version: 66.11
glider: 121
mission: 10
dive: 117
start: 3 17 113 9 32 21
data:
$ID,121
$MISSION,10
$DIVE,117
$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,-100641.57
$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,39
$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,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
$GPS1,170313,092522,1905.963,12008.082,580,0.9,580,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-66.7
$GPS2,170313,093153,1906.059,12008.055,16,1.3,16,-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,319.8,294684,-18.5,-9.259,-21.12,2828
$D_GRID,2931
$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,17,-1.35,-170.3,84,1957,459,553,0.0,0.0,0,50,0.00,0.00,-30.92,0.000,16386,0.000,0.000,85,1955,1294,1265,1324,0,0,0,0,0,0,28.83,28.83,28.83
$GC,53,-1.35,-170.3,84,1955,1265,1327,3.6,-8.7,4,138,8.15,2.22,-71.18,0.000,18692,0.236,0.044,2052,3372,3493,3408,3578,0,0,0,0,0,0,25.86,26.20,26.47
$GC,147,-1.35,-170.3,2052,3373,3408,3579,12.5,-9.1,16,155,0.00,2.12,0.00,0.000,1030,0.000,0.023,2060,1963,3494,3409,3580,0,0,0,0,0,0,28.83,26.22,28.83
$GC,467,-1.35,-170.3,2060,1963,3413,3580,41.6,-9.2,59,472,0.00,2.12,0.00,0.000,516,0.000,0.040,2070,571,3496,3413,3580,0,0,0,0,0,0,28.83,26.39,28.83
$GC,481,-1.35,-170.3,2070,571,3413,3580,42.9,-9.0,60,487,0.00,2.05,0.00,0.000,1030,0.000,0.015,2062,2002,3496,3413,3580,0,0,0,0,0,0,28.83,26.47,28.83
$GC,806,-1.35,-170.3,2062,2004,3416,3580,72.3,-9.2,80,812,0.00,2.00,0.00,0.000,260,0.000,0.030,2052,3349,3498,3416,3580,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1055,-1.35,-170.3,2052,3349,3416,3582,93.6,-8.9,91,1061,0.00,2.05,0.00,0.000,1030,0.000,0.024,2060,1968,3498,3416,3580,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1369,-1.35,-170.3,2059,1968,3416,3581,123.2,-8.9,107,1370,0.00,0.00,0.00,0.000,6,0.000,0.000,2060,1968,3498,3416,3581,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1671,-1.35,-170.3,2060,1968,3418,3579,150.4,-9.2,122,1676,0.00,2.12,0.00,0.000,516,0.000,0.041,2070,572,3499,3418,3580,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1768,-1.35,-170.3,2070,572,3418,3580,158.2,-9.0,126,1774,0.00,2.00,0.00,0.000,1030,0.000,0.015,2062,1972,3499,3418,3580,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2082,-1.35,-170.3,2062,1972,3417,3577,187.5,-9.0,142,2083,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,1972,3497,3417,3578,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2385,-1.35,-170.3,2062,1973,3417,3573,214.0,-8.5,157,2390,0.00,2.15,0.00,0.000,516,0.000,0.040,2070,574,3495,3417,3573,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2476,-1.35,-170.3,2070,574,3417,3573,222.1,-9.1,161,2482,0.00,2.00,0.00,0.000,1030,0.000,0.015,2062,1974,3495,3417,3573,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2797,-1.35,-170.3,2061,1974,3417,3569,251.2,-8.8,177,2803,0.00,2.15,0.00,0.000,516,0.000,0.040,2070,572,3492,3416,3569,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2827,-1.35,-170.3,2069,572,3416,3569,253.5,-8.8,178,2833,0.00,2.03,0.00,0.000,1030,0.000,0.016,2062,1983,3492,3416,3569,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3147,-1.35,-170.3,2061,1984,3414,3566,283.2,-9.2,194,3148,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,1984,3490,3414,3566,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3448,-1.35,-170.3,2061,1984,3410,3565,310.3,-9.3,209,3453,0.00,2.03,0.00,0.000,260,0.000,0.031,2051,3353,3487,3411,3564,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3497,-1.35,-170.3,1256,3352,3394,3561,314.4,-9.0,211,3503,0.00,2.05,0.00,0.000,1030,0.000,0.025,2057,1976,3487,3411,3563,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3818,-1.35,-170.3,2056,1976,3409,3561,343.1,-8.7,227,3824,0.00,2.15,0.00,0.000,516,0.000,0.044,2066,570,3485,3409,3561,0,0,0,0,0,0,28.83,26.67,28.83
$STATE,3905,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3905,begin apogee
$GC,3912,-0.25,0.0,2055,2290,3408,3561,351.1,-8.9,231,4069,0.77,0.00,147.60,0.902,10246,0.125,0.000,2307,2290,2788,2750,2827,0,0,0,0,0,0,26.53,28.83,24.45
$STATE,4070,end apogee,CONTROL_FINISHED_OK
$STATE,4071,begin climb
$GC,4072,1.35,170.3,2306,2290,2747,2823,336.8,0.0,238,4235,1.02,2.30,151.95,0.887,10500,0.069,0.034,2666,3716,2089,2051,2128,0,0,0,0,0,0,25.24,24.96,24.29
$GC,4466,1.38,181.0,1672,3716,1992,2103,301.0,8.9,256,4477,0.00,2.17,4.05,0.653,9222,0.000,0.023,2677,2296,2056,2020,2093,0,0,0,0,0,0,28.83,25.96,24.98
$GC,4791,1.39,185.9,2676,2295,2020,2101,271.7,9.1,272,4808,0.00,2.22,8.98,0.835,8708,0.000,0.041,2687,905,2033,1994,2072,0,0,0,0,0,0,28.83,26.09,25.32
$GC,4879,1.41,192.4,2686,905,1992,2069,263.7,9.0,276,4890,0.00,2.10,5.40,0.772,9222,0.000,0.018,2687,2311,2011,1972,2050,0,0,0,0,0,0,28.83,26.24,25.25
$GC,5204,1.41,194.3,2687,2311,1971,2048,234.6,9.2,292,5206,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2311,2009,1971,2048,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5504,1.42,198.6,2687,2311,1972,2046,207.2,9.1,307,5521,0.00,2.15,8.00,0.800,8452,0.000,0.035,2687,3684,1981,1943,2020,0,0,0,0,0,0,28.83,26.32,25.54
$GC,5682,1.44,205.6,2687,3684,1942,2014,192.1,9.0,315,5697,0.00,2.10,7.65,0.795,9222,0.000,0.024,2697,2293,1953,1917,1989,0,0,0,0,0,0,28.83,26.42,25.51
$GC,5993,1.45,207.5,2697,2294,1916,1982,162.9,9.2,331,5999,0.00,2.15,0.00,0.000,260,0.000,0.034,2697,3692,1949,1916,1982,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6075,1.45,209.6,2697,3692,1916,1982,156.7,9.2,334,6086,0.12,2.10,3.08,0.504,13318,0.190,0.025,2677,2301,1939,1905,1973,0,0,0,0,0,0,26.28,26.46,25.37
$GC,6383,1.46,211.5,2677,2301,1905,1973,127.9,9.2,350,6389,0.00,2.12,0.00,0.000,260,0.000,0.034,2677,3688,1939,1905,1973,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6458,1.47,218.0,2677,3688,1905,1973,121.8,9.0,353,6477,0.00,2.10,10.88,0.757,9222,0.000,0.024,2687,2293,1901,1870,1932,0,0,0,0,0,0,28.83,26.53,25.63
$GC,6796,1.50,227.6,2686,2294,1870,1924,90.7,8.9,370,6812,0.00,2.17,9.85,0.741,8708,0.000,0.043,2697,897,1862,1834,1890,0,0,0,0,0,0,28.83,26.30,25.60
$GC,6907,1.51,233.3,2697,897,1831,1889,80.9,9.1,375,6919,0.00,2.08,4.57,0.669,9222,0.000,0.018,2697,2301,1842,1813,1872,0,0,0,0,0,0,28.83,26.43,25.39
$GC,7228,1.53,241.4,2697,2302,1813,1872,51.7,9.0,391,7245,0.00,2.20,10.70,0.718,8452,0.000,0.036,2697,3694,1804,1774,1834,0,0,0,0,0,0,28.83,26.29,25.60
$GC,7407,1.55,249.7,2697,3694,1774,1829,35.7,9.0,406,7422,0.00,2.12,8.20,0.702,9222,0.000,0.024,2707,2291,1774,1745,1804,0,0,0,0,0,0,28.83,26.40,25.56
$GC,7741,1.56,254.6,2707,2291,1742,1797,5.4,9.1,457,7749,0.00,0.00,3.90,0.565,8198,0.000,0.000,2707,2291,1756,1727,1785,0,0,0,0,0,0,28.83,28.83,25.44
$STATE,7766,end climb,SURFACE_DEPTH_REACHED
$STATE,7766,begin surface coast
$FINISH,0.0,1.026396
$STATE,7800,end surface coast,CONTROL_FINISHED_OK
$STATE,7800,begin surface
$SM_CCo,7816,256.23,0.864,1,0,512,560.02
$SM_GC,-23.93,7.38,0.47,256.23,0.076,0.042,0.864,86,1958,512,-10.40,1.13,560.02,0,0,0,0,1,0,26.39,26.44,24.30
$IRIDIUM_FIX,1857.82,12008.17,170313,060601
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.89
$INTERNAL_PRESSURE,9.02877
$TCM_TEMP,17.80
$XPDR_PINGS,0
$SC_FREEKB,3978112
$24V_AH,24.3,20.945
$10V_AH,10.1,12.853
$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,17.450,64.425,384.800,256.225,0.000,0.000,0.000,230.100,0.000,0.000,17.504,1919.918,3991.675,738.019,1530.471,273.714,0.000,1753.152,0.000,1296.990,0.000,1.483,0.000
$DEVICE_MAMPS,235.620,44.370,901.935,864.450,0.000,0.000,0.000,130.815,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7802.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.212,0.000,0.000,0.000
$MEM,323944
$DATA_FILE_SIZE,16817,467
$CAP_FILE_SIZE,396053,2008
$CFSIZE,260034560,237211648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.143, 53.9,1
$GPS,170313,115637,1906.802,12008.132,540,1.3,540,-2.5