version: 66.11
glider: 121
mission: 10
dive: 88
start: 3 15 113 0 28 57
data:
$ID,121
$MISSION,10
$DIVE,88
$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,587.49347
$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,-90528.023
$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,52
$R_STBD_OVSHOOT,70
$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
$GPS1,140313,225707,1852.931,12010.090,901,99.0,901,-2.4
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-75.9
$GPS2,150313,002829,1852.476,12009.373,158,1.0,158,-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,272.7,21530,-19.4,-9.804,-21.89,2672
$D_GRID,1959
$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,-170.3,88,1946,1116,1252,0.0,0.0,0,85,0.00,0.00,-61.83,0.000,16390,0.000,0.000,88,1946,3494,3395,3593,0,0,0,0,0,0,28.83,28.83,26.78
$GC,88,-1.15,-170.3,88,1946,3395,3594,-23.9,-200.0,9,105,8.27,2.12,0.00,0.000,2308,0.248,0.024,2084,3367,3495,3397,3593,0,0,0,0,0,0,26.22,26.49,28.83
$GC,114,-1.15,-170.3,2083,3367,3400,3593,-23.9,0.0,12,122,0.00,2.08,0.00,0.000,1030,0.000,0.021,2092,1962,3497,3401,3594,0,0,0,0,0,0,28.83,26.51,28.83
$GC,441,-1.15,-170.3,1248,1960,3390,3591,-23.9,0.0,73,449,0.00,2.12,0.00,0.000,516,0.000,0.042,2102,571,3500,3408,3593,0,0,0,0,0,0,28.83,26.58,28.83
$GC,688,-1.15,-170.3,1232,571,3393,3591,-23.9,-0.0,119,696,0.00,2.03,0.00,0.000,1030,0.000,0.016,2094,1978,3502,3411,3593,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1016,-1.15,-170.3,2093,1979,3413,3593,-23.9,-0.0,180,1023,0.00,2.15,0.00,0.000,516,0.000,0.040,2102,580,3503,3413,3593,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1217,-1.15,-170.3,2102,580,3413,3593,-23.9,0.0,217,1225,0.00,2.00,0.00,0.000,1030,0.000,0.016,2094,1979,3503,3413,3593,0,0,0,0,0,0,28.83,26.73,28.83
$GC,1544,-1.15,-170.3,1252,1977,3396,3591,-23.9,-0.0,278,1552,0.00,2.15,0.00,0.000,516,0.000,0.040,2102,574,3503,3413,3593,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1591,-1.15,-170.3,1256,574,3396,3591,-23.9,0.0,286,1599,0.00,2.00,0.00,0.000,1030,0.000,0.016,2093,1978,3503,3413,3593,0,0,0,0,0,0,28.83,26.76,28.83
$GC,1918,-1.15,-170.3,2093,1979,3413,3592,-23.9,0.0,347,1926,0.00,2.15,0.00,0.000,516,0.000,0.041,2101,581,3502,3413,3592,0,0,0,0,0,0,28.83,26.71,28.83
$GC,1992,-1.15,-170.3,1256,579,3396,3590,-23.9,-0.0,360,2000,0.00,2.00,0.00,0.000,1030,0.000,0.016,2093,1982,3502,3413,3592,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2321,-1.15,-170.3,1248,1983,3397,3586,-23.9,0.0,421,2328,0.00,2.17,0.00,0.000,516,0.000,0.041,2101,571,3502,3415,3589,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2393,-1.15,-170.3,1264,571,3398,3585,-23.9,-200.0,434,2402,0.00,2.00,0.00,0.000,1030,0.000,0.016,2093,1974,3501,3414,3588,0,0,0,0,0,0,28.83,26.78,28.83
$GC,2721,-1.15,-170.3,1256,1973,3398,3584,-23.9,-0.0,495,2729,0.00,2.05,0.00,0.000,260,0.000,0.033,2083,3362,3500,3414,3586,0,0,0,0,0,0,28.83,26.74,28.83
$GC,2796,-1.15,-170.3,1248,3360,3398,3583,-23.9,-0.0,508,2804,0.00,2.05,0.00,0.000,1030,0.000,0.027,2083,1983,3500,3414,3586,0,0,0,0,0,0,28.83,26.74,28.83
$STATE,3009,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,3009,begin apogee
$GC,3014,-0.19,0.0,2082,2304,3414,3584,-23.9,0.0,548,3024,0.70,0.00,6.78,0.112,10242,0.123,0.000,2309,2305,3482,3400,3565,0,0,0,0,0,0,26.63,28.83,28.83
$STATE,3025,end apogee,SURFACE_DEPTH_REACHED
$STATE,3025,begin surface coast
$FINISH,-23.9,1.026966
$STATE,3282,end surface coast,CONTROL_FINISHED_OK
$STATE,3282,begin surface
$SM_CCo,3295,657.72,1.024,7,0,400,587.49
$SM_GC,-23.93,5.80,0.52,657.72,0.042,0.036,1.024,86,1957,400,-10.33,1.05,587.49,0,0,0,0,7,0,26.70,26.75,23.96
$IRIDIUM_FIX,1844.15,12008.99,140313,222223
$TT8_MAMPS,0.023968,0.023968
$HUMID,43.58
$INTERNAL_PRESSURE,9.00924
$TCM_TEMP,19.70
$XPDR_PINGS,2
$SC_FREEKB,3987296
$24V_AH,24.0,16.330
$10V_AH,10.2,10.836
$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,14.775,30.050,6.775,657.725,0.000,0.000,0.000,203.675,0.500,0.000,159.224,1898.160,321.465,836.570,1468.897,192.813,0.000,1596.222,0.000,1092.500,0.000,2.442,0.000
$DEVICE_MAMPS,247.860,42.075,112.455,1024.335,0.000,0.000,0.000,96.390,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3041.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.677,0.000,0.000,0.000
$MEM,324128
$DATA_FILE_SIZE,16763,599
$CAP_FILE_SIZE,350372,1747
$CFSIZE,260034560,239910912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,7,1,0
$CURRENT,0.752, 79.5,1
$GPS,150313,002829,1852.476,12009.373,901,99.0,901,-2.4