version: 66.11
glider: 121
mission: 10
dive: 121
start: 3 17 113 19 31 10
data:
$ID,121
$MISSION,10
$DIVE,121
$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,-100646.62
$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,2365
$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
$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,59
$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
$GPS1,170313,192435,1909.850,12008.458,339,0.9,339,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-65.4
$GPS2,170313,193043,1909.822,12008.631,21,1.5,22,-2.5
$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,327.7,287773,-18.5,-9.259,-21.12,2828
$D_GRID,2864
$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,-1.35,-170.3,82,1952,464,553,0.0,0.0,0,44,0.00,0.00,-24.25,0.000,16386,0.000,0.000,82,1952,1139,1110,1168,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.35,-170.3,82,1952,1112,1168,3.0,-8.9,3,160,7.88,2.20,-93.70,0.000,18948,0.223,0.054,2075,575,3493,3407,3579,0,0,0,0,0,0,25.84,26.18,26.46
$GC,360,-1.35,-170.3,2075,575,3410,3579,31.5,-9.1,48,368,0.00,2.05,0.00,0.000,1030,0.000,0.015,2066,1989,3494,3410,3579,0,0,0,0,0,0,28.83,26.39,28.83
$GC,667,-1.35,-170.3,2066,1991,3415,3580,59.4,-8.8,74,672,0.00,2.17,0.00,0.000,516,0.000,0.037,2075,577,3497,3415,3580,0,0,0,0,0,0,28.83,26.45,28.83
$GC,778,-1.35,-170.3,2074,577,3416,3581,69.0,-8.8,79,785,0.00,2.03,0.00,0.000,1030,0.000,0.015,2066,1981,3498,3415,3581,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1098,-1.35,-170.3,2066,1982,3417,3581,97.4,-8.2,95,1104,0.00,2.17,0.00,0.000,516,0.000,0.037,2075,569,3498,3416,3581,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1144,-1.35,-170.3,1248,568,3400,3579,101.5,-8.8,97,1150,0.00,2.05,0.00,0.000,1030,0.000,0.015,2066,1989,3498,3416,3581,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1471,-1.35,-170.3,2065,1990,3416,3581,131.1,-9.3,113,1473,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,1990,3499,3417,3581,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1770,-1.35,-170.3,2066,1990,3416,3581,157.8,-8.7,128,1776,0.00,2.17,0.00,0.000,516,0.000,0.038,2075,577,3498,3416,3581,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1892,-1.35,-170.3,2074,577,3416,3580,167.4,-8.9,133,1899,0.00,2.03,0.00,0.000,1030,0.000,0.016,2066,1986,3497,3416,3579,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2198,-1.35,-170.3,2065,1986,3415,3577,196.1,-8.7,149,2204,0.00,2.17,0.00,0.000,516,0.000,0.038,2074,571,3496,3416,3576,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2264,-1.35,-170.3,2074,571,3416,3576,202.1,-9.0,152,2270,0.00,2.03,0.00,0.000,1030,0.000,0.016,2065,1975,3496,3416,3576,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2590,-1.35,-170.3,2065,1977,3416,3573,231.1,-9.1,168,2591,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,1977,3494,3416,3572,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2891,-1.35,-170.3,2065,1979,3414,3570,257.9,-8.9,183,2892,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,1979,3492,3414,3571,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3189,-1.35,-170.3,2065,1979,3413,3569,285.2,-9.5,198,3196,0.00,2.15,0.00,0.000,516,0.000,0.040,2074,579,3490,3413,3567,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3224,-1.35,-170.3,2073,579,3413,3567,287.4,-9.5,199,3230,0.00,2.03,0.00,0.000,1030,0.000,0.017,2065,1981,3490,3413,3567,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3538,-1.35,-170.3,2065,1981,3411,3565,316.8,-8.7,215,3539,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,1981,3488,3411,3565,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3839,-1.35,-170.3,2065,1982,3409,3562,343.7,-8.7,230,3845,0.00,2.17,0.00,0.000,516,0.000,0.041,2073,575,3486,3409,3563,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3879,-1.35,-170.3,2073,575,3409,3563,346.0,-8.8,231,3887,0.00,2.03,0.00,0.000,1030,0.000,0.016,2065,1978,3485,3409,3562,0,0,0,0,0,0,28.83,26.74,28.83
$STATE,3924,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3925,begin apogee
$GC,3929,-0.25,0.0,2063,2298,3409,3562,351.6,-9.1,234,4078,0.75,0.00,142.48,0.881,10246,0.122,0.000,2307,2298,2791,2753,2830,0,0,0,0,0,0,26.53,28.83,24.47
$STATE,4080,end apogee,CONTROL_FINISHED_OK
$STATE,4080,begin climb
$GC,4082,1.35,170.3,2306,2298,2750,2827,339.5,0.0,240,4236,1.02,2.30,144.77,0.871,10500,0.068,0.034,2665,3684,2093,2057,2130,0,0,0,0,0,0,25.23,24.98,24.30
$GC,4477,1.37,178.5,2664,3684,2050,2118,302.9,9.0,258,4491,0.00,2.10,3.90,0.617,9222,0.000,0.023,2675,2312,2066,2030,2102,0,0,0,0,0,0,28.83,25.98,25.00
$GC,4789,1.38,182.9,2674,2312,2030,2103,274.2,9.1,274,4801,0.00,2.20,6.80,0.772,8452,0.000,0.032,2675,3681,2046,2009,2084,0,0,0,0,0,0,28.83,26.15,25.35
$GC,4865,1.40,189.6,2674,3682,2008,2081,268.1,9.0,277,4879,0.00,2.10,7.78,0.780,9222,0.000,0.024,2685,2298,2019,1982,2057,0,0,0,0,0,0,28.83,26.23,25.32
$GC,5177,1.43,203.0,2684,2298,1981,2049,239.5,8.8,293,5201,0.00,2.20,13.55,0.780,8452,0.000,0.033,2685,3677,1962,1927,1997,0,0,0,0,0,0,28.83,26.12,25.37
$GC,5245,1.44,204.4,2684,3677,1927,1994,233.2,9.2,296,5251,0.00,2.10,0.00,0.000,1030,0.000,0.024,2694,2300,1960,1927,1994,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5570,1.44,204.4,2694,2299,1927,1990,203.7,9.4,312,5576,0.00,2.17,0.00,0.000,516,0.000,0.041,2705,894,1958,1926,1990,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5666,1.47,215.2,2705,895,1925,1989,196.0,8.9,316,5685,0.00,2.08,11.77,0.760,9222,0.000,0.018,2705,2303,1913,1883,1943,0,0,0,0,0,0,28.83,26.47,25.50
$GC,6004,1.48,222.7,2705,2303,1882,1935,164.8,9.0,333,6016,0.00,2.20,7.00,0.737,8452,0.000,0.034,2705,3699,1885,1858,1912,0,0,0,0,0,0,28.83,26.30,25.54
$GC,6187,1.50,230.4,2705,3699,1857,1906,149.1,9.0,341,6202,0.10,2.12,8.52,0.728,13318,0.190,0.024,2693,2294,1852,1826,1878,0,0,0,0,0,0,26.24,26.41,25.53
$GC,6499,1.52,236.1,2693,2295,1824,1872,120.5,9.1,357,6505,0.00,0.00,4.45,0.636,8198,0.000,0.000,2693,2295,1832,1805,1859,0,0,0,0,0,0,28.83,28.83,25.41
$GC,6798,1.53,242.8,2693,2295,1805,1858,94.2,9.0,372,6815,0.00,2.22,8.73,0.686,8708,0.000,0.043,2703,904,1803,1776,1831,0,0,0,0,0,0,28.83,26.32,25.64
$GC,6901,1.55,247.8,2703,904,1771,1829,86.2,9.1,376,6910,0.00,2.08,4.57,0.624,9222,0.000,0.018,2703,2308,1784,1754,1814,0,0,0,0,0,0,28.83,26.44,25.41
$GC,7207,1.57,258.5,2703,2308,1754,1814,56.8,8.9,392,7230,0.00,2.15,13.20,0.651,8452,0.000,0.035,2703,3680,1734,1702,1767,0,0,0,0,0,0,28.83,26.27,25.61
$GC,7254,1.59,264.5,2702,3680,1701,1766,52.4,9.0,394,7265,0.00,2.12,4.82,0.615,9222,0.000,0.026,2713,2295,1715,1681,1750,0,0,0,0,0,0,28.83,26.31,25.36
$GC,7570,1.59,264.5,2712,2294,1680,1748,24.0,9.3,424,7577,0.00,2.17,0.00,0.000,516,0.000,0.044,2723,892,1714,1680,1749,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7635,1.61,272.4,1696,891,1640,1741,18.2,9.0,435,7651,0.00,2.08,9.62,0.623,9222,0.000,0.018,2723,2301,1681,1645,1718,0,0,0,0,0,0,28.83,26.48,25.64
$STATE,7803,end climb,SURFACE_DEPTH_REACHED
$STATE,7803,begin surface coast
$FINISH,0.0,1.026118
$STATE,7836,end surface coast,CONTROL_FINISHED_OK
$STATE,7836,begin surface
$SM_CCo,7853,236.38,0.790,1,0,511,560.02
$SM_GC,-23.93,7.40,0.52,236.38,0.075,0.035,0.790,87,1958,511,-10.38,1.07,560.02,0,0,0,0,1,0,26.39,26.44,24.39
$IRIDIUM_FIX,1900.10,12009.31,170313,161634
$TT8_MAMPS,0.023968,0.023968
$HUMID,47.75
$INTERNAL_PRESSURE,9.03854
$TCM_TEMP,18.20
$XPDR_PINGS,0
$SC_FREEKB,3976576
$24V_AH,24.3,21.564
$10V_AH,10.1,13.131
$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,17.150,64.800,391.975,236.375,0.000,0.000,0.000,200.550,0.000,0.000,23.196,1858.734,4106.753,744.138,1462.654,274.106,0.000,1713.172,0.000,1250.050,0.000,1.484,0.000
$DEVICE_MAMPS,223.380,53.550,881.280,790.245,0.000,0.000,0.000,137.700,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7852.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.241,0.000,0.000,0.000
$MEM,323872
$DATA_FILE_SIZE,16732,471
$CAP_FILE_SIZE,385164,1913
$CFSIZE,260034560,236773376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.101, 86.6,1
$GPS,170313,215304,1910.422,12008.531,381,1.1,381,-2.5