version: 66.11
glider: 121
mission: 10
dive: 138
start: 3 19 113 13 27 48
data:
$ID,121
$MISSION,10
$DIVE,138
$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,-100668.05
$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,58
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3600
$C_VBD,2640
$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
$GPS1,190313,132053,1927.917,12006.531,349,1.8,349,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-66.4
$GPS2,190313,132721,1928.040,12006.517,21,1.6,21,-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,351.2,253897,-18.5,-9.259,-21.12,2828
$D_GRID,4160
$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,-170.3,84,1946,330,480,0.0,0.0,0,43,0.00,0.00,-23.20,0.000,16386,0.000,0.000,83,1946,1007,987,1028,0,0,0,0,0,0,28.83,28.83,28.83
$GC,45,-1.35,-170.3,84,1946,987,1028,3.1,-9.1,3,151,8.02,2.17,-87.25,0.000,18692,0.230,0.044,2059,3371,3337,3245,3430,0,0,0,0,0,0,25.84,26.18,26.46
$GC,241,-1.35,-170.3,2059,3371,3248,3430,21.0,-8.9,33,249,0.00,2.10,0.00,0.000,1030,0.000,0.024,2067,1975,3339,3248,3430,0,0,0,0,0,0,28.83,26.28,28.83
$GC,559,-1.35,-170.3,2067,1975,3251,3430,49.7,-8.8,68,564,0.00,2.12,0.00,0.000,516,0.000,0.040,2078,577,3340,3251,3430,0,0,0,0,0,0,28.83,26.41,28.83
$GC,626,-1.35,-170.3,2077,577,3252,3430,55.6,-8.8,72,631,0.00,2.03,0.00,0.000,1030,0.000,0.015,2069,1992,3341,3252,3430,0,0,0,0,0,0,28.83,26.51,28.83
$GC,950,-1.35,-170.3,2069,1992,3254,3431,85.1,-9.0,88,956,0.00,2.00,0.00,0.000,260,0.000,0.030,2059,3354,3342,3254,3430,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1145,-1.35,-170.3,2059,3355,3254,3430,102.1,-8.9,97,1151,0.00,2.05,0.00,0.000,1030,0.000,0.023,2067,1970,3342,3254,3430,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1465,-1.35,-170.3,2066,1970,3255,3430,131.8,-9.2,113,1471,0.00,2.10,0.00,0.000,516,0.000,0.041,2077,577,3342,3255,3430,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1606,-1.35,-170.3,2077,577,3255,3430,143.8,-9.0,119,1611,0.00,2.00,0.00,0.000,1030,0.000,0.015,2069,1979,3343,3256,3430,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1920,-1.35,-170.3,2068,1982,3256,3427,173.0,-9.1,135,1921,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,1982,3341,3256,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2222,-1.35,-170.3,2068,1982,3256,3424,200.1,-8.6,150,2228,0.00,2.15,0.00,0.000,516,0.000,0.039,2077,576,3339,3256,3423,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2329,-1.35,-170.3,2077,576,3256,3423,209.9,-9.0,155,2335,0.00,2.00,0.00,0.000,1030,0.000,0.015,2068,1978,3339,3256,3423,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2654,-1.35,-170.3,2068,1978,3256,3422,238.9,-8.9,171,2660,0.00,2.15,0.00,0.000,516,0.000,0.041,2077,577,3338,3256,3420,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2845,-1.35,-170.3,2076,577,3255,3419,255.9,-9.1,180,2851,0.00,2.03,0.00,0.000,1030,0.000,0.016,2068,1985,3336,3254,3418,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3170,-1.35,-170.3,2068,1985,3253,3415,284.9,-8.8,196,3171,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,1985,3334,3253,3415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3472,-1.35,-170.3,2068,1985,3252,3413,312.2,-9.0,211,3473,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,1986,3332,3252,3413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3770,-1.35,-170.3,2068,1986,3250,3411,339.0,-9.1,226,3776,0.00,2.17,0.00,0.000,516,0.000,0.042,2076,577,3330,3250,3410,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3861,-1.35,-170.3,2076,577,3249,3410,346.9,-9.0,230,3868,0.00,2.03,0.00,0.000,1030,0.000,0.016,2068,1971,3329,3249,3410,0,0,0,0,0,0,28.83,26.74,28.83
$STATE,3900,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3901,begin apogee
$GC,3905,-0.25,0.0,2065,2311,3249,3410,350.9,-9.1,232,4070,0.75,0.00,152.02,1.004,10246,0.130,0.000,2305,2312,2639,2589,2689,0,0,0,0,1,0,26.49,28.83,24.24
$STATE,4073,end apogee,CONTROL_FINISHED_OK
$STATE,4073,begin climb
$GC,4075,1.35,170.3,2305,2312,2589,2689,336.8,0.0,239,4242,1.05,2.28,157.77,0.853,10500,0.075,0.034,2663,3677,1937,1904,1970,0,0,0,0,0,0,25.14,24.94,24.29
$GC,4282,1.37,177.6,2663,3677,1900,1953,317.9,9.0,248,4289,0.00,2.15,1.67,0.052,9222,0.000,0.024,2673,2311,1913,1887,1940,0,0,0,0,0,0,28.83,25.37,25.31
$GC,4598,1.38,181.5,2673,2311,1887,1941,288.7,9.1,264,4606,0.00,2.30,2.95,0.438,8708,0.000,0.041,2684,893,1898,1872,1925,0,0,0,0,0,0,28.83,26.06,25.06
$GC,4667,1.40,189.3,2684,893,1872,1927,282.5,9.0,267,4690,0.00,2.10,13.77,0.806,9222,0.000,0.017,2684,2298,1860,1834,1887,0,0,0,0,0,0,28.83,26.20,25.20
$GC,4986,1.45,207.7,2684,2298,1833,1881,254.3,8.6,283,5010,0.00,2.33,17.88,0.784,8708,0.000,0.040,2694,890,1788,1759,1817,0,0,0,0,0,0,28.83,25.97,25.27
$GC,5064,1.48,222.1,2694,890,1755,1814,248.3,8.7,286,5087,0.00,2.10,14.70,0.780,9222,0.000,0.018,2694,2297,1728,1697,1760,0,0,0,0,0,0,28.83,26.13,25.18
$GC,5402,1.48,222.8,2694,2297,1694,1751,216.4,9.2,303,5408,0.00,2.15,0.00,0.000,260,0.000,0.035,2694,3699,1723,1695,1751,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5509,1.49,226.0,1696,3698,1656,1742,206.8,9.1,308,5515,0.00,2.12,0.00,0.000,1030,0.000,0.024,2704,2297,1722,1695,1750,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5834,1.52,238.8,2704,2297,1695,1749,177.4,8.8,324,5858,0.00,2.25,15.90,0.730,8452,0.000,0.033,2704,3697,1658,1621,1696,0,0,0,0,0,0,28.83,26.20,25.52
$GC,5903,1.54,245.6,2704,3697,1616,1696,171.2,9.0,327,5915,0.00,2.15,4.53,0.654,9222,0.000,0.025,2714,2290,1637,1593,1682,0,0,0,0,0,0,28.83,26.27,25.27
$GC,6228,1.56,253.6,2714,2290,1593,1682,142.9,9.0,343,6244,0.00,0.00,10.85,0.712,8710,0.000,0.000,2714,2291,1600,1551,1650,0,0,0,0,0,0,28.83,28.83,25.53
$GC,6553,1.59,265.3,2714,2290,1549,1645,113.8,8.8,359,6570,0.00,2.25,12.23,0.680,8708,0.000,0.043,2725,900,1553,1501,1606,0,0,0,0,0,0,28.83,26.21,25.56
$GC,6611,1.62,276.6,2724,900,1501,1600,109.8,8.9,361,6631,0.00,2.10,11.88,0.672,9222,0.000,0.018,2725,2309,1507,1455,1559,0,0,0,0,0,0,28.83,26.32,25.46
$GC,6945,1.64,284.1,2724,2309,1454,1552,78.6,9.0,378,6962,0.00,2.17,7.35,0.652,8452,0.000,0.036,2724,3690,1477,1427,1527,0,0,0,0,0,0,28.83,26.26,25.56
$GC,6991,1.66,292.1,2724,3690,1427,1525,74.4,9.0,380,7008,0.00,2.12,8.75,0.646,9222,0.000,0.027,2734,2298,1445,1399,1492,0,0,0,0,0,0,28.83,26.29,25.52
$GC,7316,1.68,300.8,2734,2299,1398,1484,44.8,8.9,398,7331,0.00,2.28,9.45,0.616,8708,0.000,0.043,2745,889,1408,1367,1449,0,0,0,0,0,0,28.83,26.23,25.60
$GC,7411,1.70,307.4,2745,889,1366,1446,36.3,9.0,406,7426,0.00,2.10,5.97,0.603,9222,0.000,0.018,2746,2302,1387,1349,1425,0,0,0,0,0,0,28.83,26.36,25.56
$GC,7738,1.73,319.3,1712,2300,1324,1416,7.1,8.8,455,7761,0.00,2.12,13.82,0.565,8452,0.000,0.034,2745,3694,1331,1301,1362,0,0,0,0,0,0,28.83,26.25,25.65
$STATE,7785,end climb,SURFACE_DEPTH_REACHED
$STATE,7785,begin surface coast
$FINISH,0.0,1.025399
$STATE,7817,end surface coast,CONTROL_FINISHED_OK
$STATE,7818,begin surface
$SM_CCo,7836,193.20,0.725,3,0,401,549.47
$SM_CCo,8048,1.42,0.148,0,0,401,549.47
$SM_CCo,8052,0.52,0.151,0,0,401,549.47
$SM_GC,-23.93,7.60,2.72,0.52,0.079,0.028,0.151,84,1959,401,-10.40,0.79,549.47,0,0,0,0,0,0,26.29,26.29,25.13
$IRIDIUM_FIX,1918.37,12007.65,190313,101043
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.46
$INTERNAL_PRESSURE,9.09714
$TCM_TEMP,18.70
$XPDR_PINGS,0
$SC_FREEKB,3970048
$24V_AH,24.2,24.257
$10V_AH,10.1,14.240
$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,17.425,69.350,461.500,195.150,0.000,0.000,0.000,218.300,0.000,0.000,22.507,1866.352,4024.172,758.449,1494.940,281.251,0.000,1793.824,0.000,1264.510,0.000,1.485,0.000
$DEVICE_MAMPS,229.500,43.605,1003.680,725.220,0.000,0.000,0.000,136.170,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7829.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.942,0.000,0.000,0.000
$MEM,323944
$DATA_FILE_SIZE,16776,468
$CAP_FILE_SIZE,368850,1936
$CFSIZE,260034560,234954752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$CURRENT,0.230, 28.9,1
$GPS,190313,154558,1929.712,12006.830,199,0.8,199,-2.5