version: 66.11
glider: 121
mission: 10
dive: 157
start: 3 21 113 11 21 28
data:
$ID,121
$MISSION,10
$DIVE,157
$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,-100692.06
$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,52
$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
$GPS1,210313,111434,1947.823,12005.566,31,0.8,31,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-62.7
$GPS2,210313,112101,1947.803,12005.532,14,0.7,16,-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,333.5,217256,-18.5,-9.259,-21.12,2828
$D_GRID,3872
$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,-170.3,81,1951,329,473,0.0,0.0,0,44,0.00,0.00,-23.85,0.000,16386,0.000,0.000,80,1952,1017,1003,1032,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.35,-170.3,80,1952,1003,1034,3.2,-9.4,3,162,7.78,2.17,-95.60,0.000,18692,0.209,0.044,2092,3372,3335,3242,3429,0,0,0,0,0,0,25.83,26.17,26.47
$GC,281,-1.35,-170.3,1248,3371,3218,3426,24.9,-9.4,40,289,0.00,2.10,0.00,0.000,1030,0.000,0.027,2097,1985,3337,3246,3429,0,0,0,0,0,0,28.83,26.29,28.83
$GC,589,-1.35,-170.3,2097,1985,3249,3432,52.5,-9.2,70,595,0.00,2.10,0.00,0.000,260,0.000,0.029,2089,3375,3339,3249,3429,0,0,0,0,0,0,28.83,26.45,28.83
$GC,750,-1.35,-170.3,2089,3375,3252,3429,66.5,-9.1,77,756,0.00,2.10,0.00,0.000,1030,0.000,0.024,2089,1966,3340,3252,3429,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1065,-1.35,-170.3,2089,1967,3253,3429,95.2,-9.0,93,1071,0.00,2.12,0.00,0.000,260,0.000,0.029,2080,3381,3341,3253,3429,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1132,-1.35,-170.3,2080,3381,3253,3429,101.2,-9.1,96,1139,0.10,2.10,0.00,0.000,3078,0.167,0.024,2104,1966,3341,3253,3429,0,0,0,0,0,0,26.41,26.58,28.83
$GC,1458,-1.35,-170.3,2104,1965,3253,3429,130.6,-9.3,112,1463,0.00,2.10,0.00,0.000,516,0.000,0.041,2115,577,3341,3253,3429,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1524,-1.35,-170.3,2114,577,3253,3429,136.4,-8.8,115,1530,0.00,2.03,0.00,0.000,1030,0.000,0.016,2106,1994,3341,3254,3429,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1849,-1.35,-170.3,2106,1995,3253,3428,166.1,-9.1,131,1854,0.00,2.03,0.00,0.000,260,0.000,0.031,2096,3367,3340,3253,3427,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1939,-1.35,-170.3,2096,3367,3253,3427,174.0,-9.2,135,1945,0.00,2.08,0.00,0.000,1030,0.000,0.026,2099,1971,3340,3253,3427,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2259,-1.35,-170.3,2098,1971,3253,3424,203.3,-8.8,151,2265,0.00,2.12,0.00,0.000,516,0.000,0.043,2108,570,3337,3252,3423,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2316,-1.35,-170.3,2108,570,3253,3423,207.6,-9.1,153,2322,0.00,2.03,0.00,0.000,1030,0.000,0.016,2100,1982,3338,3253,3423,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2630,-1.35,-170.3,2099,1983,3253,3421,238.4,-9.7,169,2631,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,1983,3337,3253,3421,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2932,-1.35,-170.3,2099,1986,3252,3417,265.7,-9.1,184,2938,0.00,2.17,0.00,0.000,516,0.000,0.042,2108,571,3334,3252,3417,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2979,-1.35,-170.3,2107,571,3252,3416,270.0,-9.0,186,2985,0.00,2.03,0.00,0.000,1030,0.000,0.016,2099,1973,3334,3252,3416,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3304,-1.35,-170.3,2099,1973,3252,3413,298.9,-9.0,202,3305,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,1973,3332,3252,3413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3605,-1.35,-170.3,2099,1974,3249,3410,326.2,-9.0,217,3606,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,1974,3330,3250,3410,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3881,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3881,begin apogee
$GC,3886,-0.25,0.0,2097,2301,3248,3407,351.1,-9.0,231,4043,0.75,0.00,145.23,0.825,10246,0.116,0.000,2343,2301,2631,2581,2681,0,0,0,0,0,0,26.50,28.83,24.61
$STATE,4044,end apogee,CONTROL_FINISHED_OK
$STATE,4044,begin climb
$GC,4046,1.35,170.3,2343,2302,2580,2679,336.8,0.0,238,4207,1.00,2.20,148.30,0.810,10500,0.062,0.032,2702,3677,1933,1898,1968,0,0,0,0,0,0,25.37,25.09,24.46
$GC,4423,1.39,183.6,2701,3677,1897,1950,302.1,8.8,255,4439,0.00,2.12,10.02,0.766,9222,0.000,0.024,2711,2301,1888,1860,1917,0,0,0,0,0,0,28.83,26.01,25.16
$GC,4747,1.45,208.1,2711,2301,1856,1904,273.0,8.4,271,4777,0.00,2.30,23.33,0.754,8708,0.000,0.041,2722,892,1784,1753,1815,0,0,0,0,0,0,28.83,25.91,25.26
$GC,4800,1.49,223.5,2722,892,1749,1811,268.6,8.7,273,4824,0.00,2.10,14.27,0.746,9222,0.000,0.017,2722,2296,1721,1689,1754,0,0,0,0,0,0,28.83,26.05,25.15
$GC,5143,1.51,231.6,2721,2296,1688,1744,237.7,9.0,290,5150,0.00,0.00,5.35,0.685,8198,0.000,0.000,2722,2296,1696,1665,1727,0,0,0,0,0,0,28.83,28.83,25.42
$GC,5444,1.54,246.1,2722,2296,1665,1725,210.8,8.7,305,5467,0.00,2.30,16.12,0.698,8708,0.000,0.040,2732,895,1631,1587,1675,0,0,0,0,0,0,28.83,26.15,25.51
$GC,5500,1.55,247.1,2732,896,1587,1672,206.5,9.2,307,5507,0.00,2.10,0.00,0.000,1030,0.000,0.018,2732,2305,1628,1585,1672,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5816,1.56,251.6,2732,2305,1584,1668,176.9,9.1,323,5822,0.00,0.00,3.62,0.529,8198,0.000,0.000,2732,2305,1613,1568,1659,0,0,0,0,0,0,28.83,28.83,25.42
$GC,6117,1.56,253.2,2732,2306,1568,1659,149.7,9.2,338,6123,0.00,2.20,0.00,0.000,516,0.000,0.041,2742,900,1613,1568,1659,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6192,1.58,260.8,2742,900,1568,1659,143.6,9.0,341,6211,0.00,2.05,11.68,0.636,9222,0.000,0.018,2742,2303,1571,1521,1622,0,0,0,0,0,0,28.83,26.53,25.70
$GC,6532,1.60,269.3,2742,2303,1519,1616,112.4,9.0,358,6549,0.00,2.15,8.32,0.614,8452,0.000,0.035,2742,3685,1538,1486,1590,0,0,0,0,0,0,28.83,26.36,25.72
$GC,6633,1.61,273.1,2742,3685,1485,1587,104.5,9.1,362,6642,0.00,2.10,3.45,0.471,9222,0.000,0.026,2751,2294,1525,1473,1577,0,0,0,0,0,0,28.83,26.41,25.48
$GC,6939,1.63,279.8,2751,2295,1473,1577,75.5,9.0,378,6949,0.00,0.00,8.70,0.580,8198,0.000,0.000,2751,2295,1499,1446,1552,0,0,0,0,0,0,28.83,28.83,25.76
$GC,7240,1.66,292.0,2753,2294,1443,1543,48.9,8.8,393,7258,0.00,2.15,12.60,0.540,8452,0.000,0.031,2751,3692,1444,1395,1493,0,0,0,0,0,0,28.83,26.34,25.77
$GC,7401,1.67,296.6,2751,3692,1395,1486,34.4,9.1,407,7414,0.00,2.10,3.40,0.418,9222,0.000,0.025,2761,2298,1429,1385,1473,0,0,0,0,0,0,28.83,26.44,25.55
$GC,7729,1.71,313.0,1712,2296,1360,1468,4.6,8.7,458,7753,0.00,2.22,17.48,0.490,8452,0.000,0.032,2761,3700,1358,1326,1391,0,0,0,0,0,0,28.83,26.32,25.78
$STATE,7761,end climb,SURFACE_DEPTH_REACHED
$STATE,7761,begin surface coast
$FINISH,0.0,1.023351
$STATE,7800,end surface coast,CONTROL_FINISHED_OK
$STATE,7800,begin surface
$SM_CCo,7818,168.18,0.636,1,0,399,549.47
$SM_CCo,7994,-0.32,0.000,0,0,401,549.47
$SM_CCo,7997,0.52,0.072,0,0,400,549.47
$SM_GC,-23.93,7.47,2.70,0.52,0.068,0.026,0.072,82,1969,400,-10.57,1.02,549.47,0,0,0,0,0,0,26.36,26.36,25.33
$IRIDIUM_FIX,1936.66,12004.01,210313,080806
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.04
$INTERNAL_PRESSURE,9.20456
$TCM_TEMP,20.90
$XPDR_PINGS,2
$SC_FREEKB,3962752
$24V_AH,24.5,27.089
$10V_AH,10.2,15.368
$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,17.100,60.500,431.875,168.700,0.000,0.000,0.000,217.025,0.500,0.000,16.739,1802.624,4150.437,704.723,1422.638,287.878,0.000,1689.952,0.000,1208.700,0.000,1.487,0.000
$DEVICE_MAMPS,208.845,44.370,825.435,636.480,0.000,0.000,0.000,134.640,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7803.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.969,0.000,0.000,0.000
$MEM,323876
$DATA_FILE_SIZE,16791,469
$CAP_FILE_SIZE,352920,1833
$CFSIZE,260034560,232964096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.202, 20.5,1
$GPS,210313,133552,1949.294,12005.512,27,0.9,27,-2.6