version: 66.12
glider: 121
mission: 11
dive: 4
start: 5 8 114 18 22 17
data:
$ID,121
$MISSION,11
$DIVE,4
$N_DIVES,5
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,180
$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,64
$T_ABORT,720
$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,51572
$MASS_COMP,0
$NAV_MODE,0
$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,627.77997
$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,-101536.11
$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,2200
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,18
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,2
$ROLL_MIN,526
$ROLL_MAX,3878
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,47
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3600
$C_VBD,2900
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0024999999
$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,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-153.32103
$PRESSURE_SLOPE,0.00010735
$AD7714Ch0Gain,1
$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,149
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043382249
$SEABIRD_T_H,0.00063273578
$SEABIRD_T_I,2.4765648e-05
$SEABIRD_T_J,2.7001597e-06
$SEABIRD_C_G,-9.8796949
$SEABIRD_C_H,1.1032032
$SEABIRD_C_I,-0.0012487641
$SEABIRD_C_J,0.00017867702
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,080514,181849,4743.525,-12224.708,14,0.8,14,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-48.2
$GPS2,080514,182154,4743.555,-12224.717,19,1.2,19,16.6
$SPEED_LIMITS,0.173,0.229
$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,237.4,367,-28.1,-10.000,-30.00,1289
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.77,-84.1,90,2392,303,506,0.0,0.0,0,123,0.00,0.00,-101.50,0.000,16386,0.000,0.000,90,2392,2669,2596,2743,0,0,0,0,0,0,28.83,28.83,28.83
$GC,127,-1.84,-112.7,90,2392,2596,2744,3.0,-7.7,19,162,6.80,2.25,-17.95,0.000,18948,0.237,0.057,1804,998,3362,3278,3447,0,0,0,0,0,0,26.13,26.36,26.65
$GC,335,-2.00,-112.7,1803,998,3278,3447,38.1,-18.5,51,342,0.12,2.12,0.00,0.000,5126,0.093,0.025,1743,2409,3363,3279,3447,0,0,0,0,0,0,26.46,26.49,28.83
$GC,641,-2.00,-112.7,1743,2409,3278,3447,98.3,-19.8,70,647,0.10,2.12,0.00,0.000,2308,0.201,0.044,1753,3795,3362,3278,3447,0,0,0,0,0,0,26.44,26.54,28.83
$GC,873,-2.00,-112.7,1753,3795,3278,3447,142.1,-20.3,81,878,0.00,2.10,0.00,0.000,1030,0.000,0.026,1761,2385,3362,3278,3447,0,0,0,0,0,0,28.83,26.64,28.83
$STATE,904,end dive,TARGET_DEPTH_EXCEEDED
$STATE,904,begin apogee
$GC,910,-0.28,0.0,1763,1995,3278,3447,150.2,-19.8,83,1019,1.17,0.00,97.90,0.723,10246,0.148,0.000,2132,1994,2898,2842,2954,0,0,0,0,1,0,26.46,28.83,24.82
$STATE,1022,end apogee,CONTROL_FINISHED_OK
$STATE,1022,begin climb
$GC,1024,1.84,112.7,2132,1994,2842,2955,157.4,0.0,88,1136,1.35,2.35,94.00,0.749,10756,0.070,0.047,2613,599,2438,2378,2498,0,0,0,0,1,0,25.46,25.12,24.53
$GC,1363,1.88,128.1,2613,599,2375,2495,142.3,8.8,105,1389,0.00,2.12,15.95,0.571,9222,0.000,0.022,2613,2017,2370,2312,2429,0,0,0,0,0,0,28.83,26.13,25.45
$GC,1689,1.88,128.1,2613,2017,2311,2422,109.5,10.5,122,1694,0.00,2.25,0.00,0.000,516,0.000,0.047,2623,589,2366,2311,2422,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1862,1.88,128.1,2623,589,2308,2422,88.8,12.8,130,1867,0.00,2.10,0.00,0.000,1030,0.000,0.023,2622,2012,2365,2309,2422,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2175,1.88,128.1,2622,2012,2308,2421,55.4,11.0,146,2180,0.00,2.10,0.00,0.000,260,0.000,0.041,2623,3389,2364,2308,2421,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2408,1.91,139.2,2622,3389,2308,2420,32.4,9.1,166,2423,0.00,2.10,9.75,0.536,9222,0.000,0.031,2632,1999,2330,2274,2386,0,0,0,0,0,0,28.83,26.61,26.03
$GC,2726,2.01,179.1,2631,1999,2271,2377,8.4,6.8,221,2750,0.00,2.22,18.02,0.077,8452,0.000,0.039,2631,3390,2165,2119,2212,0,0,0,0,0,0,28.83,26.55,26.51
$GC,2763,2.09,213.6,2631,3390,2119,2210,5.5,7.3,227,2786,0.00,2.12,15.35,0.067,9222,0.000,0.031,2641,1991,2025,1981,2070,0,0,0,0,0,0,28.83,26.58,26.51
$STATE,2796,end climb,SURFACE_DEPTH_REACHED
$STATE,2796,begin surface coast
$FINISH,0.9,1.020510
$STATE,2838,end surface coast,CONTROL_FINISHED_OK
$STATE,2838,begin surface
$SM_CCo,2855,186.23,0.057,0,0,399,613.25
$SM_CCo,3044,-0.28,0.000,0,0,400,613.25
$SM_CCo,3048,0.00,0.000,0,0,400,613.25
$SM_GC,0.93,7.18,0.62,0.00,0.079,0.033,0.000,86,2394,400,-9.62,-1.44,613.25,0,0,0,0,0,0,26.55,26.60,28.83
$IRIDIUM_FIX,4722.92,-12230.48,080514,181858
$TT8_MAMPS,0.02247,0.02247
$HUMID,38.06
$INTERNAL_PRESSURE,9.1655
$TCM_TEMP,18.90
$XPDR_PINGS,0
$SC_FREEKB,4018304
$24V_AH,24.5,0.424
$10V_AH,9.8,4.954
$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,16.725,27.175,250.975,186.225,0.000,0.000,0.000,0.000,0.000,0.000,20.616,711.997,1194.732,506.752,652.991,60.180,0.000,880.634,0.000,619.919,0.000,1.484,0.000
$DEVICE_MAMPS,237.150,57.375,748.935,56.610,0.000,0.000,0.000,0.000,420.000,0.000,29.960,14.470,2.190,14.470,39.180,45.920,0.000,11.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2820.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1577.815,0.000,0.000,0.000
$MEM,322856
$DATA_FILE_SIZE,6799,241
$CAP_FILE_SIZE,72528,0
$CFSIZE,260034560,254087168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,080514,191400,4743.537,-12225.108,15,1.3,16,16.6