version: 66.11
glider: 121
mission: 10
dive: 114
start: 3 17 113 1 55 22
data:
$ID,121
$MISSION,10
$DIVE,114
$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,-100637.78
$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,42
$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,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
$GPS1,170313,014824,1901.950,12007.164,541,1.3,541,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-62.1
$GPS2,170313,015455,1901.982,12007.147,32,1.0,32,-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,31.8,302160,-18.5,-9.259,-21.12,2828
$D_GRID,3011
$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,-170.3,81,1952,497,585,0.0,0.0,0,44,0.00,0.00,-24.20,0.000,16386,0.000,0.000,80,1952,1180,1161,1199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.35,-170.3,81,1952,1161,1202,3.3,-8.8,3,138,7.88,2.22,-77.47,0.000,18692,0.223,0.042,2058,3371,3492,3406,3578,0,0,0,0,0,0,25.90,26.22,26.50
$GC,259,-1.35,-170.3,1216,3369,3390,3576,22.7,-8.8,37,268,0.00,2.12,0.00,0.000,1030,0.000,0.027,2066,1971,3493,3408,3579,0,0,0,0,0,0,28.83,26.32,28.83
$GC,587,-1.35,-170.3,2066,1971,3411,3579,51.9,-8.4,70,588,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,1971,3495,3411,3579,0,0,0,0,0,0,28.83,28.83,28.83
$GC,888,-1.35,-170.3,2066,1971,3413,3579,79.1,-9.3,85,895,0.00,2.12,0.00,0.000,516,0.000,0.041,2076,574,3495,3412,3579,0,0,0,0,0,0,28.83,26.53,28.83
$GC,970,-1.35,-170.3,2076,574,3413,3579,85.3,-9.1,88,978,0.00,2.03,0.00,0.000,1030,0.000,0.015,2068,1990,3496,3413,3579,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1276,-1.35,-170.3,2068,1990,3413,3579,114.2,-8.9,104,1277,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,1990,3496,3413,3579,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1577,-1.35,-170.3,2068,1990,3413,3579,141.4,-8.8,119,1578,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,1990,3496,3413,3579,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1878,-1.35,-170.3,2068,1990,3413,3578,168.1,-8.7,134,1884,0.00,2.17,0.00,0.000,516,0.000,0.040,2077,572,3495,3413,3577,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2114,-1.35,-170.3,2076,573,3413,3576,189.7,-9.0,145,2120,0.00,2.03,0.00,0.000,1030,0.000,0.016,2068,1983,3494,3413,3575,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2440,-1.35,-170.3,2068,1983,3413,3572,219.4,-9.1,161,2446,0.00,2.17,0.00,0.000,516,0.000,0.041,2076,571,3492,3413,3571,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2527,-1.35,-170.3,2076,570,3413,3572,227.4,-9.2,165,2534,0.00,2.03,0.00,0.000,1030,0.000,0.016,2068,1982,3491,3412,3571,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2853,-1.35,-170.3,2067,1982,3412,3568,257.2,-9.2,181,2859,0.00,2.17,0.00,0.000,516,0.000,0.041,2076,571,3489,3412,3566,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2923,-1.35,-170.3,2076,571,3412,3567,263.2,-8.9,184,2929,0.00,2.03,0.00,0.000,1030,0.000,0.017,2068,1977,3489,3412,3566,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3243,-1.35,-170.3,2067,1977,3410,3565,292.4,-9.2,200,3249,0.00,2.17,0.00,0.000,516,0.000,0.042,2076,570,3487,3410,3564,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3310,-1.35,-170.3,2076,570,3410,3564,298.4,-9.0,203,3316,0.00,2.03,0.00,0.000,1030,0.000,0.017,2067,1975,3487,3410,3564,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3636,-1.35,-170.3,2067,1976,3408,3562,327.0,-8.7,219,3642,0.00,2.17,0.00,0.000,516,0.000,0.042,2076,570,3484,3408,3561,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3703,-1.35,-170.3,2075,570,3408,3561,333.1,-8.8,222,3710,0.00,2.05,0.00,0.000,1030,0.000,0.017,2067,1979,3484,3408,3561,0,0,0,0,0,0,28.83,26.74,28.83
$STATE,3906,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3906,begin apogee
$GC,3911,-0.25,0.0,2065,2303,3407,3559,351.4,-8.9,232,4068,0.75,0.00,142.85,1.014,10246,0.123,0.000,2309,2304,2794,2756,2833,0,0,0,0,1,0,26.55,28.83,24.25
$STATE,4069,end apogee,CONTROL_FINISHED_OK
$STATE,4069,begin climb
$GC,4071,1.35,170.3,2309,2304,2756,2833,337.0,0.0,239,4233,1.00,2.42,147.38,1.065,11012,0.064,0.038,2671,900,2099,2062,2136,0,0,0,0,1,0,25.18,24.82,24.02
$GC,4471,1.37,179.0,1696,900,2009,2126,300.4,8.9,257,4490,0.00,2.10,11.40,0.831,9222,0.000,0.016,2671,2299,2059,2022,2097,0,0,0,0,0,0,28.83,25.96,25.05
$GC,4789,1.38,179.7,2671,2299,2021,2089,271.8,9.2,273,4795,0.00,2.20,0.00,0.000,516,0.000,0.038,2681,900,2055,2021,2089,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4918,1.40,189.3,2680,899,2020,2089,260.2,8.9,279,4935,0.00,2.08,9.98,0.807,9222,0.000,0.017,2681,2300,2018,1981,2056,0,0,0,0,0,0,28.83,26.34,25.37
$GC,5244,1.41,194.8,2681,2300,1981,2049,230.5,9.1,295,5250,0.00,0.00,4.30,0.683,8198,0.000,0.000,2681,2300,1999,1963,2035,0,0,0,0,0,0,28.83,28.83,25.28
$GC,5544,1.43,202.4,2681,2300,1963,2035,203.2,9.0,310,5560,0.00,2.12,10.23,0.791,8452,0.000,0.034,2680,3694,1964,1929,2000,0,0,0,0,0,0,28.83,26.26,25.52
$GC,5598,1.45,211.0,2681,3694,1928,1998,199.2,8.9,312,5613,0.00,2.10,9.27,0.786,9222,0.000,0.024,2691,2301,1931,1897,1966,0,0,0,0,0,0,28.83,26.32,25.41
$GC,5910,1.47,215.7,2691,2301,1896,1952,170.2,9.1,328,5921,0.00,2.22,3.08,0.500,8708,0.000,0.041,2702,899,1914,1886,1943,0,0,0,0,0,0,28.83,26.32,25.29
$GC,5959,1.49,223.6,2701,899,1886,1943,165.9,9.0,330,5975,0.00,2.08,10.82,0.772,9222,0.000,0.018,2701,2297,1882,1854,1910,0,0,0,0,0,0,28.83,26.41,25.47
$GC,6285,1.50,228.7,2701,2297,1850,1899,136.9,9.1,346,6297,0.00,2.17,3.75,0.592,8452,0.000,0.035,2702,3687,1862,1836,1888,0,0,0,0,0,0,28.83,26.34,25.34
$GC,6336,1.52,235.5,2701,3687,1836,1888,132.6,9.0,348,6354,0.00,2.10,10.00,0.752,9222,0.000,0.024,2712,2298,1829,1802,1857,0,0,0,0,0,0,28.83,26.39,25.50
$GC,6652,1.53,240.2,2711,2299,1801,1850,104.3,9.1,364,6658,0.00,0.00,3.50,0.548,8198,0.000,0.000,2711,2299,1814,1788,1841,0,0,0,0,0,0,28.83,28.83,25.36
$GC,6953,1.54,243.9,2711,2299,1789,1841,76.9,9.1,379,6959,0.00,0.00,4.47,0.638,8198,0.000,0.000,2711,2299,1799,1772,1827,0,0,0,0,0,0,28.83,28.83,25.44
$GC,7254,1.55,249.4,2711,2299,1771,1828,49.2,9.1,394,7268,0.00,2.22,8.12,0.686,8452,0.000,0.034,2712,3691,1775,1746,1804,0,0,0,0,0,0,28.83,26.38,25.67
$GC,7305,1.56,254.0,2711,3691,1745,1802,44.7,9.1,398,7318,0.00,2.10,4.18,0.594,9222,0.000,0.025,2721,2302,1757,1727,1788,0,0,0,0,0,0,28.83,26.41,25.44
$GC,7624,1.58,262.0,1696,2300,1683,1779,15.6,9.0,438,7640,0.00,2.28,10.90,0.654,8708,0.000,0.042,2732,886,1722,1690,1754,0,0,0,0,0,0,28.83,26.29,25.67
$GC,7665,1.60,270.3,1728,886,1649,1744,11.9,9.0,444,7682,0.00,2.10,8.68,0.652,9222,0.000,0.018,2732,2304,1687,1652,1723,0,0,0,0,0,0,28.83,26.39,25.58
$STATE,7764,end climb,SURFACE_DEPTH_REACHED
$STATE,7764,begin surface coast
$FINISH,0.0,1.026301
$STATE,7797,end surface coast,CONTROL_FINISHED_OK
$STATE,7797,begin surface
$SM_CCo,7813,239.02,0.819,1,0,512,560.02
$SM_GC,-23.93,7.50,0.52,239.02,0.077,0.034,0.819,84,1962,512,-10.40,1.22,560.02,0,0,0,0,1,0,26.31,26.35,24.35
$IRIDIUM_FIX,1855.54,12008.17,160313,232309
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.01
$INTERNAL_PRESSURE,9.01901
$TCM_TEMP,17.50
$XPDR_PINGS,0
$SC_FREEKB,3979264
$24V_AH,24.0,20.459
$10V_AH,10.1,12.638
$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,17.125,60.775,402.900,239.025,0.000,0.000,0.000,214.650,0.000,0.000,34.277,1821.395,4149.209,740.380,1463.434,258.501,0.000,1703.179,0.000,1224.033,0.000,1.484,0.000
$DEVICE_MAMPS,223.380,42.075,1064.880,819.315,0.000,0.000,0.000,133.110,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7798.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.241,0.000,0.000,0.000
$MEM,323880
$DATA_FILE_SIZE,16792,467
$CAP_FILE_SIZE,376733,1863
$CFSIZE,260034560,237555712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$CURRENT,0.102,293.9,1
$GPS,170313,041852,1902.842,12007.034,515,0.8,515,-2.4