version: 66.11
glider: 121
mission: 10
dive: 161
start: 3 21 113 21 13 41
data:
$ID,121
$MISSION,10
$DIVE,161
$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,-100697.09
$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,58
$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
$GPS1,210313,210343,1952.652,12005.509,61,0.8,62,-2.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-62.7
$GPS2,210313,211314,1952.825,12005.497,21,0.8,23,-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,347.2,207962,-18.5,-9.259,-21.12,2828
$D_GRID,3780
$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,-170.3,80,1946,339,482,0.0,0.0,0,44,0.00,0.00,-23.80,0.000,16386,0.000,0.000,80,1948,1029,1024,1035,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.35,-170.3,80,1948,1024,1040,3.1,-8.6,3,152,7.82,2.22,-86.35,0.000,18692,0.210,0.044,2090,3374,3337,3247,3427,0,0,0,0,0,0,25.79,26.16,26.44
$GC,401,-1.35,-170.3,2090,3374,3249,3427,35.3,-8.7,52,407,0.00,2.10,0.00,0.000,1030,0.000,0.022,2098,1970,3338,3249,3427,0,0,0,0,0,0,28.83,26.37,28.83
$GC,726,-1.35,-170.3,2098,1970,3253,3427,64.4,-8.9,76,732,0.00,2.12,0.00,0.000,516,0.000,0.040,2108,571,3340,3253,3427,0,0,0,0,0,0,28.83,26.46,28.83
$GC,816,-1.35,-170.3,1312,571,3229,3424,72.2,-9.0,80,822,0.00,2.05,0.00,0.000,1030,0.000,0.015,2100,2001,3340,3254,3427,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1137,-1.35,-170.3,2100,2002,3255,3427,101.4,-8.7,96,1143,0.00,2.20,0.00,0.000,516,0.000,0.038,2108,567,3341,3255,3427,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1214,-1.35,-170.3,2108,567,3255,3427,107.5,-8.8,99,1220,0.00,2.03,0.00,0.000,1030,0.000,0.015,2100,1983,3341,3255,3427,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1529,-1.35,-170.3,2100,1983,3255,3427,136.9,-8.9,115,1530,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,1984,3341,3256,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1830,-1.35,-170.3,2100,1984,3255,3425,163.6,-9.0,130,1836,0.00,2.03,0.00,0.000,260,0.000,0.031,2090,3353,3339,3255,3423,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1896,-1.35,-170.3,2089,3354,3254,3422,169.6,-8.9,133,1902,0.00,2.08,0.00,0.000,1030,0.000,0.025,2090,1967,3339,3255,3423,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2222,-1.35,-170.3,2090,1967,3255,3420,198.2,-8.9,149,2227,0.00,2.12,0.00,0.000,516,0.000,0.042,2100,570,3337,3255,3420,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2332,-1.35,-170.3,1280,569,3229,3417,207.8,-9.0,154,2338,0.00,2.03,0.00,0.000,1030,0.000,0.016,2092,1980,3337,3255,3419,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2652,-1.35,-170.3,2093,1981,3254,3415,236.5,-9.0,170,2653,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,1981,3334,3254,3415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2952,-1.35,-170.3,2091,1984,3253,3413,263.8,-8.8,185,2959,0.00,2.17,0.00,0.000,516,0.000,0.041,2100,572,3332,3253,3412,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2992,-1.35,-170.3,2100,572,3253,3412,266.1,-8.8,186,3000,0.00,2.03,0.00,0.000,1030,0.000,0.016,2092,1980,3332,3253,3412,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3299,-1.35,-170.3,2091,1980,3252,3409,294.3,-8.5,202,3305,0.00,2.05,0.00,0.000,260,0.000,0.033,2082,3360,3330,3252,3409,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3339,-1.35,-170.3,2081,3360,3251,3408,296.5,-8.8,203,3348,0.10,2.08,0.00,0.000,3078,0.161,0.028,2106,1975,3329,3251,3408,0,0,0,0,0,0,26.51,26.66,28.83
$GC,3645,-1.35,-170.3,2106,1975,3249,3407,325.5,-9.3,219,3651,0.00,2.15,0.00,0.000,516,0.000,0.046,2116,574,3327,3249,3406,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3716,-1.35,-170.3,2116,574,3248,3406,331.5,-9.0,222,3722,0.00,2.03,0.00,0.000,1030,0.000,0.017,2108,1972,3327,3248,3406,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4036,-1.35,-170.3,2108,1972,3246,3404,360.7,-8.9,238,4041,0.00,2.08,0.00,0.000,260,0.000,0.034,2098,3362,3325,3246,3404,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4076,-1.35,-170.3,2098,3363,3245,3403,362.9,-8.9,239,4084,0.00,2.10,0.00,0.000,1030,0.000,0.029,2098,1973,3324,3245,3403,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4383,-1.35,-170.3,2098,1971,3243,3401,391.5,-9.0,255,4389,0.00,2.15,0.00,0.000,516,0.000,0.047,2108,573,3322,3243,3401,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4450,-1.35,-170.3,2107,573,3242,3401,397.5,-8.9,258,4457,0.00,2.05,0.00,0.000,1030,0.000,0.018,2099,1977,3322,3243,3401,0,0,0,0,0,0,28.83,26.71,28.83
$STATE,4494,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4494,begin apogee
$GC,4499,-0.25,0.0,2097,2308,3242,3401,401.7,-9.2,260,4664,0.75,0.00,152.75,1.030,10246,0.117,0.000,2343,2308,2639,2589,2689,0,0,0,0,1,0,26.47,28.83,24.21
$STATE,4667,end apogee,CONTROL_FINISHED_OK
$STATE,4667,begin climb
$GC,4669,1.35,170.3,2343,2308,2589,2689,387.2,0.0,267,4841,1.00,2.22,160.52,0.872,10500,0.057,0.032,2700,3687,1934,1898,1970,0,0,0,0,0,0,25.14,24.92,24.26
$GC,5067,1.37,177.7,2700,3687,1895,1947,350.6,9.0,285,5073,0.00,2.15,0.00,0.000,1030,0.000,0.024,2710,2293,1921,1895,1947,0,0,0,0,0,0,28.83,25.94,28.83
$GC,5387,1.44,207.0,2710,2293,1895,1943,321.7,8.2,301,5427,0.00,2.28,33.45,0.783,8452,0.000,0.031,2710,3688,1789,1763,1815,0,0,0,0,0,0,28.83,25.77,25.15
$GC,5498,1.46,211.2,2710,3688,1757,1804,311.6,9.1,306,5505,0.00,2.15,0.00,0.000,1030,0.000,0.024,2720,2300,1780,1757,1804,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5824,1.49,224.4,2719,2300,1757,1801,282.4,8.8,322,5844,0.00,0.00,16.33,0.783,8198,0.000,0.000,2719,2300,1720,1691,1749,0,0,0,0,0,0,28.83,28.83,25.34
$GC,6143,1.49,226.6,2719,2299,1683,1736,253.4,9.2,338,6144,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2300,1709,1682,1736,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6445,1.52,235.1,2720,2300,1682,1733,226.9,9.0,353,6455,0.00,0.00,8.73,0.743,8198,0.000,0.000,2720,2299,1680,1648,1713,0,0,0,0,0,0,28.83,28.83,25.55
$GC,6745,1.53,240.1,2719,2299,1643,1704,199.8,9.1,368,6750,0.00,0.00,3.03,0.447,8198,0.000,0.000,2720,2299,1659,1624,1695,0,0,0,0,0,0,28.83,28.83,25.36
$GC,7045,1.56,253.7,2719,2299,1622,1697,173.0,8.8,383,7065,0.00,0.00,17.10,0.689,8198,0.000,0.000,2720,2299,1600,1553,1648,0,0,0,0,0,0,28.83,28.83,25.57
$GC,7364,1.57,258.1,2719,2299,1551,1642,144.5,9.1,399,7366,0.10,0.00,0.00,0.000,2054,0.103,0.000,2762,2299,1596,1551,1642,0,0,0,0,0,0,26.45,28.83,28.83
$GC,7666,1.58,261.1,2761,2299,1551,1641,117.4,9.2,414,7678,0.00,2.22,6.90,0.649,8452,0.000,0.032,2762,3695,1572,1523,1622,0,0,0,0,0,0,28.83,26.39,25.70
$GC,7737,1.60,270.8,2761,3695,1521,1621,111.2,8.9,417,7756,0.10,2.12,10.98,0.636,13318,0.205,0.025,2752,2296,1531,1480,1583,0,0,0,0,0,0,26.22,26.43,25.63
$GC,8055,1.63,281.9,2751,2295,1479,1578,82.5,8.9,433,8074,0.00,0.00,12.00,0.610,8198,0.000,0.000,2751,2296,1483,1433,1534,0,0,0,0,0,0,28.83,28.83,25.64
$GC,8374,1.64,285.1,2751,2295,1433,1528,53.3,9.1,449,8380,0.00,2.17,0.00,0.000,516,0.000,0.043,2761,894,1480,1433,1528,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8402,1.64,285.1,2761,894,1433,1528,51.1,9.3,450,8408,0.00,2.08,0.00,0.000,1030,0.000,0.017,2761,2300,1480,1433,1528,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8713,1.65,287.4,2761,2301,1433,1527,23.2,9.2,481,8723,0.00,2.28,3.70,0.467,8708,0.000,0.041,2771,898,1467,1420,1514,0,0,0,0,0,0,28.83,26.44,25.56
$GC,8759,1.65,288.5,1736,898,1393,1510,19.3,9.2,488,8767,0.00,2.08,0.00,0.000,1030,0.000,0.018,2771,2303,1467,1420,1515,0,0,0,0,0,0,28.83,26.53,28.83
$STATE,8937,end climb,SURFACE_DEPTH_REACHED
$STATE,8937,begin surface coast
$FINISH,0.0,1.024704
$STATE,8970,end surface coast,CONTROL_FINISHED_OK
$STATE,8971,begin surface
$SM_CCo,8988,207.73,0.689,1,0,400,549.47
$SM_CCo,9203,0.00,0.000,0,0,400,549.47
$SM_CCo,9207,0.00,0.000,0,0,400,549.47
$SM_GC,-23.93,7.53,0.52,0.00,0.074,0.034,0.000,83,1957,400,-10.57,1.10,549.47,0,0,0,0,0,0,26.51,26.55,28.83
$IRIDIUM_FIX,1945.83,12007.14,210313,212151
$TT8_MAMPS,0.023219,0.023219
$HUMID,48.77
$INTERNAL_PRESSURE,9.1362
$TCM_TEMP,19.60
$XPDR_PINGS,1
$SC_FREEKB,3961216
$24V_AH,24.2,27.697
$10V_AH,10.1,15.612
$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,17.400,64.575,425.475,207.725,0.000,0.000,0.000,377.600,0.250,0.000,23.821,2007.896,4971.050,752.279,1702.719,324.849,0.000,1941.469,0.000,1297.229,0.000,1.486,0.000
$DEVICE_MAMPS,210.375,47.430,1029.690,689.265,0.000,0.000,0.000,136.170,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8981.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.487,0.000,0.000,0.000
$MEM,323892
$DATA_FILE_SIZE,16822,526
$CAP_FILE_SIZE,389942,2018
$CFSIZE,260034560,232493056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$CURRENT,0.071, 52.6,1
$GPS,210313,234928,1953.910,12005.444,102,0.8,102,-2.6