version: 66.11
glider: 121
mission: 10
dive: 148
start: 3 20 113 13 40 33
data:
$ID,121
$MISSION,10
$DIVE,148
$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,-100680.63
$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,2400
$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
$GPS1,200313,133312,1938.766,12006.508,173,1.3,173,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-62.1
$GPS2,200313,134006,1938.816,12006.479,15,1.3,16,-2.6
$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,327.1,233958,-18.5,-9.259,-21.12,2828
$D_GRID,4137
$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,-170.3,89,1953,362,500,0.0,0.0,0,44,0.00,0.00,-23.83,0.000,16386,0.000,0.000,88,1954,1051,1032,1071,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.35,-170.3,89,1954,1033,1073,3.3,-9.6,3,153,7.80,2.22,-92.88,0.000,18692,0.212,0.042,2094,3372,3336,3242,3431,0,0,0,0,0,0,25.84,26.20,26.48
$GC,226,-1.35,-170.3,1240,3371,3214,3427,20.0,-8.8,30,235,0.00,2.10,0.00,0.000,1030,0.000,0.026,2102,1984,3337,3243,3431,0,0,0,0,0,0,28.83,26.27,28.83
$GC,547,-1.35,-170.3,2102,1984,3248,3431,48.7,-8.9,66,553,0.00,2.15,0.00,0.000,516,0.000,0.039,2112,574,3339,3248,3431,0,0,0,0,0,0,28.83,26.43,28.83
$GC,684,-1.35,-170.3,2112,574,3249,3431,60.4,-9.0,73,691,0.00,2.05,0.00,0.000,1030,0.000,0.015,2104,2003,3340,3249,3431,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1000,-1.35,-170.3,2103,2004,3250,3431,89.8,-9.0,89,1006,0.00,2.00,0.00,0.000,260,0.000,0.030,2093,3360,3340,3250,3431,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1051,-1.35,-170.3,2093,3361,3250,3431,94.1,-9.2,91,1057,0.00,2.08,0.00,0.000,1030,0.000,0.024,2099,1963,3340,3250,3431,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1371,-1.35,-170.3,2098,1962,3250,3431,123.4,-8.9,107,1372,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,1962,3339,3249,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1673,-1.35,-170.3,2098,1962,3250,3430,150.2,-8.8,122,1674,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,1962,3340,3250,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1974,-1.35,-170.3,2098,1962,3251,3428,176.9,-9.0,137,1980,0.00,2.10,0.00,0.000,516,0.000,0.041,2109,568,3338,3250,3427,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2044,-1.35,-170.3,2108,568,3250,3427,182.9,-8.7,140,2050,0.00,2.00,0.00,0.000,1030,0.000,0.015,2100,1974,3338,3250,3427,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2364,-1.35,-170.3,2099,1977,3252,3422,211.5,-8.7,156,2370,0.00,2.15,0.00,0.000,516,0.000,0.040,2108,570,3337,3252,3422,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2414,-1.35,-170.3,2108,570,3252,3422,215.7,-8.8,158,2421,0.00,2.03,0.00,0.000,1030,0.000,0.016,2100,1983,3337,3252,3422,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2735,-1.35,-170.3,2100,1984,3252,3418,245.4,-9.1,174,2736,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,1984,3335,3252,3418,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3036,-1.35,-170.3,2100,1984,3252,3415,272.5,-9.0,189,3037,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,1984,3333,3252,3415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3336,-1.35,-170.3,2100,1985,3252,3411,299.8,-9.1,204,3337,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,1985,3331,3252,3411,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3637,-1.35,-170.3,2100,1985,3250,3409,327.3,-9.2,219,3638,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,1985,3329,3250,3408,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3892,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3893,begin apogee
$GC,3897,-0.25,0.0,2098,2311,3248,3407,350.7,-9.1,232,4050,0.75,0.00,140.95,0.981,10246,0.119,0.000,2342,2311,2639,2590,2689,0,0,0,0,1,0,26.51,28.83,24.34
$STATE,4051,end apogee,CONTROL_FINISHED_OK
$STATE,4051,begin climb
$GC,4053,1.35,170.3,2342,2311,2590,2689,338.3,0.0,238,4212,1.00,2.28,145.07,1.025,10500,0.059,0.033,2698,3678,1944,1911,1977,0,0,0,0,1,0,25.20,24.89,24.12
$GC,4442,1.39,186.6,2698,3679,1911,1977,302.2,8.7,256,4466,0.00,2.10,18.23,0.796,9222,0.000,0.023,2708,2307,1875,1848,1902,0,0,0,0,0,0,28.83,25.97,25.01
$GC,4785,1.41,194.4,2708,2306,1845,1890,270.4,9.0,273,4797,0.00,2.12,5.75,0.723,8452,0.000,0.031,2708,3679,1847,1822,1873,0,0,0,0,0,0,28.83,26.15,25.35
$GC,4919,1.43,199.7,2708,3678,1822,1872,258.6,9.1,279,4937,0.00,2.10,7.45,0.744,9222,0.000,0.024,2718,2294,1821,1795,1848,0,0,0,0,0,0,28.83,26.28,25.40
$GC,5234,1.43,199.7,2717,2294,1794,1844,229.6,9.3,295,5236,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2294,1819,1794,1844,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5536,1.45,209.2,2717,2294,1794,1842,202.7,8.9,310,5552,0.00,2.12,9.75,0.717,8452,0.000,0.031,2718,3678,1782,1753,1811,0,0,0,0,0,0,28.83,26.33,25.63
$GC,5617,1.46,212.1,2717,3678,1753,1808,196.6,9.2,313,5625,0.00,2.10,0.00,0.000,1030,0.000,0.024,2728,2290,1780,1753,1808,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5923,1.48,220.4,2728,2290,1753,1805,167.9,9.0,329,5947,0.00,2.20,11.70,0.693,8452,0.000,0.032,2728,3676,1735,1703,1767,0,0,0,0,0,0,28.83,26.32,25.63
$GC,5992,1.49,226.7,2727,3675,1703,1765,161.8,9.0,332,6003,0.00,2.10,4.70,0.631,9222,0.000,0.025,2738,2293,1713,1680,1747,0,0,0,0,0,0,28.83,26.36,25.41
$GC,6318,1.52,236.9,2737,2293,1680,1748,132.5,8.9,348,6335,0.00,2.25,12.52,0.655,8708,0.000,0.042,2748,896,1670,1633,1708,0,0,0,0,0,0,28.83,26.26,25.63
$GC,6415,1.52,237.9,2748,896,1632,1702,124.3,9.2,352,6420,0.00,2.08,0.00,0.000,1030,0.000,0.018,2748,2299,1667,1632,1702,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6729,1.54,243.6,2748,2299,1632,1700,95.0,9.1,368,6741,0.00,2.20,4.85,0.599,8708,0.000,0.039,2758,897,1645,1603,1688,0,0,0,0,0,0,28.83,26.39,25.52
$GC,6796,1.56,254.0,2758,898,1603,1688,89.0,8.9,371,6819,0.00,2.08,13.18,0.615,9222,0.000,0.018,2758,2308,1597,1548,1646,0,0,0,0,0,0,28.83,26.48,25.65
$GC,7116,1.56,254.0,2758,2308,1547,1642,60.1,9.4,387,7122,0.00,2.10,0.00,0.000,260,0.000,0.034,2758,3690,1594,1547,1641,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7291,1.58,262.5,2758,3689,1546,1642,44.5,9.0,397,7306,0.10,2.10,7.95,0.577,13318,0.205,0.025,2747,2297,1565,1514,1617,0,0,0,0,0,0,26.28,26.50,25.76
$GC,7618,1.61,271.7,1712,2294,1481,1606,15.4,8.9,438,7634,0.00,2.22,9.65,0.549,8452,0.000,0.033,2747,3694,1527,1474,1581,0,0,0,0,0,0,28.83,26.39,25.78
$STATE,7760,end climb,SURFACE_DEPTH_REACHED
$STATE,7760,begin surface coast
$FINISH,0.0,1.024620
$STATE,7794,end surface coast,CONTROL_FINISHED_OK
$STATE,7794,begin surface
$SM_CCo,7812,222.68,0.692,1,0,400,549.47
$SM_CCo,8043,-0.20,0.000,0,0,403,549.23
$SM_CCo,8046,1.45,0.104,0,0,400,549.47
$SM_GC,-23.93,7.50,2.67,1.45,0.074,0.025,0.104,84,1978,400,-10.57,1.24,549.47,0,0,0,0,0,0,26.44,26.47,25.10
$IRIDIUM_FIX,1932.09,12007.97,200313,111109
$TT8_MAMPS,0.023968,0.023968
$HUMID,47.67
$INTERNAL_PRESSURE,9.15573
$TCM_TEMP,19.80
$XPDR_PINGS,0
$SC_FREEKB,3966208
$24V_AH,24.1,25.767
$10V_AH,10.2,14.837
$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,17.150,56.125,391.750,224.125,0.000,0.000,0.000,247.700,0.000,0.000,17.245,1818.436,4163.181,718.145,1458.740,287.482,0.000,1729.439,0.000,1203.613,0.000,1.486,0.000
$DEVICE_MAMPS,211.905,42.075,1025.100,692.325,0.000,0.000,0.000,128.520,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7810.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.964,0.000,0.000,0.000
$MEM,323840
$DATA_FILE_SIZE,16786,469
$CAP_FILE_SIZE,353393,1851
$CFSIZE,260034560,233914368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$CURRENT,0.184, 32.3,1
$GPS,200313,155652,1940.074,12006.365,93,0.9,93,-2.6