version: 66.11
glider: 121
mission: 10
dive: 129
start: 3 18 113 15 16 44
data:
$ID,121
$MISSION,10
$DIVE,129
$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,-100656.7
$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,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
$GPS1,180313,150942,1918.173,12007.317,372,1.1,372,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-66.5
$GPS2,180313,151617,1918.209,12007.274,15,1.1,15,-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,341.7,272145,-18.5,-9.259,-21.12,2828
$D_GRID,3568
$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,-170.3,88,1946,468,553,0.0,0.0,0,44,0.00,0.00,-23.95,0.000,16386,0.000,0.000,88,1946,1139,1118,1161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.35,-170.3,88,1946,1118,1162,3.1,-8.3,3,153,7.93,2.12,-87.95,0.000,19204,0.227,0.053,2071,578,3492,3407,3578,0,0,0,0,0,0,25.84,26.16,26.46
$GC,166,-1.35,-170.3,2071,578,3408,3579,14.1,-8.4,19,174,0.00,2.08,0.00,0.000,1030,0.000,0.016,2063,1994,3493,3408,3579,0,0,0,0,0,0,28.83,26.25,28.83
$GC,486,-1.35,-170.3,2062,1996,3412,3579,42.7,-9.1,61,492,0.00,2.20,0.00,0.000,516,0.000,0.039,2071,575,3495,3412,3579,0,0,0,0,0,0,28.83,26.38,28.83
$GC,512,-1.35,-170.3,2071,575,3412,3579,45.1,-9.1,63,518,0.00,2.03,0.00,0.000,1030,0.000,0.016,2062,1979,3495,3412,3579,0,0,0,0,0,0,28.83,26.46,28.83
$GC,828,-1.35,-170.3,2062,1980,3415,3579,73.5,-8.9,81,833,0.00,2.15,0.00,0.000,516,0.000,0.039,2071,580,3497,3415,3579,0,0,0,0,0,0,28.83,26.48,28.83
$GC,931,-1.35,-170.3,2071,580,3415,3580,81.3,-8.9,85,939,0.00,2.00,0.00,0.000,1030,0.000,0.016,2063,1975,3497,3415,3580,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1236,-1.35,-170.3,2062,1975,3415,3580,110.5,-9.0,101,1242,0.00,2.12,0.00,0.000,516,0.000,0.040,2071,581,3497,3415,3580,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1283,-1.35,-170.3,2070,581,3414,3580,114.6,-8.8,103,1289,0.00,2.00,0.00,0.000,1030,0.000,0.016,2063,1975,3497,3415,3580,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1609,-1.35,-170.3,2062,1975,3415,3580,143.8,-8.9,119,1610,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,1976,3497,3415,3580,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1908,-1.35,-170.3,2062,1978,3415,3579,171.2,-9.0,134,1910,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,1978,3496,3415,3578,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2209,-1.35,-170.3,2062,1978,3415,3576,198.3,-8.8,149,2214,0.00,2.15,0.00,0.000,516,0.000,0.040,2070,573,3495,3415,3576,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2315,-1.35,-170.3,2070,573,3415,3575,207.9,-8.8,154,2321,0.00,2.03,0.00,0.000,1030,0.000,0.016,2062,1979,3495,3415,3575,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2640,-1.35,-170.3,2062,1980,3415,3571,236.8,-9.5,170,2646,0.00,2.05,0.00,0.000,260,0.000,0.032,2052,3366,3493,3415,3571,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2700,-1.35,-170.3,2051,3366,3415,3572,240.9,-9.0,172,2709,0.00,2.08,0.00,0.000,1030,0.000,0.026,2056,1975,3492,3415,3570,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3007,-1.35,-170.3,2056,1975,3414,3568,269.6,-9.1,188,3013,0.00,2.12,0.00,0.000,516,0.000,0.044,2066,575,3490,3414,3567,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3182,-1.35,-170.3,2065,575,3412,3567,285.1,-9.0,196,3187,0.00,2.03,0.00,0.000,1030,0.000,0.017,2057,1975,3489,3413,3566,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3507,-1.35,-170.3,2057,1976,3410,3565,314.3,-9.0,212,3514,0.00,2.17,0.00,0.000,516,0.000,0.043,2065,570,3487,3410,3564,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3568,-1.35,-170.3,2065,570,3410,3564,318.6,-9.2,214,3576,0.00,2.03,0.00,0.000,1030,0.000,0.017,2057,1976,3486,3409,3564,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3874,-1.35,-170.3,2056,1977,3408,3562,347.1,-8.8,230,3876,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,1977,3485,3408,3562,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3913,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3913,begin apogee
$GC,3918,-0.25,0.0,2054,2316,3408,3561,350.8,-9.2,232,4134,0.80,0.00,206.18,0.747,10246,0.125,0.000,2313,2315,2790,2753,2828,0,0,0,0,0,0,26.51,28.83,24.57
$STATE,4136,end apogee,CONTROL_FINISHED_OK
$STATE,4136,begin climb
$GC,4138,1.35,170.3,2312,2315,2752,2827,332.7,0.0,241,4296,1.00,2.20,147.90,0.872,10500,0.067,0.034,2663,3680,2091,2055,2128,0,0,0,0,0,0,25.25,24.94,24.27
$GC,4537,1.38,179.8,2662,3680,2048,2116,296.3,8.9,259,4547,0.00,2.10,4.20,0.660,9222,0.000,0.023,2673,2302,2061,2025,2097,0,0,0,0,0,0,28.83,25.96,24.97
$GC,4844,1.39,186.4,2672,2303,2024,2100,266.8,9.0,275,4861,0.00,2.17,9.73,0.804,8452,0.000,0.033,2673,3684,2031,1994,2068,0,0,0,0,0,0,28.83,26.08,25.32
$GC,4935,1.42,197.0,2672,3684,1994,2065,259.1,8.9,279,4953,0.00,2.10,11.27,0.813,9222,0.000,0.024,2683,2298,1987,1949,2025,0,0,0,0,0,0,28.83,26.20,25.25
$GC,5252,1.46,212.7,2682,2298,1949,2016,230.4,8.7,295,5275,0.00,2.20,15.25,0.799,8708,0.000,0.040,2693,903,1922,1891,1953,0,0,0,0,0,0,28.83,26.03,25.32
$GC,5319,1.48,219.3,2692,903,1891,1950,224.3,9.0,298,5331,0.00,2.10,5.10,0.738,9222,0.000,0.018,2693,2302,1901,1872,1931,0,0,0,0,0,0,28.83,26.17,25.22
$GC,5646,1.49,224.7,2693,2302,1871,1928,194.8,9.1,314,5662,0.00,2.28,7.20,0.767,8708,0.000,0.040,2703,897,1875,1847,1904,0,0,0,0,0,0,28.83,26.19,25.44
$GC,5707,1.50,231.0,2703,897,1846,1903,190.6,9.0,316,5721,0.00,2.10,7.20,0.763,9222,0.000,0.018,2703,2301,1850,1821,1879,0,0,0,0,0,0,28.83,26.30,25.40
$GC,6040,1.55,248.2,2703,2300,1821,1871,159.7,8.6,333,6064,0.00,2.30,17.52,0.751,8708,0.000,0.041,2713,903,1778,1747,1809,0,0,0,0,0,0,28.83,26.08,25.39
$GC,6143,1.56,253.9,2713,903,1746,1805,151.7,9.1,337,6153,0.00,2.08,4.78,0.689,9222,0.000,0.018,2714,2297,1758,1727,1790,0,0,0,0,0,0,28.83,26.24,25.21
$GC,6449,1.58,263.0,2712,2298,1727,1790,121.9,8.9,353,6466,0.00,2.15,11.23,0.728,8452,0.000,0.034,2713,3696,1717,1683,1752,0,0,0,0,0,0,28.83,26.17,25.48
$GC,6571,1.60,270.6,2713,3697,1681,1749,112.2,9.0,358,6586,0.00,2.12,7.80,0.713,9222,0.000,0.025,2722,2301,1688,1652,1725,0,0,0,0,0,0,28.83,26.29,25.44
$GC,6904,1.62,276.5,2722,2302,1650,1718,80.9,9.0,375,6911,0.00,0.00,4.95,0.659,8198,0.000,0.000,2722,2301,1667,1630,1704,0,0,0,0,0,0,28.83,28.83,25.36
$GC,7204,1.62,276.5,2722,2301,1626,1704,54.3,9.4,390,7205,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2301,1665,1626,1704,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7505,1.64,285.2,2722,2301,1625,1704,26.8,8.9,417,7524,0.00,2.20,9.88,0.644,8452,0.000,0.034,2722,3685,1628,1580,1676,0,0,0,0,0,0,28.83,26.36,25.69
$GC,7592,1.68,303.1,1696,3685,1542,1667,19.0,8.6,430,7616,0.00,2.12,18.38,0.623,9222,0.000,0.025,2733,2289,1555,1502,1609,0,0,0,0,0,0,28.83,26.41,25.55
$STATE,7773,end climb,SURFACE_DEPTH_REACHED
$STATE,7773,begin surface coast
$FINISH,0.0,1.026157
$STATE,7807,end surface coast,CONTROL_FINISHED_OK
$STATE,7807,begin surface
$SM_CCo,7825,198.27,0.776,1,0,511,560.02
$SM_GC,-23.93,7.53,0.47,198.27,0.078,0.042,0.776,81,1958,511,-10.41,1.07,560.02,0,0,0,0,1,0,26.32,26.36,24.46
$IRIDIUM_FIX,1906.95,12037.08,180313,121217
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.70
$INTERNAL_PRESSURE,9.04831
$TCM_TEMP,18.00
$XPDR_PINGS,0
$SC_FREEKB,3973504
$24V_AH,24.3,22.805
$10V_AH,10.1,13.665
$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,17.250,64.500,488.550,198.275,0.000,0.000,0.000,231.500,0.000,0.000,16.598,1827.397,4042.534,772.387,1488.513,275.526,0.000,1787.518,0.000,1251.611,0.000,1.484,0.000
$DEVICE_MAMPS,227.205,52.785,872.100,776.475,0.000,0.000,0.000,131.580,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7823.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.235,0.000,0.000,0.000
$MEM,323924
$DATA_FILE_SIZE,16753,467
$CAP_FILE_SIZE,383519,1890
$CFSIZE,260034560,235905024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.179, 30.7,1
$GPS,180313,173804,1919.544,12007.321,413,0.8,413,-2.5