version: 66.11
glider: 121
mission: 10
dive: 270
start: 4 2 113 22 54 56
data:
$ID,121
$MISSION,10
$DIVE,270
$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,-100837.82
$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,57
$R_STBD_OVSHOOT,73
$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
$GPS1,020413,224803,2208.931,12030.101,227,0.8,239,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-57.9
$GPS2,020413,225429,2208.960,12030.072,20,0.8,20,-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,40.5,1093,-18.6,-9.267,-21.13,2826
$D_GRID,652
$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,19,-1.35,-170.3,88,1950,356,472,0.0,0.0,0,44,0.00,0.00,-23.05,0.000,16386,0.000,0.000,88,1951,1014,1005,1024,0,0,0,0,0,0,28.83,28.83,28.83
$GC,47,-1.35,-170.3,88,1951,1009,1022,3.3,-8.9,3,140,7.65,2.22,-79.38,0.000,18692,0.205,0.042,2088,3362,3337,3244,3431,0,0,0,0,0,0,25.87,26.26,26.58
$GC,210,-1.35,-170.3,1248,3360,3220,3428,18.5,-8.9,27,218,0.00,2.08,0.00,0.000,1030,0.000,0.024,2097,1985,3339,3247,3431,0,0,0,0,0,0,28.83,26.34,28.83
$GC,534,-1.35,-170.3,2096,1985,3249,3431,47.6,-9.0,64,540,0.00,2.08,0.00,0.000,260,0.000,0.028,2088,3354,3339,3248,3431,0,0,0,0,0,0,28.83,26.45,28.83
$GC,681,-1.35,-170.3,1280,3352,3223,3428,59.6,-9.3,72,689,0.00,2.08,0.00,0.000,1030,0.000,0.024,2097,1965,3340,3249,3431,0,0,0,0,0,0,28.83,26.51,28.83
$GC,988,-1.35,-170.3,2096,1965,3250,3431,88.5,-9.6,88,989,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,1965,3340,3250,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1291,-1.35,-170.3,2096,1965,3250,3431,115.2,-8.8,103,1297,0.00,2.10,0.00,0.000,516,0.000,0.040,2106,572,3340,3250,3431,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1427,-1.35,-170.3,2106,572,3250,3431,127.1,-8.8,109,1433,0.00,2.00,0.00,0.000,1030,0.000,0.015,2098,1977,3340,3250,3431,0,0,0,0,0,0,28.83,26.65,28.83
$STATE,1564,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1564,begin apogee
$GC,1570,-0.25,0.0,2096,2312,3249,3429,140.4,-9.2,116,1734,0.75,0.00,147.45,0.747,10246,0.114,0.000,2342,2312,2639,2584,2694,0,0,0,0,1,0,26.30,28.83,24.65
$STATE,1735,end apogee,CONTROL_FINISHED_OK
$STATE,1735,begin climb
$GC,1737,1.35,170.3,2341,2312,2585,2694,126.0,0.0,123,1897,1.00,2.15,146.32,0.617,10500,0.056,0.031,2705,3676,1932,1897,1968,0,0,0,0,0,0,25.46,25.39,24.80
$GC,2138,1.38,180.7,2705,3676,1895,1953,89.2,8.9,141,2149,0.00,2.08,2.97,0.316,9222,0.000,0.021,2715,2300,1901,1871,1931,0,0,0,0,0,0,28.83,26.21,25.18
$GC,2458,1.44,206.5,2715,2300,1871,1940,60.4,8.3,157,2494,0.00,2.25,28.90,0.568,8708,0.000,0.037,2726,896,1790,1758,1823,0,0,0,0,0,0,28.83,26.10,25.50
$GC,2585,1.47,215.4,2725,896,1753,1814,50.4,8.9,162,2595,0.00,2.05,3.58,0.410,9222,0.000,0.015,2725,2298,1760,1727,1793,0,0,0,0,0,0,28.83,26.30,25.25
$GC,2898,1.47,215.4,1664,2295,1680,1790,21.2,9.4,196,2906,0.00,2.17,0.00,0.000,516,0.000,0.036,2736,896,1763,1727,1799,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2980,1.48,219.2,1696,895,1681,1790,13.6,9.1,210,2990,0.00,2.08,4.32,0.481,9222,0.000,0.016,2736,2311,1745,1711,1779,0,0,0,0,0,0,28.83,26.51,25.43
$STATE,3095,end climb,SURFACE_DEPTH_REACHED
$STATE,3095,begin surface coast
$FINISH,0.0,1.025496
$STATE,3131,end surface coast,CONTROL_FINISHED_OK
$STATE,3131,begin surface
$SM_CCo,3149,275.98,0.723,3,0,400,549.47
$SM_CCo,3444,-0.08,0.000,0,0,402,549.47
$SM_CCo,3447,2.72,0.327,0,0,400,549.47
$SM_GC,-23.93,7.32,0.52,2.72,0.067,0.033,0.327,87,1958,400,-10.55,1.30,549.47,0,0,0,0,0,0,26.44,26.50,24.79
$IRIDIUM_FIX,2159.71,12032.30,020413,212148
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.94
$INTERNAL_PRESSURE,9.1948
$TCM_TEMP,18.50
$XPDR_PINGS,0
$SC_FREEKB,3919712
$24V_AH,24.7,44.351
$10V_AH,10.2,22.499
$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,16.725,26.275,333.550,278.700,0.000,0.000,0.000,212.425,0.000,0.000,21.119,912.528,1124.127,675.667,875.690,241.389,0.000,1330.322,0.000,660.915,0.000,1.489,0.000
$DEVICE_MAMPS,205.020,42.075,747.405,722.925,0.000,0.000,0.000,123.165,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3135.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.314,0.000,0.000,0.000
$MEM,323128
$DATA_FILE_SIZE,6819,236
$CAP_FILE_SIZE,196170,942
$CFSIZE,260034560,220385280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$CURRENT,0.020,311.4,1
$GPS,020413,235706,2209.236,12030.150,240,1.3,240,-3.2