version: 66.11
glider: 121
mission: 9
dive: 5
start: 2 4 113 19 52 36
data:
$ID,121
$MISSION,9
$DIVE,5
$N_DIVES,5
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,175
$D_NO_BLEED,50
$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,50
$T_MISSION,65
$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,51636
$NAV_MODE,2
$FERRY_MAX,40
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$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,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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-80493.5
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,100
$PITCH_MAX,4069
$C_PITCH,1920
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,10
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,2
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,526
$ROLL_MAX,3878
$ROLL_DEG,40
$C_ROLL_DIVE,2700
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3600
$C_VBD,2972
$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
$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,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-34.475792
$PRESSURE_SLOPE,9.0818496e-05
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.3
$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,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042823856
$SEABIRD_T_H,0.00062054652
$SEABIRD_T_I,2.2746239e-05
$SEABIRD_T_J,2.4072633e-06
$SEABIRD_C_G,-9.8275757
$SEABIRD_C_H,1.1041691
$SEABIRD_C_I,-0.0015209455
$SEABIRD_C_J,0.00020302966
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,040213,194730,4743.409,-12224.663,16,1.1,17,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.26
$_SM_ANGLEo,-56.0
$GPS2,040213,195155,4743.461,-12224.649,20,1.4,20,16.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$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,233.7,443,-19.9,-10.000,-23.24,1751
$D_GRID,175
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-2.13,-115.2,71,2694,1099,1167,0.0,0.0,0,111,0.00,0.00,-91.65,0.000,16390,0.000,0.000,71,2695,3443,3341,3545,0,0,0,0,0,0,28.83,28.83,26.56
$GC,114,-2.17,-146.6,70,2695,3341,3546,2.9,-5.1,7,129,5.93,2.22,-2.55,0.000,18948,0.265,0.057,1454,1287,3573,3488,3659,0,0,0,0,0,0,25.96,26.23,26.50
$GC,242,-1.61,-146.6,1454,1287,3490,3659,30.7,-19.1,19,248,0.45,2.17,0.00,0.000,3078,0.187,0.034,1566,2696,3575,3491,3659,0,0,0,0,0,0,26.12,26.33,28.83
$GC,436,-1.39,-146.6,1565,2696,3491,3659,58.1,-13.5,38,438,0.17,0.00,0.00,0.000,2054,0.172,0.000,1613,2696,3574,3491,3658,0,0,0,0,0,0,26.26,28.83,28.83
$GC,617,-1.35,-146.6,1613,2696,3491,3659,77.5,-10.1,56,618,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2696,3575,3491,3659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,796,-1.35,-146.6,1613,2697,3491,3659,95.8,-10.5,74,797,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2697,3575,3491,3659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,977,-1.35,-146.6,1613,2697,3491,3659,113.8,-10.1,92,982,0.00,1.83,0.00,0.000,260,0.000,0.056,1606,3871,3575,3491,3659,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1087,-1.29,-146.6,1606,3871,3491,3659,125.1,-10.7,102,1096,0.10,1.75,0.00,0.000,3078,0.172,0.027,1637,2681,3574,3491,3658,0,0,0,0,0,0,26.46,26.62,28.83
$GC,1275,-1.34,-146.6,1637,2681,3491,3658,143.0,-9.0,121,1281,0.00,2.10,0.00,0.000,516,0.000,0.043,1639,1310,3575,3491,3659,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1300,-1.41,-146.6,1639,1310,3490,3658,145.0,-9.0,123,1306,0.00,2.10,0.00,0.000,1030,0.000,0.035,1630,2698,3575,3491,3659,0,0,0,0,0,0,28.83,26.62,28.83
$STATE,1362,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1362,begin apogee
$GC,1366,-0.50,0.0,1630,2599,3491,3658,150.7,-8.5,129,1512,0.50,0.00,136.73,0.526,10246,0.082,0.000,1815,2599,2961,2902,3021,0,0,0,0,0,0,26.58,28.83,24.96
$STATE,1514,end apogee,CONTROL_FINISHED_OK
$STATE,1514,begin climb
$GC,1515,2.17,146.6,1815,2599,2901,3018,151.3,0.0,141,1668,1.60,2.33,137.73,0.506,10756,0.051,0.044,2414,1208,2359,2298,2420,0,0,0,0,0,0,25.48,25.17,24.71
$GC,1861,1.49,146.6,2416,1208,2291,2413,111.4,16.7,171,1870,0.68,2.20,0.00,0.000,5126,0.217,0.032,2244,2614,2351,2290,2412,0,0,0,0,0,0,25.72,25.96,28.83
$GC,2049,1.21,146.6,2244,2613,2292,2408,88.7,11.3,190,2051,0.25,0.00,0.00,0.000,4102,0.192,0.000,2181,2614,2349,2291,2408,0,0,0,0,0,0,25.98,28.83,28.83
$GC,2229,1.12,150.4,2181,2614,2290,2406,71.3,9.8,208,2235,0.00,2.25,0.00,0.000,516,0.000,0.043,2190,1200,2349,2291,2407,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2326,1.07,158.3,2190,1200,2291,2406,62.2,9.5,217,2340,0.15,2.15,3.58,0.395,13318,0.187,0.031,2155,2600,2324,2267,2382,0,0,0,0,0,0,26.18,26.38,25.63
$GC,2518,1.11,192.7,2155,2599,2268,2395,47.0,8.0,236,2560,0.00,0.00,33.35,0.590,8198,0.000,0.000,2155,2599,2184,2139,2230,0,0,0,0,1,0,28.83,28.83,25.40
$GC,2738,1.20,210.4,2155,2599,2138,2230,28.2,9.0,258,2769,0.10,2.22,18.85,0.461,10756,0.111,0.042,2202,1198,2112,2069,2156,0,0,0,0,1,0,26.25,26.04,25.44
$GC,2871,1.20,210.4,2202,1198,2069,2156,13.4,11.3,270,2877,0.00,2.17,0.00,0.000,1030,0.000,0.031,2203,2602,2112,2069,2156,0,0,0,0,0,0,28.83,26.20,28.83
$STATE,2964,end climb,SURFACE_DEPTH_REACHED
$STATE,2964,begin surface coast
$FINISH,1.0,1.021455
$STATE,2985,end surface coast,CONTROL_FINISHED_OK
$STATE,2985,begin surface
$SM_CCo,2998,106.47,0.072,0,0,1135,450.13
$SM_GC,0.18,6.07,0.15,106.47,0.088,0.080,0.072,88,2717,1135,-8.32,-0.93,450.13,0,0,0,0,0,0,26.28,26.30,26.13
$IRIDIUM_FIX,4726.11,-12223.37,040213,191914
$TT8_MAMPS,0.026964,0.026964
$HUMID,45.74
$INTERNAL_PRESSURE,8.99948
$TCM_TEMP,18.60
$XPDR_PINGS,0
$SC_FREEKB,4017248
$24V_AH,24.7,0.562
$10V_AH,10.1,0.569
$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,16.000,26.925,330.225,106.475,0.000,0.000,0.000,164.325,0.000,0.000,21.483,1018.087,1033.588,504.983,795.406,49.428,0.000,1030.407,0.000,576.225,0.000,1.484,0.000
$DEVICE_MAMPS,264.690,79.560,589.815,71.910,0.000,0.000,0.000,123.930,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2986.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,41.595,0.000,0.000,0.000
$MEM,323132
$DATA_FILE_SIZE,10145,281
$CAP_FILE_SIZE,136756,0
$CFSIZE,260034560,254529536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.206,352.5,1
$GPS,040213,204534,4743.727,-12225.156,37,1.0,37,16.6