version: 66.11
glider: 121
mission: 10
dive: 81
start: 3 14 113 13 34 39
data:
$ID,121
$MISSION,10
$DIVE,81
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,250
$D_ABORT,500
$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,85
$T_MISSION,100
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51800
$NAV_MODE,2
$FERRY_MAX,40
$KALMAN_USE,2
$HD_A,0.0056599998
$HD_B,0.0135
$HD_C,6.2300001e-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,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,-84084.141
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,100
$PITCH_MAX,4069
$C_PITCH,2350
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,526
$ROLL_MAX,3878
$ROLL_DEG,40
$C_ROLL_DIVE,1975
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,99
$R_STBD_OVSHOOT,90
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3600
$C_VBD,2795
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0024999999
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$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,-34.938694
$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,48
$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
$GPS1,140313,133034,1853.195,12011.668,23,0.8,23,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-54.7
$GPS2,140313,133412,1853.214,12011.648,17,1.2,17,-2.4
$SPEED_LIMITS,0.170,0.244
$TGT_NAME,W3A
$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,264.0,23959,-19.4,-9.804,-21.89,2672
$D_GRID,1831
$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,18,-1.15,-170.3,90,1905,359,452,0.0,0.0,0,115,0.00,0.00,-91.68,0.000,16390,0.000,0.000,90,1904,3492,3395,3590,0,0,0,0,0,0,28.83,28.83,26.68
$GC,118,-1.15,-170.3,90,1904,3395,3590,-23.9,-0.0,13,135,8.23,1.95,0.00,0.000,2564,0.240,0.033,2106,610,3494,3398,3590,0,0,0,0,0,0,26.14,26.39,28.83
$GC,375,-1.15,-170.3,1232,610,3385,3587,-23.9,-0.0,60,383,0.00,1.92,0.00,0.000,1030,0.000,0.015,2098,1972,3497,3404,3590,0,0,0,0,0,0,28.83,26.55,28.83
$GC,701,-1.15,-170.3,1232,1971,3387,3587,-23.9,-0.0,121,709,0.00,2.05,0.00,0.000,516,0.000,0.035,2106,623,3497,3405,3590,0,0,0,0,0,0,28.83,26.58,28.83
$GC,781,-1.15,-170.3,1256,623,3389,3587,-23.9,-0.0,135,789,0.00,1.90,0.00,0.000,1030,0.000,0.015,2098,1981,3497,3405,3590,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1110,-1.15,-170.3,1248,1979,3387,3586,-23.9,0.0,196,1118,0.00,2.00,0.00,0.000,260,0.000,0.028,2088,3348,3496,3405,3588,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1137,-1.15,-170.3,2087,3348,3405,3587,-23.9,-200.0,200,1145,0.00,1.95,0.00,0.000,1030,0.000,0.022,2095,2014,3496,3405,3587,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1465,-1.15,-170.3,2095,2014,3405,3584,-23.9,0.0,261,1473,0.00,2.15,0.00,0.000,516,0.000,0.038,2106,576,3494,3405,3583,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1618,-1.15,-170.3,1252,576,3388,3577,-23.9,-200.0,289,1627,0.00,1.98,0.00,0.000,1030,0.000,0.015,2098,1978,3493,3407,3580,0,0,0,0,0,0,28.83,26.74,28.83
$GC,1948,-1.15,-170.3,1248,1976,3389,3573,-23.9,-200.0,350,1956,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,1979,3491,3407,3575,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2275,-1.15,-170.3,1240,1977,3388,3567,-23.9,-0.0,411,2282,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,1979,3488,3407,3570,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2601,-1.15,-170.3,1248,1977,3388,3562,-23.9,-0.0,472,2609,0.00,2.12,0.00,0.000,516,0.000,0.037,2105,579,3485,3406,3565,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2648,-1.15,-170.3,1280,579,3389,3562,-23.9,0.0,480,2656,0.00,1.98,0.00,0.000,1030,0.000,0.016,2097,1978,3485,3407,3564,0,0,0,0,0,0,28.83,26.79,28.83
$GC,2978,-1.15,-170.3,1264,1976,3386,3559,-23.9,0.0,541,2985,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,1978,3482,3403,3562,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3007,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,3007,begin apogee
$GC,3011,-0.19,0.0,2094,2298,3403,3561,-23.9,-0.0,546,3021,0.65,0.00,6.80,0.131,10242,0.122,0.000,2307,2298,3459,3381,3537,0,0,0,0,0,0,26.63,28.83,28.83
$STATE,3023,end apogee,SURFACE_DEPTH_REACHED
$STATE,3023,begin surface coast
$FINISH,-23.9,1.026999
$STATE,3281,end surface coast,CONTROL_FINISHED_OK
$STATE,3281,begin surface
$SM_CCo,3295,473.20,1.038,1,0,1165,400.08
$SM_GC,-23.93,5.75,0.50,473.20,0.038,0.033,1.038,88,1956,1165,-10.32,1.33,400.08,0,0,0,0,1,0,26.70,26.77,24.03
$IRIDIUM_FIX,1848.70,12008.99,140313,131354
$TT8_MAMPS,0.024717,0.024717
$HUMID,42.36
$INTERNAL_PRESSURE,9.0776
$TCM_TEMP,19.60
$XPDR_PINGS,3
$SC_FREEKB,3988640
$24V_AH,24.0,15.092
$10V_AH,10.3,10.303
$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,14.625,20.900,6.800,473.200,0.000,0.000,0.000,0.000,0.750,0.000,18.819,1873.797,86.558,639.330,1093.765,159.572,0.000,1193.215,0.000,1086.184,0.000,1.488,0.000
$DEVICE_MAMPS,240.210,38.250,130.815,1038.105,0.000,0.000,0.000,0.000,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3011.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.769,0.000,0.000,0.000
$MEM,323872
$DATA_FILE_SIZE,16761,597
$CAP_FILE_SIZE,360028,1735
$CFSIZE,260034560,240553984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.245, 41.2,1
$GPS,140313,133412,1853.214,12011.648,901,99.0,901,-2.4