version: 66.11
glider: 121
mission: 10
dive: 167
start: 3 22 113 13 29 39
data:
$ID,121
$MISSION,10
$DIVE,167
$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,-100704.62
$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,53
$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
$GPS1,220313,132234,2000.044,12005.208,119,1.0,119,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-63.2
$GPS2,220313,132912,2000.077,12005.244,15,1.6,16,-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,334.6,194527,-18.5,-9.259,-21.12,2828
$D_GRID,3680
$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,-170.3,87,1941,342,488,0.0,0.0,0,44,0.00,0.00,-23.83,0.000,16386,0.000,0.000,86,1939,1034,1021,1048,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.35,-170.3,87,1939,1021,1050,3.4,-9.1,3,153,7.88,2.28,-92.47,0.000,18692,0.214,0.044,2090,3383,3337,3245,3429,0,0,0,0,0,0,25.77,26.16,26.46
$GC,316,-1.35,-170.3,2089,3384,3248,3428,27.5,-9.0,44,324,0.00,2.12,0.00,0.000,1030,0.000,0.026,2098,1981,3338,3248,3429,0,0,0,0,0,0,28.83,26.30,28.83
$GC,624,-1.35,-170.3,2098,1981,3251,3428,55.9,-8.9,72,630,0.00,2.10,0.00,0.000,260,0.000,0.029,2089,3374,3339,3251,3428,0,0,0,0,0,0,28.83,26.44,28.83
$GC,776,-1.35,-170.3,2089,3374,3252,3429,69.6,-9.0,79,781,0.00,2.10,0.00,0.000,1030,0.000,0.024,2094,1966,3340,3252,3428,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1096,-1.35,-170.3,2094,1965,3253,3429,98.2,-9.1,95,1097,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,1966,3340,3253,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1397,-1.35,-170.3,2096,1965,3253,3429,125.5,-9.0,110,1398,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,1966,3340,3253,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1696,-1.35,-170.3,2094,1965,3253,3428,152.8,-9.0,125,1702,0.00,2.10,0.00,0.000,516,0.000,0.041,2104,575,3340,3253,3428,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1865,-1.35,-170.3,1280,575,3227,3424,168.4,-9.1,133,1871,0.00,2.03,0.00,0.000,1030,0.000,0.015,2095,1992,3340,3253,3427,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2190,-1.35,-170.3,2095,1992,3253,3423,196.7,-8.4,149,2196,0.00,2.03,0.00,0.000,260,0.000,0.031,2085,3360,3338,3253,3423,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2266,-1.35,-170.3,2085,3360,3253,3422,202.7,-9.0,152,2273,0.00,2.08,0.00,0.000,1030,0.000,0.024,2092,1967,3337,3253,3422,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2582,-1.35,-170.3,2092,1967,3253,3420,232.1,-8.7,168,2588,0.00,2.12,0.00,0.000,516,0.000,0.044,2102,572,3336,3253,3419,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2617,-1.35,-170.3,2102,572,3253,3419,234.4,-8.8,169,2623,0.00,2.03,0.00,0.000,1030,0.000,0.016,2094,1977,3336,3253,3419,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2932,-1.35,-170.3,2093,1977,3252,3415,263.0,-8.7,185,2933,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,1977,3334,3253,3415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3233,-1.35,-170.3,2093,1978,3252,3413,290.1,-9.1,200,3238,0.00,2.05,0.00,0.000,260,0.000,0.033,2084,3357,3332,3252,3412,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3283,-1.35,-170.3,2084,3357,3251,3411,294.3,-8.8,202,3289,0.00,2.08,0.00,0.000,1030,0.000,0.027,2087,1972,3331,3252,3411,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3604,-1.35,-170.3,2086,1973,3250,3409,323.9,-8.8,218,3605,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,1973,3329,3250,3409,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3905,-1.35,-170.3,2086,1972,3248,3407,350.7,-9.0,233,3911,0.00,2.15,0.00,0.000,516,0.000,0.054,2096,575,3327,3248,3406,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3988,-1.35,-170.3,2096,575,3248,3406,357.2,-9.4,236,3997,0.00,2.03,0.00,0.000,1030,0.000,0.017,2087,1972,3327,3248,3406,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4293,-1.35,-170.3,2086,1978,3245,3404,386.4,-8.8,252,4300,0.00,2.08,0.00,0.000,260,0.000,0.034,2077,3360,3324,3245,3403,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4334,-1.35,-170.3,2076,3360,3245,3403,388.6,-8.8,253,4343,0.10,2.10,0.00,0.000,3078,0.164,0.029,2103,1968,3324,3245,3403,0,0,0,0,0,0,26.48,26.65,28.83
$STATE,4461,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4461,begin apogee
$GC,4466,-0.25,0.0,2102,2313,3244,3402,401.3,-8.9,260,4630,0.73,0.00,153.82,1.033,10246,0.114,0.000,2342,2314,2639,2589,2690,0,0,0,0,1,0,26.46,28.83,24.20
$STATE,4633,end apogee,CONTROL_FINISHED_OK
$STATE,4633,begin climb
$GC,4635,1.35,170.3,2342,2314,2589,2690,386.6,0.0,267,4825,1.00,2.20,177.73,0.833,10500,0.055,0.034,2701,3686,1935,1899,1972,0,0,0,0,0,0,25.12,24.94,24.35
$GC,4928,1.37,177.9,2701,3686,1896,1954,359.8,9.0,280,4934,0.00,2.17,1.75,0.047,9222,0.000,0.024,2711,2297,1912,1883,1941,0,0,0,0,0,0,28.83,25.62,25.59
$GC,5248,1.40,187.7,2710,2297,1883,1944,330.6,8.9,296,5272,0.00,2.20,14.77,0.829,8452,0.000,0.031,2711,3690,1864,1834,1894,0,0,0,0,0,0,28.83,25.93,25.19
$GC,5465,1.41,194.1,2710,3690,1830,1886,311.7,9.0,306,5473,0.00,2.12,1.50,0.052,9222,0.000,0.024,2720,2297,1845,1816,1874,0,0,0,0,0,0,28.83,26.20,26.14
$GC,5774,1.41,194.1,2720,2297,1816,1879,282.7,9.5,322,5775,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2297,1847,1816,1879,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6075,1.43,199.8,2720,2297,1816,1880,255.9,9.1,337,6089,0.00,2.15,9.75,0.779,8452,0.000,0.031,2720,3687,1820,1789,1851,0,0,0,0,0,0,28.83,26.29,25.55
$GC,6120,1.45,207.3,2720,3687,1787,1849,252.6,9.0,338,6134,0.00,2.12,7.88,0.781,9222,0.000,0.024,2730,2293,1791,1759,1823,0,0,0,0,0,0,28.83,26.34,25.46
$GC,6452,1.45,209.7,2730,2293,1757,1817,222.2,9.2,355,6453,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2293,1787,1757,1817,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6750,1.47,216.3,2730,2293,1757,1816,195.2,9.0,370,6765,0.00,2.15,9.85,0.747,8452,0.000,0.032,2730,3683,1753,1721,1786,0,0,0,0,0,0,28.83,26.32,25.60
$GC,6851,1.48,221.1,2730,3683,1719,1780,186.5,9.1,374,6859,0.00,2.10,3.72,0.589,9222,0.000,0.025,2740,2300,1737,1707,1767,0,0,0,0,0,0,28.83,26.38,25.33
$GC,7166,1.49,224.3,2740,2300,1706,1768,157.7,9.1,390,7175,0.00,2.20,4.03,0.614,8708,0.000,0.044,2751,896,1724,1693,1755,0,0,0,0,0,0,28.83,26.36,25.39
$GC,7221,1.51,234.5,2750,897,1693,1756,152.8,8.9,393,7240,0.10,2.08,13.70,0.711,13318,0.194,0.018,2730,2303,1683,1650,1716,0,0,0,0,0,0,26.22,26.46,25.53
$GC,7542,1.51,234.5,2730,2303,1645,1706,123.4,9.6,409,7548,0.00,2.12,0.00,0.000,260,0.000,0.037,2730,3696,1675,1645,1706,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7612,1.53,241.4,2729,3696,1645,1706,118.0,9.0,412,7622,0.00,2.12,5.10,0.666,9222,0.000,0.027,2739,2301,1655,1615,1695,0,0,0,0,0,0,28.83,26.41,25.52
$GC,7939,1.56,251.8,2739,2301,1614,1695,88.0,8.9,429,7956,0.00,0.00,13.45,0.659,8198,0.000,0.000,2739,2301,1609,1561,1658,0,0,0,0,0,0,28.83,28.83,25.63
$GC,8259,1.58,262.5,2740,2301,1558,1652,59.5,8.9,445,8276,0.00,2.28,11.20,0.637,8708,0.000,0.044,2750,884,1566,1516,1616,0,0,0,0,0,0,28.83,26.25,25.62
$GC,8432,1.60,269.0,2750,884,1513,1612,44.1,9.0,456,8442,0.00,2.10,4.80,0.598,9222,0.000,0.018,2750,2297,1542,1491,1594,0,0,0,0,0,0,28.83,26.41,25.40
$GC,8743,1.62,275.7,2750,2297,1491,1594,15.6,9.0,497,8757,0.00,2.15,9.85,0.597,8452,0.000,0.036,2750,3690,1511,1458,1564,0,0,0,0,0,0,28.83,26.30,25.67
$GC,8774,1.62,275.7,2750,3690,1457,1562,12.7,9.3,503,8779,0.00,2.12,0.00,0.000,1030,0.000,0.028,2759,2299,1509,1457,1562,0,0,0,0,0,0,28.83,26.33,28.83
$STATE,8883,end climb,SURFACE_DEPTH_REACHED
$STATE,8883,begin surface coast
$FINISH,0.1,0.000000
$STATE,8913,end surface coast,CONTROL_FINISHED_OK
$STATE,8913,begin surface
$SM_CCo,8929,223.05,0.729,3,0,399,549.47
$SM_CCo,9171,-0.15,0.000,0,0,405,548.98
$SM_CCo,9174,2.47,0.263,0,0,399,549.47
$SM_GC,-23.93,7.60,0.50,2.47,0.079,0.043,0.263,87,1953,399,-10.54,0.93,549.47,0,0,0,0,0,0,26.37,26.41,24.63
$IRIDIUM_FIX,1952.70,12004.32,220313,101019
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.70
$INTERNAL_PRESSURE,9.0776
$TCM_TEMP,18.60
$XPDR_PINGS,1
$SC_FREEKB,3959040
$24V_AH,24.2,28.649
$10V_AH,10.1,15.988
$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,17.400,68.850,442.900,225.525,0.000,0.000,0.000,221.000,0.250,0.000,17.367,1375.202,5501.168,755.817,1618.404,303.845,0.000,1879.602,0.000,1409.723,0.000,1.486,0.000
$DEVICE_MAMPS,214.200,53.550,1032.750,729.045,0.000,0.000,0.000,132.345,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8922.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.671,0.000,0.000,0.000
$MEM,323924
$DATA_FILE_SIZE,20103,531
$CAP_FILE_SIZE,346864,2152
$CFSIZE,260034560,231858176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,2,0
$CURRENT,0.231, 20.8,1
$GPS,220313,160704,2001.640,12005.380,229,1.0,229,-2.6