version: 66.11
glider: 121
mission: 9
dive: 7
start: 2 4 113 21 48 17
data:
$ID,121
$MISSION,9
$DIVE,7
$N_DIVES,7
$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,-80496.023
$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,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,49
$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
$GPS1,040213,214311,4743.617,-12224.823,18,1.3,18,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.30
$_SM_ANGLEo,-57.6
$GPS2,040213,214747,4743.693,-12224.795,18,1.2,18,16.6
$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,206.3,440,-17.7,-10.145,-21.22,2194
$D_GRID,175
$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,-146.6,78,2724,1100,1160,0.0,0.0,0,117,0.00,0.00,-93.45,0.000,16390,0.000,0.000,78,2724,3572,3474,3671,0,0,0,0,0,0,28.83,28.83,26.48
$GC,120,-1.95,-146.6,78,2724,3474,3672,4.5,-7.2,8,133,6.15,2.22,0.00,0.000,2564,0.267,0.035,1498,1298,3574,3478,3671,0,0,0,0,0,0,25.89,26.15,28.83
$GC,181,-1.08,-146.6,1498,1298,3480,3671,19.5,-20.9,13,191,0.68,2.15,0.00,0.000,3078,0.172,0.034,1680,2690,3575,3480,3671,0,0,0,0,0,0,26.02,26.21,28.83
$GC,370,-1.13,-146.6,1682,2690,3482,3669,36.5,-7.4,32,371,0.00,0.00,0.00,0.000,6,0.000,0.000,1680,2690,3575,3482,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,551,-1.21,-146.6,1680,2690,3482,3669,49.9,-7.4,50,553,0.10,0.00,0.00,0.000,4102,0.099,0.000,1631,2690,3575,3482,3668,0,0,0,0,0,0,26.45,28.83,28.83
$GC,731,-1.21,-146.6,1632,2690,3482,3668,66.7,-9.5,68,732,0.10,0.00,0.00,0.000,2054,0.176,0.000,1654,2691,3575,3482,3668,0,0,0,0,0,0,26.36,28.83,28.83
$GC,911,-1.21,-146.6,1654,2690,3482,3668,83.0,-8.9,86,917,0.00,1.85,0.00,0.000,260,0.000,0.057,1647,3875,3575,3482,3668,0,0,0,0,0,0,28.83,26.47,28.83
$GC,938,-1.21,-146.6,1646,3875,3482,3668,85.1,-8.7,88,946,0.00,1.75,0.00,0.000,1030,0.000,0.028,1647,2694,3575,3482,3668,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1126,-1.21,-146.6,1646,2694,3482,3668,102.1,-8.9,107,1132,0.00,1.85,0.00,0.000,260,0.000,0.054,1638,3878,3575,3482,3668,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1164,-1.21,-146.6,1638,3878,3482,3668,105.2,-8.7,110,1172,0.00,1.75,0.00,0.000,1030,0.000,0.027,1638,2680,3575,3482,3668,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1351,-1.21,-146.6,1638,2680,3482,3668,120.9,-7.7,129,1356,0.00,1.88,0.00,0.000,260,0.000,0.054,1630,3867,3575,3482,3668,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1374,-1.21,-146.6,1629,3867,3482,3668,122.7,-7.5,131,1381,0.10,1.73,0.00,0.000,3078,0.176,0.026,1655,2692,3575,3483,3668,0,0,0,0,0,0,26.44,26.60,28.83
$GC,1569,-1.28,-146.6,1655,2692,3482,3668,136.7,-7.7,150,1575,0.00,1.83,0.00,0.000,260,0.000,0.054,1648,3868,3575,3482,3668,0,0,0,0,0,0,28.83,26.58,28.83
$STATE,1612,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1613,begin apogee
$GC,1619,-0.50,0.0,1648,2216,3482,3668,140.5,-8.2,154,1758,0.50,0.00,133.45,0.523,10246,0.131,0.000,1808,2216,2968,2906,3030,0,0,0,0,0,0,26.47,28.83,24.92
$STATE,1760,end apogee,CONTROL_FINISHED_OK
$STATE,1760,begin climb
$GC,1761,1.95,146.6,1808,2215,2904,3026,145.5,0.0,165,1909,1.58,2.42,136.25,0.506,10756,0.080,0.049,2361,787,2363,2303,2423,0,0,0,0,0,0,25.39,25.08,24.65
$GC,2099,1.26,146.6,2361,787,2295,2414,111.0,15.0,195,2106,0.62,2.17,0.00,0.000,5126,0.215,0.027,2197,2206,2354,2295,2414,0,0,0,0,0,0,25.65,25.90,28.83
$GC,2295,1.02,155.4,2197,2206,2295,2410,91.5,9.7,214,2309,0.20,2.17,4.93,0.401,12548,0.186,0.044,2143,3599,2336,2280,2393,0,0,0,0,0,0,25.95,26.06,25.56
$GC,2520,0.88,179.6,2143,3599,2280,2390,70.8,9.0,235,2560,0.17,2.17,26.83,0.484,13318,0.186,0.032,2110,2187,2228,2183,2273,0,0,0,0,0,0,26.08,26.26,25.56
$GC,2739,1.01,219.2,2110,2187,2182,2266,53.4,8.3,256,2784,0.12,2.30,38.55,0.467,10756,0.089,0.049,2176,790,2072,2032,2113,0,0,0,0,0,0,26.22,25.81,25.42
$GC,2906,1.01,219.2,2176,790,2029,2107,35.0,10.8,271,2913,0.17,2.15,0.00,0.000,5126,0.172,0.026,2133,2204,2067,2028,2106,0,0,0,0,0,0,25.89,26.09,28.83
$GC,3101,1.15,259.7,2133,2204,2028,2103,18.1,8.3,290,3129,0.12,2.25,20.60,0.150,10500,0.090,0.047,2187,3599,1910,1878,1942,0,0,0,0,0,0,26.26,26.15,26.02
$STATE,3234,end climb,SURFACE_DEPTH_REACHED
$STATE,3234,begin surface coast
$FINISH,1.5,1.021574
$STATE,3246,end surface coast,CONTROL_FINISHED_OK
$STATE,3246,begin surface
$SM_CCo,3260,84.55,0.070,0,0,1135,450.13
$SM_GC,0.37,5.82,1.40,84.55,0.067,0.029,0.070,79,2692,1135,-8.34,1.22,450.13,0,0,0,0,0,0,26.29,26.29,26.13
$IRIDIUM_FIX,4726.11,-12225.08,040213,202013
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.48
$INTERNAL_PRESSURE,8.98971
$TCM_TEMP,18.60
$XPDR_PINGS,0
$SC_FREEKB,4016480
$24V_AH,24.6,0.681
$10V_AH,10.0,0.690
$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,16.450,36.600,360.600,84.550,0.000,0.000,0.000,166.775,0.000,0.000,19.197,1107.900,1094.613,510.811,868.621,54.447,0.000,1077.403,0.000,642.740,0.000,1.482,0.000
$DEVICE_MAMPS,266.985,57.375,523.260,70.380,0.000,0.000,0.000,125.460,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3256.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,42.541,0.000,0.000,0.000
$MEM,323128
$DATA_FILE_SIZE,10136,303
$CAP_FILE_SIZE,149979,0
$CFSIZE,260034560,254398464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.210,352.6,1
$GPS,040213,224453,4743.839,-12225.238,15,1.0,15,16.6