version: 66.11
glider: 121
mission: 10
dive: 85
start: 3 14 113 19 53 1
data:
$ID,121
$MISSION,10
$DIVE,85
$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,-87813.375
$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,50
$R_STBD_OVSHOOT,66
$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
$GPS1,140313,182232,1853.079,12010.886,901,99.0,901,-2.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-59.5
$GPS2,140313,195233,1853.275,12010.956,35,1.9,35,-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,265.4,22873,-19.4,-9.804,-21.89,2672
$D_GRID,1926
$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,-1.15,-170.3,87,1946,354,445,0.0,0.0,0,115,0.00,0.00,-92.43,0.000,16390,0.000,0.000,88,1947,3493,3392,3595,0,0,0,0,0,0,28.83,28.83,26.55
$GC,117,-1.15,-170.3,88,1947,3393,3594,-23.9,-200.0,13,134,8.38,2.15,0.00,0.000,2308,0.245,0.027,2087,3374,3496,3397,3595,0,0,0,0,0,0,26.02,26.27,28.83
$GC,169,-1.15,-170.3,1248,3372,3383,3592,-23.9,-0.0,21,177,0.00,2.10,0.00,0.000,1030,0.000,0.026,2095,1984,3497,3400,3594,0,0,0,0,0,0,28.83,26.31,28.83
$GC,497,-1.15,-170.3,2095,1984,3405,3594,-23.9,-200.0,82,505,0.00,2.10,0.00,0.000,260,0.000,0.031,2087,3362,3499,3405,3594,0,0,0,0,0,0,28.83,26.50,28.83
$GC,744,-1.15,-170.3,1232,3360,3389,3591,-23.9,0.0,128,752,0.00,2.08,0.00,0.000,1030,0.000,0.025,2095,1965,3500,3407,3594,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1070,-1.15,-170.3,1240,1963,3389,3591,-23.9,-200.0,189,1079,0.00,2.12,0.00,0.000,516,0.000,0.041,2105,561,3501,3408,3594,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1097,-1.15,-170.3,1280,561,3390,3591,-23.9,0.0,193,1106,0.00,2.03,0.00,0.000,1030,0.000,0.016,2097,1978,3501,3408,3594,0,0,0,0,0,0,28.83,26.69,28.83
$GC,1426,-1.15,-170.3,1248,1976,3389,3591,-23.9,0.0,254,1434,0.00,2.15,0.00,0.000,516,0.000,0.039,2105,574,3500,3408,3593,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1490,-1.15,-170.3,1264,574,3391,3590,-23.9,-0.0,265,1499,0.00,2.03,0.00,0.000,1030,0.000,0.015,2097,1983,3500,3408,3593,0,0,0,0,0,0,28.83,26.73,28.83
$GC,1819,-1.15,-170.3,1248,1982,3389,3588,-23.9,-0.0,326,1827,0.00,2.17,0.00,0.000,516,0.000,0.040,2105,567,3499,3408,3590,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1878,-1.15,-170.3,1256,567,3390,3587,-23.9,-0.0,336,1886,0.00,2.03,0.00,0.000,1030,0.000,0.016,2097,1987,3500,3410,3590,0,0,0,0,0,0,28.83,26.75,28.83
$GC,2207,-1.15,-170.3,2096,1987,3407,3587,-23.9,0.0,397,2215,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,1987,3497,3408,3587,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2536,-1.15,-170.3,1256,1985,3390,3581,-23.9,-0.0,458,2543,0.00,2.05,0.00,0.000,260,0.000,0.033,2087,3365,3495,3407,3583,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2588,-1.15,-170.3,2085,3366,3408,3580,-23.9,0.0,467,2596,0.00,2.08,0.00,0.000,1030,0.000,0.027,2090,1970,3494,3408,3580,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2915,-1.15,-170.3,1232,1967,3390,3575,-23.9,-0.0,528,2923,0.00,2.12,0.00,0.000,516,0.000,0.043,2100,567,3492,3408,3577,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2952,-1.15,-170.3,1280,567,3391,3575,-23.9,-200.0,534,2959,0.00,2.03,0.00,0.000,1030,0.000,0.016,2092,1982,3492,3408,3577,0,0,0,0,0,0,28.83,26.79,28.83
$STATE,3007,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,3008,begin apogee
$GC,3012,-0.19,0.0,2090,2307,3408,3576,-23.9,-0.0,544,3022,0.68,0.00,6.85,0.148,10242,0.122,0.000,2310,2307,3485,3403,3568,0,0,0,0,0,0,26.63,28.83,28.83
$STATE,3024,end apogee,SURFACE_DEPTH_REACHED
$STATE,3024,begin surface coast
$FINISH,-23.9,1.027038
$STATE,3281,end surface coast,CONTROL_FINISHED_OK
$STATE,3281,begin surface
$SM_CCo,3294,480.88,1.039,2,0,1163,400.08
$SM_GC,-23.93,5.78,0.52,480.88,0.039,0.036,1.039,87,1961,1163,-10.33,1.19,400.08,0,0,0,0,2,0,26.70,26.75,24.07
$IRIDIUM_FIX,1846.42,12005.88,140313,161624
$TT8_MAMPS,0.024717,0.024717
$HUMID,43.77
$INTERNAL_PRESSURE,9.0776
$TCM_TEMP,19.70
$XPDR_PINGS,0
$SC_FREEKB,3987872
$24V_AH,24.1,15.795
$10V_AH,10.3,10.608
$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,14.825,30.175,6.850,480.875,0.000,0.000,0.000,396.400,0.000,0.000,36.968,1876.719,201.850,664.934,1517.938,197.752,0.000,1625.867,0.000,1083.921,0.000,1.486,0.000
$DEVICE_MAMPS,244.800,42.840,148.410,1038.870,0.000,0.000,0.000,143.055,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3040.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.431,0.000,0.000,0.000
$MEM,323888
$DATA_FILE_SIZE,16777,595
$CAP_FILE_SIZE,349806,1725
$CFSIZE,260034560,240214016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.617, 67.2,1
$GPS,140313,195233,1853.275,12010.956,901,99.0,901,-2.4