version: 66.11
glider: 121
mission: 10
dive: 150
start: 3 20 113 18 28 14
data:
$ID,121
$MISSION,10
$DIVE,150
$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,-100683.15
$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,56
$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
$GPS1,200313,182011,1941.264,12006.352,92,0.7,92,-2.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-66.1
$GPS2,200313,182746,1941.362,12006.304,32,0.7,33,-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,332.4,229234,-18.5,-9.259,-21.12,2828
$D_GRID,4013
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.35,-170.3,84,1944,331,477,0.0,0.0,0,43,0.00,0.00,-23.73,0.000,16386,0.000,0.000,84,1944,1019,1001,1038,0,0,0,0,0,0,28.83,28.83,28.83
$GC,45,-1.35,-170.3,84,1944,1002,1040,3.2,-8.6,3,161,8.00,2.25,-97.20,0.000,18692,0.222,0.043,2090,3375,3336,3242,3431,0,0,0,0,0,0,25.83,26.20,26.48
$GC,295,-1.35,-170.3,1236,3376,3218,3427,25.8,-8.8,42,303,0.00,2.10,0.00,0.000,1030,0.000,0.024,2098,1979,3338,3246,3431,0,0,0,0,0,0,28.83,26.33,28.83
$GC,601,-1.35,-170.3,2098,1978,3249,3430,54.1,-9.1,71,607,0.00,2.12,0.00,0.000,516,0.000,0.038,2108,576,3340,3249,3431,0,0,0,0,0,0,28.83,26.45,28.83
$GC,744,-1.35,-170.3,2108,577,3251,3432,65.7,-9.0,77,752,0.00,2.03,0.00,0.000,1030,0.000,0.015,2100,1996,3341,3251,3431,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1052,-1.35,-170.3,2099,1997,3253,3431,94.9,-9.1,93,1053,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,1997,3342,3253,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1352,-1.35,-170.3,2100,1997,3252,3431,121.7,-8.8,108,1354,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,1997,3342,3253,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1653,-1.35,-170.3,2099,1996,3252,3430,149.0,-9.0,123,1660,0.00,2.17,0.00,0.000,516,0.000,0.037,2107,570,3340,3252,3429,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1770,-1.35,-170.3,2108,570,3252,3429,159.0,-9.2,128,1776,0.00,2.00,0.00,0.000,1030,0.000,0.015,2100,1975,3340,3252,3428,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2085,-1.35,-170.3,2099,1976,3253,3425,188.0,-9.1,144,2086,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,1976,3339,3253,3425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2386,-1.35,-170.3,2099,1978,3253,3421,215.0,-9.0,159,2387,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,1979,3336,3252,3421,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2688,-1.35,-170.3,2099,1979,3253,3417,241.6,-8.9,174,2694,0.00,2.15,0.00,0.000,516,0.000,0.040,2108,574,3334,3252,3417,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2739,-1.35,-170.3,2108,574,3252,3417,246.2,-9.1,176,2745,0.00,2.00,0.00,0.000,1030,0.000,0.015,2099,1973,3334,3253,3416,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3058,-1.35,-170.3,2099,1974,3252,3412,274.7,-8.6,192,3065,0.00,2.05,0.00,0.000,260,0.000,0.032,2089,3358,3332,3252,3412,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3099,-1.35,-170.3,2089,3357,3252,3411,277.0,-8.7,193,3107,0.00,2.08,0.00,0.000,1030,0.000,0.026,2089,1967,3331,3252,3411,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3406,-1.35,-170.3,2089,1967,3250,3409,305.8,-9.0,209,3407,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,1967,3329,3250,3409,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3708,-1.35,-170.3,2089,1967,3249,3407,332.2,-8.4,224,3710,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,1967,3327,3248,3407,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3904,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3904,begin apogee
$GC,3909,-0.25,0.0,2088,2303,3247,3405,350.4,-9.0,234,4074,0.77,0.00,154.68,0.965,10246,0.119,0.000,2342,2302,2639,2590,2689,0,0,0,0,1,0,26.51,28.83,24.30
$STATE,4076,end apogee,CONTROL_FINISHED_OK
$STATE,4076,begin climb
$GC,4078,1.35,170.3,2342,2303,2590,2689,336.2,0.0,241,4250,1.00,2.25,159.45,0.833,10500,0.057,0.033,2700,3669,1932,1898,1966,0,0,0,0,0,0,25.17,25.00,24.35
$GC,4491,1.37,177.3,2700,3669,1896,1944,298.0,9.0,260,4497,0.00,2.12,0.00,0.000,1030,0.000,0.024,2710,2294,1920,1896,1944,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4815,1.41,194.4,2710,2295,1896,1940,269.2,8.6,276,4839,0.00,0.00,21.10,0.764,8198,0.000,0.000,2710,2295,1846,1823,1870,0,0,0,0,0,0,28.83,28.83,25.29
$GC,5135,1.43,202.4,2710,2295,1808,1848,240.8,9.0,292,5139,0.00,0.00,1.85,0.053,8198,0.000,0.000,2710,2294,1812,1790,1835,0,0,0,0,0,0,28.83,28.83,26.25
$GC,5437,1.44,204.8,2710,2295,1789,1846,213.4,9.2,307,5444,0.00,2.20,2.10,0.139,8452,0.000,0.031,2710,3680,1804,1777,1831,0,0,0,0,0,0,28.83,26.43,25.19
$GC,5571,1.46,213.7,2710,3680,1778,1846,201.7,8.9,313,5594,0.00,2.08,16.05,0.734,9222,0.000,0.024,2719,2301,1762,1734,1790,0,0,0,0,0,0,28.83,26.48,25.53
$GC,5913,1.48,222.7,2719,2301,1733,1783,170.9,8.9,330,5929,0.00,2.15,8.75,0.721,8452,0.000,0.032,2720,3686,1726,1698,1755,0,0,0,0,0,0,28.83,26.29,25.58
$GC,5967,1.49,226.4,2719,3685,1697,1753,166.8,9.1,332,5973,0.00,2.10,0.00,0.000,1030,0.000,0.025,2729,2301,1725,1697,1754,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6282,1.53,241.0,2729,2301,1697,1751,138.7,8.7,348,6307,0.00,2.15,18.77,0.689,8452,0.000,0.033,2730,3677,1650,1607,1694,0,0,0,0,0,0,28.83,26.19,25.54
$GC,6401,1.55,250.6,2729,3677,1603,1693,129.1,8.9,353,6415,0.00,2.10,9.55,0.683,9222,0.000,0.025,2739,2297,1616,1568,1664,0,0,0,0,0,0,28.83,26.29,25.50
$GC,6711,1.58,259.6,2739,2297,1563,1655,100.0,8.9,369,6726,0.00,2.17,9.30,0.659,8708,0.000,0.041,2750,900,1575,1525,1626,0,0,0,0,0,0,28.83,26.22,25.57
$GC,6792,1.61,271.8,2750,900,1523,1623,94.1,8.8,372,6811,0.00,2.08,12.77,0.649,9222,0.000,0.018,2750,2300,1528,1476,1581,0,0,0,0,0,0,28.83,26.34,25.49
$GC,7126,1.62,278.9,2750,2300,1473,1573,62.7,9.0,389,7133,0.00,0.00,5.45,0.610,8198,0.000,0.000,2750,2300,1503,1452,1555,0,0,0,0,0,0,28.83,28.83,25.57
$GC,7425,1.65,288.6,2750,2300,1452,1556,35.9,8.9,411,7444,0.00,2.22,12.62,0.594,8708,0.000,0.039,2760,893,1457,1407,1508,0,0,0,0,0,0,28.83,26.26,25.67
$GC,7516,1.68,302.0,2760,893,1407,1504,27.8,8.8,419,7536,0.00,2.08,14.32,0.577,9222,0.000,0.018,2760,2299,1405,1360,1451,0,0,0,0,0,0,28.83,26.39,25.58
$STATE,7799,end climb,SURFACE_DEPTH_REACHED
$STATE,7799,begin surface coast
$FINISH,0.0,1.025171
$STATE,7832,end surface coast,CONTROL_FINISHED_OK
$STATE,7833,begin surface
$SM_CCo,7849,200.43,0.711,2,0,399,549.47
$SM_CCo,8062,-0.12,0.000,0,0,402,549.47
$SM_CCo,8066,1.30,0.115,0,0,400,549.47
$SM_GC,-23.93,7.55,0.52,1.30,0.075,0.034,0.115,84,1955,400,-10.57,1.05,549.47,0,0,0,0,0,0,26.36,26.41,25.12
$IRIDIUM_FIX,1934.38,12005.99,200313,151533
$TT8_MAMPS,0.024717,0.024717
$HUMID,49.01
$INTERNAL_PRESSURE,9.1069
$TCM_TEMP,18.80
$XPDR_PINGS,0
$SC_FREEKB,3965440
$24V_AH,24.3,26.069
$10V_AH,10.2,14.954
$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,17.325,47.650,446.775,201.725,0.000,0.000,0.000,264.850,0.000,0.000,33.939,1799.783,4204.605,737.025,1480.776,285.172,0.000,1742.644,0.000,1186.882,0.000,1.486,0.000
$DEVICE_MAMPS,221.850,42.840,964.665,711.450,0.000,0.000,0.000,135.405,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7840.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.966,0.000,0.000,0.000
$MEM,323856
$DATA_FILE_SIZE,16794,474
$CAP_FILE_SIZE,350484,1823
$CFSIZE,260034560,233705472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,2,0
$CURRENT,0.076, 74.7,1
$GPS,200313,204534,1942.066,12006.140,134,1.4,134,-2.6