version: 66.11
glider: 121
mission: 10
dive: 119
start: 3 17 113 14 33 58
data:
$ID,121
$MISSION,10
$DIVE,119
$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,-100644.09
$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,54
$R_STBD_OVSHOOT,61
$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
$GPS1,170313,142704,1907.766,12007.988,468,0.8,468,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-66.9
$GPS2,170313,143331,1907.882,12008.104,19,1.5,20,-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,346.9,291316,-18.5,-9.259,-21.12,2828
$D_GRID,2904
$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,-170.3,82,1943,465,555,0.0,0.0,0,44,0.00,0.00,-24.33,0.000,16386,0.000,0.000,82,1944,1144,1121,1168,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.35,-170.3,83,1944,1122,1171,3.1,-9.2,3,145,7.95,2.22,-79.95,0.000,18692,0.227,0.045,2053,3363,3493,3407,3579,0,0,0,0,0,0,25.87,26.19,26.46
$GC,218,-1.35,-170.3,2053,3362,3409,3580,19.0,-9.2,29,227,0.00,2.08,0.00,0.000,1030,0.000,0.024,2061,1983,3494,3409,3580,0,0,0,0,0,0,28.83,26.27,28.83
$GC,541,-1.35,-170.3,2061,1983,3414,3581,47.7,-9.1,66,546,0.00,2.15,0.00,0.000,516,0.000,0.038,2072,569,3497,3414,3580,0,0,0,0,0,0,28.83,26.42,28.83
$GC,785,-1.35,-170.3,2072,569,3416,3582,69.1,-9.1,79,792,0.00,2.05,0.00,0.000,1030,0.000,0.015,2064,1998,3498,3415,3582,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1100,-1.35,-170.3,2064,1999,3416,3582,98.2,-9.2,95,1107,0.00,2.22,0.00,0.000,516,0.000,0.037,2072,565,3499,3416,3582,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1342,-1.35,-170.3,2072,566,3415,3582,119.0,-8.9,106,1348,0.00,2.03,0.00,0.000,1030,0.000,0.015,2064,1979,3498,3415,3582,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1656,-1.35,-170.3,2064,1981,3416,3582,148.2,-9.0,122,1662,0.00,2.17,0.00,0.000,516,0.000,0.037,2072,567,3498,3415,3582,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1764,-1.35,-170.3,2072,567,3415,3581,157.9,-9.0,127,1770,0.00,2.03,0.00,0.000,1030,0.000,0.015,2064,1982,3498,3415,3581,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2089,-1.35,-170.3,2063,1984,3415,3578,187.2,-8.9,143,2095,0.00,2.17,0.00,0.000,516,0.000,0.038,2072,565,3496,3415,3578,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2144,-1.35,-170.3,2071,565,3415,3578,191.4,-9.0,145,2151,0.00,2.03,0.00,0.000,1030,0.000,0.015,2063,1979,3496,3415,3578,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2460,-1.35,-170.3,2063,1983,3415,3574,219.6,-9.1,161,2461,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,1983,3495,3415,3575,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2760,-1.35,-170.3,2063,1983,3415,3572,246.5,-9.1,176,2767,0.00,2.17,0.00,0.000,516,0.000,0.040,2071,567,3493,3415,3571,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2842,-1.35,-170.3,1296,567,3400,3568,252.5,-8.9,179,2850,0.00,2.03,0.00,0.000,1030,0.000,0.016,2063,1979,3493,3415,3571,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3149,-1.35,-170.3,2063,1980,3413,3568,281.2,-8.7,195,3155,0.00,2.05,0.00,0.000,260,0.000,0.032,2053,3364,3490,3413,3567,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3196,-1.35,-170.3,2052,3364,3413,3567,285.3,-8.5,197,3202,0.00,2.08,0.00,0.000,1030,0.000,0.024,2057,1973,3490,3413,3567,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3521,-1.35,-170.3,2056,1972,3411,3565,314.6,-9.0,213,3527,0.00,2.12,0.00,0.000,516,0.000,0.043,2066,576,3487,3410,3564,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3700,-1.35,-170.3,2066,576,3409,3565,330.1,-9.0,221,3706,0.00,2.03,0.00,0.000,1030,0.000,0.016,2058,1981,3487,3409,3565,0,0,0,0,0,0,28.83,26.74,28.83
$STATE,3913,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3913,begin apogee
$GC,3917,-0.25,0.0,2055,2304,3408,3562,350.1,-8.8,232,4073,0.77,0.00,144.88,0.907,10246,0.122,0.000,2308,2304,2789,2751,2827,0,0,0,0,0,0,26.54,28.83,24.45
$STATE,4075,end apogee,CONTROL_FINISHED_OK
$STATE,4075,begin climb
$GC,4077,1.35,170.3,2307,2304,2750,2826,336.0,0.0,239,4237,1.00,2.28,148.00,0.890,10500,0.067,0.032,2661,3678,2091,2055,2128,0,0,0,0,0,0,25.27,24.97,24.29
$GC,4477,1.38,182.3,2661,3678,2050,2117,300.0,8.8,257,4496,0.00,2.10,9.88,0.832,9222,0.000,0.022,2671,2304,2044,2008,2081,0,0,0,0,0,0,28.83,25.98,25.09
$GC,4795,1.40,190.7,2670,2304,2005,2075,271.0,9.0,273,4806,0.00,0.00,7.38,0.802,8454,0.000,0.000,2671,2304,2015,1979,2051,0,0,0,0,0,0,28.83,28.83,25.32
$GC,5120,1.43,199.5,2670,2304,1978,2043,241.7,8.9,289,5137,0.00,2.25,9.43,0.811,8708,0.000,0.042,2681,903,1977,1941,2014,0,0,0,0,0,0,28.83,26.17,25.41
$GC,5200,1.46,212.1,2681,903,1940,2012,235.6,8.8,292,5220,0.00,2.08,13.07,0.814,9222,0.000,0.017,2682,2304,1926,1894,1958,0,0,0,0,0,0,28.83,26.30,25.30
$GC,5534,1.47,216.0,2681,2304,1894,1946,204.3,9.1,309,5540,0.00,2.10,0.00,0.000,260,0.000,0.034,2681,3691,1920,1894,1946,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5590,1.49,223.7,2681,3691,1894,1945,200.2,9.0,311,5609,0.00,2.10,11.60,0.797,9222,0.000,0.024,2691,2302,1877,1851,1903,0,0,0,0,0,0,28.83,26.37,25.41
$GC,5928,1.51,234.1,2691,2302,1850,1895,168.8,8.9,328,5944,0.00,2.15,10.32,0.778,8452,0.000,0.031,2691,3691,1836,1810,1863,0,0,0,0,0,0,28.83,26.21,25.48
$GC,6047,1.53,240.8,2691,3691,1808,1858,158.9,9.0,333,6062,0.00,2.12,6.80,0.763,9222,0.000,0.024,2701,2295,1810,1783,1837,0,0,0,0,0,0,28.83,26.32,25.43
$GC,6359,1.54,245.3,2701,2295,1783,1831,129.9,9.1,349,6371,0.00,2.22,3.75,0.601,8708,0.000,0.043,2712,901,1794,1768,1821,0,0,0,0,0,0,28.83,26.32,25.33
$GC,6421,1.55,250.9,2711,901,1768,1821,125.6,9.1,351,6436,0.00,2.08,8.25,0.745,9222,0.000,0.018,2712,2304,1769,1740,1798,0,0,0,0,0,0,28.83,26.41,25.51
$GC,6756,1.58,262.7,2712,2305,1739,1791,94.0,8.8,368,6773,0.00,2.20,12.32,0.719,8452,0.000,0.035,2712,3693,1721,1690,1752,0,0,0,0,0,0,28.83,26.22,25.53
$GC,6983,1.59,266.1,2711,3695,1685,1748,74.6,9.1,378,6991,0.00,2.15,0.00,0.000,1030,0.000,0.025,2722,2295,1717,1685,1749,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7289,1.61,274.6,2721,2295,1685,1746,45.8,8.9,396,7308,0.00,0.00,12.30,0.679,8198,0.000,0.000,2722,2295,1670,1633,1708,0,0,0,0,0,0,28.83,28.83,25.63
$GC,7616,1.65,290.3,1696,2293,1594,1694,16.0,8.7,437,7640,0.00,2.20,15.32,0.653,8708,0.000,0.041,2734,889,1605,1557,1654,0,0,0,0,0,0,28.83,26.20,25.59
$GC,7739,1.67,296.0,2732,889,1557,1649,4.9,9.1,458,7749,0.00,2.10,4.40,0.589,9222,0.000,0.018,2733,2306,1587,1538,1636,0,0,0,0,0,0,28.83,26.36,25.37
$STATE,7761,end climb,SURFACE_DEPTH_REACHED
$STATE,7761,begin surface coast
$FINISH,0.0,1.026246
$STATE,7794,end surface coast,CONTROL_FINISHED_OK
$STATE,7794,begin surface
$SM_CCo,7811,221.02,0.838,1,0,511,560.02
$SM_GC,-23.93,7.47,0.55,221.02,0.075,0.034,0.838,87,1951,511,-10.38,0.85,560.02,0,0,0,0,1,0,26.29,26.32,24.34
$IRIDIUM_FIX,1900.10,12006.19,170313,111117
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.38
$INTERNAL_PRESSURE,9.02877
$TCM_TEMP,17.90
$XPDR_PINGS,0
$SC_FREEKB,3977344
$24V_AH,24.3,21.264
$10V_AH,10.1,12.996
$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,17.200,64.725,417.700,221.025,0.000,0.000,0.000,219.825,0.000,0.000,20.940,1962.598,3847.723,744.136,1571.151,280.325,0.000,1788.074,0.000,1343.471,0.000,1.484,0.000
$DEVICE_MAMPS,227.205,45.135,907.290,837.675,0.000,0.000,0.000,135.405,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7797.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.287,0.000,0.000,0.000
$MEM,323884
$DATA_FILE_SIZE,16774,467
$CAP_FILE_SIZE,407941,2107
$CFSIZE,260034560,236974080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.114, 44.3,1
$GPS,170313,165658,1908.811,12008.141,505,0.8,505,-2.5