version: 66.11
glider: 121
mission: 10
dive: 80
start: 3 14 113 11 34 35
data:
$ID,121
$MISSION,10
$DIVE,80
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$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,100
$T_MISSION,120
$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,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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-82851.844
$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,66
$R_STBD_OVSHOOT,61
$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
$GPS1,140313,113017,1852.776,12012.516,14,1.3,14,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-54.7
$GPS2,140313,113407,1852.784,12012.490,17,1.7,18,-2.4
$SPEED_LIMITS,0.173,0.245
$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,343.8,25632,-28.1,-10.000,-30.00,1293
$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,-1.25,-84.0,89,1926,381,476,0.0,0.0,0,108,0.00,0.00,-85.95,0.000,16390,0.000,0.000,89,1924,3140,3021,3259,0,0,0,0,0,0,28.83,28.83,26.67
$GC,111,-1.46,-170.3,88,1924,3021,3259,-23.9,-0.0,12,129,8.00,2.22,-4.40,0.000,18692,0.243,0.041,2015,3375,3494,3408,3581,0,0,0,0,0,0,26.13,26.37,26.61
$GC,253,-1.46,-170.3,1188,3373,3391,3578,-23.9,0.0,37,262,0.00,2.05,0.00,0.000,1030,0.000,0.023,2023,1992,3495,3409,3581,0,0,0,0,0,0,28.83,26.45,28.83
$GC,578,-1.46,-170.3,1184,1990,3392,3578,-23.9,0.0,98,586,0.00,2.12,0.00,0.000,516,0.000,0.037,2033,571,3496,3411,3581,0,0,0,0,0,0,28.83,26.53,28.83
$GC,685,-1.46,-170.3,2033,571,3411,3581,-23.9,0.0,117,693,0.00,2.03,0.00,0.000,1030,0.000,0.015,2025,2008,3496,3411,3581,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1011,-1.46,-170.3,1192,2007,3393,3576,-23.9,0.0,178,1019,0.00,2.17,0.00,0.000,516,0.000,0.035,2033,574,3494,3411,3578,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1151,-1.46,-170.3,1216,574,3394,3575,-23.9,-0.0,203,1159,0.00,1.98,0.00,0.000,1030,0.000,0.015,2025,1979,3494,3411,3577,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1476,-1.46,-170.3,1184,1977,3392,3569,-23.9,-0.0,264,1483,0.00,2.00,0.00,0.000,260,0.000,0.028,2014,3350,3491,3411,3571,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1523,-1.46,-170.3,1200,3348,3393,3568,-23.9,-0.0,272,1531,0.00,2.03,0.00,0.000,1030,0.000,0.021,2023,1964,3490,3411,3570,0,0,0,0,0,0,28.83,26.69,28.83
$GC,1851,-1.46,-170.3,1192,1962,3392,3562,-23.9,0.0,333,1858,0.00,2.08,0.00,0.000,516,0.000,0.038,2033,575,3487,3410,3565,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2003,-1.46,-170.3,2033,575,3409,3564,-23.9,0.0,361,2012,0.00,1.98,0.00,0.000,1030,0.000,0.015,2025,1979,3486,3409,3563,0,0,0,0,0,0,28.83,26.76,28.83
$GC,2331,-1.46,-170.3,1184,1976,3388,3555,-23.9,0.0,422,2339,0.00,2.12,0.00,0.000,516,0.000,0.036,2033,578,3483,3408,3558,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2374,-1.46,-170.3,1216,578,3389,3555,-23.9,-0.0,429,2382,0.00,1.98,0.00,0.000,1030,0.000,0.015,2024,1972,3482,3407,3558,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2700,-1.46,-170.3,1192,1970,3386,3551,-23.9,0.0,490,2708,0.00,0.00,-0.08,0.000,16390,0.000,0.000,2024,1974,3511,3436,3587,0,0,0,0,0,0,28.83,28.83,26.56
$GC,3029,-1.46,-170.3,1200,1971,3418,3580,-23.9,-0.0,551,3036,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1974,3509,3435,3583,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3356,-1.46,-170.3,1200,1971,3413,3576,-23.9,-200.0,612,3363,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,1974,3505,3431,3579,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3606,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,3607,begin apogee
$GC,3611,-0.19,0.0,2022,2298,3429,3576,-23.9,0.0,659,3620,0.90,0.00,6.05,0.053,10242,0.134,0.000,2309,2298,3456,3384,3529,0,0,0,0,0,0,26.60,28.83,28.83
$STATE,3622,end apogee,SURFACE_DEPTH_REACHED
$STATE,3622,begin surface coast
$FINISH,-23.9,1.026483
$STATE,3630,end surface coast,CONTROL_FINISHED_OK
$STATE,3630,begin surface
$SM_CCo,3643,499.15,1.172,7,0,1163,400.08
$SM_GC,-23.93,5.70,0.50,499.15,0.030,0.033,1.172,82,1958,1163,-10.34,1.39,400.08,0,0,0,0,7,0,26.71,26.76,23.72
$IRIDIUM_FIX,1844.15,12014.08,140313,111110
$TT8_MAMPS,0.024717,0.024717
$HUMID,42.16
$INTERNAL_PRESSURE,9.04831
$TCM_TEMP,18.90
$XPDR_PINGS,3
$SC_FREEKB,3988832
$24V_AH,23.7,14.902
$10V_AH,10.4,10.215
$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,14.600,25.650,6.050,499.150,0.000,0.000,0.000,0.000,0.750,0.000,18.943,2074.153,72.360,700.886,1229.986,181.463,0.000,1302.691,0.000,1209.412,0.000,1.491,0.000
$DEVICE_MAMPS,242.505,40.545,52.785,1171.980,0.000,0.000,0.000,0.000,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3610.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.814,0.000,0.000,0.000
$MEM,323888
$DATA_FILE_SIZE,20071,661
$CAP_FILE_SIZE,407083,1925
$CFSIZE,260034560,240607232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,7,1,0
$CURRENT,0.268, 66.2,1
$GPS,140313,113407,1852.784,12012.490,901,99.0,901,-2.4