version: 66.11
glider: 121
mission: 10
dive: 3
start: 2 24 113 11 7 30
data:
$ID,121
$MISSION,10
$DIVE,3
$N_DIVES,5
$D_SURF,3
$D_FLARE,3
$D_TGT,120
$D_ABORT,300
$D_NO_BLEED,50
$D_BOOST,20
$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,40
$T_MISSION,50
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-7
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$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,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,577.49347
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-81242.578
$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,2460
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,526
$ROLL_MAX,3878
$ROLL_DEG,40
$C_ROLL_DIVE,2700
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,46
$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,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$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,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$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
$GPS1,240213,110306,2156.285,11947.719,16,0.8,16,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-59.6
$GPS2,240213,110700,2156.315,11947.703,22,0.9,22,-3.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,W2
$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,155.6,29776,-14.9,-10.000,-18.74,2959
$D_GRID,1791
$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,15,begin dive
$GC,17,-0.84,-194.6,97,2691,398,479,0.0,0.0,0,103,0.00,0.00,-84.10,0.000,16386,0.000,0.000,97,2691,2757,2669,2845,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.84,-194.6,97,2691,2669,2846,3.0,-6.2,11,138,9.20,2.10,-14.45,0.000,18948,0.256,0.046,2282,1292,3591,3525,3657,0,0,0,0,0,0,26.37,26.63,26.92
$GC,367,-0.90,-194.6,2281,1292,3525,3658,32.0,-8.8,52,375,0.00,2.08,0.00,0.000,1030,0.000,0.024,2272,2708,3591,3525,3658,0,0,0,0,0,0,28.83,26.75,28.83
$GC,494,-0.97,-194.6,2272,2708,3524,3658,43.8,-9.5,65,502,0.10,2.12,0.00,0.000,4612,0.092,0.031,2215,1294,3591,3525,3658,0,0,0,0,0,0,26.84,26.77,28.83
$GC,731,-0.91,-194.6,2215,1294,3525,3658,69.9,-10.4,79,737,0.20,2.08,0.00,0.000,3078,0.138,0.024,2266,2700,3591,3525,3658,0,0,0,0,0,0,26.70,26.82,28.83
$GC,865,-1.06,-194.6,2265,2700,3525,3658,81.0,-6.3,86,872,0.12,2.12,0.00,0.000,4612,0.081,0.031,2193,1283,3591,3525,3658,0,0,0,0,0,0,26.88,26.84,28.83
$GC,1079,-1.06,-194.6,2193,1283,3525,3658,101.1,-10.2,96,1086,0.17,2.08,0.00,0.000,3078,0.142,0.024,2234,2701,3591,3525,3658,0,0,0,0,0,0,26.74,26.87,28.83
$GC,1214,-1.23,-194.6,2234,2701,3524,3658,111.1,-6.2,103,1222,0.12,2.10,0.00,0.000,4612,0.084,0.030,2153,1294,3591,3525,3658,0,0,0,0,0,0,26.90,26.86,28.83
$GC,1289,-1.23,-194.6,2152,1294,3525,3658,117.8,-9.3,106,1296,0.17,2.05,0.00,0.000,3078,0.147,0.024,2192,2707,3591,3525,3657,0,0,0,0,0,0,26.74,26.87,28.83
$STATE,1301,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1302,begin apogee
$GC,1306,-0.20,0.0,2191,2183,3525,3658,120.1,-10.3,107,1454,0.65,0.00,142.95,0.457,10246,0.110,0.000,2416,2182,2792,2738,2846,0,0,0,0,0,0,26.76,28.83,25.51
$STATE,1456,end apogee,CONTROL_FINISHED_OK
$STATE,1456,begin climb
$GC,1458,0.84,194.6,2415,2182,2734,2840,127.4,0.0,113,1620,0.60,2.28,147.45,0.456,10500,0.046,0.036,2658,3599,1990,1950,2031,0,0,0,0,0,0,25.98,25.76,25.34
$GC,1854,0.97,305.5,2659,3599,1949,2023,117.2,6.2,132,1944,0.00,2.08,83.75,0.448,9222,0.000,0.025,2669,2202,1545,1496,1594,0,0,0,0,0,0,28.83,26.50,25.55
$GC,2082,1.21,407.3,2668,2202,1489,1580,103.3,6.5,143,2173,0.15,2.22,79.30,0.435,10500,0.075,0.036,2744,3600,1123,1120,1127,0,0,0,0,0,0,26.41,25.94,25.53
$GC,2216,1.17,407.3,2744,3600,1117,1123,90.3,10.4,149,2223,0.17,2.10,0.00,0.000,5126,0.162,0.027,2708,2206,1120,1118,1122,0,0,0,0,0,0,26.04,26.17,28.83
$GC,2362,1.34,413.2,2707,2207,1117,1119,77.1,9.8,156,2369,0.12,2.17,1.23,0.046,10756,0.082,0.040,2784,784,1106,1109,1104,0,0,0,0,0,0,26.50,26.43,26.41
$GC,2459,1.34,414.4,2784,784,1110,1109,68.4,10.0,160,2466,0.12,2.10,0.00,0.000,5126,0.165,0.021,2753,2247,1109,1109,1109,0,0,0,0,0,0,26.41,26.59,28.83
$GC,2594,1.45,440.0,2752,2247,1110,1109,56.1,9.1,167,2622,0.10,0.00,24.95,0.411,10502,0.100,0.000,2797,2248,1000,994,1006,0,0,0,0,0,0,26.67,28.83,26.03
$GC,2734,1.40,440.0,2797,2248,981,996,41.1,10.8,177,2741,0.12,1.98,0.00,0.000,4356,0.173,0.035,2761,3575,988,981,996,0,0,0,0,0,0,26.44,26.55,28.83
$GC,2772,1.41,444.3,2760,3575,981,996,37.6,9.9,180,2780,0.00,2.05,0.00,0.000,1030,0.000,0.028,2770,2192,988,981,996,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2900,1.41,444.3,1728,2189,972,996,23.8,10.0,194,2908,0.00,2.10,0.00,0.000,516,0.000,0.042,2780,792,988,981,996,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2935,1.41,444.3,1776,792,973,994,19.7,11.5,200,2943,0.00,2.00,0.00,0.000,1030,0.000,0.021,2780,2194,988,981,996,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3011,1.59,587.5,1728,2192,972,994,11.3,12.1,214,3079,0.10,0.00,65.18,0.083,10498,0.099,0.000,2824,2195,412,341,483,0,0,0,0,0,0,26.74,28.83,28.83
$STATE,3080,end climb,SURFACE_DEPTH_REACHED
$STATE,3080,begin surface coast
$FINISH,0.0,1.022613
$STATE,3098,end surface coast,CONTROL_FINISHED_OK
$STATE,3098,begin surface
$SM_CCo,3173,0.00,0.000,0,0,412,584.55
$SM_GC,0.68,7.05,0.70,0.00,0.037,0.027,0.000,93,2693,412,-10.81,-2.12,584.55,0,0,0,0,0,0,26.60,26.68,28.83
$IRIDIUM_FIX,2150.42,11944.12,240213,101041
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.30
$INTERNAL_PRESSURE,9.41941
$TCM_TEMP,24.20
$XPDR_PINGS,20
$SC_FREEKB,4018048
$24V_AH,25.3,1.201
$10V_AH,10.4,0.943
$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,19.300,39.275,544.800,0.000,0.000,0.000,0.000,0.000,5.000,0.000,23.815,972.900,969.545,568.086,704.226,44.303,0.000,1011.941,0.000,660.098,0.000,1.493,0.000
$DEVICE_MAMPS,255.510,45.900,457.470,0.000,0.000,0.000,0.000,0.000,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3079.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.968,0.000,0.000,0.000
$MEM,324492
$DATA_FILE_SIZE,6833,226
$CAP_FILE_SIZE,148246,1
$CFSIZE,260034560,252338176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.212,  8.4,1
$GPS,240213,120112,2156.378,11948.074,14,1.3,14,-3.0