version: 66.11
glider: 121
mission: 10
dive: 269
start: 4 2 113 21 45 5
data:
$ID,121
$MISSION,10
$DIVE,269
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,139
$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,50
$T_MISSION,65
$T_ABORT,90
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$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,-100836.56
$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,2400
$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,58
$R_STBD_OVSHOOT,68
$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
$GPS1,020413,213754,2208.718,12030.475,205,1.0,206,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-59.0
$GPS2,020413,214437,2208.698,12030.391,22,0.7,23,-3.2
$SPEED_LIMITS,0.161,0.240
$TGT_NAME,PICKUP
$TGT_LATLONG,2209.500,12030.330
$TGT_RADIUS,1500.000
$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,319.2,1488,-18.6,-9.267,-21.13,2826
$D_GRID,601
$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,-170.3,85,1945,349,467,0.0,0.0,0,43,0.00,0.00,-22.67,0.000,16386,0.000,0.000,85,1945,998,991,1005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.35,-170.3,85,1945,993,1005,3.2,-8.0,3,146,7.55,2.22,-84.93,0.000,18692,0.198,0.041,2092,3360,3337,3243,3432,0,0,0,0,0,0,25.85,26.25,26.57
$GC,390,-1.35,-170.3,2092,3361,3247,3431,34.3,-8.5,51,396,0.00,2.08,0.00,0.000,1030,0.000,0.024,2096,1978,3339,3247,3431,0,0,0,0,0,0,28.83,26.41,28.83
$GC,706,-1.35,-170.3,2096,1979,3248,3432,62.8,-9.0,75,713,0.00,2.12,0.00,0.000,516,0.000,0.039,2106,575,3340,3248,3432,0,0,0,0,0,0,28.83,26.45,28.83
$GC,754,-1.35,-170.3,2105,575,3248,3431,67.2,-9.0,77,761,0.00,2.03,0.00,0.000,1030,0.000,0.015,2098,1986,3340,3248,3432,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1081,-1.35,-170.3,2098,1986,3248,3432,96.4,-9.0,93,1087,0.00,2.03,0.00,0.000,260,0.000,0.030,2088,3349,3340,3249,3432,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1150,-1.35,-170.3,2087,3349,3248,3431,102.7,-9.1,96,1155,0.00,2.05,0.00,0.000,1030,0.000,0.024,2087,1972,3340,3249,3431,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1476,-1.35,-170.3,2087,1972,3248,3431,132.5,-9.0,112,1482,0.00,2.15,0.00,0.000,516,0.000,0.039,2098,568,3339,3248,3430,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1557,-1.35,-170.3,2097,568,3248,3431,138.8,-9.2,115,1566,0.00,2.03,0.00,0.000,1030,0.000,0.015,2089,1976,3339,3248,3430,0,0,0,0,0,0,28.83,26.65,28.83
$STATE,1582,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1582,begin apogee
$GC,1588,-0.25,0.0,2086,2306,3248,3430,142.5,-9.0,117,1749,0.80,0.00,146.93,0.756,10246,0.116,0.000,2347,2305,2639,2585,2694,0,0,0,0,1,0,26.29,28.83,24.63
$STATE,1750,end apogee,CONTROL_FINISHED_OK
$STATE,1750,begin climb
$GC,1752,1.35,170.3,2347,2305,2586,2694,128.2,0.0,124,1908,0.98,2.25,145.40,0.618,10500,0.056,0.032,2704,3684,1937,1903,1972,0,0,0,0,0,0,25.42,25.36,24.78
$GC,2070,1.36,173.8,2703,3684,1897,1955,99.1,9.1,138,2076,0.00,2.10,0.00,0.000,1030,0.000,0.022,2713,2304,1926,1897,1955,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2396,1.37,178.5,2713,2303,1897,1951,69.5,9.1,154,2403,0.00,2.25,1.58,0.048,8708,0.000,0.037,2724,887,1910,1882,1939,0,0,0,0,0,0,28.83,26.33,26.26
$GC,2578,1.39,186.7,2724,887,1882,1942,53.6,9.0,162,2597,0.00,2.05,12.38,0.565,9222,0.000,0.016,2724,2303,1873,1846,1901,0,0,0,0,0,0,28.83,26.50,25.67
$GC,2904,1.40,190.7,2724,2303,1844,1892,23.9,9.1,193,2912,0.00,2.17,0.00,0.000,516,0.000,0.036,2734,896,1868,1844,1893,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3058,1.40,190.7,1680,895,1792,1883,9.6,9.6,220,3068,0.12,2.05,0.00,0.000,5126,0.174,0.016,2703,2312,1868,1844,1892,0,0,0,0,0,0,26.23,26.55,28.83
$STATE,3134,end climb,SURFACE_DEPTH_REACHED
$STATE,3134,begin surface coast
$FINISH,0.0,1.025634
$STATE,3169,end surface coast,CONTROL_FINISHED_OK
$STATE,3169,begin surface
$SM_CCo,3186,291.27,0.728,2,0,399,549.47
$SM_CCo,3491,-0.08,0.000,0,0,402,549.47
$SM_CCo,3494,3.10,0.376,0,0,400,549.47
$SM_GC,-23.93,7.18,0.52,3.10,0.063,0.034,0.376,90,1960,400,-10.53,1.33,549.47,0,0,0,0,0,0,26.47,26.54,24.73
$IRIDIUM_FIX,2159.71,12030.29,020413,202006
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.62
$INTERNAL_PRESSURE,9.18503
$TCM_TEMP,20.60
$XPDR_PINGS,0
$SC_FREEKB,3920096
$24V_AH,24.6,44.226
$10V_AH,10.2,22.459
$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,16.625,30.525,306.275,294.375,0.000,0.000,0.000,224.775,0.000,0.000,24.541,940.936,1129.283,674.707,900.410,250.244,0.000,1340.892,0.000,663.235,0.000,1.488,0.000
$DEVICE_MAMPS,198.135,41.310,755.820,728.280,0.000,0.000,0.000,123.930,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3169.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.244,0.000,0.000,0.000
$MEM,323064
$DATA_FILE_SIZE,6832,239
$CAP_FILE_SIZE,201134,964
$CFSIZE,260034560,220438528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$CURRENT,0.058,276.4,1
$GPS,020413,224803,2208.931,12030.101,227,0.8,239,-3.2