version: 66.11
glider: 121
mission: 10
dive: 115
start: 3 17 113 4 27 27
data:
$ID,121
$MISSION,10
$DIVE,115
$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,-100639.04
$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,50
$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
$GPS1,170313,041852,1902.842,12007.034,515,0.8,515,-2.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-65.4
$GPS2,170313,042700,1902.906,12007.112,16,2.0,17,-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,22.4,300447,-18.5,-9.259,-21.12,2828
$D_GRID,3032
$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,-170.3,82,1952,466,553,0.0,0.0,0,44,0.00,0.00,-24.23,0.000,16386,0.000,0.000,82,1953,1138,1120,1157,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.35,-170.3,82,1953,1120,1159,3.4,-9.2,3,154,7.95,2.22,-92.93,0.000,18692,0.226,0.043,2053,3371,3492,3406,3578,0,0,0,0,0,0,25.85,26.19,26.46
$GC,401,-1.35,-170.3,2053,3371,3410,3579,35.8,-8.9,52,407,0.00,2.10,0.00,0.000,1030,0.000,0.024,2061,1973,3495,3410,3580,0,0,0,0,0,0,28.83,26.38,28.83
$GC,726,-1.35,-170.3,2061,1972,3414,3580,65.2,-9.1,76,732,0.00,2.12,0.00,0.000,516,0.000,0.040,2071,573,3497,3414,3580,0,0,0,0,0,0,28.83,26.48,28.83
$GC,863,-1.35,-170.3,2071,572,3415,3579,76.5,-9.0,82,870,0.00,2.05,0.00,0.000,1030,0.000,0.015,2063,2001,3497,3415,3580,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1179,-1.35,-170.3,2063,2001,3415,3580,105.6,-9.0,98,1185,0.00,2.20,0.00,0.000,516,0.000,0.038,2071,570,3497,3415,3579,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1219,-1.35,-170.3,2071,570,3415,3580,107.9,-8.8,99,1227,0.00,2.03,0.00,0.000,1030,0.000,0.016,2063,1982,3497,3415,3580,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1526,-1.35,-170.3,2062,1984,3415,3579,136.3,-9.0,115,1533,0.00,2.17,0.00,0.000,516,0.000,0.040,2071,570,3497,3415,3579,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1576,-1.35,-170.3,2070,569,3415,3579,140.4,-8.8,117,1582,0.00,2.03,0.00,0.000,1030,0.000,0.016,2062,1981,3496,3415,3578,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1896,-1.35,-170.3,2062,1981,3415,3576,169.4,-8.9,133,1902,0.00,2.17,0.00,0.000,516,0.000,0.040,2069,568,3495,3415,3575,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2013,-1.35,-170.3,2069,568,3415,3575,179.3,-9.1,138,2019,0.00,2.03,0.00,0.000,1030,0.000,0.016,2060,1979,3494,3415,3574,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2327,-1.35,-170.3,2059,1979,3415,3571,208.8,-8.8,154,2333,0.00,2.17,0.00,0.000,516,0.000,0.041,2063,570,3493,3415,3571,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2394,-1.35,-170.3,2063,570,3415,3570,214.7,-8.9,157,2400,0.00,2.03,0.00,0.000,1030,0.000,0.016,2054,1972,3492,3415,3570,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2719,-1.35,-170.3,2054,1972,3413,3567,244.3,-9.6,173,2725,0.00,2.17,0.00,0.000,516,0.000,0.042,2060,567,3490,3414,3566,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2883,-1.35,-170.3,2059,567,3413,3566,258.3,-9.2,180,2889,0.00,2.03,0.00,0.000,1030,0.000,0.016,2051,1974,3489,3412,3566,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3197,-1.35,-170.3,2051,1975,3410,3563,287.2,-8.9,196,3198,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,1975,3486,3410,3563,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3498,-1.35,-170.3,2051,1975,3408,3561,314.3,-8.9,211,3504,0.00,2.17,0.00,0.000,516,0.000,0.042,2058,571,3484,3408,3561,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3575,-1.35,-170.3,2057,571,3408,3561,320.5,-9.1,214,3581,0.00,2.03,0.00,0.000,1030,0.000,0.017,2049,1974,3484,3408,3561,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3889,-1.35,-170.3,2049,1974,3405,3558,349.7,-9.2,230,3896,0.10,2.08,0.00,0.000,2308,0.186,0.031,2063,3360,3482,3406,3558,0,0,0,0,0,0,26.58,26.69,28.83
$STATE,3914,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3914,begin apogee
$GC,3919,-0.25,0.0,2065,2301,3405,3558,352.1,-9.5,231,4076,0.75,0.00,148.32,0.887,10246,0.120,0.000,2311,2301,2788,2750,2827,0,0,0,0,0,0,26.54,28.83,24.46
$STATE,4078,end apogee,CONTROL_FINISHED_OK
$STATE,4078,begin climb
$GC,4079,1.35,170.3,2311,2301,2748,2824,337.9,0.0,238,4246,1.00,2.28,155.07,0.859,10500,0.066,0.034,2661,3683,2089,2053,2126,0,0,0,0,0,0,25.25,24.98,24.32
$GC,4485,1.35,170.3,2661,3684,2046,2114,301.4,9.4,256,4491,0.00,2.12,0.00,0.000,1030,0.000,0.023,2671,2295,2081,2048,2114,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4800,1.36,174.6,2671,2295,2044,2110,272.5,9.1,272,4806,0.00,2.15,0.00,0.000,260,0.000,0.033,2672,3689,2077,2045,2110,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4891,1.38,180.7,2671,3689,2044,2110,264.5,9.0,276,4902,0.00,2.10,3.15,0.484,9222,0.000,0.024,2681,2298,2057,2021,2093,0,0,0,0,0,0,28.83,26.34,25.25
$GC,5210,1.40,187.6,2681,2298,2021,2104,235.3,9.0,292,5227,0.00,2.25,12.00,0.812,8708,0.000,0.041,2692,899,2025,1987,2063,0,0,0,0,0,0,28.83,26.21,25.51
$GC,5445,1.40,189.4,2692,898,1981,2057,214.0,9.2,303,5452,0.10,2.08,0.00,0.000,5126,0.184,0.017,2670,2300,2018,1981,2056,0,0,0,0,0,0,26.22,26.42,28.83
$GC,5771,1.42,195.2,2670,2300,1981,2052,184.8,9.0,319,5782,0.00,2.15,3.70,0.580,8452,0.000,0.036,2670,3681,1998,1961,2036,0,0,0,0,0,0,28.83,26.44,25.37
$GC,5908,1.42,197.1,2670,3681,1961,2043,173.1,9.2,325,5922,0.00,2.08,4.32,0.662,9222,0.000,0.024,2679,2301,1989,1951,2028,0,0,0,0,0,0,28.83,26.49,25.39
$GC,6220,1.44,205.6,2679,2301,1951,2030,143.8,9.0,341,6243,0.00,2.22,11.85,0.761,8708,0.000,0.041,2690,907,1951,1914,1988,0,0,0,0,0,0,28.83,26.29,25.60
$GC,6288,1.46,213.9,2689,907,1913,1988,137.6,9.0,344,6304,0.00,2.05,8.75,0.757,9222,0.000,0.018,2690,2295,1917,1885,1950,0,0,0,0,0,0,28.83,26.39,25.51
$GC,6614,1.47,217.2,2689,2295,1886,1940,108.5,9.1,360,6615,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2295,1913,1886,1941,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6913,1.50,227.1,2689,2294,1885,1940,81.6,8.9,375,6932,0.00,0.00,13.68,0.725,8198,0.000,0.000,2690,2295,1862,1835,1890,0,0,0,0,0,0,28.83,28.83,25.60
$GC,7233,1.53,241.3,2689,2295,1834,1883,53.0,8.7,391,7252,0.00,0.00,14.38,0.705,8198,0.000,0.000,2690,2295,1805,1776,1834,0,0,0,0,0,0,28.83,28.83,25.56
$GC,7554,1.53,242.2,2689,2295,1773,1828,23.6,9.2,422,7561,0.00,2.20,0.00,0.000,516,0.000,0.041,2699,893,1800,1774,1827,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7623,1.53,242.2,1680,893,1728,1818,17.2,9.5,434,7631,0.00,2.08,0.00,0.000,1030,0.000,0.018,2699,2297,1800,1773,1827,0,0,0,0,0,0,28.83,26.48,28.83
$STATE,7783,end climb,SURFACE_DEPTH_REACHED
$STATE,7783,begin surface coast
$FINISH,0.0,1.026523
$STATE,7817,end surface coast,CONTROL_FINISHED_OK
$STATE,7817,begin surface
$SM_CCo,7833,262.38,0.864,1,0,512,560.02
$SM_GC,-23.93,7.30,0.52,262.38,0.074,0.034,0.864,87,1953,512,-10.39,0.99,560.02,0,0,0,0,1,0,26.47,26.53,24.27
$IRIDIUM_FIX,1855.54,12005.05,170313,040431
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.03
$INTERNAL_PRESSURE,9.00924
$TCM_TEMP,17.50
$XPDR_PINGS,0
$SC_FREEKB,3978880
$24V_AH,24.3,20.622
$10V_AH,10.2,12.710
$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,17.200,63.700,375.225,262.375,0.000,0.000,0.000,324.050,0.000,0.000,17.414,1914.454,4001.225,759.139,1622.443,275.649,0.000,1869.226,0.000,1292.458,0.000,1.482,0.000
$DEVICE_MAMPS,226.440,42.840,887.400,863.685,0.000,0.000,0.000,127.755,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7817.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.216,0.000,0.000,0.000
$MEM,323820
$DATA_FILE_SIZE,16816,469
$CAP_FILE_SIZE,396316,2015
$CFSIZE,260034560,237428736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.188,  9.3,1
$GPS,170313,065319,1904.499,12007.432,613,0.8,614,-2.5