version: 66.11
glider: 121
mission: 10
dive: 170
start: 3 22 113 21 38 47
data:
$ID,121
$MISSION,10
$DIVE,170
$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,-100708.38
$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,48
$R_STBD_OVSHOOT,55
$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
$GPS1,220313,213105,2004.358,12005.410,52,0.9,52,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-64.4
$GPS2,220313,213820,2004.368,12005.453,19,1.3,19,-2.7
$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,344.8,186607,-18.5,-9.259,-21.12,2828
$D_GRID,3608
$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,18,-1.35,-170.3,85,1951,332,472,0.0,0.0,0,43,0.00,0.00,-23.35,0.000,16386,0.000,0.000,85,1951,1007,994,1021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,45,-1.35,-170.3,85,1951,993,1024,3.2,-8.4,3,161,7.97,2.20,-95.07,0.000,18692,0.219,0.042,2089,3382,3338,3248,3428,0,0,0,0,0,0,25.77,26.15,26.44
$GC,311,-1.35,-170.3,2089,3382,3249,3428,27.2,-8.6,43,319,0.00,2.15,0.00,0.000,1030,0.000,0.027,2097,1973,3338,3249,3428,0,0,0,0,0,0,28.83,26.29,28.83
$GC,628,-1.35,-170.3,2097,1973,3253,3428,56.2,-9.2,72,629,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,1973,3340,3252,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,929,-1.35,-170.3,2097,1973,3255,3428,83.9,-9.1,87,935,0.00,2.12,0.00,0.000,516,0.000,0.041,2107,573,3341,3255,3428,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1061,-1.35,-170.3,2107,573,3255,3428,95.8,-9.0,93,1067,0.00,2.05,0.00,0.000,1030,0.000,0.015,2099,1994,3341,3255,3428,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1386,-1.35,-170.3,2098,1995,3255,3428,124.9,-8.7,109,1387,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,1995,3341,3255,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1687,-1.35,-170.3,2098,1995,3255,3427,151.5,-8.8,124,1692,0.00,2.03,0.00,0.000,260,0.000,0.031,2089,3364,3341,3255,3427,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1743,-1.35,-170.3,2088,3364,3255,3426,155.8,-9.1,126,1749,0.00,2.08,0.00,0.000,1030,0.000,0.026,2089,1973,3340,3255,3426,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2058,-1.35,-170.3,2089,1973,3254,3424,184.7,-9.0,142,2059,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,1972,3339,3255,3424,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2361,-1.35,-170.3,2089,1973,3256,3421,211.5,-9.0,157,2366,0.00,2.15,0.00,0.000,516,0.000,0.048,2099,567,3339,3255,3424,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2389,-1.35,-170.3,2099,567,3255,3421,214.0,-8.9,158,2396,0.00,2.03,0.00,0.000,1030,0.000,0.016,2091,1973,3338,3255,3421,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2710,-1.35,-170.3,2090,1974,3255,3417,243.3,-8.9,174,2716,0.00,2.08,0.00,0.000,260,0.000,0.033,2081,3359,3336,3255,3417,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2750,-1.35,-170.3,2080,3359,3255,3416,245.6,-9.0,175,2759,0.10,2.10,0.00,0.000,3078,0.161,0.028,2105,1967,3335,3255,3416,0,0,0,0,0,0,26.48,26.65,28.83
$GC,3056,-1.35,-170.3,2106,1967,3253,3414,274.7,-8.8,191,3057,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,1967,3333,3253,3414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3358,-1.35,-170.3,2106,1967,3252,3411,302.0,-9.2,206,3363,0.00,2.15,0.00,0.000,516,0.000,0.047,2117,570,3332,3253,3411,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3407,-1.35,-170.3,2116,569,3253,3411,306.2,-9.1,208,3413,0.00,2.03,0.00,0.000,1030,0.000,0.017,2108,1968,3331,3252,3410,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3728,-1.35,-170.3,2108,1969,3251,3408,336.0,-9.3,224,3733,0.00,2.17,0.00,0.000,516,0.000,0.045,2116,575,3329,3251,3408,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3779,-1.35,-170.3,2116,575,3251,3408,340.3,-9.0,226,3785,0.00,2.05,0.00,0.000,1030,0.000,0.018,2108,1983,3329,3251,3407,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4099,-1.35,-170.3,2108,1984,3248,3406,370.2,-9.0,242,4105,0.00,2.08,0.00,0.000,260,0.000,0.034,2098,3371,3326,3248,3405,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4166,-1.35,-170.3,2097,3371,3247,3405,376.3,-8.9,245,4173,0.00,2.12,0.00,0.000,1030,0.000,0.031,2098,1970,3326,3247,3405,0,0,0,0,0,0,28.83,26.64,28.83
$STATE,4430,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4430,begin apogee
$GC,4436,-0.25,0.0,2097,2313,3245,3403,400.5,-8.7,258,4596,0.75,0.00,154.07,0.889,10246,0.115,0.000,2344,2313,2635,2586,2684,0,0,0,0,0,0,26.46,28.83,24.47
$STATE,4598,end apogee,CONTROL_FINISHED_OK
$STATE,4598,begin climb
$GC,4601,1.35,170.3,2344,2313,2578,2677,386.2,0.0,265,4774,1.00,2.22,161.40,0.846,10500,0.057,0.034,2706,3691,1935,1902,1968,0,0,0,0,0,0,25.24,24.95,24.32
$GC,4988,1.37,176.7,2706,3692,1898,1947,351.6,9.0,282,4994,0.00,2.15,0.00,0.000,1030,0.000,0.024,2715,2301,1922,1898,1947,0,0,0,0,0,0,28.83,25.91,28.83
$GC,5303,1.39,184.7,2715,2300,1898,1944,322.5,9.0,298,5310,0.00,0.00,5.57,0.746,8198,0.000,0.000,2716,2300,1888,1862,1914,0,0,0,0,0,0,28.83,28.83,25.32
$GC,5604,1.40,190.6,2715,2300,1862,1920,295.2,9.0,313,5621,0.00,2.28,11.43,0.809,8708,0.000,0.044,2726,900,1857,1830,1885,0,0,0,0,0,0,28.83,26.14,25.44
$GC,5733,1.42,197.4,2726,900,1826,1879,283.6,9.0,319,5745,0.00,2.10,3.17,0.493,9222,0.000,0.018,2726,2305,1833,1805,1862,0,0,0,0,0,0,28.83,26.31,25.19
$GC,6059,1.43,203.1,2726,2305,1805,1866,254.1,9.1,335,6070,0.00,0.00,9.85,0.779,8198,0.000,0.000,2726,2306,1812,1782,1842,0,0,0,0,0,0,28.83,28.83,25.51
$GC,6360,1.45,209.3,2726,2305,1776,1832,226.9,9.0,350,6367,0.00,0.00,5.10,0.715,8198,0.000,0.000,2726,2305,1785,1755,1816,0,0,0,0,0,0,28.83,28.83,25.47
$GC,6660,1.48,221.1,2726,2306,1755,1815,199.5,8.8,365,6680,0.00,0.00,15.12,0.731,8198,0.000,0.000,2726,2305,1733,1700,1766,0,0,0,0,0,0,28.83,28.83,25.53
$GC,6979,1.51,231.7,2726,2305,1700,1760,170.6,8.9,381,6999,0.00,0.00,11.05,0.715,8198,0.000,0.000,2726,2305,1687,1653,1722,0,0,0,0,0,0,28.83,28.83,25.53
$GC,7299,1.51,231.7,2726,2305,1653,1717,141.5,9.3,397,7305,0.00,2.12,0.00,0.000,260,0.000,0.036,2726,3692,1685,1653,1717,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7346,1.52,239.0,2726,3692,1653,1717,137.4,9.0,399,7358,0.00,2.12,5.12,0.671,9222,0.000,0.026,2736,2295,1662,1624,1701,0,0,0,0,0,0,28.83,26.41,25.53
$GC,7671,1.54,243.8,2736,2296,1624,1701,108.1,9.1,415,7684,0.00,2.15,5.12,0.644,8452,0.000,0.033,2736,3686,1645,1600,1690,0,0,0,0,0,0,28.83,26.38,25.58
$GC,7762,1.55,250.6,1760,3685,1567,1682,100.2,9.0,419,7781,0.00,2.12,9.88,0.656,9222,0.000,0.027,2746,2294,1612,1564,1661,0,0,0,0,0,0,28.83,26.42,25.62
$GC,8080,1.57,258.1,2746,2293,1563,1658,70.6,9.0,435,8096,0.00,2.22,7.68,0.630,8452,0.000,0.034,2746,3685,1583,1531,1635,0,0,0,0,0,0,28.83,26.32,25.65
$GC,8130,1.59,263.6,2746,3685,1530,1634,66.5,9.1,437,8142,0.00,2.12,4.53,0.577,9222,0.000,0.028,2756,2295,1563,1510,1617,0,0,0,0,0,0,28.83,26.35,25.43
$GC,8451,1.61,273.2,2756,2295,1510,1617,37.3,8.9,460,8470,0.00,2.20,12.93,0.584,8708,0.000,0.043,2767,889,1519,1464,1575,0,0,0,0,0,0,28.83,26.25,25.65
$GC,8515,1.63,282.3,2766,889,1464,1571,32.0,8.9,465,8529,0.00,2.10,9.23,0.581,9222,0.000,0.018,2767,2301,1486,1432,1540,0,0,0,0,0,0,28.83,26.35,25.59
$STATE,8834,end climb,SURFACE_DEPTH_REACHED
$STATE,8834,begin surface coast
$FINISH,0.0,1.025454
$STATE,8868,end surface coast,CONTROL_FINISHED_OK
$STATE,8868,begin surface
$SM_CCo,8885,218.70,0.705,2,0,400,549.47
$SM_CCo,9117,0.00,0.000,0,0,399,549.47
$SM_CCo,9120,-0.08,0.000,0,0,401,549.47
$SM_GC,-23.93,7.57,0.52,-0.08,0.077,0.035,0.000,89,1959,401,-10.54,1.10,549.47,0,0,0,0,0,0,26.39,26.43,24.99
$IRIDIUM_FIX,1955.00,12006.31,220313,181816
$TT8_MAMPS,0.023968,0.023968
$HUMID,47.79
$INTERNAL_PRESSURE,9.1069
$TCM_TEMP,19.30
$XPDR_PINGS,2
$SC_FREEKB,3957888
$24V_AH,24.3,29.121
$10V_AH,10.2,16.180
$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,17.400,60.525,431.250,218.700,0.000,0.000,0.000,253.150,0.500,0.000,21.327,1973.920,4915.939,768.521,1552.758,323.237,0.000,1823.965,0.000,1277.375,0.000,1.488,0.000
$DEVICE_MAMPS,218.790,48.195,888.930,704.565,0.000,0.000,0.000,133.875,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8871.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.535,0.000,0.000,0.000
$MEM,323868
$DATA_FILE_SIZE,16793,524
$CAP_FILE_SIZE,381934,1971
$CFSIZE,260034560,231497728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$CURRENT,0.097, 17.5,1
$GPS,230313,001334,2005.623,12005.239,128,1.2,128,-2.7