version: 66.11
glider: 121
mission: 10
dive: 131
start: 3 18 113 20 15 39
data:
$ID,121
$MISSION,10
$DIVE,131
$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,-100659.23
$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,56
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3600
$C_VBD,2640
$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
$GPS1,180313,200854,1920.584,12007.479,504,1.7,504,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-65.8
$GPS2,180313,201512,1920.568,12007.553,17,1.7,18,-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,330.3,267802,-18.5,-9.259,-21.12,2828
$D_GRID,3790
$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,16,begin dive
$GC,18,-1.35,-170.3,85,1951,465,556,0.0,0.0,0,43,0.00,0.00,-23.42,0.000,16386,0.000,0.000,85,1951,1113,1095,1132,0,0,0,0,0,0,28.83,28.83,28.83
$GC,45,-1.35,-170.3,85,1952,1095,1133,3.1,-8.9,3,144,7.93,2.17,-81.00,0.000,18692,0.226,0.041,2055,3384,3337,3243,3431,0,0,0,0,0,0,25.84,26.18,26.46
$GC,343,-1.35,-170.3,2055,3384,3248,3430,29.8,-8.9,48,352,0.00,2.12,0.00,0.000,1030,0.000,0.025,2064,1975,3339,3248,3430,0,0,0,0,0,0,28.83,26.34,28.83
$GC,651,-1.35,-170.3,2064,1975,3253,3430,57.6,-8.6,75,657,0.00,2.15,0.00,0.000,516,0.000,0.040,2075,564,3341,3253,3430,0,0,0,0,0,0,28.83,26.44,28.83
$GC,728,-1.35,-170.3,2075,564,3253,3430,63.6,-9.0,78,734,0.00,2.05,0.00,0.000,1030,0.000,0.016,2066,1990,3341,3253,3430,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1043,-1.35,-170.3,2066,1992,3254,3431,92.8,-9.2,94,1049,0.00,2.20,0.00,0.000,516,0.000,0.039,2075,564,3342,3254,3430,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1103,-1.35,-170.3,2075,564,3254,3430,96.9,-8.9,96,1111,0.00,2.03,0.00,0.000,1030,0.000,0.015,2066,1975,3343,3255,3431,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1409,-1.35,-170.3,2066,1976,3254,3430,125.3,-9.0,112,1415,0.00,2.15,0.00,0.000,516,0.000,0.039,2074,568,3342,3254,3430,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1465,-1.35,-170.3,2074,568,3254,3430,129.6,-8.8,114,1471,0.00,2.05,0.00,0.000,1030,0.000,0.016,2066,1982,3342,3254,3431,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1780,-1.35,-170.3,2065,1984,3256,3428,158.1,-8.8,130,1781,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,1984,3342,3256,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2080,-1.35,-170.3,2065,1985,3256,3426,185.0,-9.2,145,2086,0.00,2.17,0.00,0.000,516,0.000,0.039,2074,567,3341,3256,3426,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2119,-1.35,-170.3,1280,567,3232,3422,187.2,-9.2,146,2127,0.00,2.03,0.00,0.000,1030,0.000,0.016,2066,1978,3341,3256,3426,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2426,-1.35,-170.3,2066,1979,3258,3423,216.2,-9.0,162,2427,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,1979,3339,3256,3423,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2728,-1.35,-170.3,2065,1979,3256,3421,243.0,-8.9,177,2734,0.00,2.05,0.00,0.000,260,0.000,0.032,2056,3364,3338,3256,3420,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2754,-1.35,-170.3,2055,3364,3256,3420,245.2,-8.8,178,2760,0.00,2.08,0.00,0.000,1030,0.000,0.025,2062,1968,3338,3256,3420,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3081,-1.35,-170.3,2062,1968,3256,3417,275.0,-8.9,194,3088,0.00,2.12,0.00,0.000,516,0.000,0.044,2073,574,3336,3256,3416,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3107,-1.35,-170.3,2072,574,3256,3416,277.4,-8.9,195,3114,0.00,2.03,0.00,0.000,1030,0.000,0.017,2064,1973,3336,3256,3416,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3435,-1.35,-170.3,2064,1974,3254,3414,306.8,-9.0,211,3437,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,1974,3334,3254,3414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3734,-1.35,-170.3,2064,1974,3253,3412,334.0,-9.2,226,3740,0.00,2.17,0.00,0.000,516,0.000,0.044,2072,570,3332,3253,3411,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3799,-1.35,-170.3,1280,569,3226,3407,339.9,-8.9,229,3805,0.00,2.05,0.00,0.000,1030,0.000,0.017,2064,1980,3331,3252,3411,0,0,0,0,0,0,28.83,26.73,28.83
$STATE,3922,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3922,begin apogee
$GC,3927,-0.25,0.0,2061,2302,3252,3410,350.9,-8.8,235,4088,0.77,0.00,151.48,0.884,10246,0.126,0.000,2311,2303,2631,2582,2681,0,0,0,0,0,0,26.51,28.83,24.47
$STATE,4090,end apogee,CONTROL_FINISHED_OK
$STATE,4090,begin climb
$GC,4091,1.35,170.3,2311,2302,2580,2679,337.0,0.0,242,4258,1.02,2.22,155.10,0.859,10500,0.073,0.034,2665,3677,1935,1902,1969,0,0,0,0,0,0,25.23,24.95,24.31
$GC,4344,1.37,176.8,2664,3677,1900,1953,313.9,9.0,253,4350,0.00,2.15,0.00,0.000,1030,0.000,0.024,2675,2297,1925,1899,1952,0,0,0,0,0,0,28.83,25.58,28.83
$GC,4658,1.39,184.4,2674,2297,1899,1947,284.4,9.0,269,4675,0.00,2.20,11.12,0.816,8708,0.000,0.041,2685,899,1882,1857,1908,0,0,0,0,0,0,28.83,25.94,25.27
$GC,4749,1.39,186.3,2685,899,1853,1904,276.4,9.2,273,4755,0.00,2.08,0.00,0.000,1030,0.000,0.018,2685,2292,1878,1853,1903,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5069,1.41,193.4,2685,2292,1853,1899,246.8,9.0,289,5075,0.00,0.00,4.25,0.653,8198,0.000,0.000,2685,2291,1851,1825,1877,0,0,0,0,0,0,28.83,28.83,25.25
$GC,5370,1.44,206.1,2685,2292,1825,1884,219.7,8.8,304,5394,0.00,2.17,18.77,0.783,8452,0.000,0.034,2685,3698,1790,1760,1821,0,0,0,0,0,0,28.83,26.10,25.41
$GC,5448,1.47,217.7,2685,3698,1757,1814,213.9,8.8,307,5467,0.00,2.15,10.90,0.782,9222,0.000,0.025,2695,2292,1746,1715,1777,0,0,0,0,0,0,28.83,26.19,25.32
$GC,5782,1.48,219.2,2695,2292,1714,1769,182.9,9.2,324,5788,0.00,2.17,0.00,0.000,260,0.000,0.034,2695,3698,1741,1714,1768,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5822,1.50,229.7,2695,3698,1713,1768,180.6,8.9,325,5840,0.00,2.12,11.98,0.758,9222,0.000,0.025,2705,2299,1698,1665,1732,0,0,0,0,0,0,28.83,26.34,25.44
$GC,6155,1.50,230.8,2705,2299,1662,1724,149.4,9.2,342,6157,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2299,1693,1662,1724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6455,1.50,230.8,2705,2299,1662,1722,122.7,9.3,357,6461,0.00,2.17,0.00,0.000,516,0.000,0.043,2716,893,1692,1662,1722,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6472,1.50,230.8,2716,893,1663,1722,122.7,9.3,357,6481,0.10,2.08,0.00,0.000,5126,0.185,0.018,2694,2301,1692,1662,1722,0,0,0,0,0,0,26.31,26.51,28.83
$GC,6780,1.52,239.1,2693,2302,1662,1721,93.6,9.0,373,6796,0.00,2.17,8.73,0.697,8452,0.000,0.037,2694,3688,1658,1620,1696,0,0,0,0,0,0,28.83,26.39,25.70
$GC,6828,1.54,244.2,2693,3688,1617,1696,89.5,9.1,375,6841,0.00,2.10,3.72,0.557,9222,0.000,0.025,2703,2300,1642,1598,1687,0,0,0,0,0,0,28.83,26.42,25.46
$GC,7149,1.55,250.1,2702,2299,1599,1687,59.8,9.0,391,7166,0.00,2.20,8.38,0.671,8452,0.000,0.035,2702,3686,1615,1566,1664,0,0,0,0,0,0,28.83,26.36,25.67
$GC,7204,1.58,261.6,2702,3686,1565,1662,55.8,8.8,393,7223,0.00,2.10,12.55,0.659,9222,0.000,0.025,2712,2299,1568,1516,1621,0,0,0,0,0,0,28.83,26.39,25.58
$GC,7532,1.59,264.5,2712,2299,1514,1614,25.1,9.2,423,7533,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2299,1564,1514,1614,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7779,end climb,SURFACE_DEPTH_REACHED
$STATE,7779,begin surface coast
$FINISH,0.0,1.026132
$STATE,7814,end surface coast,CONTROL_FINISHED_OK
$STATE,7814,begin surface
$SM_CCo,7829,244.88,0.780,3,0,400,549.47
$SM_CCo,8093,-0.10,0.000,0,0,403,549.23
$SM_CCo,8096,4.12,0.499,0,0,400,549.47
$SM_GC,-23.93,7.35,0.50,4.12,0.075,0.041,0.499,88,1949,400,-10.37,0.85,549.47,0,0,0,0,0,0,26.48,26.52,24.53
$IRIDIUM_FIX,1911.51,12006.51,180313,171746
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.81
$INTERNAL_PRESSURE,9.03854
$TCM_TEMP,18.20
$XPDR_PINGS,0
$SC_FREEKB,3972736
$24V_AH,24.3,23.137
$10V_AH,10.1,13.800
$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,17.175,64.650,396.975,249.000,0.000,0.000,0.000,213.475,0.000,0.000,18.432,1771.973,4273.996,762.725,1385.542,267.312,0.000,1700.998,0.000,1164.165,0.000,1.484,0.000
$DEVICE_MAMPS,226.440,44.370,884.340,780.300,0.000,0.000,0.000,134.640,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7820.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.236,0.000,0.000,0.000
$MEM,323920
$DATA_FILE_SIZE,16781,475
$CAP_FILE_SIZE,357819,1739
$CFSIZE,260034560,235708416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$CURRENT,0.103, 84.3,1
$GPS,180313,223658,1921.287,12007.590,340,0.7,340,-2.5