version: 66.11
glider: 121
mission: 9
dive: 3
start: 2 4 113 18 18 36
data:
$ID,121
$MISSION,9
$DIVE,3
$N_DIVES,4
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,175
$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,50
$T_MISSION,65
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51636
$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,450
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-80490.977
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,100
$PITCH_MAX,4069
$C_PITCH,1950
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,10
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,2
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,526
$ROLL_MAX,3878
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,47
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3600
$C_VBD,2972
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$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,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-34.475792
$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
$GPS1,040213,181426,4743.391,-12224.806,20,1.0,20,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-45.1
$GPS2,040213,181805,4743.426,-12224.801,18,1.0,18,16.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$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,256.6,283,-27.2,-10.000,-30.00,962
$D_GRID,177
$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,-2.80,-63.1,90,1992,353,460,0.0,0.0,0,145,0.00,0.00,-119.03,0.000,16390,0.000,0.000,90,1993,3231,3104,3358,0,0,0,0,0,0,28.83,28.83,26.72
$GC,147,-2.86,-113.0,91,1992,3104,3358,2.7,-4.7,10,166,5.28,2.20,-4.53,0.000,18948,0.266,0.063,1329,593,3435,3341,3530,0,0,0,0,0,0,26.08,26.37,26.67
$GC,341,-2.20,-113.0,1328,594,3341,3531,44.3,-22.6,28,347,0.57,2.12,0.00,0.000,3078,0.212,0.028,1466,2006,3436,3342,3531,0,0,0,0,0,0,26.20,26.51,28.83
$GC,536,-1.95,-113.0,1467,2007,3342,3530,77.4,-16.6,47,542,0.20,2.15,0.00,0.000,2308,0.193,0.046,1514,3399,3436,3342,3530,0,0,0,0,0,0,26.32,26.51,28.83
$GC,657,-1.82,-113.0,1513,3399,3342,3530,95.9,-16.4,58,667,0.12,2.12,0.00,0.000,3078,0.197,0.033,1551,1996,3436,3342,3531,0,0,0,0,0,0,26.36,26.57,28.83
$GC,844,-1.82,-113.0,1550,1996,3342,3530,120.5,-12.0,77,850,0.00,2.17,0.00,0.000,516,0.000,0.050,1560,590,3436,3342,3530,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1088,-2.08,-134.1,1560,590,3342,3530,149.2,-7.8,100,1094,0.17,2.10,0.00,0.000,5126,0.067,0.030,1471,2007,3436,3343,3530,0,0,0,0,0,0,26.66,26.66,28.83
$STATE,1241,end dive,NO_VERTICAL_VELOCITY
$STATE,1241,begin apogee
$GC,1245,-0.50,0.0,1471,2007,3343,3530,149.2,0.0,115,1353,1.08,0.00,92.75,0.673,10246,0.098,0.000,1845,2008,2970,2898,3043,0,0,0,0,1,0,26.56,28.83,24.89
$STATE,1354,end apogee,CONTROL_FINISHED_OK
$STATE,1355,begin climb
$GC,1356,2.89,134.1,1844,2007,2898,3043,149.2,0.0,124,1486,2.03,2.28,112.10,0.737,10500,0.061,0.041,2583,3404,2422,2351,2494,0,0,0,0,1,0,25.58,25.09,24.46
$GC,1724,2.11,134.1,2583,3404,2349,2488,99.3,21.1,156,1733,0.80,2.17,0.00,0.000,5126,0.256,0.035,2411,2007,2418,2349,2487,0,0,0,0,0,0,25.82,26.10,28.83
$GC,1913,1.77,134.1,2411,2007,2349,2484,68.0,15.2,175,1919,0.28,2.17,0.00,0.000,4356,0.220,0.041,2340,3403,2416,2349,2484,0,0,0,0,0,0,26.06,26.27,28.83
$GC,2155,1.55,134.1,2340,3403,2349,2483,32.7,13.4,198,2162,0.25,2.15,0.00,0.000,5126,0.221,0.034,2290,1987,2415,2349,2482,0,0,0,0,0,0,26.20,26.44,28.83
$GC,2350,1.55,134.1,2289,1987,2349,2480,11.9,10.0,217,2355,0.00,2.22,0.00,0.000,260,0.000,0.044,2289,3404,2415,2349,2481,0,0,0,0,0,0,28.83,26.49,28.83
$STATE,2435,end climb,SURFACE_DEPTH_REACHED
$STATE,2435,begin surface coast
$FINISH,-0.3,1.011015
$STATE,2469,end surface coast,CONTROL_FINISHED_OK
$STATE,2469,begin surface
$SM_CCo,2483,137.55,0.070,0,0,1136,450.13
$SM_GC,0.24,5.70,2.20,137.55,0.034,0.037,0.070,83,2010,1136,-8.47,1.22,450.13,0,0,0,0,0,0,26.55,26.54,26.32
$IRIDIUM_FIX,4726.11,-12222.38,040213,181834
$TT8_MAMPS,0.026964,0.026964
$HUMID,45.86
$INTERNAL_PRESSURE,9.00924
$TCM_TEMP,18.60
$XPDR_PINGS,2
$SC_FREEKB,4018016
$24V_AH,24.5,0.461
$10V_AH,10.1,0.469
$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,16.475,26.075,204.850,137.550,0.000,0.000,0.000,0.000,0.500,0.000,19.108,929.341,695.001,458.524,587.047,34.440,0.000,786.829,0.000,556.719,0.000,1.483,0.000
$DEVICE_MAMPS,266.220,62.730,737.460,70.380,0.000,0.000,0.000,0.000,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2446.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,39.443,0.000,0.000,0.000
$MEM,323156
$DATA_FILE_SIZE,6830,228
$CAP_FILE_SIZE,137138,0
$CFSIZE,260034560,254652416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.050, 14.6,1
$GPS,040213,190327,4743.360,-12224.851,19,2.0,34,16.6