version: 66.11
glider: 123
mission: 9
dive: 4
start: 6 12 112 19 42 20
data:
$ID,123
$MISSION,9
$DIVE,4
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,180
$D_NO_BLEED,500
$D_BOOST,2
$T_BOOST,0
$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,70
$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,51213
$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,450
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$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,-39067.789
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,400
$PITCH_MAX,3600
$C_PITCH,2375
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,11.9
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,500
$ROLL_MAX,3200
$ROLL_DEG,40
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,47
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3900
$C_VBD,3188
$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
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-6.7133908
$PRESSURE_SLOPE,9.0919311e-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,1
$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,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043864721
$SEABIRD_T_H,0.00064806081
$SEABIRD_T_I,2.7180024e-05
$SEABIRD_T_J,2.9430885e-06
$SEABIRD_C_G,-10.070593
$SEABIRD_C_H,1.1484482
$SEABIRD_C_I,-0.001532277
$SEABIRD_C_J,0.00018666344
$GPS1,120612,193734,4743.183,-12224.299,11,3.9,30,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-45.8
$GPS2,120612,194156,4743.168,-12224.311,16,1.8,16,18.2
$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,14.0,725,-18.7,-10.000
$D_GRID,175
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,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,13,begin dive
$GC,14,-1.74,-137.6,0.0,0.0,0,128,0.00,0.00,-111.10,0.000,2,0.000,0.000,394,1945,3321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,130,-1.75,-146.6,3.1,-5.0,20,161,9.00,2.15,-12.57,0.000,4,0.178,0.063,1988,3168,3787,0,0,0,0,0,0,24.73,24.88,25.20
$GC,268,-1.89,-146.6,18.0,-9.5,46,275,0.12,2.08,0.00,0.000,6,0.089,0.047,1958,1957,3787,0,0,0,0,0,0,24.97,24.94,28.83
$GC,399,-1.98,-146.6,31.5,-10.4,71,405,0.00,2.60,0.00,0.000,4,0.000,0.086,1958,544,3788,0,0,0,0,0,0,28.83,24.89,28.83
$GC,457,-2.04,-146.6,38.1,-11.0,82,464,0.12,2.38,0.00,0.000,6,0.092,0.049,1929,1959,3788,0,0,0,0,0,0,25.01,25.06,28.83
$GC,588,-2.09,-146.6,53.0,-11.7,107,594,0.00,0.00,0.00,0.000,6,0.000,0.000,1929,1963,3788,0,0,0,0,0,0,28.83,28.83,28.83
$GC,715,-2.15,-146.6,67.4,-11.0,132,721,0.00,0.00,0.00,0.000,6,0.000,0.000,1929,1962,3788,0,0,0,0,0,0,28.83,28.83,28.83
$GC,843,-2.21,-146.6,81.3,-11.1,157,850,0.15,2.65,0.00,0.000,4,0.084,0.084,1891,539,3788,0,0,0,0,0,0,25.06,24.97,28.83
$GC,947,-2.16,-146.6,93.9,-12.0,177,954,0.00,2.38,0.00,0.000,6,0.000,0.048,1891,1959,3788,0,0,0,0,0,0,28.83,25.13,28.83
$GC,1075,-2.16,-146.6,108.6,-11.7,202,1081,0.00,0.00,0.00,0.000,6,0.000,0.000,1891,1962,3788,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1202,-2.16,-146.6,122.8,-11.4,227,1208,0.00,0.00,0.00,0.000,6,0.000,0.000,1891,1962,3788,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1329,-2.16,-146.6,137.9,-11.8,252,1335,0.00,0.00,0.00,0.000,6,0.000,0.000,1891,1963,3788,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1435,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1435,begin apogee
$GC,1439,-0.42,0.0,150.5,-11.4,273,1567,1.85,0.00,121.80,0.802,6,0.108,0.000,2278,2046,3187,0,0,0,0,0,0,25.04,28.83,23.91
$STATE,1568,end apogee,CONTROL_FINISHED_OK
$STATE,1569,begin climb
$GC,1570,1.75,146.6,154.7,0.0,296,1705,2.17,2.00,123.12,0.778,4,0.073,0.050,2759,3177,2589,0,0,0,0,0,0,24.57,24.46,23.91
$GC,1732,1.97,202.0,148.3,7.2,325,1790,0.20,1.95,47.88,0.750,6,0.070,0.047,2807,2042,2363,0,0,0,0,0,0,24.71,24.68,23.93
$GC,1912,2.08,202.4,131.8,10.0,359,1919,0.00,2.65,0.00,0.000,4,0.000,0.090,2807,645,2358,0,0,0,0,0,0,28.83,24.72,28.83
$GC,1931,2.19,204.7,129.9,9.9,362,1938,0.20,2.38,0.00,0.000,6,0.077,0.046,2854,2054,2358,0,0,0,0,0,0,24.79,24.83,28.83
$GC,2062,2.24,204.7,114.8,11.8,387,2069,0.00,2.65,0.00,0.000,4,0.000,0.085,2854,646,2357,0,0,0,0,0,0,28.83,24.78,28.83
$GC,2074,2.24,204.7,113.1,11.7,389,2081,0.00,2.38,0.00,0.000,6,0.000,0.045,2854,2056,2357,0,0,0,0,0,0,28.83,24.88,28.83
$GC,2204,2.24,204.7,99.4,11.2,414,2211,0.00,2.65,0.00,0.000,4,0.000,0.084,2854,643,2356,0,0,0,0,0,0,28.83,24.82,28.83
$GC,2282,2.24,204.7,89.5,12.5,429,2289,0.00,2.38,0.00,0.000,6,0.000,0.045,2854,2057,2356,0,0,0,0,0,0,28.83,24.94,28.83
$GC,2411,2.29,204.7,74.9,11.2,454,2418,0.00,2.62,0.00,0.000,4,0.000,0.083,2854,650,2356,0,0,0,0,0,0,28.83,24.87,28.83
$GC,2479,2.29,204.7,67.3,11.2,467,2486,0.00,2.35,0.00,0.000,6,0.000,0.045,2854,2050,2356,0,0,0,0,0,0,28.83,24.98,28.83
$GC,2607,2.36,259.1,54.1,7.3,492,2664,0.12,0.00,49.10,0.723,6,0.098,0.000,2887,2051,2131,0,0,0,0,0,0,24.98,28.83,23.99
$GC,2786,2.42,259.1,33.9,11.5,526,2792,0.00,2.62,0.00,0.000,4,0.000,0.084,2887,650,2127,0,0,0,0,0,0,28.83,24.81,28.83
$GC,2824,2.42,259.1,29.5,11.4,533,2831,0.00,2.38,0.00,0.000,6,0.000,0.045,2887,2052,2126,0,0,0,0,0,0,28.83,24.91,28.83
$GC,2953,2.49,259.1,14.3,12.2,558,2960,0.12,2.62,0.00,0.000,4,0.093,0.083,2921,650,2126,0,0,0,0,0,0,24.91,24.87,28.83
$GC,2966,2.49,259.1,12.5,12.7,560,2972,0.00,2.38,0.00,0.000,6,0.000,0.045,2920,2050,2125,0,0,0,0,0,0,28.83,24.96,28.83
$STATE,3038,end climb,SURFACE_DEPTH_REACHED
$STATE,3038,begin surface coast
$FINISH,0.3,1.019535
$STATE,3059,end surface coast,CONTROL_FINISHED_OK
$STATE,3059,begin surface
$SM_CCo,3077,84.07,0.059,0,0,1352,450.13
$SM_GC,0.82,11.10,0.20,84.07,0.055,0.088,0.059,398,1937,1352,-9.03,0.62,450.13,0,0,0,0,0,0,24.95,24.91,24.85
$IRIDIUM_FIX,4751.72,-12340.51,120612,181823
$TT8_MAMPS,0.023968,0.023968
$HUMID,49.13
$INTERNAL_PRESSURE,7.54912
$TCM_TEMP,19.60
$XPDR_PINGS,51
$24V_AH,23.9,2.623
$10V_AH,10.0,0.899
$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,25.175,48.525,341.900,84.075,0.000,23.260,41.449,119.139,12.750,0.000,16.833,1201.796,604.224,551.071,1038.777,42.974,0.000,1063.509,0.000,837.147,0.000,0.847,0.000
$DEVICE_MAMPS,178.245,94.860,802.485,58.905,0.000,68.080,160.000,223.000,420.000,0.000,31.460,13.470,2.190,13.470,38.180,45.670,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,383.219,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323948
$DATA_FILE_SIZE,23440,578
$CAP_FILE_SIZE,63183,0
$CFSIZE,260165632,255397888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120612,203549,4743.437,-12223.903,9,1.7,14,18.2