version: 66.11
glider: 129
mission: 7
dive: 6
start: 6 1 113 4 42 21
data:
$ID,129
$MISSION,7
$DIVE,6
$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,-10333.886
$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,79
$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
$GPS1,010613,043601,1905.584,12057.815,12,1.7,13,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-63.8
$GPS2,010613,044149,1905.752,12057.627,15,1.7,15,-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,221.1,101471,-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,-194.6,69,1973,1067,817,0.0,0.0,0,96,0.00,0.00,-73.45,0.000,16386,0.000,0.000,69,1972,2715,2861,2570,0,0,0,0,0,0,28.83,28.83,28.83
$GC,100,-1.09,-194.6,69,1972,2862,2570,4.0,-9.9,12,126,7.05,2.20,-10.65,0.000,18692,0.234,0.053,1906,3420,3374,3540,3208,0,0,0,0,0,0,26.01,26.29,26.56
$GC,174,-1.09,-194.6,1906,3420,3541,3208,34.8,-39.1,22,183,0.00,2.05,0.00,0.000,1030,0.000,0.027,1906,2007,3374,3541,3208,0,0,0,0,0,0,28.83,26.36,28.83
$GC,481,-1.09,-194.6,1904,2004,3543,3208,127.1,-24.0,53,486,0.00,2.03,0.00,0.000,516,0.000,0.033,1906,605,3375,3543,3208,0,0,0,0,0,0,28.83,26.48,28.83
$GC,716,-1.09,-194.6,1906,606,3546,3208,172.1,-18.4,76,721,0.00,2.03,0.00,0.000,1030,0.000,0.027,1896,2031,3377,3546,3208,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1030,-1.09,-194.6,1896,2031,3547,3209,239.8,-19.8,107,1035,0.00,2.10,0.00,0.000,516,0.000,0.033,1896,601,3377,3547,3208,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1263,-1.09,-194.6,1896,600,3548,3208,273.1,-14.5,118,1270,0.12,2.00,0.00,0.000,3078,0.168,0.028,1920,1999,3378,3548,3208,0,0,0,0,0,0,26.49,26.69,28.83
$GC,1580,-1.09,-194.6,1919,1999,3548,3208,318.8,-13.9,129,1586,0.00,2.05,0.00,0.000,516,0.000,0.034,1920,597,3377,3548,3207,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1694,-1.09,-194.6,1920,597,3548,3208,332.4,-14.1,132,1699,0.00,2.03,0.00,0.000,1030,0.000,0.028,1911,2004,3378,3548,3208,0,0,0,0,0,0,28.83,26.69,28.83
$STATE,1885,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1885,begin apogee
$GC,1894,-0.25,0.0,1900,3376,3547,3208,361.8,-13.6,139,2053,0.85,0.00,151.50,0.795,10246,0.125,0.000,2188,3376,2574,2720,2428,0,0,0,0,0,0,26.52,28.83,24.63
$STATE,2054,end apogee,CONTROL_FINISHED_OK
$STATE,2055,begin climb
$GC,2057,1.09,194.6,2188,3376,2715,2424,368.9,0.0,144,2222,1.17,0.85,155.00,0.786,10500,0.060,0.057,2628,3896,1777,1932,1623,0,0,0,0,0,0,25.38,25.18,24.60
$GC,2450,1.09,194.6,2628,3896,1918,1618,313.3,19.2,157,2455,0.00,0.70,0.00,0.000,1030,0.000,0.036,2632,3392,1768,1918,1618,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2771,1.09,194.6,2632,3391,1915,1613,257.6,16.7,168,2776,0.00,2.05,0.00,0.000,516,0.000,0.028,2643,1970,1764,1915,1613,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3008,1.09,194.6,2643,1970,1913,1609,228.7,10.8,187,3013,0.00,2.20,0.00,0.000,1030,0.000,0.042,2643,3413,1760,1913,1608,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3322,1.09,194.6,2643,3413,1910,1608,190.4,13.2,218,3327,0.00,0.70,0.00,0.000,260,0.000,0.057,2643,3889,1759,1910,1608,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3560,1.09,194.6,2643,3889,1908,1608,159.5,12.5,241,3565,0.00,0.65,0.00,0.000,1030,0.000,0.036,2647,3400,1758,1908,1608,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3873,1.09,194.6,2646,3400,1907,1606,126.6,14.0,272,3878,0.00,1.98,0.00,0.000,516,0.000,0.026,2658,1966,1756,1907,1606,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4112,1.09,194.6,2658,1967,1906,1604,104.5,10.7,295,4118,0.12,2.17,0.00,0.000,5126,0.189,0.040,2627,3414,1755,1906,1604,0,0,0,0,0,0,26.45,26.62,28.83
$GC,4429,1.70,498.1,2627,3414,1906,1604,80.0,-0.8,326,4676,0.47,0.00,238.30,0.581,10758,0.063,0.000,2826,3414,537,695,380,0,0,0,0,0,0,26.63,28.83,24.87
$STATE,4789,end climb,SURFACE_DEPTH_REACHED
$STATE,4789,begin surface coast
$FINISH,-0.1,1.020666
$STATE,4797,end surface coast,CONTROL_FINISHED_OK
$STATE,4797,begin surface
$SM_CCo,4879,0.00,0.000,0,0,529,501.88
$SM_GC,0.77,7.20,2.12,0.00,0.046,0.026,0.000,66,2004,529,-6.83,2.21,501.88,0,0,0,0,0,0,25.96,25.99,28.83
$IRIDIUM_FIX,1900.10,12059.39,010613,030344
$TT8_MAMPS,0.023968,0.023968
$HUMID,43.38
$INTERNAL_PRESSURE,9.71717
$TCM_TEMP,23.80
$XPDR_PINGS,0
$SC_FREEKB,3939616
$24V_AH,24.6,2.097
$10V_AH,9.9,1.624
$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,17.000,31.975,544.800,0.000,0.000,0.000,0.000,185.575,0.000,0.000,15.949,1156.047,2182.472,497.828,1187.210,214.543,0.000,1268.077,0.000,964.128,0.000,0.541,0.000
$DEVICE_MAMPS,234.090,57.375,794.835,0.000,0.000,0.000,0.000,123.930,420.000,0.000,33.700,11.080,2.190,11.080,37.300,47.040,0.000,15.880,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4802.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.395,0.000,0.000,0.000
$MEM,338044
$DATA_FILE_SIZE,13458,370
$CAP_FILE_SIZE,76949,0
$CFSIZE,260034560,252698624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.615,325.0,1
$GPS,010613,060500,1906.868,12056.849,39,1.6,40,-2.1