version: 66.12
glider: 121
mission: 11
dive: 6
start: 5 8 114 20 15 57
data:
$ID,121
$MISSION,11
$DIVE,6
$N_DIVES,7
$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,0.0049999999
$HD_B,0.0089999996
$HD_C,8e-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,-101538.73
$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,47
$R_STBD_OVSHOOT,54
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3600
$C_VBD,2700
$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
$GPS1,080514,200944,4743.371,-12225.054,64,2.0,85,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-51.8
$GPS2,080514,201531,4743.434,-12225.022,18,1.9,18,16.6
$SPEED_LIMITS,0.173,0.276
$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,356.2,126,-28.5,-10.000,-30.00,859
$D_GRID,178
$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,18,-1.73,-56.1,85,2388,307,501,0.0,0.0,0,122,0.00,0.00,-101.12,0.000,16386,0.000,0.000,85,2389,2676,2603,2750,0,0,0,0,0,0,28.83,28.83,28.83
$GC,126,-1.79,-83.5,85,2388,2603,2751,3.0,-6.7,19,150,7.12,2.22,-9.75,0.000,19204,0.249,0.057,1792,3792,3040,2966,3115,0,0,0,0,0,0,26.01,26.23,26.53
$GC,378,-1.79,-83.5,1791,3793,2966,3116,42.0,-15.4,58,383,0.00,2.08,0.00,0.000,1030,0.000,0.024,1799,2399,3041,2966,3116,0,0,0,0,0,0,28.83,26.43,28.83
$GC,691,-1.90,-83.5,1799,2398,2966,3117,89.0,-14.5,76,696,0.00,2.15,0.00,0.000,516,0.000,0.044,1810,997,3041,2966,3116,0,0,0,0,0,0,28.83,26.50,28.83
$GC,923,-1.99,-83.5,1809,997,2966,3116,120.3,-14.7,87,929,0.12,2.10,0.00,0.000,5126,0.094,0.024,1752,2397,3041,2966,3116,0,0,0,0,0,0,26.56,26.59,28.83
$STATE,1114,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1115,begin apogee
$GC,1121,-0.28,0.0,1753,1995,2966,3116,150.5,-14.8,97,1204,1.25,0.00,70.28,0.741,10246,0.159,0.000,2135,1994,2699,2645,2753,0,0,0,0,1,0,26.44,28.83,25.01
$STATE,1207,end apogee,CONTROL_FINISHED_OK
$STATE,1207,begin climb
$GC,1209,1.79,83.5,2134,1994,2645,2753,153.7,0.0,101,1297,1.30,2.33,71.97,0.737,10500,0.072,0.037,2589,3402,2357,2300,2415,0,0,0,0,1,0,25.63,25.14,24.54
$GC,1404,1.79,83.5,2589,3401,2301,2414,137.1,11.0,111,1410,0.00,2.22,0.00,0.000,1030,0.000,0.032,2597,1999,2357,2300,2414,0,0,0,0,0,0,28.83,25.78,28.83
$GC,1722,1.79,83.5,2597,1999,2300,2409,103.0,11.0,127,1723,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,1999,2354,2300,2409,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2024,1.90,83.5,2597,1999,2299,2408,69.5,10.8,142,2029,0.00,2.17,0.00,0.000,260,0.000,0.039,2598,3405,2353,2299,2408,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2167,1.90,83.5,2597,3404,2297,2408,53.3,10.7,149,2172,0.00,2.15,0.00,0.000,1030,0.000,0.031,2607,1993,2353,2298,2408,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2475,2.01,88.8,2607,1994,2297,2407,23.9,9.4,178,2482,0.12,0.00,2.62,0.359,10246,0.097,0.000,2662,1993,2337,2282,2393,0,0,0,0,0,0,26.56,28.83,25.84
$GC,2787,2.19,159.0,2662,1993,2282,2393,3.7,1.6,239,2826,0.00,2.15,32.25,0.067,8708,0.000,0.047,2673,593,2048,2007,2090,0,0,0,0,0,0,28.83,26.53,26.53
$STATE,2831,end climb,SURFACE_DEPTH_REACHED
$STATE,2831,begin surface coast
$FINISH,0.4,1.021052
$STATE,2928,end surface coast,CONTROL_FINISHED_OK
$STATE,2928,begin surface
$SM_CCo,2947,185.85,0.064,0,0,400,564.19
$SM_CCo,3136,-0.28,0.000,0,0,400,564.19
$SM_CCo,3139,0.00,0.000,0,0,400,564.19
$SM_GC,0.92,6.78,2.78,0.00,0.040,0.024,0.000,66,2400,400,-9.63,-1.19,564.19,0,0,0,0,0,0,26.63,26.60,28.83
$IRIDIUM_FIX,4729.30,-12226.80,080514,191920
$TT8_MAMPS,0.02247,0.02247
$HUMID,37.87
$INTERNAL_PRESSURE,9.14597
$TCM_TEMP,18.90
$XPDR_PINGS,0
$SC_FREEKB,4017408
$24V_AH,24.5,0.515
$10V_AH,9.8,7.452
$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,16.700,22.975,177.125,185.850,0.000,0.000,0.000,206.925,0.000,0.000,18.777,728.687,1389.449,441.218,839.152,104.446,0.000,989.423,0.000,576.603,0.000,1.483,0.000
$DEVICE_MAMPS,248.625,57.375,740.520,64.260,0.000,0.000,0.000,124.695,420.000,0.000,29.960,14.470,2.190,14.470,39.180,45.920,0.000,11.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2948.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1577.815,0.000,0.000,0.000
$MEM,322772
$DATA_FILE_SIZE,6833,266
$CAP_FILE_SIZE,56399,0
$CFSIZE,260034560,254005248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,080514,210912,4743.600,-12225.064,16,1.2,17,16.6