version: 66.11
glider: 121
mission: 10
dive: 163
start: 3 22 113 2 38 30
data:
$ID,121
$MISSION,10
$DIVE,163
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,400
$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,144
$T_MISSION,160
$T_ABORT,190
$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,-100699.6
$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,53
$R_STBD_OVSHOOT,65
$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
$GPS1,220313,023042,1954.822,12005.533,38,1.1,38,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-62.3
$GPS2,220313,023804,1954.924,12005.516,34,0.8,35,-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,339.9,204082,-18.5,-9.259,-21.12,2828
$D_GRID,3789
$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,-170.3,88,1944,335,472,0.0,0.0,0,44,0.00,0.00,-23.98,0.000,16386,0.000,0.000,88,1944,1030,1011,1049,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.35,-170.3,88,1944,1011,1050,3.1,-8.7,3,153,8.02,2.22,-92.00,0.000,18692,0.220,0.043,2090,3363,3336,3244,3429,0,0,0,0,0,0,25.75,26.17,26.45
$GC,402,-1.35,-170.3,2090,3364,3248,3428,35.3,-9.0,52,408,0.00,2.10,0.00,0.000,1030,0.000,0.023,2098,1970,3338,3248,3429,0,0,0,0,0,0,28.83,26.37,28.83
$GC,727,-1.35,-170.3,2097,1970,3253,3429,64.4,-8.8,76,733,0.00,2.10,0.00,0.000,260,0.000,0.029,2090,3360,3341,3253,3429,0,0,0,0,0,0,28.83,26.47,28.83
$GC,817,-1.35,-170.3,2090,3360,3252,3429,72.1,-8.9,80,823,0.00,2.08,0.00,0.000,1030,0.000,0.024,2090,1967,3340,3253,3428,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1136,-1.35,-170.3,2089,1967,3254,3429,101.1,-9.3,96,1142,0.00,2.10,0.00,0.000,516,0.000,0.040,2100,574,3341,3254,3429,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1177,-1.35,-170.3,2100,574,3254,3429,103.4,-9.2,97,1185,0.00,2.03,0.00,0.000,1030,0.000,0.015,2091,1990,3341,3254,3429,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1484,-1.35,-170.3,2091,1991,3254,3428,131.9,-8.7,113,1490,0.00,2.03,0.00,0.000,260,0.000,0.031,2081,3353,3341,3254,3428,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1566,-1.35,-170.3,2081,3353,3254,3428,137.8,-8.7,116,1575,0.10,2.05,0.00,0.000,3078,0.164,0.024,2105,1972,3341,3254,3428,0,0,0,0,0,0,26.45,26.62,28.83
$GC,1871,-1.35,-170.3,2105,1972,3253,3427,166.5,-9.0,132,1877,0.00,2.08,0.00,0.000,260,0.000,0.031,2097,3352,3339,3253,3426,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1900,-1.35,-170.3,2097,3352,3254,3426,168.7,-8.9,133,1907,0.00,2.05,0.00,0.000,1030,0.000,0.026,2100,1977,3340,3254,3426,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2221,-1.35,-170.3,2099,1977,3253,3423,198.1,-9.1,149,2227,0.00,2.08,0.00,0.000,260,0.000,0.031,2091,3350,3338,3253,3423,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2323,-1.35,-170.3,2091,3351,3253,3422,205.9,-8.9,153,2331,0.00,2.05,0.00,0.000,1030,0.000,0.027,2091,1977,3337,3253,3422,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2630,-1.35,-170.3,2091,1977,3253,3420,234.2,-8.9,169,2636,0.00,2.15,0.00,0.000,516,0.000,0.043,2099,567,3336,3253,3419,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2744,-1.35,-170.3,2099,567,3253,3418,244.2,-9.1,174,2750,0.00,2.03,0.00,0.000,1030,0.000,0.016,2091,1977,3335,3253,3418,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3064,-1.35,-170.3,2090,1976,3253,3415,273.9,-9.7,190,3070,0.00,2.08,0.00,0.000,260,0.000,0.033,2081,3364,3333,3253,3414,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3099,-1.35,-170.3,2080,3364,3253,3415,276.1,-9.4,191,3106,0.10,2.10,0.00,0.000,3078,0.165,0.028,2105,1966,3333,3253,3414,0,0,0,0,0,0,26.50,26.66,28.83
$GC,3414,-1.35,-170.3,2105,1965,3252,3411,305.5,-9.2,207,3416,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,1966,3331,3252,3411,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3715,-1.35,-170.3,2105,1965,3250,3408,331.9,-8.8,222,3721,0.00,2.15,0.00,0.000,516,0.000,0.046,2115,568,3328,3249,3408,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3812,-1.35,-170.3,2114,568,3249,3408,339.8,-8.9,226,3819,0.00,2.03,0.00,0.000,1030,0.000,0.017,2106,1970,3328,3249,3407,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4129,-1.35,-170.3,2106,1969,3247,3406,369.7,-9.2,242,4135,0.00,2.17,0.00,0.000,516,0.000,0.044,2115,575,3326,3247,3405,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4169,-1.35,-170.3,2115,575,3247,3405,372.1,-9.3,243,4177,0.00,2.03,0.00,0.000,1030,0.000,0.018,2106,1974,3325,3246,3405,0,0,0,0,0,0,28.83,26.71,28.83
$STATE,4475,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4475,begin apogee
$GC,4480,-0.25,0.0,2104,2311,3242,3403,401.0,-8.5,259,4641,0.73,0.00,152.35,0.871,10246,0.113,0.000,2343,2311,2631,2581,2681,0,0,0,0,0,0,26.48,28.83,24.54
$STATE,4643,end apogee,CONTROL_FINISHED_OK
$STATE,4643,begin climb
$GC,4646,1.35,170.3,2343,2311,2578,2678,386.6,0.0,266,4817,1.00,2.22,159.15,0.844,10500,0.059,0.034,2703,3687,1935,1899,1972,0,0,0,0,0,0,25.29,24.99,24.34
$GC,5047,1.37,177.7,2702,3688,1896,1952,349.8,9.0,284,5053,0.00,2.15,0.00,0.000,1030,0.000,0.023,2713,2293,1923,1896,1951,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5367,1.39,184.0,2713,2293,1896,1947,320.7,9.0,300,5374,0.00,0.00,5.40,0.735,8198,0.000,0.000,2713,2292,1890,1864,1917,0,0,0,0,0,0,28.83,28.83,25.36
$GC,5667,1.39,184.0,2713,2293,1864,1924,293.3,9.7,315,5673,0.00,2.17,0.00,0.000,516,0.000,0.043,2724,892,1893,1864,1923,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5734,1.41,193.6,2723,892,1864,1923,287.3,8.9,318,5758,0.00,2.08,15.62,0.786,9222,0.000,0.017,2724,2296,1843,1816,1871,0,0,0,0,0,0,28.83,26.46,25.46
$GC,6055,1.43,199.5,2724,2296,1812,1859,258.4,9.0,334,6061,0.00,2.12,0.00,0.000,260,0.000,0.034,2724,3699,1835,1812,1859,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6123,1.43,202.1,2723,3699,1812,1859,252.3,9.2,337,6136,0.10,2.12,3.78,0.576,13318,0.203,0.024,2713,2294,1815,1789,1841,0,0,0,0,0,0,26.18,26.41,25.33
$GC,6445,1.44,205.2,2712,2294,1789,1846,223.2,9.1,353,6452,0.00,0.00,4.68,0.669,8198,0.000,0.000,2713,2294,1802,1774,1830,0,0,0,0,0,0,28.83,28.83,25.41
$GC,6746,1.47,217.4,2713,2294,1774,1833,196.4,8.8,368,6770,0.00,2.25,16.25,0.726,8452,0.000,0.032,2713,3696,1747,1717,1778,0,0,0,0,0,0,28.83,26.24,25.56
$GC,6819,1.48,222.0,2713,3696,1717,1774,190.1,9.1,371,6830,0.00,2.12,3.70,0.572,9222,0.000,0.024,2722,2301,1732,1703,1762,0,0,0,0,0,0,28.83,26.29,25.34
$GC,7139,1.52,237.7,2722,2301,1703,1762,161.2,8.7,387,7159,0.00,0.00,18.35,0.691,8198,0.000,0.000,2722,2301,1669,1633,1705,0,0,0,0,0,0,28.83,28.83,25.50
$GC,7459,1.55,250.6,2722,2301,1617,1702,132.6,8.8,403,7482,0.00,2.22,12.52,0.672,8452,0.000,0.034,2722,3687,1611,1563,1660,0,0,0,0,0,0,28.83,26.20,25.53
$GC,7548,1.59,264.8,2722,3687,1562,1658,124.7,8.7,407,7572,0.00,2.12,14.60,0.662,9222,0.000,0.025,2732,2297,1554,1502,1606,0,0,0,0,0,0,28.83,26.27,25.42
$GC,7868,1.61,272.4,2732,2297,1501,1599,96.4,9.0,423,7878,0.00,0.00,7.53,0.643,8198,0.000,0.000,2732,2296,1528,1477,1580,0,0,0,0,0,0,28.83,28.83,25.54
$GC,8170,1.62,276.4,2732,2297,1474,1572,69.4,9.1,438,8174,0.00,0.00,2.97,0.409,8198,0.000,0.000,2732,2297,1512,1462,1562,0,0,0,0,0,0,28.83,28.83,25.40
$GC,8470,1.63,282.2,2731,2296,1462,1563,42.6,9.0,457,8486,0.10,2.22,8.65,0.593,10500,0.099,0.033,2775,3688,1484,1433,1536,0,0,0,0,0,0,26.53,26.36,25.71
$GC,8547,1.65,288.4,2774,3688,1433,1533,35.7,9.0,463,8561,0.12,2.12,5.00,0.570,13318,0.193,0.025,2757,2291,1463,1413,1513,0,0,0,0,0,0,26.17,26.40,25.48
$GC,8880,1.67,297.3,1728,2288,1387,1507,5.3,8.9,515,8897,0.00,2.25,11.75,0.551,8708,0.000,0.042,2766,894,1422,1377,1468,0,0,0,0,0,0,28.83,26.30,25.72
$STATE,8909,end climb,SURFACE_DEPTH_REACHED
$STATE,8910,begin surface coast
$FINISH,0.0,1.024852
$STATE,8944,end surface coast,CONTROL_FINISHED_OK
$STATE,8944,begin surface
$SM_CCo,8961,205.57,0.703,2,0,398,549.47
$SM_CCo,9180,-0.15,0.000,0,0,402,549.47
$SM_CCo,9184,1.10,0.087,0,0,400,549.47
$SM_GC,-23.93,7.53,1.65,1.10,0.073,0.015,0.087,89,1989,400,-10.53,-1.61,549.47,0,0,0,0,0,0,26.34,26.44,25.16
$IRIDIUM_FIX,1945.83,12005.16,210313,232320
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.66
$INTERNAL_PRESSURE,9.12643
$TCM_TEMP,19.40
$XPDR_PINGS,1
$SC_FREEKB,3960448
$24V_AH,24.3,28.007
$10V_AH,10.2,15.737
$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,17.800,71.975,442.300,206.675,0.000,0.000,0.000,250.200,0.250,0.000,35.520,2040.539,4846.885,777.161,1616.161,326.030,0.000,1882.990,0.000,1346.171,0.000,1.486,0.000
$DEVICE_MAMPS,220.320,45.900,871.335,703.035,0.000,0.000,0.000,133.110,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8947.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.534,0.000,0.000,0.000
$MEM,323828
$DATA_FILE_SIZE,20076,525
$CAP_FILE_SIZE,397194,2068
$CFSIZE,260034560,232267776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$CURRENT,0.030,126.2,1
$GPS,220313,051434,1955.652,12005.258,141,1.2,141,-2.6