version: 66.11
glider: 121
mission: 10
dive: 102
start: 3 15 113 21 19 27
data:
$ID,121
$MISSION,10
$DIVE,102
$N_DIVES,0
$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,-100622.68
$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,57
$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,0.094999999
$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
$GPS1,150313,211641,1851.434,12008.101,11,1.3,11,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-59.8
$GPS2,150313,211900,1851.445,12008.116,14,1.3,14,-2.4
$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,319.9,321727,-18.5,-9.259,-21.12,2828
$D_GRID,1926
$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,-1.11,-170.3,88,1948,474,552,0.0,0.0,0,37,0.00,0.00,-17.38,0.000,16386,0.000,0.000,88,1946,982,968,997,0,0,0,0,0,0,28.83,28.83,28.83
$GC,39,-1.11,-170.3,88,1946,968,997,3.0,-9.9,2,146,7.85,2.17,-86.75,0.000,18692,0.222,0.043,2095,3365,3492,3408,3577,0,0,0,0,0,0,26.25,26.47,26.74
$GC,291,-1.11,-170.3,2095,3366,3409,3577,27.6,-9.4,40,299,0.00,2.05,0.00,0.000,1030,0.000,0.024,2103,1978,3493,3409,3577,0,0,0,0,0,0,28.83,26.55,28.83
$GC,609,-1.11,-170.3,2103,1978,3412,3577,57.9,-9.1,68,610,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,1978,3493,3410,3577,0,0,0,0,0,0,28.83,28.83,28.83
$GC,911,-1.11,-170.3,2102,1978,3412,3577,87.2,-10.1,83,912,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,1978,3494,3412,3577,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1209,-1.11,-170.3,2103,1978,3412,3577,115.2,-9.4,98,1216,0.00,2.10,0.00,0.000,516,0.000,0.040,2113,574,3494,3412,3577,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1330,-1.11,-170.3,2113,574,3411,3577,125.4,-9.5,103,1338,0.00,2.00,0.00,0.000,1030,0.000,0.015,2105,1988,3494,3411,3577,0,0,0,0,0,0,28.83,26.77,28.83
$GC,1637,-1.11,-170.3,2105,1989,3412,3572,155.8,-9.4,119,1643,0.00,2.00,0.00,0.000,260,0.000,0.031,2095,3352,3492,3411,3573,0,0,0,0,0,0,28.83,26.72,28.83
$GC,1675,-1.11,-170.3,1312,3351,3396,3570,158.1,-9.4,120,1683,0.00,2.03,0.00,0.000,1030,0.000,0.024,2095,1977,3491,3411,3572,0,0,0,0,0,0,28.83,26.74,28.83
$GC,1983,-1.11,-170.3,2095,1977,3411,3569,188.9,-9.5,136,1988,0.00,2.12,0.00,0.000,516,0.000,0.041,2104,565,3489,3411,3568,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2052,-1.11,-170.3,1288,565,3395,3566,195.1,-9.4,139,2058,0.00,2.03,0.00,0.000,1030,0.000,0.016,2096,1978,3489,3411,3568,0,0,0,0,0,0,28.83,26.79,28.83
$STATE,2109,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2109,begin apogee
$GC,2114,-0.19,0.0,2093,2312,3411,3566,201.0,-9.5,142,2317,0.65,0.00,195.45,0.575,10246,0.119,0.000,2308,2312,2791,2750,2832,0,0,0,0,0,0,26.61,28.83,24.97
$STATE,2319,end apogee,CONTROL_FINISHED_OK
$STATE,2319,begin climb
$GC,2321,1.11,170.3,2308,2312,2747,2828,182.1,0.0,151,2477,0.82,2.15,141.10,0.641,10500,0.076,0.033,2596,3675,2088,2053,2124,0,0,0,0,0,0,25.54,25.39,24.79
$GC,2526,1.11,170.3,2595,3674,2050,2118,161.6,9.6,160,2532,0.00,2.10,0.00,0.000,1030,0.000,0.021,2606,2294,2084,2051,2118,0,0,0,0,0,0,28.83,25.83,28.83
$GC,2845,1.11,170.3,2605,2294,2047,2114,130.9,9.5,176,2846,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2294,2080,2047,2114,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3146,1.11,170.3,2605,2293,2045,2112,101.9,9.6,191,3152,0.00,2.12,0.00,0.000,516,0.000,0.038,2616,900,2078,2045,2112,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3255,1.11,170.3,1664,899,1992,2101,91.9,9.5,196,3262,0.10,2.03,0.00,0.000,5126,0.164,0.016,2592,2313,2077,2043,2112,0,0,0,0,0,0,26.44,26.61,28.83
$GC,3575,1.11,170.3,2591,2314,2041,2110,61.2,9.8,212,3581,0.00,2.03,0.00,0.000,260,0.000,0.032,2592,3672,2075,2041,2110,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3739,1.11,170.3,2591,3671,2039,2109,45.9,9.5,221,3747,0.00,2.03,0.00,0.000,1030,0.000,0.021,2600,2298,2074,2039,2109,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4052,1.11,170.3,1600,2295,1981,2096,16.2,9.3,260,4060,0.00,2.12,0.00,0.000,516,0.000,0.038,2610,896,2073,2039,2108,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4194,1.11,170.3,1600,895,1979,2096,3.0,9.6,285,4202,0.00,2.00,0.00,0.000,1030,0.000,0.016,2610,2293,2072,2037,2107,0,0,0,0,0,0,28.83,26.74,28.83
$STATE,4208,end climb,SURFACE_DEPTH_REACHED
$STATE,4208,begin surface coast
$FINISH,0.0,1.026130
$STATE,4242,end surface coast,CONTROL_FINISHED_OK
$STATE,4242,begin surface
$SM_CCo,4257,302.45,0.778,1,0,511,560.02
$SM_GC,-23.93,6.80,0.50,302.45,0.059,0.033,0.778,85,1954,511,-10.34,1.22,560.02,0,0,0,0,1,0,26.66,26.72,24.70
$IRIDIUM_FIX,1846.42,12005.88,150313,212140
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.82
$INTERNAL_PRESSURE,9.11667
$TCM_TEMP,19.10
$XPDR_PINGS,0
$SC_FREEKB,3983872
$24V_AH,24.7,18.561
$10V_AH,10.3,11.811
$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,16.225,34.000,336.550,302.450,0.000,0.000,0.000,0.000,0.000,0.000,15.944,1079.725,1971.356,716.160,749.946,125.021,0.000,1190.459,0.000,744.994,0.000,1.487,0.000
$DEVICE_MAMPS,221.850,42.840,641.070,778.005,0.000,0.000,0.000,0.000,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4214.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.611,0.000,0.000,0.000
$MEM,323908
$DATA_FILE_SIZE,10143,293
$CAP_FILE_SIZE,247087,1099
$CFSIZE,260034560,238915584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.153,138.4,1
$GPS,150313,224342,1851.558,12008.008,452,0.8,452,-2.4