version: 66.11
glider: 121
mission: 10
dive: 128
start: 3 18 113 12 48 30
data:
$ID,121
$MISSION,10
$DIVE,128
$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,-100655.44
$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,52
$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
$GPS1,180313,124128,1916.541,12007.218,383,0.8,383,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-65.0
$GPS2,180313,124803,1916.547,12007.170,28,0.7,29,-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,355.6,275212,-18.5,-9.259,-21.12,2828
$D_GRID,3489
$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,-170.3,82,1947,469,552,0.0,0.0,0,43,0.00,0.00,-23.42,0.000,16386,0.000,0.000,82,1948,1126,1112,1140,0,0,0,0,0,0,28.83,28.83,28.83
$GC,45,-1.35,-170.3,82,1948,1112,1144,3.2,-9.4,3,144,7.82,0.00,-87.12,0.000,18950,0.221,0.000,2062,1948,3491,3405,3577,0,0,0,0,0,0,25.89,28.83,26.48
$GC,456,-1.35,-170.3,2062,1948,3410,3578,40.6,-8.9,59,461,0.00,2.10,0.00,0.000,516,0.000,0.040,2071,574,3494,3410,3578,0,0,0,0,0,0,28.83,26.39,28.83
$GC,481,-1.35,-170.3,2071,574,3411,3578,42.8,-9.1,61,487,0.00,2.03,0.00,0.000,1030,0.000,0.015,2063,1984,3494,3410,3578,0,0,0,0,0,0,28.83,26.46,28.83
$GC,806,-1.35,-170.3,2063,1986,3415,3579,72.2,-9.2,81,812,0.00,2.05,0.00,0.000,260,0.000,0.031,2053,3371,3497,3415,3579,0,0,0,0,0,0,28.83,26.51,28.83
$GC,960,-1.35,-170.3,2053,3371,3415,3579,85.6,-9.0,88,967,0.00,2.08,0.00,0.000,1030,0.000,0.024,2061,1971,3497,3415,3580,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1281,-1.35,-170.3,2061,1972,3416,3579,114.9,-9.1,104,1286,0.00,2.12,0.00,0.000,516,0.000,0.041,2071,565,3497,3416,3579,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1370,-1.35,-170.3,2071,565,3415,3580,122.7,-9.0,108,1376,0.00,2.03,0.00,0.000,1030,0.000,0.016,2063,1983,3497,3416,3579,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1690,-1.35,-170.3,2062,1984,3415,3579,151.0,-8.2,124,1695,0.00,2.15,0.00,0.000,516,0.000,0.040,2071,575,3497,3415,3579,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1824,-1.35,-170.3,2070,575,3416,3578,162.6,-9.2,130,1830,0.00,2.00,0.00,0.000,1030,0.000,0.016,2062,1978,3497,3416,3578,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2143,-1.35,-170.3,2062,1979,3416,3575,192.1,-9.2,146,2150,0.00,2.15,0.00,0.000,516,0.000,0.041,2070,574,3495,3416,3574,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2179,-1.35,-170.3,2070,574,3415,3574,194.4,-9.1,147,2185,0.00,2.00,0.00,0.000,1030,0.000,0.016,2062,1974,3495,3416,3574,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2494,-1.35,-170.3,2061,1975,3415,3571,223.7,-9.0,163,2495,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,1975,3493,3416,3571,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2794,-1.35,-170.3,2061,1975,3414,3568,250.4,-9.0,178,2800,0.00,2.15,0.00,0.000,516,0.000,0.041,2069,573,3490,3414,3567,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2923,-1.35,-170.3,1248,572,3397,3564,261.9,-9.1,184,2928,0.00,2.03,0.00,0.000,1030,0.000,0.016,2060,1978,3489,3413,3566,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3248,-1.35,-170.3,2060,1977,3410,3565,291.4,-8.9,200,3254,0.00,2.17,0.00,0.000,516,0.000,0.042,2064,567,3487,3410,3564,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3367,-1.35,-170.3,2064,567,3409,3564,301.4,-9.0,205,3373,0.00,2.03,0.00,0.000,1030,0.000,0.017,2056,1973,3486,3409,3564,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3681,-1.35,-170.3,2056,1974,3408,3561,330.9,-9.2,221,3688,0.00,2.15,0.00,0.000,516,0.000,0.043,2061,577,3484,3408,3561,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3749,-1.35,-170.3,2061,577,3407,3561,337.1,-9.0,224,3756,0.00,2.03,0.00,0.000,1030,0.000,0.017,2053,1976,3484,3407,3561,0,0,0,0,0,0,28.83,26.73,28.83
$STATE,3914,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3914,begin apogee
$GC,3918,-0.25,0.0,2050,2315,3405,3559,351.5,-8.6,232,4068,0.80,0.00,142.57,0.912,10246,0.126,0.000,2308,2315,2790,2753,2828,0,0,0,0,0,0,26.51,28.83,24.46
$STATE,4071,end apogee,CONTROL_FINISHED_OK
$STATE,4071,begin climb
$GC,4072,1.35,170.3,2308,2315,2752,2825,339.1,0.0,238,4230,1.02,2.20,147.35,0.897,10500,0.070,0.034,2664,3683,2091,2055,2128,0,0,0,0,0,0,25.23,24.96,24.28
$GC,4258,1.37,177.1,2663,3684,2052,2122,321.6,9.0,246,4268,0.00,2.17,2.42,0.311,9222,0.000,0.023,2674,2298,2073,2037,2110,0,0,0,0,0,0,28.83,25.33,24.46
$GC,4565,1.40,188.1,2674,2297,2037,2110,292.8,8.9,262,4589,0.00,2.22,13.98,0.842,8452,0.000,0.033,2674,3676,2022,1986,2058,0,0,0,0,0,0,28.83,25.86,25.13
$GC,4653,1.40,190.4,1696,3675,1934,2043,284.7,9.2,266,4660,0.00,2.12,0.00,0.000,1030,0.000,0.023,2684,2289,2019,1985,2054,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4980,1.43,201.7,2684,2289,1985,2051,255.4,8.8,282,5003,0.00,2.22,13.12,0.821,8452,0.000,0.033,2683,3680,1966,1931,2002,0,0,0,0,0,0,28.83,26.09,25.33
$GC,5068,1.45,207.6,2683,3680,1931,1998,247.3,9.0,286,5080,0.00,2.10,4.40,0.698,9222,0.000,0.024,2693,2298,1947,1913,1982,0,0,0,0,0,0,28.83,26.20,25.14
$GC,5394,1.47,218.6,2693,2298,1913,1982,218.2,8.9,302,5417,0.00,2.25,13.02,0.796,8708,0.000,0.041,2704,895,1898,1868,1929,0,0,0,0,0,0,28.83,26.13,25.41
$GC,5524,1.49,227.0,2704,895,1867,1925,206.6,9.0,308,5540,0.00,2.08,8.75,0.783,9222,0.000,0.018,2704,2300,1864,1836,1893,0,0,0,0,0,0,28.83,26.30,25.38
$GC,5851,1.50,227.7,2704,2301,1835,1885,177.0,9.2,324,5856,0.00,2.20,0.00,0.000,516,0.000,0.040,2714,897,1860,1835,1886,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5927,1.51,234.9,2714,897,1835,1886,170.8,9.0,327,5942,0.00,2.08,7.82,0.757,9222,0.000,0.018,2714,2307,1833,1805,1861,0,0,0,0,0,0,28.83,26.44,25.51
$GC,6239,1.52,238.4,2714,2307,1804,1855,141.6,9.1,343,6246,0.00,2.10,0.00,0.000,260,0.000,0.036,2714,3694,1829,1804,1855,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6413,1.54,246.6,2714,3694,1804,1852,126.3,9.0,351,6432,0.10,2.10,11.77,0.731,13318,0.197,0.026,2702,2301,1786,1758,1814,0,0,0,0,0,0,26.29,26.48,25.58
$GC,6731,1.57,257.0,2702,2301,1755,1805,97.7,8.9,367,6747,0.00,2.17,10.65,0.710,8708,0.000,0.041,2712,900,1743,1714,1772,0,0,0,0,0,0,28.83,26.25,25.58
$GC,6770,1.58,260.4,2712,900,1712,1770,95.3,9.1,368,6778,0.00,2.08,0.00,0.000,1030,0.000,0.018,2712,2302,1740,1712,1769,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7077,1.59,265.1,2712,2302,1713,1766,66.4,9.1,384,7093,0.00,2.15,7.85,0.683,8452,0.000,0.036,2712,3680,1710,1678,1742,0,0,0,0,0,0,28.83,26.32,25.63
$GC,7198,1.60,268.6,2712,3680,1676,1740,56.7,9.1,389,7206,0.00,2.10,0.00,0.000,1030,0.000,0.026,2722,2295,1708,1676,1740,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7504,1.64,283.7,2722,2295,1676,1738,28.2,8.7,417,7530,0.00,2.25,18.35,0.630,8708,0.000,0.043,2733,898,1633,1587,1679,0,0,0,0,0,0,28.83,26.22,25.61
$GC,7566,1.65,290.1,1728,898,1551,1668,22.5,9.0,424,7575,0.00,2.08,4.80,0.601,9222,0.000,0.018,2733,2301,1612,1565,1660,0,0,0,0,0,0,28.83,26.32,25.37
$STATE,7785,end climb,SURFACE_DEPTH_REACHED
$STATE,7785,begin surface coast
$FINISH,0.0,1.026070
$STATE,7819,end surface coast,CONTROL_FINISHED_OK
$STATE,7819,begin surface
$SM_CCo,7835,221.32,0.796,1,0,511,560.02
$SM_GC,-23.93,7.47,0.52,221.32,0.077,0.034,0.796,89,1957,511,-10.37,1.07,560.02,0,0,0,0,1,0,26.37,26.41,24.46
$IRIDIUM_FIX,1906.95,12007.34,180313,101047
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.70
$INTERNAL_PRESSURE,9.04831
$TCM_TEMP,18.00
$XPDR_PINGS,0
$SC_FREEKB,3973888
$24V_AH,24.3,22.646
$10V_AH,10.1,13.598
$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,17.225,72.900,406.875,221.325,0.000,0.000,0.000,219.725,0.000,0.000,29.471,1916.185,3949.669,743.252,1542.075,289.761,0.000,1771.660,0.000,1311.781,0.000,1.482,0.000
$DEVICE_MAMPS,221.085,42.840,911.880,795.600,0.000,0.000,0.000,131.580,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,7.213,0.000,0.000,0.000
$MEM,323912
$DATA_FILE_SIZE,16830,470
$CAP_FILE_SIZE,398938,2006
$CFSIZE,260034560,235999232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.197, 19.5,1
$GPS,180313,150942,1918.173,12007.317,372,1.1,372,-2.5