version: 66.11
glider: 121
mission: 9
dive: 6
start: 2 4 113 20 50 18
data:
$ID,121
$MISSION,9
$DIVE,6
$N_DIVES,6
$D_SURF,3
$D_FLARE,3
$D_TGT,140
$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,46
$T_MISSION,60
$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,-80494.758
$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,1920
$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,2700
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,45
$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
$GPS1,040213,204534,4743.727,-12225.156,37,1.0,37,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.25
$_SM_ANGLEo,-57.7
$GPS2,040213,204948,4743.794,-12225.133,15,1.1,16,16.6
$SPEED_LIMITS,0.176,0.261
$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,153.9,570,-17.7,-10.145,-21.22,2194
$D_GRID,182
$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,-1.95,-146.6,87,2718,1106,1157,0.0,0.0,0,118,0.00,0.00,-95.47,0.000,16390,0.000,0.000,87,2719,3573,3475,3671,0,0,0,0,0,0,28.83,28.83,26.51
$GC,120,-1.95,-146.6,88,2719,3476,3671,4.2,-7.2,8,134,6.00,1.77,0.00,0.000,2308,0.262,0.048,1481,3862,3575,3479,3671,0,0,0,0,0,0,25.91,26.17,28.83
$GC,286,-1.35,-146.6,1481,3862,3481,3670,38.2,-16.9,23,296,0.50,1.73,0.00,0.000,3078,0.172,0.026,1628,2682,3575,3482,3669,0,0,0,0,0,0,26.12,26.34,28.83
$GC,474,-1.28,-146.6,1628,2682,3483,3669,58.3,-9.8,42,475,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2683,3576,3483,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,655,-1.22,-146.6,1628,2683,3483,3669,75.8,-9.4,60,661,0.10,1.85,0.00,0.000,2308,0.187,0.053,1646,3862,3575,3483,3668,0,0,0,0,0,0,26.36,26.43,28.83
$GC,766,-1.22,-146.6,1646,3862,3483,3668,85.7,-9.0,70,774,0.00,1.73,0.00,0.000,1030,0.000,0.027,1646,2695,3575,3483,3668,0,0,0,0,0,0,28.83,26.52,28.83
$GC,954,-1.22,-146.6,1645,2695,3483,3668,102.5,-8.5,89,960,0.00,1.83,0.00,0.000,260,0.000,0.054,1638,3864,3575,3483,3667,0,0,0,0,0,0,28.83,26.51,28.83
$GC,999,-1.22,-146.6,1637,3864,3483,3668,106.6,-8.7,93,1005,0.00,1.73,0.00,0.000,1030,0.000,0.026,1638,2692,3575,3483,3668,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1193,-1.22,-146.6,1637,2692,3483,3668,123.5,-8.8,112,1195,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2692,3575,3483,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1373,-1.22,-146.6,1637,2692,3483,3668,139.4,-9.1,130,1374,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2692,3575,3483,3668,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1381,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1381,begin apogee
$GC,1385,-0.50,0.0,1637,2593,3483,3668,140.3,-9.0,131,1526,0.52,0.00,133.90,0.522,10246,0.129,0.000,1807,2592,2967,2906,3029,0,0,0,0,0,0,26.47,28.83,24.94
$STATE,1528,end apogee,CONTROL_FINISHED_OK
$STATE,1528,begin climb
$GC,1529,1.95,146.6,1807,2592,2904,3024,144.6,0.0,142,1681,1.58,2.15,137.77,0.504,11012,0.078,0.050,2352,3855,2360,2301,2420,0,0,0,0,0,0,25.41,25.12,24.68
$GC,1778,1.17,146.6,2351,3854,2299,2413,121.3,17.1,167,1787,0.75,1.90,0.00,0.000,5126,0.216,0.030,2175,2612,2355,2298,2412,0,0,0,0,0,0,25.48,25.72,28.83
$GC,1966,0.99,157.6,2175,2612,2297,2407,101.6,9.6,186,1979,0.15,2.22,4.00,0.454,12804,0.193,0.045,2144,1204,2328,2273,2384,0,0,0,0,0,0,25.87,25.99,25.32
$GC,2064,1.01,217.5,2145,1204,2273,2389,93.8,7.3,195,2132,0.00,2.15,54.10,0.659,9222,0.000,0.031,2145,2592,2082,2041,2124,0,0,0,0,1,0,28.83,26.13,24.86
$GC,2319,1.02,220.3,2145,2592,2040,2118,70.7,10.0,219,2325,0.00,2.03,0.00,0.000,260,0.000,0.054,2145,3864,2079,2041,2118,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2414,0.94,220.3,2145,3864,2041,2117,60.4,10.7,228,2421,0.12,1.90,0.00,0.000,5126,0.190,0.029,2127,2597,2079,2041,2117,0,0,0,0,0,0,25.94,26.12,28.83
$GC,2610,1.07,253.0,2127,2597,2041,2116,42.4,8.6,247,2654,0.10,2.22,36.83,0.457,10756,0.100,0.044,2177,1203,1934,1902,1966,0,0,0,0,0,0,26.29,25.89,25.48
$GC,2776,1.07,256.1,2176,1203,1898,1961,25.3,10.0,262,2785,0.10,2.17,0.00,0.000,5126,0.185,0.031,2155,2603,1929,1898,1960,0,0,0,0,0,0,25.96,26.12,28.83
$GC,2964,1.17,263.9,2155,2603,1898,1957,6.7,9.8,281,2974,0.00,0.00,4.25,0.116,8198,0.000,0.000,2155,2603,1894,1864,1924,0,0,0,0,0,0,28.83,28.83,26.15
$STATE,3002,end climb,SURFACE_DEPTH_REACHED
$STATE,3002,begin surface coast
$FINISH,0.7,1.020827
$STATE,3023,end surface coast,CONTROL_FINISHED_OK
$STATE,3023,begin surface
$SM_CCo,3036,82.97,0.070,0,0,1136,450.13
$SM_GC,0.27,5.47,0.15,82.97,0.041,0.076,0.070,78,2722,1136,-8.36,-0.88,450.13,0,0,0,0,0,0,26.29,26.31,26.15
$IRIDIUM_FIX,4726.11,-12223.37,040213,191907
$TT8_MAMPS,0.026964,0.026964
$HUMID,45.11
$INTERNAL_PRESSURE,8.99948
$TCM_TEMP,18.60
$XPDR_PINGS,1
$SC_FREEKB,4016864
$24V_AH,24.7,0.624
$10V_AH,10.0,0.627
$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,15.400,27.625,370.850,82.975,0.000,0.000,0.000,147.650,0.250,0.000,17.011,1019.293,995.134,520.607,802.227,51.974,0.000,1049.323,0.000,597.261,0.000,1.481,0.000
$DEVICE_MAMPS,262.395,88.740,659.430,70.380,0.000,0.000,0.000,130.050,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3033.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,41.889,0.000,0.000,0.000
$MEM,323140
$DATA_FILE_SIZE,10131,287
$CAP_FILE_SIZE,140840,0
$CFSIZE,260034560,254468096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.143, 49.1,1
$GPS,040213,214311,4743.617,-12224.823,18,1.3,18,16.6