version: 66.11
glider: 121
mission: 10
dive: 118
start: 3 17 113 12 3 50
data:
$ID,121
$MISSION,10
$DIVE,118
$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,-100642.84
$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,52
$R_STBD_OVSHOOT,56
$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
$GPS1,170313,115637,1906.802,12008.132,540,1.3,540,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-66.3
$GPS2,170313,120324,1906.942,12008.218,25,0.9,25,-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,329.7,293064,-18.5,-9.259,-21.12,2828
$D_GRID,2949
$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,-170.3,84,1948,459,553,0.0,0.0,0,44,0.00,0.00,-24.23,0.000,16386,0.000,0.000,84,1948,1137,1114,1160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.35,-170.3,84,1948,1113,1161,3.1,-8.9,3,145,7.95,2.17,-80.12,0.000,18692,0.229,0.044,2055,3376,3492,3406,3579,0,0,0,0,0,0,25.88,26.19,26.47
$GC,201,-1.35,-170.3,1224,3374,3390,3578,17.4,-9.2,26,209,0.00,2.12,0.00,0.000,1030,0.000,0.025,2063,1973,3494,3408,3580,0,0,0,0,0,0,28.83,26.26,28.83
$GC,517,-1.35,-170.3,2062,1971,3413,3580,45.8,-8.9,64,523,0.00,2.12,0.00,0.000,260,0.000,0.028,2055,3381,3496,3413,3580,0,0,0,0,0,0,28.83,26.43,28.83
$GC,762,-1.35,-170.3,2054,3381,3414,3581,67.0,-9.1,78,768,0.00,2.10,0.00,0.000,1030,0.000,0.023,2063,1966,3498,3415,3581,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1077,-1.35,-170.3,2062,1967,3415,3581,95.8,-8.9,94,1083,0.00,2.12,0.00,0.000,260,0.000,0.028,2054,3375,3498,3415,3581,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1132,-1.35,-170.3,2054,3375,3415,3581,99.9,-8.8,96,1138,0.00,2.08,0.00,0.000,1030,0.000,0.024,2063,1976,3497,3415,3580,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1447,-1.35,-170.3,2062,1977,3415,3581,128.9,-8.9,112,1453,0.00,2.12,0.00,0.000,516,0.000,0.040,2073,571,3498,3415,3581,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1551,-1.35,-170.3,2073,571,3415,3581,136.9,-8.9,116,1559,0.00,2.05,0.00,0.000,1030,0.000,0.015,2064,2008,3498,3416,3580,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1857,-1.35,-170.3,2064,2008,3416,3580,165.4,-8.7,132,1863,0.00,2.22,0.00,0.000,516,0.000,0.039,2073,567,3497,3416,3579,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1958,-1.35,-170.3,2073,567,3416,3579,173.3,-9.0,136,1967,0.00,2.03,0.00,0.000,1030,0.000,0.015,2065,1985,3497,3415,3579,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2264,-1.35,-170.3,2064,1986,3416,3576,203.1,-9.2,152,2270,0.00,2.03,0.00,0.000,260,0.000,0.030,2054,3354,3495,3415,3575,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2320,-1.35,-170.3,2054,3354,3415,3574,207.3,-8.9,154,2326,0.00,2.05,0.00,0.000,1030,0.000,0.024,2062,1971,3495,3416,3574,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2635,-1.35,-170.3,2062,1971,3415,3572,236.3,-9.1,170,2641,0.00,2.12,0.00,0.000,516,0.000,0.042,2072,570,3493,3415,3571,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2807,-1.35,-170.3,1264,570,3399,3568,251.2,-9.0,178,2812,0.00,2.03,0.00,0.000,1030,0.000,0.016,2064,1985,3493,3415,3571,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3127,-1.35,-170.3,2063,1986,3413,3567,279.7,-8.7,194,3128,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,1986,3490,3413,3568,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3426,-1.35,-170.3,2063,1986,3411,3565,306.6,-9.3,209,3428,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,1986,3488,3411,3566,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3727,-1.35,-170.3,2063,1986,3409,3563,333.5,-9.0,224,3733,0.00,2.17,0.00,0.000,516,0.000,0.041,2071,576,3486,3409,3563,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3876,-1.35,-170.3,2071,577,3408,3562,346.6,-9.0,231,3882,0.00,2.03,0.00,0.000,1030,0.000,0.016,2064,1979,3485,3408,3562,0,0,0,0,0,0,28.83,26.75,28.83
$STATE,3919,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3919,begin apogee
$GC,3924,-0.25,0.0,2061,2308,3407,3562,350.8,-9.0,233,4080,0.75,0.00,144.55,0.907,10246,0.122,0.000,2306,2308,2789,2752,2827,0,0,0,0,0,0,26.53,28.83,24.45
$STATE,4082,end apogee,CONTROL_FINISHED_OK
$STATE,4082,begin climb
$GC,4083,1.35,170.3,2306,2308,2751,2826,336.9,0.0,240,4243,1.02,2.28,150.02,0.894,10500,0.067,0.033,2668,3678,2092,2056,2129,0,0,0,0,0,0,25.28,24.97,24.29
$GC,4382,1.37,177.8,2668,3678,2050,2117,310.3,9.0,253,4396,0.00,2.12,2.67,0.388,9222,0.000,0.022,2678,2301,2069,2033,2105,0,0,0,0,0,0,28.83,25.77,24.81
$GC,4693,1.39,184.1,2678,2301,2033,2108,281.5,9.0,269,4710,0.00,2.20,9.50,0.815,8708,0.000,0.041,2689,902,2040,2003,2078,0,0,0,0,0,0,28.83,26.02,25.29
$GC,4810,1.41,194.5,2688,902,2000,2076,271.9,8.9,274,4829,0.00,2.08,10.77,0.815,9222,0.000,0.017,2689,2299,1997,1960,2034,0,0,0,0,0,0,28.83,26.22,25.25
$GC,5147,1.43,199.6,2688,2299,1959,2027,241.1,9.1,291,5159,0.00,2.17,4.00,0.656,8452,0.000,0.034,2688,3687,1980,1945,2016,0,0,0,0,0,0,28.83,26.26,25.23
$GC,5393,1.44,206.6,2688,3687,1945,2016,220.1,9.0,302,5412,0.00,2.10,9.32,0.784,9222,0.000,0.024,2698,2295,1948,1913,1983,0,0,0,0,0,0,28.83,26.41,25.48
$GC,5726,1.46,212.7,2698,2295,1913,1976,188.8,9.0,319,5737,0.00,2.17,5.05,0.725,8452,0.000,0.031,2698,3695,1927,1895,1959,0,0,0,0,0,0,28.83,26.34,25.46
$GC,5884,1.46,214.3,2698,3695,1895,1956,175.4,9.2,326,5891,0.10,2.10,0.00,0.000,5126,0.194,0.024,2686,2304,1926,1895,1957,0,0,0,0,0,0,26.25,26.42,28.83
$GC,6200,1.48,221.8,2686,2304,1895,1954,146.1,9.0,342,6219,0.00,0.00,11.18,0.737,8198,0.000,0.000,2686,2304,1885,1857,1913,0,0,0,0,0,0,28.83,28.83,25.63
$GC,6520,1.49,223.5,2686,2303,1857,1906,117.3,9.2,358,6521,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2304,1881,1857,1906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6821,1.52,238.6,2686,2303,1858,1904,89.8,8.7,373,6844,0.00,2.22,16.45,0.696,8452,0.000,0.033,2686,3693,1817,1790,1845,0,0,0,0,0,0,28.83,26.28,25.63
$GC,7041,1.56,251.3,2686,3693,1789,1838,70.7,8.8,383,7060,0.00,2.12,12.82,0.685,9222,0.000,0.024,2695,2289,1766,1738,1795,0,0,0,0,0,0,28.83,26.42,25.56
$GC,7369,1.58,262.1,2695,2289,1737,1786,40.7,8.9,404,7388,0.00,2.22,10.95,0.666,8708,0.000,0.042,2705,897,1721,1691,1751,0,0,0,0,0,0,28.83,26.24,25.58
$GC,7412,1.60,270.1,2705,898,1689,1750,37.2,9.0,407,7425,0.00,2.08,8.48,0.662,9222,0.000,0.017,2706,2299,1690,1657,1724,0,0,0,0,0,0,28.83,26.33,25.51
$GC,7743,1.60,270.1,1696,2296,1613,1707,7.4,9.3,456,7751,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2299,1684,1652,1716,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7794,end climb,SURFACE_DEPTH_REACHED
$STATE,7794,begin surface coast
$FINISH,0.0,1.026137
$STATE,7829,end surface coast,CONTROL_FINISHED_OK
$STATE,7829,begin surface
$SM_CCo,7845,238.15,0.828,1,0,512,560.02
$SM_GC,-23.93,7.32,0.52,238.15,0.072,0.034,0.828,84,1953,512,-10.41,1.02,560.02,0,0,0,0,1,0,26.40,26.46,24.34
$IRIDIUM_FIX,1900.10,12007.34,170313,090904
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.89
$INTERNAL_PRESSURE,9.03854
$TCM_TEMP,15.80
$XPDR_PINGS,0
$SC_FREEKB,3977728
$24V_AH,24.3,21.104
$10V_AH,10.2,12.925
$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,17.150,60.400,395.775,238.150,0.000,0.000,0.000,235.525,0.000,0.000,26.893,1985.203,3858.867,749.487,1604.706,278.212,0.000,1812.580,0.000,1368.312,0.000,1.483,0.000
$DEVICE_MAMPS,228.735,43.605,907.290,827.730,0.000,0.000,0.000,132.345,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7830.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.263,0.000,0.000,0.000
$MEM,323840
$DATA_FILE_SIZE,16766,471
$CAP_FILE_SIZE,412086,2139
$CFSIZE,260034560,237084672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.085, 35.6,1
$GPS,170313,142704,1907.766,12007.988,468,0.8,468,-2.5