version: 66.11
glider: 121
mission: 10
dive: 207
start: 3 27 113 1 45 28
data:
$ID,121
$MISSION,10
$DIVE,207
$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,-100755.03
$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,47
$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
$GPS1,270313,013804,2053.673,12000.888,265,1.0,265,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-23.93
$_SM_ANGLEo,-64.6
$GPS2,270313,014500,2053.559,12000.839,19,0.8,19,-2.8
$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,1.0,95280,-18.5,-9.259,-21.12,2828
$D_GRID,3566
$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,18,-1.35,-170.3,89,1952,349,482,0.0,0.0,0,43,0.00,0.00,-23.45,0.000,16386,0.000,0.000,89,1952,1025,1012,1038,0,0,0,0,0,0,28.83,28.83,28.83
$GC,46,-1.35,-170.3,89,1952,1012,1042,3.2,-9.1,3,154,7.88,2.25,-91.55,0.000,18692,0.216,0.044,2088,3375,3337,3246,3428,0,0,0,0,0,0,25.75,26.15,26.46
$GC,345,-1.35,-170.3,2088,3375,3249,3428,30.3,-9.0,47,351,0.00,2.12,0.00,0.000,1030,0.000,0.027,2096,1977,3339,3249,3429,0,0,0,0,0,0,28.83,26.31,28.83
$GC,670,-1.35,-170.3,2096,1978,3252,3428,59.8,-9.2,74,671,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,1977,3340,3252,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,973,-1.35,-170.3,2096,1976,3253,3428,87.1,-8.9,89,978,0.00,2.15,0.00,0.000,516,0.000,0.041,2106,564,3341,3254,3429,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1084,-1.35,-170.3,2106,564,3254,3428,97.1,-9.2,94,1090,0.00,2.05,0.00,0.000,1030,0.000,0.015,2097,1993,3341,3254,3428,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1405,-1.35,-170.3,2098,1993,3254,3428,126.1,-9.0,110,1410,0.00,2.03,0.00,0.000,260,0.000,0.031,2088,3360,3341,3254,3428,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1478,-1.35,-170.3,2087,3360,3254,3428,132.3,-9.2,113,1484,0.00,2.08,0.00,0.000,1030,0.000,0.026,2091,1973,3341,3254,3428,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1799,-1.35,-170.3,2091,1973,3254,3427,161.7,-9.0,129,1805,0.00,2.12,0.00,0.000,516,0.000,0.043,2101,577,3340,3254,3427,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1891,-1.35,-170.3,2101,576,3254,3427,169.7,-8.9,133,1897,0.00,2.03,0.00,0.000,1030,0.000,0.016,2093,1983,3340,3253,3427,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2213,-1.35,-170.3,2092,1984,3254,3423,199.5,-9.1,149,2218,0.00,2.17,0.00,0.000,516,0.000,0.041,2101,577,3338,3254,3423,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2238,-1.35,-170.3,2101,576,3254,3423,202.0,-9.1,150,2244,0.00,2.03,0.00,0.000,1030,0.000,0.016,2093,1983,3338,3254,3423,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2565,-1.35,-170.3,2092,1985,3254,3420,231.2,-8.9,166,2571,0.00,2.05,0.00,0.000,260,0.000,0.033,2082,3360,3337,3254,3420,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2599,-1.35,-170.3,2082,3360,3253,3419,233.5,-8.8,167,2606,0.00,2.10,0.00,0.000,1030,0.000,0.028,2085,1968,3336,3254,3419,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2916,-1.35,-170.3,2084,1968,3254,3416,262.9,-9.1,183,2922,0.10,2.12,0.00,0.000,2308,0.171,0.031,2101,3366,3334,3253,3416,0,0,0,0,0,0,26.52,26.59,28.83
$GC,2998,-1.35,-170.3,2101,3366,3253,3415,269.1,-9.0,186,3007,0.00,2.10,0.00,0.000,1030,0.000,0.028,2106,1976,3334,3253,3415,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3305,-1.35,-170.3,2106,1977,3253,3412,297.1,-8.9,202,3312,0.00,2.15,0.00,0.000,516,0.000,0.046,2114,575,3332,3253,3412,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3394,-1.35,-170.3,2114,575,3255,3412,305.1,-9.1,206,3400,0.00,2.05,0.00,0.000,1030,0.000,0.017,2106,1981,3332,3253,3411,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3722,-1.35,-170.3,2106,1981,3252,3408,333.9,-8.4,222,3723,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,1981,3330,3252,3408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4020,-1.35,-170.3,2106,1983,3249,3407,361.0,-9.1,237,4026,0.00,2.08,0.00,0.000,260,0.000,0.035,2096,3366,3327,3248,3406,0,0,0,0,0,0,28.83,26.58,28.83
$GC,4097,-1.35,-170.3,2095,3365,3248,3406,367.0,-8.9,240,4104,0.00,2.12,0.00,0.000,1030,0.000,0.030,2096,1967,3327,3249,3406,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4413,-1.35,-170.3,2095,1967,3247,3404,396.8,-9.2,256,4419,0.00,2.17,0.00,0.000,516,0.000,0.048,2105,564,3325,3246,3404,0,0,0,0,0,0,28.83,26.55,28.83
$STATE,4458,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4460,begin apogee
$GC,4467,-0.25,0.0,2094,2288,3247,3403,401.1,-9.0,258,4633,0.77,0.00,153.80,1.045,10246,0.119,0.000,2346,2288,2638,2590,2687,0,0,0,0,1,0,26.34,28.83,24.15
$STATE,4635,end apogee,CONTROL_FINISHED_OK
$STATE,4635,begin climb
$GC,4638,1.35,170.3,2346,2288,2590,2687,386.5,0.0,265,4817,0.98,2.38,169.18,0.868,10500,0.050,0.034,2702,3703,1934,1903,1965,0,0,0,0,0,0,25.11,24.85,24.18
$GC,5011,1.37,175.2,2702,3703,1900,1943,351.7,9.1,282,5017,0.00,2.17,0.00,0.000,1030,0.000,0.025,2712,2302,1921,1900,1943,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5337,1.39,184.2,2712,2302,1899,1940,322.5,8.9,298,5343,0.00,0.00,4.40,0.631,8198,0.000,0.000,2712,2302,1887,1864,1910,0,0,0,0,0,0,28.83,28.83,25.16
$GC,5636,1.41,191.9,2712,2302,1863,1923,296.0,9.0,313,5660,0.00,2.20,14.93,0.811,8452,0.000,0.033,2712,3708,1847,1818,1876,0,0,0,0,0,0,28.83,26.10,25.37
$GC,5735,1.44,204.8,2712,3707,1816,1870,288.0,8.8,317,5754,0.00,2.17,12.02,0.816,9222,0.000,0.025,2722,2293,1801,1774,1829,0,0,0,0,0,0,28.83,26.20,25.25
$GC,6073,1.46,211.9,2722,2293,1770,1817,257.0,9.0,334,6084,0.00,2.22,4.22,0.658,8452,0.000,0.034,2721,3709,1776,1749,1803,0,0,0,0,0,0,28.83,26.24,25.20
$GC,6121,1.47,218.6,2722,3708,1748,1804,252.7,9.0,336,6138,0.00,2.17,10.82,0.792,9222,0.000,0.027,2732,2300,1744,1715,1774,0,0,0,0,0,0,28.83,26.27,25.35
$GC,6448,1.54,244.2,2732,2300,1713,1768,223.7,8.3,352,6483,0.00,2.25,25.92,0.754,8708,0.000,0.045,2743,893,1637,1593,1682,0,0,0,0,0,0,28.83,25.93,25.27
$GC,6539,1.56,254.3,2743,893,1592,1677,215.5,8.9,356,6555,0.00,2.15,10.05,0.752,9222,0.000,0.018,2743,2309,1600,1552,1648,0,0,0,0,0,0,28.83,26.10,25.23
$GC,6865,1.57,256.6,2743,2308,1548,1639,186.1,9.2,372,6872,0.00,2.12,0.00,0.000,260,0.000,0.037,2743,3690,1594,1548,1640,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6973,1.60,268.6,2743,3689,1546,1639,176.3,8.8,377,6997,0.00,2.15,14.60,0.711,9222,0.000,0.028,2753,2296,1539,1487,1591,0,0,0,0,0,0,28.83,26.31,25.42
$GC,7295,1.62,278.4,2753,2296,1485,1584,147.4,8.9,393,7312,0.00,2.20,10.52,0.684,8708,0.000,0.044,2764,900,1497,1446,1549,0,0,0,0,0,0,28.83,26.16,25.49
$GC,7408,1.64,286.0,1768,899,1418,1540,137.5,9.0,398,7420,0.00,2.10,6.25,0.668,9222,0.000,0.018,2763,2302,1474,1423,1525,0,0,0,0,0,0,28.83,26.30,25.41
$GC,7729,1.64,286.0,2763,2302,1421,1521,108.1,9.3,414,7734,0.00,2.12,0.00,0.000,260,0.000,0.037,2763,3690,1472,1423,1521,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7754,1.64,286.0,1736,3689,1396,1515,105.9,9.3,415,7760,0.00,2.15,0.00,0.000,1030,0.000,0.029,2773,2292,1472,1423,1521,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8080,1.66,291.4,2773,2292,1423,1520,76.5,9.1,431,8092,0.00,2.28,6.30,0.611,8708,0.000,0.045,2784,885,1451,1402,1501,0,0,0,0,0,0,28.83,26.34,25.63
$GC,8140,1.68,302.3,2784,885,1402,1499,72.2,8.9,433,8159,0.00,2.12,13.40,0.595,9222,0.000,0.018,2782,2309,1405,1359,1451,0,0,0,0,0,0,28.83,26.43,25.58
$GC,8468,1.74,325.9,2782,2309,1356,1437,41.5,8.4,454,8501,0.00,2.15,23.83,0.543,8452,0.000,0.037,2782,3690,1304,1278,1330,0,0,0,0,0,0,28.83,26.13,25.56
$GC,8525,1.77,336.6,2782,3690,1278,1326,36.9,8.9,458,8545,0.00,2.15,10.93,0.552,9222,0.000,0.028,2791,2300,1259,1242,1277,0,0,0,0,0,0,28.83,26.17,25.47
$GC,8862,1.79,345.7,1792,2297,1224,1267,6.1,8.9,509,8878,0.00,2.28,8.57,0.524,8708,0.000,0.044,2802,896,1225,1216,1234,0,0,0,0,0,0,28.83,26.20,25.60
$STATE,8896,end climb,SURFACE_DEPTH_REACHED
$STATE,8896,begin surface coast
$FINISH,0.0,1.024273
$STATE,8930,end surface coast,CONTROL_FINISHED_OK
$STATE,8930,begin surface
$SM_CCo,8948,168.90,0.675,3,0,399,549.47
$SM_CCo,9136,-0.12,0.000,0,0,402,549.47
$SM_CCo,9140,0.90,0.130,0,0,400,549.47
$SM_GC,-23.93,7.70,1.65,0.90,0.075,0.015,0.130,83,1984,400,-10.56,-1.70,549.47,0,0,0,0,0,0,26.27,26.34,25.19
$IRIDIUM_FIX,2045.60,11959.28,260313,222246
$TT8_MAMPS,0.024717,0.024717
$HUMID,48.85
$INTERNAL_PRESSURE,9.1655
$TCM_TEMP,19.90
$XPDR_PINGS,1
$SC_FREEKB,3943680
$24V_AH,24.2,34.824
$10V_AH,10.1,18.534
$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,17.425,85.800,499.750,169.800,0.000,0.000,0.000,225.325,0.250,0.000,19.872,2061.373,4644.806,782.953,1634.322,409.742,0.000,1893.032,0.000,1423.858,0.000,1.486,0.000
$DEVICE_MAMPS,215.730,48.195,1044.990,674.730,0.000,0.000,0.000,135.405,420.000,0.000,29.960,14.460,2.190,14.460,39.180,46.670,0.000,15.500,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8942.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.464,0.000,0.000,0.000
$MEM,323860
$DATA_FILE_SIZE,16787,520
$CAP_FILE_SIZE,431037,2127
$CFSIZE,260034560,227168256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$CURRENT,0.124,295.0,1
$GPS,270313,041908,2054.629,12000.197,39,1.0,39,-2.8