version: 66.11
glider: 121
mission: 10
dive: 106
start: 3 16 113 5 44 1
data:
$ID,121
$MISSION,10
$DIVE,106
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,350
$D_ABORT,500
$D_NO_BLEED,200
$D_BOOST,0
$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,126
$T_MISSION,150
$T_ABORT,180
$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,560
$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,10
$CALL_WAIT,5
$CAPUPLOAD,0
$CAPMAXSIZE,50000
$HEAPDBG,0
$T_GPS,30
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-100627.71
$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,40
$R_STBD_OVSHOOT,57
$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,0.090000004
$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
$GPS1,160313,053658,1853.481,12007.404,628,0.9,628,-2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-58.8
$GPS2,160313,054335,1853.606,12007.406,17,1.0,17,-2.4
$SPEED_LIMITS,0.160,0.240
$TGT_NAME,W2A
$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,350.1,317678,-18.5,-9.259,-21.12,2828
$D_GRID,2064
$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,-1.11,-170.3,82,1968,466,554,0.0,0.0,0,44,0.00,0.00,-23.77,0.000,16386,0.000,0.000,83,1963,1132,1109,1155,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.11,-170.3,83,1963,1111,1156,3.2,-9.0,3,138,8.20,2.20,-77.28,0.000,18692,0.233,0.044,2094,3372,3493,3408,3579,0,0,0,0,0,0,25.89,26.23,26.51
$GC,252,-1.11,-170.3,2094,3372,3410,3580,22.1,-9.3,36,261,0.00,2.12,0.00,0.000,1030,0.000,0.027,2103,1971,3495,3410,3580,0,0,0,0,0,0,28.83,26.33,28.83
$GC,571,-1.11,-170.3,2103,1971,3414,3580,50.0,-9.0,70,577,0.00,2.12,0.00,0.000,260,0.000,0.029,2095,3381,3497,3414,3580,0,0,0,0,0,0,28.83,26.47,28.83
$GC,691,-1.11,-170.3,2094,3381,3415,3580,60.1,-9.1,75,697,0.00,2.10,0.00,0.000,1030,0.000,0.025,2095,1975,3497,3415,3580,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1006,-1.11,-170.3,2095,1974,3417,3580,88.8,-9.0,91,1012,0.00,2.15,0.00,0.000,516,0.000,0.042,2105,567,3498,3417,3580,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1135,-1.11,-170.3,2105,567,3417,3580,100.5,-9.1,97,1142,0.00,2.05,0.00,0.000,1030,0.000,0.016,2097,2000,3498,3417,3580,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1460,-1.11,-170.3,2097,2001,3417,3580,129.9,-9.3,113,1461,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2000,3498,3417,3580,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1760,-1.11,-170.3,2097,2001,3417,3579,157.3,-9.3,128,1766,0.00,2.20,0.00,0.000,516,0.000,0.040,2105,570,3498,3417,3579,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1882,-1.11,-170.3,2105,570,3417,3578,166.8,-9.0,133,1890,0.00,2.03,0.00,0.000,1030,0.000,0.016,2097,1982,3497,3417,3578,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2188,-1.11,-170.3,2097,1983,3417,3576,195.4,-8.7,149,2194,0.00,2.17,0.00,0.000,516,0.000,0.041,2105,569,3495,3416,3575,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2228,-1.11,-170.3,2105,568,3416,3575,197.7,-8.8,150,2236,0.00,2.03,0.00,0.000,1030,0.000,0.016,2097,1983,3496,3417,3575,0,0,0,0,0,0,28.83,26.73,28.83
$GC,2535,-1.11,-170.3,2097,1983,3416,3572,227.0,-9.0,166,2541,0.00,2.03,0.00,0.000,260,0.000,0.031,2087,3353,3494,3417,3571,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2569,-1.11,-170.3,2086,3353,3417,3571,229.2,-8.8,167,2575,0.00,2.05,0.00,0.000,1030,0.000,0.025,2086,1974,3493,3416,3571,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2884,-1.11,-170.3,2086,1974,3416,3568,258.6,-9.3,183,2890,0.10,2.12,0.00,0.000,2564,0.173,0.042,2121,575,3491,3416,3567,0,0,0,0,0,0,26.60,26.67,28.83
$GC,2943,-1.11,-170.3,2120,575,3416,3567,262.7,-9.0,185,2952,0.00,2.03,0.00,0.000,1030,0.000,0.016,2112,1985,3491,3416,3567,0,0,0,0,0,0,28.83,26.75,28.83
$GC,3250,-1.11,-170.3,2112,1985,3414,3566,291.6,-9.7,201,3251,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,1985,3490,3414,3566,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3552,-1.11,-170.3,2112,1986,3412,3565,318.7,-8.8,216,3553,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,1985,3488,3412,3565,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3851,-1.11,-170.3,2112,1986,3410,3562,346.0,-9.5,231,3858,0.00,2.03,0.00,0.000,260,0.000,0.032,2103,3351,3486,3410,3562,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3886,-1.11,-170.3,2103,3351,3409,3562,348.3,-9.5,232,3892,0.00,2.05,0.00,0.000,1030,0.000,0.027,2103,1974,3485,3409,3562,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,3897,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3897,begin apogee
$GC,3902,-0.19,0.0,2101,2298,3409,3562,350.4,-9.3,233,4061,0.62,0.00,148.80,0.828,10246,0.119,0.000,2306,2298,2786,2748,2825,0,0,0,0,0,0,26.56,28.83,24.57
$STATE,4063,end apogee,CONTROL_FINISHED_OK
$STATE,4063,begin climb
$GC,4064,1.11,170.3,2306,2298,2746,2822,335.9,0.0,240,4238,0.82,2.25,162.65,0.777,10500,0.068,0.034,2598,3669,2092,2056,2128,0,0,0,0,0,0,25.32,25.10,24.53
$GC,4482,1.14,180.7,2598,3669,2050,2116,298.1,8.9,259,4493,0.00,2.10,3.83,0.566,9222,0.000,0.023,2608,2293,2056,2022,2091,0,0,0,0,0,0,28.83,26.04,25.08
$GC,4808,1.16,187.3,2608,2293,2021,2101,269.2,9.0,275,4828,0.00,0.00,12.07,0.771,8198,0.000,0.000,2608,2293,2023,1987,2060,0,0,0,0,0,0,28.83,28.83,25.44
$GC,5127,1.20,203.8,2608,2292,1986,2052,239.8,8.7,291,5151,0.00,2.22,16.52,0.776,8452,0.000,0.032,2608,3677,1955,1920,1990,0,0,0,0,0,0,28.83,26.10,25.40
$GC,5174,1.22,212.6,2608,3677,1918,1985,235.6,8.9,293,5186,0.00,2.10,4.95,0.697,9222,0.000,0.023,2618,2295,1927,1896,1958,0,0,0,0,0,0,28.83,26.16,25.15
$GC,5500,1.24,222.9,2618,2295,1896,1958,206.3,8.9,309,5524,0.00,2.22,13.43,0.767,8708,0.000,0.042,2628,908,1881,1854,1908,0,0,0,0,0,0,28.83,26.13,25.44
$GC,5571,1.25,224.0,2628,908,1852,1907,200.2,9.2,312,5578,0.00,2.08,0.00,0.000,1030,0.000,0.016,2628,2303,1878,1852,1905,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5892,1.25,225.2,2628,2303,1852,1902,171.2,9.2,328,5893,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2303,1877,1852,1902,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6193,1.25,225.2,2628,2303,1852,1901,144.1,9.4,343,6194,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2303,1876,1852,1901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6493,1.26,229.0,2628,2303,1852,1900,116.9,9.1,358,6499,0.00,0.00,4.32,0.643,8198,0.000,0.000,2628,2303,1860,1834,1886,0,0,0,0,0,0,28.83,28.83,25.51
$GC,6793,1.28,237.4,2628,2303,1834,1886,90.2,9.0,373,6809,0.00,2.28,11.18,0.724,8708,0.000,0.040,2638,901,1822,1795,1849,0,0,0,0,0,0,28.83,26.36,25.69
$GC,6894,1.29,243.0,1668,901,1749,1839,82.4,9.1,377,6903,0.00,2.08,4.15,0.616,9222,0.000,0.017,2638,2304,1803,1774,1832,0,0,0,0,0,0,28.83,26.48,25.46
$GC,7200,1.32,253.3,2638,2304,1773,1832,53.7,8.9,393,7223,0.00,2.15,13.55,0.702,8452,0.000,0.035,2638,3677,1755,1726,1784,0,0,0,0,0,0,28.83,26.29,25.63
$GC,7312,1.33,256.1,2638,3677,1726,1781,43.6,9.2,401,7318,0.00,2.08,0.00,0.000,1030,0.000,0.023,2648,2299,1753,1726,1781,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7628,1.37,271.4,1632,2297,1682,1770,15.2,8.7,441,7652,0.00,2.28,18.33,0.676,8708,0.000,0.042,2659,890,1682,1649,1716,0,0,0,0,0,0,28.83,26.20,25.58
$GC,7698,1.38,277.8,1648,890,1608,1704,9.0,9.0,452,7708,0.00,2.08,4.38,0.601,9222,0.000,0.016,2659,2297,1661,1627,1696,0,0,0,0,0,0,28.83,26.32,25.34
$STATE,7764,end climb,SURFACE_DEPTH_REACHED
$STATE,7764,begin surface coast
$FINISH,0.0,1.026529
$STATE,7797,end surface coast,CONTROL_FINISHED_OK
$STATE,7797,begin surface
$SM_CCo,7813,235.90,0.861,1,0,511,560.02
$SM_GC,-23.93,7.15,0.52,235.90,0.067,0.034,0.861,85,1955,511,-10.33,1.05,560.02,0,0,0,0,1,0,26.29,26.33,24.32
$IRIDIUM_FIX,1844.15,12008.99,160313,030312
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.70
$INTERNAL_PRESSURE,9.00924
$TCM_TEMP,17.60
$XPDR_PINGS,0
$SC_FREEKB,3982336
$24V_AH,24.3,19.192
$10V_AH,10.1,12.080
$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,16.900,60.350,418.150,235.900,0.000,0.000,0.000,237.575,0.000,0.000,18.621,1792.529,4199.013,753.007,1450.547,239.923,0.000,1724.432,0.000,1193.859,0.000,1.483,0.000
$DEVICE_MAMPS,232.560,43.605,827.730,860.625,0.000,0.000,0.000,130.050,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7797.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.241,0.000,0.000,0.000
$MEM,323848
$DATA_FILE_SIZE,16747,469
$CAP_FILE_SIZE,371026,1817
$CFSIZE,260034560,238424064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.207, 48.9,1
$GPS,160313,081025,1855.121,12007.922,691,0.8,692,-2.4