version: 66.11
glider: 121
mission: 10
dive: 101
start: 3 15 113 19 34 44
data:
$ID,121
$MISSION,10
$DIVE,101
$N_DIVES,101
$D_SURF,3
$D_FLARE,3
$D_TGT,200
$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,72
$T_MISSION,85
$T_ABORT,100
$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,100000
$HEAPDBG,0
$T_GPS,30
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-100572.43
$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,2350
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27
$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,55
$R_STBD_OVSHOOT,64
$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,0.1
$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
$GPS1,150313,192824,1851.472,12007.915,403,0.7,403,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-59.0
$GPS2,150313,193417,1851.525,12007.936,19,0.8,19,-2.4
$SPEED_LIMITS,0.160,0.240
$TGT_NAME,W3A
$TGT_LATLONG,1900.000,12000.000
$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,280.9,20964,-18.5,-9.259,-21.12,2828
$D_GRID,1959
$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,-1.11,-170.3,86,1952,490,572,0.0,0.0,0,43,0.00,0.00,-23.75,0.000,16386,0.000,0.000,86,1952,1156,1138,1175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,45,-1.11,-170.3,86,1952,1140,1176,3.5,-9.7,3,137,8.05,2.20,-76.82,0.000,18692,0.230,0.043,2089,3364,3491,3405,3578,0,0,0,0,0,0,26.01,26.34,26.60
$GC,354,-1.11,-170.3,2089,3364,3407,3578,34.5,-9.9,46,362,0.00,2.08,0.00,0.000,1030,0.000,0.025,2098,1975,3492,3407,3578,0,0,0,0,0,0,28.83,26.50,28.83
$GC,663,-1.11,-170.3,2097,1975,3410,3578,65.9,-10.0,69,668,0.00,2.12,0.00,0.000,516,0.000,0.040,2108,568,3494,3410,3579,0,0,0,0,0,0,28.83,26.58,28.83
$GC,729,-1.11,-170.3,2108,568,3410,3578,72.8,-10.2,72,735,0.00,2.03,0.00,0.000,1030,0.000,0.015,2100,1990,3494,3410,3579,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1054,-1.11,-170.3,2099,1990,3411,3579,105.1,-10.1,88,1060,0.00,2.17,0.00,0.000,516,0.000,0.038,2108,567,3494,3411,3578,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1186,-1.11,-170.3,2108,567,3411,3579,117.8,-10.0,94,1192,0.00,2.00,0.00,0.000,1030,0.000,0.015,2100,1974,3494,3410,3579,0,0,0,0,0,0,28.83,26.72,28.83
$GC,1505,-1.11,-170.3,2099,1974,3410,3579,150.0,-10.3,110,1511,0.00,2.03,0.00,0.000,260,0.000,0.031,2089,3353,3494,3411,3578,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1550,-1.11,-170.3,2090,3353,3410,3578,154.5,-10.2,112,1556,0.00,2.05,0.00,0.000,1030,0.000,0.024,2089,1972,3494,3411,3578,0,0,0,0,0,0,28.83,26.72,28.83
$GC,1875,-1.11,-170.3,2089,1971,3410,3577,186.9,-10.5,128,1881,0.00,2.12,0.00,0.000,516,0.000,0.041,2098,566,3493,3410,3576,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1991,-1.11,-170.3,2098,566,3410,3576,197.9,-10.1,133,1997,0.00,2.03,0.00,0.000,1030,0.000,0.016,2090,1987,3492,3410,3575,0,0,0,0,0,0,28.83,26.77,28.83
$STATE,2003,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2004,begin apogee
$GC,2008,-0.19,0.0,2088,2298,3410,3575,200.2,-10.0,134,2156,0.68,0.00,136.15,0.805,10246,0.123,0.000,2307,2298,2795,2754,2837,0,0,0,0,1,0,26.59,28.83,24.63
$STATE,2158,end apogee,CONTROL_FINISHED_OK
$STATE,2158,begin climb
$GC,2159,1.11,170.3,2307,2297,2754,2837,187.0,0.0,140,2317,0.82,2.17,147.23,0.649,10500,0.076,0.031,2593,3683,2089,2052,2127,0,0,0,0,0,0,25.39,25.34,24.77
$GC,2493,1.11,170.3,2592,3683,2048,2116,152.8,10.0,155,2502,0.00,2.10,0.00,0.000,1030,0.000,0.023,2602,2293,2081,2047,2115,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2800,1.11,170.3,2602,2293,2045,2114,120.6,10.0,171,2806,0.00,2.12,0.00,0.000,260,0.000,0.032,2602,3679,2079,2045,2114,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2850,1.11,170.3,2602,3680,2045,2113,115.9,10.1,173,2856,0.00,2.08,0.00,0.000,1030,0.000,0.022,2612,2290,2079,2045,2113,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3169,1.11,170.3,2612,2290,2043,2111,83.8,10.0,189,3175,0.00,2.12,0.00,0.000,516,0.000,0.038,2623,899,2077,2043,2111,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3245,1.11,170.3,2622,899,2041,2111,77.1,10.1,192,3251,0.12,2.03,0.00,0.000,5126,0.159,0.017,2591,2302,2076,2041,2111,0,0,0,0,0,0,26.46,26.62,28.83
$GC,3560,1.11,170.3,2591,2302,2040,2110,44.8,9.7,210,3567,0.00,2.17,0.00,0.000,516,0.000,0.037,2599,891,2075,2040,2110,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3714,1.11,170.3,2599,891,2038,2110,29.5,9.9,224,3721,0.00,2.03,0.00,0.000,1030,0.000,0.017,2599,2293,2074,2038,2110,0,0,0,0,0,0,28.83,26.70,28.83
$STATE,3981,end climb,SURFACE_DEPTH_REACHED
$STATE,3981,begin surface coast
$FINISH,0.0,1.026220
$STATE,4009,end surface coast,CONTROL_FINISHED_OK
$STATE,4009,begin surface
$SM_CCo,4023,308.92,0.794,1,0,511,560.02
$SM_GC,-23.93,6.75,0.50,308.92,0.058,0.034,0.794,93,1957,511,-10.30,1.24,560.02,0,0,0,0,1,0,26.64,26.71,24.56
$IRIDIUM_FIX,1846.42,12005.88,150313,181842
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.73
$INTERNAL_PRESSURE,9.1069
$TCM_TEMP,18.80
$XPDR_PINGS,0
$SC_FREEKB,3984256
$24V_AH,24.6,18.417
$10V_AH,10.2,11.750
$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,16.425,38.550,283.375,308.925,0.000,0.000,0.000,208.650,0.000,0.000,20.796,1114.405,1736.403,676.962,1006.358,155.640,0.000,1373.079,0.000,763.179,0.000,1.486,0.000
$DEVICE_MAMPS,229.500,42.840,804.780,794.070,0.000,0.000,0.000,130.815,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4024.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.162,0.000,0.000,0.000
$MEM,323940
$DATA_FILE_SIZE,10136,274
$CAP_FILE_SIZE,234678,1165
$CFSIZE,260034560,239001600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.230,105.7,1
$GPS,150313,205603,1851.381,12008.000,496,1.6,503,-2.4