version: 66.11
glider: 121
mission: 10
dive: 120
start: 3 17 113 17 3 57
data:
$ID,121
$MISSION,10
$DIVE,120
$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,-100645.36
$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,59
$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
$GPS1,170313,165658,1908.811,12008.141,505,0.8,505,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-66.1
$GPS2,170313,170330,1908.898,12008.312,14,0.9,15,-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,339.4,289453,-18.5,-9.259,-21.12,2828
$D_GRID,2864
$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,-170.3,85,1941,461,551,0.0,0.0,0,43,0.00,0.00,-23.42,0.000,16386,0.000,0.000,85,1941,1117,1095,1139,0,0,0,0,0,0,28.83,28.83,28.83
$GC,45,-1.35,-170.3,86,1941,1096,1141,3.2,-9.4,3,160,7.97,2.17,-92.65,0.000,18948,0.228,0.052,2076,571,3493,3407,3579,0,0,0,0,0,0,25.86,26.19,26.47
$GC,403,-1.35,-170.3,2076,571,3411,3580,35.3,-9.0,52,412,0.00,2.08,0.00,0.000,1030,0.000,0.015,2068,1988,3496,3412,3580,0,0,0,0,0,0,28.83,26.41,28.83
$GC,710,-1.35,-170.3,2067,1989,3416,3581,63.0,-8.8,76,716,0.00,2.20,0.00,0.000,516,0.000,0.037,2076,568,3498,3416,3581,0,0,0,0,0,0,28.83,26.47,28.83
$GC,861,-1.35,-170.3,2076,568,3416,3582,76.4,-9.0,83,867,0.00,2.03,0.00,0.000,1030,0.000,0.015,2068,1977,3500,3416,3585,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1187,-1.35,-170.3,2067,1977,3416,3582,105.9,-8.9,99,1193,0.00,2.15,0.00,0.000,516,0.000,0.037,2076,577,3499,3416,3582,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1279,-1.35,-170.3,2076,577,3416,3582,113.9,-9.0,103,1285,0.00,2.03,0.00,0.000,1030,0.000,0.016,2068,1986,3499,3416,3582,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1600,-1.35,-170.3,2067,1987,3415,3582,142.4,-8.9,119,1601,0.00,0.00,0.00,0.000,6,0.000,0.000,2067,1987,3498,3416,3581,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1899,-1.35,-170.3,2067,1987,3416,3580,169.0,-9.0,134,1905,0.00,2.17,0.00,0.000,516,0.000,0.038,2076,576,3497,3415,3579,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2043,-1.35,-170.3,2075,575,3416,3579,180.9,-9.1,140,2051,0.00,2.03,0.00,0.000,1030,0.000,0.016,2067,1981,3497,3416,3578,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2350,-1.35,-170.3,2067,1982,3416,3575,209.7,-8.9,156,2351,0.00,0.00,0.00,0.000,6,0.000,0.000,2067,1983,3496,3416,3576,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2651,-1.35,-170.3,2067,1983,3416,3572,236.4,-9.2,171,2653,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,1983,3494,3416,3572,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2951,-1.35,-170.3,2067,1984,3416,3569,264.1,-9.1,186,2952,0.00,0.00,0.00,0.000,6,0.000,0.000,2067,1984,3492,3415,3569,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3250,-1.35,-170.3,2067,1984,3413,3567,291.5,-9.4,201,3256,0.00,2.17,0.00,0.000,516,0.000,0.040,2075,572,3489,3413,3566,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3374,-1.35,-170.3,2075,572,3412,3566,301.2,-8.8,206,3382,0.00,2.03,0.00,0.000,1030,0.000,0.016,2067,1976,3488,3411,3566,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3679,-1.35,-170.3,2067,1976,3410,3564,329.8,-8.7,222,3685,0.00,2.05,0.00,0.000,260,0.000,0.032,2056,3357,3487,3410,3564,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3789,-1.35,-170.3,1288,3356,3394,3560,339.6,-9.1,227,3795,0.00,2.05,0.00,0.000,1030,0.000,0.025,2061,1978,3486,3409,3563,0,0,0,0,0,0,28.83,26.70,28.83
$STATE,3907,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3907,begin apogee
$GC,3912,-0.25,0.0,2061,2301,3409,3562,350.8,-9.0,233,4062,0.75,0.00,141.38,0.857,10246,0.122,0.000,2306,2301,2790,2752,2829,0,0,0,0,0,0,26.53,28.83,24.51
$STATE,4065,end apogee,CONTROL_FINISHED_OK
$STATE,4065,begin climb
$GC,4066,1.35,170.3,2305,2301,2750,2828,338.7,0.0,239,4224,1.02,2.25,144.68,0.847,10500,0.071,0.033,2661,3669,2091,2055,2128,0,0,0,0,0,0,25.27,25.01,24.34
$GC,4323,1.37,177.0,2661,3669,2052,2120,313.7,9.0,251,4334,0.00,2.12,3.45,0.547,9222,0.000,0.023,2671,2305,2072,2037,2108,0,0,0,0,0,0,28.83,25.69,24.77
$GC,4649,1.37,177.0,2671,2305,2037,2108,283.9,9.4,267,4650,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2305,2072,2037,2108,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4949,1.38,181.7,2671,2305,2037,2106,256.8,9.1,282,4961,0.00,2.12,4.78,0.703,8452,0.000,0.031,2671,3686,2052,2016,2089,0,0,0,0,0,0,28.83,26.29,25.32
$GC,5113,1.41,193.4,2671,3686,2018,2090,243.5,8.8,289,5132,0.00,2.10,14.15,0.767,9222,0.000,0.024,2681,2295,2004,1968,2041,0,0,0,0,0,0,28.83,26.39,25.43
$GC,5446,1.44,204.3,2681,2295,1964,2031,212.4,8.9,306,5463,0.00,2.25,10.85,0.754,8708,0.000,0.041,2692,900,1957,1923,1992,0,0,0,0,0,0,28.83,26.18,25.47
$GC,5533,1.44,206.4,2692,900,1920,1990,204.6,9.2,310,5539,0.00,2.08,0.00,0.000,1030,0.000,0.017,2692,2305,1955,1920,1990,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5859,1.49,223.9,2692,2305,1920,1985,175.4,8.6,326,5880,0.00,0.00,18.85,0.734,8198,0.000,0.000,2692,2305,1881,1853,1910,0,0,0,0,0,0,28.83,28.83,25.46
$GC,6178,1.49,226.1,2692,2305,1848,1896,146.7,9.2,342,6184,0.00,2.10,0.00,0.000,260,0.000,0.034,2692,3691,1872,1848,1896,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6353,1.52,236.8,2692,3691,1848,1894,130.9,8.9,350,6376,0.00,2.10,12.45,0.708,9222,0.000,0.024,2702,2301,1823,1797,1849,0,0,0,0,0,0,28.83,26.45,25.55
$GC,6674,1.52,239.0,2702,2301,1796,1844,101.7,9.2,366,6681,0.00,2.12,0.00,0.000,260,0.000,0.033,2702,3685,1820,1798,1843,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6741,1.55,249.3,2701,3685,1796,1843,95.5,8.9,369,6758,0.00,2.10,12.10,0.686,9222,0.000,0.024,2711,2296,1777,1749,1806,0,0,0,0,0,0,28.83,26.46,25.58
$GC,7068,1.58,259.2,2711,2296,1745,1795,66.2,8.9,385,7085,0.00,2.17,10.15,0.666,8708,0.000,0.041,2722,899,1733,1704,1763,0,0,0,0,0,0,28.83,26.27,25.60
$GC,7159,1.59,266.8,2722,899,1702,1761,58.3,9.0,389,7171,0.00,2.08,7.60,0.658,9222,0.000,0.017,2722,2303,1706,1674,1739,0,0,0,0,0,0,28.83,26.39,25.56
$GC,7481,1.61,272.0,2722,2304,1668,1732,29.0,9.1,416,7494,0.00,2.22,4.00,0.544,8708,0.000,0.041,2732,898,1686,1652,1720,0,0,0,0,0,0,28.83,26.34,25.44
$GC,7618,1.63,279.3,1680,897,1610,1711,17.0,9.0,436,7634,0.00,2.08,9.52,0.622,9222,0.000,0.018,2732,2307,1652,1608,1696,0,0,0,0,0,0,28.83,26.47,25.65
$STATE,7775,end climb,SURFACE_DEPTH_REACHED
$STATE,7775,begin surface coast
$FINISH,0.0,1.026194
$STATE,7809,end surface coast,CONTROL_FINISHED_OK
$STATE,7809,begin surface
$SM_CCo,7824,230.25,0.789,1,0,510,560.02
$SM_GC,-23.93,7.45,0.52,230.25,0.075,0.034,0.789,83,1962,510,-10.41,1.24,560.02,0,0,0,0,1,0,26.38,26.43,24.40
$IRIDIUM_FIX,1855.54,12416.19,170313,141448
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.75
$INTERNAL_PRESSURE,9.04831
$TCM_TEMP,18.20
$XPDR_PINGS,0
$SC_FREEKB,3976960
$24V_AH,24.3,21.412
$10V_AH,10.1,13.065
$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,17.200,56.025,393.950,230.250,0.000,0.000,0.000,230.025,0.000,0.000,15.895,1888.409,4030.595,726.021,1513.403,275.982,0.000,1722.604,0.000,1274.372,0.000,1.482,0.000
$DEVICE_MAMPS,227.970,52.020,856.800,788.715,0.000,0.000,0.000,135.405,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7824.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.261,0.000,0.000,0.000
$MEM,323876
$DATA_FILE_SIZE,16770,470
$CAP_FILE_SIZE,389156,1976
$CFSIZE,260034560,236879872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.138, 63.3,1
$GPS,170313,192435,1909.850,12008.458,339,0.9,339,-2.5