version: 66.11
glider: 121
mission: 10
dive: 87
start: 3 14 113 22 57 35
data:
$ID,121
$MISSION,10
$DIVE,87
$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,-89622.484
$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,51
$R_STBD_OVSHOOT,68
$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
$GPS1,140313,212349,1853.274,12010.798,901,99.0,901,-2.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-58.4
$GPS2,140313,225707,1852.931,12010.090,30,0.7,30,-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,268.9,21990,-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,-170.3,86,1955,386,474,0.0,0.0,0,115,0.00,0.00,-92.60,0.000,16390,0.000,0.000,86,1954,3494,3393,3595,0,0,0,0,0,0,28.83,28.83,26.53
$GC,117,-1.15,-170.3,86,1954,3393,3595,-23.9,-200.0,13,135,8.35,2.12,0.00,0.000,2308,0.243,0.026,2089,3367,3495,3396,3595,0,0,0,0,0,0,26.00,26.25,28.83
$GC,143,-1.15,-170.3,2089,3367,3397,3595,-23.9,-0.0,16,151,0.00,2.08,0.00,0.000,1030,0.000,0.021,2097,1970,3496,3397,3595,0,0,0,0,0,0,28.83,26.28,28.83
$GC,470,-1.15,-170.3,2097,1971,3403,3594,-23.9,-0.0,77,478,0.00,2.12,0.00,0.000,516,0.000,0.041,2108,578,3498,3403,3594,0,0,0,0,0,0,28.83,26.46,28.83
$GC,717,-1.15,-170.3,1248,578,3387,3592,-23.9,0.0,123,726,0.00,2.03,0.00,0.000,1030,0.000,0.016,2099,1989,3499,3405,3594,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1044,-1.15,-170.3,1232,1987,3387,3592,-23.9,-0.0,184,1052,0.00,2.17,0.00,0.000,516,0.000,0.039,2108,575,3500,3406,3594,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1150,-1.15,-170.3,1248,575,3387,3592,-23.9,0.0,203,1158,0.00,2.00,0.00,0.000,1030,0.000,0.015,2099,1977,3499,3404,3594,0,0,0,0,0,0,28.83,26.69,28.83
$GC,1477,-1.15,-170.3,1248,1976,3387,3590,-23.9,-200.0,264,1485,0.00,2.05,0.00,0.000,260,0.000,0.032,2089,3357,3498,3405,3592,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1509,-1.15,-170.3,1280,3356,3388,3589,-23.9,-0.0,269,1517,0.00,2.05,0.00,0.000,1030,0.000,0.026,2092,1975,3498,3405,3592,0,0,0,0,0,0,28.83,26.69,28.83
$GC,1837,-1.15,-170.3,1232,1972,3387,3588,-23.9,0.0,330,1845,0.00,2.12,0.00,0.000,516,0.000,0.041,2102,567,3497,3404,3590,0,0,0,0,0,0,28.83,26.69,28.83
$GC,1937,-1.15,-170.3,1248,567,3388,3587,-23.9,-0.0,348,1945,0.00,2.03,0.00,0.000,1030,0.000,0.016,2093,1986,3497,3405,3589,0,0,0,0,0,0,28.83,26.75,28.83
$GC,2264,-1.15,-170.3,1248,1984,3387,3585,-23.9,0.0,409,2272,0.00,2.17,0.00,0.000,516,0.000,0.040,2102,566,3496,3405,3587,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2345,-1.15,-170.3,1280,565,3388,3584,-23.9,0.0,423,2353,0.00,2.03,0.00,0.000,1030,0.000,0.016,2093,1984,3495,3405,3586,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2672,-1.15,-170.3,2092,1988,3406,3582,-23.9,0.0,484,2680,0.00,2.05,0.00,0.000,260,0.000,0.033,2083,3363,3493,3406,3581,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2725,-1.15,-170.3,1248,3361,3389,3578,-23.9,-0.0,493,2733,0.00,2.08,0.00,0.000,1030,0.000,0.027,2083,1967,3494,3407,3581,0,0,0,0,0,0,28.83,26.74,28.83
$STATE,3010,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,3010,begin apogee
$GC,3015,-0.19,0.0,2081,2306,3407,3578,-23.9,0.0,546,3025,0.70,0.00,6.47,0.037,10242,0.124,0.000,2308,2306,3464,3382,3547,0,0,0,0,0,0,26.62,28.83,28.83
$STATE,3026,end apogee,SURFACE_DEPTH_REACHED
$STATE,3026,begin surface coast
$FINISH,-23.9,1.026918
$STATE,3282,end surface coast,CONTROL_FINISHED_OK
$STATE,3282,begin surface
$SM_CCo,3295,478.00,1.006,2,0,1163,400.08
$SM_GC,-23.93,5.78,0.52,478.00,0.040,0.035,1.006,89,1957,1163,-10.31,1.10,400.08,0,0,0,0,2,0,26.70,26.76,24.08
$IRIDIUM_FIX,1846.42,12012.11,140313,191955
$TT8_MAMPS,0.024717,0.024717
$HUMID,43.03
$INTERNAL_PRESSURE,9.08737
$TCM_TEMP,20.00
$XPDR_PINGS,2
$SC_FREEKB,3987488
$24V_AH,24.1,16.136
$10V_AH,10.2,10.760
$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,14.825,30.100,6.475,478.000,0.000,0.000,0.000,404.950,0.500,0.000,31.730,1882.933,196.568,654.140,1526.107,202.467,0.000,1617.874,0.000,1091.748,0.000,1.487,0.000
$DEVICE_MAMPS,243.270,41.310,36.720,1005.975,0.000,0.000,0.000,143.055,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3044.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.472,0.000,0.000,0.000
$MEM,323840
$DATA_FILE_SIZE,16755,597
$CAP_FILE_SIZE,350467,1733
$CFSIZE,260034560,240037888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.568, 64.0,1
$GPS,140313,225707,1852.931,12010.090,901,99.0,901,-2.4