version: 66.11
glider: 129
mission: 7
dive: 5
start: 6 1 113 3 8 57
data:
$ID,129
$MISSION,7
$DIVE,5
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,360
$D_ABORT,1020
$D_NO_BLEED,200
$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,120
$T_MISSION,135
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51417
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00189234
$HD_B,0.014647
$HD_C,8.6444998e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$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,-10332.631
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,80
$PITCH_MAX,3800
$C_PITCH,2275
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125753
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3900
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,3400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,70
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,210
$VBD_MAX,3600
$C_VBD,2575
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0020000001
$VBD_PUMP_AD_RATE_SURFACE,6
$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,-51.965656
$PRESSURE_SLOPE,0.0001153375
$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,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044205599
$SEABIRD_T_H,0.00065295544
$SEABIRD_T_I,2.7173966e-05
$SEABIRD_T_J,2.9599335e-06
$SEABIRD_C_G,-10.091012
$SEABIRD_C_H,1.1303297
$SEABIRD_C_I,-0.0017080312
$SEABIRD_C_J,0.00019346757
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,010613,030206,1904.693,12058.854,42,1.3,42,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-64.2
$GPS2,010613,030825,1904.812,12058.699,18,1.8,18,-2.1
$SPEED_LIMITS,0.173,0.241
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,4000.000
$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,222.1,103173,-14.1,-10.000,-22.53,2886
$D_GRID,2234
$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,20,-1.09,-194.6,70,1987,929,665,0.0,0.0,0,99,0.00,0.00,-76.60,0.000,16386,0.000,0.000,70,1987,2566,2707,2425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-1.09,-194.6,70,1987,2707,2425,3.0,-5.4,13,130,7.00,2.22,-14.43,0.000,18692,0.232,0.054,1906,3424,3372,3541,3203,0,0,0,0,0,0,26.06,26.35,26.62
$GC,173,-1.09,-194.6,1905,3424,3545,3203,25.5,-31.2,24,181,0.00,2.05,0.00,0.000,1030,0.000,0.027,1906,2005,3374,3545,3203,0,0,0,0,0,0,28.83,26.41,28.83
$GC,480,-1.09,-194.6,1905,2001,3546,3204,114.6,-22.8,55,485,0.00,2.03,0.00,0.000,516,0.000,0.033,1905,601,3374,3546,3203,0,0,0,0,0,0,28.83,26.52,28.83
$GC,715,-1.09,-194.6,1905,601,3548,3204,164.8,-20.3,78,720,0.00,2.03,0.00,0.000,1030,0.000,0.027,1895,2027,3374,3548,3200,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1029,-1.09,-194.6,1895,2028,3550,3204,228.8,-16.7,109,1034,0.00,2.10,0.00,0.000,516,0.000,0.033,1895,599,3377,3550,3204,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1264,-1.09,-194.6,1895,601,3551,3204,265.7,-16.9,124,1270,0.15,2.00,0.00,0.000,3078,0.158,0.027,1929,2008,3377,3551,3204,0,0,0,0,0,0,26.51,26.67,28.83
$GC,1582,-1.09,-194.6,1928,2008,3551,3204,310.3,-12.7,135,1587,0.00,2.08,0.00,0.000,516,0.000,0.034,1929,601,3377,3551,3204,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1689,-1.09,-194.6,1928,601,3551,3204,323.2,-13.3,138,1696,0.00,2.03,0.00,0.000,1030,0.000,0.028,1920,2004,3377,3551,3204,0,0,0,0,0,0,28.83,26.70,28.83
$STATE,1946,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1946,begin apogee
$GC,1955,-0.25,0.0,1910,3374,3549,3203,360.9,-14.1,147,2119,0.82,0.00,154.77,0.779,10246,0.126,0.000,2189,3374,2569,2716,2422,0,0,0,0,0,0,26.53,28.83,24.70
$STATE,2121,end apogee,CONTROL_FINISHED_OK
$STATE,2121,begin climb
$GC,2124,1.09,194.6,2189,3374,2714,2421,370.5,0.0,152,2291,1.17,0.85,158.15,0.781,10500,0.062,0.058,2626,3893,1777,1933,1622,0,0,0,0,0,0,25.46,25.22,24.67
$GC,2521,1.09,194.6,2625,3893,1917,1615,326.2,17.3,165,2528,0.00,0.70,0.00,0.000,1030,0.000,0.036,2630,3388,1766,1917,1615,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2828,1.09,194.6,2630,3387,1916,1611,272.9,17.0,176,2833,0.00,0.77,0.00,0.000,260,0.000,0.057,2630,3893,1763,1915,1611,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3063,1.09,194.6,2629,3893,1912,1611,237.1,13.7,189,3069,0.00,0.68,0.00,0.000,1030,0.000,0.036,2633,3396,1761,1912,1611,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3377,1.09,194.6,2633,3396,1910,1608,195.2,13.9,220,3383,0.00,2.00,0.00,0.000,516,0.000,0.027,2644,1968,1758,1910,1607,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3424,1.09,194.6,1672,1965,1857,1599,189.9,11.9,224,3431,0.00,2.17,0.00,0.000,1030,0.000,0.041,2645,3406,1757,1910,1605,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3732,1.09,194.6,2644,3406,1908,1605,158.8,10.6,255,3737,0.00,0.73,0.00,0.000,260,0.000,0.057,2644,3896,1756,1907,1605,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3970,1.20,247.1,2644,3896,1906,1605,136.2,8.1,278,4016,0.00,0.68,39.38,0.655,9222,0.000,0.036,2649,3396,1563,1721,1405,0,0,0,0,0,0,28.83,26.67,25.51
$GC,4324,1.20,247.1,2648,3396,1716,1397,104.9,10.1,313,4330,0.00,2.03,0.00,0.000,516,0.000,0.026,2659,1965,1556,1715,1397,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4480,1.20,247.1,2659,1965,1715,1394,85.1,13.3,328,4485,0.00,2.17,0.00,0.000,1030,0.000,0.040,2659,3403,1554,1715,1394,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4795,1.45,374.2,2659,3403,1715,1394,54.1,5.5,359,4907,0.22,2.15,99.38,0.583,10756,0.076,0.025,2764,1976,1042,1203,881,0,0,0,0,0,0,26.55,25.70,25.10
$GC,4945,1.45,374.2,2763,1976,1199,879,37.2,15.2,373,4951,0.00,2.20,0.00,0.000,1030,0.000,0.039,2764,3399,1038,1199,878,0,0,0,0,0,0,28.83,25.89,28.83
$STATE,5128,end climb,SURFACE_DEPTH_REACHED
$STATE,5128,begin surface coast
$FINISH,0.3,1.021274
$STATE,5137,end surface coast,CONTROL_FINISHED_OK
$STATE,5137,begin surface
$SM_CCo,5158,9.38,0.050,0,0,944,400.08
$SM_GC,2.37,6.95,2.08,9.38,0.047,0.024,0.050,69,1991,944,-6.82,2.12,400.08,0,0,0,0,0,0,26.23,26.29,26.22
$IRIDIUM_FIX,1850.98,11904.83,010613,010129
$TT8_MAMPS,0.023968,0.023968
$HUMID,44.44
$INTERNAL_PRESSURE,9.77577
$TCM_TEMP,24.20
$XPDR_PINGS,0
$SC_FREEKB,3939936
$24V_AH,24.7,1.984
$10V_AH,10.0,1.579
$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,16.325,37.800,451.675,9.375,0.000,0.000,0.000,211.775,0.000,0.000,19.084,1265.698,2351.947,465.866,1254.700,223.806,0.000,1264.889,0.000,1012.536,0.000,0.541,0.000
$DEVICE_MAMPS,231.795,58.140,781.065,50.490,0.000,0.000,0.000,121.635,420.000,0.000,33.700,11.080,2.190,11.080,37.300,47.040,0.000,15.880,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5146.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.581,0.000,0.000,0.000
$MEM,338076
$DATA_FILE_SIZE,13409,405
$CAP_FILE_SIZE,83620,0
$CFSIZE,260034560,252743680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.528,316.6,1
$GPS,010613,043601,1905.584,12057.815,12,1.7,13,-2.1