version: 66.11
glider: 121
mission: 10
dive: 127
start: 3 18 113 10 19 50
data:
$ID,121
$MISSION,10
$DIVE,127
$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,-100654.18
$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,50
$R_STBD_OVSHOOT,58
$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
$GPS1,180313,101306,1915.204,12007.599,467,1.4,467,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-64.9
$GPS2,180313,101924,1915.129,12007.586,17,1.4,18,-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,339.8,277868,-18.5,-9.259,-21.12,2828
$D_GRID,3223
$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,-170.3,82,1943,462,558,0.0,0.0,0,44,0.00,0.00,-23.95,0.000,16386,0.000,0.000,82,1943,1135,1115,1156,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.35,-170.3,82,1943,1115,1158,3.1,-8.8,3,153,7.93,2.17,-87.25,0.000,18948,0.226,0.054,2074,571,3493,3408,3579,0,0,0,0,0,0,25.88,26.20,26.48
$GC,204,-1.35,-170.3,1248,571,3392,3577,17.5,-8.1,26,212,0.00,2.08,0.00,0.000,1030,0.000,0.016,2066,1993,3494,3409,3580,0,0,0,0,0,0,28.83,26.30,28.83
$GC,520,-1.35,-170.3,2066,1993,3412,3580,45.6,-8.8,64,526,0.00,2.05,0.00,0.000,260,0.000,0.031,2056,3368,3496,3412,3581,0,0,0,0,0,0,28.83,26.42,28.83
$GC,623,-1.35,-170.3,2055,3368,3414,3580,53.7,-9.2,70,631,0.00,2.08,0.00,0.000,1030,0.000,0.024,2063,1982,3497,3414,3580,0,0,0,0,0,0,28.83,26.47,28.83
$GC,929,-1.35,-170.3,2063,1982,3417,3581,82.3,-9.0,86,935,0.00,2.15,0.00,0.000,516,0.000,0.041,2073,573,3498,3416,3581,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1064,-1.35,-170.3,2073,573,3417,3581,94.2,-9.1,92,1070,0.00,2.03,0.00,0.000,1030,0.000,0.016,2065,1981,3499,3417,3581,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1383,-1.35,-170.3,2065,1982,3417,3581,124.1,-9.3,108,1384,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,1981,3499,3417,3581,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1684,-1.35,-170.3,2065,1982,3417,3581,151.1,-9.0,123,1685,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,1982,3499,3417,3581,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1984,-1.35,-170.3,2064,1984,3418,3579,178.1,-8.9,138,1990,0.00,2.20,0.00,0.000,516,0.000,0.040,2073,564,3498,3417,3579,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2060,-1.35,-170.3,2073,564,3417,3579,183.9,-8.8,141,2067,0.00,2.05,0.00,0.000,1030,0.000,0.016,2065,1986,3497,3417,3578,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2376,-1.35,-170.3,2064,1987,3417,3575,213.0,-9.1,157,2377,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,1987,3496,3417,3575,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2677,-1.35,-170.3,2065,1988,3417,3571,240.5,-9.1,172,2678,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,1988,3493,3416,3571,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2977,-1.35,-170.3,2065,1988,3415,3568,267.4,-8.5,187,2983,0.00,2.20,0.00,0.000,516,0.000,0.041,2071,565,3491,3415,3568,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3073,-1.35,-170.3,2072,565,3414,3568,275.6,-9.3,191,3079,0.00,2.05,0.00,0.000,1030,0.000,0.017,2064,1984,3491,3414,3568,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3388,-1.35,-170.3,2063,1985,3412,3566,304.4,-8.7,207,3394,0.00,2.20,0.00,0.000,516,0.000,0.042,2071,567,3489,3413,3565,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3494,-1.35,-170.3,1264,566,3395,3562,313.8,-8.8,212,3500,0.00,2.05,0.00,0.000,1030,0.000,0.017,2063,1975,3488,3411,3565,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3821,-1.35,-170.3,2062,1977,3409,3562,343.4,-9.0,228,3827,0.00,2.17,0.00,0.000,516,0.000,0.043,2066,565,3485,3409,3562,0,0,0,0,0,0,28.83,26.67,28.83
$STATE,3909,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3909,begin apogee
$GC,3916,-0.25,0.0,2054,2296,3408,3562,351.8,-9.1,232,4071,0.77,0.00,144.75,0.892,10246,0.126,0.000,2305,2297,2788,2749,2827,0,0,0,0,0,0,26.51,28.83,24.49
$STATE,4073,end apogee,CONTROL_FINISHED_OK
$STATE,4073,begin climb
$GC,4075,1.35,170.3,2305,2297,2748,2825,337.3,0.0,239,4234,1.02,2.25,145.07,0.895,10500,0.073,0.034,2661,3694,2089,2052,2127,0,0,0,0,0,0,25.28,24.97,24.30
$GC,4304,1.38,183.0,2660,3694,2050,2119,317.0,8.8,249,4323,0.00,2.17,10.85,0.838,9222,0.000,0.024,2670,2293,2042,2006,2079,0,0,0,0,0,0,28.83,25.57,24.74
$GC,4622,1.39,183.6,2670,2293,2002,2068,288.1,9.2,265,4629,0.00,2.17,0.00,0.000,516,0.000,0.041,2682,898,2034,2001,2068,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4682,1.40,190.5,2681,899,2000,2069,283.9,9.0,267,4692,0.00,2.10,4.00,0.636,9222,0.000,0.017,2682,2312,2017,1981,2053,0,0,0,0,0,0,28.83,26.22,25.15
$GC,4989,1.43,201.1,2681,2312,1981,2055,255.2,8.9,283,5013,0.00,2.15,13.32,0.809,8452,0.000,0.034,2681,3684,1969,1934,2005,0,0,0,0,0,0,28.83,26.13,25.38
$GC,5036,1.45,207.7,2681,3684,1933,2003,250.9,9.0,285,5048,0.00,2.10,5.80,0.767,9222,0.000,0.024,2691,2298,1948,1913,1984,0,0,0,0,0,0,28.83,26.18,25.27
$GC,5363,1.47,216.6,2691,2298,1913,1978,221.2,8.9,301,5381,0.00,0.00,10.05,0.794,8198,0.000,0.000,2691,2298,1908,1879,1937,0,0,0,0,0,0,28.83,28.83,25.44
$GC,5682,1.50,228.0,2691,2298,1878,1929,192.6,8.8,317,5699,0.00,2.25,11.55,0.776,8708,0.000,0.041,2702,896,1861,1835,1888,0,0,0,0,0,0,28.83,26.18,25.48
$GC,5762,1.50,228.7,2702,896,1831,1887,186.4,9.2,320,5770,0.00,2.08,0.00,0.000,1030,0.000,0.018,2702,2306,1858,1831,1886,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6070,1.51,233.9,2702,2306,1831,1881,157.4,9.1,336,6081,0.00,2.10,4.38,0.662,8452,0.000,0.036,2702,3689,1841,1814,1868,0,0,0,0,0,0,28.83,26.35,25.38
$GC,6290,1.54,243.3,2701,3689,1813,1868,137.9,8.9,346,6309,0.00,2.10,11.62,0.740,9222,0.000,0.025,2712,2293,1799,1771,1828,0,0,0,0,0,0,28.83,26.46,25.56
$GC,6607,1.56,253.7,2712,2293,1770,1821,109.3,8.9,362,6624,0.00,2.15,11.00,0.712,8452,0.000,0.032,2712,3687,1754,1726,1783,0,0,0,0,0,0,28.83,26.26,25.58
$GC,6710,1.58,259.5,2712,3687,1724,1780,101.3,9.0,366,6719,0.00,2.12,4.57,0.640,9222,0.000,0.026,2722,2292,1736,1706,1767,0,0,0,0,0,0,28.83,26.34,25.36
$GC,7016,1.59,265.5,2721,2292,1705,1767,72.2,9.0,382,7026,0.00,0.00,8.00,0.679,8198,0.000,0.000,2722,2292,1711,1678,1745,0,0,0,0,0,0,28.83,28.83,25.62
$GC,7316,1.63,279.1,2721,2292,1674,1738,45.9,8.8,399,7336,0.00,0.00,13.70,0.645,8198,0.000,0.000,2722,2292,1650,1604,1697,0,0,0,0,0,0,28.83,28.83,25.61
$GC,7642,1.65,287.8,1696,2289,1564,1686,16.9,8.9,439,7658,0.00,0.00,8.52,0.625,8454,0.000,0.000,2722,2292,1615,1565,1666,0,0,0,0,0,0,28.83,28.83,25.67
$STATE,7799,end climb,SURFACE_DEPTH_REACHED
$STATE,7800,begin surface coast
$FINISH,0.0,1.026025
$STATE,7834,end surface coast,CONTROL_FINISHED_OK
$STATE,7834,begin surface
$SM_CCo,7850,221.60,0.786,1,0,512,560.02
$SM_GC,-23.93,7.43,0.47,221.60,0.075,0.041,0.786,83,1958,512,-10.40,1.13,560.02,0,0,0,0,1,0,26.41,26.44,24.44
$IRIDIUM_FIX,1906.95,12005.36,180313,070717
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.54
$INTERNAL_PRESSURE,9.05807
$TCM_TEMP,18.10
$XPDR_PINGS,0
$SC_FREEKB,3974272
$24V_AH,24.3,22.492
$10V_AH,10.1,13.530
$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,17.150,56.300,407.200,221.600,0.000,0.000,0.000,213.200,0.000,0.000,18.587,1820.215,4163.735,742.092,1440.222,270.591,0.000,1702.064,0.000,1228.421,0.000,1.482,0.000
$DEVICE_MAMPS,225.675,53.550,895.050,785.655,0.000,0.000,0.000,132.345,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7835.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.260,0.000,0.000,0.000
$MEM,323872
$DATA_FILE_SIZE,16742,473
$CAP_FILE_SIZE,375847,1860
$CFSIZE,260034560,236130304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.155,  4.1,1
$GPS,180313,124128,1916.541,12007.218,383,0.8,383,-2.5