version: 66.11
glider: 121
mission: 10
dive: 111
start: 3 16 113 18 21 50
data:
$ID,121
$MISSION,10
$DIVE,111
$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,-100634
$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,36
$R_STBD_OVSHOOT,68
$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
$GPS1,160313,181454,1859.300,12007.993,438,0.7,438,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-61.5
$GPS2,160313,182123,1859.346,12008.124,16,1.0,16,-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,344.2,307109,-18.5,-9.259,-21.12,2828
$D_GRID,2230
$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,-170.3,84,2006,457,557,0.0,0.0,0,43,0.00,0.00,-23.35,0.000,16386,0.000,0.000,84,2005,1117,1097,1138,0,0,0,0,0,0,28.83,28.83,28.83
$GC,45,-1.35,-170.3,84,2005,1100,1139,3.1,-9.1,3,152,7.62,2.12,-90.40,0.000,18692,0.212,0.045,2058,3359,3492,3406,3579,0,0,0,0,0,0,25.87,26.20,26.48
$GC,342,-1.35,-170.3,2058,3359,3410,3581,30.4,-8.9,47,348,0.00,2.10,0.00,0.000,1030,0.000,0.025,2066,1968,3495,3410,3581,0,0,0,0,0,0,28.83,26.35,28.83
$GC,666,-1.35,-170.3,2066,1968,3415,3581,59.9,-9.0,74,672,0.00,2.15,0.00,0.000,516,0.000,0.042,2076,570,3498,3415,3581,0,0,0,0,0,0,28.83,26.46,28.83
$GC,754,-1.35,-170.3,2076,572,3415,3581,67.7,-9.0,78,760,0.00,2.05,0.00,0.000,1030,0.000,0.016,2068,1980,3499,3416,3582,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1078,-1.35,-170.3,2068,1981,3416,3582,96.7,-9.0,94,1084,0.00,2.20,0.00,0.000,516,0.000,0.040,2076,563,3499,3416,3582,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1138,-1.35,-170.3,2076,563,3416,3582,100.9,-9.0,96,1146,0.00,2.05,0.00,0.000,1030,0.000,0.016,2067,1979,3499,3417,3582,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1445,-1.35,-170.3,2067,1981,3418,3582,129.4,-9.0,112,1451,0.00,2.17,0.00,0.000,516,0.000,0.041,2076,574,3499,3417,3582,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1591,-1.35,-170.3,2076,574,3417,3582,141.2,-9.1,118,1600,0.00,2.03,0.00,0.000,1030,0.000,0.016,2067,1981,3499,3417,3581,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1897,-1.35,-170.3,2067,1981,3417,3579,169.4,-8.9,134,1904,0.00,2.08,0.00,0.000,260,0.000,0.032,2057,3366,3497,3417,3578,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1948,-1.35,-170.3,2056,3367,3417,3578,173.7,-9.1,136,1954,0.00,2.08,0.00,0.000,1030,0.000,0.026,2057,1974,3497,3417,3578,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2268,-1.35,-170.3,2057,1974,3416,3575,202.6,-8.9,152,2274,0.00,2.12,0.00,0.000,516,0.000,0.044,2066,574,3495,3417,3574,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2411,-1.35,-170.3,2065,574,3417,3573,214.2,-8.9,158,2418,0.00,2.03,0.00,0.000,1030,0.000,0.016,2057,1982,3495,3417,3573,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2718,-1.35,-170.3,2057,1984,3415,3571,242.6,-8.8,174,2724,0.00,2.17,0.00,0.000,516,0.000,0.042,2065,574,3493,3416,3570,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2768,-1.35,-170.3,1264,574,3400,3568,246.8,-9.0,176,2773,0.00,2.03,0.00,0.000,1030,0.000,0.016,2057,1979,3493,3415,3571,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3088,-1.35,-170.3,2057,1979,3413,3568,275.9,-8.7,192,3094,0.00,2.17,0.00,0.000,516,0.000,0.042,2065,573,3490,3413,3567,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3145,-1.35,-170.3,2064,573,3413,3567,280.1,-8.7,194,3151,0.00,2.03,0.00,0.000,1030,0.000,0.016,2056,1978,3490,3413,3567,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3460,-1.35,-170.3,2056,1978,3411,3566,309.4,-8.9,210,3467,0.00,2.17,0.00,0.000,516,0.000,0.043,2061,573,3487,3410,3565,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3520,-1.35,-170.3,2061,574,3410,3565,313.6,-9.0,212,3528,0.00,2.03,0.00,0.000,1030,0.000,0.017,2053,1975,3487,3410,3565,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3827,-1.35,-170.3,2053,1976,3408,3562,342.4,-9.0,228,3833,0.00,2.17,0.00,0.000,516,0.000,0.044,2060,575,3485,3408,3562,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3866,-1.35,-170.3,1288,575,3392,3559,344.6,-9.0,229,3874,0.00,2.03,0.00,0.000,1030,0.000,0.017,2051,1976,3485,3408,3562,0,0,0,0,0,0,28.83,26.74,28.83
$STATE,3913,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3913,begin apogee
$GC,3918,-0.25,0.0,2048,2301,3407,3562,350.2,-9.1,232,4068,0.80,0.00,144.38,0.890,10246,0.127,0.000,2307,2301,2792,2753,2832,0,0,0,0,0,0,26.53,28.83,24.49
$STATE,4070,end apogee,CONTROL_FINISHED_OK
$STATE,4070,begin climb
$GC,4072,1.35,170.3,2307,2301,2749,2827,337.9,0.0,238,4230,1.02,2.22,147.10,0.871,10500,0.071,0.034,2662,3680,2091,2055,2127,0,0,0,0,0,0,25.22,24.99,24.32
$GC,4333,1.38,180.1,2662,3680,2051,2118,312.8,8.9,250,4344,0.00,2.15,4.85,0.727,9222,0.000,0.024,2672,2295,2060,2024,2096,0,0,0,0,0,0,28.83,25.69,24.76
$GC,4654,1.40,187.4,2672,2295,2024,2097,283.5,9.0,266,4673,0.00,0.00,10.30,0.815,8198,0.000,0.000,2672,2294,2026,1990,2063,0,0,0,0,0,0,28.83,28.83,25.27
$GC,4973,1.42,196.1,2672,2295,1990,2057,254.4,8.9,282,4989,0.00,2.22,8.85,0.805,8708,0.000,0.041,2683,904,1991,1954,2028,0,0,0,0,0,0,28.83,26.14,25.39
$GC,5028,1.42,197.2,2682,904,1952,2028,250.2,9.2,284,5034,0.00,2.08,0.00,0.000,1030,0.000,0.017,2683,2301,1990,1953,2027,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5342,1.44,205.1,2682,2301,1952,2023,220.6,9.0,300,5354,0.00,0.00,9.48,0.795,8198,0.000,0.000,2683,2301,1956,1920,1993,0,0,0,0,0,0,28.83,28.83,25.48
$GC,5642,1.46,211.6,2683,2302,1917,1982,194.0,9.0,315,5653,0.00,2.12,5.03,0.733,8452,0.000,0.033,2683,3697,1930,1898,1963,0,0,0,0,0,0,28.83,26.32,25.42
$GC,5692,1.47,218.1,2682,3698,1897,1963,189.9,9.0,317,5711,0.00,2.12,9.07,0.780,9222,0.000,0.024,2693,2297,1900,1871,1929,0,0,0,0,0,0,28.83,26.36,25.48
$GC,6010,1.48,221.0,2692,2297,1870,1923,161.1,9.2,333,6016,0.00,2.17,0.00,0.000,516,0.000,0.042,2703,892,1896,1870,1923,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6092,1.50,228.2,2703,892,1870,1923,155.0,9.0,336,6107,0.00,2.08,10.12,0.758,9222,0.000,0.018,2704,2300,1864,1836,1892,0,0,0,0,0,0,28.83,26.48,25.55
$GC,6425,1.52,235.4,2703,2300,1831,1880,124.0,9.0,353,6434,0.00,0.00,7.20,0.731,8198,0.000,0.000,2704,2300,1834,1807,1861,0,0,0,0,0,0,28.83,28.83,25.60
$GC,6725,1.52,235.4,2703,2300,1803,1853,97.1,9.3,368,6726,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2300,1828,1803,1853,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7026,1.54,243.4,2703,2300,1803,1852,69.9,9.0,383,7037,0.00,0.00,8.30,0.696,8198,0.000,0.000,2703,2300,1801,1774,1829,0,0,0,0,0,0,28.83,28.83,25.71
$GC,7326,1.56,251.9,2703,2300,1770,1821,43.2,8.9,401,7341,0.00,2.17,8.73,0.675,8452,0.000,0.035,2704,3686,1764,1736,1793,0,0,0,0,0,0,28.83,26.37,25.70
$GC,7377,1.59,263.2,2703,3686,1735,1791,38.6,8.8,405,7397,0.00,2.10,12.20,0.663,9222,0.000,0.025,2713,2300,1716,1682,1750,0,0,0,0,0,0,28.83,26.41,25.60
$GC,7711,1.61,272.8,1680,2297,1639,1734,8.6,8.9,453,7727,0.00,2.28,9.40,0.640,8708,0.000,0.044,2723,890,1678,1643,1713,0,0,0,0,0,0,28.83,26.27,25.65
$STATE,7772,end climb,SURFACE_DEPTH_REACHED
$STATE,7772,begin surface coast
$FINISH,0.0,1.026251
$STATE,7807,end surface coast,CONTROL_FINISHED_OK
$STATE,7807,begin surface
$SM_CCo,7825,220.73,0.794,1,0,511,560.02
$SM_GC,-23.93,7.40,1.65,220.73,0.075,0.015,0.794,91,1983,511,-10.37,-1.75,560.02,0,0,0,0,1,0,26.32,26.42,24.42
$IRIDIUM_FIX,1850.98,12007.02,160313,151514
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.58
$INTERNAL_PRESSURE,9.02877
$TCM_TEMP,17.90
$XPDR_PINGS,2
$SC_FREEKB,3980416
$24V_AH,24.3,19.957
$10V_AH,10.1,12.429
$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,16.850,67.775,395.000,220.725,0.000,0.000,0.000,229.625,0.500,0.000,17.763,1806.530,4186.314,739.812,1436.301,254.913,0.000,1700.770,0.000,1195.143,0.000,1.484,0.000
$DEVICE_MAMPS,211.905,45.135,890.460,794.070,0.000,0.000,0.000,135.405,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7822.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.239,0.000,0.000,0.000
$MEM,323840
$DATA_FILE_SIZE,16761,469
$CAP_FILE_SIZE,372069,1813
$CFSIZE,260034560,237879296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.141, 44.8,1
$GPS,160313,204512,1900.577,12008.292,514,1.3,514,-2.4