,3407,3561,0,0,0,0,0,0,28.83,26.75,28.83
$GC,3860,-1.35,-170.3,2056,1980,3404,3558,347.4,-9.0,229,3867,0.00,2.17,0.00,0.000,516,0.000,0.043,2064,574,3481,3404,3558,0,0,0,0,0,0,28.83,26.68,28.83
$STATE,3905,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3906,begin apogee
$GC,3914,-0.25,0.0,2054,2296,3404,3558,351.7,-9.0,231,4062,0.80,0.00,143.05,0.884,10246,0.126,0.000,2313,2296,2792,2754,2830,0,0,0,0,0,0,26.55,28.83,24.51
$STATE,4065,end apogee,CONTROL_FINISHED_OK
$STATE,4065,begin climb
$GC,4067,1.35,170.3,2313,2296,2750,2826,339.6,0.0,237,4225,1.00,2.25,146.30,0.865,10500,0.067,0.034,2664,3698,2091,2054,2128,0,0,0,0,0,0,25.26,25.03,24.34
$GC,4252,1.38,179.1,2664,3698,2051,2121,322.1,8.9,245,4263,0.00,2.20,4.18,0.648,9222,0.000,0.022,2674,2297,2064,2027,2101,0,0,0,0,0,0,28.83,25.39,24.52
$GC,4560,1.38,179.1,2674,2297,2026,2101,293.7,9.4,261,4561,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2297,2064,2027,2102,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4860,1.44,206.7,2674,2297,2026,2101,267.0,8.3,276,4896,0.00,2.30,28.67,0.805,8708,0.000,0.041,2685,890,1947,1912,1982,0,0,0,0,0,0,28.83,25.87,25.19
$GC,5025,1.45,208.9,1744,889,1862,1967,253.3,9.2,283,5033,0.00,2.12,0.00,0.000,1030,0.000,0.016,2685,2320,1941,1907,1976,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5332,1.45,208.9,2684,2321,1907,1972,224.3,9.3,299,5333,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2321,1939,1907,1972,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5634,1.48,219.7,2685,2320,1907,1969,197.4,8.9,314,5652,0.00,0.00,11.57,0.769,8198,0.000,0.000,2685,2321,1894,1865,1923,0,0,0,0,0,0,28.83,28.83,25.56
$GC,5952,1.51,232.6,2685,2321,1863,1916,168.6,8.8,330,5976,0.00,2.12,12.85,0.758,8452,0.000,0.034,2685,3678,1840,1812,1868,0,0,0,0,0,0,28.83,26.25,25.53
$GC,6013,1.53,240.5,2684,3678,1812,1865,164.3,9.0,332,6028,0.00,2.10,8.15,0.748,9222,0.000,0.024,2694,2298,1810,1783,1838,0,0,0,0,0,0,28.83,26.29,25.44
$GC,6347,1.59,264.4,2694,2298,1781,1831,133.5,8.4,349,6373,0.00,0.00,24.00,0.721,8198,0.000,0.000,2694,2298,1716,1685,1747,0,0,0,0,0,0,28.83,28.83,25.38
$GC,6667,1.60,270.9,2693,2298,1678,1733,104.6,9.0,365,6679,0.00,2.25,4.32,0.620,8708,0.000,0.043,2705,892,1690,1658,1722,0,0,0,0,0,0,28.83,26.25,25.33
$GC,6734,1.63,282.7,2705,892,1658,1722,98.6,8.8,368,6757,0.00,2.08,14.18,0.693,9222,0.000,0.017,2705,2297,1637,1592,1682,0,0,0,0,0,0,28.83,26.36,25.46
$GC,7055,1.63,282.7,2705,2297,1587,1677,69.2,9.3,384,7056,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2297,1632,1588,1677,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7355,1.66,293.6,2704,2297,1586,1676,42.2,8.9,403,7374,0.00,2.17,10.25,0.653,8452,0.000,0.035,2705,3691,1593,1542,1645,0,0,0,0,0,0,28.83,26.33,25.67
$GC,7415,1.69,303.2,2705,3691,1540,1644,36.8,8.9,408,7434,0.00,2.12,10.57,0.646,9222,0.000,0.025,2714,2298,1553,1500,1607,0,0,0,0,0,0,28.83,26.37,25.58
$GC,7752,1.71,312.0,1680,2295,1467,1593,6.5,8.9,458,7769,0.10,2.28,9.10,0.625,10756,0.106,0.042,2769,885,1517,1463,1571,0,0,0,0,0,0,26.45,26.27,25.65
$STATE,7793,end climb,SURFACE_DEPTH_REACHED
$STATE,7793,begin surface coast
$FINISH,0.0,1.026259
$STATE,7825,end surface coast,CONTROL_FINISHED_OK
$STATE,7825,begin surface
$SM_CCo,7843,204.10,0.789,1,0,511,560.02
$SM_GC,-23.93,7.68,1.65,204.10,0.084,0.015,0.789,86,1983,511,-10.39,-1.89,560.02,0,0,0,0,1,0,26.33,26.41,24.44
$IRIDIUM_FIX,1848.70,12007.02,160313,151516
$TT8_MAMPS,0.023968,0.023968
$HUMID,49.25
$INTERNAL_PRESSURE,9.02877
$TCM_TEMP,17.80
$XPDR_PINGS,1
$SC_FREEKB,3980800
$24V_AH,24.3,19.806
$10V_AH,10.2,12.363
$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,17.400,68.225,427.200,204.100,0.000,0.000,0.000,418.925,0.250,0.000,18.289,1803.031,4184.444,740.911,1635.907,256.827,0.000,1900.222,0.000,1205.289,0.000,1.487,0.000
$DEVICE_MAMPS,221.850,44.370,884.340,789.480,0.000,0.000,0.000,129.285,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7840.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.216,0.000,0.000,0.000
$MEM,323848
$DATA_FILE_SIZE,16748,470
$CAP_FILE_SIZE,375500,1828
$CFSIZE,260034560,237981696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.114, 32.3,1
$GPS,160313,181454,1859.300,12007.993,438,0.7,438,-2.4