version: 66.11
glider: 121
mission: 10
dive: 116
start: 3 17 113 7 0 41
data:
$ID,121
$MISSION,10
$DIVE,116
$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,-100640.3
$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,53
$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,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
$GPS1,170313,065319,1904.499,12007.432,613,0.8,614,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-65.4
$GPS2,170313,070014,1904.525,12007.516,19,0.8,20,-2.5
$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,350.9,297482,-18.5,-9.259,-21.12,2828
$D_GRID,3000
$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,-170.3,85,1943,466,554,0.0,0.0,0,44,0.00,0.00,-24.25,0.000,16386,0.000,0.000,85,1943,1141,1128,1154,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.35,-170.3,85,1943,1128,1157,3.4,-9.8,3,145,8.02,2.17,-81.25,0.000,18692,0.231,0.041,2057,3373,3492,3407,3578,0,0,0,0,0,0,25.86,26.19,26.48
$GC,386,-1.35,-170.3,2057,3373,3409,3580,33.6,-8.9,52,395,0.00,2.10,0.00,0.000,1030,0.000,0.023,2065,1970,3494,3409,3580,0,0,0,0,0,0,28.83,26.39,28.83
$GC,694,-1.35,-170.3,2065,1969,3415,3580,61.6,-9.1,77,700,0.00,2.12,0.00,0.000,260,0.000,0.029,2057,3378,3497,3414,3580,0,0,0,0,0,0,28.83,26.48,28.83
$GC,783,-1.35,-170.3,2056,3378,3415,3579,69.8,-9.2,81,789,0.00,2.10,0.00,0.000,1030,0.000,0.024,2065,1966,3497,3415,3580,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1108,-1.35,-170.3,2064,1965,3416,3580,98.9,-8.9,97,1115,0.00,2.12,0.00,0.000,516,0.000,0.041,2075,572,3498,3416,3580,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1165,-1.35,-170.3,2075,572,3416,3580,103.3,-9.1,99,1171,0.00,2.05,0.00,0.000,1030,0.000,0.016,2066,1997,3498,3416,3580,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1480,-1.35,-170.3,2066,1998,3415,3580,132.3,-9.2,115,1486,0.00,2.20,0.00,0.000,516,0.000,0.039,2075,574,3498,3416,3580,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1546,-1.35,-170.3,2075,574,3416,3580,138.1,-8.8,118,1552,0.00,2.03,0.00,0.000,1030,0.000,0.015,2067,1977,3498,3416,3580,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1872,-1.35,-170.3,2066,1980,3416,3578,167.4,-9.0,134,1874,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,1980,3497,3416,3578,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2171,-1.35,-170.3,2066,1980,3416,3575,194.6,-9.2,149,2177,0.00,2.15,0.00,0.000,516,0.000,0.040,2075,577,3496,3416,3576,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2296,-1.35,-170.3,2075,576,3416,3574,204.2,-8.8,154,2304,0.00,2.03,0.00,0.000,1030,0.000,0.015,2066,1987,3494,3416,3573,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2601,-1.35,-170.3,2066,1988,3416,3570,232.6,-9.2,170,2608,0.00,2.03,0.00,0.000,260,0.000,0.031,2056,3358,3493,3416,3570,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2621,-1.35,-170.3,2056,3357,3416,3570,232.6,-9.2,170,2629,0.00,2.05,0.00,0.000,1030,0.000,0.025,2064,1975,3492,3416,3569,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2926,-1.35,-170.3,2063,1975,3415,3567,261.9,-9.0,186,2932,0.00,2.12,0.00,0.000,516,0.000,0.045,2073,578,3490,3414,3567,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3003,-1.35,-170.3,2073,578,3414,3567,267.9,-9.0,189,3008,0.00,2.03,0.00,0.000,1030,0.000,0.016,2065,1984,3490,3414,3566,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3317,-1.35,-170.3,2065,1984,3411,3565,296.9,-9.0,205,3318,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,1984,3488,3412,3565,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3618,-1.35,-170.3,2065,1985,3409,3562,324.2,-8.9,220,3624,0.00,2.17,0.00,0.000,516,0.000,0.043,2073,577,3485,3409,3562,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3686,-1.35,-170.3,2073,577,3409,3562,330.3,-9.1,223,3693,0.00,2.03,0.00,0.000,1030,0.000,0.016,2065,1974,3485,3409,3562,0,0,0,0,0,0,28.83,26.74,28.83
$STATE,3909,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3909,begin apogee
$GC,3914,-0.25,0.0,2063,2299,3408,3560,350.8,-9.1,234,4071,0.75,0.00,148.05,0.894,10246,0.124,0.000,2306,2300,2788,2750,2827,0,0,0,0,0,0,26.54,28.83,24.48
$STATE,4073,end apogee,CONTROL_FINISHED_OK
$STATE,4073,begin climb
$GC,4074,1.35,170.3,2307,2300,2748,2824,336.7,0.0,241,4237,1.00,2.30,151.35,0.874,10500,0.067,0.034,2660,3683,2090,2054,2127,0,0,0,0,0,0,25.25,24.97,24.32
$GC,4475,1.40,187.5,1696,3682,1993,2103,300.6,8.6,259,4495,0.00,2.12,15.05,0.823,9222,0.000,0.023,2670,2295,2029,1993,2066,0,0,0,0,0,0,28.83,25.98,25.10
$GC,4793,1.42,198.9,2669,2295,1981,2049,271.9,8.8,275,4805,0.00,0.00,9.82,0.825,8198,0.000,0.000,2670,2294,1984,1948,2020,0,0,0,0,0,0,28.83,28.83,25.28
$GC,5093,1.43,202.2,2669,2295,1941,2006,244.3,9.1,290,5099,0.00,2.17,0.00,0.000,516,0.000,0.041,2681,892,1973,1941,2006,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5256,1.44,206.9,2680,891,1940,2006,230.8,9.1,297,5269,0.00,2.08,5.10,0.733,9222,0.000,0.018,2680,2295,1950,1915,1985,0,0,0,0,0,0,28.83,26.43,25.44
$GC,5588,1.47,217.1,2680,2295,1915,1987,199.7,8.9,314,5608,0.00,0.00,13.23,0.783,8198,0.000,0.000,2680,2296,1905,1875,1935,0,0,0,0,0,0,28.83,28.83,25.53
$GC,5908,1.48,222.9,2680,2296,1874,1929,170.4,9.0,330,5919,0.00,2.12,4.50,0.692,8452,0.000,0.033,2681,3694,1885,1857,1913,0,0,0,0,0,0,28.83,26.34,25.37
$GC,6039,1.50,227.6,1696,3693,1811,1904,158.8,9.1,336,6052,0.00,2.10,6.97,0.767,9222,0.000,0.024,2690,2304,1865,1836,1894,0,0,0,0,0,0,28.83,26.42,25.54
$GC,6360,1.50,227.6,2690,2304,1835,1887,129.4,9.4,352,6366,0.00,2.17,0.00,0.000,516,0.000,0.042,2701,895,1861,1835,1888,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6428,1.51,232.8,2700,895,1835,1888,123.3,9.1,355,6439,0.00,2.10,4.78,0.698,9222,0.000,0.018,2701,2309,1844,1816,1872,0,0,0,0,0,0,28.83,26.50,25.43
$GC,6754,1.53,239.5,2701,2309,1816,1872,94.3,9.0,371,6765,0.00,0.00,9.05,0.733,8198,0.000,0.000,2701,2309,1817,1788,1847,0,0,0,0,0,0,28.83,28.83,25.65
$GC,7054,1.59,265.3,2701,2309,1783,1839,67.7,8.3,386,7083,0.00,0.00,26.65,0.692,8198,0.000,0.000,2701,2309,1712,1677,1747,0,0,0,0,0,0,28.83,28.83,25.46
$GC,7375,1.60,270.2,2701,2309,1671,1733,38.9,9.1,408,7384,0.00,2.17,3.08,0.464,8452,0.000,0.035,2701,3688,1692,1658,1726,0,0,0,0,0,0,28.83,26.31,25.36
$GC,7409,1.63,279.4,2701,3688,1658,1726,35.8,8.9,411,7428,0.00,2.12,11.88,0.685,9222,0.000,0.025,2711,2298,1650,1606,1695,0,0,0,0,0,0,28.83,26.34,25.53
$GC,7746,1.64,283.2,2711,2298,1599,1691,5.2,9.1,462,7754,0.00,2.15,0.00,0.000,260,0.000,0.034,2711,3694,1645,1599,1692,0,0,0,0,0,0,28.83,26.37,28.83
$STATE,7771,end climb,SURFACE_DEPTH_REACHED
$STATE,7771,begin surface coast
$FINISH,0.0,1.026332
$STATE,7808,end surface coast,CONTROL_FINISHED_OK
$STATE,7808,begin surface
$SM_CCo,7826,231.32,0.842,1,0,511,560.02
$SM_GC,-23.93,7.45,2.70,231.32,0.078,0.027,0.842,86,1967,511,-10.39,1.02,560.02,0,0,0,0,1,0,26.39,26.41,24.41
$IRIDIUM_FIX,1857.82,12006.19,170313,040415
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.11
$INTERNAL_PRESSURE,9.02877
$TCM_TEMP,17.80
$XPDR_PINGS,1
$SC_FREEKB,3978496
$24V_AH,24.3,20.782
$10V_AH,10.2,12.781
$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,17.225,60.250,409.500,231.325,0.000,0.000,0.000,248.825,0.250,0.000,21.947,1854.056,4108.289,747.063,1493.859,257.384,0.000,1745.075,0.000,1245.797,0.000,1.483,0.000
$DEVICE_MAMPS,231.030,45.135,894.285,841.500,0.000,0.000,0.000,128.520,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7810.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.262,0.000,0.000,0.000
$MEM,323880
$DATA_FILE_SIZE,16772,472
$CAP_FILE_SIZE,379868,1898
$CFSIZE,260034560,237334528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.217, 45.1,1
$GPS,170313,092522,1905.963,12008.082,580,0.9,580,-2.5