version: 66.11
glider: 121
mission: 10
dive: 8
start: 2 25 113 4 0 40
data:
$ID,121
$MISSION,10
$DIVE,8
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$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,360
$T_MISSION,390
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-7
$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,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,577.49347
$N_FILEKB,8
$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,-81286.398
$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,2450
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,526
$ROLL_MAX,3878
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,55
$R_STBD_OVSHOOT,45
$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,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$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,49
$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
$GPS1,250213,035304,2151.281,11954.359,31,0.9,31,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-58.1
$GPS2,250213,040011,2151.153,11954.241,19,0.9,19,-3.0
$SPEED_LIMITS,0.159,0.270
$TGT_NAME,W2
$TGT_LATLONG,2145.000,12000.000
$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,144.3,15098,-14.8,-9.167,-18.78,2823
$D_GRID,1785
$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,-0.95,-170.3,82,2374,379,496,0.0,0.0,0,103,0.00,0.00,-83.55,0.000,16386,0.000,0.000,82,2372,2767,2680,2854,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-0.95,-170.3,82,2371,2680,2855,3.2,-7.4,11,137,9.15,2.17,-12.50,0.000,18948,0.251,0.056,2252,1005,3493,3419,3567,0,0,0,0,0,0,25.93,26.14,26.42
$GC,372,-0.95,-170.3,2251,1005,3421,3568,39.8,-10.6,48,378,0.00,2.08,0.00,0.000,1030,0.000,0.020,2244,2410,3495,3421,3569,0,0,0,0,0,0,28.83,26.39,28.83
$GC,687,-1.02,-170.3,2243,2411,3423,3569,67.3,-7.9,69,693,0.00,2.15,0.00,0.000,516,0.000,0.037,2243,1007,3496,3423,3569,0,0,0,0,0,0,28.83,26.48,28.83
$GC,849,-1.10,-170.3,2243,1008,3423,3568,80.8,-9.1,76,859,0.10,2.05,0.00,0.000,5126,0.094,0.019,2182,2408,3495,3423,3568,0,0,0,0,0,0,26.53,26.58,28.83
$GC,1156,-1.04,-170.3,2182,2408,3424,3569,112.2,-9.2,92,1163,0.12,2.15,0.00,0.000,2564,0.154,0.035,2229,998,3496,3424,3569,0,0,0,0,0,0,26.53,26.60,28.83
$GC,1296,-1.15,-170.3,2229,998,3426,3569,122.7,-8.3,98,1304,0.00,2.05,0.00,0.000,1030,0.000,0.019,2221,2401,3496,3424,3569,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1602,-1.25,-170.3,2221,2402,3425,3569,145.9,-7.0,114,1609,0.12,2.15,0.00,0.000,4612,0.080,0.035,2145,1000,3497,3425,3569,0,0,0,0,0,0,26.73,26.67,28.83
$GC,1662,-1.25,-170.3,2145,1000,3425,3569,150.2,-8.4,116,1670,0.15,2.05,0.00,0.000,3078,0.153,0.019,2175,2408,3497,3425,3569,0,0,0,0,0,0,26.58,26.72,28.83
$GC,1967,-1.25,-170.3,2175,2406,3425,3569,177.8,-7.7,132,1973,0.00,2.12,0.00,0.000,516,0.000,0.037,2183,1006,3498,3427,3569,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2146,-1.25,-170.3,2183,1006,3425,3568,191.2,-8.2,140,2155,0.00,2.05,0.00,0.000,1030,0.000,0.020,2175,2406,3497,3425,3569,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2453,-1.25,-170.3,2175,2406,3425,3568,217.4,-7.6,156,2459,0.00,2.15,0.00,0.000,516,0.000,0.037,2175,1001,3496,3425,3568,0,0,0,0,0,0,28.83,26.75,28.83
$GC,2560,-1.25,-170.3,2175,1001,3424,3568,225.6,-7.7,161,2566,0.00,2.05,0.00,0.000,1030,0.000,0.020,2165,2404,3496,3424,3568,0,0,0,0,0,0,28.83,26.80,28.83
$GC,2885,-1.25,-170.3,2166,2404,3423,3566,250.0,-7.6,177,2892,0.00,2.12,0.00,0.000,516,0.000,0.037,2166,1005,3494,3423,3566,0,0,0,0,0,0,28.83,26.77,28.83
$GC,2999,-1.25,-170.3,2166,1005,3422,3566,258.3,-8.0,182,3005,0.00,2.05,0.00,0.000,1030,0.000,0.020,2157,2405,3494,3422,3566,0,0,0,0,0,0,28.83,26.82,28.83
$GC,3313,-1.25,-170.3,2157,2405,3420,3564,285.2,-8.7,198,3319,0.00,2.12,0.00,0.000,516,0.000,0.037,2157,1008,3492,3420,3564,0,0,0,0,0,0,28.83,26.79,28.83
$GC,3462,-1.25,-170.3,2157,1008,3419,3563,297.7,-8.4,205,3469,0.12,2.03,0.00,0.000,3078,0.157,0.020,2181,2406,3491,3419,3563,0,0,0,0,0,0,26.71,26.84,28.83
$GC,3784,-1.33,-170.3,2181,2406,3417,3561,319.1,-6.7,221,3790,0.00,2.12,0.00,0.000,516,0.000,0.037,2182,1008,3489,3417,3561,0,0,0,0,0,0,28.83,26.80,28.83
$GC,3984,-1.38,-170.3,2181,1008,3416,3559,332.2,-7.1,230,3993,0.10,2.05,0.00,0.000,5126,0.093,0.021,2123,2408,3487,3415,3559,0,0,0,0,0,0,26.82,26.85,28.83
$GC,4291,-1.28,-170.3,2123,2408,3413,3558,360.2,-9.1,246,4297,0.15,2.12,0.00,0.000,2564,0.151,0.037,2175,1011,3485,3413,3557,0,0,0,0,0,0,26.72,26.81,28.83
$GC,4481,-1.28,-170.3,2174,1010,3412,3557,375.5,-8.0,255,4487,0.00,2.03,0.00,0.000,1030,0.000,0.020,2167,2405,3484,3412,3557,0,0,0,0,0,0,28.83,26.86,28.83
$GC,4805,-1.28,-170.3,2166,2405,3410,3554,400.1,-7.2,271,4812,0.00,2.12,0.00,0.000,516,0.000,0.038,2167,1011,3481,3409,3554,0,0,0,0,0,0,28.83,26.82,28.83
$GC,4910,-1.28,-170.3,2167,1010,3409,3554,408.0,-7.6,276,4917,0.00,2.03,0.00,0.000,1030,0.000,0.020,2158,2406,3481,3409,3554,0,0,0,0,0,0,28.83,26.86,28.83
$GC,5235,-1.28,-170.3,2158,2406,3407,3551,431.9,-7.4,292,5241,0.00,2.12,0.00,0.000,516,0.000,0.038,2158,1011,3479,3407,3551,0,0,0,0,0,0,28.83,26.82,28.83
$GC,5404,-1.28,-170.3,2158,1010,3406,3550,444.9,-7.9,300,5411,0.10,2.05,0.00,0.000,3078,0.173,0.021,2174,2406,3477,3405,3550,0,0,0,0,0,0,26.74,26.87,28.83
$GC,5726,-1.36,-170.3,2174,2408,3404,3547,468.1,-7.3,316,5732,0.00,2.15,0.00,0.000,516,0.000,0.039,2175,1012,3475,3404,3547,0,0,0,0,0,0,28.83,26.83,28.83
$GC,5875,-1.41,-170.3,2174,1012,3403,3547,479.9,-8.1,323,5882,0.10,2.05,0.00,0.000,5126,0.095,0.020,2117,2408,3475,3403,3547,0,0,0,0,0,0,26.84,26.87,28.83
$GC,6197,-1.32,-170.3,2116,2408,3400,3545,511.8,-9.9,339,6204,0.15,2.15,0.00,0.000,2564,0.151,0.037,2171,1002,3472,3400,3545,0,0,0,0,0,0,26.74,26.83,28.83
$GC,6393,-1.32,-170.3,2171,1002,3399,3544,527.5,-7.8,348,6399,0.00,2.05,0.00,0.000,1030,0.000,0.021,2163,2405,3471,3399,3544,0,0,0,0,0,0,28.83,26.87,28.83
$GC,6713,-1.38,-170.3,2163,2405,3398,3542,551.7,-7.1,364,6719,0.00,2.15,0.00,0.000,516,0.000,0.040,2163,1002,3469,3397,3542,0,0,0,0,0,0,28.83,26.83,28.83
$GC,6893,-1.38,-170.3,2163,1002,3396,3542,564.1,-7.3,372,6901,0.00,2.08,0.00,0.000,1030,0.000,0.021,2154,2405,3468,3396,3541,0,0,0,0,0,0,28.83,26.88,28.83
$GC,7199,-1.38,-170.3,2154,2405,3395,3540,586.2,-6.8,388,7205,0.00,2.15,0.00,0.000,516,0.000,0.041,2155,1006,3467,3395,3540,0,0,0,0,0,0,28.83,26.83,28.83
$GC,7377,-1.38,-170.3,1344,1006,3377,3537,598.2,-7.2,396,7385,0.00,2.08,0.00,0.000,1030,0.000,0.021,2147,2406,3466,3393,3540,0,0,0,0,0,0,28.83,26.87,28.83
$GC,7704,-1.38,-170.3,2146,2406,3392,3537,624.1,-7.6,408,7710,0.00,2.15,0.00,0.000,516,0.000,0.040,2147,1005,3464,3392,3537,0,0,0,0,0,0,28.83,26.83,28.83
$GC,7807,-1.38,-170.3,2146,1005,3391,3537,631.4,-7.9,411,7813,0.00,2.05,0.00,0.000,1030,0.000,0.021,2141,2404,3464,3391,3537,0,0,0,0,0,0,28.83,26.88,28.83
$GC,8131,-1.38,-170.3,2139,2404,3389,3536,655.9,-7.2,422,8138,0.00,2.15,0.00,0.000,516,0.000,0.041,2139,1004,3462,3389,3535,0,0,0,0,0,0,28.83,26.83,28.83
$GC,8261,-1.38,-170.3,2138,1004,3389,3535,665.2,-7.5,426,8267,0.00,2.08,0.00,0.000,1030,0.000,0.022,2130,2405,3462,3389,3535,0,0,0,0,0,0,28.83,26.88,28.83
$GC,8590,-1.38,-170.3,2130,2404,3387,3533,690.0,-7.3,437,8596,0.00,2.15,0.00,0.000,516,0.000,0.041,2130,1005,3460,3387,3534,0,0,0,0,0,0,28.83,26.84,28.83
$GC,8776,-1.32,-170.3,2130,1005,3386,3533,704.3,-7.8,443,8783,0.15,2.08,0.00,0.000,3078,0.150,0.022,2163,2401,3459,3386,3533,0,0,0,0,0,0,26.74,26.88,28.83
$GC,9111,-1.40,-170.3,2163,2402,3386,3531,725.8,-6.3,454,9118,0.00,2.15,0.00,0.000,516,0.000,0.043,2170,1008,3458,3385,3531,0,0,0,0,0,0,28.83,26.83,28.83
$GC,9275,-1.48,-170.3,2170,1008,3385,3530,736.0,-6.5,459,9283,0.12,2.08,0.00,0.000,5126,0.082,0.022,2105,2411,3458,3385,3531,0,0,0,0,0,0,26.86,26.88,28.83
$GC,9601,-1.39,-170.3,2104,2411,3383,3530,763.9,-8.9,470,9608,0.12,2.15,0.00,0.000,2564,0.162,0.039,2146,1013,3456,3383,3530,0,0,0,0,0,0,26.75,26.83,28.83
$GC,9744,-1.39,-170.3,1344,1013,3365,3526,774.3,-8.3,474,9750,0.00,2.05,0.00,0.000,1030,0.000,0.021,2139,2400,3456,3383,3530,0,0,0,0,0,0,28.83,26.88,28.83
$GC,10059,-1.39,-170.3,2139,2400,3382,3529,798.5,-6.7,485,10064,0.00,2.17,0.00,0.000,516,0.000,0.042,2139,1004,3455,3382,3529,0,0,0,0,0,0,28.83,26.83,28.83
$GC,10257,-1.39,-170.3,2139,1003,3382,3528,811.2,-6.9,491,10263,0.00,2.08,0.00,0.000,1030,0.000,0.023,2131,2400,3454,3381,3528,0,0,0,0,0,0,28.83,26.88,28.83
$GC,10576,-1.39,-170.3,2131,2399,3380,3526,832.3,-6.2,502,10582,0.00,2.15,0.00,0.000,516,0.000,0.042,2131,1015,3453,3380,3526,0,0,0,0,0,0,28.83,26.83,28.83
$GC,10785,-1.39,-170.3,2130,1013,3379,3526,844.5,-6.6,508,10793,0.10,2.08,0.00,0.000,3078,0.168,0.022,2147,2411,3452,3379,3525,0,0,0,0,0,0,26.74,26.88,28.83
$GC,11092,-1.45,-170.3,2147,2411,3378,3525,863.6,-5.8,519,11098,0.00,2.15,0.00,0.000,516,0.000,0.042,2149,1015,3452,3378,3526,0,0,0,0,0,0,28.83,26.82,28.83
$GC,11220,-1.45,-170.3,2149,1015,3378,3525,871.3,-6.2,523,11226,0.00,2.05,0.00,0.000,1030,0.000,0.022,2142,2409,3451,3378,3525,0,0,0,0,0,0,28.83,26.87,28.83
$GC,11549,-1.45,-170.3,2142,2410,3377,3524,891.7,-6.0,534,11555,0.00,2.15,0.00,0.000,516,0.000,0.041,2142,1013,3450,3377,3524,0,0,0,0,0,0,28.83,26.82,28.83
$STATE,11733,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11733,begin apogee
$GC,11738,-0.25,0.0,2135,2112,3375,3524,903.3,-6.3,540,11906,0.77,0.00,158.55,1.120,10246,0.112,0.000,2397,2113,2788,2740,2837,0,0,0,0,0,0,26.75,28.83,23.93
$STATE,11907,end apogee,CONTROL_FINISHED_OK
$STATE,11907,begin climb
$GC,11908,0.95,170.3,2397,2113,2738,2836,908.5,0.0,545,12087,0.73,2.42,169.95,1.104,10756,0.041,0.046,2683,712,2091,2053,2130,0,0,0,0,0,0,24.87,24.56,23.82
$GC,12169,0.52,176.4,2683,712,2041,2121,897.0,8.9,554,12176,0.45,2.15,0.00,0.000,5126,0.166,0.018,2563,2114,2080,2041,2120,0,0,0,0,0,0,25.23,25.41,28.83
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$STATE,21493,end climb,SURFACE_DEPTH_REACHED
$STATE,21493,begin surface coast
$FINISH,-0.0,1.022747
$STATE,21516,end surface coast,CONTROL_FINISHED_OK
$STATE,21517,begin surface
$SM_CCo,21533,21.92,0.061,0,0,439,577.68
$SM_GC,0.65,7.05,2.58,21.92,0.027,0.018,0.061,83,2376,439,-10.80,-2.21,577.68,0,0,0,0,0,0,26.15,26.18,26.11
$IRIDIUM_FIX,2143.45,11953.33,240213,222243
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.71
$INTERNAL_PRESSURE,9.24363
$TCM_TEMP,23.40
$XPDR_PINGS,2
$SC_FREEKB,4016128
$24V_AH,23.7,2.036
$10V_AH,10.2,1.521
$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,21.775,191.600,663.200,21.925,0.000,0.000,0.000,245.775,0.500,0.000,20.473,4833.149,12684.723,960.099,3239.880,226.042,0.000,2740.605,0.000,2840.110,0.000,1.492,0.000
$DEVICE_MAMPS,250.920,55.845,1302.030,61.200,0.000,0.000,0.000,139.995,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21528.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.929,0.000,0.000,0.000
$MEM,324508
$DATA_FILE_SIZE,36684,998
$CAP_FILE_SIZE,584682,0
$CFSIZE,260034560,251211776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,1,0
$CURRENT,0.061, 36.6,1
$GPS,250213,100105,2150.213,11956.963,32,0.9,32,-3.0