version: 66.11
glider: 121
mission: 10
dive: 160
start: 3 21 113 18 29 41
data:
$ID,121
$MISSION,10
$DIVE,160
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,400
$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,144
$T_MISSION,160
$T_ABORT,190
$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,-100695.84
$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,2400
$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,64
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3600
$C_VBD,2640
$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
$GPS1,210313,182223,1951.373,12005.825,120,0.7,120,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-60.9
$GPS2,210313,182913,1951.391,12005.766,25,1.0,26,-2.6
$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,336.0,210637,-18.5,-9.259,-21.12,2828
$D_GRID,3811
$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,-1.35,-170.3,82,1953,335,475,0.0,0.0,0,43,0.00,0.00,-23.83,0.000,16386,0.000,0.000,82,1952,1021,997,1045,0,0,0,0,0,0,28.83,28.83,28.83
$GC,45,-1.35,-170.3,82,1952,1002,1044,3.1,-9.1,3,161,7.80,2.22,-96.70,0.000,18692,0.211,0.044,2092,3363,3338,3250,3427,0,0,0,0,0,0,25.84,26.19,26.48
$GC,405,-1.35,-170.3,2091,3363,3251,3427,35.2,-9.2,52,413,0.00,2.08,0.00,0.000,1030,0.000,0.023,2100,1978,3338,3250,3427,0,0,0,0,0,0,28.83,26.39,28.83
$GC,724,-1.35,-170.3,2099,1978,3255,3427,63.9,-8.7,76,729,0.00,2.12,0.00,0.000,516,0.000,0.040,2109,575,3340,3254,3427,0,0,0,0,0,0,28.83,26.46,28.83
$GC,840,-1.35,-170.3,2109,575,3256,3427,73.8,-9.0,81,847,0.00,2.03,0.00,0.000,1030,0.000,0.015,2101,1988,3341,3256,3426,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1156,-1.35,-170.3,2101,1990,3258,3427,102.8,-9.0,97,1162,0.00,2.17,0.00,0.000,516,0.000,0.039,2103,574,3343,3259,3427,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1238,-1.35,-170.3,2104,574,3258,3427,108.7,-9.1,100,1247,0.00,2.00,0.00,0.000,1030,0.000,0.015,2096,1974,3342,3258,3427,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1545,-1.35,-170.3,2095,1974,3258,3427,137.9,-9.3,116,1552,0.00,2.05,0.00,0.000,260,0.000,0.031,2085,3360,3342,3258,3426,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1580,-1.35,-170.3,2085,3360,3258,3426,140.2,-9.0,117,1585,0.00,2.08,0.00,0.000,1030,0.000,0.024,2088,1964,3342,3258,3427,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1894,-1.35,-170.3,2088,1963,3258,3425,169.3,-9.0,133,1900,0.00,2.10,0.00,0.000,516,0.000,0.041,2095,577,3341,3258,3424,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1929,-1.35,-170.3,2095,577,3258,3424,171.5,-8.9,134,1935,0.00,2.00,0.00,0.000,1030,0.000,0.015,2087,1973,3341,3258,3424,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2244,-1.35,-170.3,2087,1974,3257,3421,200.5,-9.1,150,2245,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,1974,3339,3258,3421,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2545,-1.35,-170.3,2087,1974,3258,3418,227.4,-9.1,165,2546,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,1976,3338,3258,3418,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2846,-1.35,-170.3,2086,1977,3255,3418,254.1,-9.4,180,2847,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,1976,3335,3254,3416,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3145,-1.35,-170.3,2086,1977,3253,3413,281.4,-9.1,195,3151,0.00,2.15,0.00,0.000,516,0.000,0.041,2095,578,3333,3254,3413,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3180,-1.35,-170.3,2094,578,3254,3412,283.7,-9.0,196,3186,0.00,2.00,0.00,0.000,1030,0.000,0.015,2086,1974,3332,3253,3412,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3494,-1.35,-170.3,2086,1974,3253,3409,312.7,-9.3,212,3500,0.00,2.05,0.00,0.000,260,0.000,0.033,2075,3354,3331,3253,3409,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3534,-1.35,-170.3,2075,3354,3252,3409,314.9,-9.2,213,3543,0.12,2.08,0.00,0.000,3078,0.151,0.028,2109,1972,3330,3252,3409,0,0,0,0,0,0,26.49,26.66,28.83
$GC,3841,-1.35,-170.3,2109,1971,3250,3408,343.7,-9.0,229,3847,0.00,2.15,0.00,0.000,516,0.000,0.046,2118,570,3328,3250,3407,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3881,-1.35,-170.3,2119,570,3250,3407,346.0,-9.1,230,3890,0.00,2.03,0.00,0.000,1030,0.000,0.017,2110,1969,3328,3250,3407,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4188,-1.35,-170.3,2110,1970,3248,3406,375.4,-9.0,246,4189,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,1970,3327,3248,3406,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4466,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4466,begin apogee
$GC,4471,-0.25,0.0,2108,2305,3247,3403,400.3,-8.9,260,4636,0.70,0.00,152.32,1.027,10246,0.111,0.000,2342,2305,2639,2590,2689,0,0,0,0,1,0,26.50,28.83,24.24
$STATE,4639,end apogee,CONTROL_FINISHED_OK
$STATE,4639,begin climb
$GC,4640,1.35,170.3,2342,2305,2589,2689,386.0,0.0,267,4812,1.00,2.30,161.90,0.860,10500,0.057,0.034,2699,3686,1937,1902,1972,0,0,0,0,0,0,25.15,24.94,24.29
$GC,4869,1.38,180.0,2699,3686,1895,1951,365.1,8.9,277,4880,0.00,2.17,2.53,0.286,9222,0.000,0.024,2709,2302,1903,1874,1932,0,0,0,0,0,0,28.83,25.45,24.60
$GC,5188,1.39,186.3,2709,2302,1874,1936,335.9,9.0,293,5205,0.00,2.17,10.07,0.802,8452,0.000,0.032,2709,3690,1875,1847,1904,0,0,0,0,0,0,28.83,25.97,25.21
$GC,5296,1.40,189.8,2709,3690,1845,1901,326.1,9.1,298,5303,0.00,2.15,0.00,0.000,1030,0.000,0.024,2718,2291,1873,1845,1901,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5621,1.40,189.8,2718,2291,1845,1899,296.6,9.3,314,5627,0.00,2.15,0.00,0.000,260,0.000,0.031,2718,3691,1872,1846,1899,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5656,1.40,189.8,2718,3691,1845,1899,294.3,9.4,315,5663,0.10,2.12,0.00,0.000,5126,0.203,0.024,2708,2290,1872,1845,1899,0,0,0,0,0,0,26.16,26.37,28.83
$GC,5972,1.43,200.3,2708,2290,1845,1897,265.6,8.9,331,5991,0.00,0.00,15.18,0.779,8198,0.000,0.000,2708,2290,1817,1787,1847,0,0,0,0,0,0,28.83,28.83,25.51
$GC,6292,1.47,216.0,2707,2290,1783,1838,236.7,8.7,347,6315,0.00,2.17,15.30,0.763,8452,0.000,0.031,2707,3681,1752,1721,1783,0,0,0,0,0,0,28.83,26.16,25.47
$GC,6435,1.50,229.6,1728,3680,1680,1769,225.0,8.8,353,6454,0.00,2.10,13.18,0.753,9222,0.000,0.024,2717,2298,1702,1672,1732,0,0,0,0,0,0,28.83,26.29,25.39
$GC,6769,1.52,238.8,2717,2298,1666,1722,193.9,8.9,370,6786,0.00,0.00,9.45,0.729,8198,0.000,0.000,2717,2298,1658,1621,1696,0,0,0,0,0,0,28.83,28.83,25.50
$GC,7088,1.55,248.5,2716,2298,1616,1695,165.1,8.9,386,7099,0.00,0.00,9.10,0.705,8198,0.000,0.000,2717,2298,1626,1581,1672,0,0,0,0,0,0,28.83,28.83,25.56
$GC,7389,1.56,254.4,2717,2298,1577,1665,137.1,9.0,401,7402,0.10,2.20,5.05,0.654,10756,0.102,0.043,2771,896,1602,1553,1651,0,0,0,0,0,0,26.46,26.32,25.53
$GC,7430,1.58,261.9,2770,895,1552,1650,134.7,9.0,402,7450,0.12,2.08,10.77,0.674,13318,0.189,0.018,2743,2301,1566,1515,1617,0,0,0,0,0,0,26.15,26.41,25.58
$GC,7765,1.60,267.3,2743,2301,1514,1612,103.2,9.1,419,7777,0.00,2.17,3.97,0.546,8452,0.000,0.037,2743,3684,1549,1498,1600,0,0,0,0,0,0,28.83,26.35,25.41
$GC,7833,1.63,280.4,2742,3684,1498,1600,97.1,8.8,422,7857,0.00,2.12,17.17,0.617,9222,0.000,0.026,2752,2296,1492,1440,1544,0,0,0,0,0,0,28.83,26.39,25.55
$GC,8152,1.64,284.2,2751,2296,1438,1534,68.2,9.1,438,8158,0.00,2.15,0.00,0.000,260,0.000,0.034,2752,3688,1486,1438,1534,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8212,1.66,294.2,1792,3687,1413,1528,64.2,8.9,440,8236,0.00,2.12,14.32,0.587,9222,0.000,0.026,2761,2301,1432,1385,1479,0,0,0,0,0,0,28.83,26.40,25.60
$GC,8545,1.69,304.2,2761,2301,1385,1471,33.4,8.9,466,8560,0.00,2.28,9.38,0.564,8708,0.000,0.044,2772,892,1395,1355,1436,0,0,0,0,0,0,28.83,26.26,25.67
$GC,8650,1.73,321.9,1728,891,1330,1425,24.1,8.6,476,8674,0.00,2.08,18.52,0.540,9222,0.000,0.017,2772,2298,1324,1293,1356,0,0,0,0,0,0,28.83,26.39,25.56
$STATE,8878,end climb,SURFACE_DEPTH_REACHED
$STATE,8878,begin surface coast
$FINISH,0.0,1.024763
$STATE,8913,end surface coast,CONTROL_FINISHED_OK
$STATE,8913,begin surface
$SM_CCo,8929,188.98,0.687,3,0,399,549.47
$SM_CCo,9136,-0.20,0.000,0,0,402,549.47
$SM_CCo,9140,1.45,0.102,0,0,400,549.47
$SM_GC,-23.93,7.57,0.52,1.45,0.073,0.034,0.102,81,1957,400,-10.57,1.05,549.47,0,0,0,0,0,0,26.34,26.37,25.16
$IRIDIUM_FIX,1941.24,12007.14,210313,161625
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.66
$INTERNAL_PRESSURE,9.14597
$TCM_TEMP,19.40
$XPDR_PINGS,0
$SC_FREEKB,3961600
$24V_AH,24.2,27.538
$10V_AH,10.1,15.548
$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,17.525,68.825,468.225,190.425,0.000,0.000,0.000,229.200,0.000,0.000,27.451,1959.297,4934.399,788.455,1533.219,319.309,0.000,1842.420,0.000,1307.515,0.000,1.485,0.000
$DEVICE_MAMPS,211.140,45.900,1026.630,686.970,0.000,0.000,0.000,132.345,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8921.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.559,0.000,0.000,0.000
$MEM,323828
$DATA_FILE_SIZE,20051,523
$CAP_FILE_SIZE,383080,1951
$CFSIZE,260034560,232611840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,2,0
$CURRENT,0.103, 28.4,1
$GPS,210313,210343,1952.652,12005.509,61,0.8,62,-2.6