version: 66.11
glider: 123
mission: 10
dive: 4
start: 12 10 113 21 12 20
data:
$ID,123
$MISSION,10
$DIVE,4
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,120
$D_ABORT,160
$D_NO_BLEED,100
$D_BOOST,20
$T_BOOST,4
$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,40
$T_MISSION,55
$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,51513
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0105
$HD_C,2.4000001e-05
$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,500
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-40018.23
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,400
$PITCH_MAX,3500
$C_PITCH,2130
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,10
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,300
$ROLL_MAX,3300
$ROLL_DEG,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3900
$C_VBD,2941
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0013
$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,91.800003
$AH0_10V,61.200001
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-5.6312323
$PRESSURE_SLOPE,9.1207337e-05
$AD7714Ch0Gain,64
$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,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,115
$DEVICE3,53
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043547689
$SEABIRD_T_H,0.00062576577
$SEABIRD_T_I,2.391554e-05
$SEABIRD_T_J,2.5780666e-06
$SEABIRD_C_G,-9.9836788
$SEABIRD_C_H,1.11155
$SEABIRD_C_I,-0.0018295855
$SEABIRD_C_J,0.00022378819
$GPS1,101213,210809,4743.168,-12224.093,8,2.2,28,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.54
$_SM_ANGLEo,-30.3
$GPS2,101213,211154,4743.193,-12224.059,15,1.9,15,18.2
$SPEED_LIMITS,0.173,0.249
$TGT_NAME,NE
$TGT_LATLONG,4743.500,-12224.000
$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,349.1,572,-19.0,-10.000,-22.75,1989
$D_GRID,169
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-2.08,-133.3,394,1913,998,789,0.0,0.0,0,185,0.00,0.00,-166.75,0.000,16386,0.000,0.000,394,1914,3473,3452,3495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,188,-2.09,-146.6,394,1914,3452,3495,3.4,-5.9,30,207,7.15,2.70,-1.90,0.000,18948,0.174,0.096,1665,495,3541,3525,3557,0,0,0,0,0,0,24.82,24.90,25.25
$GC,435,-2.02,-146.6,1665,495,3526,3557,35.9,-7.4,78,443,0.12,2.38,0.00,0.000,3078,0.164,0.044,1685,1907,3541,3526,3557,0,0,0,0,0,0,24.96,25.12,28.83
$GC,749,-2.02,-146.6,1685,1911,3526,3557,60.5,-11.2,130,754,0.00,2.62,0.00,0.000,516,0.000,0.082,1685,490,3541,3526,3557,0,0,0,0,0,0,28.83,25.01,28.83
$GC,815,-2.02,-146.6,1685,489,3526,3556,68.9,-13.0,136,819,0.00,2.35,0.00,0.000,1030,0.000,0.044,1686,1898,3541,3526,3557,0,0,0,0,0,0,28.83,25.16,28.83
$GC,1120,-2.02,-146.6,1685,1903,3526,3557,109.4,-12.7,166,1124,0.00,2.33,0.00,0.000,260,0.000,0.049,1685,3278,3541,3526,3557,0,0,0,0,0,0,28.83,25.13,28.83
$STATE,1205,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1205,begin apogee
$GC,1211,-0.50,0.0,1685,1794,3525,3557,120.3,-11.9,174,1358,1.58,0.00,139.90,0.555,10246,0.113,0.000,2018,1794,2938,3003,2873,0,0,0,0,0,0,25.05,28.83,24.12
$STATE,1359,end apogee,CONTROL_FINISHED_OK
$STATE,1359,begin climb
$GC,1360,2.09,146.6,2018,1794,2998,2869,127.4,0.0,189,1509,2.55,0.00,142.60,0.507,10246,0.075,0.000,2585,1794,2342,2460,2225,0,0,0,0,0,0,24.65,28.83,24.13
$GC,1806,2.15,187.2,2585,1794,2437,2211,97.1,7.9,234,1850,0.00,2.70,38.53,0.525,8708,0.000,0.093,2585,394,2170,2291,2050,0,0,0,0,0,0,28.83,24.55,24.18
$GC,1875,2.15,193.0,1680,394,2225,2038,90.8,9.7,240,1886,0.00,2.45,4.22,0.383,9222,0.000,0.047,2585,1808,2155,2275,2035,0,0,0,0,0,0,28.83,24.87,24.25
$GC,2193,2.15,193.0,2585,1808,2269,2035,55.8,11.9,272,2197,0.00,2.65,0.00,0.000,516,0.000,0.090,2585,393,2151,2269,2034,0,0,0,0,0,0,28.83,24.87,28.83
$GC,2248,2.15,193.0,2585,393,2269,2035,48.7,12.6,277,2255,0.00,2.38,0.00,0.000,1030,0.000,0.054,2585,1800,2152,2269,2035,0,0,0,0,0,0,28.83,25.03,28.83
$GC,2557,2.15,193.0,2585,1801,2267,2034,13.1,10.9,338,2563,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,1800,2151,2267,2035,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2643,end climb,SURFACE_DEPTH_REACHED
$STATE,2643,begin surface coast
$FINISH,0.2,1.022977
$STATE,2669,end surface coast,CONTROL_FINISHED_OK
$STATE,2669,begin surface
$SM_CCo,2685,143.07,0.059,0,0,901,500.17
$SM_GC,0.49,9.60,0.12,143.07,0.056,0.081,0.059,396,1887,901,-7.93,-1.50,500.17,0,0,0,0,0,0,25.05,25.13,24.89
$IRIDIUM_FIX,4726.11,-12225.08,101213,212104
$TT8_MAMPS,0.023968,0.023968
$HUMID,48.42
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,19.50
$XPDR_PINGS,23
$24V_AH,24.1,3.187
$10V_AH,9.8,1.220
$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,21.000,25.275,325.250,143.075,0.000,0.000,0.000,0.000,5.750,0.000,15.714,772.567,924.246,572.702,603.543,28.267,0.000,937.630,0.000,593.675,0.000,0.543,0.000
$DEVICE_MAMPS,174.420,96.390,554.625,58.905,0.000,0.000,0.000,0.000,420.000,0.000,32.210,13.470,2.190,13.470,38.930,46.420,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMT,AA3830,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,241.109,343.731,286.759,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,105.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323304
$DATA_FILE_SIZE,20360,360
$CAP_FILE_SIZE,51303,0
$CFSIZE,260034560,255275008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101213,220033,4743.621,-12223.977,11,5.0,31,18.2