version: 66.11
glider: 129
mission: 7
dive: 9
start: 6 1 113 11 10 7
data:
$ID,129
$MISSION,7
$DIVE,9
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,660
$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,220
$T_MISSION,250
$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,-10337.649
$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,2300
$C_ROLL_CLIMB,2900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,88
$R_STBD_OVSHOOT,42
$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,0.0024999999
$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
$GPS1,010613,110306,1909.394,12056.433,41,1.0,41,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-64.2
$GPS2,010613,110937,1909.505,12056.374,15,1.1,15,-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,217.0,100274,-14.1,-10.000,-22.53,2886
$D_GRID,3269
$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,-1.19,-194.6,62,2291,1057,816,0.0,0.0,0,87,0.00,0.00,-64.60,0.000,16386,0.000,0.000,62,2292,2484,2625,2344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-1.19,-194.6,62,2292,2626,2344,3.3,-5.8,11,123,6.93,2.17,-15.70,0.000,19204,0.232,0.055,1877,3705,3373,3539,3207,0,0,0,0,0,0,25.95,26.20,26.48
$GC,212,-1.19,-194.6,1877,3705,3541,3207,42.9,-31.1,27,220,0.00,2.03,0.00,0.000,1030,0.000,0.025,1877,2312,3374,3541,3207,0,0,0,0,0,0,28.83,26.32,28.83
$GC,519,-1.19,-194.6,1877,2290,3542,3207,139.0,-28.7,58,524,0.00,2.12,0.00,0.000,260,0.000,0.042,1866,3704,3374,3542,3207,0,0,0,0,0,0,28.83,26.39,28.83
$GC,602,-1.19,-194.6,1866,3707,3543,3207,160.8,-25.2,66,608,0.00,2.03,0.00,0.000,1030,0.000,0.024,1866,2271,3375,3543,3207,0,0,0,0,0,0,28.83,26.48,28.83
$GC,916,-1.19,-194.6,1866,2258,3547,3207,227.9,-19.4,97,921,0.00,1.92,0.00,0.000,516,0.000,0.030,1866,928,3377,3547,3207,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1149,-1.19,-194.6,1866,927,3548,3206,266.0,-17.5,112,1156,0.12,2.03,0.00,0.000,3078,0.174,0.028,1888,2319,3377,3548,3207,0,0,0,0,0,0,26.41,26.57,28.83
$GC,1466,-1.19,-194.6,1888,2319,3548,3207,310.0,-12.7,123,1472,0.00,2.03,0.00,0.000,260,0.000,0.044,1879,3692,3378,3549,3207,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1651,-1.19,-194.6,1878,3692,3548,3207,334.9,-13.5,129,1657,0.00,1.95,0.00,0.000,1030,0.000,0.026,1879,2285,3377,3548,3207,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1988,-1.19,-194.6,1878,2275,3547,3207,385.1,-15.5,140,1993,0.00,1.98,0.00,0.000,516,0.000,0.032,1879,935,3377,3547,3207,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2221,-1.19,-194.6,1879,935,3543,3206,418.5,-15.3,147,2227,0.00,2.00,0.00,0.000,1030,0.000,0.031,1869,2300,3374,3542,3207,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2535,-1.19,-194.6,1868,2300,3540,3207,467.4,-14.8,158,2540,0.00,2.00,0.00,0.000,516,0.000,0.032,1869,933,3373,3540,3206,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2769,-1.19,-194.6,1869,936,3535,3206,501.3,-16.0,165,2775,0.12,2.00,0.00,0.000,3078,0.168,0.031,1892,2301,3370,3535,3206,0,0,0,0,0,0,26.53,26.67,28.83
$GC,3086,-1.19,-194.6,1891,2301,3530,3206,546.0,-13.3,176,3091,0.00,2.00,0.00,0.000,516,0.000,0.033,1892,945,3368,3530,3206,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3319,-1.19,-194.6,1892,945,3526,3206,573.4,-12.2,183,3324,0.00,2.00,0.00,0.000,1030,0.000,0.031,1883,2305,3366,3526,3206,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3633,-1.19,-194.6,1883,2305,3521,3206,612.0,-11.6,194,3638,0.00,2.00,0.00,0.000,516,0.000,0.033,1883,934,3363,3521,3206,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3867,-1.19,-194.6,1883,935,3517,3205,636.2,-11.0,201,3873,0.00,2.03,0.00,0.000,1030,0.000,0.033,1873,2306,3361,3517,3205,0,0,0,0,0,0,28.83,26.70,28.83
$STATE,4088,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4088,begin apogee
$GC,4096,-0.25,0.0,1869,2890,3515,3203,660.6,-9.8,209,4278,0.95,0.00,175.62,0.982,10246,0.132,0.000,2187,2890,2575,2725,2425,0,0,0,0,0,0,26.55,28.83,24.20
$STATE,4279,end apogee,CONTROL_FINISHED_OK
$STATE,4279,begin climb
$GC,4282,1.19,194.6,2187,2890,2720,2420,663.2,0.0,215,4471,1.30,1.67,180.05,0.897,10500,0.064,0.054,2659,3894,1775,1933,1618,0,0,0,0,0,0,25.01,24.87,24.22
$GC,4699,1.19,194.6,2659,3895,1922,1610,591.5,21.8,229,4704,0.00,1.40,0.00,0.000,1030,0.000,0.032,2666,2925,1766,1923,1610,0,0,0,0,0,0,28.83,25.97,28.83
$GC,5030,1.19,194.6,2666,2925,1919,1607,525.7,20.7,240,5035,0.00,1.50,0.00,0.000,260,0.000,0.053,2667,3885,1763,1919,1607,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5264,1.19,194.6,2666,3885,1916,1607,474.8,23.6,247,5269,0.00,1.40,0.00,0.000,1030,0.000,0.032,2674,2899,1761,1916,1607,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5578,1.19,194.6,2674,2899,1915,1604,405.4,20.5,258,5583,0.00,2.03,0.00,0.000,516,0.000,0.031,2685,1504,1760,1915,1605,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5772,1.19,194.6,2684,1504,1913,1602,369.0,19.7,264,5777,0.00,2.12,0.00,0.000,1030,0.000,0.039,2685,2904,1757,1913,1602,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6097,1.19,194.6,2685,2904,1912,1601,302.6,19.7,275,6102,0.00,1.50,0.00,0.000,260,0.000,0.054,2685,3886,1758,1915,1601,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6175,1.19,194.6,2685,3885,1912,1601,289.6,19.6,277,6181,0.10,1.40,0.00,0.000,5126,0.196,0.033,2654,2889,1756,1912,1601,0,0,0,0,0,0,26.32,26.56,28.83
$GC,6485,1.19,194.6,2653,2889,1911,1597,229.6,18.0,295,6490,0.00,2.00,0.00,0.000,516,0.000,0.031,2663,1511,1755,1911,1600,0,0,0,0,0,0,28.83,26.56,28.83
$GC,6620,1.19,194.6,2663,1511,1910,1599,208.7,13.1,308,6626,0.00,2.08,0.00,0.000,1030,0.000,0.037,2663,2903,1754,1910,1599,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6935,1.19,194.6,2663,2903,1910,1598,166.5,12.6,339,6936,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2903,1754,1910,1598,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7235,1.19,194.6,2663,2903,1909,1599,129.2,12.5,369,7240,0.00,1.48,0.00,0.000,260,0.000,0.052,2663,3883,1753,1909,1598,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7318,1.19,194.6,2663,3883,1909,1598,120.2,10.5,377,7323,0.00,1.38,0.00,0.000,1030,0.000,0.031,2671,2893,1753,1909,1598,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7632,1.56,342.8,2670,2893,1909,1598,102.3,4.7,408,7768,0.25,1.62,126.50,0.621,10500,0.084,0.049,2778,3888,1171,1333,1009,0,0,0,0,0,0,26.57,25.32,24.82
$GC,7999,1.56,342.8,2778,3888,1322,1002,38.2,21.1,443,8006,0.00,1.40,0.00,0.000,1030,0.000,0.028,2786,2887,1160,1321,999,0,0,0,0,0,0,28.83,26.07,28.83
$STATE,8188,end climb,SURFACE_DEPTH_REACHED
$STATE,8188,begin surface coast
$FINISH,-0.0,1.021151
$STATE,8201,end surface coast,CONTROL_FINISHED_OK
$STATE,8201,begin surface
$SM_CCo,8221,22.33,0.050,0,0,943,400.08
$SM_GC,0.49,7.05,0.80,22.33,0.047,0.028,0.050,68,2298,943,-6.82,2.63,400.08,0,0,0,0,0,0,26.17,26.25,26.16
$IRIDIUM_FIX,1900.10,12056.26,010613,080807
$TT8_MAMPS,0.024717,0.024717
$HUMID,44.05
$INTERNAL_PRESSURE,9.66834
$TCM_TEMP,23.10
$XPDR_PINGS,0
$SC_FREEKB,3938656
$24V_AH,24.2,2.461
$10V_AH,10.4,1.805
$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,16.825,56.925,482.175,22.325,0.000,0.000,0.000,213.775,0.000,0.000,16.002,1771.104,4384.642,498.686,1701.751,286.681,0.000,1519.467,0.000,1432.921,0.000,0.540,0.000
$DEVICE_MAMPS,231.795,55.080,982.260,49.725,0.000,0.000,0.000,124.695,420.000,0.000,33.700,11.080,2.190,11.080,37.300,47.040,0.000,15.880,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8202.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.471,0.000,0.000,0.000
$MEM,338068
$DATA_FILE_SIZE,16778,476
$CAP_FILE_SIZE,111252,0
$CFSIZE,260034560,252469248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.152,358.7,1
$GPS,010613,132825,1910.157,12056.927,10,1.8,10,-2.1