version: 66.11
glider: 121
mission: 10
dive: 162
start: 3 21 113 23 56 58
data:
$ID,121
$MISSION,10
$DIVE,162
$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,-100698.35
$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,52
$R_STBD_OVSHOOT,57
$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
$GPS1,210313,234928,1953.910,12005.444,102,0.8,102,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-61.4
$GPS2,210313,235631,1954.021,12005.427,15,1.1,16,-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,345.9,205745,-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,-170.3,81,1947,357,490,0.0,0.0,0,44,0.00,0.00,-23.80,0.000,16386,0.000,0.000,81,1948,1043,1030,1057,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.35,-170.3,81,1946,1030,1061,3.4,-9.1,3,163,7.95,2.25,-97.65,0.000,18692,0.216,0.051,2093,3369,3336,3241,3432,0,0,0,0,0,0,25.82,26.15,26.45
$GC,406,-1.35,-170.3,2093,3370,3243,3432,35.7,-9.1,51,414,0.00,2.10,0.00,0.000,1030,0.000,0.024,2101,1971,3337,3243,3432,0,0,0,0,0,0,28.83,26.36,28.83
$GC,724,-1.35,-170.3,2101,1970,3248,3432,64.7,-9.1,75,730,0.00,2.12,0.00,0.000,516,0.000,0.039,2111,572,3340,3248,3432,0,0,0,0,0,0,28.83,26.46,28.83
$GC,794,-1.35,-170.3,2111,572,3249,3432,70.9,-9.2,78,800,0.00,2.05,0.00,0.000,1030,0.000,0.015,2103,1998,3340,3249,3431,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1114,-1.35,-170.3,2102,1999,3250,3432,100.6,-9.6,94,1120,0.00,2.20,0.00,0.000,516,0.000,0.038,2110,567,3341,3250,3432,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1192,-1.35,-170.3,2110,567,3250,3431,106.7,-9.0,97,1198,0.00,2.03,0.00,0.000,1030,0.000,0.015,2102,1982,3341,3250,3432,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1506,-1.35,-170.3,2102,1983,3250,3432,136.1,-9.0,113,1513,0.00,2.03,0.00,0.000,260,0.000,0.031,2092,3354,3340,3250,3430,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1536,-1.35,-170.3,2092,3355,3250,3430,138.3,-9.0,114,1541,0.00,2.05,0.00,0.000,1030,0.000,0.024,2092,1974,3340,3250,3431,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1855,-1.35,-170.3,2092,1973,3250,3429,167.9,-9.0,130,1856,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,1973,3339,3250,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2156,-1.35,-170.3,2092,1972,3250,3425,194.8,-8.4,145,2162,0.00,2.08,0.00,0.000,260,0.000,0.031,2084,3349,3337,3249,3425,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2238,-1.35,-170.3,2083,3349,3250,3423,200.8,-8.9,148,2246,0.00,2.05,0.00,0.000,1030,0.000,0.025,2085,1974,3336,3250,3423,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2545,-1.35,-170.3,2086,1974,3250,3421,229.4,-9.1,164,2551,0.00,2.12,0.00,0.000,516,0.000,0.042,2094,573,3335,3250,3421,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2622,-1.35,-170.3,2094,574,3249,3421,235.4,-9.0,167,2628,0.00,2.03,0.00,0.000,1030,0.000,0.015,2085,1981,3335,3250,3421,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2937,-1.35,-170.3,2084,1981,3249,3416,264.9,-9.7,183,2938,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,1981,3333,3250,3417,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3238,-1.35,-170.3,2085,1985,3249,3414,291.7,-8.9,198,3239,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,1985,3331,3249,3414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3538,-1.35,-170.3,2085,1985,3249,3410,318.7,-9.0,213,3539,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,1985,3329,3249,3410,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3840,-1.35,-170.3,2085,1985,3248,3407,345.2,-8.8,228,3841,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,1985,3328,3248,3408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4138,-1.35,-170.3,2085,1985,3245,3405,371.5,-8.3,243,4145,0.00,2.17,0.00,0.000,516,0.000,0.043,2094,578,3325,3245,3405,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4179,-1.35,-170.3,2094,578,3245,3405,374.0,-8.5,244,4186,0.00,2.03,0.00,0.000,1030,0.000,0.016,2086,1980,3325,3245,3405,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,4444,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4444,begin apogee
$GC,4449,-0.25,0.0,2083,2304,3242,3403,400.1,-9.2,258,4608,0.80,0.00,141.20,1.048,10246,0.119,0.000,2344,2303,2639,2589,2689,0,0,0,0,1,0,26.47,28.83,24.25
$STATE,4609,end apogee,CONTROL_FINISHED_OK
$STATE,4610,begin climb
$GC,4613,1.35,170.3,2344,2303,2589,2689,385.5,0.0,265,4775,1.00,2.30,147.38,1.095,10500,0.056,0.033,2706,3677,1943,1909,1978,0,0,0,0,1,0,25.24,24.77,23.98
$GC,4957,1.38,181.1,2706,3678,1909,1978,354.5,8.9,280,4976,0.00,2.12,13.48,0.849,9222,0.000,0.023,2716,2306,1897,1870,1924,0,0,0,0,0,0,28.83,25.81,24.89
$GC,5296,1.42,198.6,2716,2306,1867,1912,323.1,8.6,297,5316,0.00,0.00,16.95,0.820,8198,0.000,0.000,2716,2306,1826,1801,1851,0,0,0,0,0,0,28.83,28.83,25.18
$GC,5615,1.43,202.7,2715,2306,1799,1841,294.1,9.1,313,5621,0.00,2.20,0.00,0.000,516,0.000,0.042,2727,896,1820,1799,1841,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5671,1.44,203.9,2726,895,1799,1842,289.7,9.2,315,5685,0.00,2.08,3.80,0.617,9222,0.000,0.016,2727,2303,1806,1782,1831,0,0,0,0,0,0,28.83,26.36,25.23
$GC,5983,1.45,209.4,2727,2303,1783,1831,261.2,9.1,331,5992,0.00,0.00,7.53,0.772,8198,0.000,0.000,2727,2303,1786,1761,1812,0,0,0,0,0,0,28.83,28.83,25.52
$GC,6283,1.45,209.4,2727,2304,1757,1804,233.7,9.7,346,6289,0.00,2.10,0.00,0.000,260,0.000,0.034,2727,3690,1781,1758,1804,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6385,1.47,218.9,2726,3690,1757,1804,225.8,8.9,350,6404,0.00,2.10,10.88,0.743,9222,0.000,0.024,2737,2298,1741,1715,1768,0,0,0,0,0,0,28.83,26.46,25.57
$GC,6719,1.50,230.3,2736,2298,1714,1765,194.8,8.8,367,6738,0.00,0.00,11.57,0.718,8198,0.000,0.000,2737,2298,1697,1665,1729,0,0,0,0,0,0,28.83,28.83,25.57
$GC,7039,1.51,232.7,2737,2298,1664,1723,166.1,9.2,383,7044,0.00,2.17,0.00,0.000,516,0.000,0.043,2747,897,1693,1664,1723,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7073,1.53,240.4,2747,897,1664,1723,163.8,9.0,384,7092,0.00,2.08,10.32,0.688,9222,0.000,0.017,2747,2304,1654,1612,1696,0,0,0,0,0,0,28.83,26.48,25.60
$GC,7413,1.54,245.9,2747,2304,1606,1695,132.4,9.1,401,7425,0.00,2.15,3.83,0.546,8452,0.000,0.034,2747,3682,1636,1589,1683,0,0,0,0,0,0,28.83,26.39,25.44
$GC,7536,1.57,258.2,2747,3682,1589,1683,122.7,8.8,406,7559,0.00,2.10,15.60,0.642,9222,0.000,0.025,2757,2296,1581,1529,1633,0,0,0,0,0,0,28.83,26.44,25.59
$GC,7869,1.57,258.2,2757,2296,1528,1627,91.2,9.5,423,7870,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2296,1577,1528,1626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8169,1.58,260.5,2757,2296,1528,1624,64.1,9.2,438,8175,0.00,2.15,0.00,0.000,260,0.000,0.034,2757,3698,1577,1528,1626,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8277,1.59,267.0,2757,3698,1528,1626,54.4,9.0,443,8294,0.00,2.12,8.48,0.584,9222,0.000,0.025,2767,2298,1546,1494,1598,0,0,0,0,0,0,28.83,26.52,25.76
$GC,8603,1.60,270.2,2766,2298,1493,1594,24.8,9.1,472,8611,0.00,2.15,0.00,0.000,516,0.000,0.042,2778,897,1543,1493,1594,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8669,1.61,274.7,1736,897,1461,1587,18.9,9.1,483,8686,0.12,2.05,8.07,0.549,13318,0.184,0.017,2749,2305,1514,1462,1567,0,0,0,0,0,0,26.29,26.56,25.79
$STATE,8848,end climb,SURFACE_DEPTH_REACHED
$STATE,8848,begin surface coast
$FINISH,0.0,1.024365
$STATE,8882,end surface coast,CONTROL_FINISHED_OK
$STATE,8882,begin surface
$SM_CCo,8898,227.35,0.685,3,0,400,549.47
$SM_CCo,9144,0.00,0.000,0,0,400,549.47
$SM_CCo,9147,-0.12,0.000,0,0,401,549.47
$SM_GC,-23.93,7.38,0.52,-0.12,0.070,0.034,0.000,89,1957,401,-10.53,1.13,549.47,0,0,0,0,0,0,26.48,26.52,25.27
$IRIDIUM_FIX,1943.54,12007.14,210313,212108
$TT8_MAMPS,0.023968,0.023968
$HUMID,47.12
$INTERNAL_PRESSURE,9.17526
$TCM_TEMP,20.00
$XPDR_PINGS,3
$SC_FREEKB,3960832
$24V_AH,24.0,27.858
$10V_AH,10.1,15.674
$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,17.250,60.125,399.075,227.350,0.000,0.000,0.000,249.325,0.750,0.000,16.872,1974.145,4934.029,773.224,1548.446,321.201,0.000,1856.469,0.000,1317.846,0.000,1.485,0.000
$DEVICE_MAMPS,216.495,51.255,1094.715,685.440,0.000,0.000,0.000,132.345,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8885.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.559,0.000,0.000,0.000
$MEM,323848
$DATA_FILE_SIZE,16778,521
$CAP_FILE_SIZE,382458,1988
$CFSIZE,260034560,232390656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,2,0
$CURRENT,0.082, 88.5,1
$GPS,220313,023042,1954.822,12005.533,38,1.1,38,-2.6