version: 66.11
glider: 121
mission: 10
dive: 97
start: 3 15 113 14 7 33
data:
$ID,121
$MISSION,10
$DIVE,97
$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,-98669.109
$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,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
$GPS1,150313,123333,1852.171,12008.318,901,99.0,901,-2.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-58.9
$GPS2,150313,140705,1851.888,12007.721,33,1.0,33,-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,280.4,20211,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.15,-170.3,83,1942,353,455,0.0,0.0,0,115,0.00,0.00,-93.72,0.000,16390,0.000,0.000,83,1941,3493,3388,3599,0,0,0,0,0,0,28.83,28.83,26.53
$GC,118,-1.15,-170.3,83,1941,3388,3599,-23.9,0.0,13,135,8.43,2.17,0.00,0.000,2308,0.247,0.030,2081,3361,3495,3391,3599,0,0,0,0,0,0,25.96,26.23,28.83
$GC,144,-1.15,-170.3,2082,3362,3393,3599,-23.9,-200.0,16,152,0.00,2.10,0.00,0.000,1030,0.000,0.023,2090,1972,3496,3394,3599,0,0,0,0,0,0,28.83,26.26,28.83
$GC,473,-1.15,-170.3,1232,1970,3381,3597,-23.9,0.0,77,481,0.00,2.15,0.00,0.000,516,0.000,0.042,2100,570,3500,3401,3599,0,0,0,0,0,0,28.83,26.45,28.83
$GC,720,-1.15,-170.3,2100,570,3402,3599,-23.9,0.0,123,728,0.00,2.03,0.00,0.000,1030,0.000,0.016,2092,1974,3500,3402,3599,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1048,-1.15,-170.3,1248,1973,3384,3596,-23.9,-200.0,184,1056,0.00,2.15,0.00,0.000,516,0.000,0.041,2100,574,3500,3402,3599,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1158,-1.15,-170.3,1248,573,3384,3596,-23.9,-0.0,204,1166,0.00,2.03,0.00,0.000,1030,0.000,0.016,2092,1984,3500,3402,3599,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1490,-1.15,-170.3,2091,1985,3402,3597,-23.9,-0.0,265,1498,0.00,2.17,0.00,0.000,516,0.000,0.041,2100,574,3500,3402,3598,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1548,-1.15,-170.3,1248,574,3384,3595,-23.9,0.0,275,1556,0.00,2.03,0.00,0.000,1030,0.000,0.016,2092,1987,3500,3402,3598,0,0,0,0,0,0,28.83,26.71,28.83
$GC,1876,-1.15,-170.3,1248,1985,3384,3593,-23.9,-200.0,336,1883,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,1988,3498,3402,3595,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2202,-1.15,-170.3,1232,1986,3383,3589,-23.9,-0.0,397,2209,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,1988,3497,3402,3592,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2530,-1.15,-170.3,1248,1986,3384,3586,-23.9,0.0,458,2538,0.00,2.17,0.00,0.000,516,0.000,0.041,2100,572,3495,3402,3589,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2636,-1.15,-170.3,1256,572,3384,3586,-23.9,-200.0,477,2645,0.00,2.03,0.00,0.000,1030,0.000,0.017,2092,1981,3494,3401,3588,0,0,0,0,0,0,28.83,26.76,28.83
$GC,2965,-1.15,-170.3,1240,1983,3384,3580,-23.9,0.0,538,2973,0.00,2.17,0.00,0.000,516,0.000,0.043,2100,572,3493,3403,3583,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3008,-1.15,-170.3,1256,572,3386,3580,-23.9,-0.0,545,3016,0.00,2.03,0.00,0.000,1030,0.000,0.017,2092,1980,3492,3403,3582,0,0,0,0,0,0,28.83,26.77,28.83
$STATE,3022,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,3022,begin apogee
$GC,3027,-0.19,0.0,2089,2300,3403,3582,-23.9,-200.0,547,3037,0.68,0.00,7.07,0.134,10242,0.119,0.000,2311,2301,3478,3391,3565,0,0,0,0,0,0,26.60,28.83,28.83
$STATE,3039,end apogee,SURFACE_DEPTH_REACHED
$STATE,3039,begin surface coast
$FINISH,-23.9,1.026978
$STATE,3046,end surface coast,CONTROL_FINISHED_OK
$STATE,3046,begin surface
$SM_CCo,3059,479.58,1.009,3,0,1163,400.08
$SM_GC,-23.93,5.65,0.50,479.58,0.028,0.037,1.009,90,1972,1163,-10.30,1.44,400.08,0,0,0,0,3,0,26.67,26.72,24.05
$IRIDIUM_FIX,1846.42,12005.88,150313,101027
$TT8_MAMPS,0.024717,0.024717
$HUMID,43.77
$INTERNAL_PRESSURE,9.0776
$TCM_TEMP,19.90
$XPDR_PINGS,0
$SC_FREEKB,3985568
$24V_AH,24.0,17.852
$10V_AH,9.9,11.509
$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,14.750,26.150,7.075,479.575,0.000,0.000,0.000,407.700,0.000,0.000,34.655,1730.718,179.883,662.104,1464.914,199.660,0.000,1593.467,0.000,1030.761,0.000,1.486,0.000
$DEVICE_MAMPS,247.095,42.840,133.875,1009.035,0.000,0.000,0.000,140.760,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3055.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.478,0.000,0.000,0.000
$MEM,323908
$DATA_FILE_SIZE,16760,549
$CAP_FILE_SIZE,326039,1589
$CFSIZE,260034560,239202304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$CURRENT,3.282, 75.1,1
$GPS,150313,140705,1851.888,12007.721,901,99.0,901,-2.4